Week 2- 2R Robotic Arm Challenge

% To Simulate the forward Kinematics of a 2R Robotic Arm
 
clear all
close all
clc
 
%Inputs
l1 = 2;
l2 = 0.5;
theta1 = linspace(0,90,10);
theta2 = linspace(0,90,10);
 
ct=1;
for i=2 length(theta1)
    THETA1 = theta1(i);
    for j = 1:length(theta2)
        THETA2 = theta2(j);
        x0 = 0;
        y0 = 0;
        
        x1 = l1*cosd(THETA1);
        y1 = l1*sind(THETA2);
        
        x2 = x1 + l2*cosd(THETA1);
        y2 = y1 + l2*sind(THETA2);
        
        %Plotting
        
        plot([x0,x1],[y0,y1],[x1,x2],[y1,y2],'linewidth',3)
        axis([-0.1 1.5 0 1.5])
        pause(0.03)
        M(ct)= getframe(gcf);
        ct = ct+1;
        
    end
end
 
movie(M)
videofile = videowriter('Robotic_arm.avi','Uncompressed AVI');
open(videofile)
writevideo(videofile,M)
close(videofile)