dt = 1;
n = 1;
v = .02;
theta = pi/4;
u = 0.00;
w = 2.5;

agent1 = [];

x1= 0;
y1= 0; 
v1= v;
theta1= 0.001;
u1 = u;
agent1(1,1)=x1;
agent1(1,2)=y1;
agent1(1,3)=v1;
agent1(1,4)=theta1;
agent1(1,5)=u1;

figure;
n = 1;
coords = [];
coords(1, :) = [x1, y1, theta1];
targetx = -5;
targety = 5;

plot(agent1(1,1),agent1(1,2), 'b+', targetx, targety, 'ro')

for t=2:dt:1000
    agent1 = SeekControl(t, dt, agent1, 1, coords, n, targetx, targety, w);
     
    coords(1, :) = [agent1(t,1), agent1(t,2), agent1(t,4)];

    plot(agent1(:,1),agent1(:,2), agent1(t,1), agent1(t,2), 'b+', targetx, targety, 'ro')

    axis([-10, 10, -10, 10]);
    M(t)= getframe;
end