1. how to make drawing wall drawing robot (fumik robot)

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Author: Nguyen Huu Phuc
Email: [e-mail]
Date: 2022/May
Step 1
Assembly the pen
Put the pen to pen driver, tight it by rubber band
1. HOW TO MAKE DRAWING
WALL DRAWING ROBOT (FUMIK ROBOT)

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Step 2
Hang robot on 2 nails pinned on wall
Measure distance 2 nails (horizontal direction): p
Measure distance 2 nails (vertical direction): w2y
(Note: if pin_c is higher pin_a, w2y will be minus value)
Measure coordinate of pen: X0, Y0
Put those value to Arduino code
Note: Draw area should keep distance with pin_a, pin_c as above picture (> 400mm)

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Step 3
Calibration
Turn off power of robot
Pull slowly forward/ backward the belt (left/ right) to adjust pen to X0, Y0 location
Copy file calib to sd card, re-name it to "Draw.txt" -> put sd card to robot and power it to start drawing calib line
Robot will draw a rectangle (dot line) 
(after finished drawing, robot will return to home position X0, Y0)
Check if the rectangle has exact dimension (width, height)
If not exact, return step 2, check if parameter p, w2y, x0, y0 is exact
If need, adjust
 x_ratio, y_ratio
to make drawed rectangle get exact dimension

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Check if the rectangle is tilt or not
If need, adjust
 x_angle, y_angle
to make drawed rectangle to be aligned
When the drawed rectangle is acceptable, then robot is ready for other drawings
Step 4
Your Picture need to draw
Step 5
Convert picture to vector (*.svg file) by CorelDraw (or any other software support *.svg file)

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Step 6
Convert vector file to code for Arduino (by MS Excel)
download here
Copy information of line/ curve in *.svg file

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Paste those curve/ line information into converter file "SVG code converter"

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Run "Macro" to convert svg to arduino code

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Copy all generated code to text file
At end file, type "endfile();" to inform Arduino about end of file

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Step 7
Copy code file "draw.txt" to SD card 
Step 8
Plug in SD card to robot and start drawing