clear all;close all;
% Parameter
Je=0.2; Jm=0.05; GRt=2; GRf=4;
M=1500; R=0.3; Te=80; Tm=50;
A=2; Cd=0.3; rho=1.2; mu=0.01; g=9.81; v=15;
% Calcuation
Jeq=M*R^2+Je*GRt^2*GRf^2+Jm*GRf^2
T=Te*GRt*GRf+Tm*GRf
Rair=0.5*rho*Cd*A*v^2
Rroll=mu*M*g
Tdrag=(Rair+Rroll)*R
acc=(T-Tdrag)/Jeq*R
fprintf('Eq. Inertia : %3.1f [kgm^2] \nDriving Torque : %d [Nm] \nDrag Torque : %2.2f [Nm] \nVehicle Acc. : %1.3f [m/s^2]\n',Jeq,T,Tdrag,acc)


