Write a Matlab code to draw the robot given its current position and orientation on the global X,Y plane. Assume X is positive to the right, Y is positive up, and the orientation of the robot is measured with respect to the X axis. Make sure your orientation is always expressed in the range [-Pi, PI].

Use rectangles for the robot body (filled with red color) and for the wheels (filled with black color).

Make sure you use a function that you can call from your main file. This function should update the drawing of the robot given its global position X,Y, and its orientation Phi.

Suggestions:

Add the following extra fields to the robot struct: robot.X, robot.Y, robot.Phi

To draw the robot, learn how to use Matlabs hgtransform.