% steering rack parameters

rack_t_delay = 0.033;

% position control
rack_kp_travel = 60;
rack_Ki_travel = 0.244;
rack_v_rate_limit = 12;
rack_v_limit = 0.14;

% velocity control
rack_kp_speed = 0.0960;
rack_ki_speed = 0.9760;

% actuator
rack_f_friction = 250;
rack_k_friction = 1e4;
rack_damping = 50;
rack_m = 746.4960;

% rack travel limits
rack_travel_max = 0.063;
rack_travel_min = -0.063;

% belt & rotating ball nut assembly
belt_ratio = 3.35; % motor rot. speed / rnba rot. speed
belt_efficiency = 0.98;
rbna_lead = 7/1000/2/pi; % m/rad
rbna_efficiency = 0.85;

% motor current model
rack_max_motor_torque  = 5.1;
rack_max_rack_speed = 0.1;
% coeffs fitted to vehicle data with fit_current_coeffs.m
rack_current_coeffs = [
  0.0071
  0.0907
  276.4616
  1.1202
  3.3462
];

