For a class called Principles of Engineering (PoE) my team built a paintball turret that could take an image, and paint it in dot art on a canvas. Starting with an image of the Olin “O”, we first break it up into a voroni diagram, and place a paint splat in the center of each section.
With all these points, we have to figure out an efficient way to go about painting them, so we calculated a TSP path for the paintball marker to follow. The marker is mounted onto a pan/tilt mechanism, so we also need to do a conversion from its spherical coordinate system to the planar coordinate system of our canvas.
We ran into several issues with mechanical slop in our system, mostly due to the COTS parts we bought to attach to the D shaft of out motors, which involved set screws. Here is our rather abstract rendition of the Olin “O”.
Check out more about this on the project website.