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This was the result. The printer is mechanically quite simple, using a motor to drive the paper, another to positition the print head and the third to actuate the felt tip pen. Due to the lack of any gearing on the track moving the print head, the horizontal resolution was the same as the angular resolution of the NXT motor's tachometer.
There was also some inaccuracy in the tachometer, resulting in slight creep of the print depending on the amount of commands for a single line. The paper feeder had some gears between it and the tires so it could reach better accuracy.
However, accurate sync of the two motors wasn't possible since the ratio was not exactly reachable with the gears , which is the reason that the prints are a bit squashed.
Sending print jobs to the printer is done using a simple bash script modified from the one by Adam Granger see his printer here. The script dutifully takes the options passed to it from CUPS and discards them, only keeping the file to be printed.
That is then passed to imageMagick to be converted into a black and white png image, which is then processed by this Haskell script that outputs the necessary code to print the document. The script uses CV to read each line of the image and outputs commands to print each line segment on that line. The code output by the Haskell script is then wrapped with a header and a footer to a complete program which has some general button event code to start and cancel a print from the brick buttons.
This is finally compiled and passed on to the NXT brick. So, I needed to make something new and exciting, and with some frantic coding and LEGO engineering at the party place, I repurposed it as a scanner which could read colored squares from graph paper. The party place had remote controlled lights, which could be sent a color and a duration of light to emit.
When given a paper to scan, the scanner sent the sequence of colors to the lights, meaning that you could then program light shows using coloring pens and the scanner. The scanner ended up winning the second place in the Summamutikka competition. After the event, the lights were no longer available, so I further repurposed the scanner to map the colors to notes, and play the resulting sequence as music using the speaker on the NXT brick. I've since dismantled the printer chassis to use the parts in another project which might be seen at the next Instanssi.
If I find the time, I would like to make a mark II of the printer with better resolution and plotter capability. Matti Eskelinen About Projects Research. Site generated by Shake , Pandoc and Clay.