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backlash: Add backlash compensation module

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Add support for compensating mechanical backlash (lost motion) when
axes reverse direction. This is common in lead screw and belt drive
systems.

The module supports two kinematics modes:
- Cartesian: Independent X, Y, Z axis compensation
- CoreXY: Compensation for A/B diagonal motors (A=X+Y, B=X-Y)

Compensation is applied in real-time via move transform and is hidden
from the UI position display. Direction tracking is reset on homing.

Configuration example:
  [backlash]
  kinematics: corexy
  a: 0.05
  b: 0.03
  z: 0.1

Signed-off-by: Oleksii Shchetinin <willkaxxx@gmail.com>
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Oleksii Shchetinin 2025-09-07 00:17:05 +03:00
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docs/Config_Reference.md
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@ -1442,6 +1442,48 @@ See also: [extended g-code commands](G-Codes.md#z_thermal_adjust).
# parameter.
```
### [backlash]
Backlash compensation for mechanical play in axis drive systems. This module
compensates for the small amount of lost motion that occurs when an axis
reverses direction, which is common in lead screw and belt drive systems.
The compensation is applied in real-time during moves.
Two kinematics modes are supported:
- **Cartesian**: Independent X, Y, Z axis compensation
- **CoreXY**: Compensation for A and B diagonal motors (where A=X+Y, B=X-Y)
```
[backlash]
#kinematics: cartesian
# The kinematics type for backlash compensation. Must be either
# "cartesian" or "corexy". Default is "cartesian".
# For Cartesian kinematics:
#x: 0.0
# Backlash compensation for the X axis in mm. Applied when the X axis
# changes direction from negative to positive. Default is 0.0 (disabled).
#y: 0.0
# Backlash compensation for the Y axis in mm. Applied when the Y axis
# changes direction from negative to positive. Default is 0.0 (disabled).
# For CoreXY kinematics:
#a: 0.0
# Backlash compensation for the A motor in mm. The A motor controls the
# X+Y diagonal motion. Applied when the A motor changes direction from
# negative to positive. Default is 0.0 (disabled).
#b: 0.0
# Backlash compensation for the B motor in mm. The B motor controls the
# X-Y diagonal motion. Applied when the B motor changes direction from
# negative to positive. Default is 0.0 (disabled).
# Common to all kinematics:
#z: 0.0
# Backlash compensation for the Z axis in mm. Applied when the Z axis
# changes direction from negative to positive (moving up). Default is
# 0.0 (disabled).
```
## Customized homing
### [safe_z_home]