Week 2- 2R Robotic Arm Challenge

% This is a code for animating the forward motion of the robotic arm for the
% rotation of the arm between 0 to 90 degree

% We will first define the arm lengths and then will create a array for the 
% limits of rotaion of the arms i.e. between 0 to 90 degrees.

% We will then be using two for loops, first for loop will be used to
% define the coordinats of the arm 1 of the robot and second for loop will
% used to define the coordinates of arm2 while keeping the first arm fixed
% at one position and then animation of the plot is stored in videofile
% using various commands


arm1 = 1;       %length of arm 1
arm2 = 0.5;     %length of arm 2

theta = linspace(0,90,15);  %limits for the motion of the arms


ct = 1;         %counter value for capturing frames of the plot
for i = 1:length(theta)         %for loop 1 for obtaining coordinats of arm1

    %coodinates of one end of the arm 1
    x0 = 0;
    y0 = 0;
            
    %coordinates of second end of arm 1 and the first end of the arm2
    x1 = arm1*cosd(theta(i));
    y1 = arm1*sind(theta(i));

    for     j = 1:length(theta)  %for loop 2 for obtaining coordinats of arm2

            %cordinates for the second end of arm2
            x2 = x1+(arm2*cosd(theta(j)));
            y2 = y1+(arm2*sind(theta(j)));
            
            %plotting arm1 and arm2
            plot ([x0 x1],[y0 y1],[x1 x2],[y1 y2],'LineWidth',2)

            %defining axis limits for more visible plot
            axis([-0.2 1.8 0 1.8])

            %pausing for better animation
            pause(0.03);

            %capturing frames of each plot
            M(ct) = getframe(gcf);

            %increasing counter value to capture other frame
            ct = ct+1;
    end
end

%code for creating animation out of the frames captured in variable M
movie(M)

%creating videofile to store animation in it
videofile = VideoWriter('kinematics of robot arm.avi','Uncompressed AVI');

%opening the videofile to add all the frames
open(videofile);

%writing all the frames onto the videofile
writeVideo(videofile,M);

%closing the videofile to store all the added data
close(videofile);