function [] = Cart2Display(X, Ref)
% Display routine for the final exam
% ECE 463 Spring 2022

x = X(1);
q1 = X(2);
q2 = X(3);

% cart
   xc = [-0.2,0.2,0.2,-0.2,-0.2] + x;
   yc = [0,0,0.2,0.2,0];
% ball 1
   x1 = x + sin(q1);
   y1 = 0 - cos(q1);
% ball 2
   x2 = x + 1.3*sin(q2);
   y2 = 0 - 1.3*cos(q2);
   
% ball
   q = [0:0.1:1]' * 2*pi;
   xb = 0.05*cos(q);
   yb = 0.05*sin(q);
   
   plot([-3,3],[0,0],'b-',xc,yc,'r-',[x,x1],[0,y1],'r-',x1+xb, y1+yb, 'r-',[x,x2],[0,y2],'m-',x2+xb, y2+yb, 'm-',[Ref, Ref],[-0.1,0.1],'b')
   ylim([-1.5,0.5]);
   pause(0.01);
   end