# key = value
Km     = 20.0e-3       # motor constant, Nm/A
Rm     = 20.0          # winding resistance, Ohm
alpha  = 535.14        # motor position (rad) = alpha*battery position (mm), in rad/mm 
Kpitch = 0.063         # pitch correction constant, A/rad
i_0    = 18.0e-3       # nominal current at 0 pitch, A
i_cutoff  = 7.0e-3     # nominal current at cutoff, A
omega_nominal = 406.0  # nominal motor speed, rad/s
threshold0 = 2500.0    # detection threshold for delta between encoder and stringpot, rad
threshold1 = 50.0      # threshold for electrical - mechanical speed delta, rad/s
threshold2 = 0.05      # threshold for current delta, A
threshold3 = 5.0       # threshold for electrical speed delta, rad/s
### calibration factors for equations of the form:
#   mult_factor * (flip *sensor + add_factor)
# voltage:
voltage_mult_factor = 2.15
voltage_add_factor  = 0.01
voltage_flip        = 1
# current:
current_mult_factor = 0.1075
current_add_factor  = 0.01
current_flip        = 1
# string pot
str_pot_mult_factor = - 6.54
str_pot_add_factor  = - 1.273
str_pot_flip        = 1
# encoder: flip * mult_factor * sensor
encoder_flip        = 1
encoder_mult_factor = 0.01309