For our project we are implementing a 2-axis robotic arm with a battery charging circuit and using an FPGA to run the PID controller. This project entails using stepper motors to move an arm across an 8.5”x11” sheet of paper while drawing at 4 inches per second and with error no greater than 0.25 inches. This will require the use of a PID controller to keep the arm accurate and a motor driver to be able to correctly move the stepper motors which will help with accuracy (stepper motors have a specific resolution depending on the number of steps they have). The G-code is a requirement and is basically just a standardized command list that we need to implement.