In order to alter and extends the original software controlling the delta robot follow the steps given in Using an Integrated Development Environment. After making your adaptions and successfully building it you continue with deploying it to the hardware.

As soon as you want to write your own application code and run it on the hardware you have to stop the original autostart application or you make the autostart script non-executable.

ost@bblue:$ chmod -x bin/start.sh 

See Writing EEROS Applications for Beaglebone Blue Board to write a simple EEROS program. Check more examples on Tutorials.