G0 direct move for SCARA

Marlin/Marlin_main.cpp

@@ -2509,7 +2509,11 @@ bool position_is_reachable(float target[XYZ]) {
 /**
  * G0, G1: Coordinated movement of X Y Z E axes
  */
-inline void gcode_G0_G1() {
+inline void gcode_G0_G1(
+  #if IS_SCARA
+    bool fast_move=false
+  #endif
+) {
   if (IsRunning()) {
     gcode_get_destination(); // For X Y Z E F
 
@@ -2528,7 +2532,11 @@ inline void gcode_G0_G1() {
 
     #endif //FWRETRACT
 
+    #if IS_SCARA
+      fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination();
+    #else
       prepare_move_to_destination();
+    #endif
   }
 }
 
@@ -6974,7 +6982,11 @@ void process_next_command() {
       // G0, G1
       case 0:
       case 1:
+        #if IS_SCARA
+          gcode_G0_G1(codenum == 0);
+        #else
           gcode_G0_G1();
+        #endif
         break;
 
       // G2, G3