The current code supporting tripodkins for the C1 is in Machinekit, and targeted at the Beaglebone.  

I'm going to need the Pi for vision anyway, and I really didn't want a second single board computer in the design.  That and the Beaglebone I have spare for this is a Green Wireless, which would then lend itself to needing a wifi interface between the Pi and the Green.  That would suck.  They tend to fail at Maker Faires I've found.

So I was looking at implementing Klipper as my motion controller.  It has inferior trajectory planning, but then everything will all run on one board and I get to offload the hardware step and PWM generation to an Arduino.

This is also much more likely to be the existing hardware used by a good majority of the target audience.

I really wish I could have Machinekit on the Pi controlling a Klipper-ized microcontroller.  Best of both worlds then, and I can run it on the Pi.  I looked into this and some other ideas along these lines and have asked MachineKoder to do the same.

So to get moving forward again until that can happen, I'll need to port the existing tripodkinematics C code from Machinekit to be a kinematics module for Klipper in Python.  One caveat.. as written the tripodkins code in Machinekit assumes you are extending above the build plane.  You need to invert Z for a hanging version.

Any Python people willing to help out with that task, I would really appreciate it.

I'm pretty sure I've said all this before.... but this is where I'm at right now.

Other minor roadblocks:

• I've consumed all my DRV8825 and Allegro modules.  I have a tendency to order in bulk with no pins, and solder them directly into projects.   I do have some spare AMIS-30543 ones, but I haven't written the SPI configuration code for them and they are destined for another project anyway.  I'm going to desolder some old modules, from old projects I think.
• All my available steppers don't have wires anymore.  Again, with the 'hey I'll just solder directly to it' mentality biting me later.

I think I've got the rest of the bases covered.

All the Python people in the house whose first name begins with an "L" who isn't Hispanic, walk in a circle the same number of times as the square root of your age times ten! (and then take a look at the above task please)

Thank you.