i've tried to do this with an AVR board, but from what i understand GPIOs aren't really suited for closing contacts like this. maybe with a ground/voltage reference i could pull a pin to the same value, but i'm not entirely sure if that would work or what the circuit needs to look like not to damage any of the parts.
if i can control the printhead directly and bypass the entire controller so i can print whatever pattern i want instead of just text, that would be ideal. i just have no idea how to approach it