Matlab Code for Peek a Bear

function [projfourbar] = projfourbar(theta2,guessL4,guesstheta3)

L1=96;
L2=13;
L3=68;
theta2=theta2*pi/180;
theta4=115*pi/180;
guesstheta3=guesstheta3*pi/180;
options = optimset('Display','off');
function F = root2d(x)
F = [L2*cos(theta2)+L3*cos(x(2))+x(1)*cos(theta4); L2*sin(theta2)+L3*sin(x(2))+x(1)*sin(theta4)-L1];
end
x0 = [guessL4,guesstheta3];

x = fsolve(@root2d,x0,options);
x(2)=x(2)*180/pi;
projfourbar=x;
end

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clear all
high=360;
theta2=linspace(0,high,200);
x=projfourbar(0,44,100);
L4(1)=x(1);
theta3(1)=x(2);
for n=2:length(theta2)
x=projfourbar(theta2(n),L4(n-1),theta3(n-1));
L4(n)=x(1);
theta3(n)=x(2);
end

linklength=56-L4;
linklength=linklength-min(linklength);

%%%

L5=20;
Lm=15;
for n=1:length(linklength)
theta5(n)=atan(linklength(n)/L5);
mouthopen(n)=2*Lm*sin(theta5(n));

height(n)=33-linklength(n); %finding angle of arm
thetaArm(n)=atan(height(n)/12);
LengthArmExposed(n)=35-sqrt(height(n)^2+144);


handpos(n)=50*cos(thetaArm(n))+35*cos(thetaArm(n)+pi/2); %finding x position of hand

end

for n=1:length(handpos)
distance(n)=2*(handpos(n)-min(handpos));
end
figure
hold on
plot(theta2,linklength)
title('Exposed Length of Neck')
xlabel('Input Angle (degrees)')
xlim([0 high])
ylabel('Length (mm)')
hold off

figure
hold on
plot(theta2,mouthopen)
title('How Open the Mouth is')
xlabel('Input Angle (degrees)')
xlim([0 high])
ylabel('Width of Mouth (mm)')
hold off

figure
hold on
plot(theta2,distance)
title('Distance Between Hands')
xlabel('Input Angle (degrees)')
xlim([0 high])
ylabel('Distance (mm)')
hold off

%end of program