please convert this coding into flowchart

% This is for planning the linear trajectory with parabolic blends for a

% RRR planar robotic arm

% Inputs:

% - Goal matrix TQ (via points with designated time of arrival)

% - parabolic time interval tp (default 0.5s for all)

% - Cartesian or Joint? CJ (usually plan trajectory in cartesian)

% - Link Info l1 l2 l3

%% Settings

addpath(genpath(pwd));

% Goal matrix

% Link length

l1 = 5;

l2 = 3;

l3 = 1;

% Goal matrix

% t x y theta

TQ = [ 0 -4 0 120 ;

2 -5 5 45 ;

4 2 3 30 ;

9 5 -3 0 ];

tp = 0.5; %parabolic blends time (all 0.5 in this case)

CJ = 0; %Cartesian or Joint? 0: Cart; 1:Joint

%end of INPUTS

% LineWidth and pOintWidth

LW = 4;

OW = 2;

Tint = 0.05; %time interval for each frame

P = tp*ones(size(TQ,1),1); %parabolic blends time (all 0.5 in this case)

G = [TQ P]; %overall GOAL matrix

%% video and animation setting

%animation?

ani = 1;

%video recording

videoSave = 0;

videoSave = videoSave*ani;

if videoSave == 1

videoName = 'TEST';

AVI1 =VideoWriter(videoName,'MPEG-4');

open(AVI1);

end

%% STEP 0: If joint space, perform Inverse Kinematics first

if CJ == 1

JA = InverseKin(TQ(:,2),TQ(:,3),TQ(:,4),l1,l2);

G(:,2:4) = JA;

end

%% STEP 1: find out the velocities and acc. then get all the points in between

[TT, QQ] = genParaPoints(G,Tint); %will display the velocities and accelerations of each section

N = size(QQ,1); %number of points

if CJ == 1 %if joint space

QQ(:,1:end-1) = QQ(:,1:end-1)*180/pi; %to degrees

G(:,2:end-1) = G(:,2:end-1)*180/pi; %to degrees

end

%% STEP 2: plot the trajectories of each DOF

TS = DOFpointPlot(TT,QQ,G);

%Cartesian Space Labels

if CJ == 0

subplot(1,3,1);ylabel('X(t)');

subplot(1,3,2);ylabel('Y(t)');

subplot(1,3,3);ylabel('\theta(t)');

else

subplot(1,3,1);ylabel('\theta_1(t)');

subplot(1,3,2);ylabel('\theta_2(t)');

subplot(1,3,3);ylabel('\theta_3(t)');

end

%% STEP 3: plot the trajectories on Cartesian Space

figure(2);

%set(2, 'Position', [635 200 560 420]);

plot(0,0,'ko','MarkerSize',10);hold on;

axis equal;grid on;grid minor;

xlim([-(l1+l2) (l1+l2)]);ylim([-(l1+l2) (l1+l2)]);

xlabel('X');ylabel('Y');

set(gca,'fontsize',25);

%Plot the Workspace

d = linspace(0,2*pi);

plot( (l1-l2)*cos(d), (l1-l2)*sin(d), 'm');

plot( (l1+l2)*cos(d), (l1+l2)*sin(d), 'm');

color = 0;

TJ = zeros(N,2);

if CJ == 0

TJ = QQ(:,1:2);

else

TJ(:,1) = l1*cos(QQ(:,1)*pi/180)+l2*cos((QQ(:,1) + QQ(:,2))*pi/180);

TJ(:,2) = l1*sin(QQ(:,1)*pi/180)+l2*sin((QQ(:,1) + QQ(:,2))*pi/180);

end

%% Plot the trajectory: Green for parabolic region, Blue for linear region

for j = 1:length(TS)-1

if color == 0

plot(TJ(TS(j):TS(j+1),1),TJ(TS(j):TS(j+1),2),'g','LineWidth',LW);hold on;

else

plot(TJ(TS(j):TS(j+1),1),TJ(TS(j):TS(j+1),2),'color',[0 0 0.7],'LineWidth',LW);hold on;

end

color = 1-color;

end

%Plot the via points

plot(TQ(:,2),TQ(:,3),'r.','MarkerSize',25);

clear color d;

%% Plot the LINKS by finding all angles of each axes using inverse kinematics

if CJ == 0

JA = InverseKin(QQ(:,1),QQ(:,2),QQ(:,3),l1,l2);

else

JA = QQ(:,1:3)*pi/180;

end

J1 = JA(:,1);

J2 = JA(:,1)+JA(:,2);

J3 = JA(:,1)+JA(:,2)+JA(:,3);

% the links positions

XX = [ zeros(N,1) l1*cos(J1) l1*cos(J1)+l2*cos(J2) l1*cos(J1)+l2*cos(J2)+l3*cos(J3) ];

YY = [ zeros(N,1) l1*sin(J1) l1*sin(J1)+l2*sin(J2) l1*sin(J1)+l2*sin(J2)+l3*sin(J3) ];

%% Animation

if ani == 0

plot(XX(1,:),YY(1,:),'k','linewidth',LW);

else

for i = 1:N

p1 = plot(XX(i,:),YY(i,:),'k','linewidth',LW);

if videoSave == 1

frame = getframe(fig);

writeVideo(AVI1,frame);

end

pause(0.1);

if i

delete(p1);

end

end

end

if videoSave==1

close(AVI1);

end

hold off;