Merge pull request #4370 from thinkyhead/rc_delta_fwd_kinematics

Delta Forward Kinematics (and LOGICAL_POSITION)

.travis.yml

@@ -99,9 +99,9 @@ script:
   - opt_enable FIX_MOUNTED_PROBE Z_SAFE_HOMING
   - build_marlin
   #
-  # ...with AUTO_BED_LEVELING_FEATURE & DEBUG_LEVELING_FEATURE
+  # ...with AUTO_BED_LEVELING_FEATURE, Z_MIN_PROBE_REPEATABILITY_TEST, & DEBUG_LEVELING_FEATURE
   #
-  - opt_enable AUTO_BED_LEVELING_FEATURE DEBUG_LEVELING_FEATURE
+  - opt_enable AUTO_BED_LEVELING_FEATURE Z_MIN_PROBE_REPEATABILITY_TEST DEBUG_LEVELING_FEATURE
   - build_marlin
   #
   # Test a Sled Z Probe
@@ -365,6 +365,7 @@ script:
   # SCARA Config
   #
   - use_example_configs SCARA
+  - opt_enable AUTO_BED_LEVELING_FEATURE FIX_MOUNTED_PROBE USE_ZMIN_PLUG
   - build_marlin
   #
   # tvrrug Config need to check board type for sanguino atmega644p

Marlin/Marlin.h

@@ -315,17 +315,16 @@ float code_value_temp_diff();
   extern float delta_diagonal_rod_trim_tower_1;
   extern float delta_diagonal_rod_trim_tower_2;
   extern float delta_diagonal_rod_trim_tower_3;
-  void calculate_delta(float cartesian[3]);
+  void inverse_kinematics(const float cartesian[3]);
   void recalc_delta_settings(float radius, float diagonal_rod);
-  float delta_safe_distance_from_top();
   #if ENABLED(AUTO_BED_LEVELING_FEATURE)
     extern int delta_grid_spacing[2];
     void adjust_delta(float cartesian[3]);
   #endif
 #elif ENABLED(SCARA)
   extern float axis_scaling[3];  // Build size scaling
-  void calculate_delta(float cartesian[3]);
-  void calculate_SCARA_forward_Transform(float f_scara[3]);
+  void inverse_kinematics(const float cartesian[3]);
+  void forward_kinematics_SCARA(float f_scara[3]);
 #endif
 
 #if ENABLED(Z_DUAL_ENDSTOPS)