VERSION 4 COUNT_REV 400 VOLT 24 CYCLE 0.001 GEAR 75 MOTOR_R 0.75 MOTOR_PHASE 3 TORQUE_FINENESS 0.000001 RADIUS[0] 0.07455 RADIUS[1] -0.07455 TREAD 0.30737 CONTROL_CYCLE 0.015 TORQUE_MAX 0.05 TORQUE_LIMIT 0.4 MAX_VEL 0.9 MAX_W 3.14 MAX_ACC_V 1.5 MAX_ACC_W 6.28 MAX_CENTRI_ACC 2.45 L_C1 0.01 L_K1 800 L_K2 300 L_K3 200 L_DIST 0.6 INTEGRAL_MAX 0.05 MOTOR_VC 630.0 MOTOR_TC 0.01515 MOTOR_M_INERTIA 0 TIRE_M_INERTIA 0.02 MASS 10 MOMENT_INERTIA 0.1 GAIN_KP 120 GAIN_KI 300 TORQUE_VISCOS 0.00001 TORQUE_NEWTON 0.00200