Help tidying my code!

if true
if navMemory.lastPos(1)>950
%             targVel=-targVel;
%             if navMemory.kk_temp >10
%             navMemory.navState = 3;
%             navMemory.kk_temp = 0;
%             end
%         elseif navMemory.lastPos(1)<-950
%            targVel=-targVel;
%             if navMemory.kk_temp >10
%             navMemory.navState = 3;
%             navMemory.kk_temp = 0;
%             end
%         elseif navMemory.lastPos(2)>950
%            targVel=-targVel;
%             if navMemory.kk_temp >10
%             navMemory.navState = 3;
%             navMemory.kk_temp = 0;
%             end
%         elseif navMemory.lastPos(2)<-950
%             targVel=-targVel;
%             if navMemory.kk_temp >10
%             navMemory.navState = 3;
%             navMemory.kk_temp = 0;
%             end
%         end  end

Is there a way of sensibly shortening this? navMemory.lasPos is a variable with 2 values. I need these values to remain between 950 and -950, otherwise case 3 is called. This seems like a needlessly complicated way of doing it. (kk_temp is just a timer)

Many thanks as usual!

Answer 1

[Zoltán Csáti]

Since rows navMemory.navState = 3; and navMemory.kk_temp = 0; occur under the same condition (navMemory.kk_temp >10), you can put that condition outside. So

     if navMemory.kk_temp >10
             navMemory.navState = 3;
             navMemory.kk_temp = 0;
     end
     if navMemory.lastPos(1)>950
          targVel=-targVel;
     elseif navMemory.lastPos(1)<-950
          targVel=-targVel;
     elseif navMemory.lastPos(2)>950
          targVel=-targVel;
     elseif navMemory.lastPos(2)<-950
          targVel=-targVel;
     end

[Zoltán Csáti]

I suspect that you wanted to add a different targVel in the conditional structures (in this way, they are all targVel=-targVel;),

[Alex]

Thank you - very good point! Is there any way of writing the following:

if -950<navMemory.lastPos>950
          targVel=-targVel;
end

Thanks

[Zoltán Csáti]

Yes, but you wrote you want navMemory.lastPos remain between -950 and 950. So

if navMemory.lastPos > -950 & navMemory.lastPos <950
   ...
end