Draw_shape.java

import java.awt.image.BufferedImage;
import java.io.PrintWriter;
import java.io.FileWriter;
import java.io.IOException;
import java.util.Arrays;
import java.util.ArrayList;
import swiftbot.*;




public class Draw_shape {
	public static final String ANSI_RESET = "\u001B[0m";
	public static final String ANSI_GREEN = "\u001B[32m";
	public static final String ANSI_RED   = "\u001B[31m";// these are the colour codes
	static SwiftBotAPI swiftBot;
	private static Boolean QR_valid = false;   //  this is a global variable so that it can work inside the button
	
	public static void main(String[] args) throws InterruptedException {
		swiftBot = new SwiftBotAPI();   //these are predefined variables
		
		String decodedQR = "";
		String[] shape_list = {};
		String[] current_shape = {};
		int side1 = 0;
		int side2 = 0;
		int side3 = 0;
		double angle_list[] = {};
		ArrayList<ArrayList<String>> ent_list = new ArrayList<>();   // multidimensional array list that stores all my shapes that need to be put in the save file
		int count = 0;
		
		start_screen();   // calls the start screen function
		while(QR_valid == false)
		{
			System.out.println(ANSI_GREEN +"Please Scan a QR code" + ANSI_RESET);
			shape_list = QR_code();
			
			if(shape_list == null)   //if there is something wrong with the shape list in the function and it returns null then the loop will repeat
			{
				continue;
			}
			
			if(shape_list.length > 5)    //  this makes sure that the QR code can only have up to 5 shapes
			{
				System.out.println(ANSI_RED +"Invalid QR code");
				System.out.println("You can only input up to 5 shapes" + ANSI_RESET);
				continue;
				
			}
			
			
			count = shape_list.length;
			for(int i = 0; i < shape_list.length;i++)  //loops through the shape list
			{
				current_shape = shape_check(shape_list[i]);
				if(current_shape != null)  // this checks is the shape is in the right format
				{
					if(current_shape.length == 2)  //checks if there is only one side
					{
						side1 = Integer.parseInt(current_shape[1]);
						if( ! length_check(side1))    // this checks if the side length is valid
						{
							System.out.println(ANSI_RED +"Invalid side length");
							System.out.println("The side length must be between 15cm and 85cm" + ANSI_RESET);
							continue;
						}
						
					}
					else
					{
						side1 = Integer.parseInt(current_shape[1]);   // these convert the sides from strings to ints
						side2 = Integer.parseInt(current_shape[2]);
						side3 = Integer.parseInt(current_shape[3]);
						
						if(! length_check(side1,side2,side3))   // this checks if the 3 side lengths are valid
						{
							System.out.println(ANSI_RED +"Invalid side lengths");
							System.out.println("The side lengths must be between 15cm and 85cm" + ANSI_RESET);
							continue;
						}
						
					}
					
				}
				else
				{
					System.out.println(ANSI_RED + "invalid" + ANSI_RESET);   //  if the shape list is null it displays invalid
					break;
				}

				if(current_shape[0].charAt(0) == 'T')  //this checks if the shape the user inputed is a triangle
				{
					if( ! triangle_check(side1, side2, side3))  //if the function returns false
					{
						System.out.println(ANSI_RED +"Invalid Triangle");
						System.out.println("Your Triangle can't be drawn" + ANSI_RESET);
						continue;
					}
					
					angle_list = angle_calculator(side1, side2, side3);  // this calls the function that calculates the angles for the triangle 
					ent_list.add(draw_shape_T(side1, side2, side3, angle_list));    //  this calls the function that draws the shape for the triangle  
					
					
					
					
				}
				else
				{
					ent_list.add(draw_shape(current_shape[0], side1));   // this calls the function that draws the shape for the square or pentagon then adds it to the ent list 
					
				}
				
				
				
				if(count > 1)  //  this checks if multiple shapes needs to be drawn
				{
					swiftBot.move(-40,-42,1200);   //  moves the swiftbot back 15cm to draw next shape
					count -= 1;
				}
				
			}
			
			save_file(ent_list);   // this calls the save file function
			
			System.out.println(ANSI_GREEN + "Press X on your swiftbot if you would like to terminate from here!");
			long endtime = System.currentTimeMillis() + 5000;
			swiftBot.enableButton(Button.X, () -> {
				System.out.println("Button pressed" + ANSI_RESET);
				QR_valid = true;
				swiftBot.disableButton(Button.X);
				
			});   //  this is my button that when pressed it terminates the program
			
			while(System.currentTimeMillis() < endtime)   // this loop waits 5 seconds giving the user enough time to be able to press the button
			{
				
				
			}
			
			swiftBot.disableButton(Button.X);   //  this disables the button so it can't be pressed again
			
			
			
			
			
		}
		
		
		end_screen();   //  displays end screen
		
		
		
		
		
	}
	
	
	
	public static void start_screen() // this is the start screen function
	{
		System.out.println("=====================================");
		System.out.println(ANSI_GREEN +"Draw shape"+ ANSI_RESET);
		System.out.println("=====================================");
		
		
		System.out.println(ANSI_GREEN +"How to play:"+ ANSI_RESET);
		System.out.println(ANSI_GREEN +"Scan a QR code containing the shape you want to draw"+ ANSI_RESET);
		
		
		System.out.println("-------------------------------------");
		
		System.out.println(ANSI_GREEN +"Allowed Shapes:"+ ANSI_RESET);
		System.out.println(ANSI_GREEN +"Square"+ ANSI_RESET);
		System.out.println(ANSI_GREEN +"Triangle"+ ANSI_RESET);
		System.out.println(ANSI_GREEN +"Pentagon"+ ANSI_RESET);
		
		System.out.println("-------------------------------------");
		
		System.out.println(ANSI_GREEN +"Creating the QR code:"+ ANSI_RESET);
		System.out.println(ANSI_GREEN +"The QR code must contain the shape you want to draw."+ ANSI_RESET);
		System.out.println(ANSI_GREEN +"The lengths of the sides of the shape"+ ANSI_RESET);
		System.out.println(ANSI_GREEN +"Square = 'S'"+ ANSI_RESET);
		System.out.println(ANSI_GREEN +"Triangle = 'T'"+ ANSI_RESET);
		System.out.println(ANSI_GREEN +"Pentagon = 'P'"+ ANSI_RESET);
		System.out.println(ANSI_GREEN +"The shape name and side lengths must be split up with a dash '-'"+ ANSI_RESET);
		
		System.out.println("-------------------------------------");
		
		
		System.out.println(ANSI_GREEN +"Examples:"+ ANSI_RESET);
		System.out.println(ANSI_GREEN +"Square = 'S-16'"+ ANSI_RESET);
		System.out.println(ANSI_GREEN +"Triange = 'T-16-30-24'"+ ANSI_RESET);
		System.out.println(ANSI_GREEN +"Pentagon = 'P-18'"+ ANSI_RESET);
		
		System.out.println("-------------------------------------");
		
		System.out.println(ANSI_GREEN +"Multiple Shapes "+ ANSI_RESET);
		System.out.println(ANSI_GREEN +"You can have up to 5 shapes on one QR code"+ ANSI_RESET);
		System.out.println(ANSI_GREEN +"Each shape should be seperated by '&'"+ ANSI_RESET);
		System.out.println(ANSI_GREEN +"Example: 'S-16&T-16-30-24'"+ ANSI_RESET);
		
		System.out.println("-------------------------------------");
		
		System.out.println(ANSI_GREEN +"Rules:");
		System.out.println(ANSI_GREEN +"Side lengths must be between 15 and 85 cm");
		System.out.println(ANSI_GREEN +"For a Triangle the side lengths must be able to make a valid shape"+ ANSI_RESET);
		
		
		System.out.println("=====================================");
		
		
		
	}
	
	public static String[] QR_code() //this function scans and decodes the QR code 
	{
		long startTime = System.currentTimeMillis();
		long endTime = startTime + 10000; // 10 seconds in milliseconds
		String decode = "";
		String decode2 = "";
		String[] shape_list = {};
		
		try 
		{
			while(System.currentTimeMillis() < endTime) // this loops for the 10 seconds
			{
				BufferedImage img = swiftBot.getQRImage();  //this gets the contents of the QR code
				decode = swiftBot.decodeQRImage(img);  //this decodes the contents of the QR code
				if(decode.length() != 0)
				{
					decode2 = decode;
					break;
				}
				
			}
			if(decode2.isEmpty())
			{
				System.out.println("QR code is empty, try again");  //if there is nothing on the QR code
				return null;
			}
			else
			{
				
				shape_list = shape_split(decode2);   // this calls the function which splits the decoded QR code into a list of shapes
				return shape_list;
				
			}
			
			
		}
		catch(Exception e)  //if something goes wrong when scanning the QR code
		{
			System.out.println("Unable to scan QR code");
			return null;
		}
		
		
	}
	
	public static String[] shape_split(String QR_code) // this function splits the shapes into a list
	{
		String[] shape_list = {};
		shape_list = QR_code.split("&"); // splits the QR code string and adds it to the shape list
		
		return shape_list;
		
	}
	
	public static String[] shape_check(String shape)  // this splits the shape entry by "-" and adds it to a list then makes checks that it is in the right format
	{
		String[] check = {};
		
		check = shape.split("-");
		
		if(check.length == 2) //for square or pentagon
		{
			char ch = check[0].charAt(0); // checks if first character is a letter
			if(Character.isAlphabetic(ch))
			{
				ch = check[1].charAt(0);
				if(Character.isDigit(ch)) // checks if the second character is a digit
				{
					return check;   // returns the list that contains the shape and the sides
				}
				else 
				{
					return null;
				}
			}
			else
			{
				return null;
			}
			
		}
		else if(check.length == 4) // for triangle
		{
			char ch = check[0].charAt(0);
			if(Character.isAlphabetic(ch))  //checks if the first character is a letter
			{
				ch = check[1].charAt(0);
				if(Character.isDigit(ch)) // checks if the second character is a digit 
				{
					ch = check[2].charAt(0);
					if(Character.isDigit(ch))  // checks if the third character is a digit
					{
						ch = check[3].charAt(0);
						if(Character.isDigit(ch))  // checks if the fourth character is a digit
						{
							return check;
						}
						else
						{
							return null;
						}
					}
					else
					{
						return null;
					}
				}
				else
				{
					return null;
				}
			}
			else
			{
				return null;
			}
		}
		else  // if the length of the shape isn't 2 or 4 then the shape is invalid
		{
			return null;
		}
		
		
	}
	
	public static boolean length_check(int side1)  // this is the length checker for 1 parameter
	{
		if((side1 >= 15) && (side1 <= 85)) // this checks if the the side length is bigger than 15cm and less than 85cm
		{
			return true;
			
		}
		else
		{
			return false;
		}
		
		
	}
	
	public static boolean length_check(int side1, int side2, int side3)   // this is the length checker for 3 parameters
	{
		if((side1 >= 15) && (side1 <= 85)) // this checks if the first side is between 15 and 85cm
		{
			if((side2 >= 15) && (side2 <= 85))  // this does the same check for side2 
			{
				if((side3 >=15) && (side3 <= 85))  // this does the same check for side3 
				{
					return true;
				}
				else
				{
					return false;
				}
			}
			else
			{
				return false;
			}
			
		}
		else
		{
			return false;
		}
		
		
	}
	
	
	public static boolean triangle_check(int side1, int side2, int side3)  //this function checks for a valid triangle
	{
		int sum = 0;
		int rem_side = 0;
		
		if(side1 > side2) //this look for the 2 smallest sides
		{
			if(side1 > side3)
			{
				sum = side2 + side3;  // this adds the 2 smallest sides to sum
				rem_side = side1;  // this adds the largest side to rem_side
			}
			else
			{
				sum = side1 + side2;
				rem_side = side3;
			}
		}
		else
		{
			if(side2 > side3)
			{
				sum = side1 + side3;
				rem_side = side2;
			}
			else
			{
				sum = side1 + side2;
				rem_side = side3;
			}
			
		}
		
		
		if(sum > rem_side)  // this checks if the sum of the 2 smallest sides are bigger than the largest side
		{
			return true;
		}
		return false;
		
		
		
	}
	

	public static double[] angle_calculator(int side1, int side2,int side3)   //this function calculates the angles for the triangle
	{
		double top1 = Math.pow(side1,2) + Math.pow(side2, 2) - Math.pow(side3, 2); // this calculates the top half of the fraction for angle1
		double bottom1 = 2 * side1 * side2;    //  this calculates the bottom half of the fraction for angle1
		double top2 = Math.pow(side2, 2) + Math.pow(side3, 2) - Math.pow(side1, 2);   // this calculates the top half of the fraction for angle2
		double bottom2 = 2 * side2 * side3;    //   this calculates the bottom half of the fraction for angle2 
		double top3 = Math.pow(side1, 2) + Math.pow(side3, 2) - Math.pow(side2, 2);    //  this calculates the top half of the fraction for angle3
		double bottom3 = 2 * side1 * side3;   //  this calculates the bottom half of the fraction for angle3
		double frac1 = top1/bottom1;   // this calculates the total fraction for angle1
		double frac2 = top2/bottom2;   //  this calculates the total fraction for angle2
		double frac3 = top3/bottom3;   //  this calculates the total fraction for angle3
		
		double angle1 = Math.acos(frac1);  // these arccos the values to get the angles
		double angle2 = Math.acos(frac2);
		double angle3 = Math.acos(frac3);
		
		angle1 = Math.toDegrees(angle1);  // these turn the angles from radians to degrees
		angle2 = Math.toDegrees(angle2);
		angle3 = Math.toDegrees(angle3);
		
		double angles[] = {angle1, angle2, angle3};   // this adds the angles all to a list
		
		return angles;
		
		
		
		
	}

	
	public static ArrayList<String> draw_shape_T(int side1,int side2,int side3, double[] angle_list) throws InterruptedException // this function calculates the time for the drawing the shape for the triangle
	{
		ArrayList<String> update = new ArrayList<>();     //  creates an array list for save values
		int[] side_list = {side1, side2, side3};     //  this creates a list with the sides
		double[] sidelist_straight = new double[3];  //  these create an empty list with an index value of 3
		double[] anglelist_turn = new double[3];
		double total_time = 0;
		
		System.out.println(ANSI_GREEN +"Drawing a Triangle" + ANSI_RESET);
		
		
		update.add("Triangle");
		update.add(String.valueOf(side1));
		update.add(String.valueOf(side2));
		update.add(String.valueOf(side3));
		
		
		
		
		
		for(int i = 0; i<3; i++)
		{
			update.add(String.valueOf(angle_list[i]));
			double move_time = speed_time(side_list[i]);  //this grabs the forward time for one side
			double turn_time = turn_time_T(180 - angle_list[i]);  //this grabs the turn time for one angle
			
			
			sidelist_straight[i] = move_time;   //this adds the forward time to a list
			anglelist_turn[i] = turn_time;   //this adds the turn time to a list
			
		}
		
		total_time = move_triangle(sidelist_straight, anglelist_turn);  // this calls the move_triangle function
		
		update.add(String.valueOf(total_time / 1000));
		
		return update;
		
	}
	
	public static ArrayList<String> draw_shape(String shape,int side1) throws InterruptedException  // this function calculates the time for drawing the shape for the square and pentagon
	{
		ArrayList<String> update = new ArrayList<>();
		double total_time = 0;
		
		if(shape.charAt(0) == 'S')   // this checks if the shape is a square 
		{
			update.add("Square");
			System.out.println(ANSI_GREEN + "Drawing a Square" + ANSI_RESET);
			double move_time = speed_time(side1);
			
			
			
			total_time = move_square(move_time);
			
			
			
		}
		else if(shape.charAt(0) == 'P')  // this checks if the shape is a pentagon
		{
			update.add("Pentagon");
			System.out.println(ANSI_GREEN + "Drawing a Pentagon" + ANSI_RESET);
			double move_time = speed_time(side1);
			
			
			total_time = move_pentagon(move_time);
			
			
		}
		else   //  this is if the shape isn't a square or a pentagon
		{
			System.out.println(ANSI_RED +"Shape is Invalid" + ANSI_RESET);
			return null;
			
		}
		update.add(String.valueOf(side1));
		update.add(String.valueOf(total_time / 1000));
		
		return update;
		
		
		
	}
	
	
	public static double speed_time(int side)   //  this calculates the time for the swiftbot to move forward
	{
		double speed = 0.13333333333333;   // this is the calibrated speed for the swiftbot when moving forward
		
		double distance = (double) side / 100;    // this turns the cm into m
		double time = distance / speed;
		
		return time;
		
	}
	
	
	public static double turn_time_T(double angle)  //  this function calculates the time the swiftbot needs to turn when drawing a triangle
	{
		double speed = 7;   //  this is the calibrated speed for the swiftbot when turning 
		
		double time = angle * speed;
		
		return time;
		
		
		
	}
	
	
	public static double move_triangle(double[] sidelist, double[] anglelist)  throws InterruptedException    //  this function calculates and moves the swiftbot when drawing the triangle
	{
		
		double sum = 0;
		int[] green = {0,255,0};  //  this is the colour green
		
		for(int i = 0; i < 3; i++)
		{
			
			double move_forward = sidelist[i] * 1000;   //  this converts the seconds into milliseconds 
			double move_forward2 = Math.round(move_forward);   // this rounds the milliseconds to a whole number
			double move_turn = Math.round(anglelist[i]);    // this rounds the time for the angles to a whole number
			int forward = (int) move_forward2;      //   these converts from double to int
			int turn = (int) move_turn;
			
			
			swiftBot.move(40,40,forward);    // this moves the swiftbot in a straight line at 40% power
			swiftBot.move(40,-40,turn);      // this turns the swiftbot at 40% power
			sum += forward;          //  these calculate the total sum of the swiftbot movement times
			sum += turn;
			
		}
		
		try {
			swiftBot.fillUnderlights(green);  //  this flashes the underlights green
			Thread.sleep(600);  //  time delay to keep the lights on
			
			swiftBot.disableUnderlights();
			Thread.sleep(600);
			swiftBot.fillUnderlights(green);
			Thread.sleep(600);
			
			swiftBot.disableUnderlights();
		}
		catch (Exception e){
			e.printStackTrace();
			System.out.println("ERROR: UnderLights have failed");
			System.exit(5);
		}
		
		
		return sum;
		
		
		
		
		
	}
	
	public static double move_square(double side_time) throws InterruptedException  //  this function calculates and moves the swiftbot when drawing the square
	{
		// angle = 90
		
		int turn = 660;   //  set turning time
		double sum = 0;
		int[] green = {0,255,0};
		double move_forward = side_time * 1000;   //  converts the seconds to milliseconds
		move_forward = Math.round(move_forward);
		int forward = (int) move_forward;
		
		
		for(int i = 0; i < 4; i++)   //  this is a loop that counts to 4 to make sure it draws 4 of the same side and angle
		{
			swiftBot.move(40,43,forward);
			swiftBot.move(40,-40, turn);
			sum += forward;
			sum += turn;
			
			
		}
		
		try {
			swiftBot.fillUnderlights(green);  //  this flashes the underlights green
			Thread.sleep(600);  //  time delay to keep the lights on
			
			swiftBot.disableUnderlights();
			Thread.sleep(600);
			swiftBot.fillUnderlights(green);
			Thread.sleep(600);
			
			swiftBot.disableUnderlights();
		}
		catch (Exception e){
			e.printStackTrace();
			System.out.println("ERROR: failed to set all under lights");
			System.exit(5);
		}
		
		return sum;
		
		
	}
	
	
	public static double move_pentagon(double side_time) throws InterruptedException   //   this function calculates and moves the swiftbot when drawing the pentagon 
	{
		//  angle = 108
		
		int turn = 540;  //  set turning time
		double sum = 0;
		int[] green = {0,255,0};
		
		double move_forward = side_time * 1000;   
		move_forward = Math.round(move_forward);
		int forward = (int) move_forward;
		
		
		for(int i = 0; i < 5; i++)   //  this is a loop that counts to 5 to make sure it draws 5 of the same side and angle
		{
			swiftBot.move(40,43,forward);
			swiftBot.move(40,-40, turn);
			sum += forward; 
			sum += turn;
			
		}
		
		try {
			swiftBot.fillUnderlights(green);  //  this flashes the underlights green
			Thread.sleep(600);  //  time delay to keep the lights on
			
			swiftBot.disableUnderlights();
			Thread.sleep(600);
			swiftBot.fillUnderlights(green);
			Thread.sleep(600);
			
			swiftBot.disableUnderlights();
		}
		catch (Exception e){
			e.printStackTrace();
			System.out.println("ERROR: failed to set all under lights");
			System.exit(5);
		}
		
		return sum;
		
		
	}
	
	public static void save_file(ArrayList<ArrayList<String>> ent_list)   //  this function creates and appends to a text file and saves the shapes values to it
	{
		int frequent = 0;
		String shape_frequent = "";
		String lrg_shape = "";
		double area = 0;
		double total_time = 0;
		int time_count = 0;   //  this variable is to count how many shapes there are
		double avg_time = 0;
		int t_count = 0;
		int s_count = 0;
		int p_count = 0;
		try(PrintWriter writer = new PrintWriter(new FileWriter("save.txt",true)))  //  this creates a text file if it hasn't already been created and allows the program to append to it
		{
			for(int i = 0; i< ent_list.size(); i++)  //  this loops through my ent list
			{
				if(ent_list.get(i) == null)  //  checks if a value in the ent list is null
				{
					continue;
				}
				else
				{
					ArrayList<String> check = ent_list.get(i);   //  stores the shape list into a variable called check
					if(check.get(0) != null && check.get(0) == "Triangle" )   //  checks if the shape in the shape list is a triangle
					{
						total_time += Double.parseDouble(check.get(7));
						time_count += 1;
						double b = Double.parseDouble(check.get(2));
						double c = Double.parseDouble(check.get(3));
						double angle = Double.parseDouble(check.get(5));
						double calc = (double) 0.5 * b * c * Math.sin(Math.toRadians(angle));   //  calculates the area of the triangle
						String name = "Triangle:" + check.get(1) +"," + check.get(2) + "," + check.get(3);    // this creates the format of how the large shape name will be displayed
						t_count += 1;                                                       //  adds to the triangle count
						
						if(calc > area)   //  checks if this triangle has the biggest area
						{
							area = calc;
							lrg_shape = name;
							
						}
						
						writer.print(name);
						writer.println(" Angle: " + check.get(4) + ","+check.get(5)+","+check.get(6)+";"+" Time: "+check.get(7)+" Seconds)");   //  this writes the shape that was drawn to the text file
						
					}
					else if(check.get(0) != null && check.get(0) == "Square")   //  checks if the shape in the shape list is a square
					{
						total_time += Double.parseDouble(check.get(2));
						time_count += 1;
						s_count += 1;           //  adds to the square count
						String name = "Square:" + check.get(1);
						double calc = Math.pow(Double.parseDouble(check.get(1)), 2);    //  calculates the area of the square
						
						if(calc > area)  //  checks if this square has the biggest area
						{
							area = calc;
							lrg_shape = name;
							
						}
						
						writer.print(name);
						writer.println(" (Time: " + check.get(2)+ " Seconds)");   //   writes the shape that was drawn to the text file
						
					}
					else if(check.get(0) != null && check.get(0) == "Pentagon")  //  checks if the shape in the shape file is a pentagon
					{
						total_time += Double.parseDouble(check.get(2));
						time_count += 1;
						p_count += 1;    //  adds to the pentagon count
						String name = "Pentagon:" + check.get(1);
	 					double squ = Math.pow(Double.parseDouble(check.get(1)), 2);
	 					double brac = 2 * Math.sqrt(5);
	 					brac += 5;
	 					brac *= 5;
	 					
						double calc = (double) 0.25 * Math.sqrt(brac) * squ;   //  calculates the area of the pentagon
						
						if(calc > area)   //  checks if this pentagon has the biggest area
						{
							area = calc;
							lrg_shape = name;
							
						}
						
						writer.print(name);
						writer.println(" (Time: "+ check.get(2)+ " Seconds)");   //  writes the shape that was drawn to the text file
						
					}
					
					//  all of this is to find out which shape is the most frequent
					if(t_count > s_count)
					{
						if(t_count > p_count)
						{
							frequent = t_count;
							shape_frequent = "Triangle";
						}
						else if(p_count > t_count)
						{
							frequent = p_count;
							shape_frequent = "Pentagon";
						}
						else
						{
							frequent = t_count;
							shape_frequent = "Triangle and Pentagon";
							
						}
						
					}
					else if(s_count > t_count)
					{
						if(s_count > p_count)
						{
							frequent = s_count;
							shape_frequent = "Square";
							
						}
						else if(p_count > s_count)
						{
							frequent = p_count;
							shape_frequent = "Pentagon";
							
						}
						else
						{
							frequent = s_count;
							shape_frequent = "Square and Pentagon";
							
						}
					}
					else
					{
						if(s_count >p_count)
						{
							frequent = s_count;
							shape_frequent = "Triangle and Square";
							
						}
						else if(p_count > s_count)
						{
							frequent = p_count;
							shape_frequent = "Pentagon";
							
						}
						else
						{
							frequent = s_count;
							shape_frequent = "Triangle and Square and Pentagon";
							
						}
					}
					
					
					
				}
				
				
				
			}
			
			avg_time = total_time / time_count;   // calculates the average time the swiftbot took to draw all the shapes
			
			writer.println("Largest Shape: " + lrg_shape+ "by "+ area+"cm" );  // this writes the largest shape to the text file
			writer.println("Most Frequent Shape "+ shape_frequent+ " Drawn " +frequent+" times");  //  this writes the most frequent shape to the text file
			writer.println("Average drawing time: " + avg_time);   //  this writes the average time to the text file
			writer.println();
			
		}
		catch(IOException e)
		{
			e.printStackTrace();
		}
		
	}
	
	public static void end_screen()  //  this function displays the end screen when the program is terminated
	{
		System.out.println(ANSI_GREEN +"Program Terminated");
		System.out.println("Drawing Results:");
		System.out.println("/data/home/pi/save.txt-pi@192.168.58.171"+ANSI_RESET);
		
	}
	
	
	

}