From 31e525ab6510049ed29fb56612c5e2eb82b61c71 Mon Sep 17 00:00:00 2001
From: PAJohnson <pajohns4@ncsu.edu>
Date: Tue, 4 May 2021 22:00:43 -0400
Subject: [PATCH] Zero out input_vel after homing sequence finds endstop.

---
 Firmware/MotorControl/axis.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index 8799fffa..29591280 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -392,6 +392,8 @@ bool Axis::run_homing() {
     }
 
     stop_closed_loop_control();
+    
+    controller_.input_vel_ = 0.0f;
 
     error_ &= ~ERROR_MIN_ENDSTOP_PRESSED; // clear this error since we deliberately drove into the endstop