Offset home and jog caroussel

    case 10: // start of homing
        homed = 0;
        homing = 1;
        motor_fwd = 1;
        motor_rev = 0;
        motor_vel = fwd_dc;
        motor_dir = 1;
        index_enable = 1;
        counts_target += scale * inst_pockets;
        old_index = 1; // ensure 0->1 cycle of home sensor
        state = 11;
    case 11: ;// waiting for index & pulse
        int ind = 0;
        if (inst_code == 'C'){
            ind = sense(0);
        } else {
            ind = (sense(0) && sense(1));
        }
        if  ( ! index_enable || ((! old_index) && ind)){ // index found
            current_position = 1;
            homed = 1;
            homing = 0;
            active = 0;
            motor_fwd = 0;
            motor_rev = 0;
            motor_vel = 0;
            base_counts = counts - home_offset;
            counts_target = base_counts;
            if ( align_dc == 0) {
                state = 0;
            } else {
                timer = decel_time;
                state = 5;
            }
        }
        old_index = ind;
        break; // So that we don't see the tool1 pulse twice
    case 20: //jogging fwd/rev
        if (current_position != target){
            deb = debounce;
            return;
        } else if (deb-- > 0) {
            return;
        }
        if (align_dc != 0 && ! align_pin) return;
        motor_fwd = 0;
        motor_rev = 0;
        motor_vel = hold_dc;
        active = 0;
        if (jog_fwd || jog_rev) return; // require button release to jog again
        if (align_dc != 0) {
            motor_vel = -align_dc;
            timer = decel_time;
            state = 5;
        } else {
            state = 0;
        }
        break;
    }
}

loadrt debounce cfg=2

net jog-fwd <= hm2_5i25.0.7i77.0.0.input-17
net jog-fwd  => debounce.0.0.in
net debounce-fwd-out <= debounce.0.0.out
net debounce-fwd-out =>  carousel.0.jog-fwd motion.digital-in-10


net jog-rev <= hm2_5i25.0.7i77.0.0.input-18
net jog-rev  => debounce.0.1.in
net debounce-rev-out <= debounce.0.1.out
net debounce-rev-out => carousel.0.jog-rev motion.digital-in-11

case 10: // start of homing
        homed = 0;
        homing = 1;
        motor_fwd = 1;
        motor_rev = 0;
        motor_vel = fwd_dc;
        motor_dir = 1;
        index_enable = 1;
        counts_target += scale * inst_pockets;
        old_index = 1; // ensure 0->1 cycle of home sensor
        state = 11;
    case 11: ;// waiting for index & pulse
        int ind = 0;
        if (inst_code == 'C'){
            ind = sense(0);
        } else {
            ind = (sense(0) && sense(1));
        }
        if  ( ! index_enable || ((! old_index) && ind)){ // index found
            current_position = 1; ============> 30
            homed = 1;
            homing = 0;
            active = 0;
            motor_fwd = 0;
            motor_rev = 0;
            motor_vel = 0;
            base_counts = counts - home_offset;
            counts_target = base_counts;
            if ( align_dc == 0) {
                state = 0;
            } else {
                timer = decel_time;
                state = 5;
            }
        }
        old_index = ind;
        break; // So that we don't see the tool1 pulse twice
    case 20: //jogging fwd/rev
        if (current_position != target){
            deb = debounce;
            return;
        } else if (deb-- > 0) {
            return;
        }
        if (align_dc != 0 && ! align_pin) return;
        motor_fwd = 0;
        motor_rev = 0;
        motor_vel = hold_dc;
        active = 0;
        if (jog_fwd || jog_rev) return; // require button release to jog again
        if (align_dc != 0) {
            motor_vel = -align_dc;
            timer = decel_time;
            state = 5;
        } else {
            state = 0;
        }
        break;
    }
}