clear all

R = 100;
L = 200;

a = 0:pi/20:4*pi;

%--- Eq. de Posição do Mecanismo ---

%--- Usando o Looping ---
for i=1:length(a),
    b(i) = acos(R*cos(a(i))/L);
    yC(i) = R*sin(a(i)) + L*sin(b(i));
end

%--- Fazendo direto ---
b = acos(R*cos(a)/L);
yC = R*sin(a) + L*sin(b);


% subplot(2,1,1)
% plot(a*180/pi,yC,'b-')
% xlabel('Ângulo \alpha (graus)')
% ylabel('Deslocamento do Pistão (mm)')
% axis([0 360 0 300])
% grid on
% 
% subplot(2,1,2)
% plot(a*180/pi,b*180/pi,'r-')
% hold on
% plot([0 360],[90 90],'k--')
% hold off
% xlabel('Ângulo \alpha (graus)')
% ylabel('Ângulo \beta (graus)')
% axis([0 360 0 180])
% grid on

%--- ANIMAÇÃO ---
for i=1:length(a),
    b(i) = acos(R*cos(a(i))/L);
    yC(i) = R*sin(a(i)) + L*sin(b(i));
    
    xB = R*cos(a(i));
    yB = R*sin(a(i));
    
    plot([0 xB],[0 yB],'r-','linewidth',3)
    hold on
    plot(0,yC(i),'ks','markersize',30,'markerfacecolor',[0.6 0.6 0.6])
    plot([xB 0],[yB yC(i)],'b-','linewidth',2)
    plot(0,0,'ko','markersize',10,'markerfacecolor','w')
    plot(xB,yB,'ko','markersize',10,'markerfacecolor','w')
    plot(0,yC(i),'ko','markersize',10,'markerfacecolor','w')
    hold off
    axis([-200 200 -100 300])
    text(0,20,'A')
    text(xB+20,yB,'B')
    text(20,yC(i),'C')
    axis square
    grid on
    pause(0.1)
end