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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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27
Marlin/src/module/planner.cpp
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@ -1706,7 +1706,8 @@ void Planner::endstop_triggered(const AxisEnum axis) {
}
float Planner::triggered_position_mm(const AxisEnum axis) {
return stepper.triggered_position(axis) * mm_per_step[axis];
const float result = DIFF_TERN(BACKLASH_COMPENSATION, stepper.triggered_position(axis), backlash.applied_steps(axis));
return result * mm_per_step[axis];
}
void Planner::finish_and_disable() {
@ -1728,8 +1729,8 @@ float Planner::get_axis_position_mm(const AxisEnum axis) {
// Protect the access to the position.
const bool was_enabled = stepper.suspend();
const int32_t p1 = stepper.position(CORE_AXIS_1),
p2 = stepper.position(CORE_AXIS_2);
const int32_t p1 = DIFF_TERN(BACKLASH_COMPENSATION, stepper.position(CORE_AXIS_1), backlash.applied_steps(CORE_AXIS_1)),
p2 = DIFF_TERN(BACKLASH_COMPENSATION, stepper.position(CORE_AXIS_2), backlash.applied_steps(CORE_AXIS_2));
if (was_enabled) stepper.wake_up();
@ -1738,7 +1739,7 @@ float Planner::get_axis_position_mm(const AxisEnum axis) {
axis_steps = (axis == CORE_AXIS_2 ? CORESIGN(p1 - p2) : p1 + p2) * 0.5f;
}
else
axis_steps = stepper.position(axis);
axis_steps = DIFF_TERN(BACKLASH_COMPENSATION, stepper.position(axis), backlash.applied_steps(axis));
#elif EITHER(MARKFORGED_XY, MARKFORGED_YX)
@ -1755,11 +1756,12 @@ float Planner::get_axis_position_mm(const AxisEnum axis) {
axis_steps = ((axis == CORE_AXIS_1) ? p1 - p2 : p2);
}
else
axis_steps = stepper.position(axis);
axis_steps = DIFF_TERN(BACKLASH_COMPENSATION, stepper.position(axis), backlash.applied_steps(axis));
#else
axis_steps = stepper.position(axis);
TERN_(BACKLASH_COMPENSATION, axis_steps -= backlash.applied_steps(axis));
#endif
@ -2841,6 +2843,9 @@ void Planner::buffer_sync_block(TERN_(LASER_SYNCHRONOUS_M106_M107, uint8_t sync_
block->flag = sync_flag;
block->position = position;
#if ENABLED(BACKLASH_COMPENSATION)
LOOP_LINEAR_AXES(axis) block->position[axis] += backlash.applied_steps((AxisEnum)axis);
#endif
#if BOTH(HAS_FAN, LASER_SYNCHRONOUS_M106_M107)
FANS_LOOP(i) block->fan_speed[i] = thermalManager.fan_speed[i];
@ -3108,13 +3113,21 @@ void Planner::set_machine_position_mm(const abce_pos_t &abce) {
LROUND(abce.k * settings.axis_steps_per_mm[K_AXIS])
)
);
if (has_blocks_queued()) {
//previous_nominal_speed_sqr = 0.0; // Reset planner junction speeds. Assume start from rest.
//previous_speed.reset();
buffer_sync_block();
}
else
stepper.set_position(position);
else {
#if ENABLED(BACKLASH_COMPENSATION)
abce_long_t stepper_pos = position;
LOOP_LINEAR_AXES(axis) stepper_pos[axis] += backlash.applied_steps((AxisEnum)axis);
stepper.set_position(stepper_pos);
#else
stepper.set_position(position);
#endif
}
}
void Planner::set_position_mm(const xyze_pos_t &xyze) {