Required additions/changes for 'Circular' and 'Track' animations:

1. In "animation-create.tcl":

a. Add the following to the end of the file:

############################################################
    } elseif {$CanvasName == "Circular"} {
        CreateCanvasInstance $CanvasNumber 1 Circular
        lappend ExistingCanvases(Circular) $CanvasNumber
        set CanvasTypeArray($CanvasNumber) Circular
   } elseif {$CanvasName == "Track"} {
        CreateCanvasInstance $CanvasNumber 1 Track
        lappend ExistingCanvases(Track) $CanvasNumber
        set CanvasTypeArray($CanvasNumber) Track
    }
############################################################

2. In "canvas-parametes.tcl":

a. Add new canvas names to the list of 'Canvases':

###################################################################################
set Canvases {DemoRoad Generic_500x500 ShopFloor StraightRoad \
	BasketballCourt SuperMerge BigCanvas CarmmaTrack SmartAHS Circular Track}
###################################################################################

b. Add the following line to the end of the file:

###########################################################
## These are the parameters for the Circular
###########################################################
 
set XDefault(Circular) "gxp"
set YDefault(Circular) "gyp"
set TypeDefault(Circular) "VREP"
set MultiDefault(Circular) 1
set ImageDefault(Circular) "oval"
set CanvasStructure(Circular,height) 600 
set CanvasStructure(Circular,width) 600
set CanvasStructure(Circular,region) {0 0 1800 1800}
set CanvasStructure(Circular,procedure) DrawCircular

###########################################################
## These are the parameters for the Track
###########################################################
 
set XDefault(Track) "gxp"
set YDefault(Track) "gyp"
set TypeDefault(Track) "VREP"
set MultiDefault(Track) 1
set ImageDefault(Track) "oval"
set CanvasStructure(Track,height) 625
set CanvasStructure(Track,width) 625
set CanvasStructure(Track,region) {0 0 2500 2500}
set CanvasStructure(Track,procedure) DrawTrack
###########################################################

3. In "canvases.tcl":

a. Add the following procedures to the file:

##############################
#
# Cem's Circular test track
#
##############################

proc DrawCircular {w {zoom_index 1}} {

    set lw 4
    set sl 200

    $w create rectangle [expr $sl/$zoom_index] 0  [expr 3*$sl/$zoom_index] [expr $lw/$zoom_index];
    $w create rectangle [expr $sl/$zoom_index] [expr $lw /$zoom_index] [expr 3*$sl/$zoom_index] [expr 2*$lw/$zoom_index];
    $w create rectangle [expr $sl/$zoom_index] [expr 2*$lw/$zoom_index] [expr 3*$sl/$zoom_index] [expr 3*$lw/$zoom_index];

    $w create rectangle [expr (4*$sl-3*$lw)/$zoom_index] [expr $sl/$zoom_index] [expr (4*$sl-2*$lw)/$zoom_index] [expr 3*$sl/$zoom_index];
    $w create rectangle [expr (4*$sl-2*$lw)/$zoom_index] [expr $sl/$zoom_index] [expr (4*$sl-$lw)/$zoom_index] [expr 3*$sl/$zoom_index];
    $w create rectangle [expr (4*$sl-$lw)/$zoom_index] [expr $sl/$zoom_index] [expr 4*$sl/$zoom_index] [expr 3*$sl/$zoom_index];

    $w create rectangle [expr $sl/$zoom_index] [expr (4*$sl-3*$lw)/$zoom_index] [expr 3*$sl/$zoom_index] [expr (4*$sl-2*$lw)/$zoom_index];
    $w create rectangle [expr $sl/$zoom_index] [expr (4*$sl-2*$lw)/$zoom_index]	[expr 3*$sl/$zoom_index] [expr (4*$sl-$lw)/$zoom_index];
    $w create rectangle [expr $sl/$zoom_index] [expr (4*$sl-$lw)/$zoom_index] [expr 3*$sl/$zoom_index] [expr 4*$sl/$zoom_index];
 
    $w create rectangle 0 [expr $sl/$zoom_index] [expr $lw/$zoom_index] [expr 3*$sl/$zoom_index];
    $w create rectangle [expr $lw/$zoom_index] [expr $sl/$zoom_index] [expr 2*$lw/$zoom_index] [expr 3*$sl/$zoom_index];
    $w create rectangle [expr 2*$lw/$zoom_index] [expr $sl/$zoom_index] [expr 3*$lw/$zoom_index] [expr 3*$sl/$zoom_index];

    set np 100
    # upper right
    set rad [expr $sl-3*$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr 3*$lw+$rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14150/$np)] [expr 3*$lw+$rad*(1-cos(($i+1)*3.14159/$np))] -smooth 1 -tags Road 
    } 
    
    set rad [expr $sl-2*$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr 2*$lw+$rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14150/$np)] [expr 2*$lw+$rad*(1-cos(($i+1)*3.14159/$np))] -smooth 1 -tags Road 
    } 
    
    set rad [expr $sl-$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr $lw+$rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14150/$np)] [expr $lw+$rad*(1-cos(($i+1)*3.14159/$np))] -smooth 1 -tags Road 
    }  

    set rad [expr $sl]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr $rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14150/$np)] [expr $rad*(1-cos(($i+1)*3.14159/$np))] -smooth 1 -tags Road 
    } 

    # lower right  
    set rad [expr $sl-3*$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr (4*$sl-3*$lw)-$rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14150/$np)] [expr (4*$sl-3*$lw)-$rad*(1-cos(($i+1)*3.14159/$np))] -smooth 1 -tags Road 
    } 
    
    set rad [expr $sl-2*$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr (4*$sl-2*$lw)-$rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14150/$np)] [expr (4*$sl-2*$lw)-$rad*(1-cos(($i+1)*3.14159/$np))] -smooth 1 -tags Road 
    } 
    
    set rad [expr $sl-$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr (4*$sl-$lw)-$rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14150/$np)] [expr (4*$sl-$lw)-$rad*(1-cos(($i+1)*3.14159/$np))] -smooth 1 -tags Road 
    }  

    set rad [expr $sl]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr 4*$sl-$rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14150/$np)] [expr 4*$sl-$rad*(1-cos(($i+1)*3.14159/$np))] -smooth 1 -tags Road 
    } 

    # lower left
       set rad [expr $sl-3*$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 3*$lw+$rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr 3*$lw+$rad*(1-cos(($i+1)*3.14150/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14159/$np)] -smooth 1 -tags Road 
    } 
    
    set rad [expr $sl-2*$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 2*$lw+$rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr 2*$lw+$rad*(1-cos(($i+1)*3.14150/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14159/$np)] -smooth 1 -tags Road 
    } 
    
    set rad [expr $sl-$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr $lw+$rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr $lw+$rad*(1-cos(($i+1)*3.14150/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14159/$np)] -smooth 1 -tags Road 
    }  

    set rad [expr $sl]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr $rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr $rad*(1-cos(($i+1)*3.14150/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14159/$np)] -smooth 1 -tags Road 
    }

    #upper left
    set rad [expr $sl-3*$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 3*$lw+$rad*(1-cos($i*3.14159/$np))] [expr $sl-$rad*sin($i*3.14159/$np)] [expr 3*$lw+$rad*(1-cos(($i+1)*3.14150/$np))] [expr $sl-$rad*sin(($i+1)*3.14159/$np)] -smooth 1 -tags Road 
    } 
    
    set rad [expr $sl-2*$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 2*$lw+$rad*(1-cos($i*3.14159/$np))] [expr $sl-$rad*sin($i*3.14159/$np)] [expr 2*$lw+$rad*(1-cos(($i+1)*3.14150/$np))] [expr $sl-$rad*sin(($i+1)*3.14159/$np)] -smooth 1 -tags Road 
    } 
    
    set rad [expr $sl-$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr $lw+$rad*(1-cos($i*3.14159/$np))] [expr $sl-$rad*sin($i*3.14159/$np)] [expr $lw+$rad*(1-cos(($i+1)*3.14150/$np))] [expr $sl-$rad*sin(($i+1)*3.14159/$np)] -smooth 1 -tags Road 
    }  

    set rad [expr $sl]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr $rad*(1-cos($i*3.14159/$np))] [expr $sl-$rad*sin($i*3.14159/$np)] [expr $rad*(1-cos(($i+1)*3.14150/$np))] [expr $sl-$rad*sin(($i+1)*3.14159/$np)] -smooth 1 -tags Road 
    }  
}

##############################
#
# Cem's Test Track
#
##############################

proc DrawTrack {w {zoom_index 1}} {

    set lw 4
    set sl 150

    # grid
    $w create rectangle 0 0 [expr $sl/2] [expr $sl/2]
    $w create rectangle [expr 0] [expr 0.5*$sl] [expr $sl/2] [expr $sl]
    $w create rectangle [expr 0] [expr $sl] [expr $sl/2] [expr 1.5*$sl]
    $w create rectangle [expr 0] [expr 1.5*$sl] [expr $sl/2] [expr 2*$sl]
    $w create rectangle [expr 0] [expr 2*$sl] [expr $sl/2] [expr 2.5*$sl]
    $w create rectangle [expr 0] [expr 2.5*$sl] [expr $sl/2] [expr 3*$sl]
    $w create rectangle [expr 0] [expr 3*$sl] [expr $sl/2] [expr 3.5*$sl]
    $w create rectangle [expr 0] [expr 3.5*$sl] [expr $sl/2] [expr 4*$sl]
    $w create rectangle [expr 0.5*$sl] [expr 3.5*$sl] [expr $sl] [expr 4*$sl]
    $w create rectangle [expr $sl] [expr 3.5*$sl] [expr 1.5*$sl] [expr 4*$sl]
    $w create rectangle [expr 1.5*$sl] [expr 3.5*$sl] [expr 2*$sl] [expr 4*$sl]
    $w create rectangle [expr 2*$sl] [expr 2*$sl] [expr 2.5*$sl] [expr 2.5*$sl]
    $w create rectangle [expr 1.5*$sl] [expr 2.5*$sl] [expr 2*$sl] [expr 3*$sl]
    $w create rectangle [expr 1.5*$sl] [expr 3*$sl] [expr 2*$sl] [expr 3.5*$sl]
    $w create rectangle [expr 2.5*$sl] [expr 2*$sl] [expr 3*$sl] [expr 2.5*$sl]
    $w create rectangle [expr 2*$sl] [expr 2.5*$sl] [expr 2.5*$sl] [expr 3*$sl]
    $w create rectangle [expr 2.5*$sl] [expr 1.5*$sl] [expr 3*$sl] [expr 2*$sl]
    $w create rectangle [expr 3*$sl] [expr 1.5*$sl] [expr 3.5*$sl] [expr 2*$sl]
    $w create rectangle [expr 3.5*$sl] [expr 1.5*$sl] [expr 4*$sl] [expr 2*$sl]
    $w create rectangle [expr 3.5*$sl] [expr 1.0*$sl] [expr 4*$sl] [expr 1.5*$sl]
    $w create rectangle [expr 3.5*$sl] [expr 0.5*$sl] [expr 4*$sl] [expr 1.0*$sl]
    $w create rectangle [expr 3.5*$sl] [expr 0.0*$sl] [expr 4*$sl] [expr 0.5*$sl]
    $w create rectangle [expr 3.5*$sl] 0 [expr 4.0*$sl] [expr 0.5*$sl]
    $w create rectangle [expr 3.0*$sl] 0 [expr 3.5*$sl] [expr 0.5*$sl]
    $w create rectangle [expr 2.5*$sl] 0 [expr 3.0*$sl] [expr 0.5*$sl]
    $w create rectangle [expr 2.0*$sl] 0 [expr 2.5*$sl] [expr 0.5*$sl]
    $w create rectangle [expr 1.5*$sl] 0 [expr 2.0*$sl] [expr 0.5*$sl]
    $w create rectangle [expr 1.0*$sl] 0 [expr 1.5*$sl] [expr 0.5*$sl]
    $w create rectangle [expr 0.5*$sl] 0 [expr 1.0*$sl] [expr 0.5*$sl]

    # straight lanes
    $w create rectangle 0 [expr $sl/$zoom_index] [expr $lw/$zoom_index] [expr 3*$sl/$zoom_index];
    $w create rectangle [expr $lw/$zoom_index] [expr $sl/$zoom_index] [expr 2*$lw/$zoom_index] [expr 3*$sl/$zoom_index];
    $w create rectangle [expr 2*$lw/$zoom_index] [expr $sl/$zoom_index] [expr 3*$lw/$zoom_index] [expr 3*$sl/$zoom_index];

    $w create rectangle [expr $sl/$zoom_index] 0 [expr 3*$sl/$zoom_index] [expr $lw/$zoom_index];
    $w create rectangle [expr $sl/$zoom_index] [expr $lw/$zoom_index] [expr 3*$sl/$zoom_index] [expr 2*$lw/$zoom_index];
    $w create rectangle [expr $sl/$zoom_index] [expr 2*$lw/$zoom_index] [expr 3*$sl/$zoom_index] [expr 3*$lw/$zoom_index];
    
    $w create rectangle [expr (2*$sl-3*$lw)/$zoom_index] [expr 3*$sl/$zoom_index] [expr (2*$sl-2*$lw)/$zoom_index] [expr (3*$sl-3*$lw)/$zoom_index];
    $w create rectangle [expr (2*$sl-2*$lw)/$zoom_index] [expr 3*$sl/$zoom_index] [expr (2*$sl-$lw)/$zoom_index] [expr (3*$sl-3*$lw)/$zoom_index];
    $w create rectangle [expr (2*$sl-$lw)/$zoom_index] [expr 3*$sl/$zoom_index] [expr 2*$sl/$zoom_index] [expr (3*$sl-3*$lw)/$zoom_index];

    $w create rectangle [expr (3*$sl-3*$lw)/$zoom_index] [expr 2*$sl/$zoom_index]  [expr 3*$sl/$zoom_index] [expr (2*$sl-$lw)/$zoom_index];
    $w create rectangle [expr (3*$sl-3*$lw)/$zoom_index] [expr (2*$sl-$lw)/$zoom_index] [expr 3*$sl/$zoom_index] [expr (2*$sl-2*$lw)/$zoom_index];
    $w create rectangle [expr (3*$sl-3*$lw)/$zoom_index] [expr (2*$sl-2*$lw)/$zoom_index] [expr 3*$sl/$zoom_index] [expr (2*$sl-3*$lw)/$zoom_index];

    # curved lanes
    set np 50
    #lower left
    set rad [expr $sl-3*$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 3*$lw+$rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr 3*$lw+$rad*(1-cos(($i+1)*3.14150/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14159/$np)] -smooth 1 -tags Road 
    } 
    
    set rad [expr $sl-2*$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 2*$lw+$rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr 2*$lw+$rad*(1-cos(($i+1)*3.14159/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14159/$np)] -smooth 1 -tags Road 
    } 
    
    set rad [expr $sl-$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr $lw+$rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr $lw+$rad*(1-cos(($i+1)*3.14159/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14159/$np)] -smooth 1 -tags Road 
    }  

    set rad [expr $sl]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr $rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr $rad*(1-cos(($i+1)*3.14159/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14159/$np)] -smooth 1 -tags Road 
    } 

    #upper left
    set rad [expr $sl-3*$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 3*$lw+$rad*(1-cos($i*3.14159/$np))] [expr $sl-$rad*sin($i*3.14159/$np)] [expr 3*$lw+$rad*(1-cos(($i+1)*3.14150/$np))] [expr $sl-$rad*sin(($i+1)*3.14159/$np)] -smooth 1 -tags Road 
    } 
    
    set rad [expr $sl-2*$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 2*$lw+$rad*(1-cos($i*3.14159/$np))] [expr $sl-$rad*sin($i*3.14159/$np)] [expr 2*$lw+$rad*(1-cos(($i+1)*3.14150/$np))] [expr $sl-$rad*sin(($i+1)*3.14159/$np)] -smooth 1 -tags Road 
    } 
    
    set rad [expr $sl-$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr $lw+$rad*(1-cos($i*3.14159/$np))] [expr $sl-$rad*sin($i*3.14159/$np)] [expr $lw+$rad*(1-cos(($i+1)*3.14150/$np))] [expr $sl-$rad*sin(($i+1)*3.14159/$np)] -smooth 1 -tags Road 
    }  

    set rad [expr $sl]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr $rad*(1-cos($i*3.14159/$np))] [expr $sl-$rad*sin($i*3.14159/$np)] [expr $rad*(1-cos(($i+1)*3.14150/$np))] [expr $sl-$rad*sin(($i+1)*3.14159/$np)] -smooth 1 -tags Road 
    }  

    # upper right
    set rad [expr $sl-3*$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr 3*$lw+$rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14150/$np)] [expr 3*$lw+$rad*(1-cos(($i+1)*3.14159/$np))] -smooth 1 -tags Road 
    } 
    
    set rad [expr $sl-2*$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr 2*$lw+$rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14150/$np)] [expr 2*$lw+$rad*(1-cos(($i+1)*3.14159/$np))] -smooth 1 -tags Road 
    } 
    
    set rad [expr $sl-$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr $lw+$rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14150/$np)] [expr $lw+$rad*(1-cos(($i+1)*3.14159/$np))] -smooth 1 -tags Road 
    }  

    set rad [expr $sl]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr $rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14150/$np)] [expr $rad*(1-cos(($i+1)*3.14159/$np))] -smooth 1 -tags Road 
    } 

    # lower right  
    set rad [expr $sl-3*$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr $sl+$rad*sin($i*3.14159/$np)] [expr (4*$sl-3*$lw)-$rad*(1-cos($i*3.14159/$np))] [expr $sl+$rad*sin(($i+1)*3.14150/$np)] [expr (4*$sl-3*$lw)-$rad*(1-cos(($i+1)*3.14159/$np))] -smooth 1 -tags Road 
    } 
    
    set rad [expr $sl-2*$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr $sl+$rad*sin($i*3.14159/$np)] [expr (4*$sl-2*$lw)-$rad*(1-cos($i*3.14159/$np))] [expr $sl+$rad*sin(($i+1)*3.14150/$np)] [expr (4*$sl-2*$lw)-$rad*(1-cos(($i+1)*3.14159/$np))] -smooth 1 -tags Road 
    } 
    
    set rad [expr $sl-$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr $sl+$rad*sin($i*3.14159/$np)] [expr (4*$sl-$lw)-$rad*(1-cos($i*3.14159/$np))] [expr $sl+$rad*sin(($i+1)*3.14150/$np)] [expr (4*$sl-$lw)-$rad*(1-cos(($i+1)*3.14159/$np))] -smooth 1 -tags Road 
    }  

    set rad [expr $sl]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr $sl+$rad*sin($i*3.14159/$np)] [expr 4*$sl-$rad*(1-cos($i*3.14159/$np))] [expr $sl+$rad*sin(($i+1)*3.14150/$np)] [expr 4*$sl-$rad*(1-cos(($i+1)*3.14159/$np))] -smooth 1 -tags Road 
    } 

    # upper right bottom  
    set rad [expr $sl-3*$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr (2*$sl-3*$lw)-$rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14150/$np)] [expr (2*$sl-3*$lw)-$rad*(1-cos(($i+1)*3.14159/$np))] -smooth 1 -tags Road 
    } 
    
    set rad [expr $sl-2*$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr (2*$sl-2*$lw)-$rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14150/$np)] [expr (2*$sl-2*$lw)-$rad*(1-cos(($i+1)*3.14159/$np))] -smooth 1 -tags Road 
    } 
    
    set rad [expr $sl-$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr (2*$sl-$lw)-$rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14150/$np)] [expr (2*$sl-$lw)-$rad*(1-cos(($i+1)*3.14159/$np))] -smooth 1 -tags Road 
    }  

    set rad [expr $sl]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 3*$sl+$rad*sin($i*3.14159/$np)] [expr 2*$sl-$rad*(1-cos($i*3.14159/$np))] [expr 3*$sl+$rad*sin(($i+1)*3.14150/$np)] [expr 2*$sl-$rad*(1-cos(($i+1)*3.14159/$np))] -smooth 1 -tags Road 
    } 

   # middle
    set rad [expr $sl-3*$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr 2*$sl+$rad*(1-cos($i*3.14159/$np))] [expr (3*$sl-3*$lw)-$rad*sin($i*3.14159/$np)] [expr 2*$sl+$rad*(1-cos(($i+1)*3.14150/$np))] [expr (3*$sl-3*$lw)-$rad*sin(($i+1)*3.14159/$np)] -smooth 1 -tags Road 
    } 
    
    set rad [expr $sl-2*$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr (2*$sl-$lw)+$rad*(1-cos($i*3.14159/$np))] [expr (3*$sl-3*$lw)-$rad*sin($i*3.14159/$np)] [expr (2*$sl-$lw)+$rad*(1-cos(($i+1)*3.14150/$np))] [expr (3*$sl-3*$lw)-$rad*sin(($i+1)*3.14159/$np)] -smooth 1 -tags Road 
    } 
    
    set rad [expr $sl-$lw]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr (2*$sl-2*$lw)+$rad*(1-cos($i*3.14159/$np))] [expr (3*$sl-3*$lw)-$rad*sin($i*3.14159/$np)] [expr (2*$sl-2*$lw)+$rad*(1-cos(($i+1)*3.14150/$np))] [expr (3*$sl-3*$lw)-$rad*sin(($i+1)*3.14159/$np)] -smooth 1 -tags Road 
    }  

    set rad [expr $sl]
    for {set i 0} {$i < [expr $np/2]} {incr i} {
	$w create line [expr (2*$sl-3*$lw)+$rad*(1-cos($i*3.14159/$np))] [expr (3*$sl-3*$lw)-$rad*sin($i*3.14159/$np)] [expr (2*$sl-3*$lw)+$rad*(1-cos(($i+1)*3.14150/$np))] [expr (3*$sl-3*$lw)-$rad*sin(($i+1)*3.14159/$np)] -smooth 1 -tags Road 
    }  
}

#####################################