Things used in this project

Hardware components:
Bipolar Stepper Motor
R8326274 01
Raspberry Pi 2 Model B
09670 01
SparkFun Dual H-Bridge motor drivers L298
L12 Linear Actuator 50mm 100:1 12V Analog
McMaster-Carr Timing Belts
McMaster-Carr Pulley
Software apps and online services:
73318 301258139977848 644841747 n
Hand tools and fabrication machines:
Laser cutter (generic)
3D Printer (generic)

Custom parts and enclosures

CAD of pen holder
While all of these files are in the CAD repository, the pictures are still good visual demonstrations. This is a custom MeshMixer support structure superimposed on the autoCAD drawing of the pen holder.
CAD of XY interface
The XY interface is one of the most important parts in the entire project. It both provides for stable support for the Y axis, and allows the entire axis to move fluidly along the X axis.
CAD repository.
Due to the unique nature of the project, almost all components had to be built from scratch. To this end, the CAD softwares AutoCAD, Inventor, MeshMixer, and Eagle were used extensively. Attached are the files used in construction of this project.


Electronics Diagram
A simplified diagram of the electronic configuration.
Actuator Circuit Drawing
This circuit enables a signal from the raspberry pi to switch ground and power to the two linear actuators, enabling them to go up and down
Img 0666


Etch-A-Whiteboard Code uses OpenCV to detect and thin the image's edges, then traces out those edges and turns them into commands for the whiteboard, outputting them into a .eaw file. can be used on its own to take one command at a time inline (useful for re-calibration and testing) or as a resource for, which takes a .eaw file as an argument and executes the instructions therein.


12047127 505429946300449 1712609796510717162 n
Alexander Hoganson

TJHSST Class of 2016 Robotics Lab Yale Class of 2020 Engineering Major



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