Week 2- 2R Robotic Arm Challenge

%forward_kinematics_of_robotarm;
%inputs;
l1 = 1;
l2 = 0.5;

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

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

        %co-ordinates of arm; 
        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([-0.1 1.5 0 1.5])
        pause(0.03)
        M(ct)=getframe(gcf);
        ct = ct+1;
    end
end
movie(M)
videofile = VideoWriter('forward_kinmatics_robotarm_avi','Uncompressed AVI')
open(videofile)
writeVideo(videofile,M)
close(videofile)


%drive link will be provided below.

https://drive.google.com/file/d/1YDf5R7tutZQmEuLmegmyzoTu4GReGFIQ/view?usp=sharing

Comments of the mentioned code:
1. THE AIM IS TO PROGRAM TO SIMULATE THE 2D ROBOTIC ARM ,WHICH CAN BE KNOWN AS FORWARD 
   KINEMATICS.

2. To Evaluate the position of links ,we need diferent angles so it can be simulate with 
   varies angles.For that , we wiil be using the linspace command to get multple theta 
   values. 

3. The main part of the program is using the for loop to execute the commands/statements  
   multiple times within it self.Acoording to the programme we can get multiplr values
   of theta .
4. we will assuming the (x,y) as the co-ordinators of arms for the start & end point  
   which includes the joint of the arm.

5. Next step is to plot the co=ordinators of arms and which can be saved as the animated
   or media file .
   Key point is using the pause command mean to be less efficient to the code.

6 .finally ,creating the array by combining of  multiple figures and this array which be 
   using in movie command and the videofile will be created,capturing the figures by 
   using write Video command.
7. close the command .

NOTE - detail report will be provided in the Project sections.