Idea:

• Attach a linear encoder to a the axes of a CNC machine
• feed back the signal to grblHAL
• replace deterministic Bresenham code generation by adaptive PID

expected benefits:

• no loss of steps
• automagically offset backlash and other drive chain imperfections
• push performance of stepper systems
• keep homing over all states
• allow automated restart after shutdown

Discussion and development log here:
"Long closed loop" from linear encoder into grbl stepper for dynamic backlash compensation #563

This fork is intended for developping the algorithm and code interface

Original README.md of grblHAL Simulator