LOAY

%cosdtheta4
if(mod(acosd((((r3*cosd(theta3))-(d*cosd(thetad)))/r4)),360)>= 0 & mod(acosd((((r3*cosd(theta3))-(d*cosd(thetad)))/r4)),360) <= 90) %1st
    cosdtheta4=abs(acosd(((r3*cosd(theta3))-(d*cosd(thetad)))/r4))
elseif(mod(acosd((((r3*cosd(theta3))-(d*cosd(thetad)))/r4)),360) > 90 & mod(acosd((((r3*cosd(theta3))-(d*cosd(thetad)))/r4)),360) <= 180)  %2nd
    cosdtheta4=180 - abs(acosd(((r3*cosd(theta3))-(d*cosd(thetad)))/r4))
elseif(mod(acosd((((r3*cosd(theta3))-(d*cosd(thetad)))/r4)),360) > 180 & mod(acosd((((r3*cosd(theta3))-(d*cosd(thetad)))/r4)),360) <= 270)  %3d
    cosdtheta4=180 + abs(acosd(((r3*cosd(theta3))-(d*cosd(thetad)))/r4))
elseif(mod(acosd((((r3*cosd(theta3))-(d*cosd(thetad)))/r4)),360) > 270 & mod(acosd((((r3*cosd(theta3))-(d*cosd(thetad)))/r4)),360) <360)  %4th
    cosdtheta4=360 - abs(acosd(((r3*cosd(theta3))-(d*cosd(thetad)))/r4))
end
%cosdtheta4=acosd(((r3*cosd(theta3))-(d*cosd(thetad)))/r4)
%sindtheta4

if(mod(asind((((r3*sind(theta3))-(d*sind(thetad)))/r4)),360)>= 0 & mod(asind((((r3*sind(theta3))-(d*sind(thetad)))/r4)),360) <= 90) %1st
    sindtheta4= abs(asind(((r3*sind(theta3))-(d*sind(thetad)))/r4))
elseif(mod(asind((((r3*sind(theta3))-(d*sind(thetad)))/r4)),360) > 90 & mod(asind((((r3*sind(theta3))-(d*sind(thetad)))/r4)),360) <= 180)  %2nd
    sindtheta4= 180 - abs(asind(((r3*sind(theta3))-(d*sind(thetad)))/r4))
elseif(mod(asind((((r3*sind(theta3))-(d*sind(thetad)))/r4)),360) > 180 & mod(asind((((r3*sind(theta3))-(d*sind(thetad)))/r4)),360) <= 270)  %3d
    sindtheta4= 180 + abs(asind(((r3*sind(theta3))-(d*sind(thetad)))/r4))
elseif(mod(asind((((r3*sind(theta3))-(d*sind(thetad)))/r4)),360) > 270 & mod(asind((((r3*sind(theta3))-(d*sind(thetad)))/r4)),360) <360)  %4th
    sindtheta4=360 - abs(asind(((r3*sind(theta3))-(d*sind(thetad)))/r4))
end
%sindtheta4=asind(((r3*sind(theta3))-(d*sind(thetad)))/r4)

end