From 59d39d7655069071800573cc90595b47ffa52670 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Thu, 15 Sep 2016 14:15:08 -0500
Subject: [PATCH] G0 direct move for SCARA

---
 Marlin/Marlin_main.cpp | 18 +++++++++++++++---
 1 file changed, 15 insertions(+), 3 deletions(-)

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 14af7c2189..d4faf9b0ef 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -2509,7 +2509,11 @@ bool position_is_reachable(float target[XYZ]) {
 /**
  * G0, G1: Coordinated movement of X Y Z E axes
  */
-inline void gcode_G0_G1() {
+inline void gcode_G0_G1(
+  #if IS_SCARA
+    bool fast_move=false
+  #endif
+) {
   if (IsRunning()) {
     gcode_get_destination(); // For X Y Z E F
 
@@ -2528,7 +2532,11 @@ inline void gcode_G0_G1() {
 
     #endif //FWRETRACT
 
-    prepare_move_to_destination();
+    #if IS_SCARA
+      fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination();
+    #else
+      prepare_move_to_destination();
+    #endif
   }
 }
 
@@ -6974,7 +6982,11 @@ void process_next_command() {
       // G0, G1
       case 0:
       case 1:
-        gcode_G0_G1();
+        #if IS_SCARA
+          gcode_G0_G1(codenum == 0);
+        #else
+          gcode_G0_G1();
+        #endif
         break;
 
       // G2, G3