message: Remove dT from FIR planner inputs
diff: @@ -13,7 +13,7 @@ import random
  # vr, ar and dr Reached values of velocity and acceleration
  # Tj , Tja, Tjv and Tjd Length of the constant jerk stages (FIR filter time)
  -def FIR_trapPlan(Xf, Xi, Vi, Ai, Vmax, Amax, Dmax, dT=0.001):
  +def FIR_trapPlan(Xf, Xi, Vi, Ai, Vmax, Amax, Dmax):
  dX = Xf - Xi # Distance to travel
  s = np.sign(dX) # Sign
  