This project is a 2-axis robotic drawing arm designed to draw programmed geometric shapes and straight lines on paper. The objective of this system is to demonstrate precise 2-axis motion control by translating user commands into physical drawing actions. The robotic arm operates within a drawing area of ​​8.5 × 11 inches or larger and is engineered to execute precise pen movements for simple drawing tasks. The system utilizes a GUI and motion planner to transmit movement commands to an ESP32 microcontroller. The ESP32 processes these commands and generates the necessary STEP and DIR signals for the TMC2209 stepper motor drivers. These motor drivers, in turn, control two NEMA17 stepper motors to articulate the joints of the robotic arm. Additionally, a custom PCB was designed to consolidate the voltage regulator, ESP32 connections, and motor driver interfaces, thereby reducing wiring complexity and facilitating system assembly and verification. One of the most notable achievements of this project is the successful integration of the GUI, microcontroller, custom PCB, motor drivers, motors, and mechanical robotic arm into a single, functional system. Key challenges encountered included ensuring the accurate wiring of the TMC2209 drivers, verifying the coil sequencing of the NEMA17 motors, validating the STEP/DIR signals using an oscilloscope, and safely isolating the 3.3V logic circuitry from the 12V motor power supply. Future improvements could involve implementing more precise calibration procedures and conducting more comprehensive testing of drawing accuracy and repeatability. For future development iterations, the continued use of a custom PCB is recommended, even if it entails additional cost. The PCB we used cost approximately $120, however it proved to be extremely useful, as it reduced wiring complexity, streamlined the connections for the voltage regulators and motor drivers, and facilitated the assembly and verification of the entire system.