Week 2- 2R Robotic Arm Challenge

https://drive.google.com/drive/folders/1Kr4GiFNmgaqMisnWaIIXD!NibOrtGVW

%  forward_kinematics_for_loop
close all
clear all
clc

% inputs
l1 = 1;
l2 =0.5;
theta1 = linspace(0,90,30)
theta2 = linspace(0,90,30)
ct = 2
for i = 1:length(theta1)
    THETA1 = theta1(i)
  for j = 1:length(theta2)
    THETA2 = theta2(j)
     % Coordinates 
  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)
  axis([-0.2 2 0 2])
  pause(0.04)
  M(ct) = getframe(gcf);
  ct = ct+2;
  end
end

Movie(M)
videofile = Videowriter('forward_kinematics.avi',' AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)