Colony

wheelMax = [100; 100];

wheelMin = [-100; -100];

R = 2.5;

L = 12;

transform = [ R/2 R/2; -R/L R/L];

inverseTransform = inv(transform);

for i=1:numRobots,

	wheels =  inverseTransform * [v(i); omega(i)];

	wheels = min(wheels, wheelMax);

	wheels = max(wheels, wheelMin)

	q = transform * wheels

	v(i) = q(1);

	omega(i) = q(2);

end