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For the translation part tracks are identical to wheels, the track length does not matter here, because distance traveled is identical to the wheel inside the track + the track thickness.

So for the translation you just calculate the distance traveled using the Circumference of the wheel with r = wheel radius + track thinkness. For the velocity you already got the right formula. If you are still unsure you could just drive the robot 1m or 10m and count the pulses on each track and divide that by the distance traveled.

Now the problem is the rotation part. Tracks have the bad attribute to slip a lot while turning. (Try to turn your robot by hand without slipping on the ground to understand it), possible solutions include:

• Turn the robot by 360° and count the pulses. Problem is that this value is different for each underground

• Get the rotation from another sensor, like an IMU.