Plotting upper and lower boundaries of a trace fuction

Hi guys, I am seeking some help with a trace function.

I would like the trace line at the foor of this mechanism to change colour for -71 < x < -4 and y < -89, to show the upper and lower bounds of the trace but I am stuck and can't figure out how to alter the code for the animation below to reflect this in the sequence, I would really appreciate some help with this!

function [trace] = Jansen_trace(AL, A0, step, n)

% [trace] = Jansen_trace(AL, A0, step, cycles)

% This function plots the Jansen mechanical linkage and traces the foot of

% the mechanism using an initial angle and progressing these angles over a

% given step

% Input AL = Initial crank angle

% Input A0 = [A1_0 A2_0 A3_0 A4_0 A5_0 A6_0 A7_0 A8_0] Initial estimates

% for other angles

% Input step = Desired step for angle to increase by in radians

% Input n = number of cycles to execute

% Output coordinates = [nodei_x nodei_y;

% nodej_x nodej_y;

% nodek_x nodek_y;

% noden_x noden_y;

% nodem_x nodem_y;

% nodep_x nodep_y;

% node0_x node0_y;

% node1_x node1_y] positions of the joints after

% last cycle

% Version 1, 11/04/2024 by Conor Pierce, Student Number 21302251

if ~isvector(A0)

error('Input A0 is a 1 x 8 row vector')

end

if ~isscalar(n) || n < 0

error('Input n is a positive integer number of cycles to be performed.')

end

if step < 0 || step > pi/4

error('Step must be a positive angle increment between 0 and pi/4.')

end

if A0(1) < 0 || A0(2) < 0 || A0(3) < 0 || A0(4) < 0 || A0(5) < 0 || A0(6) < 0 || A0(7) < 0 || A0(8) < 0

error('Angle estimates must be positive.')

end

if A0(1) > 2*pi || A0(2) > 2*pi || A0(3) > 2*pi || A0(4) > 2*pi || A0(5) > 2*pi || A0(6) > 2*pi || A0(7) > 2*pi || A0(8) > 2*pi

error('Angle estimates cannot be greater than 2*pi.')

end

close all

A_est = A0;

A_crank = AL;

trace = zeros(2, floor(2*n*pi/step));

count = 1;

% Set the crank to begin at initial estimate, increase by the step for

% every set of NR operations

for A_crank = AL : step : A_crank + 2*pi*n

A_update = Newton_Raphson_Jansen(A_crank, A_est); % Update Angles

NODES = Nodepos(A_crank, A_update); % Update node positions

% x and y coordinates of nodes

nodei = [NODES(1, 1), NODES(1, 2)];

nodej = [NODES(2, 1), NODES(2, 2)];

nodek = [NODES(3, 1), NODES(3, 2)];

nodem = [NODES(4, 1), NODES(4, 2)];

noden = [NODES(5, 1), NODES(5, 2)];

nodep = [NODES(6, 1), NODES(6, 2)];

node0 = [NODES(7, 1), NODES(7, 2)];

node1 = [NODES(8, 1), NODES(8, 2)];

drawnow

clf

axis([-115 50 -100 60])

nodep_x = NODES(6, 1);

nodep_y = NODES(6, 2);

% Place a line trace at the foot of the mechanism

trace(1, count) = nodep(1);

trace(2, count) = nodep(2);

line(trace(1, 1:count), trace(2, 1:count));

% Connect the links together

line([node0(1) nodei(1)], [node0(2) nodei(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2, 'Marker', '.', 'MarkerSize', 20, 'MarkerEdgeColor', [0 0.5 0.2])

line([nodei(1) nodej(1)], [nodei(2) nodej(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)

line([nodej(1) nodek(1)], [nodej(2) nodek(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)

line([noden(1) nodem(1)], [noden(2) nodem(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)

line([nodei(1) nodem(1)], [nodei(2) nodem(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)

line([nodej(1) node1(1)], [nodej(2) node1(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)

line([node1(1) nodem(1)], [node1(2) nodem(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)

line([node1(1) nodek(1)], [node1(2) nodek(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)

line([noden(1) nodep(1)], [noden(2) nodep(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)

line([noden(1) nodep(1)], [noden(2) nodep(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)

line([nodem(1) nodep(1)], [nodem(2) nodep(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)

line([nodek(1) noden(1)], [nodek(2) noden(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)

A_est = A_update;

count = count + 1;

end

[Mathieu NOE]

hi

we cannot run your code

• values are missing : A0 ,AL ,n ,step ,...
• function Newton_Raphson_Jansen not provided