X Axis Encoders and Stall detection

Hi coding wizards,

Lately I ran into an issue that my bot did not see it stalling on one side of the X axis (the far side from the electronics box) that will be X2. When looking into the farmware code I do not see any logic using the X2 encoder. It would be nice, since we have the encoders, that if X1 and X2 steps are not in sync, to correct the X2 to where it supposed to be. From an implementation perspective checking this during movement and correcting accordingly might be the least intrusive to the rest of the software?

Kind regards, Klaasjan

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