[Brian C]

Tou can try here:

http://www.chiefdelphi.com/media/papers/1895

Or here:

http://www.chiefdelphi.com/media/papers/1620

This spreadsheet by Dr Joe is a great help as well. It's an older document but the math never changes. Once you have your specs for the current motors just punch in the numbers

http://www.chiefdelphi.com/media/papers/1312


And once you get that all together your programming folks and your electrical as well mey like this little ditty too:

http://www.chiefdelphi.com/media/papers/1766