My first attempt showed some limitations of the RoboDraw software, which takes a SVG and attempts to paint it:
I made heavy use of clip paths in trying to recreate this Sol LeWitt wall drawing, and RoboDraw 0.98 doesn't appear to obey them. The beta 2.0 software couldn't paint my SVG at all but from as far as it got, it looked like it had the same problem. Here's a rendering from the same program I used to create that SVG:
However, the Inkscape plugin for WaterColorBot has far better control (at the cost of some more complexity.) You draw each color as a separate layer in Inkscape, and the paths you defined there are exactly what the brush follows. Leaving only the complexity of judging fills, appropriate amount of water, distance between paint refills, height of the brush, and quality of the paper. Generating SVGs from Python code and then painting them in Inkscape works pretty well. Here are two crayon drawings I did via this method, both inspired by Sol LeWitt:
I was able to use Inkscape to convert a small piece of pixel art to a PNG, and then paint the PNG in RoboDraw. Prewatering the paint and using printer paper led to a rather soggy output, but the conversion process worked pretty well and the fills were more sensible here.
Converting a Tintri logo to an outline in Inkscape and plotting that with a colored pencil worked quite well. (But I didn't take a picture of that one.) The hardware seems rather inexact with brush strokes but quite accurate on pencil drawings--- not sure what's going on there. It's capable of drawing pretty well-formed circles though with a slight mismatch where the curve closes.
The control software makes choices that are a little surprising sometimes. It doesn't paint like a human, of course, who would refill at the end of a stroke. Instead it will quit halfway through when the distance threshold has been met, or start a stroke and then immediately go for more paint. The fills are also done in scan lines when a human would tend to break them up. There is a low-level API so if sufficiently motivated I could try my own hand at doing better.
A limitation of the simple hardware is that there is no feedback on the amount of pressure on the brush pencil. The brush mechanism has software-controlled height, and they even include software to draw spiral paintings where the height of the brush is used to print an image. But you have to calibrate the height by hand, and it's easy to lift the carriage up by putting a pen too low. On the other hand, simply resting on the paper doesn't provide good results with a pencil or crayon. The guide rails are fairly simple and open at the top, so the amount of pressure is limited, but it still would be nice to have a pressure sensor to tell if the crayon needs to be lowered a bit to keep drawing. (You can see in the first crayon drawing above that I paused and adjusted the height a couple times.)