def uni2diff(v, w, L, R):
    """
    Convert unicyle to differential
    :param v: Linear velocity
    :param w: Angular velocity
    :param L: Wheel base (or track) width
    :param R: Wheel radius
    :return: left/right velocity
    """
    #print("U2D - {:6.3f} {:6.3f} {:6.3f} {:6.3f}".format(v, w, L, R))
    _2_v = 2 * v
    _w_L = w * L
    _2_R = 2 * R

    try:
        l_v = (_2_v - _w_L) / _2_R
        r_v = (_2_v + _w_L) / _2_R
    except ZeroDivisionError:
        l_v, r_v = 0, 0

    return l_v, r_v