For this project, we created a robot that could accomplish two primary goals. The first goal was to upload a G-Code file from a computer, and have the robot draw out the design on a piece of paper. The second goal of this project was to search through a grid of boxes and detect the color of each box. If a box was green or red, the robot was to draw a line to a designated space on the perimeter of the page.

My job for this project started with designing all the mounting hardware in Solidworks and printing them out using a 3D printer. Once the robot was assembled I began programming the Arduino, starting with my own custom version of a G-Code interpreter. This was based on a commonly used library, GRBL, but was slimmed down as we wouldn't be using anything more than linear moves and the pen moving on and off the paper. I then wrote the search algorithm for detecting colors. The robot used an I2C color sensor which would detect the RGB value for the color underneath it, and from this the code was able to determine the dominant color and draw a line from the square to the designated space on the perimeter (Number 4 or 11 for red, or the letter 'E' if the square was green).