Backlash comp with coreXY

[marshr32]

Sorry if this is a stupid question, but does the backlash code take into account that reversal of movements in X and Y don't necessarily correspond to a reversal of a motor with corexy kinematics?

An example would be cutting the top half of a circle where movement in X is always positive but both motors have to reverse (at different rates) to get the bit to move downwards after the peak.

I'm no programmer so can't follow the code properly but I noticed that there is a conversion from corexy to normal X/Y in the backlash code and it got me thinking.

Any input much appreciated.

[shooter64738]

To be honest I would need to look into this a little further. As best I recall compensation occurs just before each line segment is calculated so if it's a corexy I think I will compensate correctly.

I've been very busy working on the new control system and not been in the grbl source for a bit. But I'll research it as soon as I can!