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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. Check and describe homing and M208 (probably there are bugs). Prepare support for P1 and P3
+* current: working on prototype. Check and describe homing and M208 (probably there are bugs). Prepare support for P1 and P3. Addtional options for imperfect construction (non parallel axes eg)
* open: P1, P3, D, B, C parameters, 6th axis rail support, additional construction possibilities (arm 1/2 support more angles)

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