2D Plotter Project

Overview

This project showcases the development of a 2D plotter, a machine capable of drawing complex fractal patterns using L-systems. The plotter consists of two stepper motors controlling the X and Y axes, along with a servo motor to lift and lower the pen. The software is written in C++ for Arduino UNO, which controls the motors and processes L-system instructions to generate fractals.

The goal of this project was to design and build a fully functional pen plotter that can create intricate mathematical patterns on a piece of paper. This work highlights my expertise in embedded systems, motion control, algorithmic drawing, and mechanical design.

Key Features

• Stepper motors for precise X-Y axis movement.
• Servo motor for lifting/lowering the pen.
• Arduino UNO for motor control.
• L-System fractal generation for drawing complex structures.
• Laser-cut frame for efficient manufacturing.
• Pen holder 3D printing for a precise design.

Circuit

For good cable management, I created this circuit using Fritzing. For better understanding, the colors match the real cables in the pictures.

Project Structure

Main code

The core Arduino code for controlling the plotter is located in the Code/ directory. This includes:

• circleinsidesquare.ino - Draw a circle and circle.
• L_System.ino - Implements L-system fractal parsing.

Debugging code

• moveto.ino - Controls the position of the pen.
• servo.ino - Tests the positions of the servo.
• square.ino - Basic square.
• circle.ino - Basic circle.
• line.ino - Basic line.

L-System Fractals

The plotter can generate various L-System fractals. Below are the corresponding input rules and parameters:

Moore curve

3;90;100;F;LFL+F+LFL;L=-RF+LFL+FR-;R=+LF-RFR-FL+

Gosper curve

3;60;100;AB;A;A=A-B--B+A++AA+B-;B=+A-BB--B-A++A+B

Dragon curve

7;90;100;F;FA;A=A+BF+;B=-FA-B

Koch curve

3;80;100;F;F;F=F+F--F+F;B=-FA-B

Sierpinski Triangle

3;120;100;F;F;F=+F+F-F-F+F-