function controller_initttInitKernel(1, 0, 'prioFP'); % nbrOfInputs, nbrOfOutputs, FPh = 0.010;N = 100000;Td = 0.035;K = 1.5;data.u = 0.0;data.K = K; data.ad = Td/(N*h+Td);data.bd = N*K*Td/(N*h+Td);data.Dold = 0.0;data.yold = 0.0;% Controller taskttCreateTask('pid_task', 0.006, 10, 'ctrlcode', data);% Disturbing task% ttCreatePeriodicTask('dummy', 0.0002, 0.007, 1, 'dummycode');% Initialize networkttCreateInterruptHandler('nw_handler', 1, 'msgRcvCtrl');ttInitNetwork(4, 'nw_handler'); % I am node 4