This video shows the quickest way to get a CNC router up and running using the Parallel Hat and 5 axis breakout board on a Raspberry Pi.
The parallel hat, 5 axis breakout board, and sample HAL files are available at www.byte2bot.com
This content and wiring diagrams will also be placed on the blog at:
https://byte2bot.com/blogs/instructions/setting-up-and-troubleshooting-the-pi-parallel-hat