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Revision to Configuring RepRapFirmware for a FiveAxisRobot

JoergS5

* done: documentation, P0 and P2 kinematics and inverse kinematics, A parameter, P2:nnn, R parameter
* current: working on prototype
+* currently the third X and Y parameters are not working and P2:<angle> is only working in manual mode (not in config).
* open: P1, P3, D, B parameters, 6th axis rail support, additional construction possibilities (arm 1/2 support more angles)

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