hal functions

Following this but it seems the same problem has come up again.
Might I be missing a crucial step?
Everything is working as intended, until the encoder come into play...

FYI: Encoders Scale is (1000PPR*4mm/rev)/4=1000

When i home my X-axis i get a "joint 0 following error" after having moved about 0.2mm (the distance depends on where i set my FERROR).

You will need to plot the following error with halscope to see whats going on

Note that FF1 will be 1.000 if the encoder and stepgen are scaled properly.

That is, the encoder position should match the stepgen feedback position if
both are scaled  properly so as far a the PID sees things, they are nearly identical.

Thank you! That did the trick!
I'm currently getting familiar with the HAL Scope.

After displaying the encoder position and the stepgen feedback position, I noticed that the stepgen was counting positive while moving in the positive direction.
I corrected this by adding a minus sign in front of the STEP_SCALE.

However, this caused the motor to spin in the positive direction during homing.
I fixed that by removing the negative signs from the homing and latching velocities.
There probably is a nice way to fix that, isn't there?

Edit: I've added working .hal and .ini files for future Reference. (only X has encoder feedback)