From b0b1e4384eb81ef0984b4289adb39bc08906f6a9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?PROFERIS=20-=20Mi=C2=B3osz=20Stocki?=
 <milosz.stocki@proferis.pl>
Date: Wed, 8 Jul 2026 16:27:03 +0200
Subject: [PATCH] homing

---
 src/main.cpp | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index 2364aa6..b23916b 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -274,12 +274,12 @@ void loop() {
 
   if (homingState == HOME_ALL_PHASE1) {
     if (stepper1.distanceToGo() == 0 && stepper2.distanceToGo() == 0) {
-      stepper1.setCurrentPosition(474);
-      stepper2.setCurrentPosition(530);
+      stepper1.setCurrentPosition(1024);
+      stepper2.setCurrentPosition(0);
       stepper1.moveTo(1024);
       stepper2.moveTo(0);
       homingState = HOME_ALL_PHASE2;
-      Serial.println("[SYS] Homing all: Phase 2 (Move to Outward Home)");
+      Serial.println("[SYS] Homing all: Phase 2 (Hold Outward Home)");
     }
   } else if (homingState == HOME_ALL_PHASE2) {
     if (stepper1.distanceToGo() == 0 && stepper2.distanceToGo() == 0) {
@@ -295,7 +295,7 @@ void loop() {
     }
   } else if (homingState == HOME_1_PHASE1) {
     if (stepper1.distanceToGo() == 0) {
-      stepper1.setCurrentPosition(474);
+      stepper1.setCurrentPosition(1024);
       stepper1.moveTo(1024);
       homingState = HOME_1_PHASE2;
     }
@@ -308,7 +308,7 @@ void loop() {
     }
   } else if (homingState == HOME_2_PHASE1) {
     if (stepper2.distanceToGo() == 0) {
-      stepper2.setCurrentPosition(530);
+      stepper2.setCurrentPosition(0);
       stepper2.moveTo(0);
       homingState = HOME_2_PHASE2;
     }
@@ -335,28 +335,28 @@ void loop() {
 // ─── Homing Routines ──────────────────────────────────────────────
 
 void performHomingAll() {
-  Serial.println("[SYS] Homing all: Phase 1 (Stall UP)");
+  Serial.println("[SYS] Homing all: Phase 1 (Stall OUTWARD)");
   stepper1.setMaxSpeed(1500);
   stepper2.setMaxSpeed(1500);
   stepper1.setAcceleration(1500);
   stepper2.setAcceleration(1500);
-  stepper1.move(-1200); 
-  stepper2.move(1200);
+  stepper1.move(2000); 
+  stepper2.move(-2000);
   homingState = HOME_ALL_PHASE1;
 }
 
 void performHoming1() {
-  Serial.println("[S1] Homing Motor 1: Phase 1 (Stall UP)");
+  Serial.println("[S1] Homing Motor 1: Phase 1 (Stall OUTWARD)");
   stepper1.setMaxSpeed(1500);
   stepper1.setAcceleration(1500);
-  stepper1.move(-1200);
+  stepper1.move(2000);
   homingState = HOME_1_PHASE1;
 }
 
 void performHoming2() {
-  Serial.println("[S2] Homing Motor 2: Phase 1 (Stall UP)");
+  Serial.println("[S2] Homing Motor 2: Phase 1 (Stall OUTWARD)");
   stepper2.setMaxSpeed(1500);
   stepper2.setAcceleration(1500);
-  stepper2.move(1200);
+  stepper2.move(-2000);
   homingState = HOME_2_PHASE1;
 }