Farrusco tries to write 'LMR'

While coding new interactivity into this robot, and trying to achieve more control on the way it moves, I though it would be cool to see what happens if I mount one little servo to hold a pen, and tell him to write 'LMR'.

The idea came from this challenge... and I thought I could give it a shot.

If you can´t see the videos here are the Youtube Links
http://www.youtube.com/watch?v=3v3BJMeKFW0
http://www.youtube.com/watch?v=KzekyC9O6hA

The result was far from what I expected.
The pen is not centered on the chassis.. the correct position for the pen would be exactly between the wheels..

If the pen was in the chassis center the result would be accurate!! I still can´t keep 90º angles everytime I move on to the next letter!  :)

At the same time it was nice to see this little creature drawing lines on its own  :)