2WD Vehicle: Library with Kinematic Equations for Arduino

Hi All,
I have written an Arduino library with the kinematic equations of a 2WD 3DOF autonomous robot.
These equations can be used to estimate the location of a vehicle just from the rotational speed of the wheels.
The .c and .h files are in the folder mentioned below, which includes a brief document on the derivation and use of the equations, plus a spreadsheet with graphical representation of the solutions.
Hope they may be useful!