function threeservos_init% Task scheduling and control.%% This example extends the simple PID control example (located in% $DIR/examples/simple_pid) to the case of three PID-tasks running% concurrently on the same CPU controlling three different servo% systems. The effect of the scheduling policy on the global control% performance is demonstrated.% Initialize TrueTime kernelttInitKernel(6, 3, 'prioRM'); % nbrOfInputs, nbrOfOutputs, rate-monotonic% Task parametersperiods = [0.006 0.005 0.004];names = {'pid_task1', 'pid_task2', 'pid_task3'};rChans = [1 3 5];yChans = [2 4 6];uChans = [1 2 3];% Create the three tasksfor i = 1:3  data.K = 0.96;  data.Ti = 0.12;  data.Td = 0.049;  data.N = 10;  data.h = periods(i);  data.u = 0;  data.Iold = 0;  data.Dold = 0;  data.yold = 0;  data.rChan = rChans(i);  data.yChan = yChans(i);  data.uChan = uChans(i);  % Offset=0 and prio=1 for all tasks  ttCreatePeriodicTask(names{i}, 0, periods(i), 1, 'pidcode', data);end