argument

# -*- coding: utf-8 -*-
"""
Created on Sun May 10 21:50:41 2020

@author: tabor
"""
import numpy as np
import matplotlib.pyplot as plt
def speed(w1,w2):
    x_direction_speed = max(abs(w1[0]),abs(w2[0]))
    y_direction_speed = max(abs(w1[1]),abs(w2[1]))
    return np.sqrt(x_direction_speed**2+y_direction_speed**2)
    

#given wheel configuration run it in every possible direction to find its fastest
def testAllDirections(w1,w2):
    speeds = []
    for deg in range(360):
        theta = np.deg2rad(deg)
        c, s = np.cos(theta), np.sin(theta)
        R = np.array(((c, -s), (s, c)))
        new_w1 = np.dot(R,w1)
        new_w2 = np.dot(R,w2)
        speeds.append(speed(new_w1,new_w2))
    return np.max(speeds)
        
print(speed([1,0],[1,0]))

print(speed([1,0],[0,1]))


angles = np.linspace(-90,90,200)
maxSpeeds = []
for theta in angles:    
    w1 = np.array([np.cos(np.deg2rad(theta)), np.sin(np.deg2rad(theta))])
    w2 = np.array([np.cos(np.deg2rad(-theta)), np.sin(np.deg2rad(-theta))])
    maxSpeeds.append(testAllDirections(w1,w2))
plt.plot(angles,maxSpeeds)

print(angles[np.argmax(maxSpeeds)])