I’m trying to duplicate the computations given in the paper, and I can’t seem to get the same numbers for ka. Here’s what I have:

```
CIM_NOMINAL_VOLTAGE = 12 # volts
CIM_FREE = (5310 / 60) # rps
CIM_STALL_TORQUE = 343.4 # oz/in
CIM_STALL_AMPS = 133 # amp
CIM_FREE_CURRENT = 2.7 # amp
wheel_diameter = (3.8/12.0)
gearing = 6.1
nmotors = 3
robot_mass = 110
max_velocity = (CIM_FREE * math.pi * wheel_diameter) / gearing
max_acceleration = (2.0 * nmotors * CIM_STALL_TORQUE * gearing) / (wheel_diameter * robot_mass)
kv = CIM_NOMINAL_VOLTAGE / max_velocity
ka = CIM_NOMINAL_VOLTAGE / max_acceleration
print('vmax=%.3f amax=%.3f kv=%.3f ka=%.3f' % (max_velocity, max_acceleration, kv, ka))
```

And this results in vmax=14.433 amax=360.816 kv=0.831 ka=0.033 . However, the paper reports kv=0.83 and ka=0.1 … so something’s wrong with my acceleration numbers.

I assume I’m not using the right units for CIM_STALL_TORQUE, but I’ve tried a bunch of different units and none of them have worked out. I had expected the unit to be in ft/lb … but that yields amax=1.867 ka=6.427 which seems really off.