That's a really cool feature!
Your homing example is very interesting and might come in handy in my latest printer build (IDEX printer with 3 independent Z-axis lead-screws). looking forward to play around with this.
Thank you very much for implementing this and generally for all your excellent work on RepRapFirmware!
“The problem in this business isn’t to keep people from stealing your ideas; it's making them steal your ideas!” - Howard Aiken
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sam42lab.blogspot.com]