Drop SCARA_FEEDRATE_SCALING

The updated planner takes the length of the move, so this pre-calculation is no longer needed.

Marlin/src/config/examples/SCARA/Configuration.h

@@ -73,7 +73,6 @@
 
 #if ENABLED(MORGAN_SCARA) || ENABLED(MAKERARM_SCARA)
   //#define DEBUG_SCARA_KINEMATICS
-  //#define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
 
   // If movement is choppy try lowering this value
   #define SCARA_SEGMENTS_PER_SECOND 200

Marlin/src/gcode/motion/G2_G3.cpp

@@ -141,14 +141,6 @@ void plan_arc(
     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();
@@ -188,26 +180,11 @@ void plan_arc(
 
     clamp_to_software_endstops(raw);
 
-    #if ENABLED(SCARA_FEEDRATE_SCALING)
-      // For SCARA scale the feed rate from mm/s to degrees/s.
-      // i.e., Complete the angular vector in the given time.
-      inverse_kinematics(raw);
-      ADJUST_DELTA(raw);
-      planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder);
-      oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
-    #else
-      planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
-    #endif
+    planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
   }
 
   // Ensure last segment arrives at target location.
-  #if ENABLED(SCARA_FEEDRATE_SCALING)
-    inverse_kinematics(cart);
-    ADJUST_DELTA(cart);
-    planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], cart[Z_AXIS], cart[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder);
-  #else
-    planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder);
-  #endif
+  planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder);
 
   // 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

Marlin/src/module/motion.cpp

@@ -593,14 +593,6 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
     // SERIAL_ECHOLNPAIR(" segments=", segments);
     // SERIAL_ECHOLNPAIR(" segment_mm=", cartesian_segment_mm);
 
-    #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;
-      float oldA = stepper.get_axis_position_degrees(A_AXIS),
-            oldB = stepper.get_axis_position_degrees(B_AXIS);
-    #endif
-
     // Get the current position as starting point
     float raw[XYZE];
     COPY(raw, current_position);
@@ -625,24 +617,11 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
       #endif
       ADJUST_DELTA(raw); // Adjust Z if bed leveling is enabled
 
-      #if ENABLED(SCARA_FEEDRATE_SCALING)
-        // For SCARA scale the feed rate from mm/s to degrees/s
-        // i.e., Complete the angular vector in the given time.
-        planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder, cartesian_segment_mm);
-        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, cartesian_segment_mm);
-      #endif
+      planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder, cartesian_segment_mm);
     }
 
     // Ensure last segment arrives at target location.
-    #if ENABLED(SCARA_FEEDRATE_SCALING)
-      inverse_kinematics(rtarget);
-      ADJUST_DELTA(rtarget);
-      planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], rtarget[Z_AXIS], rtarget[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder, cartesian_segment_mm);
-    #else
-      planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder, cartesian_segment_mm);
-    #endif
+    planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder, cartesian_segment_mm);
 
     return false; // caller will update current_position
   }