The installation Die Fröhliche Wissenschaft by Thomas Henninger and Axel Anklam in cooperation with Wolfgang Spahn is running in the conference room at the Federal Ministry of Education and Research in Berlin since 2014.

It's a giant CNC chalk drawing machine that is capable to draw, to erase the drawings and pick up new drawing chalks.

The controlling system is based on a Python program that runs on a Raspberry Pi that controls a Paper Duino Pi (Arduino) with three stepper motors and two gear motors.
An other Arduino is for the chalk control. The chalk control is activated with a Reed Relais.

All controlling systems, the hard - and software was designed and made by Wolfgang Spahn 2014.

Here is the code for a CNC control system of the installation:

• froehliche_wissenschaft_main.zip
• helpprograms.zip
• kreidespender_10.zip
• plotter_control_85.zip
• manual.zip

The controlling is done with:

• a Raspberry Pi B+
• an Arduino Uno

and the following Paper Boards:

• a Paper Duino Pi
• three Stepper-Motor-Board
• two Motor Control Board

The Paper Duino Pim the Motor Control Board and the Stepper-Motor-Board are designed by Wolfgang Spahn 2012-14

All programs are written by Wolfgang Spahn 2014.

They are licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.