phi1                = pi/4;
dtphi1              = 0;    % pocetna brzina prvog tega
phi2                = pi/4;
dtphi2              = 0;    % pocetna brzina drugog tega
g                   = 9.81; 
m1                  = 2; 
m2                  = 1; 
l1                  = 2; 
l2                  = 1;
vreme               = 10;
fps                 = 100;
movie               = true;

clear All; clf;
ivp = [phi1; dtphi1; phi2; dtphi2; g; m1; m2; l1; l2]; 
[t u] = ode45(@Dvostruko_klatno_ODE,[0 vreme], ivp);
hold on
plot(t,u(:,1), 'b-','LineWidth',2);
%plot(t,u(:,2), 'g-','LineWidth',2);
plot(t,u(:,3), 'r-','LineWidth',2);
%plot(t,u(:,4), 'k-','LineWidth',2);
xlabel('vreme(s)');
ylabel('ugao(\theta)');
title('Dvostruko klatno')
%legend('\theta_1', '\partial \theta_1', '\theta_2', '\partial \theta_2');
legend('\theta_1(t)', '\theta_2(t)');
hold off