Week 2- 2R Robotic Arm Challenge

Below program is for 2R a wireless gesture controlled robotic arm:-

given : length of arm 1 = 122

length of arm 2 = 136

% Forward Kinematics for a 2R a wireless gesture controlled robotic arm
clear all
close all
clc

%inputs 
l1 = 122;
l2 = 136;

theta1 = 45;
theta2 = 75;

%coordinates
x0 = 0;
y0 = 0;

x1 = l1*cosd(theta1);
y1 = l1*sind(theta1);

x2 = x1+l2*cosd(theta2);
y2 = y1+l2*sind(theta2);

%ploting
line([x0 x1] , [y0 y1],'linewidth',3,'color','b')
line([x1 x2] , [y1 y2],'linewidth',3,'color','r')

% Forward Kinematics for a 2R a wireless gesture controlled robotic arm
clear all 
close all
clc
 
%Inputs
l1 = 122;
l2 = 136;

theta1 = linspace(0,90,10);
theta2 = linspace(0,90,10);
ct = 1;
for i = 1:length(theta1)theta2(i)
    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,'color','g')
        axis([-0.1 200 0 270])
        pause (0.03)
        M(ct)=getframe(gcf);
        ct=ct+1;
    end
end

movie(M)
videofile = VideoWriter('challenge_three_animated.m','Uncompressed AVI');
open(videofile)
writevideo(videofile,M)
close(videofile)

Error facing till now :-

Unrecognized function or variable 'writevideo'.

Error in challenge_three_animated
writevideo(videofile,M)