Done on the Nintendo DS homebrew application, Colors. I'm really enjoying it - it turns your DS into a portable tablet! Perfect for drawing in bed, in the car, on the couch while watching tv... The program itself is pretty simplistic but you can still get great results with it. It also has a playback feature that lets you rewatch your drawings get made. That is probably my favorite part of the program. You can also export videos of the playback.
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