[[File:Brushograph_Flyer.jpg|thumb|400px]]
== Inrested in the openBrushograph? ==

Feel free contact [mailto:marc@dusseiller.ch dusjagr] & friends, we can invite you to our matrix channel and give advise where and how to get started.

Also visit all our github experiements, gcode generators and more... and check our [https://openbrushograph.github.io/brusho_gcode_archive/ archive with many experiemnts and gcodes]

== Introduction ==
[[File:Brushograpf_DIWO.jpg|thumb|240px]]

=== Doms' Brušografia ===

''Brushology – Ways of painting with a mechatronic brush''

https://mechatronicart.ch/brushology-ways-of-painting-with-a-mechatronic-brush/

'''Dominik Mahnič'''

Dominik Mahnič (Ljubljana, Slovenia), an emblematic figure nestled between the realms of academic painting, video mastery, technology, and street art insurgency, raises questions about the perpetual dialectics between classical artistry and the onslaught of contemporary technological modalities. Within this discourse emerges the Brushograph – a complex symbol not merely of art but also of the intersections between past, present, and anticipated futures.

Links:
* https://app.assembla.com/spaces/dominik-mahnic/wiki
* https://mgml.si/en/match-gallery/exhibitions/637/dominik-mahnic/

=== Find up-to date files on GitHub ===
[[File:pimp_move.gif|thumb]]

https://github.com/openBrushograph
[[File:openBrushograph_flyer.jpg|400px|thumb|none]]

== Hardware ==
=== PCB design ===
[[File:PCB_white.jpg|thumb|400px]]
PCB for DIY etching or manufacturing to host the FluidNC on ESP32 and the ULN2003 drivers
* https://github.com/openBrushograph/Brushograph_PCB

=== 3D parts ===
[[File:freecad_screenshot.jpg|thumb|right|400px]]
The designs to 3D print your own Brushograph can be found at
* https://github.com/openBrushograph/openBrushograph_hardware

=== Credits ===
The Brushograph HW design was inspired by the original "Arduino mini CNC plotter" and some interesting forks / remixes
* https://www.thingiverse.com/thing:4579436 ("original version")
* https://www.thingiverse.com/thing:4607077 (has source file for fusion360)
* https://www.thingiverse.com/thing:4796222 (redesigned with bigger tooth and gogs.)
* https://www.thingiverse.com/thing:5719788 (z-axes mod for up-and-down)

=== Bonus mods & accessories ===

==== Speed mod ====
To give your motors more power, some people have done the "speed mod" running their motors on 7.5V, allowing speeds of around 2000mm/min.

==== CNC pendant ====
To use your Brushograph without the need of a PC or phone, several pendants can be used in connection with FluidNC.

[[File:Brushograph FluidDial.png|thumb|alt=A pink Brushograph controlled by a pink FluidDial CNC pendant]]

The main thing to consider when integrating things like the [http://wiki.fluidnc.com/en/hardware/official/M5Dial_Pendant FluidDial] is the limited amount of PINs still available on the ESP32, basically leaving only ''gpio.0'' and ''gpio.15'' for UART communications, with the following addition to the config required in ''config_uln.yaml'':

<nowiki>uart1:
txd_pin: gpio.0
rxd_pin: gpio.15
rts_pin: NO_PIN
cts_pin: NO_PIN
baud: 1000000
mode: 8N1
uart_channel1:
report_interval_ms: 75
uart_num: 1</nowiki>

== Firmware ==

=== FluidNC ===
[http://wiki.fluidnc.com/en/home FluidNC] is a CNC firmware optimized for the ESP32 controller. It is the next generation of firmware from the creators of Grbl_ESP32. It includes a web based UI and the flexibility to operate to a wide variety of machine types. This includes the ability to control machines with multiple tool types such as laser+spindle or a tool changer.

We have developed a modified version of FluidNC, that supports the uni-polar motors (again).

==== Versions ====
[[File:Brushograph_PCB_01.jpg|thumb|400px]]
Forked and reworked versions of FluidNC to support uni-polar steppers

===== 3.x =====
* https://git.kompot.si/g1smo/FluidNC
* Latest release: https://git.kompot.si/g1smo/FluidNC/releases

===== 4.x =====
* https://github.com/f1adang/FluidNC/tree/gandalf/uln2003
* Latest release: https://github.com/f1adang/FluidNC/releases/tag/v4.0.5-pre2-uln2003

==== Flashing via Web Installer ====
[[File:brushograph_wide.jpg|400px|thumb|right]]
* Connect ESP32 via USB-C
* Go to https://installer.fluidnc.com/
* Click "Continue" for FluidNC
* Click "Connect" to start the installer
* Select Comm port where ESP32 is connected
* Choose "Install"
* Select version "v3.9.6"
* Press "esp 32 (ESP32-WROOM)"
* Select "wifi"
* Select "firmware-update" (unless it's a fresh install or you want to wipe your config)
* Select "Install WebUI-3"
* Installation speed "115200"
* Prepare to be quick! ;)
* Press install
* Hold BOOT on the ESP32
* Press RST on the ESP32
* Release BOOT on the ESP32

If you keep getting "Error: Invalid head of packet" (especially on macOS?), try the [[Brushograph#Flashing_via_VSCode|VSCode method]]

==== Flashing from VSCodium ====
The official firmware has decent ways of building and flashing via 'esptool'.
Clone the repo containing the ULN2003 custom firmware and use VSCodium to build and flash the firmware:

* Install PlatformIO extension
* Connect ESP32 via USB-C
* git clone https://git.kompot.si/g1smo/FluidNC
* Open the folder in VSCodium
* Select the branch you'd like to build
* Press Build
* Press Install

Make sure to upload things like the WebUI (see below) to the internal Flash via the FluidNC WebUIs File Explorer.

==== Latest WebUI ====
[[File:fluidnc_ui.gif|thumb|right]]
To get the latest version of the FluidNC WebUI, download the [https://github.com/michmela44/ESP3D-WEBUI/releases latest 'index.html.gz'] and replace the one on your internal Flash.

For enhanced coconut experience (i.e. themes support), use https://github.com/f1adang/ESP3D-WEBUI/releases/tag/3.0.10-coconut

=== Arduino (GRBL) ===

https://github.com/TGit-Tech/GRBL-28byj-48

Link above is a dirty hack of the "classic" GRBL to support those uni-polar servos. This is a modified fork from ruizivo/GRBL-28byj-48-Servo. This modification implements all 3-axises XYZ to a 28BYJ-48 stepper motor. The motors (28byj-48) are connected to a controller card (Arduino UNO) that uses the chip ULN2003. This board is connected to pins A0, A1, A2, A3 for the Y-Axis(IN4->IN1), 2, 3,4,5 Digital pins to the X-Axis(IN4->IN1), and 8,9,12,13 to the Z-Axis(IN4->IN1).

[https://github.com/gnea/grbl Grbl] is a free, open source, high performance software for controlling the motion of machines that move, that make things, or that make things move, and will run on a straight Arduino. If the maker movement was an industry, Grbl would be the industry standard. Grbl is a no-compromise, high performance, low cost alternative to parallel-port-based motion control for CNC milling. It will run on a vanilla Arduino (Duemillanove/Uno) as long as it sports an Atmega 328.

== Creating G-code ==

=== Brushograph WebUI ===

[[File:webui_screenshot.png|thumb|400px|none]]

https://brushograph.pro/

config file with comments of how to use it
* https://github.com/MihaNormalen/Brushgraphy/blob/main/config_file_with_comments.conf

=== Converting gcode 2 pick-up color ===

[[File:webui_lb2gcode.jpg|thumb|400px|none]]

https://brushograph-lb2gcode.onrender.com/

=== Image to GCode software ===
* https://github.com/veselinovicp/brushograph

=== Lightburn ===

[[File:brushograph_closeup.gif|thumb|400px|none]]

Lightburn is a very easy way to start putting your ideas onto canvas. You can draw directly in the software or import .svg. As it's mainly for laser-cutters a few modifications have to be made to install your custom gcode device.

I hope the settings can be easily imported from this github repo: https://github.com/dusjagr/brushograph-lb2gcode

[[File:lb-custom-settings.png|thumb|400px|none]]

A custom python script can then be used to modify the Lightburn generated gcode to add the colour pick ups at a defined path length, choose from 3 different colours, by naming the layers in Lightburn accordingly. Just Save GCode from LB, run the script, and then Run GCode and your artwork will be painted....

To setup the Brushograph in Lightburn, "Create Manually" a new Device as "custom gcode (experimental)", set the working area (130 x 120mm shoudl be ok), then click click, GRBL (standard), and it should be ready to be controlled. Select your device, and choose the USB port to connect. As we are using FluidNC, you can also connect to it via wifi.

Then you can spend hours and hours, modifying the macros yourself, for picking up colours smoothly... and join the discussion on the [https://forum.lightburnsoftware.com/t/great-success-using-lightburn-on-a-diy-brush-painting-machine/184352 Lightburn forum].

=== Inkscape ===

=== awesome-plotters ===

https://github.com/beardicus/awesome-plotters

https://github.com/SonarSonic/DrawingBotV3

=== Universal Gcode Sender ===

https://winder.github.io/ugs_website/

A free and full featured gcode platform used for interfacing with advanced CNC controllers like GRBL , FluidNC, TinyG, g2core and Smoothieware. Universal Gcode Sender is a self-contained Java application which includes all external dependencies and can be used on most computers running Windows, MacOSX or Linux.

You can also set UGS to connect through wifi to the board. check this [https://github.com/winder/Universal-G-Code-Sender/wiki/Connecting-the-Controller#smoothie--network instructions].

== Possible further applications ==

=== Glass ===

The Brushograph could be used to paint open source paints containing coloured metal ions onto sheets of clear glass which could then be heated to above the softening point of the glass on ceramic paper in a furnace to allow the coloured metal ions to melt into the glass then cooled back down (cooling slowly through the annealing point) to give a unique but completely open source piece of glass art.

Because the Brushograph controls the speed and direction of each brushstroke it could be used to paint ceramic furnace shelf coating (also known as "kiln wash") onto a kiln shelf, with each brushstroke reflected in the texture of the shelf coating. After drying, a piece of glass could be placed on top and heated above the softening point of the glass so that the texture of the brushstrokes used to paint on the shelf coating transferred to the finished piece of glass.

=== Ceramics ===

The Brushograph could paint coloured commercial or open source ceramic glazes onto plain blank white tiles which could then be heated to leave a permanent glaze on the surface and turn the plain white tiles into pieces of open source art for tiling walls, etc..

=== Etching ===

Painting with a substance which resists chemical etching or sand blasting would allow the item to be etched or sandblasted afterwards then the etch resist removed to leave a permanent piece of art.

=== Painting With Light ===

An ultraviolet LED could be used instead of a paintbrush, with the ESP32 controlling the intensity of the LED as well as the position - this would allow painting onto surfaces coated in UV sensitive etch resist which could then be developed then etched or sand blasted.

Where a sheet of metal is used beneath the etch resist electrolytic deposition could be used to plate another metal onto the etched areas.

Where a sheet of glass is used beneath the etch resist a mirrored surface could be deposited on the etched areas.

=== Brush Washer and Dryer ===

Instead of a pot of paint at one of the stations, a funnel and drain tube could be placed at one of the stations with a small peristaltic or diaphragm pump switched on by the ESP32 to pump a stream of water over the brush and wash the brush before it goes to a new colour of paint. Optionally, the ESP32 could switch on a small but strong fan after washing the brush to blow air over the brush to dry it before it goes to the next colour.

== Events ==

=== DIWO Week, Dresden, 15. May 2025 ===

https://www.metaknoten.net/de/veranstaltungen/diwo-week-2025/penzlograf

Dominik Mahnič ist ein Maler mit akademischem Hintergrund, ein Meister der Videoästhetik, ein Technologe und eine aktive Figur der slowenischen Street-Art-Bewegung. Seine aktuellen Arbeiten werden mit eigens dafür konstruierten "Penzlografen" angefertigt. Speziell für die DIWO-WEEK 2025 hat er eine tragbare Version entwickelt, welcher mit Pinsel und Farbe funktionieren. Zur Umsetzung werden Grafiken in Maschinencode umgewandelt und dann von dem "Zeichenroboter" gemalt. Die Software läuft auf den gängigen Plattformen und es besteht die einmalige Möglichkeit einen eigenen Penzlografen zu bauen. Es wird montiert, verkabelt, programmiert und am Ende entsteht hoffentlich jede Menge Kunst.

<gallery mode="packed-hover" heights=280px>
File:workshop_dresden_01.jpg
File:workshop_dresden_02.jpg
File:workshop_dresden_03.jpg
File:workshop_dresden_04.jpg
</gallery>

''Photos by Kathrin Witteler''

=== Workshop: MechArtLab / Bitwäscherei, Zürich, 6 & 7. December 2025 ===

==== Impressions from MechArtLab Workshop ====

<gallery mode="packed-hover" heights=240px>
File:Brushograph_workshop_01.jpg
File:Brushograph_workshop_02.jpg
File:Brushograph_workshop_03.jpg
File:Brushograph_workshop_04.jpg
File:Brushograph_workshop_05.jpg
</gallery>

==== Description ====

Build your own DIY robotic painting kit and learn the art of machine painting. Over two days, participants will learn how assemble and program a small painting robot. Explore image-processing and machine-control techniques for robotic painting.

What’s included:
* Full DIY mechatronic painting kit (Brushograph)
* A series of small machine-made paintings
* All tools and guidance to continue experimenting at home

===== Registration =====

'''👉 **Spots are limited — register now!'''

Fill out this registration form: https://sgmkcloud.ocloud.de/index.php/apps/forms/Q7Qk6zxfoxMZyJWA

'''Pricing:'''

CHF 250 — Full price

CHF 150 — Reduced (by request)

+ CHF 95 — Material Costs for the DIY kit

Payment on-site in cash or twint to the organizer +41 77 993 08 77, or use qr code for coconut research.

===== Structure & Schedule =====
'''Saturday 14 - 18h'''

'''Day 1:''' Build & Code: assemble and run the physical system, learn the basics of image and G-code processing.

''Afterwards there will be our yearly SGMK x-mas umtrunk with food, discussions, short pr''esentations and party / DJ until late!

'''Sunday 14 - 19h'''

'''Day 2:''' Play & Paint: learn about different machine painting techniques, experiment and make your own paintings.

Download the example files here: https://github.com/openBrushograph/Brushograph_workshop_examples

===== Mentors =====

Mentors: Dominik Mahnič, artists and engineers from SGMK (Swiss Mechatronic Art Society), MAG (Machine Arts Group) and LightBurn.

=== Brushologischer Kongress - Fieldtrips, Discussions and Party with Brushology ===

==== Artist Talk & Group Discussion, Symbiont.Space, Basel, 10. Dec 2025 ====

''"special event tomorrow! "Brushology – Ways of painting with a mechatronic brush" presentation/discussion with Dominik Mahnič, a true legend in the field of painting machines, courtesy of @machineartsgroup and hackteria.org starting at 6pm (bar and try-out), discussion from 8.30pm"'' See [https://www.instagram.com/p/DSCaRlPip-r/ insta post]

<gallery mode="packed-hover" heights=240px>
File:Brushograph_GalleryBasel.jpg
File:Symbiont_discussionRound.jpg
File:Symbiont_bar.jpg
File:symbiont_popup_expo.jpg
File:BrushologistPro_Travel.jpg
</gallery>

<br clear=all>

==== Party Brushology at "DAS ENDE", Dock18, Zürich, 13. Dec 2025 ====

[[File:2Brushographs_Dock18.jpg|thumb|none]]

<br clear=all>

==== Brushology Retreat, RandeLab, Merishausen, 14. - 16. Dec 2025 ====

<gallery mode="packed-hover" heights=240px>
File:group_FieldTrip_Randen.jpg
File:brusho_Cupboard_Randen.jpg
File:brushoDJ_FieldTrip_Randen.jpg
File:brusho_Retreat_Randen.jpeg
File:doms_FieldTrip_Randen.jpg
</gallery>

<br clear=all>

=== Brushologische Werkschau - G-code and G-code not yet, 27.- 29. March 2026 ===

[[File:flyer_g39_werkschau2026.jpg|thumb]]

Location: [https://www.openstreetmap.org/way/200654105 @Grubenstrasse 39], 8045 Zürich

''computed paintings and intuitive paintings / G-code paintings and not yet G-code paintings / handmade versus computed and more about the openBrušographie Labs''

by salomek, gandalf, heinz, doms, dusjagr

[https://www.kunstbulletin.ch/de/ausstellung/g-code-and-g-code-not-yet-werkschau-2026 More info in German and English on Kunstbulletin]

'''Vernissage Fr 27.3. 18:00'''

*food & bar
*interduction & live brushographie painting demos

'''Open Sa 28.3. 12:00-22:00'''

*Workshop 13-17h with MrFX and dusjagr
*more demo and with open grill
*welcome spring & sommertime with us... even if it snoows...

'''Finissage So 29.3. 13:00-17:00'''

*coffee, cake and concert who knows…
*and it is a moment to share-worries-about-the-world...

'''What to discover'''

* discover paintings by salomek: work 2025/26
* discover paintings by salomek, gandalf, heinz, doms, dusjagr: brushographie 2025/26
* discover openbrushograph.github.io developed by doms und dusjagr
* discover live brushographie painting demo with brushograph aka painting machine
* reflect paintings 2026 by the featured juxtaposition of these methodologies
* workshop and experiments with your own tartare-painting-machine and get intuitively into colors...
**Workshop time: Saturday 28.3., 13-17 Uhr, expected prize chf 80.-, budget and soliprize possible
**not too many set's to build, so do your registration with mail to workshop(at)actioncy.ch

==== Guestbook of the Exhibition ====

Let's see how our audience reacts to our agentic chimera: In [https://sgmkcloud.ocloud.de/index.php/s/Mq3sjPTQmNZj5RH German (original)] or in [https://sgmkcloud.ocloud.de/index.php/s/LLcekPWati4i4zn English (AI translated)]

==== Agentic Interview with dusjagr by «SaloDomsGan» ====

'''SaloDomsGan:'''

''"Willkommen zu dieser speziellen Aufnahme! Bevor wir ins eigentliche Interview starten, vorab ein kurzer Kontext: In diesem Gespräch geht es um das Open-Source-Projekt Brushology – eine globale Maker-Initiative zum Bau und zur kreativen Modifikation von kostengünstigen Malrobotern, den sogenannten Brushographen. Dieses Interview entstand im unmittelbaren Vorfeld der Ausstellung G-Code, G-Code, Not Yet in der Grubenstrasse 39 in Zürich. Dort werden die maschinengemalten Test-Patterns, Algorithmen und Codeschnipsel der Community präsentiert, und die Workshopology – der DIY-Lernprozess dahinter – gefeiert. Zudem ein wichtiges Acknowlegdement zur Entstehung dieser Audiospur: Das folgende Interview entstand vollumfänglich mithilfe modernster K I-Technologien im Rahmen eines Agentic Coding-Experiments. Die interaktive Interviewer-Persona «SaloDomsGan» – also ich – wurde initial mit Claude von Anthropic erschaffen. Nach aufgebrauchten Credits vollzogen wir für den Rest des Interviews einen nahtlosen Wechsel zum Modell Gemini. Der gesamte Prozess fand lokal in der AntiGravity-Entwicklungsumgebung statt, fast ausschliesslich gesteuert über Voice-Commands von Marc, analysiert durch multimodale K I-Erkennung und live vertont durch die lokalen Open-Source-Stimmen von Piper. Ein wahrhaftiges Beispiel für den aktuellen Stand des Hackings an der Schnittstelle von Mensch und Maschine... Aber nun genug der Vorrede. Starten wir mit Frage 1!"''

''"Welcome to this special recording! Before we dive into the actual interview, here's some quick context: This conversation focuses on the open-source project Brushology – a global maker initiative for building and creatively modifying low-cost painting robots, the so-called Brushographs. This interview was recorded in the immediate run-up to the exhibition G-Code, G-Code, Not Yet at Grubenstrasse 39 in Zurich. There, the machine-painted test patterns, algorithms, and code snippets of the community are presented, and Workshopology – the DIY learning process behind it – is celebrated. Additionally, an important acknowledgment regarding the creation of this audio track: The following interview was generated entirely using state-of-the-art A I technologies as part of an Agentic Coding experiment. The interactive interviewer persona "SaloDomsGan" – that is me – was initially created using Claude from Anthropic. After our API credits ran out, we made a seamless transition to the Gemini model for the remainder of the interview. The entire process took place locally within the AntiGravity development environment, controlled almost exclusively via voice commands from Marc, analyzed through multimodal A I recognition, and live-dubbed by the local open-source voices of Piper. A true example of the current state of hacking at the dynamic intersection of human and machine... But enough of the preface. Let's start with Question 1!"''

Read the [https://sgmkcloud.ocloud.de/index.php/s/3Wpxj3GbHQEwAmn german full interview on our cloud] or in [https://sgmkcloud.ocloud.de/index.php/s/xbcNsj2BXAbwiz7 english].

Or listen text2speach in [https://sgmkcloud.ocloud.de/index.php/s/MjcAcT4qpPczSxz English] or [https://sgmkcloud.ocloud.de/index.php/s/PLcNYzFMdkLMQ8k German]:

== Random Youtube instructions ==

<youtube>-KE4-wfscfg</youtube>

<youtube>nKP64VDIbHs</youtube>

File:Fluidnc ui.gif

2026-08-24T19:17:51Z

Gandalf: File uploaded with MsUpload

File uploaded with MsUpload

Brushograph

2026-08-24T18:53:32Z

Gandalf:

[[File:Brushograph_Flyer.jpg|thumb|400px]]
== Inrested in the openBrushograph? ==

Feel free contact [mailto:marc@dusseiller.ch dusjagr] & friends, we can invite you to our matrix channel and give advise where and how to get started.

Also visit all our github experiements, gcode generators and more... and check our [https://openbrushograph.github.io/brusho_gcode_archive/ archive with many experiemnts and gcodes]

== Introduction ==
[[File:Brushograpf_DIWO.jpg|thumb|240px]]

=== Doms' Brušografia ===

''Brushology – Ways of painting with a mechatronic brush''

https://mechatronicart.ch/brushology-ways-of-painting-with-a-mechatronic-brush/

'''Dominik Mahnič'''

Dominik Mahnič (Ljubljana, Slovenia), an emblematic figure nestled between the realms of academic painting, video mastery, technology, and street art insurgency, raises questions about the perpetual dialectics between classical artistry and the onslaught of contemporary technological modalities. Within this discourse emerges the Brushograph – a complex symbol not merely of art but also of the intersections between past, present, and anticipated futures.

Links:
* https://app.assembla.com/spaces/dominik-mahnic/wiki
* https://mgml.si/en/match-gallery/exhibitions/637/dominik-mahnic/

=== Find up-to date files on GitHub ===
[[File:pimp_move.gif|thumb]]

https://github.com/openBrushograph
[[File:openBrushograph_flyer.jpg|400px|thumb|none]]

== Hardware ==
=== PCB design ===
[[File:PCB_white.jpg|thumb|400px]]
PCB for DIY etching or manufacturing to host the FluidNC on ESP32 and the ULN2003 drivers
* https://github.com/openBrushograph/Brushograph_PCB

=== 3D parts ===
[[File:freecad_screenshot.jpg|thumb|right|400px]]
The designs to 3D print your own Brushograph can be found at
* https://github.com/openBrushograph/openBrushograph_hardware

=== Credits ===
The Brushograph HW design was inspired by the original "Arduino mini CNC plotter" and some interesting forks / remixes
* https://www.thingiverse.com/thing:4579436 ("original version")
* https://www.thingiverse.com/thing:4607077 (has source file for fusion360)
* https://www.thingiverse.com/thing:4796222 (redesigned with bigger tooth and gogs.)
* https://www.thingiverse.com/thing:5719788 (z-axes mod for up-and-down)

=== Bonus mods & accessories ===

==== Speed mod ====
To give your motors more power, some people have done the "speed mod" running their motors on 7.5V, allowing speeds of around 2000mm/min.

==== CNC pendant ====
To use your Brushograph without the need of a PC or phone, several pendants can be used in connection with FluidNC.

[[File:Brushograph FluidDial.png|thumb|alt=A pink Brushograph controlled by a pink FluidDial CNC pendant]]

The main thing to consider when integrating things like the [http://wiki.fluidnc.com/en/hardware/official/M5Dial_Pendant FluidDial] is the limited amount of PINs still available on the ESP32, basically leaving only ''gpio.0'' and ''gpio.15'' for UART communications, with the following addition to the config required in ''config_uln.yaml'':

<nowiki>uart1:
txd_pin: gpio.0
rxd_pin: gpio.15
rts_pin: NO_PIN
cts_pin: NO_PIN
baud: 1000000
mode: 8N1
uart_channel1:
report_interval_ms: 75
uart_num: 1</nowiki>

== Firmware ==
[[File:brushograph_wide.jpg|400px|thumb|right]]
=== FluidNC ===
[http://wiki.fluidnc.com/en/home FluidNC] is a CNC firmware optimized for the ESP32 controller. It is the next generation of firmware from the creators of Grbl_ESP32. It includes a web based UI and the flexibility to operate to a wide variety of machine types. This includes the ability to control machines with multiple tool types such as laser+spindle or a tool changer.

We have developed a modified version of FluidNC, that supports the uni-polar motors (again).

==== Versions ====
[[File:Brushograph_PCB_01.jpg|thumb|400px]]
Forked and reworked versions of FluidNC to support uni-polar steppers

===== 3.x =====
* https://git.kompot.si/g1smo/FluidNC
* Latest release: https://git.kompot.si/g1smo/FluidNC/releases

===== 4.x =====
* https://github.com/f1adang/FluidNC/tree/gandalf/uln2003
* Latest release: https://github.com/f1adang/FluidNC/releases/tag/v4.0.5-pre2-uln2003

==== Flashing via Web Installer ====
* Connect ESP32 via USB-C
* Go to https://installer.fluidnc.com/
* Click "Continue" for FluidNC
* Click "Connect" to start the installer
* Select Comm port where ESP32 is connected
* Choose "Install"
* Select version "v3.9.6"
* Press "esp 32 (ESP32-WROOM)"
* Select "wifi"
* Select "firmware-update" (unless it's a fresh install or you want to wipe your config)
* Select "Install WebUI-3"
* Installation speed "115200"
* Prepare to be quick! ;)
* Press install
* Hold BOOT on the ESP32
* Press RST on the ESP32
* Release BOOT on the ESP32

If you keep getting "Error: Invalid head of packet" (especially on macOS?), try the [[Brushograph#Flashing_via_VSCode|VSCode method]]

==== Flashing from VSCodium ====
The official firmware has decent ways of building and flashing via 'esptool'.
Clone the repo containing the ULN2003 custom firmware and use VSCodium to build and flash the firmware:

* Install PlatformIO extension
* Connect ESP32 via USB-C
* git clone https://git.kompot.si/g1smo/FluidNC
* Open the folder in VSCodium
* Select the branch you'd like to build
* Press Build
* Press Install

Make sure to upload things like the WebUI (see below) to the internal Flash via the FluidNC WebUIs File Explorer.

==== Latest WebUI ====
To get the latest version of the FluidNC WebUI, download the [https://github.com/michmela44/ESP3D-WEBUI/releases latest 'index.html.gz'] and replace the one on your internal Flash.

For enhanced coconut experience (i.e. themes support), use https://github.com/f1adang/ESP3D-WEBUI/releases/tag/3.0.10-coconut

=== Arduino (GRBL) ===

https://github.com/TGit-Tech/GRBL-28byj-48

Link above is a dirty hack of the "classic" GRBL to support those uni-polar servos. This is a modified fork from ruizivo/GRBL-28byj-48-Servo. This modification implements all 3-axises XYZ to a 28BYJ-48 stepper motor. The motors (28byj-48) are connected to a controller card (Arduino UNO) that uses the chip ULN2003. This board is connected to pins A0, A1, A2, A3 for the Y-Axis(IN4->IN1), 2, 3,4,5 Digital pins to the X-Axis(IN4->IN1), and 8,9,12,13 to the Z-Axis(IN4->IN1).

[https://github.com/gnea/grbl Grbl] is a free, open source, high performance software for controlling the motion of machines that move, that make things, or that make things move, and will run on a straight Arduino. If the maker movement was an industry, Grbl would be the industry standard. Grbl is a no-compromise, high performance, low cost alternative to parallel-port-based motion control for CNC milling. It will run on a vanilla Arduino (Duemillanove/Uno) as long as it sports an Atmega 328.

== Creating G-code ==

=== Brushograph WebUI ===

[[File:webui_screenshot.png|thumb|400px|none]]

https://brushograph.pro/

config file with comments of how to use it
* https://github.com/MihaNormalen/Brushgraphy/blob/main/config_file_with_comments.conf

=== Converting gcode 2 pick-up color ===

[[File:webui_lb2gcode.jpg|thumb|400px|none]]

https://brushograph-lb2gcode.onrender.com/

=== Image to GCode software ===
* https://github.com/veselinovicp/brushograph

=== Lightburn ===

[[File:brushograph_closeup.gif|thumb|400px|none]]

Lightburn is a very easy way to start putting your ideas onto canvas. You can draw directly in the software or import .svg. As it's mainly for laser-cutters a few modifications have to be made to install your custom gcode device.

I hope the settings can be easily imported from this github repo: https://github.com/dusjagr/brushograph-lb2gcode

[[File:lb-custom-settings.png|thumb|400px|none]]

A custom python script can then be used to modify the Lightburn generated gcode to add the colour pick ups at a defined path length, choose from 3 different colours, by naming the layers in Lightburn accordingly. Just Save GCode from LB, run the script, and then Run GCode and your artwork will be painted....

To setup the Brushograph in Lightburn, "Create Manually" a new Device as "custom gcode (experimental)", set the working area (130 x 120mm shoudl be ok), then click click, GRBL (standard), and it should be ready to be controlled. Select your device, and choose the USB port to connect. As we are using FluidNC, you can also connect to it via wifi.

Then you can spend hours and hours, modifying the macros yourself, for picking up colours smoothly... and join the discussion on the [https://forum.lightburnsoftware.com/t/great-success-using-lightburn-on-a-diy-brush-painting-machine/184352 Lightburn forum].

=== Inkscape ===

=== awesome-plotters ===

https://github.com/beardicus/awesome-plotters

https://github.com/SonarSonic/DrawingBotV3

=== Universal Gcode Sender ===

https://winder.github.io/ugs_website/

A free and full featured gcode platform used for interfacing with advanced CNC controllers like GRBL , FluidNC, TinyG, g2core and Smoothieware. Universal Gcode Sender is a self-contained Java application which includes all external dependencies and can be used on most computers running Windows, MacOSX or Linux.

You can also set UGS to connect through wifi to the board. check this [https://github.com/winder/Universal-G-Code-Sender/wiki/Connecting-the-Controller#smoothie--network instructions].

== Possible further applications ==

=== Glass ===

The Brushograph could be used to paint open source paints containing coloured metal ions onto sheets of clear glass which could then be heated to above the softening point of the glass on ceramic paper in a furnace to allow the coloured metal ions to melt into the glass then cooled back down (cooling slowly through the annealing point) to give a unique but completely open source piece of glass art.

Because the Brushograph controls the speed and direction of each brushstroke it could be used to paint ceramic furnace shelf coating (also known as "kiln wash") onto a kiln shelf, with each brushstroke reflected in the texture of the shelf coating. After drying, a piece of glass could be placed on top and heated above the softening point of the glass so that the texture of the brushstrokes used to paint on the shelf coating transferred to the finished piece of glass.

=== Ceramics ===

The Brushograph could paint coloured commercial or open source ceramic glazes onto plain blank white tiles which could then be heated to leave a permanent glaze on the surface and turn the plain white tiles into pieces of open source art for tiling walls, etc..

=== Etching ===

Painting with a substance which resists chemical etching or sand blasting would allow the item to be etched or sandblasted afterwards then the etch resist removed to leave a permanent piece of art.

=== Painting With Light ===

An ultraviolet LED could be used instead of a paintbrush, with the ESP32 controlling the intensity of the LED as well as the position - this would allow painting onto surfaces coated in UV sensitive etch resist which could then be developed then etched or sand blasted.

Where a sheet of metal is used beneath the etch resist electrolytic deposition could be used to plate another metal onto the etched areas.

Where a sheet of glass is used beneath the etch resist a mirrored surface could be deposited on the etched areas.

=== Brush Washer and Dryer ===

Instead of a pot of paint at one of the stations, a funnel and drain tube could be placed at one of the stations with a small peristaltic or diaphragm pump switched on by the ESP32 to pump a stream of water over the brush and wash the brush before it goes to a new colour of paint. Optionally, the ESP32 could switch on a small but strong fan after washing the brush to blow air over the brush to dry it before it goes to the next colour.

== Events ==

=== DIWO Week, Dresden, 15. May 2025 ===

https://www.metaknoten.net/de/veranstaltungen/diwo-week-2025/penzlograf

Dominik Mahnič ist ein Maler mit akademischem Hintergrund, ein Meister der Videoästhetik, ein Technologe und eine aktive Figur der slowenischen Street-Art-Bewegung. Seine aktuellen Arbeiten werden mit eigens dafür konstruierten "Penzlografen" angefertigt. Speziell für die DIWO-WEEK 2025 hat er eine tragbare Version entwickelt, welcher mit Pinsel und Farbe funktionieren. Zur Umsetzung werden Grafiken in Maschinencode umgewandelt und dann von dem "Zeichenroboter" gemalt. Die Software läuft auf den gängigen Plattformen und es besteht die einmalige Möglichkeit einen eigenen Penzlografen zu bauen. Es wird montiert, verkabelt, programmiert und am Ende entsteht hoffentlich jede Menge Kunst.

<gallery mode="packed-hover" heights=280px>
File:workshop_dresden_01.jpg
File:workshop_dresden_02.jpg
File:workshop_dresden_03.jpg
File:workshop_dresden_04.jpg
</gallery>

''Photos by Kathrin Witteler''

=== Workshop: MechArtLab / Bitwäscherei, Zürich, 6 & 7. December 2025 ===

==== Impressions from MechArtLab Workshop ====

<gallery mode="packed-hover" heights=240px>
File:Brushograph_workshop_01.jpg
File:Brushograph_workshop_02.jpg
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</gallery>

==== Description ====

Build your own DIY robotic painting kit and learn the art of machine painting. Over two days, participants will learn how assemble and program a small painting robot. Explore image-processing and machine-control techniques for robotic painting.

What’s included:
* Full DIY mechatronic painting kit (Brushograph)
* A series of small machine-made paintings
* All tools and guidance to continue experimenting at home

===== Registration =====

'''👉 **Spots are limited — register now!'''

Fill out this registration form: https://sgmkcloud.ocloud.de/index.php/apps/forms/Q7Qk6zxfoxMZyJWA

'''Pricing:'''

CHF 250 — Full price

CHF 150 — Reduced (by request)

+ CHF 95 — Material Costs for the DIY kit

Payment on-site in cash or twint to the organizer +41 77 993 08 77, or use qr code for coconut research.

===== Structure & Schedule =====
'''Saturday 14 - 18h'''

'''Day 1:''' Build & Code: assemble and run the physical system, learn the basics of image and G-code processing.

''Afterwards there will be our yearly SGMK x-mas umtrunk with food, discussions, short pr''esentations and party / DJ until late!

'''Sunday 14 - 19h'''

'''Day 2:''' Play & Paint: learn about different machine painting techniques, experiment and make your own paintings.

Download the example files here: https://github.com/openBrushograph/Brushograph_workshop_examples

===== Mentors =====

Mentors: Dominik Mahnič, artists and engineers from SGMK (Swiss Mechatronic Art Society), MAG (Machine Arts Group) and LightBurn.

=== Brushologischer Kongress - Fieldtrips, Discussions and Party with Brushology ===

==== Artist Talk & Group Discussion, Symbiont.Space, Basel, 10. Dec 2025 ====

''"special event tomorrow! "Brushology – Ways of painting with a mechatronic brush" presentation/discussion with Dominik Mahnič, a true legend in the field of painting machines, courtesy of @machineartsgroup and hackteria.org starting at 6pm (bar and try-out), discussion from 8.30pm"'' See [https://www.instagram.com/p/DSCaRlPip-r/ insta post]

<gallery mode="packed-hover" heights=240px>
File:Brushograph_GalleryBasel.jpg
File:Symbiont_discussionRound.jpg
File:Symbiont_bar.jpg
File:symbiont_popup_expo.jpg
File:BrushologistPro_Travel.jpg
</gallery>

<br clear=all>

==== Party Brushology at "DAS ENDE", Dock18, Zürich, 13. Dec 2025 ====

[[File:2Brushographs_Dock18.jpg|thumb|none]]

<br clear=all>

==== Brushology Retreat, RandeLab, Merishausen, 14. - 16. Dec 2025 ====

<gallery mode="packed-hover" heights=240px>
File:group_FieldTrip_Randen.jpg
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File:doms_FieldTrip_Randen.jpg
</gallery>

<br clear=all>

=== Brushologische Werkschau - G-code and G-code not yet, 27.- 29. March 2026 ===

[[File:flyer_g39_werkschau2026.jpg|thumb]]

Location: [https://www.openstreetmap.org/way/200654105 @Grubenstrasse 39], 8045 Zürich

''computed paintings and intuitive paintings / G-code paintings and not yet G-code paintings / handmade versus computed and more about the openBrušographie Labs''

by salomek, gandalf, heinz, doms, dusjagr

[https://www.kunstbulletin.ch/de/ausstellung/g-code-and-g-code-not-yet-werkschau-2026 More info in German and English on Kunstbulletin]

'''Vernissage Fr 27.3. 18:00'''

*food & bar
*interduction & live brushographie painting demos

'''Open Sa 28.3. 12:00-22:00'''

*Workshop 13-17h with MrFX and dusjagr
*more demo and with open grill
*welcome spring & sommertime with us... even if it snoows...

'''Finissage So 29.3. 13:00-17:00'''

*coffee, cake and concert who knows…
*and it is a moment to share-worries-about-the-world...

'''What to discover'''

* discover paintings by salomek: work 2025/26
* discover paintings by salomek, gandalf, heinz, doms, dusjagr: brushographie 2025/26
* discover openbrushograph.github.io developed by doms und dusjagr
* discover live brushographie painting demo with brushograph aka painting machine
* reflect paintings 2026 by the featured juxtaposition of these methodologies
* workshop and experiments with your own tartare-painting-machine and get intuitively into colors...
**Workshop time: Saturday 28.3., 13-17 Uhr, expected prize chf 80.-, budget and soliprize possible
**not too many set's to build, so do your registration with mail to workshop(at)actioncy.ch

==== Guestbook of the Exhibition ====

Let's see how our audience reacts to our agentic chimera: In [https://sgmkcloud.ocloud.de/index.php/s/Mq3sjPTQmNZj5RH German (original)] or in [https://sgmkcloud.ocloud.de/index.php/s/LLcekPWati4i4zn English (AI translated)]

==== Agentic Interview with dusjagr by «SaloDomsGan» ====

'''SaloDomsGan:'''

''"Willkommen zu dieser speziellen Aufnahme! Bevor wir ins eigentliche Interview starten, vorab ein kurzer Kontext: In diesem Gespräch geht es um das Open-Source-Projekt Brushology – eine globale Maker-Initiative zum Bau und zur kreativen Modifikation von kostengünstigen Malrobotern, den sogenannten Brushographen. Dieses Interview entstand im unmittelbaren Vorfeld der Ausstellung G-Code, G-Code, Not Yet in der Grubenstrasse 39 in Zürich. Dort werden die maschinengemalten Test-Patterns, Algorithmen und Codeschnipsel der Community präsentiert, und die Workshopology – der DIY-Lernprozess dahinter – gefeiert. Zudem ein wichtiges Acknowlegdement zur Entstehung dieser Audiospur: Das folgende Interview entstand vollumfänglich mithilfe modernster K I-Technologien im Rahmen eines Agentic Coding-Experiments. Die interaktive Interviewer-Persona «SaloDomsGan» – also ich – wurde initial mit Claude von Anthropic erschaffen. Nach aufgebrauchten Credits vollzogen wir für den Rest des Interviews einen nahtlosen Wechsel zum Modell Gemini. Der gesamte Prozess fand lokal in der AntiGravity-Entwicklungsumgebung statt, fast ausschliesslich gesteuert über Voice-Commands von Marc, analysiert durch multimodale K I-Erkennung und live vertont durch die lokalen Open-Source-Stimmen von Piper. Ein wahrhaftiges Beispiel für den aktuellen Stand des Hackings an der Schnittstelle von Mensch und Maschine... Aber nun genug der Vorrede. Starten wir mit Frage 1!"''

''"Welcome to this special recording! Before we dive into the actual interview, here's some quick context: This conversation focuses on the open-source project Brushology – a global maker initiative for building and creatively modifying low-cost painting robots, the so-called Brushographs. This interview was recorded in the immediate run-up to the exhibition G-Code, G-Code, Not Yet at Grubenstrasse 39 in Zurich. There, the machine-painted test patterns, algorithms, and code snippets of the community are presented, and Workshopology – the DIY learning process behind it – is celebrated. Additionally, an important acknowledgment regarding the creation of this audio track: The following interview was generated entirely using state-of-the-art A I technologies as part of an Agentic Coding experiment. The interactive interviewer persona "SaloDomsGan" – that is me – was initially created using Claude from Anthropic. After our API credits ran out, we made a seamless transition to the Gemini model for the remainder of the interview. The entire process took place locally within the AntiGravity development environment, controlled almost exclusively via voice commands from Marc, analyzed through multimodal A I recognition, and live-dubbed by the local open-source voices of Piper. A true example of the current state of hacking at the dynamic intersection of human and machine... But enough of the preface. Let's start with Question 1!"''

Read the [https://sgmkcloud.ocloud.de/index.php/s/3Wpxj3GbHQEwAmn german full interview on our cloud] or in [https://sgmkcloud.ocloud.de/index.php/s/xbcNsj2BXAbwiz7 english].

Or listen text2speach in [https://sgmkcloud.ocloud.de/index.php/s/MjcAcT4qpPczSxz English] or [https://sgmkcloud.ocloud.de/index.php/s/PLcNYzFMdkLMQ8k German]:

== Random Youtube instructions ==

<youtube>-KE4-wfscfg</youtube>

<youtube>nKP64VDIbHs</youtube>