I use the "2nd > Draw > Pen" function for this on my TI-83 Plus calculator. I also turned off the coordinate system and the axis to clear the screen. I messed up a few times to start so the only way to remedy that is to erase everything and to start all over again.
The "DRAW" button is the same button as "PRGM". The "DRAW" menu is accessed by pressing the "2ND" button first and then pressing the "PRGM" button second.
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