Week 2- 2R Robotic Arm Challenge

% forward Kinematic with animation

%input

clear all
close all
clc

% Inputs
l1 = 1.0;  % link of 1st arm
l2 = 0.5;  % Link of 2nd arm
ct = 1;    % counter

theta1 = linspace(0,90,4); % Different  angle of theta1  and angle limited 4 to reduce file size
theta2 = linspace(0,90,4); % Different  angle of theta2



for i = 1:length(theta1) % for loop for 1st arm
    THETA1 =theta1(i);   % For every angle of lower theta1 is stored in cap THETA1
    for j = 1:length(theta2) % for Loop for 2nd Arm
    THETA2 =theta2(j);% For every angle of lower theta2 is stored in cap THETA2

    x = 0; % Initial x coordinate
    y = 0; % Initial y coordinate

    x1 = cosd(THETA1)*l1; % x1 is derived by basic trignometry formula
    y1 = sind(THETA1)*l1; % y1 is derived by basic trignometry formula

    x2 = x1+cosd(THETA2)*l2; % x2 is calucated based on x1+l2
    y2 = y1+sind(THETA2)*l2; % y2 is calucated based on y1+l2

   %plotting

    plot([x x1],[y,y1],[x1 x2],[y1 y2],LineWidth=3)
    grid on
    axis([-0.1 1.6 0.1 1.6]); % axis set   
    pause(0.3);
    M(ct)=getframe(gcf); % getframe save the figure generated by plot and stored in M
    ct =ct +1 % counter is increased by one
    
    end

end

% Creating Movie

movie(M)
videofile = VideoWriter('FK_Animation','Uncompressed AVI')
open(videofile)
writeVideo(videofile,M)
close(videofile)