v5_motor.yaml

# topics
publish_velocity: true
publish_encoder:  true
publish_current:  true
publish_motor_joint_state: true
update_rate: 100.0
# motor model
motor_nominal_voltage: 14.0 # Volts
# moment of inertia calculated by getting 17.5 inch / pounds of torque from a vex forum post and converting it to kgm https://www.vexforum.com/t/v5-motor-torque/80258/2
moment_of_inertia: 0.4535924 # kgm^2
armature_damping_ratio: 0.03 # Nm/(rad/s)
electromotive_force_constant: 0.03 # Nm/A
# ohms law 14V max batter 11W max power draw V/(W/V) = Ohms https://www.vexrobotics.com/276-4840.html#additional
electric_resistance: 17.818182 # Ohm
electric_inductance: 0.001 # Henry
# transmission
gear_ratio: 36.0
joint_damping: 0.005
joint_friction: 0.01
# shaft encoder
encoder_ppr: 900 #50*_gear_ratio