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Calibrates the telescoping lift by running the lift controller’s two-ended homing sequence: both legs drive down until they reach the bottom stop, then up to the top stop. On success the controller rebases its position counters (bottom = 0), sets soft limits a margin inside the hard stops, and saves everything to its flash — establishing the height scale that lift.goto and the teleop height display use.
The sequence takes 1–2 minutes and intentionally touches both end stops. Progress streams as status lines; Ctrl-C (or Stop in the control panel) aborts safely — an interrupted homing rolls back to the previous calibration, so the lift is never left half-homed.
Homing normally happens once ever, not per boot: the legs are self-locking (they cannot move unpowered), so the saved position stays valid across power cycles. Re-home only if the columns were turned by hand or the controller died mid-move.
Requires the lift’s CAN bus (named by can.setup) and a powered lift board. By default the command uses the chest bus can_alm_axol_c when that interface exists, otherwise the wheel bus can_alm_axol_b the lift shares with the motors; pass --channel to use a different interface. Also available from the control panel’s diagnostics dashboard under Diagnostics → Home the lift.