Can GRBL HAL control servos with G codes?

[HubertBloom]

I've read through a log ot servo related questions and they all seem to speak about controling servo motors with M-codes.

I am scoping out a ptoject that involves a robot that has several axes powered by steppers and several axes powered by RC PWM/PPM type servos. I want to use a CNC g-code interpreter to control the robot motion. Ideally I want to control all axes with G codes not mix G & M codes. Is this possible with GRBL-HAL software archicture?

I'm only asking about software capabilities. I don't care about limtiations of off the shelf carrier boards or breakout boards I will design my own carrier board and to use the Pi Pico as a microcontroller.

Very grateful for any feedback on these questions.

[terjeio]

With a custom plugin you can trap step output and convert step position to whatever format you want. So yes.

An example where XY position is output to a I2S DAC can be found here.

[HubertBloom]

Thanks for this. Is this suggestion difinitive? Is it the recommended/best/only way to do it?

[terjeio]

There are other options, e.g. you can modify the core to suit your needs. And write a driver to match.
Hard to tell what to recommend without knowing details - IMO a plugin would be the best option if that can be made to work.