text: /**
   * Marlin 3D Printer Firmware
   * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
   *
   * Based on Sprinter and grbl.
   * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
   *
   * This program is free software: you can redistribute it and/or modify
   * it under the terms of the GNU General Public License as published by
   * the Free Software Foundation, either version 3 of the License, or
   * (at your option) any later version.
   *
   * This program is distributed in the hope that it will be useful,
   * but WITHOUT ANY WARRANTY; without even the implied warranty of
   * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   * GNU General Public License for more details.
   *
   * You should have received a copy of the GNU General Public License
   * along with this program.  If not, see <http://www.gnu.org/licenses/>.
   *
   */
  #pragma once
  
  /**
   * scara.h - SCARA-specific functions
   */
  
  #pragma once
  
  #include "../core/macros.h"
  
  extern float delta_segments_per_second;
  
  // Float constants for SCARA calculations
  float constexpr L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
                  L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
                  L2_2 = sq(float(L2));
  
  void scara_set_axis_is_at_home(const AxisEnum axis);
  
  void inverse_kinematics(const float (&raw)[XYZ]);
  FORCE_INLINE void inverse_kinematics(const float (&raw)[XYZE]) {
    const float raw_xyz[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] };
    inverse_kinematics(raw_xyz);
  }
  void forward_kinematics_SCARA(const float &a, const float &b);
  
  void scara_report_positions();
  