?? controller_init.cpp
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#define S_FUNCTION_NAME controller_init#include "ttkernel.cpp"// Event-driven controller node class PD_Data {public: // ctrl params double K, Td, N, h, ad, bd; // ctrl states double yold, Dold, u;};// controller code functiondouble ctrl_code(int seg, void *data){ double *m; double r, y, P, D; PD_Data* d = (PD_Data*) data; switch(seg) { case 1: ttWait("packet"); return 0.0; case 2: m = (double*) ttGetMsg(1); // get sensor value on network 1 y = *m; delete m; // delete message r = ttAnalogIn(1); P = d->K*(r-y); D = d->ad*d->Dold + d->bd*(d->yold-y); d->u = P + D; d->Dold = D; d->yold = y; return 0.0005; case 3: m = new double; *m = d->u; ttSendMsg(1, 2, m, 10); // Send 10 bytes to node 2 (actuator) on network 1 ttSetNextSegment(1); // loop and wait for new packet return 0.0; }}// interfering task code functiondouble dummy_code(int seg, void *data){ switch (seg) { case 1: return 0.004; case 2: return FINISHED; }}double msgRcvhandler(int seg, void *data){ ttNotifyAll("packet"); return FINISHED;}PD_Data* data;void init() { ttInitKernel(1, 0, FP); data = new PD_Data; data->K = 1.5; data->Td = 0.035; data->N = 100000.0; data->h = 0.010; data->ad = data->Td/(data->N*data->h+data->Td); data->bd = data->N*data->K*data->Td/(data->N*data->h+data->Td); data->yold = 0.0; data->Dold = 0.0; data->u = 0.0; // Controller task ttCreateTask("pid_task", 0.006, 10, ctrl_code, data); ttCreateJob(0.0, "pid_task"); // Disturbing task // ttCreatePeriodicTask("dummy", 0.0002, 0.007, 1, dummy_code); // Initialize network ttCreateInterruptHandler("msgRcv", 1, msgRcvhandler); ttInitNetwork(4, "msgRcv"); // I am node 4! ttCreateEvent("packet");}void cleanup() { delete data;}?? 快捷鍵說明
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