The printer is controlled by a RAMBo Controller board (revision 1.3 in my case). This controller takes input in the form of G-code, either from an on-board SD card, or over a USB cable from a computer. The G-code carries instructions (tool paths, for the most part) in Cartesian coordinates, and the RAMBo converts those instructions into commands for the stepper motors, accounting for the Delta's polar geometry in the process. This usually results in prints having artifacts like vertical banding. There are a couple of 32-bit controllers that recently came on the market, and they're getting really good reviews for eliminating vertical banding. It still sounds like a pain to set them up, so I'll re-investigate that potential upgrade in a year or so.
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