I have Matlab R2010b. when I type codegen on the command line it says ??? Undefined function or variable 'codegen'. Is codegen avaialable on R2010b. If not what version is it supported on?

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Execute ver in the Command Window to display the list of available products and search for "MATLAB Coder". If it is not there, then you cannot use it.
Function codegen is part of the MATLAB Coder toolbox.

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