The pic is what I did for my own trajectory planner and PID controller. I am using Labview and using Dynamixel SDK protocol 2.0.
I am try to use my own joint trajectory planner + pid controller to replace the dynamixel control algorithm.
There are some confusion points during time setting.
as my understanding, there are two different time gap setting.
1. the time gap which I release each the reference position to controller.
2. the PID control time in each control loop. with the pos feeback time in each time reading the encoding.