The architecture included an iPhone app to take a picture, downsample it to x pixels and convert it to grayscale. The image was then base encoded and uploaded to a Google App Engine app that queues the images to be drawn. The arduino was fitted with an Ethernet shield so it can communicate to the server.
To explain the software, consider the following drawing: In the above drawing, the angle alpha is the angle of the first arm from the y-axis, and angle beta is the angle of the second arm from the line the continues the first arm direction. These are the angles the servo motors use as their value or position.
R1 and R2 are the first and second arm lengths. We made the conversion from alpha,beta space to the image space in the server code, to make the arduino part simpler. The server basically received a request for a certain angle alpha and it would then iterate on all beta values, calculate the x,y and map it to the image space, read the pixel value and return the values for all betas back to the arduino.
The drawing sequence was stepping the shoulder alpha position by one degree and for each such position, move the elbow motor from some minimum beta to a maximum beta. The general flow of the arduino software was: 1. Die Makrokartographie aber dauert eine halbe Stunde. Das fertige Bild ist eine Komposition aus digitalen Fragmenten und keine Momentaufnahme, obwohl es so wirkt. Weil man winzige Details entdecken kann, sagt der Kopf: Dieses Foto ist echt! Der Bauch hingegen protestiert: Da ist was faul!
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