@klinkerstein said in CoreXY + linear encoders + 1HCL closed loop expansion board:
Another thought was, if we use two controllers, one for A motor and one for B motor, and just connect the (45°) X/Y axis encoders directly to those, ignoring the CoreXY kinematics.. couldn't it still work? The position for X would be controlled through motor A, resulting in diagonal move but since we have the second controller seeing this as a disturbance, it corrects motor B automatically to keep Y axis constant? I am just not sure if such a control scheme is stable or might start to oscillate because in essence you have two controllers in series.
I thought about it and I am pretty sure this doesn't work, since the response of one of the linear rails with respect to motor A changes depending on what motor B does.
I have perused the code a bit and I think I have an okay picture on what's where.