 std::vector<float> goal_acceleration;
 std::vector<float> present_position;
 
-static uint32_t tTime[2] = {0.0, 0.0};
+static float tTime[2] = {0.0, 0.0};
 
 void setup()
 {

#define DEG2RAD (M_PI / 180.0)
#define RAD2DEG (180.0 / M_PI)

#define CONTROL_PERIOD 0.008f
#define MOVE_TIME 3.0f

OM_PATH::JointTrajectory joint_trajectory(DXL_SIZE);

  goal_trajectory.push_back(goal);
  goal_trajectory.push_back(goal);

  joint_trajectory.init(start_trajectory, goal_trajectory, MOVE_TIME, CONTROL_TIME);
}

void loop() 
{
  float t = (float)(millis() / 1000.0f);

  if ((t-tTime[0]) >= CONTROL_TIME)
  {
    // present_position = dxl.getAngle();

    tTime[0] = t;
  }

  if ((t-tTime[1]) >= CONTROL_TIME)
  {
    jointControl();
    LOG::INFO("TIME : ", t-tTime[1]);
    
    tTime[1] = t;
  }
