From 51ddbde1a0cf18c84385c78b8c24f4cc4a8a2a90 Mon Sep 17 00:00:00 2001
From: HelgeKeck <helgekeck@hotmail.com>
Date: Wed, 23 Aug 2023 18:34:21 +0200
Subject: [PATCH 01/12] make inverted belt path work with hybrid_corexy idex

---
 docs/Config_Reference.md           |  2 ++
 klippy/kinematics/hybrid_corexy.py | 20 ++++++++++++++++----
 klippy/kinematics/idex_modes.py    |  2 ++
 3 files changed, 20 insertions(+), 4 deletions(-)

diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
index 5b8038f7d332..36c01a150f7d 100644
--- a/docs/Config_Reference.md
+++ b/docs/Config_Reference.md
@@ -2084,6 +2084,8 @@ configuration.
 axis:
 #   The axis this extra carriage is on (either x or y). This parameter
 #   must be provided.
+invert_axis:
+#   Set to True in case you have a inverted belt path.
 #safe_distance:
 #   The minimum distance (in mm) to enforce between the dual and the primary
 #   carriages. If a G-Code command is executed that will bring the carriages
diff --git a/klippy/kinematics/hybrid_corexy.py b/klippy/kinematics/hybrid_corexy.py
index 26032039c016..3565b19549ae 100644
--- a/klippy/kinematics/hybrid_corexy.py
+++ b/klippy/kinematics/hybrid_corexy.py
@@ -12,28 +12,40 @@ class HybridCoreXYKinematics:
     def __init__(self, toolhead, config):
         self.printer = config.get_printer()
         printer_config = config.getsection('printer')
+
+        dc_config = None
+        invert_axis = False
+        if config.has_section('dual_carriage'):
+            dc_config = config.getsection('dual_carriage')
+            invert_axis = dc_config.getboolean('invert_axis', False)
+
         # itersolve parameters
         self.rails = [ stepper.PrinterRail(config.getsection('stepper_x')),
                        stepper.LookupMultiRail(config.getsection('stepper_y')),
                        stepper.LookupMultiRail(config.getsection('stepper_z'))]
         self.rails[1].get_endstops()[0][0].add_stepper(
             self.rails[0].get_steppers()[0])
-        self.rails[0].setup_itersolve('corexy_stepper_alloc', b'-')
+        if invert_axis == False:
+            self.rails[0].setup_itersolve('corexy_stepper_alloc', b'-')
+        else:
+            self.rails[0].setup_itersolve('corexy_stepper_alloc', b'+')
         self.rails[1].setup_itersolve('cartesian_stepper_alloc', b'y')
         self.rails[2].setup_itersolve('cartesian_stepper_alloc', b'z')
         ranges = [r.get_range() for r in self.rails]
         self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.)
         self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
         self.dc_module = None
-        if config.has_section('dual_carriage'):
-            dc_config = config.getsection('dual_carriage')
+        if dc_config != None:
             # dummy for cartesian config users
             dc_config.getchoice('axis', {'x': 'x'}, default='x')
             # setup second dual carriage rail
             self.rails.append(stepper.PrinterRail(dc_config))
             self.rails[1].get_endstops()[0][0].add_stepper(
                 self.rails[3].get_steppers()[0])
-            self.rails[3].setup_itersolve('corexy_stepper_alloc', b'+')
+            if invert_axis == False:
+                self.rails[3].setup_itersolve('corexy_stepper_alloc', b'+')
+            else:
+                self.rails[3].setup_itersolve('corexy_stepper_alloc', b'-')
             dc_rail_0 = idex_modes.DualCarriagesRail(
                     self.rails[0], axis=0, active=True)
             dc_rail_1 = idex_modes.DualCarriagesRail(
diff --git a/klippy/kinematics/idex_modes.py b/klippy/kinematics/idex_modes.py
index b54f96579c9b..eb4fb2ccf7da 100644
--- a/klippy/kinematics/idex_modes.py
+++ b/klippy/kinematics/idex_modes.py
@@ -20,6 +20,8 @@ def __init__(self, dc_config, rail_0, rail_1, axis):
         self.dc = (rail_0, rail_1)
         self.saved_states = {}
         safe_dist = dc_config.getfloat('safe_distance', None, minval=0.)
+        invert_axis = dc_config.getboolean('invert_axis', False)
+        self.invert_axis = invert_axis
         if safe_dist is None:
             dc0_rail = rail_0.get_rail()
             dc1_rail = rail_1.get_rail()

From 9332ed63d89335d0340615c13646f2a554c4b830 Mon Sep 17 00:00:00 2001
From: HelgeKeck <helgekeck@hotmail.com>
Date: Sun, 24 Sep 2023 16:59:10 +0200
Subject: [PATCH 02/12] IDEX

---
 docs/Config_Reference.md           |  4 ++--
 klippy/extras/homing.py            | 27 ++++++++++++++++++++++++++-
 klippy/extras/probe.py             |  5 +++++
 klippy/kinematics/Untitled-1.yml   | 15 +++++++++++++++
 klippy/kinematics/hybrid_corexy.py | 20 +++++++++++++-------
 klippy/kinematics/idex_modes.py    |  3 +--
 6 files changed, 62 insertions(+), 12 deletions(-)
 create mode 100644 klippy/kinematics/Untitled-1.yml

diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
index 36c01a150f7d..827c65cd0b74 100644
--- a/docs/Config_Reference.md
+++ b/docs/Config_Reference.md
@@ -2084,8 +2084,8 @@ configuration.
 axis:
 #   The axis this extra carriage is on (either x or y). This parameter
 #   must be provided.
-invert_axis:
-#   Set to True in case you have a inverted belt path.
+inverted:
+#   Set to True in case you have a inverted hybrid core-xy setup.
 #safe_distance:
 #   The minimum distance (in mm) to enforce between the dual and the primary
 #   carriages. If a G-Code command is executed that will bring the carriages
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py
index 634ad81b74c6..dd689add20a5 100644
--- a/klippy/extras/homing.py
+++ b/klippy/extras/homing.py
@@ -43,6 +43,7 @@ def __init__(self, printer, endstops, toolhead=None):
             toolhead = printer.lookup_object('toolhead')
         self.toolhead = toolhead
         self.stepper_positions = []
+        self.gcode = self.printer.lookup_object('gcode')
     def get_mcu_endstops(self):
         return [es for es, name in self.endstops]
     def _calc_endstop_rate(self, mcu_endstop, movepos, speed):
@@ -64,7 +65,21 @@ def calc_toolhead_pos(self, kin_spos, offsets):
             sname = stepper.get_name()
             kin_spos[sname] += offsets.get(sname, 0) * stepper.get_step_dist()
         thpos = self.toolhead.get_position()
-        return list(kin.calc_position(kin_spos))[:3] + thpos[3:]
+
+        # ##################################################
+        # self.gcode.respond_info("HomingMove calc_toolhead_pos kin_spos: " + str(kin_spos))
+        # self.gcode.respond_info("HomingMove calc_toolhead_pos thpos: " + str(thpos))
+        # ##################################################
+        # # thpos: [150.0, 150.0, 1.57, 0.0]
+        # # kin_spos: {'stepper_x': 80.5, 'stepper_y': 150.0, 'stepper_y1': 150.0, 'stepper_z': 1.5665625, 'stepper_z1': 1.5665625, 'stepper_z2': 1.5665625, 'dual_carriage': 0.0}
+
+        dc = self.printer.lookup_object('dual_carriage')
+        if dc is None:
+            return list(kin.calc_position(kin_spos))[:3] + thpos[3:]
+        else:
+            # to do
+            return list(kin.calc_position(kin_spos))[:3] + thpos[3:]
+
     def homing_move(self, movepos, speed, probe_pos=False,
                     triggered=True, check_triggered=True):
         # Notify start of homing/probing move
@@ -77,6 +92,7 @@ def homing_move(self, movepos, speed, probe_pos=False,
         self.stepper_positions = [ StepperPosition(s, name)
                                    for es, name in self.endstops
                                    for s in es.get_steppers() ]
+
         # Start endstop checking
         print_time = self.toolhead.get_last_move_time()
         endstop_triggers = []
@@ -126,7 +142,14 @@ def homing_move(self, movepos, speed, probe_pos=False,
                 self.toolhead.set_position(movepos)
                 halt_kin_spos = {s.get_name(): s.get_commanded_position()
                                  for s in kin.get_steppers()}
+                # ##################################################
+                # self.gcode.respond_info("HomingMove homing_move halt_kin_spos: " + str(halt_kin_spos))
+                # self.gcode.respond_info("HomingMove homing_move haltpos A: " + str(haltpos))
+                # ##################################################
                 haltpos = self.calc_toolhead_pos(halt_kin_spos, over_steps)
+                # ##################################################
+                # self.gcode.respond_info("HomingMove homing_move haltpos B: " + str(haltpos))
+                # ##################################################
         self.toolhead.set_position(haltpos)
         # Signal homing/probing move complete
         try:
@@ -153,6 +176,8 @@ def __init__(self, printer):
         self.changed_axes = []
         self.trigger_mcu_pos = {}
         self.adjust_pos = {}
+        self.gcode = self.printer.lookup_object('gcode')
+
     def set_axes(self, axes):
         self.changed_axes = axes
     def get_axes(self):
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py
index 337c41b13c9d..04ae1a91beed 100644
--- a/klippy/extras/probe.py
+++ b/klippy/extras/probe.py
@@ -122,6 +122,8 @@ def _probe(self, speed):
         pos[2] = self.z_position
         try:
             epos = phoming.probing_move(self.mcu_probe, pos, speed)
+            epos[0] = pos[0]
+            epos[1] = pos[1]
         except self.printer.command_error as e:
             reason = str(e)
             if "Timeout during endstop homing" in reason:
@@ -136,6 +138,9 @@ def _probe(self, speed):
                 axis_twist_compensation.get_z_compensation_value(pos))
         # add z compensation to probe position
         epos[2] += z_compensation
+        # set the position to the correct toolhead in case of a IDEX
+        if self.printer.lookup_object('dual_carriage') is not None:
+            toolhead.set_position(epos)
         self.gcode.respond_info("probe at %.3f,%.3f is z=%.6f"
                                 % (epos[0], epos[1], epos[2]))
         return epos[:3]
diff --git a/klippy/kinematics/Untitled-1.yml b/klippy/kinematics/Untitled-1.yml
new file mode 100644
index 000000000000..194f57cb98ec
--- /dev/null
+++ b/klippy/kinematics/Untitled-1.yml
@@ -0,0 +1,15 @@
+HomingMove homing_move kin_spos: {'stepper_x': 260.0, 'stepper_y': 260.0, 'stepper_y1': 260.0, 'stepper_z': 5.0, 'stepper_z1': 5.0, 'stepper_z2': 5.0, 'dual_carriage': -260.0}
+HomingMove homing_move kin_spos: {'stepper_x': -153.0, 'stepper_y': -153.0, 'stepper_y1': -153.0, 'stepper_z': 5.0, 'stepper_z1': 5.0, 'stepper_z2': 5.0, 'dual_carriage': 153.0}
+G28 Y
+
+
+HomingMove homing_move kin_spos: {'stepper_x': 410.0, 'stepper_y': 260.0, 'stepper_y1': 260.0, 'stepper_z': 5.0, 'stepper_z1': 5.0, 'stepper_z2': 5.0, 'dual_carriage': 112.0}
+HomingMove homing_move kin_spos: {'stepper_x': -3.0, 'stepper_y': -153.0, 'stepper_y1': -153.0, 'stepper_z': 5.0, 'stepper_z1': 5.0, 'stepper_z2': 5.0, 'dual_carriage': 525.0}
+G28 Y
+
+HomingMove homing_move kin_spos: {'dual_carriage': 336.0, 'stepper_y': 0.0, 'stepper_y1': 0.0, 'stepper_z': 5.0, 'stepper_z1': 5.0, 'stepper_z2': 5.0, 'stepper_x': -73.6875}
+HomingMove homing_move kin_spos: {'dual_carriage': -299.0, 'stepper_y': 0.0, 'stepper_y1': 0.0, 'stepper_z': 5.0, 'stepper_z1': 5.0, 'stepper_z2': 5.0, 'stepper_x': -73.6875}
+HomingMove homing_move kin_spos: {'stepper_x': -34.0, 'stepper_y': 0.0, 'stepper_y1': 0.0, 'stepper_z': 5.0, 'stepper_z1': 5.0, 'stepper_z2': 5.0, 'dual_carriage': 0.0}
+HomingMove homing_move kin_spos: {'stepper_x': 601.0, 'stepper_y': 0.0, 'stepper_y1': 0.0, 'stepper_z': 5.0, 'stepper_z1': 5.0, 'stepper_z2': 5.0, 'dual_carriage': 0.0}
+DualCarriages home
+G28 X
\ No newline at end of file
diff --git a/klippy/kinematics/hybrid_corexy.py b/klippy/kinematics/hybrid_corexy.py
index 3565b19549ae..a1e7aa6d0ae0 100644
--- a/klippy/kinematics/hybrid_corexy.py
+++ b/klippy/kinematics/hybrid_corexy.py
@@ -11,13 +11,13 @@
 class HybridCoreXYKinematics:
     def __init__(self, toolhead, config):
         self.printer = config.get_printer()
-        printer_config = config.getsection('printer')
 
+        self.gcode = self.printer.lookup_object('gcode')
         dc_config = None
-        invert_axis = False
+        self.inverted = False
         if config.has_section('dual_carriage'):
             dc_config = config.getsection('dual_carriage')
-            invert_axis = dc_config.getboolean('invert_axis', False)
+            self.inverted = dc_config.getboolean('inverted', False)
 
         # itersolve parameters
         self.rails = [ stepper.PrinterRail(config.getsection('stepper_x')),
@@ -25,7 +25,7 @@ def __init__(self, toolhead, config):
                        stepper.LookupMultiRail(config.getsection('stepper_z'))]
         self.rails[1].get_endstops()[0][0].add_stepper(
             self.rails[0].get_steppers()[0])
-        if invert_axis == False:
+        if self.inverted == False:
             self.rails[0].setup_itersolve('corexy_stepper_alloc', b'-')
         else:
             self.rails[0].setup_itersolve('corexy_stepper_alloc', b'+')
@@ -42,7 +42,7 @@ def __init__(self, toolhead, config):
             self.rails.append(stepper.PrinterRail(dc_config))
             self.rails[1].get_endstops()[0][0].add_stepper(
                 self.rails[3].get_steppers()[0])
-            if invert_axis == False:
+            if self.inverted == False:
                 self.rails[3].setup_itersolve('corexy_stepper_alloc', b'+')
             else:
                 self.rails[3].setup_itersolve('corexy_stepper_alloc', b'-')
@@ -70,9 +70,15 @@ def calc_position(self, stepper_positions):
         pos = [stepper_positions[rail.get_name()] for rail in self.rails]
         if (self.dc_module is not None and 'PRIMARY' == \
                     self.dc_module.get_status()['carriage_1']):
-            return [pos[0] - pos[1], pos[1], pos[2]]
+            if self.inverted == False:
+                return [pos[0] - pos[1], pos[1], pos[2]]
+            else:
+                return [pos[0] + pos[1], pos[1], pos[2]]
         else:
-            return [pos[0] + pos[1], pos[1], pos[2]]
+            if self.inverted == False:
+                return [pos[0] + pos[1], pos[1], pos[2]]
+            else:
+                return [pos[0] - pos[1], pos[1], pos[2]]
     def update_limits(self, i, range):
         l, h = self.limits[i]
         # Only update limits if this axis was already homed,
diff --git a/klippy/kinematics/idex_modes.py b/klippy/kinematics/idex_modes.py
index eb4fb2ccf7da..b7ce30b8cebb 100644
--- a/klippy/kinematics/idex_modes.py
+++ b/klippy/kinematics/idex_modes.py
@@ -20,8 +20,7 @@ def __init__(self, dc_config, rail_0, rail_1, axis):
         self.dc = (rail_0, rail_1)
         self.saved_states = {}
         safe_dist = dc_config.getfloat('safe_distance', None, minval=0.)
-        invert_axis = dc_config.getboolean('invert_axis', False)
-        self.invert_axis = invert_axis
+        self.inverted = dc_config.getboolean('inverted', False)
         if safe_dist is None:
             dc0_rail = rail_0.get_rail()
             dc1_rail = rail_1.get_rail()

From d48eda7b5cf2451f6182b2654b08ce46c6bb5c0a Mon Sep 17 00:00:00 2001
From: HelgeKeck <helgekeck@hotmail.com>
Date: Sun, 24 Sep 2023 17:45:38 +0200
Subject: [PATCH 03/12] Update probe.py

---
 klippy/extras/probe.py | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py
index 04ae1a91beed..337c41b13c9d 100644
--- a/klippy/extras/probe.py
+++ b/klippy/extras/probe.py
@@ -122,8 +122,6 @@ def _probe(self, speed):
         pos[2] = self.z_position
         try:
             epos = phoming.probing_move(self.mcu_probe, pos, speed)
-            epos[0] = pos[0]
-            epos[1] = pos[1]
         except self.printer.command_error as e:
             reason = str(e)
             if "Timeout during endstop homing" in reason:
@@ -138,9 +136,6 @@ def _probe(self, speed):
                 axis_twist_compensation.get_z_compensation_value(pos))
         # add z compensation to probe position
         epos[2] += z_compensation
-        # set the position to the correct toolhead in case of a IDEX
-        if self.printer.lookup_object('dual_carriage') is not None:
-            toolhead.set_position(epos)
         self.gcode.respond_info("probe at %.3f,%.3f is z=%.6f"
                                 % (epos[0], epos[1], epos[2]))
         return epos[:3]

From 18930652ffef7d9465f9ed7b57589b46d9cd59b1 Mon Sep 17 00:00:00 2001
From: HelgeKeck <helgekeck@hotmail.com>
Date: Sun, 24 Sep 2023 17:46:05 +0200
Subject: [PATCH 04/12] Update homing.py

---
 klippy/extras/homing.py | 27 +--------------------------
 1 file changed, 1 insertion(+), 26 deletions(-)

diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py
index dd689add20a5..634ad81b74c6 100644
--- a/klippy/extras/homing.py
+++ b/klippy/extras/homing.py
@@ -43,7 +43,6 @@ def __init__(self, printer, endstops, toolhead=None):
             toolhead = printer.lookup_object('toolhead')
         self.toolhead = toolhead
         self.stepper_positions = []
-        self.gcode = self.printer.lookup_object('gcode')
     def get_mcu_endstops(self):
         return [es for es, name in self.endstops]
     def _calc_endstop_rate(self, mcu_endstop, movepos, speed):
@@ -65,21 +64,7 @@ def calc_toolhead_pos(self, kin_spos, offsets):
             sname = stepper.get_name()
             kin_spos[sname] += offsets.get(sname, 0) * stepper.get_step_dist()
         thpos = self.toolhead.get_position()
-
-        # ##################################################
-        # self.gcode.respond_info("HomingMove calc_toolhead_pos kin_spos: " + str(kin_spos))
-        # self.gcode.respond_info("HomingMove calc_toolhead_pos thpos: " + str(thpos))
-        # ##################################################
-        # # thpos: [150.0, 150.0, 1.57, 0.0]
-        # # kin_spos: {'stepper_x': 80.5, 'stepper_y': 150.0, 'stepper_y1': 150.0, 'stepper_z': 1.5665625, 'stepper_z1': 1.5665625, 'stepper_z2': 1.5665625, 'dual_carriage': 0.0}
-
-        dc = self.printer.lookup_object('dual_carriage')
-        if dc is None:
-            return list(kin.calc_position(kin_spos))[:3] + thpos[3:]
-        else:
-            # to do
-            return list(kin.calc_position(kin_spos))[:3] + thpos[3:]
-
+        return list(kin.calc_position(kin_spos))[:3] + thpos[3:]
     def homing_move(self, movepos, speed, probe_pos=False,
                     triggered=True, check_triggered=True):
         # Notify start of homing/probing move
@@ -92,7 +77,6 @@ def homing_move(self, movepos, speed, probe_pos=False,
         self.stepper_positions = [ StepperPosition(s, name)
                                    for es, name in self.endstops
                                    for s in es.get_steppers() ]
-
         # Start endstop checking
         print_time = self.toolhead.get_last_move_time()
         endstop_triggers = []
@@ -142,14 +126,7 @@ def homing_move(self, movepos, speed, probe_pos=False,
                 self.toolhead.set_position(movepos)
                 halt_kin_spos = {s.get_name(): s.get_commanded_position()
                                  for s in kin.get_steppers()}
-                # ##################################################
-                # self.gcode.respond_info("HomingMove homing_move halt_kin_spos: " + str(halt_kin_spos))
-                # self.gcode.respond_info("HomingMove homing_move haltpos A: " + str(haltpos))
-                # ##################################################
                 haltpos = self.calc_toolhead_pos(halt_kin_spos, over_steps)
-                # ##################################################
-                # self.gcode.respond_info("HomingMove homing_move haltpos B: " + str(haltpos))
-                # ##################################################
         self.toolhead.set_position(haltpos)
         # Signal homing/probing move complete
         try:
@@ -176,8 +153,6 @@ def __init__(self, printer):
         self.changed_axes = []
         self.trigger_mcu_pos = {}
         self.adjust_pos = {}
-        self.gcode = self.printer.lookup_object('gcode')
-
     def set_axes(self, axes):
         self.changed_axes = axes
     def get_axes(self):

From f540d24369af88d4cb5a5b94207114fbb0975dd6 Mon Sep 17 00:00:00 2001
From: HelgeKeck <helgekeck@hotmail.com>
Date: Sun, 24 Sep 2023 17:54:53 +0200
Subject: [PATCH 05/12] Delete Untitled-1.yml

---
 klippy/kinematics/Untitled-1.yml | 15 ---------------
 1 file changed, 15 deletions(-)
 delete mode 100644 klippy/kinematics/Untitled-1.yml

diff --git a/klippy/kinematics/Untitled-1.yml b/klippy/kinematics/Untitled-1.yml
deleted file mode 100644
index 194f57cb98ec..000000000000
--- a/klippy/kinematics/Untitled-1.yml
+++ /dev/null
@@ -1,15 +0,0 @@
-HomingMove homing_move kin_spos: {'stepper_x': 260.0, 'stepper_y': 260.0, 'stepper_y1': 260.0, 'stepper_z': 5.0, 'stepper_z1': 5.0, 'stepper_z2': 5.0, 'dual_carriage': -260.0}
-HomingMove homing_move kin_spos: {'stepper_x': -153.0, 'stepper_y': -153.0, 'stepper_y1': -153.0, 'stepper_z': 5.0, 'stepper_z1': 5.0, 'stepper_z2': 5.0, 'dual_carriage': 153.0}
-G28 Y
-
-
-HomingMove homing_move kin_spos: {'stepper_x': 410.0, 'stepper_y': 260.0, 'stepper_y1': 260.0, 'stepper_z': 5.0, 'stepper_z1': 5.0, 'stepper_z2': 5.0, 'dual_carriage': 112.0}
-HomingMove homing_move kin_spos: {'stepper_x': -3.0, 'stepper_y': -153.0, 'stepper_y1': -153.0, 'stepper_z': 5.0, 'stepper_z1': 5.0, 'stepper_z2': 5.0, 'dual_carriage': 525.0}
-G28 Y
-
-HomingMove homing_move kin_spos: {'dual_carriage': 336.0, 'stepper_y': 0.0, 'stepper_y1': 0.0, 'stepper_z': 5.0, 'stepper_z1': 5.0, 'stepper_z2': 5.0, 'stepper_x': -73.6875}
-HomingMove homing_move kin_spos: {'dual_carriage': -299.0, 'stepper_y': 0.0, 'stepper_y1': 0.0, 'stepper_z': 5.0, 'stepper_z1': 5.0, 'stepper_z2': 5.0, 'stepper_x': -73.6875}
-HomingMove homing_move kin_spos: {'stepper_x': -34.0, 'stepper_y': 0.0, 'stepper_y1': 0.0, 'stepper_z': 5.0, 'stepper_z1': 5.0, 'stepper_z2': 5.0, 'dual_carriage': 0.0}
-HomingMove homing_move kin_spos: {'stepper_x': 601.0, 'stepper_y': 0.0, 'stepper_y1': 0.0, 'stepper_z': 5.0, 'stepper_z1': 5.0, 'stepper_z2': 5.0, 'dual_carriage': 0.0}
-DualCarriages home
-G28 X
\ No newline at end of file

From 9053f6c9d8dc9c43c27fcbee4c5b932c85d4aa32 Mon Sep 17 00:00:00 2001
From: HelgeKeck <helgekeck@hotmail.com>
Date: Sun, 24 Sep 2023 18:14:07 +0200
Subject: [PATCH 06/12] Update hybrid_corexy.py

---
 klippy/kinematics/hybrid_corexy.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/klippy/kinematics/hybrid_corexy.py b/klippy/kinematics/hybrid_corexy.py
index a1e7aa6d0ae0..d075f1266d2b 100644
--- a/klippy/kinematics/hybrid_corexy.py
+++ b/klippy/kinematics/hybrid_corexy.py
@@ -11,14 +11,12 @@
 class HybridCoreXYKinematics:
     def __init__(self, toolhead, config):
         self.printer = config.get_printer()
-
         self.gcode = self.printer.lookup_object('gcode')
         dc_config = None
         self.inverted = False
         if config.has_section('dual_carriage'):
             dc_config = config.getsection('dual_carriage')
             self.inverted = dc_config.getboolean('inverted', False)
-
         # itersolve parameters
         self.rails = [ stepper.PrinterRail(config.getsection('stepper_x')),
                        stepper.LookupMultiRail(config.getsection('stepper_y')),

From 57305cde0e68d3cecb640c3c60345db143326fc3 Mon Sep 17 00:00:00 2001
From: HelgeKeck <helgekeck@hotmail.com>
Date: Wed, 27 Sep 2023 19:37:09 +0200
Subject: [PATCH 07/12] root cause fixed

---
 klippy/kinematics/hybrid_corexy.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/klippy/kinematics/hybrid_corexy.py b/klippy/kinematics/hybrid_corexy.py
index d075f1266d2b..c267a9f8117f 100644
--- a/klippy/kinematics/hybrid_corexy.py
+++ b/klippy/kinematics/hybrid_corexy.py
@@ -69,14 +69,14 @@ def calc_position(self, stepper_positions):
         if (self.dc_module is not None and 'PRIMARY' == \
                     self.dc_module.get_status()['carriage_1']):
             if self.inverted == False:
-                return [pos[0] - pos[1], pos[1], pos[2]]
+                return [stepper_positions['dual_carriage'] - pos[1], pos[1], pos[2]]
             else:
-                return [pos[0] + pos[1], pos[1], pos[2]]
+                return [stepper_positions['dual_carriage'] + pos[1], pos[1], pos[2]]
         else:
             if self.inverted == False:
-                return [pos[0] + pos[1], pos[1], pos[2]]
+                return [stepper_positions['stepper_x'] + pos[1], pos[1], pos[2]]
             else:
-                return [pos[0] - pos[1], pos[1], pos[2]]
+                return [stepper_positions['stepper_x'] - pos[1], pos[1], pos[2]]
     def update_limits(self, i, range):
         l, h = self.limits[i]
         # Only update limits if this axis was already homed,

From ae1d07761a571bae73b8fe20e3bf2f814032fa8c Mon Sep 17 00:00:00 2001
From: HelgeKeck <helgekeck@hotmail.com>
Date: Wed, 27 Sep 2023 19:41:36 +0200
Subject: [PATCH 08/12] Update hybrid_corexy.py

---
 klippy/kinematics/hybrid_corexy.py | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/klippy/kinematics/hybrid_corexy.py b/klippy/kinematics/hybrid_corexy.py
index c267a9f8117f..2f52d7ead64d 100644
--- a/klippy/kinematics/hybrid_corexy.py
+++ b/klippy/kinematics/hybrid_corexy.py
@@ -69,14 +69,18 @@ def calc_position(self, stepper_positions):
         if (self.dc_module is not None and 'PRIMARY' == \
                     self.dc_module.get_status()['carriage_1']):
             if self.inverted == False:
-                return [stepper_positions['dual_carriage'] - pos[1], pos[1], pos[2]]
+                return [stepper_positions['dual_carriage'] \
+                        - pos[1], pos[1], pos[2]]
             else:
-                return [stepper_positions['dual_carriage'] + pos[1], pos[1], pos[2]]
+                return [stepper_positions['dual_carriage']  \
+                        + pos[1], pos[1], pos[2]]
         else:
             if self.inverted == False:
-                return [stepper_positions['stepper_x'] + pos[1], pos[1], pos[2]]
+                return [stepper_positions['stepper_x'] \
+                        + pos[1], pos[1], pos[2]]
             else:
-                return [stepper_positions['stepper_x'] - pos[1], pos[1], pos[2]]
+                return [stepper_positions['stepper_x'] \
+                        - pos[1], pos[1], pos[2]]
     def update_limits(self, i, range):
         l, h = self.limits[i]
         # Only update limits if this axis was already homed,

From d03d0a3731c4275d25349022d38398ab143f293f Mon Sep 17 00:00:00 2001
From: HelgeKeck <helgekeck@hotmail.com>
Date: Wed, 27 Sep 2023 19:43:55 +0200
Subject: [PATCH 09/12] Update hybrid_corexy.py

---
 klippy/kinematics/hybrid_corexy.py | 14 ++++++--------
 1 file changed, 6 insertions(+), 8 deletions(-)

diff --git a/klippy/kinematics/hybrid_corexy.py b/klippy/kinematics/hybrid_corexy.py
index 2f52d7ead64d..49b4f4ba405c 100644
--- a/klippy/kinematics/hybrid_corexy.py
+++ b/klippy/kinematics/hybrid_corexy.py
@@ -69,18 +69,16 @@ def calc_position(self, stepper_positions):
         if (self.dc_module is not None and 'PRIMARY' == \
                     self.dc_module.get_status()['carriage_1']):
             if self.inverted == False:
-                return [stepper_positions['dual_carriage'] \
-                        - pos[1], pos[1], pos[2]]
+                return stepper_positions['dual_carriage'] \
+                        - pos[1], pos[1], pos[2]
             else:
-                return [stepper_positions['dual_carriage']  \
-                        + pos[1], pos[1], pos[2]]
+                return stepper_positions['dual_carriage']  \
+                        + pos[1], pos[1], pos[2]
         else:
             if self.inverted == False:
-                return [stepper_positions['stepper_x'] \
-                        + pos[1], pos[1], pos[2]]
+                return pos[0] + pos[1], pos[1], pos[2]
             else:
-                return [stepper_positions['stepper_x'] \
-                        - pos[1], pos[1], pos[2]]
+                return pos[0] - pos[1], pos[1], pos[2]
     def update_limits(self, i, range):
         l, h = self.limits[i]
         # Only update limits if this axis was already homed,

From 7dd13df313646ca2bd5809fe63bc7e7103b8dfbf Mon Sep 17 00:00:00 2001
From: HelgeKeck <helgekeck@hotmail.com>
Date: Thu, 2 Nov 2023 20:45:48 +0100
Subject: [PATCH 10/12] extended hybrid corexy kinematics

---
 docs/Config_Reference.md           |  6 ++++
 klippy/kinematics/hybrid_corexy.py | 50 +++++++++++++++++++-----------
 klippy/kinematics/idex_modes.py    |  1 -
 3 files changed, 38 insertions(+), 19 deletions(-)

diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
index 1e5a7626f682..f46b32220357 100644
--- a/docs/Config_Reference.md
+++ b/docs/Config_Reference.md
@@ -2115,6 +2115,12 @@ inverted:
 #   See the "stepper" section for the definition of the above parameters.
 ```
 
+```
+[hybrid_corexy]
+inverted:
+#   Set to True in case you have a inverted hybrid core-xy setup.
+```
+
 ### [extruder_stepper]
 
 Support for additional steppers synchronized to the movement of an
diff --git a/klippy/kinematics/hybrid_corexy.py b/klippy/kinematics/hybrid_corexy.py
index 49b4f4ba405c..bbb9befd0837 100644
--- a/klippy/kinematics/hybrid_corexy.py
+++ b/klippy/kinematics/hybrid_corexy.py
@@ -11,39 +11,53 @@
 class HybridCoreXYKinematics:
     def __init__(self, toolhead, config):
         self.printer = config.get_printer()
-        self.gcode = self.printer.lookup_object('gcode')
-        dc_config = None
         self.inverted = False
-        if config.has_section('dual_carriage'):
-            dc_config = config.getsection('dual_carriage')
-            self.inverted = dc_config.getboolean('inverted', False)
+        if config.has_section('hybrid_corexy'):
+            hcxy_config = config.getsection('hybrid_corexy')
+            self.inverted = hcxy_config.getboolean('inverted', False)
         # itersolve parameters
-        self.rails = [ stepper.PrinterRail(config.getsection('stepper_x')),
-                       stepper.LookupMultiRail(config.getsection('stepper_y')),
-                       stepper.LookupMultiRail(config.getsection('stepper_z'))]
-        self.rails[1].get_endstops()[0][0].add_stepper(
-            self.rails[0].get_steppers()[0])
+        self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n))
+                      for n in 'xyz']
+        for s in self.rails[0].get_steppers():
+            self.rails[1].get_endstops()[0][0].add_stepper(s)
         if self.inverted == False:
-            self.rails[0].setup_itersolve('corexy_stepper_alloc', b'-')
+            self.rails[0].steppers[0].setup_itersolve('corexy_stepper_alloc', b'-')
+            if len(self.rails[0].steppers)==2:
+                self.rails[0].steppers[1].setup_itersolve('corexy_stepper_alloc', b'+')
+            if len(self.rails[0].steppers)>2:
+                raise self.error("Unexpected stepper configuration")
         else:
-            self.rails[0].setup_itersolve('corexy_stepper_alloc', b'+')
+            self.rails[0].steppers[0].setup_itersolve('corexy_stepper_alloc', b'+')
+            if len(self.rails[0].steppers)==2:
+                self.rails[0].steppers[1].setup_itersolve('corexy_stepper_alloc', b'-')
+            if len(self.rails[0].steppers)>2:
+                raise self.error("Unexpected stepper configuration")
         self.rails[1].setup_itersolve('cartesian_stepper_alloc', b'y')
         self.rails[2].setup_itersolve('cartesian_stepper_alloc', b'z')
         ranges = [r.get_range() for r in self.rails]
         self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.)
         self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
         self.dc_module = None
-        if dc_config != None:
+        if config.has_section('dual_carriage'):
+            dc_config = config.getsection('dual_carriage')
             # dummy for cartesian config users
             dc_config.getchoice('axis', {'x': 'x'}, default='x')
             # setup second dual carriage rail
-            self.rails.append(stepper.PrinterRail(dc_config))
-            self.rails[1].get_endstops()[0][0].add_stepper(
-                self.rails[3].get_steppers()[0])
+            self.rails.append(stepper.LookupMultiRail(dc_config))
+            for s in self.rails[3].get_steppers():
+                self.rails[1].get_endstops()[0][0].add_stepper(s)
             if self.inverted == False:
-                self.rails[3].setup_itersolve('corexy_stepper_alloc', b'+')
+                self.rails[3].steppers[0].setup_itersolve('corexy_stepper_alloc', b'+')
+                if len(self.rails[3].steppers)==2:
+                    self.rails[3].steppers[1].setup_itersolve('corexy_stepper_alloc', b'-')
+                if len(self.rails[3].steppers)>2:
+                    raise self.error("Unexpected stepper configuration")
             else:
-                self.rails[3].setup_itersolve('corexy_stepper_alloc', b'-')
+                self.rails[3].steppers[0].setup_itersolve('corexy_stepper_alloc', b'-')
+                if len(self.rails[3].steppers)==2:
+                    self.rails[3].steppers[1].setup_itersolve('corexy_stepper_alloc', b'+')
+                if len(self.rails[3].steppers)>2:
+                    raise self.error("Unexpected stepper configuration")
             dc_rail_0 = idex_modes.DualCarriagesRail(
                     self.rails[0], axis=0, active=True)
             dc_rail_1 = idex_modes.DualCarriagesRail(
diff --git a/klippy/kinematics/idex_modes.py b/klippy/kinematics/idex_modes.py
index d11bec341c8e..2ce91afe85a5 100644
--- a/klippy/kinematics/idex_modes.py
+++ b/klippy/kinematics/idex_modes.py
@@ -20,7 +20,6 @@ def __init__(self, dc_config, rail_0, rail_1, axis):
         self.dc = (rail_0, rail_1)
         self.saved_states = {}
         safe_dist = dc_config.getfloat('safe_distance', None, minval=0.)
-        self.inverted = dc_config.getboolean('inverted', False)
         if safe_dist is None:
             dc0_rail = rail_0.get_rail()
             dc1_rail = rail_1.get_rail()

From 492d60a6cb4d7272bb1a254fe37e2e4c89740747 Mon Sep 17 00:00:00 2001
From: HelgeKeck <helgekeck@hotmail.com>
Date: Thu, 2 Nov 2023 21:09:27 +0100
Subject: [PATCH 11/12] Update hybrid_corexy.py

---
 klippy/kinematics/hybrid_corexy.py | 24 ++++++++++++++++--------
 1 file changed, 16 insertions(+), 8 deletions(-)

diff --git a/klippy/kinematics/hybrid_corexy.py b/klippy/kinematics/hybrid_corexy.py
index bbb9befd0837..03a90fb4b29c 100644
--- a/klippy/kinematics/hybrid_corexy.py
+++ b/klippy/kinematics/hybrid_corexy.py
@@ -21,15 +21,19 @@ def __init__(self, toolhead, config):
         for s in self.rails[0].get_steppers():
             self.rails[1].get_endstops()[0][0].add_stepper(s)
         if self.inverted == False:
-            self.rails[0].steppers[0].setup_itersolve('corexy_stepper_alloc', b'-')
+            self.rails[0].steppers[0].setup_itersolve(
+                'corexy_stepper_alloc', b'-')
             if len(self.rails[0].steppers)==2:
-                self.rails[0].steppers[1].setup_itersolve('corexy_stepper_alloc', b'+')
+                self.rails[0].steppers[1].setup_itersolve(
+                    'corexy_stepper_alloc', b'+')
             if len(self.rails[0].steppers)>2:
                 raise self.error("Unexpected stepper configuration")
         else:
-            self.rails[0].steppers[0].setup_itersolve('corexy_stepper_alloc', b'+')
+            self.rails[0].steppers[0].setup_itersolve(
+                'corexy_stepper_alloc', b'+')
             if len(self.rails[0].steppers)==2:
-                self.rails[0].steppers[1].setup_itersolve('corexy_stepper_alloc', b'-')
+                self.rails[0].steppers[1].setup_itersolve(
+                    'corexy_stepper_alloc', b'-')
             if len(self.rails[0].steppers)>2:
                 raise self.error("Unexpected stepper configuration")
         self.rails[1].setup_itersolve('cartesian_stepper_alloc', b'y')
@@ -47,15 +51,19 @@ def __init__(self, toolhead, config):
             for s in self.rails[3].get_steppers():
                 self.rails[1].get_endstops()[0][0].add_stepper(s)
             if self.inverted == False:
-                self.rails[3].steppers[0].setup_itersolve('corexy_stepper_alloc', b'+')
+                self.rails[3].steppers[0].setup_itersolve(
+                    'corexy_stepper_alloc', b'+')
                 if len(self.rails[3].steppers)==2:
-                    self.rails[3].steppers[1].setup_itersolve('corexy_stepper_alloc', b'-')
+                    self.rails[3].steppers[1].setup_itersolve(
+                        'corexy_stepper_alloc', b'-')
                 if len(self.rails[3].steppers)>2:
                     raise self.error("Unexpected stepper configuration")
             else:
-                self.rails[3].steppers[0].setup_itersolve('corexy_stepper_alloc', b'-')
+                self.rails[3].steppers[0].setup_itersolve(
+                    'corexy_stepper_alloc', b'-')
                 if len(self.rails[3].steppers)==2:
-                    self.rails[3].steppers[1].setup_itersolve('corexy_stepper_alloc', b'+')
+                    self.rails[3].steppers[1].setup_itersolve(
+                        'corexy_stepper_alloc', b'+')
                 if len(self.rails[3].steppers)>2:
                     raise self.error("Unexpected stepper configuration")
             dc_rail_0 = idex_modes.DualCarriagesRail(

From 70b1596cfc99fb4f05a30b1fc48be8af7f03b432 Mon Sep 17 00:00:00 2001
From: HelgeKeck <helgekeck@hotmail.com>
Date: Fri, 3 Nov 2023 02:28:03 +0100
Subject: [PATCH 12/12] Update Config_Reference.md

---
 docs/Config_Reference.md | 2 --
 1 file changed, 2 deletions(-)

diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
index f46b32220357..91fa5592c63b 100644
--- a/docs/Config_Reference.md
+++ b/docs/Config_Reference.md
@@ -2092,8 +2092,6 @@ configuration.
 axis:
 #   The axis this extra carriage is on (either x or y). This parameter
 #   must be provided.
-inverted:
-#   Set to True in case you have a inverted hybrid core-xy setup.
 #safe_distance:
 #   The minimum distance (in mm) to enforce between the dual and the primary
 #   carriages. If a G-Code command is executed that will bring the carriages