OK since this has gotten some interest, there are two methods of using hard stops for homing without messing with the drives at all, for DC brushed motors:
1. using hal sensors wired to inputs (be it Mesa or Pico or parallel), more windings around the sensor = more sensitive
2. using REED switches wired to inputs ...., again more windings = more sensitive
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There are two types of hal sensors, those with variable output and the on/off type, latter is easier to use for this use case.
Sensors should be wound with only one motor wire, not both.
