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GRBL HotWire Mega 5X Firmware
You will need to install the Arduino IDE to compile and upload the firmware.
This firmware is based on grbl-Mega-5X from https://github.com/fra589/grbl-Mega-5X with modification to the config.h and details.h to suit a 4 axis foam cutter using XYZU axes.
It requires the GRBL-HotWire-Mega-5X Windows application.
This firmware only runs on the Arduino Mega 2560 with a RAMPS board.
The installation instructions and video links are here