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Imperative in grammar is a verb form (mood) that expresses a command.In "Come here!" the verb come is an imperative or in the imperative mood.It's something that must be done.
Compare :-Indicative ; subjunctive.Indicative is a verb form that describes an action or states a fact in"He comes here often---comes" or "She passed the test-----passed."
(1)Students, (close) your books now.
(2)Let's (play) baseball together now.
(1) and (2) are Imperative mood ,they are something that must be done.
Participle in Grammar is a non-finite verb form that can be used in compound forms of the verb or as an adjective. English has 2 participles, the past participle and the Present Participle.
(1) Closing the books, students are seen doing actions on adjective participles.
(2)Playing baseball together now, we are" touch and run" players.