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@ -204,7 +204,7 @@ float segments_per_second = TERN(AXEL_TPARA, TPARA_SEGMENTS_PER_SECOND, SCARA_SE |
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y = r * sin(RADIANS(a)), |
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y = r * sin(RADIANS(a)), |
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rho2 = L1_2 + L2_2 - 2.0f * L1 * L2 * cos(RADIANS(w)); |
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rho2 = L1_2 + L2_2 - 2.0f * L1 * L2 * cos(RADIANS(w)); |
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cartes = robot_offset + xyz_pos_t({ x, y, SQRT(rho2 - x * x - y * y) }); |
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cartes = robot_offset + xyz_pos_t({ x, y, SQRT(rho2 - sq(x) - sq(y)) }); |
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} |
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} |
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// Home YZ together, then X (or all at once). Based on quick_home_xy & home_delta
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// Home YZ together, then X (or all at once). Based on quick_home_xy & home_delta
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