Backlash Compensation for COREnn (#21612)
Co-authored-by: Scott Lahteine <github@thinkyhead.com>
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@ -972,6 +972,9 @@
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#define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
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#define BACKLASH_CORRECTION 0.0 // 0.0 = no correction; 1.0 = full correction
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// Add steps for motor direction changes on CORE kinematics
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//#define CORE_BACKLASH
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// Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
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// to reduce print artifacts. (Enabling this is costly in memory and computation!)
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//#define BACKLASH_SMOOTHING_MM 3 // (mm)
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@ -63,10 +63,24 @@ Backlash backlash;
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void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const uint8_t dm, block_t * const block) {
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static uint8_t last_direction_bits;
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uint8_t changed_dir = last_direction_bits ^ dm;
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// Ignore direction change if no steps are taken in that direction
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if (da == 0) CBI(changed_dir, X_AXIS);
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if (db == 0) CBI(changed_dir, Y_AXIS);
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if (dc == 0) CBI(changed_dir, Z_AXIS);
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// Ignore direction change unless steps are taken in that direction
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#if DISABLED(CORE_BACKLASH) || ENABLED(MARKFORGED_XY)
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if (!da) CBI(changed_dir, X_AXIS);
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if (!db) CBI(changed_dir, Y_AXIS);
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if (!dc) CBI(changed_dir, Z_AXIS);
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#elif CORE_IS_XY
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if (!(da + db)) CBI(changed_dir, X_AXIS);
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if (!(da - db)) CBI(changed_dir, Y_AXIS);
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if (!dc) CBI(changed_dir, Z_AXIS);
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#elif CORE_IS_XZ
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if (!(da + dc)) CBI(changed_dir, X_AXIS);
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if (!(da - dc)) CBI(changed_dir, Z_AXIS);
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if (!db) CBI(changed_dir, Y_AXIS);
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#elif CORE_IS_YZ
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if (!(db + dc)) CBI(changed_dir, Y_AXIS);
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if (!(db - dc)) CBI(changed_dir, Z_AXIS);
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if (!da) CBI(changed_dir, X_AXIS);
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#endif
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last_direction_bits ^= changed_dir;
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if (correction == 0) return;
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@ -105,18 +119,35 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
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// Take up a portion of the residual_error in this segment, but only when
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// the current segment travels in the same direction as the correction
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if (reversing == (error_correction < 0)) {
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if (segment_proportion == 0)
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segment_proportion = _MIN(1.0f, block->millimeters / smoothing_mm);
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if (segment_proportion == 0) segment_proportion = _MIN(1.0f, block->millimeters / smoothing_mm);
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error_correction = CEIL(segment_proportion * error_correction);
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}
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else
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error_correction = 0; // Don't take up any backlash in this segment, as it would subtract steps
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}
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#endif
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// Making a correction reduces the residual error and adds block steps
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// This correction reduces the residual error and adds block steps
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if (error_correction) {
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block->steps[axis] += ABS(error_correction);
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residual_error[axis] -= error_correction;
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#if ENABLED(CORE_BACKLASH)
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switch (axis) {
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case CORE_AXIS_1:
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//block->steps[CORE_AXIS_2] += influence_distance_mm[axis] * planner.settings.axis_steps_per_mm[CORE_AXIS_2];
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//SERIAL_ECHOLNPAIR("CORE_AXIS_1 dir change. distance=", distance_mm[axis], " r.err=", residual_error[axis],
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// " da=", da, " db=", db, " block->steps[axis]=", block->steps[axis], " err_corr=", error_correction);
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break;
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case CORE_AXIS_2:
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//block->steps[CORE_AXIS_1] += influence_distance_mm[axis] * planner.settings.axis_steps_per_mm[CORE_AXIS_1];;
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//SERIAL_ECHOLNPAIR("CORE_AXIS_2 dir change. distance=", distance_mm[axis], " r.err=", residual_error[axis],
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// " da=", da, " db=", db, " block->steps[axis]=", block->steps[axis], " err_corr=", error_correction);
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break;
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case NORMAL_AXIS: break;
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}
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residual_error[axis] = 0; // No residual_error needed for next CORE block, I think...
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#else
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residual_error[axis] -= error_correction;
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#endif
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}
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}
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}
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@ -38,10 +38,15 @@ void menu_backlash() {
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EDIT_ITEM_FAST(percent, MSG_BACKLASH_CORRECTION, &backlash.correction, all_off, all_on);
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#if DISABLED(CORE_BACKLASH) || ENABLED(MARKFORGED_XY)
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#define _CAN_CALI AXIS_CAN_CALIBRATE
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#else
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#define _CAN_CALI(A) true
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#endif
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#define EDIT_BACKLASH_DISTANCE(N) EDIT_ITEM_FAST(float43, MSG_BACKLASH_##N, &backlash.distance_mm[_AXIS(N)], 0.0f, 9.9f);
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if (AXIS_CAN_CALIBRATE(A)) EDIT_BACKLASH_DISTANCE(A);
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if (AXIS_CAN_CALIBRATE(B)) EDIT_BACKLASH_DISTANCE(B);
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if (AXIS_CAN_CALIBRATE(C)) EDIT_BACKLASH_DISTANCE(C);
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if (_CAN_CALI(A)) EDIT_BACKLASH_DISTANCE(A);
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if (_CAN_CALI(B)) EDIT_BACKLASH_DISTANCE(B);
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if (_CAN_CALI(C)) EDIT_BACKLASH_DISTANCE(C);
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#ifdef BACKLASH_SMOOTHING_MM
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EDIT_ITEM_FAST(float43, MSG_BACKLASH_SMOOTHING, &backlash.smoothing_mm, 0.0f, 9.9f);
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@ -93,8 +93,8 @@ exec_test $1 $2 "Teensy 3.5/3.6 COREXY" "$3"
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#
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restore_configs
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opt_set MOTHERBOARD BOARD_TEENSY35_36
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opt_enable COREXZ
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exec_test $1 $2 "Teensy 3.5/3.6 COREXZ" "$3"
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opt_enable COREXZ BACKLASH_COMPENSATION BACKLASH_GCODE CORE_BACKLASH
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exec_test $1 $2 "Teensy 3.5/3.6 COREXZ | BACKLASH" "$3"
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#
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# Enable Dual Z with Dual Z endstops
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