% starts simulation => press play 
% define input values 
close all
% initial values
varalpha                = pi/2;
dvaralpha              = 0;
ivp=[varalpha; dvaralpha];
% parameters
g                   = 9.81; 
m1                  = 10; 
m2                  = 21; 
m3                  = 2; 
l1                  = 3; 
l2                  = 7;
l3                  = 5;
l0                  = 6;
duration            = 30;
Mtorq               = 10;
parameter = [g; m1; m2;m3; l1; l2; l3; Mtorq; l0];
% frames per seconds and step size of time t (see hurryup)
fps                 = 60;
% Damit Kurbelschwinge sich drehen kann muss gelten:
% checks if Crank Rocker Mechanism can work. l1 +2(l2-l0) = l3
if (l1 +2*(l2-l0) == l3)
hurryup(ivp, parameter, duration, fps);  
else
 fprintf('ERROR: l1 +2(l2-l0) does not equal l3');
end