From b1b5b9db846f1f6055b4eb4596e0def559ac103f Mon Sep 17 00:00:00 2001
From: "D.R.racer" <drracer@drracer.eu>
Date: Tue, 7 Sep 2021 14:43:27 +0200
Subject: [PATCH] Set better planned moves for homing + abort moves at
 StallGuard

---
 src/modules/idler.cpp        | 2 +-
 src/modules/movable_base.cpp | 1 +
 src/modules/selector.cpp     | 2 +-
 3 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/modules/idler.cpp b/src/modules/idler.cpp
index 95c3734..6691aa2 100644
--- a/src/modules/idler.cpp
+++ b/src/modules/idler.cpp
@@ -14,7 +14,7 @@ void Idler::PrepareMoveToPlannedSlot() {
 }
 
 void Idler::PlanHomingMove() {
-    mm::motion.PlanMove<mm::Idler>(mm::unitToAxisUnit<mm::I_pos_t>(-360.0_deg), mm::unitToAxisUnit<mm::I_speed_t>(config::idlerFeedrate));
+    mm::motion.PlanMove<mm::Idler>(mm::unitToAxisUnit<mm::I_pos_t>(-config::idlerLimits.lenght * 2), mm::unitToAxisUnit<mm::I_speed_t>(config::idlerFeedrate));
 }
 
 Idler::OperationResult Idler::Disengage() {
diff --git a/src/modules/movable_base.cpp b/src/modules/movable_base.cpp
index 91fab93..142fe55 100644
--- a/src/modules/movable_base.cpp
+++ b/src/modules/movable_base.cpp
@@ -41,6 +41,7 @@ void MovableBase::PerformMove(config::Axis axis) {
 void MovableBase::PerformHome(config::Axis axis) {
     if (mm::motion.StallGuard(axis)) {
         // we have reached the end of the axis - homed ok
+        mm::motion.AbortPlannedMoves(true);
         mm::motion.SetMode(axis, mg::globals.MotorsStealth() ? mm::Stealth : mm::Normal);
         state = Ready;
     } else if (mm::motion.QueueEmpty(axis)) {
diff --git a/src/modules/selector.cpp b/src/modules/selector.cpp
index d4bbb3e..794739a 100644
--- a/src/modules/selector.cpp
+++ b/src/modules/selector.cpp
@@ -14,7 +14,7 @@ void Selector::PrepareMoveToPlannedSlot() {
 }
 
 void Selector::PlanHomingMove() {
-    mm::motion.PlanMove<mm::Selector>(mm::unitToAxisUnit<mm::S_pos_t>(-100.0_mm), mm::unitToAxisUnit<mm::S_speed_t>(config::selectorFeedrate));
+    mm::motion.PlanMove<mm::Selector>(mm::unitToAxisUnit<mm::S_pos_t>(config::selectorLimits.lenght * 2), mm::unitToAxisUnit<mm::S_speed_t>(config::selectorFeedrate));
 }
 
 Selector::OperationResult Selector::MoveToSlot(uint8_t slot) {