drw_tri code.txt

	!PRECONDITION:
	--UFRAME_NUM=0, UTOOL_NUM=4, PR[5] IS OVERWRITABLE, R[14]=TARGET X POSITION, R[15]=TARGET Y POSITION, R[16]=NEXT X POSITION, R[17]=NEXT Y POSITION, R[18]=TARGET PRESSURE
	!POSTCONDITION:
	--ROBOT DRAWS A TRIANGLE WITH VERTICIES CURRENT POS, TARGET POS, AND NEXT POS, ENDING AT CURRENT POS
	
	!APLY TARGET PRESSURE
	DRAW TRGT PRES
	
	!SAVE CURRENT POS
	PR[5]=LPOS
	
	!GO TO TARGET X,Y AT PRESSURE
	DRAW TRGT POS & PRES
	
	!GO TO NEXT X,Y AT PRESSURE
	R[15]=R[17]
	R[14]=R[16]
	R[18]=R[19]
	DRAW TRGT POS & PRES
	
	!GO TO SAVED POS
	PR[5] 100mm/sec FINE