I’m trying to use two tracking wheels instead of a gyroscope, but haven’t been able to figure out how to convert their measurements into the robots heading. I have all of the necessary constants but I just don’t know what equation I need to use.

void encoderGyro() {

double circumference = 40.8407045; // a 360 turn is equal to 40.8407045 inches of travel (distance between tracking wheels * Pi)

double trackerRotation = 8.639379797; // each 360 rotation of the encoder is 8.639379797 inches (diameter of tracking wheel * Pi)

double encoderTick = 0.02399827721; // 1 degree of shaft encoder rotation is 0.02399827721 inches (trackerRotation/360)

double gyroDegree = 0.1134464014; // 1 degree of turning is 0.1134464014 inches (circumference/360)

double ticksPer360 = 1701.818182; // a measure of 1701.818182 degrees is a 360 degree turn (circumference/encdoerTick)

double ticksPerDegree = 4.727272729; // 4.727272729 ticks is equal to 1 degree (ticksPer360/360)

int ltrack = leftTrack.get_value();

int rtrack = rightTrack.get_value();

double lDistance = ltrack *0.02399827721;

double rDistance = rtrack *0.02399827721;

double rightDegree = rtrack*ticksPerDegree;
double leftDegree = ltrack*ticksPerDegree;

double gyroValue = ???;

lcd::set_text(5,std::to_string(gyroValue));

}