The system is a 2-axis Robotic Arm that is capable of drawing and writing based on user-input into the system, by utilizing a SCARA topology, with two rotating joints that are connected via 2 parallel linkages to control arm actuation through G-commands. The ESP32 is the main development microcontroller which controls all subsystem operations of the arm, and it also uses a G-code UI control in order to translate direct G-code into actual movement in the arm.