Select the wheel
object – set origin
origin geometry
add emtpy
scale to wheel
attach wheel to empty with ctrl P
add constraint for wheel
make child of empty
disable the scaling
add object constraint for wheel – transformation
target = empty
wheel selected
map from: location y
map to: rotation x
y = 20
x= 360 or -360
enable extrapolate
n
dimensions
copy dimension Y
calculator
ctrl v
/ 2
copy the outcome in RADIUS
www.omnicalculator.com/math/circumference
paste circumferrence outcome in properties under move part for transformation
Rotate wheels based on location