My name is Mat and I am new to this forum, I am software engineer for over 8 years and I am interested in 3d printing for almost 1 year. Build 2 printers off the open source world (wallace and smartrap) and I love Wally design.

That all for introduction, I am interested in Marlin/Sprinter support for Wally.

I should assemble Wally XY parts soon and start working on Marlin update for inverse kinematics.

So far I got basic math model work out, from 3 circles equations:

- 1. first arm base point and length of arm as radius

2. second arm base point and length of arm as radius

3. hotend point and length of arm as radius

I will add sketch and graph in few days with some example equations and math logic.

Nicholas, do you have some math model that you was basing on when creating preprocessor script? I feel it would be useful to take a peak before I start getting Marlin update on the way.

I looked into python code, however I never used it, which makes harder for me to get full understanding of its logic.

Regards,

Mateusz