I2C position encoders update (#9533)

Updating I2C position encoders to enable babystepping and Babystep XY when using the ecm microstep correction method. Also changed default method to ECM microstep.

.travis.yml

   - opt_set TEMP_SENSOR_4 999
   - opt_set TEMP_SENSOR_BED 1
   - opt_enable AUTO_BED_LEVELING_UBL DEBUG_LEVELING_FEATURE G26_MESH_EDITING ENABLE_LEVELING_FADE_HEIGHT EEPROM_SETTINGS EEPROM_CHITCHAT G3D_PANEL SKEW_CORRECTION
-  - opt_enable_adv CUSTOM_USER_MENUS I2C_POSITION_ENCODERS BABYSTEPPING LIN_ADVANCE NANODLP_Z_SYNC
+  - opt_enable_adv CUSTOM_USER_MENUS I2C_POSITION_ENCODERS BABYSTEPPING BABYSTEP_XY LIN_ADVANCE NANODLP_Z_SYNC
   - build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}
   #
   # Add a Sled Z Probe, do non-segmented moves

Marlin/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/Marlin.cpp

 
 #if ENABLED(I2C_POSITION_ENCODERS)
   I2CPositionEncodersMgr I2CPEM;
-  uint8_t blockBufferIndexRef = 0;
-  millis_t lastUpdateMillis;
 #endif
 
 /**
   #endif
 
   #if ENABLED(I2C_POSITION_ENCODERS)
-    if (planner.blocks_queued() &&
-        ( (blockBufferIndexRef != planner.block_buffer_head) ||
-          ((lastUpdateMillis + I2CPE_MIN_UPD_TIME_MS) < millis())) ) {
-      blockBufferIndexRef = planner.block_buffer_head;
+    static millis_t i2cpem_next_update_ms;
+    if (planner.blocks_queued() && ELAPSED(millis(), i2cpem_next_update_ms)) {
       I2CPEM.update();
-      lastUpdateMillis = millis();
+      i2cpem_next_update_ms = millis() + I2CPE_MIN_UPD_TIME_MS;
     }
   #endif
 

Marlin/src/config/default/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/AlephObjects/TAZ4/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Anet/A6/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Anet/A8/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Azteeg/X5GT/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/BIBO/TouchX/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/BQ/Hephestos/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/BQ/Hephestos_2/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/BQ/WITBOX/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Cartesio/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Creality/CR-10/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Creality/CR-10S/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Creality/Ender/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Felix/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/FolgerTech/i3-2020/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Infitary/i3-M508/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/JGAurora/A5/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/MakerParts/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Malyan/M150/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Malyan/M200/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Micromake/C1/enhanced/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Mks/Sbase/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/RigidBot/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/SCARA/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Sanguinololu/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/TheBorg/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/TinyBoy2/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/UltiMachine/Archim2/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Velleman/K8200/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Velleman/K8400/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Wanhao/Duplicator 6/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/delta/FLSUN/kossel/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/delta/generic/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/delta/kossel_mini/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/delta/kossel_pro/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/delta/kossel_xl/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/gCreate/gMax1.5+/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/makibox/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/tvrrug/Round2/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/wt150/Configuration_adv.h

   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_NONE          // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
   #define I2CPE_ENC_2_TICKS_UNIT    2048
   //#define I2CPE_ENC_2_TICKS_REV   (16 * 200)
   //#define I2CPE_ENC_2_INVERT
-  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_NONE
+  #define I2CPE_ENC_2_EC_METHOD     I2CPE_ECM_MICROSTEP
   #define I2CPE_ENC_2_EC_THRESH     0.10
 
   #define I2CPE_ENC_3_ADDR          I2CPE_PRESET_ADDR_Z     // Encoder 3.  Add additional configuration options
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     100                     // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/feature/I2CPositionEncoder.cpp

 
     #if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
       if (errIdx == 0) {
-        // in order to correct for "error" but avoid correcting for noise and non skips
+        // In order to correct for "error" but avoid correcting for noise and non-skips
         // it must be > threshold and have a difference average of < 10 and be < 2000 steps
         if (labs(error) > threshold * planner.axis_steps_per_mm[encoderAxis] &&
-            diffSum < 10 * (I2CPE_ERR_ARRAY_SIZE - 1) && labs(error) < 2000) { //Check for persistent error (skip)
-          SERIAL_ECHO(axis_codes[encoderAxis]);
-          SERIAL_ECHOPAIR(" diffSum: ", diffSum / (I2CPE_ERR_ARRAY_SIZE - 1));
-          SERIAL_ECHOPAIR(" - err detected: ", error / planner.axis_steps_per_mm[encoderAxis]);
-          SERIAL_ECHOLNPGM("mm; correcting!");
-          thermalManager.babystepsTodo[encoderAxis] = -LROUND(error);
+            diffSum < 10 * (I2CPE_ERR_ARRAY_SIZE - 1) && labs(error) < 2000) { // Check for persistent error (skip)
+          errPrst[errPrstIdx++] = error; // Error must persist for I2CPE_ERR_PRST_ARRAY_SIZE error cycles. This also serves to improve the average accuracy
+          if (errPrstIdx >= I2CPE_ERR_PRST_ARRAY_SIZE) {
+            float sumP = 0;
+            LOOP_L_N(i, I2CPE_ERR_PRST_ARRAY_SIZE) sumP += errPrst[i]; 
+            const int32_t errorP = int32_t(sumP * (1.0 / (I2CPE_ERR_PRST_ARRAY_SIZE)));
+            SERIAL_ECHO(axis_codes[encoderAxis]);
+            SERIAL_ECHOPAIR(" - err detected: ", errorP * planner.steps_to_mm[encoderAxis]);
+            SERIAL_ECHOLNPGM("mm; correcting!");
+            thermalManager.babystepsTodo[encoderAxis] = -LROUND(errorP);
+            errPrstIdx = 0;
+          }
         }
+        else
+          errPrstIdx = 0;
       }
     #else
       if (labs(error) > threshold * planner.axis_steps_per_mm[encoderAxis]) {
         //SERIAL_ECHOLN(error);
         //SERIAL_ECHOLN(position);
-        thermalManager.babystepsTodo[encoderAxis] = -LROUND(error/2);
+        thermalManager.babystepsTodo[encoderAxis] = -LROUND(error / 2);
       }
     #endif
 

Marlin/src/feature/I2CPositionEncoder.h

 
 #if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
   #define I2CPE_ERR_ARRAY_SIZE        32
+  #define I2CPE_ERR_PRST_ARRAY_SIZE   10
 #endif
 
 // Error Correction Methods
     //double        positionMm; //calculate
 
     #if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
-      uint8_t errIdx = 0;
-      int     err[I2CPE_ERR_ARRAY_SIZE] = { 0 };
+      uint8_t errIdx = 0, errPrstIdx = 0;
+      int err[I2CPE_ERR_ARRAY_SIZE] = { 0 },
+          errPrst[I2CPE_ERR_PRST_ARRAY_SIZE] = { 0 };
     #endif
 
     //float        positionMm; //calculate

Marlin/src/inc/SanityCheck.h

  * I2C Position Encoders
  */
 #if ENABLED(I2C_POSITION_ENCODERS)
-  #if DISABLED(BABYSTEPPING)
-    #error "I2C_POSITION_ENCODERS requires BABYSTEPPING."
+  #if DISABLED(BABYSTEPPING) || DISABLED(BABYSTEP_XY)
+    #error "I2C_POSITION_ENCODERS requires BABYSTEPPING and BABYSTEP_XY."
   #elif !WITHIN(I2CPE_ENCODER_CNT, 1, 5)
     #error "I2CPE_ENCODER_CNT must be between 1 and 5."
   #endif