# This file describes the default kart
# Maximum steer angle (rad)
maximum_steer_angle 0.4
# Steer radius (m)
steer_radius 5

# Mass of each tyre (Kg)
tyre_mass 4
# Width of each tyre (m)
tyre_width 0.2
# Total mass of the body of the kart
kart_mass 80
# Mass of the driver
driver_mass 70
# Inertia along the axis of rotation of a wheel (m2.Kg)
wheel_front_inertia 0.2
wheel_back_inertia 0.2
# Inertia of the engine's axis
engine_inertia 1
# Width of the kart (m)
width 0.84
# Length of the kart
length 1.21

# Stickiness of the front tyres, in the forward direction (N/N)
front_long_k 1.5
# Lateral stickiness of the front tyres
front_side_k 1.5
# Stickiness of the back tyres. Usually the same as the front
back_long_k 1.5
# Lateral stickiness of the back tyres
back_side_k 1.5

# Radius of front wheels (m)
front_radius 0.15
# Radius of back wheels
back_radius 0.15

# Stiffness of the front springs (N/m)
front_stiffness 1e4
# Damping of the front springs (N/m/s)
front_damping 1e3
# Maximum damping force
front_max_damping_force 10e3
# Stifness of the back springs
back_stiffness 2e4
# Damping of the back springs
back_damping 2e3
back_max_damping_force 10e3

# Maximum angular velocity of the engine (rad/s)
engine_rps_max 200
# Optimal rps (where the full throttle torque is highest)
engine_rps_opt 75
# Full throttle
# Torque at rps = 0 (N.m)
engine_ft_torque0 60
# Torque at optimal rps
engine_ft_torque1 160
# No throttle
# Torque at optimal rps
engine_nt_torque1 -50
# Torque at maximal rps
engine_nt_torque2 -110

# Braking coeff (N.m/rad/s)
brake_k 120

# Collision factor
collision_factor 0.1
