IF statement question

RobotStudio
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1

Hello,

I am receiving a number from Sockets that gets placed into a variable “command”. I am trying to test to see of that number is a certain number:
IF command<>42 OR command<>105 OR command<>106 OR command<>5 THEN
SocketSend clientSocket\Str:=“Unknown command”;
GOTO MainLoopEnd;
ENDIF

I am sending it the number 42, and it still goes into this IF statement. However, if I compare just IF command<>42 (not all the other OR command<>#'s), it works just fine and skips this loop.
So my question is, how can I compare multiple values? What am I doing wrong? Is there like a certain hierarchy thing I am missing?

Thanks for any help!
SM

2

hello,
you should use AND instead of OR
IF command<>42 AND command<>105 AND command<>106 AND command<>5 THEN
so then the program enters the if loop if the number is different from 42,105,106,5

because if you use OR, it will always enter the IF because 42<>105

You can also write
IF NOT(command=42 OR command=105 OR command=106 OR command=5) THEN
it reads more logical to test that the number is outside of possible commands

3

Similarly I want to check if a given target approaches singularity so I am checking the joint angles, and if they come within +/- 0.1 degrees, I want to set bool singularity=true, otherwise return false:
IF ((target.robax.rax_5>-0.1) AND (target.robax.rax_5<0.1)) OR ((target.robax.rax_4>-0.1) AND (target.robax.rax_4<0.1)) THEN
singularity:=TRUE;
ELSE
singularity:=FALSE;
ENDIF
RETURN singularity;

Is there a way that I can do that?

Thanks,
SM

4

Is your question about if the approach to check singularity correct or about your code…? Because your description of checking the angle already match the code right?

There is a more short-hand notation:

singularity := Abs(target.robax.rax_4)<0.1 OR Abs(target.robax.rax_5)<0.1;