TinyG for 6dof Robot Arm

[atlesg]

Hi! I'm planning to build my own 6dof robotics arm. I have bought all the AC servos and now I want to control them in the best manner. I did a few research around and decided GRBL or TinyG would be my choice as the controller board. However, there are some criteria that I don't know if TinyG would satisfy (yes, I have not thoroughly caught every information in the TinyG github, so please enlighten me)

1. I would like to build my own board based on STM32F407 - yes, I can learn the source code and the the porting myself. I can't use the TinyG2 because of I/O limitations, and I want to implement a few more peripherals. So am I allow to do this? (importing TinyG source code as library and do the porting)

2. The 6dof kinematics is different depends on the structure of the robot. Can I implement more kinematics algorithm myself?

3. I already knew TinyG is using fifth order motion planner, can I constrain my movement with time constraints or speed constraints?

4. One of the biggest challenges in robotics motion planner is via-points movement, that the robot should move through a series of points without exactly stop at each intermediate points (to save time from decceleration, smooth out movement)

Knowing the answers to these questions will help me decide to buy a TinyG board to test asap! I'm very hyped for TinyG's potential.

Thank you for all of your hard work!