It took me a lot of time, web searches, trials and errors to find a way to convert a bitmap image into a nice Gcode tool path.
I have tried many things including extruding a greyscale image into a 3D mesh and then extract its first slice using Axon/Skeinforge.
But this method, like many others, produced very poor results...
...until I found out there is a pen-plotter project for the Makerbot called "Unicorn".

