VERSION 4 COUNT_REV 400 VOLT 24 CYCLE 0.001 GEAR 75 MOTOR_R 0.75 MOTOR_PHASE 3 TORQUE_FINENESS 0.0000005 RADIUS[0] 0.074 RADIUS[1] -0.074 TREAD 0.303 CONTROL_CYCLE 0.01 TORQUE_MAX 0.05 TORQUE_LIMIT 0.4 MAX_VEL 5 MAX_W 6.28 MAX_ACC_V 1.5 MAX_ACC_W 12.5 MAX_CENTRI_ACC 2.45 STOP_LINEAR 0 SPIN_LINEAR 0 WHEEL_ANG_LINEAR 0 L_C1 0.01 L_K1 800 L_K2 300 L_K3 200 L_DIST 0.6 INTEGRAL_MAX 0.05 MOTOR_VC 830.0 MOTOR_TC 0.01136821 TIRE_M_INERTIA 0 MOTOR_M_INERTIA 0 TIRE_M_INERTIA 0.02 MASS 0 MOMENT_INERTIA 0 GAIN_KP 120 GAIN_KI 100 TORQUE_VISCOS 0.00001 TORQUE_NEWTON 0.00200