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I used a dithering algorithm (https://en.wikipedia.org/wiki/Dither) to generate a multicolor svg file from a png (I think I did it using Processing).
Then, the sender software allows you to change tools between colors, so I used multiples pens. It's pretty straightforward as long as the machine does not lose steps between passes.
https://github.com/BenjaminPoilve/Liplo/blob/master/Media/DSC_2183.jpg
Especially the colored (CMYK?) dotted sphere?
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