Week 2- 2R Robotic Arm Challenge

https://www.youtube.com/watch?v=ePOOhgJyxPg

clear all
close all
clc
%Inputs for Robotic Arm
%Length of Link
l1=2;
%Length of End Effector
l2=0.75;

theta1 = linspace(0,90,20);     %It will create evenly spaced values in the matrix
theta2 = linspace(0,90,20);
ct=1;
for i = 1:length(theta1)        % This will loop the theta values throughout its span
    THETA1=theta1(i);
    for j = 1:length(theta2)
        THETA2 = theta2(j);
%Setting the coordinates for the link & End effector

x0=0;
y0=0;

x1=l1*cosd(THETA1);
y1=l1*sind(THETA1);

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

%Plots
plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],"linewidth",2) %Plotting For robotic Arm Length and End Effector
axis([0 3 0 3.5]) % It will Set the coordinates on the axes
pause(0.02)
M(ct)=getframe(gcf); %It will creat the aarray of M for counter ct
ct=ct+1;
    end
end
movie(M); %It will create the movie of Frames considered under M
videofile = VideoWriter('forward_kinematics.avi','Uncompressed AVI'); %Videofile name & format
open(videofile)
writeVideo(videofile,M)
close(videofile)