I recently dusted off my R1+, reflashed the firmware, and am not sure what it happening. When I AutoHome the printer, the X and Y axis home fine, however the Z axis does not. It does not move down and makes a whine while attempting to move down. After a few seconds, the X carriage crashes into the other side. I also have an issue where I can move any axis in increments, but with the 4th or 5th increment, it stalls and then continues to move in whichever direction it was incrementing in. I've reflashed the firmware multiple times and no avail. One of the times it attempted to home, it crashed into the heated bed, which popped the limit switches off the hex on the Z axis. I re-tightened the switches onto the bed and ensured they were calibrated correctly. I'm not sure what else to do.