The whole Hangprinter kinematics "should" be encapsulated in hangprinterkinematics.h/cpp, so if any other files need to be changed, then I'd call that an abstraction leak or a bug.
So the F-axis should work in the sense that it can respond properly to movement commands. However, to get torque mode and motor position readings (required if you want auto calibration of anchor locations), you need UART/convenience wires coupled into the ODrive that's driving the F-axis. (That is, if you're using ODrives.) Getting convenience wires working with a third ODrive would potentially require a lot of work.
You also need to map the step/dir pins properly in your config.g, and also configure the F-axis motor the same way as ABCD-motors are configured, but it sounded like you'd already looked into that since you've already made a test run on hardware. Just wanted to have it mentioned in this thread.
I also see, on lines 48-52, that you have hard coded away the line buildup compensation. You could achieve the same thing by simply configuring the buildup factor (I think it's called Q somewhere in config.g) to zero. You shouldn't need to purge the whole compensation feature from the source code. Anyways, I guess purging it gives you more control or peace of mind, and that you know what you're doing...
(The float casts on lines 48-52 are not needed since linePos and stepsPerMm already contains floats. Sorry, I have to.)
Good luck with your project!
Are you posting your progress somewhere, so I can follow you and learn more about your project?
