{
  "odometry": {
    "wheelbase_m": 0.3,
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        "lateral_at_5m_m": 0.0416,
        "lateral_at_10m_m": 0.1665,
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      "0.25%": {
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        "heading_at_10m_deg": 4.775,
        "small_angle_at_10m_m": 0.4167
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      "0.50%": {
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        "lateral_at_10m_m": 0.8306,
        "lateral_at_20m_m": 3.3009,
        "heading_at_10m_deg": 9.549,
        "small_angle_at_10m_m": 0.8333
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    }
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  "windup": {
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    "kp": 2.0,
    "ki_per_s": 4.0,
    "setpoint": 0.9,
    "dt_s": 0.001,
    "cases": {
      "none": {
        "peak": 0.9826,
        "overshoot_pct": 9.18,
        "settling_2pct_s": 3.125
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      "clamp": {
        "peak": 0.9,
        "overshoot_pct": -0.0,
        "settling_2pct_s": 1.811
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      "back": {
        "peak": 0.9,
        "overshoot_pct": -0.0,
        "settling_2pct_s": 1.593
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    }
  },
  "motor": {
    "inputs": {
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      "pitch_m": 0.01,
      "efficiency": 0.9,
      "friction_coefficient": 0.05,
      "screw_diameter_m": 0.016,
      "screw_length_m": 0.5,
      "assumed_rotor_inertia_kgm2": 2.6e-05,
      "stroke_m": 0.2,
      "accel_s": 0.15,
      "constant_s": 0.3,
      "decel_s": 0.15,
      "dwell_s": 0.4
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    "v_max_m_s": 0.4444,
    "speed_rpm": 2666.7,
    "alpha_rad_s2": 1861.7,
    "j_screw_kgm2": 2.5253378386616196e-05,
    "j_load_reflected_kgm2": 5.06605918211689e-05,
    "inertia_ratio": 3.14,
    "torque_friction_Nm": 0.0173,
    "torque_accel_Nm": 0.2176,
    "torque_decel_Nm": -0.1829,
    "torque_rms_Nm": 0.1105,
    "check_distance_m": 0.2
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  "nasa_table8": {
    "Requirements": [
      1,
      1
    ],
    "Design": [
      3,
      4
    ],
    "Build": [
      13,
      16
    ],
    "Test": [
      61,
      78
    ],
    "Operations": [
      157,
      186
    ]
  }
}