Method get_axis_error_steps

Marlin/src/feature/encoder_i2c.cpp:252–288

}

int32_t I2CPositionEncoder::get_axis_error_steps(const bool report) {
  if (!active) {
    if (report) {
      SERIAL_CHAR(AXIS_CHAR(encoderAxis));
      SERIAL_ECHOLNPGM(" axis encoder not active!");
    }
    return 0;
  }

  float stepperTicksPerUnit;
  int32_t encoderTicks = position, encoderCountInStepperTicksScaled;
  //int32_t stepperTicks = stepper.position(encoderAxis);

  // With a rotary encoder we're concerned with ticks/rev; whereas with a linear we're concerned with ticks/mm
  stepperTicksPerUnit = (type == I2CPE_ENC_TYPE_ROTARY) ? stepperTicks : planner.settings.axis_steps_per_mm[encoderAxis];

  //convert both 'ticks' into same units / base
  encoderCountInStepperTicksScaled = LROUND((stepperTicksPerUnit * encoderTicks) / encoderTicksPerUnit);

  const int32_t target = stepper.position(encoderAxis);
  int32_t error = encoderCountInStepperTicksScaled - target;

  //suppress discontinuities (might be caused by bad I2C readings...?)
  const bool suppressOutput = (ABS(error - errorPrev) > 100);

  errorPrev = error;

  if (report)
    SERIAL_ECHOLN(C(AXIS_CHAR(encoderAxis)), F(" axis target="), target, F("; actual="), encoderCountInStepperTicksScaled, F("; err="), error);

  if (suppressOutput) {
    if (report) SERIAL_ECHOLNPGM("!Discontinuity. Suppressing error.");
    error = 0;
  }

  return error;
}

int32_t I2CPositionEncoder::get_raw_count() {
  uint8_t index = 0;