Hypnotriod

// --------------------------------
// vehicle is faced towards y axis
// start angle
const A = -Math.PI*0.5
// start x position
const X = 2
// start y position
const Y = 0
// wheels distance
const L = 1

Hypnotriod

// Declaration:

#define foreach(item, array) \
  for (item = &array[0]; item != &array[sizeof(array) / sizeof(array[0])]; item++)

#define foreach_i(item, index, array) \
  for (item = &array[0], index = 0; item != &array[sizeof(array) / sizeof(array[0])]; item++, index++)

#define foreach_l(item, array, length) \
  for (item = &array[0]; item != &array[length]; item++)

Hypnotriod

#!/usr/bin/python
# BeagleBone AI-64 MJPEG stream of Waveshare IMX219-83 Stereo Camera with GStreamer example
# Based on https://gist.github.com/misaelnieto/2409785
# Waveshare IMX219-83 CSI Stereo Camera: https://www.waveshare.com/wiki/IMX219-83_Stereo_Camera
# To add cameras overlays modyfy 'fdtoverlays' property of '/boot/firmware/extlinux/extlinux.conf' with:
#   fdtoverlays /overlays/BBAI64-CSI0-imx219.dtbo /overlays/BBAI64-CSI1-imx219.dtbo
# and reboot
# Get TI Image Signal Processing GStreamer drivers:
#   wget https://github.com/Hypnotriod/bbai64/raw/master/imaging.zip
#   sudo unzip imaging.zip -d /opt/