Our project is a two-axis robotic arm that can draw a variety of shapes, namely a square, circle, star and plus symbol. For this, we made use of a CAD-designed robot arm which has a pen holder as well as two joints for moving in two axes. We also used 1 NEMA 17 motor each for the shoulder joint and elbow joint, a TMC2209 motor driver, a HW-134C motor driver, an ESP32 microcontroller mounted on a custom PCB, and a voltage regulator. We soldered all the components together using wires, and we programmed the microcontroller with PlatformIO firmware. Our hardest challenge was making the robot arm draw in straight lines, since our shapes were curved and distorted for the longest time. Our most notable accomplishments include making the arm draw at a speed of 4 in/s, making it draw all four shapes accurately, and making a UI that works and is easy-to-use.