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Myself and the owner of the 3d printer store "terawatt industries" worked on corexy(and therefore also h-bot since the kinematics are identical) support for Marlin firmware last winter/spring. Corexy functionality is now included in the marlin firmware since June(?) of last year. All you have to do is uncomment the corexy definition in the configuration: https://github.com/ErikZalm/Marlin/blob/Marlin_v1/Marlin/Configuration.h#L254https://github.com/ErikZalm/Ma...