stepgen.c file, update_freq function, position mode.
match the position error of the formula:
est_out = curr_pos + avg_v * match_time;
est_cmd = pos_cmd + vel_cmd * (match_time - 1.5 * dt);
est_err = est_out - est_cmd; do not understand.
Please understand that a friend, to help explain, really looking forward to your help.
