truetime2.0

function controller_init（arg）

% Distributed control system: controller node
%
% Receives messages from the sensor node computes control signal
% and sends it to the actuator node. Also contains a high-priority
% disturbing task.

% Initialize TrueTime kernel
ttInitKernel（‘prioFP‘0.0001）
ttNoSchedule（‘CShandler‘）

% Task attributes
period = 0.006;
deadline = period;

% Create task data （local memory）
data.K = 0.96;
data.Ti = 0.12;
data.Td = 0.049;
data.beta = 0.5;
data.N = 10;
data.h = period;
data.u = 0;
data.Iold = 0;
data.Dold = 0;
data.yold = 0;

% Create sporadic controller task
ttCreateTask（‘pid_task‘ deadline ‘ctrl_code‘ data）;

% Create and attach network interrupt handler
ttCreateHandler（‘nw_handler‘ 1 ‘ctrl_rcv_code‘）
ttAttachNetworkHandler（‘nw_handler‘）
ttNoSchedule（‘nw_handler‘）;

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     文件       35147  2007-12-07 14:19  truetime-2.0-beta2COPYING
     目录           0  2009-05-19 08:44  truetime-2.0-beta2docs
     文件     1393062  2009-05-19 10:29  truetime-2.0-beta2docs
eport.pdf
     目录           0  2009-05-19 08:43  truetime-2.0-beta2examples
     目录           0  2009-05-19 08:43  truetime-2.0-beta2examples
etworked
     目录           0  2009-05-19 08:43  truetime-2.0-beta2examples
etworkedmatlab
     文件         810  2009-05-11 09:54  truetime-2.0-beta2examples
etworkedmatlabcontroller_init.m
     文件         339  2009-01-14 17:58  truetime-2.0-beta2examples
etworkedmatlabctrl_code.m
     文件          93  2009-05-19 09:39  truetime-2.0-beta2examples
etworkedmatlabctrl_rcv_code.m
     文件         312  2009-05-19 10:35  truetime-2.0-beta2examples
etworkedmatlabinterfcode.m
     文件         361  2009-05-19 09:39  truetime-2.0-beta2examples
etworkedmatlabinterference_init.m
     文件       15166  2009-05-19 09:39  truetime-2.0-beta2examples
etworkedmatlab
etworked.mdl
     文件         292  2009-01-14 17:58  truetime-2.0-beta2examples
etworkedmatlabpidcalc.m
     目录           0  2009-05-19 10:46  truetime-2.0-beta2examples
etworkedstandalone
     文件       26067  2009-05-19 09:39  truetime-2.0-beta2examples
etworkedstandalone
etworked.mdl
     目录           0  2009-05-19 08:43  truetime-2.0-beta2examplesservo
     目录           0  2009-05-19 08:49  truetime-2.0-beta2examplesservoc++
     文件       12999  2009-01-09 15:04  truetime-2.0-beta2examplesservoc++controller.mdl
     文件       11010  2009-05-19 09:39  truetime-2.0-beta2examplesservoc++servo.mdl
     文件        6796  2009-01-14 17:58  truetime-2.0-beta2examplesservoc++servo_init.cpp
     文件       92940  2009-05-19 10:31  truetime-2.0-beta2examplesservoc++servo_init.mexglx
     文件       40960  2009-05-19 08:49  truetime-2.0-beta2examplesservoc++servo_init.mexw32
     目录           0  2009-05-19 08:43  truetime-2.0-beta2examplesservomatlab
     文件       12999  2009-01-09 15:05  truetime-2.0-beta2examplesservomatlabcontroller.mdl
     文件         327  2009-01-13 08:51  truetime-2.0-beta2examplesservomatlabpid_code1.m
     文件         267  2009-01-13 08:51  truetime-2.0-beta2examplesservomatlabpid_code2.m
     文件         503  2009-01-13 08:51  truetime-2.0-beta2examplesservomatlabpid_code3.m
     文件         333  2009-01-13 08:51  truetime-2.0-beta2examplesservomatlabpid_code4.m
     文件         292  2009-01-09 15:05  truetime-2.0-beta2examplesservomatlabpidcalc.m
     文件         275  2009-01-13 08:51  truetime-2.0-beta2examplesservomatlabsampler_code.m
     文件       11010  2009-05-19 09:39  truetime-2.0-beta2examplesservomatlabservo.mdl
............此处省略457个文件信息