CPCmd Parameters

#1

Hi everybody

could anyone please explain in some detail the meaning of the parameters in

typedef struct tagCPParams {
float planAcc;
float junctionVel;
union {
float acc; // realTimeTrack = false
float period; // realTimeTrack = true
};
uint8_t realTimeTrack;
} CPParams;

and

typedef struct tagCPCmd {
uint8_t cpMode;
float x;
float y;
float z;
float velocity;
} CPCmd;

Thank you!

#2

It’s the parameters setting for arm control .

#3

Yes, of course! But I’d like to know the meaning of each parameter, especially planAcc, junctionVel and period. And what is the real-time mode?