function calculate (WBTYRE_TOP_X, WBTYRE_TOP_Y, WBTYRE_BOTTOM_X, WBTYRE_BOTTOM_Y, wheelRadius){
    return WBTYRE_BOTTOM_X - (WBTYRE_TOP_X - WBTYRE_BOTTOM_X) * (WBTYRE_BOTTOM_Y + wheelRadius) / (WBTYRE_TOP_Y - WBTYRE_BOTTOM_Y);
}