My understanding is that you don't have to run chilipepper online, you can serve it from your local machine, or another machine on your personal network. The downside to this is that you have to update chilipepper on your own rather than dynamically always having the latest version.
Edit: I just read the github page. Running locally isn't a simple thing...
https://github.com/synthetos/TinyG/wiki/Chilipeppr
One of the advantages of TinyG is that the stepper drivers are built in (up to about 3A or so with a heat sink).
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