A two axis SCARA robot arm capable of drawing preprogrammed shapes controlled through a user interface on a computer. The arm is capable of drawing within the dimensions of an 8.5x11’’ piece of paper. The SCARA arm is controlled by an ESP32 microcontroller which receives G-code commands passed from a user interface. The microcontroller then sends digital signals to two stepper motor drivers which control the current and motor logic of the two Stepper Motors. A major accomplishment is the reliability of the system. Although we did not have the most consistency, our system was pretty reliable. There are definitely areas of improvement such as getting it more accurate and having a better writing utensil would have definitely aided our design.