The Two-Axis Robotic Arm project is intended to draw images on an 8.5" by 11" sheet of paper. To be more specific, the robotic arm needs to draw straight lines 10 inches long with a +/- .25-inch error in all directions. For the robotic arm to work, we implemented it with SCARA topology, which means it utilizes two rotating joints to move, a G-code decoder, to be able to take in movements from a user, an emergency stop, to increase safety and ensure the movements of the robotic arm can be stopped quickly in case of error, and a durable frame modeled in CAD and 3-D printed with PLA plastic. One challenge we faced during this project was connecting each block together for a complete project. We had multiple code sections, including the code block, that all needed to be combined together onto the ESP32. A notable accomplishment of this project was figuring out the code for the motor drivers because, as a team, we had little to no knowledge of motor implementation initially and had to complete lots of research in order to get a functional motor.