?? pidcode2.m
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function [exectime, data] = pidcode2(seg, data)switch seg, case 1, data.t = ttCurrentTime; exectime = 0; case 2, r = ttAnalogIn(data.rChan); % Read reference y = ttAnalogIn(data.yChan); % Read process output data = pidcalc(data, r, y); % Calculate PID action exectime = 0.002; case 3, ttAnalogOut(data.uChan, data.u); % Output control signal data.t = data.t + data.h; ttSleepUntil(data.t); % Sleep until next period exectime = 0; case 4, ttSetNextSegment(2); % loop to segment 2 exectime = 0; end
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