ctrlcode.m

来自「使用TRUETIME仿真软件编写的关于分布式实时控制系统的仿真程序」· M 代码 · 共 17 行

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; % finished
end