% Brian Slaboch
% Program Description:
% INPUTS:
% OUTPUTS:
% DATE:
% VERSION:

clc
clear

% semicolon suppress output
a = 6;

c = [ 1 4 6];
d = [3,4,7]';
transpose(c);

% linspace command
x = linspace(4,10,5);

% colon operator
y = 6:2:20;

y(3);
y(end);
sum(y);
min(y);

a = [3 4 5] ;
b = [2 3 1];

c = a+b;
c = a-b;

r = a.*c;

r = a./c;

r = a.^c;

%% for loops

z = 4;
%format long
for i = 1:.5:4

    z = z+2;
end



x = 6;
while x >7
    x = x -1;
end

%% Robot Simulation
l1 = 5
l2 = 2

deg2rad = pi/180;

theta1 = linspace(0,360,100)*deg2rad;
theta2 = linspace(0,360,100)*deg2rad;

for i = 1:length(theta1)

    x0 = 0;
    y0 = 0;

    x1 = x0+l1*cos(theta1(i));
    y1 = y0+l1*sin(theta1(i));

    x2 = x1+l2*cos(theta1(i)+theta2(i));
    y2 = y1 + l2*sin(theta1(i) + theta2(i));

    plot([x0 x1 x2],[y0 y1 y2],'ro-')
    xlabel('x axis')

    axis equal
    axis([-7 7 -7 7])
    getframe

end