function [exectime, data] = regulcode(seg, data)switch seg,   case 1,  r = ttAnalogIn(1);  x = ttAnalogIn(3);  [data.outer, u1] = calculateOutput(data.outer, r, x);  phi = ttAnalogIn(2);  [data.inner, u] = calculateOutput(data.inner, u1, phi);  data.u = u;  exectime = 0.005;   case 2,  ttAnalogOut(1, data.u);  data.inner = updateState(data.inner);  data.outer = updateState(data.outer);  exectime = 0.001;   case 3,  exectime = -1; % finishedend