A very nice page from the Team Rembrandts software department

1. Calculate motor torque with current limit

Ohms law: \(U=IR\)
Torque equations
\(\tau = \sqrt{I_{controller}/I_{stall}} \cdot \tau_{stall}\)
\(\tau = \tau_{stall} / I_{stall} \cdot I_{winding}\)
\(\tau = K_T \cdot R_{winding} / U_{winding}\)
Torque: \(\tau\), Current: \(I\), Voltage: \(U\), Resistance: \(R\), Motor torque constant: \(K_T\)

Method 1

Motor stall torque [Nm]:

Motor stall current [A]:

Method 2

Motor torque constant [Nm/A]:

Winding resistance [Ohm]:

Current limit (on motor controller input current) [A]:

2. Calculate maximum acceleration

Coefficient of friction [-]:

Wheelbase length [m]:

Center of Gravity height [m]:

Robot mass [kg]:

Wheel radius [m]:

Motor stall torque (current limited) [Nm]:

Gear ratio [-]:

3. Calculate sprint characteristics

Max velocity #1 [m/s]:

Max acceleration #1 [m/s^2]:

Max velocity #2 [m/s]:

Max acceleration #2 [m/s^2]:

4. Simulate sprint distance

Motor constant(s)

Motor stall torque [Nm]:

Motor stall current [A]:

Free speed [RPM]:

Drivetrain constant(s)

Coefficient of friction [-]:

Wheelbase length [m]:

Center of Gravity height [m]:

Robot mass [kg]:

Wheel radius [m]:

Gear ratio [-]:

Efficiency [-]:

Software constant(s)

Current limit (on winding current) [A]:

Simulation constant(s)

timestep size [s]

max time [s]

Position time [s]

CTRE test data
	Falcon 500	Neo	Kraken	Vortex
Free Speed (RPM)	6500	5820	6050	6780
Maximum Power (W)	913	649	1136	1065
Stall Torque (Nm)	5.34	4.20	7.16	5.96
Stall Current (A)	297.45	216.27	374.38	391.09
Take over values

5. Simulate motor torque

Motor constant(s)

Motor constant Kv [RPM/Volt]: (peak voltage / no load rpm or stall current / stall torque * 8.3)

Motor winding resistance [Ohm]: (12 volts / stall current)

Mechanism constant(s)

[WIP] Friction Kf [Nm/RPM]:

[WIP] Gear ratio [-]:

[WIP] Efficiency [-]:

Mechanism inertia [kg m^2]:

Software constant(s)

Motor winding current limit [A]:

[Not used] Applied motor voltage [V]:

Looper dt [s]:

Simulation constant(s)

timestep size [s] don't go lower than 0.00001

max time [s]

Target angular velocity [RPM]