Hello, my name's Jorge, I am an electronics engineer with experience writing firmware for embedded custom systems. I have three years working with Arduino, Raspberry Pi, and ESP8266 boards used for IoT, robotics, home control and entertainment projects.
I have read the description of your project. I'd like to know more details of the project. Do you have already the XY plotter built? Are you trying to copy a project in particular you saw from internet? maybe you have a kit?
Please contact me to discuss with you the details of your project, I'd be glad to talk about the tasks to be completed, so we can start working on it as soon as possible.
Thanks for your time!