MPCNC/Firmware2
1
0
Fork 0
Code Issues 1 Pull Requests Releases Wiki Activity

Fix Morgan SCARA S2 calculation

Browse Source
This commit is contained in:
Scott Lahteine 2017-06-04 12:24:09 -05:00
parent 46752588b9
commit 6411d65c48
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Marlin/Marlin_main.cpp
View File

@ -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;