The system takes G-code commands from a Python user interface and streams them to the microcontroller, which interprets the commands and converts them to signals compatible with the steppers and servos, which move an arm holding a pen. Several technologies were utilized throughout the design and development process. Wowkwi was used to simulate the ESP32 pinouts for the various hardware before implementing them. The hardware components we used were the ESP32, A4988 stepper drivers, NEMA-17 steppers, S90G micro servos, a push button for an emergency stop, and an operation indicator LED. For software, PlatformIO and Jupyter Notebooks were used while prototyping the GUI and firmware. The final implementation was developed using the Arduino IDE for firmware and Python in Visual Studio Code for the GUI, which proved easier for flashing firmware and streaming G-code. Some of the team's most notable accomplishments included redesigning and rewriting the software architecture for the system in under 2 weeks, designing the PCB for the system, and successfully 3D printing the robot arm segments. We struggled to land on a method for coding the GUI and firmware as we were exploring open-source CNC software/firmware; however, the common issue was that they weren't flexible and didn't have adequate documentation for our purposes. For improvements, we would make the end of the arm lighter or find a way to attach the second stepper to the base, as we had issues with it being too heavy over the pen. We also should have ordered the PCB sooner to actually have it for system verification. Finally, we could have added a spring system for the pen to ensure it has constant contact with the paper without having to finely calibrate the angle the servo needs to be at to draw.