There are some handy freeware applications that make a good fist of converting pixel-based images into vector ones. As I've been using Photoshop for over 15 years now nothing's going to get me to change so when I came to doing some t-shirt design that had to end up as a SVG vector image I used:
http://delineate.sourceforge.net/to convert my Photoshop line-art to a vector format.
The argument that vector graphics will be sharper than bitmap graphics is true but these days computers can handle files of massive resolution with ease so it has become less of a problem, especially when it's going to be something as small as a pedal. Find out what resolution your printer can output (lines per inch) and multiply that by the size of your pedal (in inches). That'll be the resolution you'll need to work at, if you use Photoshop or similar, to get the highest quality possible from your printer. Granted, a vector file will be small in filesize but again storage is cheap these days. I think, within reason, you can choose whether to use vector or bitmap on the basis of which software you're most comfortable with for something like your pedal designs.
The last magazine cover I did we rendered at 4K (4096 pixels across) and that was fine for a high quality photo style image.
