I have a working prototype of the homing sequence code. The homing sequence is broken down into 4 steps:

• Initial search for the home sensor, we look for this at 'search speed'
• Once the sensor is found, we back off some distance
• We then move forward again at a slower 'latch speed' to try and be more precise
• Finally we move some distance from the home sensor as the final home position that aligns the columns with the doors

I still have to tweak some speeds to try and avoid the sudden stop during the search operation, but overall its working well! See for yourself: