function [] = armSim(theta1, theta2, a1, a2)
a0 = 5.64;
Y1 = a0;
Y2 = (a0 + (a1 * sind(theta1)));
Y3 = (Y2 + (a2 * sind(theta2)));
X1 = 0;
X2 = (0 + (a1 * cosd(theta1)));
X3 = (X2 + (a2 * cosd(theta2)));
line([4 0], [0 0]);
hold on;
line([0 0], [0 a0]);
t = 0:0.1:2*pi;
x = cos(t)/15;
y = (sin(t)/15) + a0;
plot(x,y);
plotline(0,a0,a1,theta1,'b');
x = (cos(t)/15) + (0 + (a1 * cosd(theta1)));
y = (sin(t)/15) + (a0 + (a1 * sind(theta1)));
plot(x,y);
plotline(X2,Y2,a2,theta2,'b');
x = (cos(t)/15) + X3;
y = (sin(t)/15) + Y3;
plot(x,y);
hold off;
This code takes 2 values of theta and 2 values of length to produce a simulation of the position of a 2DOF robotic arm in a standard graph. I need to change the output so that 0 degrees is graphed along the positive yaxis, 90 along the positive xaxis, and 90 along the negative xaxis. Help?
