?? ctrlcode.m
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function [exectime, data] = ctrlcode(seg, data)switch seg, case 1, y = ttGetMsg; % Obtain sensor value 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, ttSendMsg(2, data.u, 80); % Send 80 bits to node 2 (actuator) exectime = -1; % finishedend?? 快捷鍵說明
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