I have had an idea lingering in my head for quite some time now.  How about 
moving the screw/backlash comp out of motion and implement it with a HAL 
module.  The purpose would be for two goals.  One it would make it more logical 
to implement more sophisticated joint compensation, such as thermal expansion, 
deflection, and belt stretch.  Second, it would set the stage to be more 
friendly for dual scale/motor feedback, because it would give control over 
where the compensation is added in the feedback loop.

Is this something anybody has thought about?  If it seems like something that 
would be useful, I'll start a branch and work it out.

Brian
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