Is there a bug in the carousel component or am I doing it wrong ATC Denford

if (rev_pulse > 0){
motor_fwd = 0;
motor_rev = 1;
motor_vel = rev_dc;
timer = rev_pulse;
state = 3;
[snip]
case 3: // timed reverse pulse
timer -= fperiod;
if (timer > 0) return;

O<toolchange> SUB
O100 IF [#<_carousel_homed> EQ 0] ; Do we need to home?
M66 E0 L0 ; read current stepgen pos into #5399
M68 E1 Q[10 + #5399] ; set the carousel in motion, by more than the number of pockets past the current pos
M66 P2 L1 Q20 ; Wait for the home pin
O200 IF [#5399 LT 0]
(abort, home timeout)
O200 ENDIF ; end of timeout check
M66 E0 L0 ; read home pin pos into #5399
M68 E1 Q[#5399] ; goto home pin, might need an offset here
G4 P5 ; wait for stop
#<_carousel_homed> = 1 ; mark homing as done
O100 ENDIF ; end of homing

(Normal toolchange without homing)

M66 E0 L0 ; read current stepgen pos into #5399
#1 = #<_selected+pocket> - #<_current_pocket> ; calculate move distance
O300 IF [#1 LT 0] if moving to a lower number
#1 = [#1 + 8] ; for an 8-pocket changer
O300 ENDIF
M68 E1 Q[#1 + #5399] ; move the requisite number of pockets
G4 P10 ; Wait (should really wait-on-input on a stepgen-in-position signal)
M68 E1 Q[#1 + #5399 - 1] ; move back against the stop
G4 P2 ; wait to stall against the stop
M6 T<_selected_tool> G43 ; change the tool, set offsets
O<toolchange> ENDSUB ; Done