 #define DEG2RAD (M_PI / 180.0)
 #define RAD2DEG (180.0 / M_PI)
 
-#define CONTROL_PERIOD 0.008f
+#define CONTROL_TIME 0.008f
 #define MOVE_TIME 3.0f
 
 OM_PATH::JointTrajectory joint_trajectory(DXL_SIZE);


void jointControl()
{
  uint16_t step_time = uint16_t(floor(MOVE_TIME/CONTROL_PERIOD) + 1.0);
  float tick_time = 0;
  static uint16_t step_cnt = 0;
  static float moving = true;

std::vector<float> goal_acceleration;
std::vector<float> present_position;

static float tTime[2] = {0.0, 0.0};

void setup()
{
