The drivers don't seem to want to make color output for most of the epson printers. However, I was able to find a couple of printers that would generate color with the epsonc driver. The Epson LQ-2550 and the Fujitsu 2400 or Fujitsu 3400. I wrote an interpreter that would render the printer test page as a proof of concept. It is by no means complete as it only implements just enough ESC codes to work.
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Epson LQ-2550 Javascript Interpreter
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