My team built and programmed a SCARA 2-link robot arm with the functionality of being able to draw a 10 inch straight line within 2.5 seconds along with a coin sorting algorithm using computer vision. The SCARA was controlled by an FPGA board (DE1-SoC Development Kit), an arduino, as well as a custom made pcb that our team designed. My contribution lied in the coding of the SCARA’s motion, in Python Script and Arduino Ide, using coordinates from a cartesian plane based on the area where the robot arm would be operating on as the input. Two different angles would be outputted and translated into steps for the stepper motors to take using inverse kinematics. The main challenge to coding the arm was figuring out how to control the speed of each of the motors so that the straight line would meet our engineering requirement of keeping the straight line within ±0.25 inches.