From f1f75d8dbb136a656342b484b7048841fbfdde24 Mon Sep 17 00:00:00 2001
From: Luca Toniolo <10792599+grandixximo@users.noreply.github.com>
Date: Sun, 4 Oct 2026 12:41:58 +0800
Subject: [PATCH] homing: drop the dead HOME_DELAY timer in
 HOME_FINAL_MOVE_START

The timer branch incremented pause_timer, fell through, and zeroed it
in the same servo cycle; it has never delayed anything since the 2022
state-machine rework dropped its break (becaf35c2f).  The missing
delay was reported as a bug (#4621) and the resolution was to declare
the current behavior intended (#4628, docs updated).  Remove the dead
code and say in a comment that the absence of HOME_DELAY here is
deliberate, so the state no longer reads as an accidental omission.
---
 src/emc/motion/homing.c | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/src/emc/motion/homing.c b/src/emc/motion/homing.c
index a2b6c9b367f..adec003afe1 100644
--- a/src/emc/motion/homing.c
+++ b/src/emc/motion/homing.c
@@ -1385,12 +1385,10 @@ static int base_1joint_state_machine(int joint_num)
                 H[joint_num].pause_timer = 0;
                 break;
             }
-            /* has delay timed out? */
-            if (H[joint_num].pause_timer < (HOME_DELAY * servo_freq)) {
-                /* no, update timer and wait some more */
-                H[joint_num].pause_timer++;
-            }
-            H[joint_num].pause_timer = 0;
+            /* No HOME_DELAY here, unlike the other *_START states:
+               homing is complete once the joint has stopped, this move
+               to the home position is only a convenience.  See
+               docs/src/code/homing.dot */
 
             // neg home sequence: sync final move
             if  (    (H[joint_num].home_sequence  < 0)