MKS / uno for simple extrusion on signal

I'm trying to convert a 3D printer into an end effector for a robot.
Basically I want to control the following based on a digital output from the robot controller:

• nozzle heating
• extrusion

would you guys recommend i modify the marlin fw and the mks gen 1.3 board to accomplish this?
or create a new sketch on a arduino uno?

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What i want:
robot controller outputs digital signal A -> nozzle heats up to predefined temperature and maintains it.
robot controller outputs digital signal B -> motor start extruding at predifined speed
signal B stop - > motor stops extruding
signal A stops -> nozzle stops heating/stops maintaining temperature.

... you can use an external temperature controller for heating ... and you should use the normal extruder STEP signals for extruding, as they are "synchronized" for constant extruding volume, regardless of acceleration or speed ...

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Viktor
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well, i'm thinking I already have a working printer with temp control and stepper motors, soI'm thinking it'd be easier to modify the marlin fw somehow so instead of reading a gcode for extrusion, it'd extrude base on external signal.

but as far as i can tell, the mks board doesn't have input pins, that's why i proposed maybe it's possible with a uno board

most if not all digital IO pins can be inputs....

"turn on extruder" is not a concept marlin understands
It understand extrude a amount at a feed rate...

I was thinking using extrude relative to solve that problem, ie:

while(pin_signal){
G1 E1.5 F1500
}

obv there's complicated problems like adjusting length, rate and robot speed to create the best results.