i want to use the benefits of the klipper3d software.
im using a manta m8p board with TMC2209.
i do not have a 3D printer, so there is no extruder or heating.

so on the pcb is a CB1 (like a raspberry) it communicates with a serial bus with a arm on the main printer pcb, this receive the move commands and send them to the stepper drivers.

what i understood so far:
i create a kinematic for my own “printer” logic

klipper creates a toolhead object. if i am right, the toolhead class uses the g_codes from a file input made by a slicer.

now these g_codes are send to the gcode class to dispatch them into bits, that will be send to the mcu.

ok now i have an UDP data input from a network client.

from this datainput i want to move steppers independent.
how do i start, what to i need to change in the existing klipper code.
i dont like to implement the whole SPI connection with the right implementation for TMC2209 UART communication.
i like to keep the main klipper parts for these case, because i havent really figuerd out how klipper decide how to communicate with the mcu for uart commands or else.

i wrote a class that handles the incoming UDP data.
set up a logic to create commands for different stepprs.
the class has position , speed and acceleration logics.
from here i need to create the move commands, first i thought i have to create g_code. but g code is xyz e and i dont have axis like a printer. my steppers should run to a posititon with a speed for every single stepper.

or is there an easier way, for example write a new firmware