restore Branch from Backup

sorry for that

Marlin/Configuration.h

@@ -12,6 +12,13 @@
 // example_configurations/delta directory.
 //
 
+//===========================================================================
+//============================= SCARA Printer ===============================
+//===========================================================================
+// For a Delta printer replace the configuration files with the files in the
+// example_configurations/SCARA directory.
+//
+
 // User-specified version info of this build to display in [Pronterface, etc] terminal window during
 // startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
 // build by the user have been successfully uploaded into firmware.
@@ -132,7 +139,6 @@
 // 1010 is Pt1000 with 1k pullup (non standard)
 // 147 is Pt100 with 4k7 pullup
 // 110 is Pt100 with 1k pullup (non standard)
-// 70 is 500C thermistor for Pico hot end
 
 #define TEMP_SENSOR_0 -1
 #define TEMP_SENSOR_1 -1

Marlin/ConfigurationStore.cpp

@@ -37,10 +37,15 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size)
 // the default values are used whenever there is a change to the data, to prevent
 // wrong data being written to the variables.
 // ALSO:  always make sure the variables in the Store and retrieve sections are in the same order.
-#ifdef DELTA
-#define EEPROM_VERSION "V11"
-#else
+
 #define EEPROM_VERSION "V10"
+#ifdef DELTA
+	#undef EEPROM_VERSION
+	#define EEPROM_VERSION "V11"
+#endif
+#ifdef SCARA
+	#undef EEPROM_VERSION
+	#define EEPROM_VERSION "V12"
 #endif
 
 #ifdef EEPROM_SETTINGS
@@ -49,7 +54,7 @@ void Config_StoreSettings()
   char ver[4]= "000";
   int i=EEPROM_OFFSET;
   EEPROM_WRITE_VAR(i,ver); // invalidate data first 
-  EEPROM_WRITE_VAR(i,axis_steps_per_unit);  
+  EEPROM_WRITE_VAR(i,axis_steps_per_unit);
   EEPROM_WRITE_VAR(i,max_feedrate);  
   EEPROM_WRITE_VAR(i,max_acceleration_units_per_sq_second);
   EEPROM_WRITE_VAR(i,acceleration);
@@ -93,6 +98,9 @@ void Config_StoreSettings()
     int lcd_contrast = 32;
   #endif
   EEPROM_WRITE_VAR(i,lcd_contrast);
+  #ifdef SCARA
+  EEPROM_WRITE_VAR(i,axis_scaling);        // Add scaling for SCARA
+  #endif
   char ver2[4]=EEPROM_VERSION;
   i=EEPROM_OFFSET;
   EEPROM_WRITE_VAR(i,ver2); // validate data
@@ -115,6 +123,16 @@ void Config_PrintSettings()
     SERIAL_ECHOLN("");
 
     SERIAL_ECHO_START;
+#ifdef SCARA
+SERIAL_ECHOLNPGM("Scaling factors:");
+    SERIAL_ECHO_START;
+    SERIAL_ECHOPAIR("  M365 X",axis_scaling[0]);
+    SERIAL_ECHOPAIR(" Y",axis_scaling[1]);
+    SERIAL_ECHOPAIR(" Z",axis_scaling[2]);
+    SERIAL_ECHOLN("");
+
+    SERIAL_ECHO_START;
+#endif
     SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
     SERIAL_ECHO_START;
     SERIAL_ECHOPAIR("  M203 X",max_feedrate[0]);
@@ -196,7 +214,7 @@ void Config_RetrieveSettings()
     if (strncmp(ver,stored_ver,3) == 0)
     {
         // version number match
-        EEPROM_READ_VAR(i,axis_steps_per_unit);  
+        EEPROM_READ_VAR(i,axis_steps_per_unit);
         EEPROM_READ_VAR(i,max_feedrate);  
         EEPROM_READ_VAR(i,max_acceleration_units_per_sq_second);
 
@@ -240,6 +258,9 @@ void Config_RetrieveSettings()
         int lcd_contrast;
         #endif
         EEPROM_READ_VAR(i,lcd_contrast);
+		#ifdef SCARA
+		EEPROM_READ_VAR(i,axis_scaling);
+		#endif
 
 		// Call updatePID (similar to when we have processed M301)
 		updatePID();
@@ -266,6 +287,9 @@ void Config_ResetDefault()
         axis_steps_per_unit[i]=tmp1[i];  
         max_feedrate[i]=tmp2[i];  
         max_acceleration_units_per_sq_second[i]=tmp3[i];
+		#ifdef SCARA
+		axis_scaling[i]=1;
+		#endif
     }
 
     // steps per sq second need to be updated to agree with the units per sq second

Marlin/Marlin.h

@@ -178,6 +178,10 @@ void get_coordinates();
 void calculate_delta(float cartesian[3]);
 extern float delta[3];
 #endif
+#ifdef SCARA
+void calculate_delta(float cartesian[3]);
+void calculate_SCARA_forward_Transform(float f_scara[3]);
+#endif
 void prepare_move();
 void kill();
 void Stop();
@@ -215,6 +219,9 @@ extern float delta_diagonal_rod;
 extern float delta_segments_per_second;
 void recalc_delta_settings(float radius, float diagonal_rod);
 #endif
+#ifdef SCARA
+extern float axis_scaling[3];  // Build size scaling
+#endif
 extern float min_pos[3];
 extern float max_pos[3];
 extern bool axis_known_position[3];