This fun little project is a proof-of-concept for writing text on a XY table with a pneumatic actuator that holds a pen and two motors to move the pen.
A C# program is capturing input of a user and splits every character that is typed into segments of lines and splines. The segments are sent to a Beckhoff PLC via an ADS client and trajectories are calculated to control two motors. The PLC is implemented with Zeugwerk Framework and the trajectories are calculated by Struckig.
