%daspect([1.0 1.0 1.0]) %shows even scaling on axes

[t,theta1] = mypend(pi+0.1,pi+0.2,1,1,1,0.005,40,0);

figure(2)
grid on,hold 

veh1X = [-0.1 0.1 0.1 -0.1];
veh1Y = [-0.1 -0.1 1 1];

theta1 = theta1-pi;


h1 = fill(veh1X,veh1Y,'b'); 
set(h1,'Erasemode','Background');

axis([-2 2 -2 2]);


i=1;
        
    set(h1,'Xdata',veh1X*cos(theta1(i))-veh1Y*sin(theta1(i)),...
        'Ydata',veh1Y*cos(theta1(i))+veh1X*sin(theta1(i)));
    
    drawnow
    pause
    



for i=2:length(theta1),
   
    
    set(h1,'Xdata',veh1X*cos(theta1(i))-veh1Y*sin(theta1(i)),...
        'Ydata',veh1Y*cos(theta1(i))+veh1X*sin(theta1(i)));
    
    
drawnow

end