2R Robotic arm animation

% forward kinematics robotic arm movie
close all
clear all
clc

% inputs
l1 = 1;
l2 = 0.5;
theta1 = linspace(0,90,45);
theta2 = linspace(0,90,45);

ct = 1;
for i = 1:length(theta1)
    THETA1 = theta1(i);
    for j = 1:length(theta2)
        THETA2 = theta2(j);
        
        x0 = 0;
        y0 = 0;


        x1 = l1*cosd(THETA1);
        y1 = l1*sind(THETA1);
        x2 = x1 + l2*cosd(THETA2);
        y2 = y1 + l2*sind(THETA2);


        % plotting
       
        plot([x0 x1], [y0 y1],[x1 x2], [y1 y2], \'linewidth\',3);
        axis([-0.1 2 -0.1 2])
        pause(0.01)
        M(ct) = getframe(gcf);
        ct = ct+1;
    end

end

movie(M)
videofile = VideoWriter(\'forward_kinematics.avi\',\'Uncompressed AVI\');
open(videofile)
writeVideo(videofile,M)
close(videofile)