A two-axis robotic arm capable of drawing preprogrammed shapes and patterns through a custom graphical user interface and a ESP32. The arm is capable of drawing within the dimensions of a standard 8.5x11’’ piece of paper at a speed of 4 inches per second. It can draw accurately within +/- 0.25 inches in a 360-degree range of direction. The arm is controlled by a ESP32 Wroom microcontroller which receives G-code commands passed from a custom graphical user interface and then translates those commands into movement directions for the arm. The arm movement is handled by two MG995 Servo motors. One of the project’s major achievements was the successful development of a custom GUI that allowed the user to input and manage drawing commands by typing in the desired Cartesian coordinates on the paper for the pencil to move. Another important accomplishment was the implementation of a working parallel voltage regulation block, which reliably distributed power to both the motor subsystem and the control and feedback electronics, while ensuring that both halves receive the proper voltage and current levels needed for stable operation. The team also successfully developed an LCD coordinate display system that provided real-time Cartesian position feedback for the pencil tip, improving our GUI’s usability and helping verify correct system operation during testing or regular running.