The code to control the robot is really elegant, and it was not really hard to find the missing part to make it work properly.
I’ve also add a setMax() method on the axises, so the hardware opto-endstop are not needed anymore. but it’ll be cool to keep them just to use them to set the print-header home. I think I’ve seen some example like this somewhere, but I’m not usre yet how it works.

People interesting in downloading/cloning/forking the Arduino firmware for Reprap can go to the project page on Github.