From da823197d58a817176a4e00547bbf88e83dfd9d1 Mon Sep 17 00:00:00 2001
From: snacj <0xsnacj@proton.me>
Date: Wed, 20 Aug 2025 10:05:27 +0200
Subject: [PATCH] Finished Homing Routine

---
 .../src/machines/buffer1/buffer_lift_controller.rs   | 12 ++++++------
 server/src/machines/buffer1/new.rs                   |  1 +
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/server/src/machines/buffer1/buffer_lift_controller.rs b/server/src/machines/buffer1/buffer_lift_controller.rs
index 0daa5822..62a96250 100644
--- a/server/src/machines/buffer1/buffer_lift_controller.rs
+++ b/server/src/machines/buffer1/buffer_lift_controller.rs
@@ -539,8 +539,8 @@ impl BufferLiftController {
                     match self.distance_to_position(self.limit_bottom).abs()
                         > Length::new::<millimeter>(1.0)
                     {
-                        true => Velocity::new::<millimeter_per_second>(20.0),
-                        false => Velocity::new::<millimeter_per_second>(5.0),
+                        true => Velocity::new::<millimeter_per_second>(100.0),
+                        false => Velocity::new::<millimeter_per_second>(10.0),
                     },
                 )
             }
@@ -551,8 +551,8 @@ impl BufferLiftController {
                     match self.distance_to_position(self.limit_top).abs()
                         > Length::new::<millimeter>(1.0)
                     {
-                        true => Velocity::new::<millimeter_per_second>(20.0),
-                        false => Velocity::new::<millimeter_per_second>(5.0),
+                        true => Velocity::new::<millimeter_per_second>(100.0),
+                        false => Velocity::new::<millimeter_per_second>(10.0),
                     },
                 )
             }
@@ -568,7 +568,7 @@ impl BufferLiftController {
                 }
                 HomingState::FindEndstopCoarse => {
                     // Move in at a speed of -100 mm/s
-                    Velocity::new::<millimeter_per_second>(-20.0)
+                    Velocity::new::<millimeter_per_second>(-100.0)
                 }
                 HomingState::FindEndStopFine => {
                     // move into the endstop at 2 mm/s
@@ -584,7 +584,7 @@ impl BufferLiftController {
                     // Move top at a speed of 100 mm/s
                     self.speed_to_position(
                         self.limit_top - self.padding + Length::new::<millimeter>(0.01),
-                        Velocity::new::<millimeter_per_second>(20.0),
+                        Velocity::new::<millimeter_per_second>(100.0),
                     )
                 }
                 BufferingState::Filling => self.speed_to_position(
diff --git a/server/src/machines/buffer1/new.rs b/server/src/machines/buffer1/new.rs
index 74b7e84c..238785b3 100644
--- a/server/src/machines/buffer1/new.rs
+++ b/server/src/machines/buffer1/new.rs
@@ -127,6 +127,7 @@ impl MachineNewTrait for BufferV1 {
             let buffer_lift_controller = BufferLiftController::new(
                 StepperVelocityEL70x1::new(el7041.clone(), EL7041_0052Port::STM1),
                 Length::new::<centimeter>(135.0),
+                Length::new::<centimeter>(0.0),
                 64,
             );
             let puller_speed_controller = PullerSpeedController::new(