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Fixed Backlash::get_applied_steps() #27208

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merged 1 commit into from
Jul 5, 2024
+5 −4
Merged

Fixed Backlash::get_applied_steps() #27208

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9 changes: 5 additions & 4 deletions Marlin/src/feature/backlash.cpp
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Original file line number Diff line number Diff line change
@@ -171,13 +171,14 @@ int32_t Backlash::get_applied_steps(const AxisEnum axis) {

const int32_t residual_error_axis = residual_error[axis];

// At startup it is assumed the last move was forward.
// So the applied steps will always be negative.
// At startup, when no steps are applied, it is assumed the last move was backwards.
// So the applied steps will always be zero (when moving backwards) or a positive
// number (when moving forwards).

if (forward) return -residual_error_axis;
if (!forward) return -residual_error_axis;

const float f_corr = float(correction) / all_on;
const int32_t full_error_axis = -f_corr * distance_mm[axis] * planner.settings.axis_steps_per_mm[axis];
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;
}