def get_wheel_speeds(self, fl, fr, rl, rr, unit=CV.KPH_TO_MS):
    factor = unit * self.CP.wheelSpeedFactor

    wheelSpeeds = car.CarState.WheelSpeeds.new_message()
    wheelSpeeds.fl = fl * factor
    wheelSpeeds.fr = fr * factor
    wheelSpeeds.rl = rl * factor
    wheelSpeeds.rr = rr * factor
    return wheelSpeeds