Week 2- 2R Robotic Arm Challenge

%  program in Matlab to simulate the forward kinematics of a 2R Robotic Arm
clear all
close all
clc
%taking set of angles theta1 and theta2 with same intervals using linspace
%command
theta1=linspace(0,90,15);
theta2=linspace(0,90,15);
%inputs for link1 and link2
l1=1;
l2=.5;
% initiating the counter variables
ct=1;
% for looping programming
for i=1:length(theta1);
    THETA1=theta1(i);
    for j=1:length(theta2);
        THETA2=theta2(j);
        % co ordinate calculation
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)
% setting the Y axis and X axis limits
axis([-0.1 1.5 0 1.5])
%pausing the code
pause(0.01)
% getting all the frames in a single matrix
M(ct)=getframe(gcf);
%incrementing the counter variable
ct=ct+1;
    end
end
% creating the animation and extracting the video file
movie(M)
videofile=VideoWriter('forwardkinematics2R.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)