Motivated by the ambition of printing on irregular surfaces of varied mediums, improving upon high price points of existing fl at-bed printing machines, and contributing to the public knowledge of distributed manufacturing, the Direct-To-Substrate (DTS) printer is an exploration into an integrated z-axis within inkjet printing. To realign a familiar technology used by many and hack it for the purposes of expanded capabilities, the DTS allows a user to manufacture a three-dimensional artifact and later print graphics directly upon said geometry using the same machine. To remain as accessible as possible, the DTS printer is a computer-numerically-controlled desktop machine made from common, sourceable hardware parts with a tool-changeable end effector, that currently accepts a Dremel tool as a router, and a hacked inkjet cartridge