The user draws in an HTML5 Canvas object which is read by a Java Web Server. From there it gets converted to serial commands for an Arduino which controls the steppers with two EasyDrivers.

Any Java program (this testing was on Mac OS-X) using serial ports will experience that 20 ms delay, even when hardware like Teensy can respond in only 1 ms, or Arduino in 2 ms to 4 ms. Report comment ...

The Arduino comes with open-source software written in Java that will make creating code for a project easy, as it'll run on Windows, Mac, and Linux operating systems.

The Arduino IDE can be loaded onto Windows requires Win 8.1 or 10, Mac OS X 10.8 Mountain Lion or newer, and Linux 32 and 64 bit computers and is written in Java and based on Processing and other ...

Others can be used, and not just Arduino's own IDE app. ... Java, Javascript, jQuery, Perl, and Python, directly on the Debian-based Raspberry Pi OS loaded on the hardware.