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‘）;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件???????35147??2007-12-07?14:19??truetime-2.0-beta2\COPYING
?????目錄???????????0??2009-05-19?08:44??truetime-2.0-beta2\docs\
?????文件?????1393062??2009-05-19?10:29??truetime-2.0-beta2\docs\report.pdf
?????目錄???????????0??2009-05-19?08:43??truetime-2.0-beta2\examples\
?????目錄???????????0??2009-05-19?08:43??truetime-2.0-beta2\examples\networked\
?????目錄???????????0??2009-05-19?08:43??truetime-2.0-beta2\examples\networked\matlab\
?????文件?????????810??2009-05-11?09:54??truetime-2.0-beta2\examples\networked\matlab\controller_init.m
?????文件?????????339??2009-01-14?17:58??truetime-2.0-beta2\examples\networked\matlab\ctrl_code.m
?????文件??????????93??2009-05-19?09:39??truetime-2.0-beta2\examples\networked\matlab\ctrl_rcv_code.m
?????文件?????????312??2009-05-19?10:35??truetime-2.0-beta2\examples\networked\matlab\interfcode.m
?????文件?????????361??2009-05-19?09:39??truetime-2.0-beta2\examples\networked\matlab\interference_init.m
?????文件???????15166??2009-05-19?09:39??truetime-2.0-beta2\examples\networked\matlab\networked.mdl
?????文件?????????292??2009-01-14?17:58??truetime-2.0-beta2\examples\networked\matlab\pidcalc.m
?????目錄???????????0??2009-05-19?10:46??truetime-2.0-beta2\examples\networked\standalone\
?????文件???????26067??2009-05-19?09:39??truetime-2.0-beta2\examples\networked\standalone\networked.mdl
?????目錄???????????0??2009-05-19?08:43??truetime-2.0-beta2\examples\servo\
?????目錄???????????0??2009-05-19?08:49??truetime-2.0-beta2\examples\servo\c++\
?????文件???????12999??2009-01-09?15:04??truetime-2.0-beta2\examples\servo\c++\controller.mdl
?????文件???????11010??2009-05-19?09:39??truetime-2.0-beta2\examples\servo\c++\servo.mdl
?????文件????????6796??2009-01-14?17:58??truetime-2.0-beta2\examples\servo\c++\servo_init.cpp
?????文件???????92940??2009-05-19?10:31??truetime-2.0-beta2\examples\servo\c++\servo_init.mexglx
?????文件???????40960??2009-05-19?08:49??truetime-2.0-beta2\examples\servo\c++\servo_init.mexw32
?????目錄???????????0??2009-05-19?08:43??truetime-2.0-beta2\examples\servo\matlab\
?????文件???????12999??2009-01-09?15:05??truetime-2.0-beta2\examples\servo\matlab\controller.mdl
?????文件?????????327??2009-01-13?08:51??truetime-2.0-beta2\examples\servo\matlab\pid_code1.m
?????文件?????????267??2009-01-13?08:51??truetime-2.0-beta2\examples\servo\matlab\pid_code2.m
?????文件?????????503??2009-01-13?08:51??truetime-2.0-beta2\examples\servo\matlab\pid_code3.m
?????文件?????????333??2009-01-13?08:51??truetime-2.0-beta2\examples\servo\matlab\pid_code4.m
?????文件?????????292??2009-01-09?15:05??truetime-2.0-beta2\examples\servo\matlab\pidcalc.m
?????文件?????????275??2009-01-13?08:51??truetime-2.0-beta2\examples\servo\matlab\sampler_code.m
?????文件???????11010??2009-05-19?09:39??truetime-2.0-beta2\examples\servo\matlab\servo.mdl
............此處省略457個文件信息