From 6411d65c48b60c1fc08e90263a44becaf1f7727a Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Sun, 4 Jun 2017 12:24:09 -0500
Subject: [PATCH] Fix Morgan SCARA S2 calculation

---
 Marlin/Marlin_main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index c5261f9da..c3635ca8d 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -12003,7 +12003,7 @@ void prepare_move_to_destination() {
     else
       C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);
 
-    S2 = sqrt(sq(C2) - 1);
+    S2 = sqrt(1 - sq(C2));
 
     // Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
     SK1 = L1 + L2 * C2;