Chapter 16. The Printer: A Drawing Machine

So far, all the projects in this book have focused on mobile robots that use treads, wheels, or legs to get around. Now, in the final chapter, you’ll learn to build and program a stationary robot: the Printer (Figure 16-1). The Printer is a printing machine that uses a pen to write or draw on a sheet of paper. By drawing different combinations of lines, the Printer can produce basic shapes and letters.

Understanding How the Printer Works

The Printer draws lines on paper in much the same way that humans do. To draw a line, it presses a pen against a sheet of paper and moves the pen in different directions. To draw a new line in a different place, it simply lifts the pen and moves it and then ...

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