diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 4e817536bf7..51a9566dcef 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -13184,7 +13184,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
// SERIAL_ECHOPAIR(" seconds=", seconds);
// SERIAL_ECHOLNPAIR(" segments=", segments);
- #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
+ #if ENABLED(SCARA_FEEDRATE_SCALING)
// SCARA needs to scale the feed rate from mm/s to degrees/s
const float inv_segment_length = min(10.0, float(segments) / cartesian_mm), // 1/mm/segs
inverse_secs = inv_segment_length * _feedrate_mm_s;
@@ -13216,30 +13216,25 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
ADJUST_DELTA(raw); // Adjust Z if bed leveling is enabled
- #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
+ #if ENABLED(SCARA_FEEDRATE_SCALING)
// For SCARA scale the feed rate from mm/s to degrees/s
// Use ratio between the length of the move and the larger angle change
- const float adiff = abs(delta[A_AXIS] - oldA),
- bdiff = abs(delta[B_AXIS] - oldB);
- planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], max(adiff, bdiff) * inverse_secs, active_extruder);
- oldA = delta[A_AXIS];
- oldB = delta[B_AXIS];
+ const float adiff = FABS(delta[A_AXIS] - oldA), bdiff = FABS(delta[B_AXIS] - oldB);
+ planner.buffer_line(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(adiff, bdiff) * inverse_secs, active_extruder);
+ oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
#else
- planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder);
+ planner.buffer_line(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder);
#endif
}
// Since segment_distance is only approximate,
// the final move must be to the exact destination.
- #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
- // For SCARA scale the feed rate from mm/s to degrees/s
- // With segments > 1 length is 1 segment, otherwise total length
+ #if ENABLED(SCARA_FEEDRATE_SCALING)
inverse_kinematics(rtarget);
ADJUST_DELTA(rtarget);
- const float adiff = abs(delta[A_AXIS] - oldA),
- bdiff = abs(delta[B_AXIS] - oldB);
- planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], max(adiff, bdiff) * inverse_secs, active_extruder);
+ const float adiff = FABS(delta[A_AXIS] - oldA), bdiff = FABS(delta[B_AXIS] - oldB);
+ planner.buffer_line(delta[A_AXIS], delta[B_AXIS], rtarget[Z_AXIS], rtarget[E_AXIS], HYPOT(adiff, bdiff) * inverse_secs, active_extruder);
#else
planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder);
#endif
@@ -13509,7 +13504,7 @@ void prepare_move_to_destination() {
* This is important when there are successive arc motions.
*/
// Vector rotation matrix values
- float arc_target[XYZE];
+ float raw[XYZE];
const float theta_per_segment = angular_travel / segments,
linear_per_segment = linear_travel / segments,
extruder_per_segment = extruder_travel / segments,
@@ -13517,10 +13512,10 @@ void prepare_move_to_destination() {
cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
// Initialize the linear axis
- arc_target[l_axis] = current_position[l_axis];
+ raw[l_axis] = current_position[l_axis];
// Initialize the extruder axis
- arc_target[E_AXIS] = current_position[E_AXIS];
+ raw[E_AXIS] = current_position[E_AXIS];
const float fr_mm_s = MMS_SCALED(feedrate_mm_s);
@@ -13530,6 +13525,14 @@ void prepare_move_to_destination() {
int8_t arc_recalc_count = N_ARC_CORRECTION;
#endif
+ #if ENABLED(SCARA_FEEDRATE_SCALING)
+ // SCARA needs to scale the feed rate from mm/s to degrees/s
+ const float inv_segment_length = 1.0 / (MM_PER_ARC_SEGMENT),
+ inverse_secs = inv_segment_length * fr_mm_s;
+ float oldA = stepper.get_axis_position_degrees(A_AXIS),
+ oldB = stepper.get_axis_position_degrees(B_AXIS);
+ #endif
+
for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
thermalManager.manage_heater();
@@ -13561,19 +13564,43 @@ void prepare_move_to_destination() {
r_Q = -offset[0] * sin_Ti - offset[1] * cos_Ti;
}
- // Update arc_target location
- arc_target[p_axis] = center_P + r_P;
- arc_target[q_axis] = center_Q + r_Q;
- arc_target[l_axis] += linear_per_segment;
- arc_target[E_AXIS] += extruder_per_segment;
+ // Update raw location
+ raw[p_axis] = center_P + r_P;
+ raw[q_axis] = center_Q + r_Q;
+ raw[l_axis] += linear_per_segment;
+ raw[E_AXIS] += extruder_per_segment;
- clamp_to_software_endstops(arc_target);
+ clamp_to_software_endstops(raw);
- planner.buffer_line_kinematic(arc_target, fr_mm_s, active_extruder);
+ #if IS_KINEMATIC
+ #if ENABLED(DELTA)
+ DELTA_RAW_IK(); // Delta can inline its kinematics
+ #else
+ inverse_kinematics(raw);
+ #endif
+ ADJUST_DELTA(raw); // Adjust Z if bed leveling is enabled
+ #endif
+
+ #if ENABLED(SCARA_FEEDRATE_SCALING)
+ // For SCARA scale the feed rate from mm/s to degrees/s
+ // With segments > 1 length is 1 segment, otherwise total length
+ const float adiff = FABS(delta[A_AXIS] - oldA), bdiff = FABS(delta[B_AXIS] - oldB);
+ planner.buffer_line(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(adiff, bdiff) * inverse_secs, active_extruder);
+ oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
+ #else
+ planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
+ #endif
}
// Ensure last segment arrives at target location.
- planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder);
+ #if ENABLED(SCARA_FEEDRATE_SCALING)
+ inverse_kinematics(cart);
+ ADJUST_DELTA(cart);
+ const float adiff = FABS(delta[A_AXIS] - oldA), bdiff = FABS(delta[B_AXIS] - oldB);
+ planner.buffer_line(delta[A_AXIS], delta[B_AXIS], cart[Z_AXIS], cart[E_AXIS], HYPOT(adiff, bdiff) * inverse_secs, active_extruder);
+ #else
+ planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder);
+ #endif
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position