non-trivial kinematics.

Hi, I’m new to g2code, but I already programmed and moved different Linuxcnc machine and some 3d printers with non trivial kinematics.
I’m interested in g2code because I need to prepare a machine with an arduino due, with 4 winch-joints that move wires connected in the middle.
I didn’t find examples, so I’m asking here if the only place to insert my changes is the file kinematics.cpp, or if there are other files you can point me to for other changes.

Thanks for your interest.