Patch do_homing_move for SCARA
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1 changed files with 13 additions and 3 deletions
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@ -2192,10 +2192,20 @@ static void do_homing_move(const AxisEnum axis, float distance, float fr_mm_s=0.
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if (deploy_bltouch) set_bltouch_deployed(true);
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#endif
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// Tell the planner we're at Z=0
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current_position[axis] = 0;
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sync_plan_position();
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current_position[axis] = distance;
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
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#if IS_SCARA
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SYNC_PLAN_POSITION_KINEMATIC();
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current_position[axis] = distance;
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inverse_kinematics(current_position);
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
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#else
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sync_plan_position();
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current_position[axis] = distance;
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
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#endif
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stepper.synchronize();
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#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
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