draw_shapes code.txt

	!PRECONDITION:
	--UFRAME_NUM=0, UTOOL_NUM=4, R[8] & R[9] ARE OVERWRITABLE, PR[11]=DRAW TOOL 1, PR[12]=OFFSET TO DRAW TOOL 2, R[12]=CURRENT DRAW TOOL #, R[13]=TARGET DRAW TOOL #, R[14]=TARGET X POSITION, R[15]=TARGET Y POSITION, R[7]=BOUNDS, R[18]=TARGET PRESSURE
	!POSTCONDITION:
	--ROBOT DRAWS A SQUARE WITH CORNER AT TARGET POS AND SIDE LENGTHS EQUAL TO BOUNDS USING DRAW TOOL 1, ROBOT INSCRIBES A CIRCLE IN THE BOX USING DRAW TOOL 2, ROBOT INSCRIBES A TRIANGLE IN THE CIRCLE USING DRAW TOOL 3, ALL AT TARGET PRESSURE
	
	!PREP BOT
	UFRAME_NUM=0
	UTOOL_NUM=4

	!GET DRAW TOOL 1
	R[13]=1
	SWAP DRAW TOOL
	
	!SAVE TARGET X,Y
	R[5]=R[14]
	R[6]=R[15]
	
	!DRAW SQUARE
	R[17]=4[15]+R[7]
	R[16]=4[14]+R[7]
	DRAW BOX
	
	!GET DRAW TOOL 2
	R[13]=2
	SWAP DRAW TOOL
	
	!DRAW CIRCLE
	
	
	!GET DRAW TOOL 3
	
	
	!DRAW TRIANGLE
	!REMOVE PRESSURE
	
	!GO TO START X,Y
	!a=(j,k+n/2)
	
	!GET TARGET POINT
	!b=(j+(1.5*n)/2,k+(0.133975*n)/2)
	
	!GET NEXT POINT
	!c=(j+(1.5*n)/2,k+(1.866025*n)/2)