bab2_init.m

一些基于matlab/simulink的模型

function bab2_init

ttInitKernel(4, 2, 'prioFP'); % nbrOfInputs, nbrOfOutputs, FP

outer_prio = 7.0;
outer_period = 0.020;

inner_prio = 8.0;
inner_period = 0.020;

outerData.pid = newpid(-0.45, 100, 0.85, 10, outer_period, 1);
outerData.u = 0;
innerData.pid = newpid(10, 0, 0, 10, inner_period, 0);
innerData.u = 0;

ttCreatePeriodicTask('Outer', outer_period, outer_prio, 'outercode', outerData);
ttCreatePeriodicTask('Inner', inner_period, inner_prio, 'innercode', innerData);