For the record:
Darwin was written prior to Mach4, but to the specs of M4 at that time which didn't call for it.. So backlash was not added
to Darwin. There is a school of thought, which was prevalent during my time in Mach3, that backlash
shouldn't be corrected and that backlash should be mechanically fixed or accepted, personally I tend
be be in that camp on my own machines anyway. Minimizing backlash with springs or anti-backlash nuts etc
is probably the best way to deal with the issue, but when applied to a core application, there is no end to
the misery it can cause to the logical application of motion rules in the engines.
Its like asking your cars software to help with a loose steering wheel, could be done, but probably
shouldn't be..it would affect other safety issues right down to the tires. Just my 2 cents, and I
thought Id explain why Darwin doesn't have backlash..
Art