message: Fix odd behaviour during homing
  Because the accelerations and velocities are so low during this phase, we were overshooting quite a bit.  Also, the pos_setpoint was wrong during the calculation of the trap_traj, so it was all sorts of screwed up.
diff: @@ -317,6 +317,11 @@ bool Axis::run_closed_loop_control_loop() {
  // Handle the homing case
  if (homing_.homing_state == HOMING_STATE_HOMING) {
  if (min_endstop_.getEndstopState()) {
  + // pos_setpoint is the starting position for the trap_traj so we need to set it.
  + controller_.pos_setpoint_ = min_endstop_.config_.offset;
  + controller_.vel_setpoint_ = 0.0f; // Change directions without decelerating
  +
  + // Set our current position in encoder counts to make control more logical
  encoder_.set_linear_count(min_endstop_.config_.offset);
  controller_.config_.control_mode = Controller::CTRL_MODE_POSITION_CONTROL;
  