I have a lot of work to do, but TinyG allowed me to get the motion under control extremely easily. I was using the Grbl, which was great but I needed the 4th axis for rotation, hence why TinyG was so useful here.
I was playing around with openpnp easily over a year ago and they had gotten far enough that it could be used.. They were just working on the vision integration at that time.. I’d hope it would be near completion now but haven’t checked back with it in a while..