• Connect the MonsterrhinoMotion and MonsterrhinoControl to the 24V source (e.g. battery). Foresee a power switch at the 24V line.
• Connect the CAN between MonsterrhinoMotion and MonsterrhinoControl
• Connect the display to the MonsterrhinoControl
• Connect the limit switches to the inputs of motor 3 and 4 on the MonsterrhinoMotion
• Connect the 4 Monsterrhino RGB LEDs to the MonsterrhinoControl
• Connect the motors: motor 1 and motor 2 are the front wheels, motor 3 is the z axis, and motor 4 is the y axis

• Download a pre-installed Raspberry Pi image with the already installed CAN and display driver as described here: https://github.com/Monsterrhino/MonsterrhinoControl
• Download the Python3 GUI software (https://github.com/Monsterrhino/MonsterrhinoMotion/Projects/MonsterrhinoPrinterCar/python3) to the Raspberry Pi. You need to install some extra Python packages:

sudo python3 led.py sudo pip3 install pillow
sudo apt-get install python3-pil python3-pil.imagetk
sudo apt-get install python3-opencv
sudo apt-get install libhdf5-dev
sudo apt-get install libhdf5-serial-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install libjasper-dev sudo apt-get install libqtgui4 sudo apt-get install libqt4-test
sudo pip3 install numpy

Now you should be able to run the software by executing following command in a terminal:

sudo python3 MonsterrhinoPrinterCarGUI.py

• Open the Monsterrhinostep-Lib through your ArduinoIDE (File->Examples->Monsterrhinostep->monsterrhinostep) and copy the content of the three files in https://github.com/Monsterrhino/MonsterrhinoMotion/Projects/MonsterrhinoPrinterCar/firmaware to the according files of the Monsterrhinostep-Lib (monsterrhinostep, User_Function1 and User_Function2).

• Compile and upload to your MonsterrhinoControl (further information of how to do that can be found in the docs) - and thats it!

Place the .jpg file you whant to print on the Raspberry Pi, from the GUI select Load Image! and search for the path to the image file. After selecting the image you should see a preview of it on the screen. Tab home for homing the y-z axis. After homing has finished press Start plotting.

If you have a different length of the rails, different tires, the motor mounted differently or a different gear ratio on the axis you have to adjust some parameters:

Change the following lines in User_Function1 in the function Homing3and4 to adjust the range of your y and z axis:

	// y axis
	g_Motor4.SetMoveRelative(-1550);  // this is the maximum that the y axis can move in steps

	// x axis
	g_Motor3.SetMoveRelative(-850);   // this is the maximum that the z axis can move in steps

If the one motor spinns in the wrong direction you can use the USB commands within a serial monitor to fix that. To do so connect via serial monitor to your MonsterrhinoMotion card and type m1st ? (change the number acording to the motor you need).

Now you can change the parameter **StepperDirection(sd): 0 ** to the opposite direction by entering m1st sd 1 into the terminal. Save the changes by typing m1smp.

It might also be necessary to change the motor currents, depending on the motors and mechanics you use. You can do so by changing the values of this lines (e.g. motor 4):

		g_Motor4.SetMotorCurrent(100);
		g_Motor4.SetMotorCurrentHold(10);

Have fun!