Week 2- 2R Robotic Arm Challenge

%forward kinematic motion of 2 link robotic arm%
clear all
close all
clc
%inputs%
%length m %
l1=1;
l2=0.5;

%Link 1 Link2 angle in deg%
theta1=linspace(0,90,10);
theta2=linspace(0,90,10);

%counter for frames%
ct=1;

%looping the link angles respectively%

for i=1:length(theta1)
    THETA1=theta1(i);
    for j=1:length(theta2)
        THETA2=theta2(j);

% Co-ordinates%
x0 = 0;
y0 = 0;
x1= l1*cosd(THETA1);
y1= l1*sind(THETA1);
x2= x1 + l2*cosd(THETA2);
y2= y1 + l2*sind(THETA2);

%plotting the link%

plot([x0 x1],[y0,y1],[x1 x2],[y1,y2],'linewidth',3);
axis([-0.1 1.5 0 1.5])
pause(0.1)
% saving frames%
M(ct) = getframe(gcf);
ct=ct+1;
    end
end
%saving as movie%
movie(M)
videofile = VideoWriter('forward_kinematic_roboarm.avi',"Uncompressed AVI");
open(videofile)
writeVideo(videofile,M)
close(videofile)