Week 2- 2R Robotic Arm Challenge

%Program to simulate forward kinematics of robotic arm
clear all 
close all
clc

%Inputs
L1 = 1;
L2 = 0.5;

theta1= linspace(0,90,40);
theta2= linspace(0,90,40);

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(0.03)
        M(ct) = getframe(gcf);
        ct=ct+1;
        
    end
end

%Saving animation in '.avi' format file
movie(M)
videofile = VideoWriter('forward_kinematics.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)