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🐛 Fix backlash intial direction (#27208)

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Fix regression from #25791
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tombrazier 2024-07-05 02:33:45 +01:00 committed by GitHub
parent 3c60145792
commit a4d20031ec
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1 changed files with 5 additions and 4 deletions
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Marlin/src/feature/backlash.cpp
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@ -171,13 +171,14 @@ int32_t Backlash::get_applied_steps(const AxisEnum axis) {
const int32_t residual_error_axis = residual_error[axis]; const int32_t residual_error_axis = residual_error[axis];
// At startup it is assumed the last move was forward. // At startup, when no steps are applied, it is assumed the last move was backwards.
// So the applied steps will always be negative. // 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 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; return full_error_axis - residual_error_axis;
} }