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Fix SCARA Z axis movement #16193

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Merged
thinkyhead merged 2 commits into from
Dec 12, 2019
Merged

Fix SCARA Z axis movement #16193

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3345b1f
Update planner.cpp
boelle Dec 11, 2019
c1cabf1
Use coordinate structure
thinkyhead Dec 12, 2019
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4 changes: 3 additions & 1 deletion Marlin/src/module/planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2620,13 +2620,15 @@ bool Planner::buffer_line(const float &rx, const float &ry, const float &rz, con
if (mm == 0.0)
mm = (delta_mm_cart.x != 0.0 || delta_mm_cart.y != 0.0) ? delta_mm_cart.magnitude() : ABS(delta_mm_cart.z);

// Cartesian XYZ to kinematic ABC, stored in global 'delta'
inverse_kinematics(machine);

#if ENABLED(SCARA_FEEDRATE_SCALING)
// For SCARA scale the feed rate from mm/s to degrees/s
// i.e., Complete the angular vector in the given time.
const float duration_recip = inv_duration ?: fr_mm_s / mm;
const feedRate_t feedrate = HYPOT(delta.a - position_float.a, delta.b - position_float.b) * duration_recip;
const xyz_pos_t diff = delta - position_float;
const feedRate_t feedrate = diff.magnitude() * duration_recip;
#else
const feedRate_t feedrate = fr_mm_s;
#endif
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