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对于Id和速度TRAJ的参数，在函数CTRL_setParams全部初始化为0后，就没发现其他的代码更新Id和速度TRAJ的参数，但是Id和spd的参考值确是TRAJ提供的，请问TRAJ在哪里更新了参数值？
加减速是在CTRL_setMaxAccel_pu
设置目标值应该是在CTRL_setup(ctrlHandle);中
ERIC
