Hi,As the code showed below in 1) and 2), in 1) ,the segmentTime is setted to
be the servo_period.My question is :why is it setted to the servo_period?
Can the segmentTime be changed, by other value?
1)motion.c:static int setServoCycleTime(double secs) for (t = 0; t <
num_joints; t++) { cubicSetInterpolationRate(&(joints[t].cubic),
emcmotConfig->interpolationRate); cubicSetSegmentTime(&(joints[t].cubic),
secs); }
2)cubic.cint cubicAddPoint(CUBIC_STRUCT * ci, double point) /* calculate way
points and coeff */ ci->wp0 = wayPoint(ci->x0, ci->x1, ci->x2); ci->wp1 =
wayPoint(ci->x1, ci->x2, ci->x3); ci->velp0 = velPoint(ci->x0, ci->x2,
ci->segmentTime); ci->velp1 = velPoint(ci->x1, ci->x3, ci->segmentTime);
ci->coeff = cubicCoeff(ci->wp0, ci->velp0, ci->wp1,
ci->velp1, ci->segmentTime); ci->interpolationTime = 0.0;
ci->needNextPoint = 0;
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