innercode.m

一些基于matlab/simulink的模型

function [exectime, data] = innercode(seg, data)

switch seg,
  
 case 1,
  phi = ttAnalogIn(2);
  u1 = ttAnalogIn(4); % reference signal from outer controller
  [data.pid, data.u] = calculateOutput(data.pid, u1, phi);
  exectime = 0.0025;
  
 case 2,
  ttAnalogOut(1, data.u); 
  data.pid = updateState(data.pid);
  exectime = -1; % finished
end