Now that the basic firmware functionality is ready, I decided to make the github repo public, so feel free to take a look (if you are not afraid of ugly code).

What works:

• Homing
• Jogging
• Filling the buffers
• Readout information (buffer size, position)
• Make movements from the buffers (need to finish the demo code -> video incoming)
• Basic gui

If you want to try it on hardware, I advise you to just use free spinning motors, because any error in filling the buffers can cause the motors to spin indefinitely.