?? threeservos_init.m
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function threeservos_initttInitKernel(6, 3, 'prioRM'); % nbrOfInputs, nbrOfOutputs, RMperiods = [0.006 0.005 0.004];names = {'pid_task1', 'pid_task2', 'pid_task3'};rChans = [1 3 5];yChans = [2 4 6];uChans = [1 2 3];for i = 1:3 data.K = 0.96; data.Ti = 0.12; data.Td = 0.049; data.N = 10; data.h = periods(i); data.u = 0; data.Iold = 0; data.Dold = 0; data.yold = 0; data.rChan = rChans(i); data.yChan = yChans(i); data.uChan = uChans(i); ttCreatePeriodicTask(names{i}, 0.0, periods(i), 2, 'pidcode', data);end?? 快捷鍵說明
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