Index: firmware/App/Controllers/Ejector.c
===================================================================
diff -u -rb0ae8e670f18913bf88da41394ac28b111d184ea -rfe9b77e60850fe37da225d4348f0a6a8defc28db
--- firmware/App/Controllers/Ejector.c	(.../Ejector.c)	(revision b0ae8e670f18913bf88da41394ac28b111d184ea)
+++ firmware/App/Controllers/Ejector.c	(.../Ejector.c)	(revision fe9b77e60850fe37da225d4348f0a6a8defc28db)
@@ -31,13 +31,13 @@
 // ********** private definitions **********
 
 #define EJECTOR_RETRACT_OP_TIME             ( ( MS_PER_SECOND * 5 ) / TASK_GENERAL_INTERVAL )   ///< Ejector retract operation interval.
-#define EJECTOR_EXTEND_OP_TIME              ( ( MS_PER_SECOND * 4 ) / TASK_GENERAL_INTERVAL )   ///< Ejector extend operation interval.
+#define EJECTOR_EXTEND_OP_TIME              ( ( MS_PER_SECOND * 10 ) / TASK_GENERAL_INTERVAL )  ///< Ejector extend operation interval.
 #define EJECTOR_BACKOFF_OP_TIME             ( 50 / TASK_GENERAL_INTERVAL )                      ///< Ejector back-off operation interval.
 #define EJECTOR_DATA_PUB_INTERVAL           ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )           ///< Ejector data publish interval.
 #define DATA_PUBLISH_COUNTER_START_COUNT    13                                                  ///< Ejector data publish start counter.
 
 #define EJECTOR_RETRACT_MOTOR_SPEED_RPM     -350.0F                                             ///< Ejector motor retract speed (in RPM).
-#define EJECTOR_EXTEND_MOTOR_SPEED_RPM      350.0F                                              ///< Ejector motor extend speed (in RPM).
+#define EJECTOR_EXTEND_MOTOR_SPEED_RPM      162.5F                                              ///< Ejector motor extend speed (in RPM).
 #define EJECTOR_OFF_MOTOR_SPEED_RPM         0.0F                                                ///< Ejector motor extend speed (in RPM).
 
 /// Enumeration of ejector states.
@@ -73,6 +73,7 @@
 static EJECTOR_STATE_T handleEjectorRetractBackoffState( void );
 static EJECTOR_STATE_T handleEjectorDirChangeStopState( void );
 static EJECTOR_STATE_T handleEjectorAbortState( void );
+static void setEjectorSpeed( F32 speed );
 static void resetEjectorFlags( void );
 static void publishEjectorData( void );
 
@@ -118,6 +119,21 @@
 
 /*********************************************************************//**
  * @brief
+ * The setEjectorSpeed function records the requested ejector speed and
+ * sets the ejector motor speed to that speed.
+ * @details \b Inputs: none
+ * @details \b Outputs: currentEjectorSetSpeed
+ * @param speed Target speed for ejector motor.
+ * @return none
+ *************************************************************************/
+static void setEjectorSpeed( F32 speed )
+{
+    currentEjectorSetSpeed = speed;
+    setEjectorMotorSpeed( currentEjectorSetSpeed );
+}
+
+/*********************************************************************//**
+ * @brief
  * The homeEjector function requests an ejector home operation.
  * @details \b Inputs: currentEjectorState
  * @details \b Outputs: ejectorHomeRequested
@@ -132,6 +148,10 @@
         ejectorHomeRequested = TRUE;
         result = TRUE;
     }
+    else
+    {
+        result = retractEjector();
+    }
 
     return result;
 }
@@ -282,9 +302,13 @@
     if ( TRUE == ejectorHomeRequested )
     {
         ejectorOperationTimerCounter = 0;
-        setEjectorMotorSpeed( EJECTOR_RETRACT_MOTOR_SPEED_RPM );
+        setEjectorSpeed( EJECTOR_RETRACT_MOTOR_SPEED_RPM );
         state = EJECTOR_STATE_HOMING;
     }
+    else
+    {
+        disableEjectorMotor();
+    }
 
     return state;
 }
@@ -304,7 +328,7 @@
     if ( ++ejectorOperationTimerCounter >= EJECTOR_RETRACT_OP_TIME )
     {
         ejectorOperationTimerCounter = 0;
-        setEjectorMotorSpeed( EJECTOR_OFF_MOTOR_SPEED_RPM );
+        setEjectorSpeed( EJECTOR_OFF_MOTOR_SPEED_RPM );
         state = EJECTOR_STATE_DIR_CHANGE_STOP;
     }
 
@@ -326,9 +350,13 @@
    if ( TRUE == ejectorExtendRequested )
    {
        ejectorOperationTimerCounter = 0;
-       setEjectorMotorSpeed( EJECTOR_EXTEND_MOTOR_SPEED_RPM );
+       setEjectorSpeed( EJECTOR_EXTEND_MOTOR_SPEED_RPM );
        state = EJECTOR_STATE_EXTENDING;
    }
+   else
+   {
+       disableEjectorMotor();
+   }
 
    return state;
 }
@@ -348,9 +376,13 @@
     if ( TRUE == ejectorRetractRequested )
     {
         ejectorOperationTimerCounter = 0;
-        setEjectorMotorSpeed( EJECTOR_RETRACT_MOTOR_SPEED_RPM );
+        setEjectorSpeed( EJECTOR_RETRACT_MOTOR_SPEED_RPM );
         state = EJECTOR_STATE_RETRACTING;
     }
+    else
+    {
+        disableEjectorMotor();
+    }
 
     return state;
 }
@@ -370,7 +402,7 @@
     if ( ++ejectorOperationTimerCounter >= EJECTOR_RETRACT_OP_TIME )
     {
         ejectorOperationTimerCounter = 0;
-        setEjectorMotorSpeed( EJECTOR_OFF_MOTOR_SPEED_RPM );
+        setEjectorSpeed( EJECTOR_OFF_MOTOR_SPEED_RPM );
         state = EJECTOR_STATE_DIR_CHANGE_STOP;
     }
 
@@ -392,7 +424,7 @@
     if ( ++ejectorOperationTimerCounter >= EJECTOR_BACKOFF_OP_TIME )
     {
         ejectorOperationTimerCounter = 0;
-        setEjectorMotorSpeed( EJECTOR_EXTEND_MOTOR_SPEED_RPM );
+        setEjectorSpeed( EJECTOR_EXTEND_MOTOR_SPEED_RPM );
         state = EJECTOR_STATE_RETRACT_BACKOFF;
     }
 
@@ -414,7 +446,7 @@
     if ( ++ejectorOperationTimerCounter >= EJECTOR_BACKOFF_OP_TIME )
     {
         ejectorOperationTimerCounter = 0;
-        setEjectorMotorSpeed( EJECTOR_OFF_MOTOR_SPEED_RPM );
+        setEjectorSpeed( EJECTOR_OFF_MOTOR_SPEED_RPM );
         state = EJECTOR_STATE_RETRACTED;
     }
 
@@ -433,10 +465,10 @@
 {
     EJECTOR_STATE_T state = EJECTOR_STATE_EXTENDING;
 
-    if ( ++ejectorOperationTimerCounter >= EJECTOR_RETRACT_OP_TIME )
+    if ( ++ejectorOperationTimerCounter >= EJECTOR_EXTEND_OP_TIME )
     {
         ejectorOperationTimerCounter = 0;
-        setEjectorMotorSpeed( EJECTOR_OFF_MOTOR_SPEED_RPM );
+        setEjectorSpeed( EJECTOR_OFF_MOTOR_SPEED_RPM );
         state = EJECTOR_STATE_EXTENDED;
     }