Controlling a delta robot inverted tetrahedron

[Jasperg]

Hi I am wandering if this is a possible layout configuration to use with a duet? I thought I found a setting that was for angle of rails, but I think it is for position around a circle, not the angels they are at to eachother. Is this something I can implement as it is? Or is there a good place to look to customise the source code to make this an option? I have only just started thinking about this, but it seem like it might be quite useful for a cheeper pick and place robot and not so complicated to add as an option.

[dc42]

@jasperg that kinematics isn't currently supported in RRF but it could be added. There is a brief overview of how to add new kinematics at https://github.com/Duet3D/RepRapFirmware/wiki/Adding-New-Kinematics. It would probably be possible to implement it as segment-free kinematics.