# Turtlebot specify vleft and vright directly

I am using Turtlebot 2 with Kobuki base.

After looking through the documentation I found that my specified v, omega (linear speed, angular speed) is turned into speed, radius by the kobuki ros driver

This speed, radius is then fed to the kobuki base which does some kind of internal computation and has a pid controller for wheel velocity. I havent been able to find any documentation on what this internal computation is (looks like it isnt open source). I am looking for how the vleft and vright are calculated on this differential drive bot given a specific v, omega

Ideally I would be able to control vleft and vright directly, but if not at least to understand the internal calculations done on the kobuki base and the design of the internal pid controller. Any ideas?