Week 2- 2R Robotic Arm Challenge

clear all
close all
clc

%forward kinematics of robotic arm using for loop

%inputs
l1=1;
l2=0.5;
theta1=linspace(0,90,5);
theta2=linspace(0,90,5);
ct=1;
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);

       %plotting
       plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
       axis([-0.1 1.5 0 1.5])
       pause(0.5)
       M(ct)=getframe(gcf);
       ct=ct+1;

    end
end

movie(M)
videofile=VideoWriter('forward kinematics arm.avi','uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)

ANIMATION LINK:https://youtu.be/kjOfvl-3Xnc

REPORT:
1)first declare links and angles between links.
2)using foe loop determine the number of times you want the operation to run.
3)write the coordinates of links and plot within the for loop.
4)using "movie" command open videofile and save it.

ERRORS occured during writing code:
->in second for loop used 'i' as counter.
->in plotting used line instead of plot.
->forgot to write counter before for loop.
->not using capital 'V'and 'W' in writeVideo and videoWriter.
->changing the pause frequency and number of intervals in angles to get the right speed.