tombrazier

> Can you take a peek at some changes to backlash compensation, starting from https://github.com/schmttc/EasyThreeD-K7-STM32/commit/87c4cd20e514b9fc94450e9503e268cc014490e8 (#23814) and particularly at the Backlash::applied_steps method? I can but not immediately. It is so...

After some reflection... I wonder whether the bug is due to the backlash value being wrong or just because backlash compensation itself causes movement that is more likely to result...

2.0.5 is really old firmware and backlash has been worked on since then. What do you get with the latest bugfix?

I still wonder whether it is caused by adding backlash to small segments. @schmttc what happens if you define `BACKLASH_SMOOTHING_MM`?

Incidentally, 0.36mm seems like a pretty large backlash to me. After doing what I can to tighten up my belts, etc. I have 0.05mm for both my X and Y...

> As the acceleration limits are being respected, the issue is not in the firmware itself... The problem actually _is_ that the acceleration limits are not being respected and the...

Input Shaping's effect decreases with speed. It should not be introducing artifacts at lower speeds. Do you have a replicable example of this happening with IS?

@dbuezas That image and your analysis is really interesting to see. @JonBr306 is working on Z axis input shaping. Do you fancy helping to test it?

> I think this pattern may be useful to tune the parameters I have been wondering about that. I was thinking of a variation of https://marlinfw.org/tools/input_shaping/freq-calibr.html.

> Yes! that calibration is fantastic. Thank you. It was my idea. [Edit: and kudos to KimmoHop for implementing it.]