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diff --git a/Marlin/src/module/scara.h b/Marlin/src/module/scara.h
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * scara.h - SCARA-specific functions
+ */
+
+#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 xyz_pos_t &raw);
+void forward_kinematics_SCARA(const float &a, const float &b);
+
+void scara_report_positions();