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How to use Marlin to control robot based on a stepper motors??

Posted by pavelsplavel 
How to use Marlin to control robot based on a stepper motors??
January 05, 2017 08:37AM
Hello! I would like to control my robot using Marlin firmware.
I m going to sent Gcode via rs232 protocol.
The software i use is a Visual Programming.

The problem is control motors independently

When i sent gcode to Arduino, it wait while motors finish their Positions.

My goal is sent different Gcode at any time.
For Example:
G1 X100
G1 Y30 Z50
etc.
While one motor make a movement, others motors could start at any time.

So what i need to change in Marlin firmware to solve that problem??
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