Anyone written a Python "translatePos(distance)" method?

Anyone written a Python “translatePosition(distance, technique)” method for moving a little left or right?

I’m thinking of three techniques:

  • “Forward_S” turn plus back step
  • “Backward_S” turn plus forward step
  • “Right_angle” turn, fwd distance, opposite right angle turn

where the S turns use the orbit() function with an s_angle=arc-cos(distance / wheel_base) and the step move = sin(s_angle)*wheel_base. (Have to double check the calcs…)