clear all

R = 50;
L = 200;

a = 0:pi/20:4*pi;
ap = 850*2*pi/60;   % velocidade do girabrequim em rad/s
app = 0;            % aceleração do girabrequim em rad/s2

%--- Eq. de Posição do Mecanismo ---

%--- Usando o Looping ---
for i=1:length(a),
    %--- análise de posição ---
    b(i) = acos(R*cos(a(i))/L);
    yC(i) = R*sin(a(i)) + L*sin(b(i));
    %--- análise de velocidade ---
    bp(i) = R*ap*sin(a(i))/(L*sin(b(i)));
    yCp(i) = R*ap*cos(a(i)) + L*bp(i)*cos(b(i));
    %--- análise de aceleração ---
    bpp(i) = (R*app*sin(a(i))+R*(ap^2)*cos(a(i))-L*(bp(i)^2)*cos(b(i)))/(L*sin(b(i)));
    yCpp(i) = R*app*cos(a(i))-R*(ap^2)*sin(a(i))+L*bpp(i)*cos(b(i))-L*(bp(i)^2)*sin(b(i));
end

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


figure(1)
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

figure(2)
subplot(2,1,1)
plot(a*180/pi,yCp,'b-')
xlabel('Ângulo \alpha (graus)')
ylabel('Velocidade do Pistão (mm/s)')
axis([0 360 -1.1e4 1.1e4])
grid on

subplot(2,1,2)
plot(a*180/pi,bp,'r-')
xlabel('Ângulo \alpha (graus)')
ylabel('Velocidade \beta_P (rad/s)')
axis([0 360 -50 50])
grid on

figure(3)
subplot(2,1,1)
plot(a*180/pi,yCpp,'b-')
xlabel('Ângulo \alpha (graus)')
ylabel('Aceleração do Pistão (mm/s^2)')
axis([0 360 -2e6 1e6])
grid on

subplot(2,1,2)
plot(a*180/pi,bpp,'r-')
xlabel('Ângulo \alpha (graus)')
ylabel('Aceleração \beta_PP (rad/s^2)')
axis([0 360 -5000 5000])
grid on

%--- ANIMAÇÃO ---
figure(4)
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')
    plot([-2 -2],[yC(i) yC(i)+yCp(i)/1e2],'g-','linewidth',3)
    plot([2 2],[yC(i) yC(i)+yCpp(i)/1e4],'r-','linewidth',3)
    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