Little tip for the End stop Inverting just move the wires on the limit switches. That will make it normally closed. Then its one less thing you have to worry about when updating to future releases of firmware. I found this advice here https://forum.lulzbot.com/t/latest-firmware-for-taz5-advanced-development-version/3451/171 and I just tested it on my limit switches on my old Taz 4
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