backlash_compensation.py

import re

input_file_path = 'input.gcode'
output_file_path = 'output.gcode'

# Initialize variables
currentX = 0
currentY = 0
targetX = 0
targetY = 0
Xdirection = 0
Ydirection = 0
previousXdirection = 0
previousYdirection = 0
Xbacklash = 0.1  # Example value for x-axis backlash compensation
Ybacklash = 0.1  # Example value for y-axis backlash compensation
comp = False

with open(input_file_path, 'r') as input_file, open(output_file_path, 'w') as output_file:
    for line in input_file:
        # Assuming G-code commands are in the format "G0 X12.5 Y7.3" or similar
        if line.startswith('G0 ') or line.startswith('G1 '):
            try:
                targetX = float(re.findall(r'X(\d+\.\d+|\d+)', line)[0])
            except IndexError:
                targetX = currentX
            try:
                targetY = float(re.findall(r'Y(\d+\.\d+|\d+)', line)[0])
            except IndexError:
                targetY = currentY
            
            
            # Check direction changes
            Xdirection = 1 if targetX > currentX else -1 if targetX < currentX else 0
            Ydirection = 1 if targetY > currentY else -1 if targetY < currentY else 0
            if Xdirection > previousXdirection and Xdirection!= 0:
                compX = round(currentX + Xbacklash, 3)
                comp = True
            elif Xdirection < previousXdirection and Xdirection!= 0:
                compX = round(currentX - Xbacklash, 3)
                comp = True
            else:
                compX = currentX
            if Ydirection > previousYdirection and Ydirection!= 0:
                compY = round(currentY + Ybacklash, 3)
                comp = True
            elif Ydirection < previousYdirection and Ydirection!= 0:
                compY = round(currentY - Ybacklash, 3)
                comp = True
            else:
                compY = currentY
            
            if comp:
                compLines = [f"G0 x{compX} y{compY} ; Compensation line", f"G92 x{currentX} y{currentY} ; Compensation line"]
                newLine = f"{compLines[0]}\n{compLines[1]}\n{line}"
            else:
                newLine = line
            currentX = targetX
            currentY = targetY
            previousXdirection = Xdirection
            previousYdirection = Ydirection
            comp = False
            
        else:
            newLine = line
        # Write the modified line to the output file
        output_file.write(newLine)

# Close the files
input_file.close()
output_file.close()