Hi - First post, so please let me know if i'm posting in the wrong place. I'm building a gantry style machine, but rather than the usual tool end effector, the end effector is a specialized "claw" type device for handling an object in the workspace. I got most of my inspiration from Openbuilds belt and pinion design linear actuators and am at the stage where I need to write the software. I'm looking for the easiest/best way to control the machine. For context, I have a lot of experience writing software, so I'm not worried about programming. I just don't want to go waste a ton of time going down a rabbit hole that leads nowhere. My questions are the following- 1) Should I use GRBL to control the XYZ for the machine? I need a decent programmatic interface, but I can't seem to figure out how to send commands to GRBL using an interface other than something like Universal Gcode Sender. My needs at this level aren't much more than 'Go to X Y Z', no crazy path or anything. I had thought GRBL was a little more flexible, but it seems it's really only made for CNC machines. 2) Is there a decent tutorial on how one can write custom (basic) Gcode, if I were to attempt to send it over the connection myself? I have close to zero experience with Gcode, but I have learned many programming languages over the years so I'm not worried about figuring it out. 3) Should I just write the code myself from scratch? The only reason I want to avoid this is because it sounds like GRBL is already optimized and getting the steppers tuned might be a pain without a good example. 4) Is there some other option I should consider? For context, I already have GRBL running on an arduino, and I can use it to control the linear actuators via the Universal Gcode Sender software.