diff --git a/red/src/main.rs b/red/src/main.rs
index 39e799a..e06696a 100644
--- a/red/src/main.rs
+++ b/red/src/main.rs
@@ -1,5 +1,6 @@
 #![warn(rust_2018_idioms)]
 
+use red::printer::gcode::*;
 use red::printer::Printer;
 
 const DEFAULT_TTY: &str = "/dev/ttyUSB0";
@@ -9,8 +10,16 @@ async fn main() -> tokio_serial::Result<()> {
     let printer = Printer::connect(DEFAULT_TTY).await.unwrap();
     printer
         .printer_in
-        .send(Box::new(red::printer::M114Command::new()))
-        .await;
-    tokio::time::sleep(std::time::Duration::from_secs(15)).await;
+        .send(Box::new(M114Command::new()))
+        .await
+        .unwrap();
+    printer
+        .printer_in
+        .send(Box::new(G28Command::new(true, true, true)))
+        .await
+        .unwrap();
+    loop {
+        tokio::time::sleep(std::time::Duration::from_secs(2)).await;
+    }
     Ok(())
 }
diff --git a/red/src/printer/gcode/g28.rs b/red/src/printer/gcode/g28.rs
new file mode 100644
index 0000000..a62e383
--- /dev/null
+++ b/red/src/printer/gcode/g28.rs
@@ -0,0 +1,39 @@
+use super::*;
+
+#[derive(Debug)]
+pub struct G28Command {
+    home_x: bool,
+    home_y: bool,
+    home_z: bool,
+}
+
+impl G28Command {
+    pub fn new(home_x: bool, home_y: bool, home_z: bool) -> G28Command {
+        G28Command {
+            home_x,
+            home_y,
+            home_z,
+        }
+    }
+}
+
+impl GcodeCommand for G28Command {
+    fn command(&self) -> String {
+        let x = if self.home_x { "X" } else { "" };
+        let y = if self.home_y { "Y" } else { "" };
+        let z = if self.home_z { "Z" } else { "" };
+        format!("G28 {} {} {}", x, y, z)
+    }
+
+    fn parse_reply(&self, reply: &str) -> Result<GcodeReply> {
+        if reply.is_empty() {
+            Err(GcodeReplyError {
+                sent_command: self.command(),
+                parsed_input: reply.to_string(),
+                problem: "Expected no reply".to_string(),
+            })
+        } else {
+            Ok(GcodeReply::G28Reply)
+        }
+    }
+}
diff --git a/red/src/printer/gcode.rs b/red/src/printer/gcode/m114.rs
similarity index 59%
rename from red/src/printer/gcode.rs
rename to red/src/printer/gcode/m114.rs
index 77135ac..b1ccb80 100644
--- a/red/src/printer/gcode.rs
+++ b/red/src/printer/gcode/m114.rs
@@ -1,41 +1,10 @@
-use std::fmt::Debug;
-
+use super::*;
 use lazy_static::lazy_static;
 use regex::Regex;
 
-type Result<T> = std::result::Result<T, GcodeReplyError>;
-
-#[derive(Debug, Clone)]
-pub struct GcodeReplyError {
-    sent_command: String,
-    parsed_input: String,
-    problem: String,
-}
-
-impl std::fmt::Display for GcodeReplyError {
-    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
-        write!(
-            f,
-            "Failed to parse response `{}` to command {}: {}",
-            self.parsed_input, self.sent_command, self.problem
-        )
-    }
-}
-
-pub trait GcodeCommand: Debug + Send {
-    fn command(&self) -> &str;
-    fn parse_reply(&self, reply: &str) -> Result<GcodeReply>;
-}
-
-#[derive(Debug)]
-#[derive(Default)]
+#[derive(Debug, Default)]
 pub struct M114Command;
 
-#[derive(Debug)]
-pub enum GcodeReply {
-    M114Reply { x: f64, y: f64, z: f64, e: f64 },
-}
-
 impl M114Command {
     pub fn new() -> Self {
         M114Command
@@ -43,9 +12,10 @@ impl M114Command {
 }
 
 impl GcodeCommand for M114Command {
-    fn command(&self) -> &'static str {
-        "M114"
+    fn command(&self) -> String {
+        "M114".into()
     }
+
     fn parse_reply(&self, reply: &str) -> Result<GcodeReply> {
         lazy_static! {
             static ref RE_SET: Vec<Regex> = vec![
@@ -65,7 +35,7 @@ impl GcodeCommand for M114Command {
                     .ok_or(GcodeReplyError {
                         parsed_input: reply.to_string(),
                         problem: format!("Failed to match to regex {}", re.as_str()),
-                        sent_command: self.command().to_string(),
+                        sent_command: self.command(),
                     })
             })
             .collect();
diff --git a/red/src/printer/gcode/mod.rs b/red/src/printer/gcode/mod.rs
new file mode 100644
index 0000000..8442e04
--- /dev/null
+++ b/red/src/printer/gcode/mod.rs
@@ -0,0 +1,35 @@
+mod g28;
+mod m114;
+pub use g28::G28Command;
+pub use m114::M114Command;
+use std::fmt::Debug;
+
+type Result<T> = std::result::Result<T, GcodeReplyError>;
+
+#[derive(Debug)]
+pub enum GcodeReply {
+    M114Reply { x: f64, y: f64, z: f64, e: f64 },
+    G28Reply,
+}
+
+#[derive(Debug, Clone)]
+pub struct GcodeReplyError {
+    sent_command: String,
+    parsed_input: String,
+    problem: String,
+}
+
+impl std::fmt::Display for GcodeReplyError {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(
+            f,
+            "Failed to parse response `{}` to command {}: {}",
+            self.parsed_input, self.sent_command, self.problem
+        )
+    }
+}
+
+pub trait GcodeCommand: Debug + Send {
+    fn command(&self) -> String;
+    fn parse_reply(&self, reply: &str) -> Result<GcodeReply>;
+}
diff --git a/red/src/printer/mod.rs b/red/src/printer/mod.rs
index 3685550..e46f612 100644
--- a/red/src/printer/mod.rs
+++ b/red/src/printer/mod.rs
@@ -1,4 +1,4 @@
-mod gcode;
+pub mod gcode;
 
 use bytes::BytesMut;
 use futures::sink::SinkExt;
@@ -9,7 +9,7 @@ use tokio::sync::mpsc::{channel, Sender};
 use tokio_serial::SerialPortBuilderExt;
 use tokio_util::codec::{Decoder, Encoder};
 
-pub use gcode::{GcodeCommand, GcodeReply, M114Command};
+pub use gcode::{GcodeCommand, GcodeReply};
 
 #[derive(Debug)]
 pub enum PrinterError {
@@ -52,7 +52,7 @@ impl Printer {
                 printer_tx.send(command_text).await.unwrap();
                 while let Some(reply) = printer_rx.next().await {
                     let reply = reply.unwrap();
-                    if reply.contains("Ok") {
+                    if reply.contains("ok") {
                         break;
                     } else {
                         let reply = command.parse_reply(&reply);