r - How do I change the polygon fill color and border color for

I have SpatialPolygons or SpatialPolygonsDataFrames which I'd like to plot. How do I change the color using the three plotting systems in R (base graphics, lattice graphics, and ggplot2)? Example

Polygon filling algorithm

Feature request #4553: Selection color/border size for polygons (with solid fill, no fill, semi-transparent fill) - QGIS Application - QGIS Issue Tracking

Make outline color match fill color in QGIS

Feature request #4553: Selection color/border size for polygons (with solid fill, no fill, semi-transparent fill) - QGIS Application - QGIS Issue Tracking

r - How to make polygon border and fill color transparency sum up to 1 - Stack Overflow

Polygon Filling Algorithm

Java Lesson 21: Drawing and Coloring Shapes on the JFrame, by Michael Orozco-Fletcher

plot - Legend with color filling and shading lines in Base R - Stack Overflow

5. Plotting Simple Features • sf

SOLUTION: Graphics lect 05 filling part 1 - Studypool