Ktach = 0.0286;
Rm = 8.6;
Lm = 0.0063;
Ke = 0.0227;
n = 6.75;
Kp = 3.279;
Jf = 2.75e-5;
Jm = 4.6e-6;
J = Jf + Jm;
Kt = 0.0231;

% Measured mechanical time constant for total J
tm = J*Rm/(Kt*Ke);
