A two-axis robot arm with SCARA topology for the purpose of drawing on a 8.5''x11'' sheet of paper. It can take G Code inputs via a Python GUI as well as input buttons that map to preprogrammed shapes. The arm logic is controlled by an ESP32 microcontroller. The position of the arm is determined using inverse kinematic equations in the code. The microcontroller sends a digital signal to the motor controllers, which then control two 28BYJ-48 stepper motors. The system also has indicator LEDs which signal when the arm is ready to draw, when the arm is busy, and when the emergency stop is engaged.