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SKR pico As a project motor driver

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Hi guys i have stumbled into some silly problem and I can't find a way out of this.

I have skr pico and i want to use it as a motor driver for CNC plotter project (simmilar but not exactly) or just a regular motor driver. I'm sure there is a way to make it, but all i can find is that i can only use clipper that is installed on separate raspberry PI. Which is strange bearing in mind that board has RP2040 chip.

Does anyone has a lead that I can look into it, or just scrap this Skr Pico board and buy some other motor drivers ? 

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