Week 2- 2R Robotic Arm Challenge

%Forward kinematics of a robotic arm with movie plot
clear all
close all
clc

%inputs
%Length m
%theta degrees

l1=1;
l2=0.5;

theta1=linspace(0,90,4);
theta2=linspace(0,180,4);

ct=1;
for i=1:length(theta1)
    THETA1= theta1(i);
    for j = 1:length(theta2)
        THETA2 = theta2(j);
        
x= 0;
y= 0;

%Position of link 1
x1=l1*cosd(THETA1);
y1=l1*sind(THETA1);

%Position of link 2
x2= x1+l2*cosd(THETA2);
y2= y1+l2*sind(THETA2);

%plotting

plot([x  x1] , [y  y1],  [x1  x2] , [y1  y2]','linewidth',3);
axis([-0.1 1.5 0 1.5])
xlabel('x')
ylabel('y')

pause(0.05);
M(ct)= getframe(gcf);
ct=ct+1;

        
    end 
end

%Movie(M)
videofile = VideoWriter('forwardkinm_twor.avi','Uncompressed AVI');
videofile.FrameRate = 5;
open(videofile);
writeVideo(videofile,M)
close(videofile)