grbl-servo can be used on Arduino to control an X-Y pen plotter, where the pen is operated by a small servo motor such as an SG90 micro servo. Grbl is a no-compromise, high performance, low cost ...

Edit details The servo code was taken from commit 21b4532 on the grbl-1-1h-servo repository by @lavolpecheprogramma based on work by @DWiskow, who in turn probably got their ideas from the grbl-servo ...