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First and foremost, this thread is awesome; I can't wait to get in here. 

Is there any real documentation on how to implement it? Maybe I'm just not finding it, so if someone could point me in the direction, that would be great. 

Thanks all! 

Keep up the great work! 

I had tried flipping the 'final vel' as a last ditch effort, with out reading that it would result in an error and it didn't change anything nor throw an error.

I didn't even realize that was possible. Let me see if I can figure out how to do that and post it here.

At least at first glance, the hal/ini files seem OK

A halscope plot of Z position and home switch state
when homing would be helpful  for debugging.

(Perhaps triggered by the home switch state)