def diff2uni(l_v, r_v, L, R):
    """
    Convert differential to unicycle
    :param l_v: left velocity
    :param r_v: right velocity
    :param L: Wheel base (or track) wdith
    :param R: Wheel radius
    :return: Linear/Angular velocity
    """
    v = (l_v + r_v) * (R / 2)
    try:
        w = (r_v - l_v) * (R / L)
    except ZeroDivisionError:
        v, w = 0, 0

    return v, w