generic_cartesian: Allowed arbitrary primary carriages names and introduced 'axis' option

config/example-generic-caretesian.cfg

@@ -7,76 +7,79 @@
 
 # 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]
-primary_carriage: y
+[extra_carriage carriage_y1]
+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]
-primary_carriage: x
+[dual_carriage carriage_u]
+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
 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
 microsteps: 16
 rotation_distance: 40
 
 [stepper my_stepper_y0]
-carriages: y
+carriages: carriage_y
 step_pin: PF6
 dir_pin: !PF7
 enable_pin: !PF2
 microsteps: 16
 rotation_distance: 40
 
 [stepper my_stepper_y1]
-carriages: y1
+carriages: carriage_y1
 step_pin: PE3
 dir_pin: !PH6
 enable_pin: !PG5
 microsteps: 16
 rotation_distance: 40
 
 [stepper my_stepper_z0]
-carriages: z
+carriages: carriage_z
 step_pin: PL3
 dir_pin: PL1
 enable_pin: !PK0
 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

@@ -3,60 +3,62 @@
 
 # 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]
-primary_carriage: x
+[dual_carriage carriage_u]
+primary_carriage: carriage_x
 safe_distance: 70
 position_endstop: 300
 position_max: 300
 homing_speed: 50
 endstop_pin: ^PE4
 
-[dual_carriage v]
-primary_carriage: y
+[dual_carriage carriage_v]
+primary_carriage: carriage_y
 safe_distance: 50
 position_endstop: 200
 position_max: 200
 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
 microsteps: 16
 rotation_distance: 40
 
 [stepper b]
-carriages: u-v
+carriages: carriage_u-carriage_v
 step_pin: PH1
 dir_pin: PH0
 enable_pin: !PA1
 microsteps: 16
 rotation_distance: 40
 
 [stepper c]
-carriages: x-y
+carriages: carriage_x-carriage_y
 step_pin: PF6
 dir_pin: !PF7
 enable_pin: !PF2
 microsteps: 16
 rotation_distance: 40
 
 [stepper d]
-carriages: u+v
+carriages: carriage_u+carriage_v
 step_pin: PE3
 dir_pin: !PH6
 enable_pin: !PG5
@@ -83,17 +85,17 @@ max_temp: 250
 
 [gcode_macro PARK_extruder]
 gcode:
-    SET_DUAL_CARRIAGE CARRIAGE=x
-    SET_DUAL_CARRIAGE CARRIAGE=y
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_x
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_y
     G90
     G1 X0 Y0
 
 [gcode_macro T0]
 gcode:
     PARK_{printer.toolhead.extruder}
     ACTIVATE_EXTRUDER EXTRUDER=extruder
-    SET_DUAL_CARRIAGE CARRIAGE=x
-    SET_DUAL_CARRIAGE CARRIAGE=y
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_x
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_y
 
 [extruder1]
 step_pin: PC1
@@ -115,44 +117,44 @@ max_temp: 250
 
 [gcode_macro PARK_extruder1]
 gcode:
-    SET_DUAL_CARRIAGE CARRIAGE=u
-    SET_DUAL_CARRIAGE CARRIAGE=v
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_u
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_v
     G90
     G1 X300 Y200
 
 [gcode_macro T1]
 gcode:
     PARK_{printer.toolhead.extruder}
     ACTIVATE_EXTRUDER EXTRUDER=extruder1
-    SET_DUAL_CARRIAGE CARRIAGE=u
-    SET_DUAL_CARRIAGE CARRIAGE=v
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_u
+    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=y MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_x 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=v MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_u MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_v MODE=PRIMARY
     G1 X150 Y100
-    SET_DUAL_CARRIAGE CARRIAGE=u MODE=COPY
-    SET_DUAL_CARRIAGE CARRIAGE=v MODE=COPY
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_u 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=y MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_x 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=v MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_u MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_v MODE=PRIMARY
     G1 X300 Y100
-    SET_DUAL_CARRIAGE CARRIAGE=u MODE=MIRROR
-    SET_DUAL_CARRIAGE CARRIAGE=v MODE=COPY
+    SET_DUAL_CARRIAGE CARRIAGE=carriage_u MODE=MIRROR
+    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=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_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
-#    SET_DUAL_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_DUAL_CARRIAGE CARRIAGE=carriage_u
+#    SET_DUAL_CARRIAGE CARRIAGE=carriage_v
+#    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=carriage_x MODE=PRIMARY
+#    SET_DUAL_CARRIAGE CARRIAGE=carriage_y MODE=PRIMARY
+#    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 +8,11 @@ All dates in this document are approximate.
 
 ## Changes
 
+20251023: 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.
+Inferring a carriage axis from a carriage name has been deprecated.
+
 20251010: During normal printing the command processing will now
 attempt to stay one second ahead of printer movement (reduced from two
 seconds previously).