Week 2- 2R Robotic Arm Challenge

%Forward Kinematics of 2R Robotic Arm
clear all 
close all
clc

% Let us take length of arm link1 & link2 as l1&l2 respectively
  l1=4;
  l2=8;

  Let us take Angle of theta1 and theta2
  theta1=linespace(0,90,10);
  theta2=linespace(0,90,10);
  ct=1;
  
for i=1:length(theta1);
    THETA1=theta1(i);
for j=1:length(theta2);
    THETA2=theta2(j);

%coordinates
   x0=0;
   y0=0;

   x1=1l*cosd(THETA1);
   y1=l2*sind(THETA2);

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

%let us plot
%plotting
   plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3);
   grid on
   hold on
   axis[(-0.1 1.5 0 1.5)];
   pause(0.1);
   ct-ct+1;
   M(ct)=get frame(gcf);
end
end

%Creating Movie of 2R Robotic Arm
   movie(m)
   videofile=videowriter('forward_kinematic.avi','Uncompressed.avi');
   open(videofile);
   Write video(Videofile,m);
   close(videofile);