Week 2- 2R Robotic Arm Challenge

% programming using for loop in forward kinematic

%inputs

l1=2
l2=1
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);
        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',5);
        axis([-0.1 4 0 4])
        pause(0.1)
        M(ct)=getframe(gcf);
        ct=ct+1;
    end 
end
movie(M)
videofile=VideoWriter('forward_kinematic.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)

EXPLANATION OF CODES USED ABOVE:

INPUT HAS BEEN ASSUMED. 

L1=2 MEANS LENGTH OF THE FIRST ARM 

L2=1 MEANS LENGTH OF THE SECOND ARM

theta1=linspace(0,90,10)

theta2=linspace(0,90,10) 

HERE THE LANSPACE COMMAND IS USED BECAUSE I NEED VARIOUS ARM POSITION SO, theta VALUE 0 TO 90 I NEED 10 VALUES BETWWEN THEM 

ct =1 IT MEANS COUNTER USED INCREMENTS VALUES

for MEANS THE LOOP HAS BEEN OPENED  HERE IT IS USED FOR REPEATING THE PROGRAMM UNITS THE COMMAND END IS USED

i=1:length(theta1)

THETA1=theta1(i)

 THIS MEANS i VARIABLE IS EQUAL TO 1 IS TO LENGTH OF theta1 HERE THE LENGTH OF theta1 is 10

ANOTHER FOR LOOP IS OPENED j FOR THE theta2 

AND THE REPEATED VALUES SHOULD BE ENTERED IN LOOP MEANS 

X0=0

Y0=0

X1= L1* COSD(THETA1)

Y1= L1* SIND(THETA1) 

X2= X1+L2* COSD(THETA2)

Y2= Y1+L2* SIND(THETA2)

PLOTTING THE COORDINATES 

PLOTTING ALL THE COORINATES IN DIFFERENT POSITIONAS

AXIS LIMITS HAS BEEN FIXED OR MENTIONED 

PAUSE COMMAND IS USED TO FASTER THE MOTION OR TIME TO APPEAR IN DIFFERENT POSITION

M IS THE VARIABLE WE USE SOME ALSO

M(ct)=GETFRAME(gcf) MEANS THE COLLECTING ALL THE FIGURE FROM ALL DIFFERENT POSITION HAS BEEN COLLECTED

AGAIN THE CT IS INCREMENTED TO +1 

SO, THE ALL THE DIFFERENT POSITION AND ANGLES BEEN DONE BY USING FOR LOOP COMMMAND 

END 

END  HERE 2 END HAS BEEN TYPIED BECAUSE WE HAVE 2 FOR LOOP SO, THE 2 END SHOULD GIVE AT THE END

FROM THE ABOVE THE PROGRAM THE DIFFERENT FIGURE HAS BEEN COLLECTED BUT WE NEED THE ANIMATION SO,

MOVIE (M)

HERE THE M IS THE ARRAY OF FIGURE IT HAS BEEN ANIMATED BY MOVIE COMMAND IN BULIT IN MATLAB

FOR THE SAVING THE ANIMATED VIDEO OF FIGURES 

INITIALLY THE VIDEOFILE HAS BEEN CREATED IN THAT VIDEO WRITING SHOULD SAVED INTO THAT VIDEO FILE IN THAT FORMAT OF THE FILE HAS BEEN MENTIONED 

 FOR SAVING THE FILE -OPEN FILE (VIDEO FILE) MEANS OPENING THE CREATED VIDEO FILE 

WRITEVIDEO(VIDOE FIEL, M ) MEANS THE  AN ARRAY OF FIGURE OF M HAS BEEN ANIMATED IN THAT VIDEO FILE 

CLOSEFILE(VIDEO FILE ) MEAN CLOSING THE OPENED VIDEO FILE AFTER WRITIED IN THAT FILE.

           ERROR:

        FROM THIS ABOVE IMAGES THE ERROR THAT I HAVE MADE IS IN 34 LINE THE videofile=Videowriter('forward_kinematic.avi','Uncompressed AVI')

        ERROR IN THAT IS Videowriter IS WRONG, VideoWritier IS CORRECT  HERE V AND W SHOULD BE IN UPPERCASE

THIS IS THE IS OUTPUT OF MY PROGRAM 

                                    https://youtu.be/LCaMba67kDI