Hi Adam!
In my case, I’m currently generating the gcode by hand. As I’m controlling the position using forward kinematics it’s pretty easy to write them in the text editor and save it as “.gcode”.
In my endless To-Do-List there is a point dedicated to develop a simple program to control it in real time using Inverse Kinematics and another one to generate a gcode after entering the desired coordinates and times.
As far as I know Smoothieboard allows to create a Robot profile and it is powerful enough to do the IK calculations, keep me informed if you use the Smothieboard and make that profile!
Best regards,
Angel LM