?? ctrlcode.m
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function [exectime, data] = ctrlcode(seg, data)switch seg, case 1, % Read all buffered packets temp = ttTryFetch('sensor_signal'); while ~isempty(temp), y = temp; temp = ttTryFetch('sensor_signal'); end r = ttAnalogIn(1); % Read reference value P = data.K*(r-y); D = data.ad*data.Dold + data.bd*(data.yold-y); data.u = P + D; data.Dold = D; data.yold = y; exectime = 0.0005; case 2, msg.msg = data.u; msg.type = 'control_signal'; ttSendMsg(1, msg, 80); % Send 80 bits to node 1 (actuator) exectime = -1; % finishedend
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