Complex sentence: In feudal Japan, taiko were often used to motivate troops, call out orders or announcements, and set a marching pace; marches were usually set to six paces per beat of the drum.
Split into simpler sentences: In feudal Japan, taiko were often used to motivate troops, to help set a marching pace, and to call out orders or announcements. In battle, the drummer was responsible for setting the marching pace, usually with six paces per beat of the drum.