elif action in 'LR':
    if action == 'L':
        angle = math.radians(value)
    elif action == 'R':
        angle = math.radians(-value)
    a = np.array([[w_x, w_y]]).reshape(2, 1)
    b = np.array([[math.cos(angle), -math.sin(angle)],
                  [math.sin(angle), math.cos(angle)]])
    w_x, w_y = [np.matmul(b, a).item(i) for i in [0, 1]]