DrawBot now supports GCODE

Specifically,
G00 – rapid move to X,Y
G01 – normal move to X,Y
G02 – planar clockwise arc to X,Y around I,J
G03 – planar counterclockwise arc to X,Y around I,J
Fx.xx – set the feed rate. Can be done on the same line as a G command
Zx.xx – set the pen height. Can be done on the same line as a G command

For our purposes Z=10 is pen down, z>40 is pen up.

You can generate GCODE with Inkscape and a good plugin.