function [exectime, data] = pidcode1(seg, data)switch seg,     case 1,  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 2,  ttAnalogOut(data.uChan, data.u); % Output control signal  exectime = -1;end