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🐛 Fix steps-to-mm with backlash (#23814)

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Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
This commit is contained in:
tombrazier
2022-02-26 20:30:33 +00:00
committed by Scott Lahteine
parent 8e11a2bb83
commit b0fdbede9c
3 changed files with 54 additions and 13 deletions
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31
Marlin/src/feature/backlash.cpp
View File

@ -29,6 +29,11 @@
#include "../module/motion.h"
#include "../module/planner.h"
axis_bits_t Backlash::last_direction_bits;
#ifdef BACKLASH_SMOOTHING_MM
xyz_long_t Backlash::residual_error{0};
#endif
#ifdef BACKLASH_DISTANCE_MM
#if ENABLED(BACKLASH_GCODE)
xyz_float_t Backlash::distance_mm = BACKLASH_DISTANCE_MM;
@ -61,7 +66,6 @@ Backlash backlash;
*/
void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const axis_bits_t dm, block_t * const block) {
static axis_bits_t last_direction_bits;
axis_bits_t changed_dir = last_direction_bits ^ dm;
// Ignore direction change unless steps are taken in that direction
#if DISABLED(CORE_BACKLASH) || EITHER(MARKFORGED_XY, MARKFORGED_YX)
@ -91,10 +95,6 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
// smoothing distance. Since the computation of this proportion involves a floating point
// division, defer computation until needed.
float segment_proportion = 0;
// Residual error carried forward across multiple segments, so correction can be applied
// to segments where there is no direction change.
static xyz_long_t residual_error{0};
#else
// No direction change, no correction.
if (!changed_dir) return;
@ -153,6 +153,27 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
}
}
int32_t Backlash::applied_steps(const AxisEnum axis) {
if (axis >= LINEAR_AXES) return 0;
const bool reversing = TEST(last_direction_bits, axis);
#ifdef BACKLASH_SMOOTHING_MM
const int32_t residual_error_axis = residual_error[axis];
#else
constexpr int32_t residual_error_axis = 0;
#endif
// At startup it is assumed the last move was forwards. So the applied
// steps will always be a non-positive number.
if (!reversing) return -residual_error_axis;
const float f_corr = float(correction) / 255.0f;
const int32_t full_error_axis = -f_corr * distance_mm[axis] * planner.settings.axis_steps_per_mm[axis];
return full_error_axis - residual_error_axis;
}
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
#include "../module/probe.h"

9
Marlin/src/feature/backlash.h
View File

@ -27,6 +27,12 @@
constexpr uint8_t all_on = 0xFF, all_off = 0x00;
class Backlash {
private:
static axis_bits_t last_direction_bits;
#ifdef BACKLASH_SMOOTHING_MM
static xyz_long_t residual_error;
#endif
public:
#if ENABLED(BACKLASH_GCODE)
static xyz_float_t distance_mm;
@ -71,7 +77,8 @@ public:
return has_measurement(X_AXIS) || has_measurement(Y_AXIS) || has_measurement(Z_AXIS);
}
void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const axis_bits_t dm, block_t * const block);
static void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const axis_bits_t dm, block_t * const block);
static int32_t applied_steps(const AxisEnum axis);
};
extern Backlash backlash;