This is a two-axis robotic arm project for Junior Design II (ECE 342) Winter 2023. The intended use for the project is to make a “two-axis robotic arm following SCARA topology” that will use Gcode commands. We strived for our robotic arm to draw monochromatic pictures accurately and quickly. We included a feature to allow the user to upload their own G-code to a micro SD card and select it using an LCD and push buttons. G-code is the primary programming language of CNC machines, it is responsible for telling the machine how to move. We chose aluminum parts for the arms as these would be felt this material would be more ridged and accurate compared to plastic. An arduino mega sends logic to a driver which sends power to our motors. The math behind the movements was a bit of a challenge and will be shared in detail. We had numerous issues where parts from vendors didn't arrive, and we had to seek a different vendor. A bad pin on our Arduino resulted in the arms not moving as intended but once this was discovered it was a joyous occasion.