dynamic newnewnew

import numpy as np
from matplotlib import pyplot as plt
import math


r1 = 90
r2 = 50
r3 = 40
r4 = 8
fi = 321.057559*math.pi/180
theta45 = 2*math.pi/3

theta34max = 0
theta34min = -7*math.pi/18
all2 = []
all3 = []
all4 = []
all5 = []
allrest = []
alltheta34 = []
dt = 0.5/865
allomega2 = []
allomega3 = []
allomega4 = []
allafar2 = []
allafar3 = []
allafar4 = []
allavetheta5 = []
allsuperavetheta5 = []
for theta4 in np.arange(math.pi,2*math.pi,math.pi/1800):
    x1 = -r4*math.cos(theta4)
    y1 = -r4*math.sin(theta4)
    x2 = -r1*math.cos(fi)
    y2 = -r1*math.sin(fi)
    AB = ((x2-x1)**2+(y2-y1)**2)**0.5
    if AB > r3 + r2:
        continue
    θAB = math.atan((y1-y2)/(x1-x2))
    θplus1 = math.acos((r2**2+AB**2-r3**2)/(2*r2*AB))
    θplus2 = math.acos((-r2**2+AB**2+r3**2)/(2*r3*AB))
    rest = -(θplus1 + θplus2)



    if AB < r3+r2:
        theta2 = θAB + θplus1
        if theta2 < 0:
            theta2 = 2*math.pi + theta2
        theta3 = theta2 + rest
        if theta3 < 0:
            theta3 = 2*math.pi + theta3


    elif AB == r3+r2:
        theta2 = theta3 = θAB
        if theta2 < 0:
            theta2 = 2*math.pi + theta2
        theta3 = theta2 + rest
        if theta3 < 0:
            theta3 = 2*math.pi + theta3

    theta34 = -abs(theta4 - theta3)
    if theta34 > math.pi:
        theta34 = theta34 - math.pi
    allrest.append(rest)
    alltheta34.append(theta34)
    if theta34 > theta34max or theta34 < theta34min:
        continue

    theta5 = theta4 + theta45
    if theta5 < 0:
        continue
    if theta5 > 2*math.pi:
        theta5 = theta5 - 2*math.pi
    if theta5 > math.pi:
        continue

    all2.append(theta2)
    all3.append(theta3)
    all4.append(theta4)
    all5.append(theta5)

for i in range(0,len(all2)-1):
    omega2 = (all2[i+1]-all2[i])/dt
    allomega2.append(omega2)
for j in range(0,len(all3)-1):
    omega3 = (all3[j+1]-all3[j])/dt
    allomega3.append(omega3)
for k in range(0,len(all4)-1):
    omega4 = (all4[k+1]-all4[k])/dt
    allomega4.append(omega4)

for i1 in range(0,len(allomega2)-1):
    afar2 = (allomega2[i1+1]-allomega2[i1])/dt
    allafar2.append(afar2)
for j1 in range(0,len(allomega3)-1):
    afar3 = (allomega3[j1+1]-allomega3[j1])/dt
    allafar3.append(afar3)
for k1 in range(0,len(allomega4)-1):
    afar4 = (allomega4[k1+1]-allomega4[k1])/dt
    allafar4.append(afar4)
for c in range(0,len(all5)-1):
    avetheta5 = (all5[c] + all5[c+1])/2
    allavetheta5.append(avetheta5)

for d in range(0,len(allavetheta5)-1):
    superavetheta5 = (allavetheta5[d] + allavetheta5[d+1])/2
    allsuperavetheta5.append(superavetheta5)


fig = plt.figure()
ax1 = fig.add_subplot(111)
ax1.set_title('θ2-θ5')
plt.xlabel('θ5')
plt.ylabel('θ2')
ax1.scatter(allavetheta5,allomega3,c = 'r',marker = 'o')
plt.ylim([-4,2])
plt.legend('x1')
plt.show()