The goal of this assignment was to automate the machine we built in the mechanical design week
So for making our drawing machine work we used 1 servo and 2 stepper motors the servo was responsible of controlling the Z axis while the two other steppers motor were responsible of rotating the paper roll and controlling the X axis movement. Both stepper motor were connected to 2 essay drivers stepper motor while the servo was connected to an Arduino board
we decided to use 4 push buttons for controlling the servo and the stepper motors .
2 buttons for controlling the X Axis
1 Button for controlling the Feed
1 Button for controlling the pen ( Z axis )
My friends Marc and Alec were handling the task of programing and wiring the cables and my task on this assignment was to power the servo using Arduino board and to run few tests while it is connected to the pen holder to see if the whole mechanism is working fine and to check if the servo is powerful enough to push and pull the whole pen holder .
Because In the first prototype I built image # 06 I used a small servo with a low torque and when I was done with the mechanical parts and connected the servo to an Arduino and uploaded a code simple servo sweep code the servo was generating a lot of heat while moving the parts that was the main reason of using a bigger servo as shown in image # 07
But at that time when we decided to use a bigger servo we could not find any servo around us and suddenly we had an idea of extracting only one servo from the humanoid robot head the robot was placed in the same area we were working in the robobt called InMoov and it is an open-hardware and open-source 3D printed life-size humanoid robot .
After getting our instructor Mathieu permission to take of one servo I started with disassembling the head of the robot in order to extract the needed servo as show in image # 26 Then once I was done, I installed the bigger servo which has metal gears on the revised version pen holder effector as shown in image # 07 and uploaded the same sweep servo code that I uploaded previously on the little servo and everything worked perfectly . Below is the sweep code I used.

  /* Sweep
 *  This code was modified by Georges Hanna Fab Academy 2018, MACHINE DESIGN

The code was modified Based on the below codes :

 by BARRAGAN 
 This example code is in the public domain.

 modified 8 Nov 2013
 by Scott Fitzgerald
 http://www.arduino.cc/en/Tutorial/Sweep
*/

#include 

Servo myservo;  // create servo object to control a servo
// twelve servo objects can be created on most boards

int pos = 0;    // variable to store the servo position

void setup() {
  myservo.attach(9);  // attaches the servo on pin 9 to the servo object
}

void loop() {
  for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
    myservo.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }
  for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
    myservo.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }
}

Videos # 23 # 24 show the final pen holder effector in action.
Finally, After attaching the pen holder effector to the machine Marc and Alec worked on soldering and wiring all the cables and once they were done with connecting the necessary cables to the Arduino board which we were using as a the main micro-controller to automate the whole machine we powered the machine on and we started controlling it by the 4 buttons it was working beautifully as shown in videos # 27 # 28