hybrid_corexy: Fix for inverted hybrid core-xy setups and extended usability

docs/Config_Reference.md

@@ -2113,6 +2113,12 @@ axis:
 #   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

klippy/kinematics/hybrid_corexy.py

@@ -11,14 +11,31 @@
 class HybridCoreXYKinematics:
     def __init__(self, toolhead, config):
         self.printer = config.get_printer()
-        printer_config = config.getsection('printer')
+        self.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[0].setup_itersolve('corexy_stepper_alloc', b'-')
+        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].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].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]
@@ -30,10 +47,25 @@ def __init__(self, toolhead, config):
             # 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'+')
+            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].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].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(
@@ -58,9 +90,17 @@ 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 stepper_positions['dual_carriage'] \
+                        - pos[1], pos[1], pos[2]
+            else:
+                return stepper_positions['dual_carriage']  \
+                        + 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,