def odometryPlot(self, deltaT):
tetai = 1
xi = 0
yi = 0
t = 0
# while self.getStateWheel()==1:
while True:
speedR = self.get_speed_right_wheels()
speedL = self.get_speed_left_wheels()
l = odom.direct_kinematics(speedL[0], speedR[0])
vLinear = l[0]
vAngular = l[1]
dx_dy_dteta = odom.odomWorld(vLinear, vAngular, deltaT, tetai)
L = odom.tick_odom(xi, yi, tetai, dx_dy_dteta)
xi = L[0]
yi = L[1]
tetai = L[2]
time.sleep(deltaT)
return (xi, yi)
