Week 2- 2R Robotic Arm Challenge

report:

1. First i separated the coding into two parts- 1. static part 2.animation part
2. In static part i just program for static plot without animation in separate folder
3. And why do separate folder because to alling the proper arrangement of coding and see the difference to understand clearly
4. In animation part i have made a mistake, that when start the for loop i have forgotten to finish with 'end' command
5. 
6. The major error in animation part is placing the axis command in right place, it takes time to find out that mistake
7. That axis command should always under the plot command, but what i did is
8. So when I did this axis also changing, after i found the mistake and fixed it.

%program for forward kinematics of 2r robotic arm

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)

% animation

close all

clear all

clc

theta1 = linspace(0,90,10);

theta2 = linspace(0,90,10);

l1 = 2

l2 = 1.5

x0 = 0

y0 = 0

u =1

for i = 1:length(theta1)

tda1 = theta1(i);

for j = 1:length(theta2)

tda2 = theta2(j);

x1 = l1*cosd(tda1);

y1 = l1*sind(tda1);

x2 = x1+l2*cosd(tda2);

y2 = y1+l2*sind(tda2);

% plot

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)

axis([0 4 0 4])

pause(0.2)

f(u) = getframe(gcf)

u = u+1

end

end

movie(f)

myflim = VideoWriter('animationflim','Uncompressed AVI');

open(myflim)

writeVideo(myflim,f)

close(myflim)