message: Homing fixed and tested
diff: @@ -400,16 +400,15 @@ bool Axis::run_homing() {
  return error_ |= ERROR_UNKNOWN_POSITION, false;
  }
  - // Calculate the desired position after offset.
  - float input_buffer = pos_estimate_local.value() + min_endstop_.config_.offset;
  -
  controller_.config_.control_mode = Controller::CONTROL_MODE_POSITION_CONTROL;
  controller_.config_.input_mode = Controller::INPUT_MODE_TRAP_TRAJ;
  // Initialize closed loop control, and then set the desired location.
  start_closed_loop_control();
  - controller_.input_pos_ = input_buffer;
  + controller_.input_pos_ = pos_estimate_local.value() + min_endstop_.config_.offset;
  + controller_.pos_setpoint_ = pos_estimate_local.value();
  + controller_.vel_setpoint_ = 0.0f;
  controller_.input_pos_updated();
  while ((requested_state_ == AXIS_STATE_UNDEFINED) && motor_.is_armed_ && !controller_.trajectory_done_) {
  