@dc42 Thank you for the response. I will attempt this.

Greetings everyone, I hope this post finds you well. This is in regard to a school project that I am currently completing. We are designing a 4 axis 3d printer (X, Y, Z and, Z rotation) with two extruders that lead into 1 nozzle. This is known as in-situ printing, and it allows for composite printing. I have been tasked with designing the control system and I have selected the Duet2Wifi with DueX5 expansion board as my control hardware with RepRap as the accompanied firmware. I am facing two issues:

1. Configuration of my in-situ printhead. I am aware of the online configuration tool, but I am failing to properly use it for my purposes.

2. The Z rotation motor. The purpose of the Z rotation axis is for the control of a hot-end roller that compresses the deposited composite material. I have developed an algorithm, in pseudocode, to control this rotation using the X and Y coordinates from the sliced print's G-Code as well as an Optical Limit Switch. What steps must I take to have the firmware execute this algorithm?

Your assistance is greatly appreciated.