Manual merge of gridlevel: Working Morgan on Smoothieware

	modified:   src/modules/robot/Robot.cpp
	modified:   src/modules/robot/Robot.h
	modified:   src/modules/tools/scaracal/SCARAcal.cpp
	modified:   src/modules/tools/scaracal/SCARAcal.h
Merge remote-tracking branch 'upstream/edge' into edge

Conflicts:
	src/modules/robot/Robot.cpp
Merge remote-tracking branch 'upstream/edge' into edge
Revert "update firmware.bin"

This reverts commit 09b7d47fd60474520d4029337b04bffdfb82ffea.
Revert "update firmware.bin"

This reverts commit 09b7d47fd60474520d4029337b04bffdfb82ffea.
Add SCARA limits to prevent undefined moves.
Initial Grid implementation for Morgan
Initial implementation.  Non functional
Morgan working on new leveling
Correct distance calculation in Robot when Z level strategies used.
Original target distances are correct - Z level routines actually ensure that they are.

	modified:   src/modules/robot/Robot.cpp
Merge remote-tracking branch 'upstream/edge' into edge

Conflicts:
	src/modules/robot/arm_solutions/MorganSCARASolution.cpp
Merge branch 'robotfix' into edge
initial marge
Merge remote-tracking branch 'upstream/edge' into ZHeight_merge
Repaired offset calculation for Morgan, merged with upstream
unknown change
Merge remote-tracking branch 'upstream/edge' into ZHeight_merge
completed manual strategy
Merge pull request #511 from Smoothieware/edge

merge edge into master
Merge remote-tracking branch 'upstream/edge' into ZHeight_merge