I was wondering if anyone has some good methods for visualizing wheel rotation using torque value. I Have tried a few different methods from this forum and a couple of others and most of the examples shown don't show much of the formula making it difficult to implement.

This is one method I found to somewhat works but the wheels seem to continue spinning

var net_torque = z_force * radius
net_torque += drive_torque

if abs(spin) < 5 and brake_torque > abs(net_torque):  spin = 0
   else:
       net_torque -= brake_torque * sign(spin)
       spin += delta * net_torque / wheel_moment

It would make my day if anyone could show me how they did it.