The code is working. There will be two cameras; one pointing at the subject to be painted and the other will be tracking the movement of the mobile arm. The image below illustrates what the computer will be seeing. The white dot on my eyebrow is not a mistake. That is the illustration of the tracking software that will be analyzing the location of the moving arm and determine weather the arm should paint or not. If the computer sees that the location of the arm is over an area that should be painted black, it will send an impulse to the robotic arm allowing it to begin the painting.
I also worked on the mechanics of the arm that will be responsible for drawing. I am using two servo motors that allow for accurate movement. The mobil unit has a container for the paint and a paintbrush. The messy tape job is due to my quick prototyping theory. As it can be seen, the mechanics are working properly and the car is running around as planned. check out the two videos below.
Mobil unit roaming around:
Arm test: