I am doing two differnt points moving at same time with different position and velocities.In same loop am plotting two points,but in this two points are moving ata same time ,but after reaching of first point to destination ,other points also

if w==2
   T=5;
delta=0.5;
ki=0.094;
kp=0.406;
r=0
r1=0
%Position of Target
target=[startx,starty;posx1,posy1;];
target1=[startx1,starty1;posx11,posy11;];
finalStep=2000;

      for ii=2:size(target,1)
      startx=target(ii-1,1);
      starty=target(ii-1,2);
      xg=target(ii,1);
      yg=target(ii,2);

      startx1=target1(ii-1,1);
      starty1=target1(ii-1,2);
      xg1=target1(ii,1);
      yg1=target1(ii,2);

      x=zeros(1,finalStep);
      y=zeros(1,finalStep);
      theta=zeros(1,finalStep);
      turning=zeros(1,finalStep);
      err=zeros(1,finalStep);
      u=zeros(1,finalStep);

     x1=zeros(1,finalStep);
      y1=zeros(1,finalStep);

     theta1=zeros(1,finalStep);
      turning1=zeros(1,finalStep);
      err1=zeros(1,finalStep);
      u1=zeros(1,finalStep);
      for t=1:finalStep
          if t==1
              x(t)=startx;
              y(t)=starty;
              x1(t)=startx1;
              y1(t)=starty1;
              theta(t)=0;
              turning(t)=0;
              theta1(t)=0;
              turning1(t)=0;
              si=atan((xg-x(t))/(yg-y(t)));
              si1=atan((xg1-x1(t))/(yg1-y1(t)));

              err(t)=si-theta(t);
              u(t)=ki*err(t)*delta/2;
              r=kp*err(t)+u(t);

              err1(t)=si1-theta1(t);
              u1(t)=ki*err1(t)*delta/2;
              r1=kp*err1(t)+u1(t);

          else if t>1

                  if (xg>0&&yg>0)
                  x(t)=x(t-1)+delta*v*sin(theta(t-1));
                  y(t)=y(t-1)+delta*v*cos(theta(t-1));
                  theta(t)=theta(t-1)+delta*turning(t-1);
                  turning(t)=turning(t-1)+(delta*(r-turning(t-1)))/T;
                  si=atan((xg-x(t))/(yg-y(t)));
                  err(t)=si-theta(t);
                  u(t)=ki*(err(t)+err(t-1))*delta/2;
                  r=kp*err(t)+u(t);
                   end
                    if(xg<0&&yg>0)

                  x(t)=x(t-1)+delta*v*sin(theta(t-1));
                  y(t)=y(t-1)+delta*v*cos(theta(t-1));
                  theta(t)=theta(t-1)+delta*turning(t-1);
                  turning(t)=turning(t-1)+(delta*(r-turning(t-1)))/T;
                  si=atan((xg-x(t))/(yg-y(t)));
                  err(t)=si-theta(t);
                  u(t)=ki*(err(t)+err(t-1))*delta/2;
                  r=kp*err(t)+u(t);   

                 end
                    if(xg>0&&yg<0)

                     x(t)=x(t-1)-delta*v*sin(theta(t-1));
                  y(t)=y(t-1)-delta*v*cos(theta(t-1));
                  theta(t)=theta(t-1)+delta*turning(t-1);
                  turning(t)=turning(t-1)+(delta*(r-turning(t-1)))/T;
                  si=atan((xg-x(t))/(yg-y(t)));
                  err(t)=si-theta(t);
                  u(t)=ki*(err(t)+err(t-1))*delta/2;
                  r=kp*err(t)+u(t);   

                    end
                   if (xg<0&&yg<0)
                  x(t)=x(t-1)-delta*v*sin(theta(t-1));
                  y(t)=y(t-1)-delta*v*cos(theta(t-1));
                  theta(t)=theta(t-1)+delta*turning(t-1);
                  turning(t)=turning(t-1)+(delta*(r-turning(t-1)))/T;
                  si=atan((xg-x(t))/(yg-y(t)));
                  err(t)=si-theta(t);
                  u(t)=ki*(err(t)+err(t-1))*delta/2;
                  r=kp*err(t)+u(t);   

                  end

                    if(xg1>0&&yg1>0)

                     x1(t)=x1(t-1)+delta*v1*sin(theta1(t-1));
                  y1(t)=y1(t-1)+delta*v1*cos(theta1(t-1));
                  theta1(t)=theta1(t-1)+delta*turning1(t-1);
                  turning1(t)=turning1(t-1)+(delta*(r1-turning1(t-1)))/T;
                  si1=atan((xg1-x1(t))/(yg1-y1(t)));
                  err1(t)=si1-theta1(t);
                  u1(t)=ki*(err1(t)+err1(t-1))*delta/2;
                  r1=kp*err1(t)+u1(t);

                  end

                  if(xg1>0&&yg1<0)

                       x1(t)=x1(t-1)-delta*v1*sin(theta1(t-1));
                  y1(t)=y1(t-1)-delta*v1*cos(theta1(t-1));
                  theta1(t)=theta1(t-1)+delta*turning1(t-1);
                  turning1(t)=turning1(t-1)+(delta*(r1-turning1(t-1)))/T;
                  si1=atan((xg1-x1(t))/(yg1-y1(t)));
                  err1(t)=si1-theta1(t);
                  u1(t)=ki*(err1(t)+err1(t-1))*delta/2;
                  r1=kp*err1(t)+u1(t);

                  end
                   if(xg1<0&&yg1>0)

                    x1(t)=x1(t-1)+delta*v1*sin(theta1(t-1));
                  y1(t)=y1(t-1)+delta*v1*cos(theta1(t-1));
                  theta1(t)=theta1(t-1)+delta*turning1(t-1);
                  turning1(t)=turning1(t-1)+(delta*(r1-turning1(t-1)))/T;
                  si1=atan((xg1-x1(t))/(yg1-y1(t)));
                  err1(t)=si1-theta1(t);
                  u1(t)=ki*(err1(t)+err1(t-1))*delta/2;
                  r1=kp*err1(t)+u1(t);

                  end

                    if (xg1<0&&yg1<0)

                     x1(t)=x1(t-1)-delta*v1*sin(theta1(t-1));
                  y1(t)=y1(t-1)-delta*v1*cos(theta1(t-1));
                  theta1(t)=theta1(t-1)+delta*turning1(t-1);
                  turning1(t)=turning1(t-1)+(delta*(r1-turning1(t-1)))/T;
                  si1=atan((xg1-x1(t))/(yg1-y1(t)));
                  err1(t)=si1-theta1(t);
                  u1(t)=ki*(err1(t)+err1(t-1))*delta/2;
                  r1=kp*err1(t)+u1(t);

                       end

              end
          end

              figure(1);

        %set(text,'String',{'',['Vx  '],' ',' ',['Vy '], ' ' ,' ',['PosX  '],' '    ,' ',['PosY  '],' ' ,' ',['Time ']});
          plot (startx,starty,'--rs', xg,yg,'--rs',x(t),y(t),'-')
          plot (startx1,starty1,'--rs', xg1,yg1,'--rs',x1(t),y1(t),'-')
            hold on
             drawnow
           axis([-5000 5000 -5000 5000])
           labels = cellstr( 'T2' );
             labels1 = cellstr( 'T1' );
             text(startx,starty, labels1, 'horizontal','left', 'vertical','top');
          text(startx1,starty1, labels, 'horizontal','left', 'vertical','top');

        % set(text11,'String',{'',['posx '],'',['posy '], '',['V '],' ',['t  '],' ' });
         % hold on
  if xg>0
          if x(t)>xg 
               if(posx1==xg)
                 disp('posx4444')
                v=p2(3);

             end
              if(posx2==xg)
                  disp('posx2222')
               v=p3(3);

              end 
               if(posx3==xg)
                  disp('posx2222')
               v=p4(3);

              end 
            disp('Simulation1 End')

        break 

            %stop
          end
  end
     if xg<0
          if x(t)<xg 
              if(posx1==xg)
                 disp('posx4444')
                v=p2(3);

             end
              if(posx2==xg)
                  disp('posx2222')
               v=p3(3);

              end 
               if(posx3==xg)
                  disp('posx2222')
               v=p4(3);

              end 
           disp('Simulation2 End')
        break
          end
     end

     if xg1>0
          if x1(t)>xg1 
               if(posx11==xg1)
                 disp('posx4444')
                v=p21(3);

             end
              if(posx21==xg1)
                  disp('posx2222')
               v=p31(3);

              end 
               if(posx21==xg1)
                  disp('posx2222')
               v=p41(3);

              end 
         disp('Simulation12 End')
   break
          end
  end
     if xg1<0
          if x1(t)<xg1
               if(posx11==xg1)
                 disp('posx4444')
                v=p21(3);

             end
              if(posx21==xg1)
                  disp('posx2222')
               v=p31(3);

              end 
              if(posx31==xg1)
                  disp('posx2222')
               v=p41(3);

              end 
            disp('Simulation21 End')
     break
          end
  end

end
end

Answer 1

[Image Analyst]

Try this: http://blogs.mathworks.com/videos/2012/07/03/debugging-in-matlab/

Or else this:

% Loop 1 that you break out of.
for k = 1 : 40
  if someCondition
      break
    end
end
% Now do the next loop
for k = 1 : 13
    % code
end
% Now do the second loop
for k = 1 : 42
   % code
end