def trackSpeeds_to_bodyFixed(right_track_speed, left_track_speed, track_width):
    """ 
    Function maps speeds for individual skid-steering tracks to the body-fixed
    velocity and angular velocity
    
    Arguments:
      right_track_speed - speed of the right track
      left_track_speed - speed of left track
      track_width - track width of the vehicle (distance between the two tracks)
      right_track_max - maximum speed of right track, default = 100
      right_track_min - maximum speed of right track, default = -100
      left_track_max - maximum speed of right track, default = 100
      left_track_min - maximum speed of right track, default = -100
    
    Returns:
        velocity (m)
        angular_velocity (rad/)
    """

    velocity = (right_track_speed + left_track_speed) / 2
    angular_velocity = (right_track_speed - left_track_speed) / track_width
    
    return velocity, angular_velocity