docs: homing.dot: no HOME_DELAY before the final move - #4628
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grandixximo merged 1 commit intoOct 4, 2026
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Since the 2022 homing state-machine rework the HOME_FINAL_MOVE_START state plans the final move as soon as the joint has stopped (and, for a negative HOME_SEQUENCE, the other joints of the sequence are ready); there is no HOME_DELAY pause before it (src/emc/motion/homing.c, the timer branch of this state has no break). The diagram still showed 'after HOME_DELAY' on that edge. Describe the actual behavior; no code change. See LinuxCNC#4621.
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The developer-manual homing state diagram (
docs/src/code/homing.dot, and the Spanish copy) showsHOME_FINAL_MOVE_START -> HOME_FINAL_MOVE_WAIT"after HOME_DELAY". The code has not done that since the 2022 state-machine rework: insrc/emc/motion/homing.cthe timer branch ofHOME_FINAL_MOVE_STARThas nobreak, so the final move is planned as soon as the joint has stopped (for a negativeHOME_SEQUENCE, once the other joints of the sequence are ready). This was measured in sim in #4621: 2 servo periods in state 20, not 0.1 s.This PR only changes the label of that edge to match the code. No code change. Both files render with
dot -Tsvg(graphviz 2.42.4, Debian trixie).Follow-up to the discussion in #4621.