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@ -658,16 +658,20 @@ inline void sync_plan_position() {
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inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
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inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
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#if IS_KINEMATIC
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#if IS_KINEMATIC
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inline void sync_plan_position_kinematic() {
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inline void sync_plan_position_kinematic() {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
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if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
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#endif
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#endif
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inverse_kinematics(current_position);
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inverse_kinematics(current_position);
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planner.set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
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planner.set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS]);
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}
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}
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#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
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#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
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#else
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#else
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#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
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#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
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#endif
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#endif
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#if ENABLED(SDSUPPORT)
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#if ENABLED(SDSUPPORT)
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@ -795,7 +799,6 @@ void setup_homepin(void) {
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#endif
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#endif
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}
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}
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void setup_photpin() {
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void setup_photpin() {
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#if HAS_PHOTOGRAPH
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#if HAS_PHOTOGRAPH
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OUT_WRITE(PHOTOGRAPH_PIN, LOW);
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OUT_WRITE(PHOTOGRAPH_PIN, LOW);
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@ -1479,7 +1482,7 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
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#endif
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#endif
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refresh_cmd_timeout();
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refresh_cmd_timeout();
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inverse_kinematics(destination);
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inverse_kinematics(destination);
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], MMS_SCALED(feedrate_mm_s), active_extruder);
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], MMS_SCALED(feedrate_mm_s), active_extruder);
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set_current_to_destination();
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set_current_to_destination();
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}
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}
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#endif
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#endif
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@ -5075,22 +5078,20 @@ static void report_current_position() {
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#if IS_SCARA
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#if IS_SCARA
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SERIAL_PROTOCOLPGM("SCARA Theta:");
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SERIAL_PROTOCOLPGM("SCARA Theta:");
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SERIAL_PROTOCOL(delta[X_AXIS]);
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SERIAL_PROTOCOL(delta[A_AXIS]);
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SERIAL_PROTOCOLPGM(" Psi+Theta:");
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SERIAL_PROTOCOLPGM(" Psi+Theta:");
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SERIAL_PROTOCOL(delta[Y_AXIS]);
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SERIAL_PROTOCOLLN(delta[B_AXIS]);
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SERIAL_EOL;
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SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
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SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
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SERIAL_PROTOCOL(delta[X_AXIS]);
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SERIAL_PROTOCOL(delta[A_AXIS]);
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SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
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SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
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SERIAL_PROTOCOL(delta[Y_AXIS] - delta[X_AXIS] - 90);
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SERIAL_PROTOCOLLN(delta[B_AXIS] - delta[A_AXIS] - 90);
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SERIAL_EOL;
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SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
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SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
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SERIAL_PROTOCOL(delta[X_AXIS] / 90 * planner.axis_steps_per_mm[X_AXIS]);
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SERIAL_PROTOCOL(delta[A_AXIS] / 90 * planner.axis_steps_per_mm[A_AXIS]);
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SERIAL_PROTOCOLPGM(" Psi+Theta:");
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SERIAL_PROTOCOLPGM(" Psi+Theta:");
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SERIAL_PROTOCOL((delta[Y_AXIS] - delta[X_AXIS]) / 90 * planner.axis_steps_per_mm[Y_AXIS]);
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SERIAL_PROTOCOLLN((delta[B_AXIS] - delta[A_AXIS]) / 90 * planner.axis_steps_per_mm[A_AXIS]);
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SERIAL_EOL; SERIAL_EOL;
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SERIAL_EOL;
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#endif
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#endif
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}
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}
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@ -6160,7 +6161,7 @@ inline void gcode_M503() {
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// Define runplan for move axes
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// Define runplan for move axes
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#if IS_KINEMATIC
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#if IS_KINEMATIC
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#define RUNPLAN(RATE_MM_S) inverse_kinematics(destination); \
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#define RUNPLAN(RATE_MM_S) inverse_kinematics(destination); \
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder);
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder);
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#else
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#else
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#define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S);
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#define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S);
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#endif
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#endif
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@ -6282,8 +6283,8 @@ inline void gcode_M503() {
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#if IS_KINEMATIC
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#if IS_KINEMATIC
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// Move XYZ to starting position, then E
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// Move XYZ to starting position, then E
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inverse_kinematics(lastpos);
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inverse_kinematics(lastpos);
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], lastpos[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
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#else
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#else
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// Move XY to starting position, then Z, then E
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// Move XY to starting position, then Z, then E
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destination[X_AXIS] = lastpos[X_AXIS];
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destination[X_AXIS] = lastpos[X_AXIS];
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@ -8024,7 +8025,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
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//DEBUG_POS("prepare_kinematic_move_to", logical);
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//DEBUG_POS("prepare_kinematic_move_to", logical);
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//DEBUG_POS("prepare_kinematic_move_to", delta);
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//DEBUG_POS("prepare_kinematic_move_to", delta);
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
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}
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}
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return true;
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return true;
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}
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}
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@ -8274,7 +8275,7 @@ void prepare_move_to_destination() {
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#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
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#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
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adjust_delta(arc_target);
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adjust_delta(arc_target);
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#endif
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#endif
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
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#else
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#else
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planner.buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
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planner.buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
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#endif
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#endif
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@ -8286,7 +8287,7 @@ void prepare_move_to_destination() {
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#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
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#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
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adjust_delta(logical);
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adjust_delta(logical);
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#endif
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#endif
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], logical[E_AXIS], fr_mm_s, active_extruder);
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], fr_mm_s, active_extruder);
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#else
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#else
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planner.buffer_line(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS], logical[E_AXIS], fr_mm_s, active_extruder);
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planner.buffer_line(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS], logical[E_AXIS], fr_mm_s, active_extruder);
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#endif
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#endif
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@ -8403,7 +8404,7 @@ void prepare_move_to_destination() {
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delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
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delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
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delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
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delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
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delta[Z_AXIS] = logical[Z_AXIS];
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delta[C_AXIS] = logical[Z_AXIS];
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/*
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/*
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DEBUG_POS("SCARA IK", logical);
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DEBUG_POS("SCARA IK", logical);
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