docs: def get_vector(
          self, lr_motor: float, rr_motor: float, lf_motor: float, rf_motor: float
      ) -> typing.Tuple[float, float]:
          """
              :param lr_motor:   Left rear motor value (-1 to 1); -1 is forward
              :param rr_motor:   Right rear motor value (-1 to 1); 1 is forward
              :param lf_motor:   Left front motor value (-1 to 1); -1 is forward
              :param rf_motor:   Right front motor value (-1 to 1); 1 is forward
              
              :returns: speed of robot (ft/s), clockwise rotation of robot (radians/s)
          """
  
          if self.deadzone:
              lf_motor = self.deadzone(lf_motor)
              lr_motor = self.deadzone(lr_motor)
              rf_motor = self.deadzone(rf_motor)
              rr_motor = self.deadzone(rr_motor)
  
          l = -(lf_motor + lr_motor) * 0.5 * self.speed
          r = (rf_motor + rr_motor) * 0.5 * self.speed
  
          # Motion equations
          fwd = (l + r) * 0.5
          rcw = (l - r) / float(self.x_wheelbase)
  
          self.l_speed = l
          self.r_speed = r
          return fwd, rcw