generic_cartesian: Added option 'axis' for primary carriages

This also enables arbitrary using names for primary carriages
with generic_cartesian kinematics.

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>

config/example-generic-caretesian.cfg

@@ -7,36 +7,39 @@
 
 # See docs/Config_Reference.md for a description of parameters.
 
-[carriage x]
+[carriage carriage_x]
+axis: x
 position_endstop: 0
 position_max: 300
 homing_speed: 50
 endstop_pin: ^PE5
 
-[carriage y]
+[carriage carriage_y]
+axis: y
 position_endstop: 0
 position_max: 200
 homing_speed: 50
 endstop_pin: ^PJ1
 
-[extra_carriage y1]
+[extra_carriage carriage_y1]
-primary_carriage: y
+primary_carriage: carriage_y
 endstop_pin: ^PB6
 
-[carriage z]
+[carriage carriage_z]
+axis: z
 position_endstop: 0.5
 position_max: 100
 endstop_pin: ^PD3
 
-[dual_carriage u]
+[dual_carriage carriage_u]
-primary_carriage: x
+primary_carriage: carriage_x
 position_endstop: 300
 position_max: 300
 homing_speed: 50
 endstop_pin: ^PE4
 
 [stepper my_stepper_x]
-carriages: x+y
+carriages: carriage_x+carriage_y
 step_pin: PF0
 dir_pin: PF1
 enable_pin: !PD7
@@ -44,7 +47,7 @@ microsteps: 16
 rotation_distance: 40
 
 [stepper my_stepper_u]
-carriages: u-y1
+carriages: carriage_u-carriage_y1
 step_pin: PH1
 dir_pin: PH0
 enable_pin: !PA1
@@ -52,7 +55,7 @@ microsteps: 16
 rotation_distance: 40
 
 [stepper my_stepper_y0]
-carriages: y
+carriages: carriage_y
 step_pin: PF6
 dir_pin: !PF7
 enable_pin: !PF2
@@ -60,7 +63,7 @@ microsteps: 16
 rotation_distance: 40
 
 [stepper my_stepper_y1]
-carriages: y1
+carriages: carriage_y1
 step_pin: PE3
 dir_pin: !PH6
 enable_pin: !PG5
@@ -68,7 +71,7 @@ microsteps: 16
 rotation_distance: 40
 
 [stepper my_stepper_z0]
-carriages: z
+carriages: carriage_z
 step_pin: PL3
 dir_pin: PL1
 enable_pin: !PK0
@@ -76,7 +79,7 @@ microsteps: 16
 rotation_distance: 8
 
 [stepper my_stepper_z1]
-carriages: z
+carriages: carriage_z
 step_pin: PG1
 dir_pin: PG0
 enable_pin: !PH3

config/sample-corexyuv.cfg

@@ -3,28 +3,30 @@
 
 # See docs/Config_Reference.md for a description of parameters.
 
-[carriage x]
+[carriage carriage_x]
+axis: x
 position_endstop: 0
 position_max: 300
 homing_speed: 50
 endstop_pin: ^PE5
 
-[carriage y]
+[carriage carriage_y]
+axis: y
 position_endstop: 0
 position_max: 200
 homing_speed: 50
 endstop_pin: ^PJ1
 
-[dual_carriage u]
+[dual_carriage carriage_u]
-primary_carriage: x
+primary_carriage: carriage_x
 safe_distance: 70
 position_endstop: 300
 position_max: 300
 homing_speed: 50
 endstop_pin: ^PE4
 
-[dual_carriage v]
+[dual_carriage carriage_v]
-primary_carriage: y
+primary_carriage: carriage_y
 safe_distance: 50
 position_endstop: 200
 position_max: 200
@@ -32,7 +34,7 @@ homing_speed: 50
 endstop_pin: ^PD4
 
 [stepper a]
-carriages: x+y
+carriages: carriage_x+carriage_y
 step_pin: PF0
 dir_pin: PF1
 enable_pin: !PD7
@@ -40,7 +42,7 @@ microsteps: 16
 rotation_distance: 40
 
 [stepper b]
-carriages: u-v
+carriages: carriage_u-carriage_v
 step_pin: PH1
 dir_pin: PH0
 enable_pin: !PA1
@@ -48,7 +50,7 @@ microsteps: 16
 rotation_distance: 40
 
 [stepper c]
-carriages: x-y
+carriages: carriage_x-carriage_y
 step_pin: PF6
 dir_pin: !PF7
 enable_pin: !PF2
@@ -56,7 +58,7 @@ microsteps: 16
 rotation_distance: 40
 
 [stepper d]
-carriages: u+v
+carriages: carriage_u+carriage_v
 step_pin: PE3
 dir_pin: !PH6
 enable_pin: !PG5
@@ -83,8 +85,8 @@ max_temp: 250
 
 [gcode_macro PARK_extruder]
 gcode:
-    SET_DUAL_CARRIAGE CARRIAGE=x
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_x
-    SET_DUAL_CARRIAGE CARRIAGE=y
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_y
     G90
     G1 X0 Y0
 
@@ -92,8 +94,8 @@ gcode:
 gcode:
     PARK_{printer.toolhead.extruder}
     ACTIVATE_EXTRUDER EXTRUDER=extruder
-    SET_DUAL_CARRIAGE CARRIAGE=x
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_x
-    SET_DUAL_CARRIAGE CARRIAGE=y
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_y
 
 [extruder1]
 step_pin: PC1
@@ -115,8 +117,8 @@ max_temp: 250
 
 [gcode_macro PARK_extruder1]
 gcode:
-    SET_DUAL_CARRIAGE CARRIAGE=u
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_u
-    SET_DUAL_CARRIAGE CARRIAGE=v
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_v
     G90
     G1 X300 Y200
 
@@ -124,35 +126,35 @@ gcode:
 gcode:
     PARK_{printer.toolhead.extruder}
     ACTIVATE_EXTRUDER EXTRUDER=extruder1
-    SET_DUAL_CARRIAGE CARRIAGE=u
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_u
-    SET_DUAL_CARRIAGE CARRIAGE=v
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_v
 
 # A helper script to activate copy mode
 [gcode_macro ACTIVATE_COPY_MODE]
 gcode:
-    SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_x MODE=PRIMARY
-    SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_y MODE=PRIMARY
     G1 X0 Y0
     ACTIVATE_EXTRUDER EXTRUDER=extruder
-    SET_DUAL_CARRIAGE CARRIAGE=u MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_u MODE=PRIMARY
-    SET_DUAL_CARRIAGE CARRIAGE=v MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_v MODE=PRIMARY
     G1 X150 Y100
-    SET_DUAL_CARRIAGE CARRIAGE=u MODE=COPY
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_u MODE=COPY
-    SET_DUAL_CARRIAGE CARRIAGE=v MODE=COPY
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_v MODE=COPY
     SYNC_EXTRUDER_MOTION EXTRUDER=extruder1 MOTION_QUEUE=extruder
 
 # A helper script to activate mirror mode
 [gcode_macro ACTIVATE_MIRROR_MODE]
 gcode:
-    SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_x MODE=PRIMARY
-    SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_y MODE=PRIMARY
     G1 X0 Y0
     ACTIVATE_EXTRUDER EXTRUDER=extruder
-    SET_DUAL_CARRIAGE CARRIAGE=u MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_u MODE=PRIMARY
-    SET_DUAL_CARRIAGE CARRIAGE=v MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_v MODE=PRIMARY
     G1 X300 Y100
-    SET_DUAL_CARRIAGE CARRIAGE=u MODE=MIRROR
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_u MODE=MIRROR
-    SET_DUAL_CARRIAGE CARRIAGE=v MODE=COPY
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_v MODE=COPY
     SYNC_EXTRUDER_MOTION EXTRUDER=extruder1 MOTION_QUEUE=extruder
 
 [printer]
@@ -169,9 +171,9 @@ max_z_accel: 100
 #[delayed_gcode init_shaper]
 #initial_duration: 0.1
 #gcode:
-#    SET_DUAL_CARRIAGE CARRIAGE=u
+#    SET_DUAL_CARRIAGE CARRIAGE=carriage_u
-#    SET_DUAL_CARRIAGE CARRIAGE=v
+#    SET_DUAL_CARRIAGE CARRIAGE=carriage_v
-#    SET_INPUT_SHAPER SHAPER_TYPE_X=<dual_carriage_x_shaper> SHAPER_FREQ_X=<dual_carriage_x_freq> SHAPER_TYPE_Y=<dual_carriage_y_shaper> SHAPER_FREQ_Y=<dual_carriage_y_freq>
+#    SET_INPUT_SHAPER SHAPER_TYPE_X=<carriage_u_shaper> SHAPER_FREQ_X=<carriage_u_freq> SHAPER_TYPE_Y=<carriage_v_shaper> SHAPER_FREQ_Y=<carriage_v_freq>
-#    SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
+#    SET_DUAL_CARRIAGE CARRIAGE=carriage_x MODE=PRIMARY
-#    SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
+#    SET_DUAL_CARRIAGE CARRIAGE=carriage_y MODE=PRIMARY
-#    SET_INPUT_SHAPER SHAPER_TYPE_X=<primary_carriage_x_shaper> SHAPER_FREQ_X=<primary_carriage_x_freq> SHAPER_TYPE_Y=<primary_carriage_y_shaper> SHAPER_FREQ_Y=<primary_carriage_y_freq>
+#    SET_INPUT_SHAPER SHAPER_TYPE_X=<carriage_x_shaper> SHAPER_FREQ_X=<carriage_x_freq> SHAPER_TYPE_Y=<carriage_y_shaper> SHAPER_FREQ_Y=<carriage_y_freq>

docs/Config_Changes.md

@@ -8,6 +8,10 @@ All dates in this document are approximate.
 
 ## Changes
 
+20251122: An option `axis` has been added to `[carriage <name>]` sections
+for `generic_cartesian` kinematics, allowing arbitrary names for primary
+carriages. Users are encouraged to explicitly specify `axis` option now.
+
 20251106: The status fields `{printer.toolhead.position}`,
 `{printer.gcode_move.position}`,
 `{printer.gcode_move.gcode_position}`, and

docs/Config_Reference.md

@@ -743,10 +743,12 @@ max_accel:
 
 ```
 
-Then a user must define the following three carriages: `[carriage x]`,
+Then a user must define three carriages for X, Y, and Z axes, e.g.:
-`[carriage y]`, and `[carriage z]`, e.g.
 ```
-[carriage x]
+[carriage carriage_x]
+axis:
+#   Axis of a carriage, either x, y, or z. This parameter must be provided,
+#   unless a carriage name is x, y, or z itself.
 endstop_pin:
 #   Endstop switch detection pin. If this endstop pin is on a
 #   different mcu than the stepper motor(s) moving this carriage,
@@ -788,7 +790,8 @@ for instance
 carriages:
 #   A string describing the carriages the stepper moves. All defined
 #   carriages can be specified here, as well as their linear combinations,
-#   e.g. x, x+y, y-0.5*z, x-z, etc. This parameter must be provided.
+#   e.g. carriage_x, carriage_x+carriage_y, carriage_y-0.5*carriage_z,
+#   carriage_x-carriage_z, etc. This parameter must be provided.
 step_pin:
 dir_pin:
 enable_pin:
@@ -800,28 +803,29 @@ microsteps:
 ```
 See [stepper](#stepper) section for more information on the regular
 stepper parameters. The `carriages` parameter defines how the stepper
-affects the motion of the carriages. For example, `x+y` indicates that
+affects the motion of the carriages. For example, `carriage_x+carriage_y`
-the motion of the stepper in the positive direction by the distance `d`
+indicates that the motion of the stepper in the positive direction by the
-moves the carriages `x` and `y` by the same distance `d` in the positive
+distance `d` moves the carriages `carriage_x` and `carriage_y` by the same
-direction, while `x-0.5*y` means the motion of the stepper in the positive
+distance `d` in the positive direction, while `carriage_x-0.5*carriage_y`
-direction by the distance `d` moves the carriage `x` by the distance `d`
+means the motion of the stepper in the positive direction by the distance
-in the positive direction, but the carriage `y` will travel distance `d/2`
+`d` moves the carriage `carriage_x` by the distance `d` in the positive
-in the negative direction.
+direction, but the carriage `carriage_y` will travel distance `d/2` in
+the negative direction.
 
 More than a single stepper motor can be defined to drive the same axis
 or belt. For example, on a CoreXY AWD setups two motors driving the same
 belt can be defined as
 ```
-[carriage x]
+[carriage carriage_x]
 endstop_pin: ...
 ...
 
-[carriage y]
+[carriage carriage_y]
 endstop_pin: ...
 ...
 
 [stepper a0]
-carriages: x-y
+carriages: carriage_x-carriage_y
 step_pin: ...
 dir_pin: ...
 enable_pin: ...
@@ -829,7 +833,7 @@ rotation_distance: ...
 ...
 
 [stepper a1]
-carriages: x-y
+carriages: carriage_x-carriage_y
 step_pin: ...
 dir_pin: ...
 enable_pin: ...
@@ -842,7 +846,7 @@ sharing the same `carriages` and corresponding endstops.
 There are situations when a user wants to have more than one endstop
 per axis. Examples of such configurations include Y axis driven by
 two independent stepper motors with belts attached to both ends of the
-X beam, with effectively two carriages on Y axis each having an
+X gantry, with effectively two carriages on Y axis each having an
 independent endstop, and multi-stepper Z axis with each stepper having
 its own endstop (not to be confused with the configurations with
 multiple Z motors but only a single endstop). These configurations
@@ -860,12 +864,12 @@ endstop_pin:
 
 and the corresponding stepper motors, for example:
 ```
-[extra_carriage y1]
+[extra_carriage carriage_y1]
-primary_carriage: y
+primary_carriage: carriage_y
 endstop_pin: ...
 
 [stepper sy1]
-carriages: y1
+carriages: carriage_y1
 ...
 ```
 Notably, an `[extra_carriage]` does not define parameters such as
@@ -2450,7 +2454,7 @@ from the configuration described above:
 [dual_carriage my_dc_carriage]
 primary_carriage:
 #   Defines the matching primary carriage of this dual carriage and
-#   the corresponding IDEX axis. Valid choices are x, y, z.
+#   the corresponding IDEX axis. Must match a name of a defined `[carriage]`.
 #   This parameter must be provided.
 #safe_distance:
 #   The minimum distance (in mm) to enforce between the dual and the primary
@@ -2478,18 +2482,18 @@ on the regular `carriage` parameters.
 Then a user must define one or more stepper motors moving the dual carriage
 (and other carriages as appropriate), for instance
 ```
-[carriage x]
+[carriage carriage_x]
 ...
 
-[carriage y]
+[carriage carriage_y]
 ...
 
-[dual_carriage u]
+[dual_carriage carriage_u]
-primary_carriage: x
+primary_carriage: carriage_x
 ...
 
 [stepper dc_stepper]
-carriages: u-y
+carriages: carriage_u-carriage_y
 ...
 ```
 
@@ -2505,14 +2509,14 @@ example above:
 [delayed_gcode init_shaper]
 initial_duration: 0.1
 gcode:
-  SET_DUAL_CARRIAGE CARRIAGE=u
+  SET_DUAL_CARRIAGE CARRIAGE=carriage_u
-  SET_INPUT_SHAPER SHAPER_TYPE_X=<dual_carriage_x_shaper> SHAPER_FREQ_X=<dual_carriage_x_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq>
+  SET_INPUT_SHAPER SHAPER_TYPE_X=<carriage_u_shaper> SHAPER_FREQ_X=<carriage_x_freq> SHAPER_TYPE_Y=<carriage_y_shaper> SHAPER_FREQ_Y=<carriage_y_freq>
-  SET_DUAL_CARRIAGE CARRIAGE=x
+  SET_DUAL_CARRIAGE CARRIAGE=carriage_x
-  SET_INPUT_SHAPER SHAPER_TYPE_X=<primary_carriage_x_shaper> SHAPER_FREQ_X=<primary_carriage_x_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq>
+  SET_INPUT_SHAPER SHAPER_TYPE_X=<carriage_x_shaper> SHAPER_FREQ_X=<carriage_x_freq> SHAPER_TYPE_Y=<carriage_y_shaper> SHAPER_FREQ_Y=<carriage_y_freq>
 ```
 Note that `SHAPER_TYPE_Y` and `SHAPER_FREQ_Y` must be the same in both
 commands in this case, since the same motors drive Y axis when either
-of the `x` and `u` carriages are active.
+of the `carriage_x` and `carriage_u` carriages are active.
 
 It is worth noting that `generic_cartesian` kinematic can support two
 dual carriages for X and Y axes. For reference, see for instance a

docs/G-Codes.md

@@ -753,11 +753,11 @@ stepper at a time, some sequences of changes can lead to invalid
 intermediate kinematic configurations, even if the final configuration
 is valid. In such cases a user can pass `DISABLE_CHECKS=1` parameters to
 all but the last command to disable intermediate checks. For example,
-if `stepper a` and `stepper b` initially have `x-y` and `x+y` carriages
+if `stepper a` and `stepper b` initially have `carriage_x-carriage_y` and
-correspondingly, then the following sequence of commands will let a user
+`carriage_x+carriage_y` carriages correspondingly, then the following
-effectively swap the carriage controls:
+sequence of commands will let a user effectively swap the carriage controls:
-`SET_STEPPER_CARRIAGES STEPPER=a CARRIAGES=x+y DISABLE_CHECKS=1`
+`SET_STEPPER_CARRIAGES STEPPER=a CARRIAGES=carriage_x+carriage_y DISABLE_CHECKS=1`
-and `SET_STEPPER_CARRIAGES STEPPER=b CARRIAGES=x-y`, while
+and `SET_STEPPER_CARRIAGES STEPPER=b CARRIAGES=carriage_x-carriage_y`, while
 still validating the final kinematics state.
 
 ### [hall_filament_width_sensor]

docs/Resonance_Compensation.md

@@ -438,6 +438,8 @@ gcode:
   SET_DUAL_CARRIAGE CARRIAGE=0
   SET_INPUT_SHAPER SHAPER_TYPE_X=<primary_carriage_shaper> SHAPER_FREQ_X=<primary_carriage_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq>
 ```
+However, users of `generic_cartesian` kinematics should specify carriage names
+in `CARRIAGE=` parameters of `SET_DUAL_CARRIAGE` instead of their numbers.
 Note that `SHAPER_TYPE_Y` and `SHAPER_FREQ_Y` should be the same in both
 commands. If you need to configure an input shaper for Z axis, include
 its parameters in both `SET_INPUT_SHAPER` commands.

klippy/extras/manual_probe.py

@@ -9,8 +9,11 @@ import logging, bisect
 def lookup_z_endstop_config(config):
     if config.has_section('stepper_z'):
         return config.getsection('stepper_z')
-    elif config.has_section('carriage z'):
+    for cconfig in config.get_prefix_sections('carriage '):
-        return config.getsection('carriage z')
+        carriage_name = cconfig.get_name().split()[-1].strip()
+        axis_name = cconfig.get('axis', carriage_name, note_valid=False)
+        if axis_name == 'z':
+            return cconfig
     return None
 
 class ManualProbe:

klippy/kinematics/generic_cartesian.py

@@ -32,10 +32,16 @@ def mat_pseudo_inverse(m):
     return pinv
 
 class MainCarriage:
-    def __init__(self, config, axis):
+    def __init__(self, config):
         self.rail = stepper.GenericPrinterRail(config)
-        self.axis = ord(axis) - ord('x')
+        carriage_name = self.rail.get_name(short=True)
-        self.axis_name = axis
+        valid_axes = ['x', 'y', 'z']
+        if carriage_name in valid_axes:
+            axis_name = config.getchoice('axis', valid_axes, carriage_name)
+        else:
+            axis_name = config.getchoice('axis', valid_axes)
+        self.axis = ord(axis_name) - ord('x')
+        self.axis_name = axis_name
         self.dual_carriage = None
     def get_name(self):
         return self.rail.get_name(short=True)
@@ -83,7 +89,7 @@ class DualCarriage:
         self.axis = self.primary_carriage.get_axis()
         if self.axis > 1:
             raise config.error("Invalid axis '%s' for dual_carriage" %
-                               self.primary_carriage.get_axis_name())
+                               "xyz"[self.axis])
         self.safe_dist = config.getfloat('safe_distance', None, minval=0.)
     def get_name(self):
         return self.rail.get_name(short=True)
@@ -146,11 +152,19 @@ class GenericCartesianKinematics:
                                self.cmd_SET_STEPPER_CARRIAGES,
                                desc=self.cmd_SET_STEPPER_CARRIAGES_help)
     def _load_kinematics(self, config):
-        carriages = {a : MainCarriage(config.getsection('carriage ' + a), a)
+        carriages = {}
-                     for a in 'xyz'}
+        for mcconfig in config.get_prefix_sections('carriage '):
+            c = MainCarriage(mcconfig)
+            axis = c.get_axis()
+            dups = [mc for mc in carriages.values() if mc.get_axis() == axis]
+            if dups:
+                raise config.error(
+                        "Axis '%s' referenced by multiple carriages (%s, %s)"
+                        % ("xyz"[axis], c.get_name(), dups[0].get_name()))
+            carriages[c.get_name()] = c
         dc_carriages = []
-        for c in config.get_prefix_sections('dual_carriage '):
+        for dcconfig in config.get_prefix_sections('dual_carriage '):
-            dc_carriages.append(DualCarriage(c, carriages))
+            dc_carriages.append(DualCarriage(dcconfig, carriages))
         for dc in dc_carriages:
             name = dc.get_name()
             if name in carriages:
@@ -159,8 +173,8 @@ class GenericCartesianKinematics:
         self.carriages = dict(carriages)
         self.dc_carriages = dc_carriages
         ec_carriages = []
-        for c in config.get_prefix_sections('extra_carriage '):
+        for ecconfig in config.get_prefix_sections('extra_carriage '):
-            ec_carriages.append(ExtraCarriage(c, carriages))
+            ec_carriages.append(ExtraCarriage(ecconfig, carriages))
         for ec in ec_carriages:
             name = ec.get_name()
             if name in carriages:
@@ -193,13 +207,16 @@ class GenericCartesianKinematics:
     def get_steppers(self):
         return [s.get_stepper() for s in self.kin_steppers]
     def get_primary_carriages(self):
-        carriages = [self.carriages[a] for a in "xyz"]
+        carriages = [None] * 3
-        if self.dc_module:
+        for carriage in self.carriages.values():
-            for a in self.dc_module.get_axes():
+            a = carriage.get_axis()
+            if carriage.get_dual_carriage() is not None:
                 primary_rail = self.dc_module.get_primary_rail(a)
                 for c in self.carriages.values():
                     if c.get_rail() == primary_rail:
                         carriages[a] = c
+            else:
+                carriages[a] = carriage
         return carriages
     def _get_kinematics_coeffs(self):
         matr = {s.get_name() : list(s.get_kin_coeffs())
@@ -274,11 +291,14 @@ class GenericCartesianKinematics:
         self._check_kinematics(self.printer.command_error)
         # Each axis is homed independently and in order
         for axis in homing_state.get_axes():
-            carriage = self.carriages["xyz"[axis]]
+            for carriage in self.carriages.values():
+                if carriage.get_axis() != axis:
+                    continue
                 if carriage.get_dual_carriage() != None:
                     self.dc_module.home(homing_state, axis)
                 else:
                     self.home_axis(homing_state, axis, carriage.get_rail())
+                break
     def _check_endstops(self, move):
         end_pos = move.end_pos
         for i in (0, 1, 2):

test/klippy/corexyuv.cfg

@@ -1,35 +1,38 @@
 # Test config for generic cartesian kinematics with dual carriage
-[carriage x]
+[carriage carriage_x]
+axis: x
 position_endstop: 0
 position_max: 300
 homing_speed: 50
 endstop_pin: ^PE5
 
-[carriage y]
+[carriage carriage_y]
+axis: y
 position_endstop: 0
 position_max: 200
 homing_speed: 50
 endstop_pin: ^PJ1
 
-[carriage z]
+[carriage carriage_z]
+axis: z
 position_endstop: 0.5
 position_max: 100
 endstop_pin: ^PD3
 
-[extra_carriage z1]
+[extra_carriage carriage_z1]
-primary_carriage: z
+primary_carriage: carriage_z
 endstop_pin: ^PD2
 
-[dual_carriage u]
+[dual_carriage carriage_u]
-primary_carriage: x
+primary_carriage: carriage_x
 safe_distance: 70
 position_endstop: 300
 position_max: 300
 homing_speed: 50
 endstop_pin: ^PE4
 
-[dual_carriage v]
+[dual_carriage carriage_v]
-primary_carriage: y
+primary_carriage: carriage_y
 safe_distance: 50
 position_endstop: 200
 position_max: 200
@@ -37,7 +40,7 @@ homing_speed: 50
 endstop_pin: ^PD4
 
 [stepper a]
-carriages: x+y
+carriages: carriage_x+carriage_y
 step_pin: PF0
 dir_pin: PF1
 enable_pin: !PD7
@@ -45,7 +48,7 @@ microsteps: 16
 rotation_distance: 40
 
 [stepper b]
-carriages: u-v
+carriages: carriage_u-carriage_v
 step_pin: PH1
 dir_pin: PH0
 enable_pin: !PA1
@@ -53,7 +56,7 @@ microsteps: 16
 rotation_distance: 40
 
 [stepper c]
-carriages: x-y
+carriages: carriage_x-carriage_y
 step_pin: PF6
 dir_pin: !PF7
 enable_pin: !PF2
@@ -61,7 +64,7 @@ microsteps: 16
 rotation_distance: 40
 
 [stepper d]
-carriages: u+v
+carriages: carriage_u+carriage_v
 step_pin: PE3
 dir_pin: !PH6
 enable_pin: !PG5
@@ -69,7 +72,7 @@ microsteps: 16
 rotation_distance: 40
 
 [stepper z]
-carriages: z
+carriages: carriage_z
 step_pin: PL3
 dir_pin: PL1
 enable_pin: !PK0
@@ -77,7 +80,7 @@ microsteps: 16
 rotation_distance: 8
 
 [stepper z1]
-carriages: z1
+carriages: carriage_z1
 step_pin: PG1
 dir_pin: PG0
 enable_pin: !PH3
@@ -104,8 +107,8 @@ max_temp: 250
 
 [gcode_macro PARK_extruder]
 gcode:
-    SET_DUAL_CARRIAGE CARRIAGE=x
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_x
-    SET_DUAL_CARRIAGE CARRIAGE=y
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_y
     G90
     G1 X0 Y0
 
@@ -114,8 +117,8 @@ gcode:
     PARK_{printer.toolhead.extruder}
     SET_SERVO SERVO=my_servo angle=100
     ACTIVATE_EXTRUDER EXTRUDER=extruder
-    SET_DUAL_CARRIAGE CARRIAGE=x
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_x
-    SET_DUAL_CARRIAGE CARRIAGE=y
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_y
 
 [extruder1]
 step_pin: PC1
@@ -137,8 +140,8 @@ max_temp: 250
 
 [gcode_macro PARK_extruder1]
 gcode:
-    SET_DUAL_CARRIAGE CARRIAGE=u
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_u
-    SET_DUAL_CARRIAGE CARRIAGE=v
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_v
     G90
     G1 X300 Y200
 
@@ -147,8 +150,8 @@ gcode:
     PARK_{printer.toolhead.extruder}
     SET_SERVO SERVO=my_servo angle=50
     ACTIVATE_EXTRUDER EXTRUDER=extruder1
-    SET_DUAL_CARRIAGE CARRIAGE=u
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_u
-    SET_DUAL_CARRIAGE CARRIAGE=v
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_v
 
 [servo my_servo]
 pin: PH4

test/klippy/corexyuv.test

@@ -10,12 +10,12 @@ G28
 G1 X10 Y20 F6000
 
 # Activate alternate carriage
-SET_DUAL_CARRIAGE CARRIAGE=u
+SET_DUAL_CARRIAGE CARRIAGE=carriage_u
-SET_DUAL_CARRIAGE CARRIAGE=v
+SET_DUAL_CARRIAGE CARRIAGE=carriage_v
 G1 X170 Y190 F6000
 
 # Go back to main carriage on X axis
-SET_DUAL_CARRIAGE CARRIAGE=x
+SET_DUAL_CARRIAGE CARRIAGE=carriage_x
 G1 X20 F6000
 
 # Save dual carriage state
@@ -24,7 +24,7 @@ SAVE_DUAL_CARRIAGE_STATE
 G1 Y150 F6000
 
 # Go back to main carriage on Y axis
-SET_DUAL_CARRIAGE CARRIAGE=y
+SET_DUAL_CARRIAGE CARRIAGE=carriage_y
 G1 X10 Y50 F6000
 
 # Restore dual carriage state

test/klippy/generic_cartesian.cfg

@@ -1,38 +1,41 @@
 # Test config for generic cartesian kinematics with dual carriage
-[carriage x]
+[carriage carriage_x]
+axis: x
 position_endstop: 0
 position_max: 300
 homing_speed: 50
 endstop_pin: ^PE5
 
-[carriage y]
+[carriage carriage_y]
+axis: y
 position_endstop: 0
 position_max: 200
 homing_speed: 50
 endstop_pin: ^PJ1
 
-[extra_carriage y1]
+[extra_carriage carriage_y1]
-primary_carriage: y
+primary_carriage: carriage_y
 endstop_pin: ^PB6
 
-[carriage z]
+[carriage carriage_z]
+axis: z
 position_endstop: 0.5
 position_max: 100
 endstop_pin: ^PD3
 
-[extra_carriage z1]
+[extra_carriage carriage_z1]
-primary_carriage: z
+primary_carriage: carriage_z
 endstop_pin: ^PD2
 
-[dual_carriage u]
+[dual_carriage carriage_u]
-primary_carriage: x
+primary_carriage: carriage_x
 position_endstop: 300
 position_max: 300
 homing_speed: 50
 endstop_pin: ^PE4
 
 [stepper stepper_x]
-carriages: x+y
+carriages: carriage_x+carriage_y
 step_pin: PF0
 dir_pin: PF1
 enable_pin: !PD7
@@ -40,7 +43,7 @@ microsteps: 16
 rotation_distance: 40
 
 [stepper dual_carriage]
-carriages: u-y1
+carriages: carriage_u-carriage_y1
 step_pin: PH1
 dir_pin: PH0
 enable_pin: !PA1
@@ -48,7 +51,7 @@ microsteps: 16
 rotation_distance: 40
 
 [stepper stepper_y]
-carriages: 1*y+0.5*z
+carriages: 1*carriage_y+0.5*carriage_z
 step_pin: PF6
 dir_pin: !PF7
 enable_pin: !PF2
@@ -56,7 +59,7 @@ microsteps: 16
 rotation_distance: 40
 
 [stepper stepper_y1]
-carriages: 1*y1-0.5*z1
+carriages: 1*carriage_y1-0.5*carriage_z1
 step_pin: PE3
 dir_pin: !PH6
 enable_pin: !PG5
@@ -64,7 +67,7 @@ microsteps: 16
 rotation_distance: 40
 
 [stepper stepper_z]
-carriages: z
+carriages: carriage_z
 step_pin: PL3
 dir_pin: PL1
 enable_pin: !PK0
@@ -72,7 +75,7 @@ microsteps: 16
 rotation_distance: 8
 
 [stepper stepper_z1]
-carriages: z1
+carriages: carriage_z1
 step_pin: PG1
 dir_pin: PG0
 enable_pin: !PH3
@@ -99,7 +102,7 @@ max_temp: 250
 
 [gcode_macro PARK_extruder]
 gcode:
-    SET_DUAL_CARRIAGE CARRIAGE=x
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_x
     G90
     G1 X0
 
@@ -108,7 +111,7 @@ gcode:
     PARK_{printer.toolhead.extruder}
     SET_SERVO SERVO=my_servo angle=100
     ACTIVATE_EXTRUDER EXTRUDER=extruder
-    SET_DUAL_CARRIAGE CARRIAGE=x
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_x
 
 [extruder1]
 step_pin: PC1
@@ -130,7 +133,7 @@ max_temp: 250
 
 [gcode_macro PARK_extruder1]
 gcode:
-    SET_DUAL_CARRIAGE CARRIAGE=u
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_u
     G90
     G1 X300
 
@@ -139,7 +142,7 @@ gcode:
     PARK_{printer.toolhead.extruder}
     SET_SERVO SERVO=my_servo angle=50
     ACTIVATE_EXTRUDER EXTRUDER=extruder1
-    SET_DUAL_CARRIAGE CARRIAGE=u
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_u
 
 [servo my_servo]
 pin: PH4

test/klippy/generic_cartesian.test

@@ -3,9 +3,9 @@ CONFIG generic_cartesian.cfg
 DICTIONARY atmega2560.dict
 
 # Configure the input shaper
-SET_DUAL_CARRIAGE CARRIAGE=u
+SET_DUAL_CARRIAGE CARRIAGE=carriage_u
 SET_INPUT_SHAPER SHAPER_TYPE_X=ei SHAPER_FREQ_X=50 SHAPER_TYPE_Y=2hump_ei SHAPER_FREQ_Y=80
-SET_DUAL_CARRIAGE CARRIAGE=x
+SET_DUAL_CARRIAGE CARRIAGE=carriage_x
 SET_INPUT_SHAPER SHAPER_TYPE_X=ei SHAPER_FREQ_X=50 SHAPER_TYPE_Y=2hump_ei SHAPER_FREQ_Y=80
 
 # Then home the printer
@@ -16,11 +16,11 @@ G28
 G1 X10 F6000
 
 # Activate alternate carriage
-SET_DUAL_CARRIAGE CARRIAGE=u
+SET_DUAL_CARRIAGE CARRIAGE=carriage_u
 G1 X190 F6000
 
 # Go back to main carriage
-SET_DUAL_CARRIAGE CARRIAGE=x
+SET_DUAL_CARRIAGE CARRIAGE=carriage_x
 G1 X100 F6000
 
 # Save dual carriage state
@@ -29,7 +29,7 @@ SAVE_DUAL_CARRIAGE_STATE
 G1 X50 F6000
 
 # Go back to alternate carriage
-SET_DUAL_CARRIAGE CARRIAGE=u
+SET_DUAL_CARRIAGE CARRIAGE=carriage_u
 G1 X130 F6000
 
 # Restore dual carriage state
@@ -46,8 +46,8 @@ G1 X20 E.2
 G90
 
 # Test changing the stepper kinematics
-SET_STEPPER_CARRIAGES STEPPER=dual_carriage CARRIAGES=u+y1
+SET_STEPPER_CARRIAGES STEPPER=dual_carriage CARRIAGES=carriage_u+carriage_y1
-SET_STEPPER_CARRIAGES STEPPER=stepper_x CARRIAGES=x-y
+SET_STEPPER_CARRIAGES STEPPER=stepper_x CARRIAGES=carriage_x-carriage_y
 
 G1 X30 E.2
 G1 Z3