I have problems with printing

[Гургурыч]

Good day, gentlemen! I'm building a 3-in-1 machine. It will function as a 3D printer, a CNC milling machine, and a laser engraver. At this stage, based on Cramps, there was its own cape, using PRU contacts, in HAL I configured that the axes would work through PRU. Then there was a problem with ADC, I increased the interval and disabled 2 ADC channels, this gave stability. But I have problems with printing when I try to make a print the first layer goes well but then there is a re-extrusion. I found out that the mendelmax cramps config uses Velocity extrusion? I tried to specify the same layer, but then I have an underextrusion. I tried to disable it on my own, but it was no success. how do I do this?

[Гургурыч]