def get_wheels_speed(encoderValues, oldEncoderValues, delta_t):
    """Computes speed of the wheels based on encoder readings"""
    #Encoder values indicate the angular position of the wheel in radians
    wl = (encoderValues[0] - oldEncoderValues[0])/delta_t
    wr = (encoderValues[1] - oldEncoderValues[1])/delta_t

    return wl, wr