SCARA Firmware

Hello

I'm looking for someone who can help me figure out how to configure Marlins SCARA firmware. There looks to be both a dualarm and a single arm configuration option, but I'm having immense trouble finding a sliver of documentation other than the morgan3dp guide, which, for my purpose at least, is completely useless since it only tailors to a very specific design and doesn't explain the rationale behind the various variables to be configured.

Alternatively, if anyone has used any other kinds of firmware that can drive SCARA arms, let me know please!

The arm can be seen here

[www.youtube.com]

If anyone is interested in files or anything else, let me know and I'll send them to you. I'm also planning on throwing together some proper documentation as soon as I've achieved proper control and tried a few applications

There is SCARA section

Polar Machines, SCARA, Robot Arms

[forums.reprap.org]

Nick Seward doing a lot of SCARA

Have your Mom do a net search for "SCARA firmware"