Fix Morgan SCARA S2 calculation

8 years ago · 6411d65c48
parent 46752588b9
commit 6411d65c48
1 changed files with 1 additions and 1 deletions
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@ -12003,7 +12003,7 @@ void prepare_move_to_destination() {
    else
      C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);

-    S2 = sqrt(sq(C2) - 1);
+    S2 = sqrt(1 - sq(C2));

    // Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
    SK1 = L1 + L2 * C2;