Week 2- 2R Robotic Arm Challenge

clear all
close all
clc

%inputs
theta1 = linspace(0,90,10);
theta2 = linspace(0,90,10);

%to catch frames
k = 1

%for loop used for the variation of manipulator position w.r.t. theta
for i = 1:length(theta1)
THETA1 = theta1(i);
for j = 1:length(theta2)
THETA2 = theta2(j);
l1 = 1;
l2 = .6;

%coordinates
x0 = 0;
y0 = 0;

%positions of link no1

x1 = l1*cosd(THETA1);
y1 = l1*sind(THETA1);

%positions of link no2

x2 = x1 + l2*cosd(THETA2);
y2 = y1 + l2*sind(THETA2);

%plotting
plot([x0 x1],[y0 y1],[x1 x2],[y1,y2],'linewidth',3)
pause(0.01)

%saving the caught frames in a variable
M(k) = getframe(gcf);
k = k+1;

end
end

%creation of video file

movie(M)
videofile = VideoWriter('robotic_arm.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)

%video file was not created as the error showed was permission denied