See the following:
global d;
d=1;
tspan=[0;0.05];
xi=[1;2;pi];
vk=[3;5];
[t,y]=ode45(@TwoWheel2,tspan,xi,[],vk);
function dxi = TwoWheel2(~,xi,vk)
v1=speed(vk);
wk=toRadian(vk);
dxi = zeros(3,1);
dxi(1) = cos(xi(3)) * v1;
dxi(2) = sin(xi(3)) * v1;
dxi(3) = wk;
end
function u0=toRadian(vk)
global d;
vr=vk(1);
vl=vk(2);
u0=(vr-vl)/(2*d);
end
function v1=speed(vk)
vr=vk(1);
vl=vk(2);
v1=(vr+vl)/2;
end
