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Thank you! I can't take all the credit for that aspect of it, the idea of converting the gcode files instead of trying to figure out the SCARA functionality of Marlin was suggested by Professor Ganter. For the curious, the MPSCARA is programmed to take in angles as an input instead of Cartesian XY coordinates. It allows for the software running on the Arduino board to be standard off-the-shelf Marlin code, as the complex reverse kinematics calculations are performed on the desktop computer.