Feature Request: SCARA Kinematics

Hello, recently myself and others have been working building a SCARA similar to the MP_SCARA configuration and we’re interested in running klipper on it. We were wondering if we could receive some help in getting klipper working on the SCARA.

I have actually written some code that could possibly work for a kinematic but I was unsure of what the functions did in the other kinematics so I am absolutely unsure of the code and would rather someone who knew what they were doing developed it.