We have not measured those parameters for the 30:1 HP micro metal gearmotors; however, you can approximate numbers 3, 4, and 5 using the information listed in the "Specifications tab" of the gearmotor's product page.
- The electromotive force constant (Ke) can be approximated by dividing the free-run speed (at the rated voltage) by the rated voltage (or vice versa, depending on how your constant Ke is defined).
- To approximate the motor torque constant (Kt), you can divide the stall torque by the stall current.
- As Jim Remington said, the electrical resistance (R) of the motor can be approximated by dividing the rated voltage by the stall current (at the rated voltage).
The rest of the motor parameters you ask for will have to be measured. The PID control for the 3pi robot was adjusted using empirical tuning, not a simulation. Also, please note that the 3pi uses the low power variant of the 30:1 micro metal gearmotors, not the high power ones you are asking about.