Week 2- 2R Robotic Arm Challenge

clear all
close all
clc
% inputs
L1 = 1
L2 = 0.5
% generating 10 values for theta1 and theta2 using linspace command
theta1 = linspace(0, 90, 10);
theta2 = linspace (0, 90, 10);
ct = 1
% creating for loop to continuously move the robotic arm
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);
        plot([x0 x1], [y0, y1], [x1 x2], [y1 y2], 'linewidth', 3)
        axis([0 2 0 2])
        pause(0.1)
        M(ct) = getframe(gcf)
        ct=ct+1 
    end
end
% creating video file
movie(M)
videofile = VideoWriter('forward_kinematics.avi', 'uncompressed AVI');
open(videofile)
writeVideo(videofile, M)
close(videofile)