diff --git a/config/config-syntax.txt b/config/config-syntax.txt
index fdeea89..64c5ab3 100644
--- a/config/config-syntax.txt
+++ b/config/config-syntax.txt
@@ -35,23 +35,6 @@ acceleration there are three different and mutually exclusive variable names:
 All of these names MUST appear in the header file (with at most one of them
 un-commented out).
 
-However, the variable KINEMATICS only has a finite set of values and would
-seem to be a similar field, but there is only one variable name: KINEMATICS
-- so it should only appear once.
-
-This is ok:
-
-//#define KINEMATICS KINEMATICS_STRAIGHT
-
-as is this:
-
-#define KINEMATICS KINEMATICS_STRAIGHT
-
-but this is not:
-
-#define KINEMATICS KINEMATICS_STRAIGHT
-//#define KINEMATICS KINEMATICS_COREXY
-
 
 Help Text - both board and printer files
 ----------------------------------------
diff --git a/config/printer.mendel.h b/config/printer.mendel.h
index a6b5920..cf819f6 100644
--- a/config/printer.mendel.h
+++ b/config/printer.mendel.h
@@ -6,6 +6,7 @@
 \***************************************************************************/
 
 /** \def KINEMATICS_STRAIGHT KINEMATICS_COREXY
+
   This defines the type of kinematics your printer uses. That's essential!
 
   Valid values (see dda_kinematics.h):
@@ -20,7 +21,8 @@
     are long and crossing toothed belts and a print head
     moving on the X-Y-plane.
 */
-#define KINEMATICS               KINEMATICS_STRAIGHT
+#define KINEMATICS_STRAIGHT
+//#define KINEMATICS_COREXY
 
 /** \def STEPS_PER_M_X STEPS_PER_M_Y STEPS_PER_M_Z STEPS_PER_M_E
   Steps per meter ( = steps per mm * 1000 ), calculate these values
diff --git a/config/printer.mendel90.h b/config/printer.mendel90.h
index 8a037a8..0f9469c 100644
--- a/config/printer.mendel90.h
+++ b/config/printer.mendel90.h
@@ -6,6 +6,7 @@
 \***************************************************************************/
 
 /** \def KINEMATICS_STRAIGHT KINEMATICS_COREXY
+
   This defines the type of kinematics your printer uses. That's essential!
 
   Valid values (see dda_kinematics.h):
@@ -20,7 +21,8 @@
     are long and crossing toothed belts and a print head
     moving on the X-Y-plane.
 */
-#define KINEMATICS               KINEMATICS_STRAIGHT
+#define KINEMATICS_STRAIGHT
+//#define KINEMATICS_COREXY
 
 /** \def STEPS_PER_M_X STEPS_PER_M_Y STEPS_PER_M_Z STEPS_PER_M_E
   Steps per meter ( = steps per mm * 1000 ), calculate these values
diff --git a/config/printer.tronxy.h b/config/printer.tronxy.h
index 77ae780..c6b4889 100644
--- a/config/printer.tronxy.h
+++ b/config/printer.tronxy.h
@@ -6,6 +6,7 @@
 \***************************************************************************/
 
 /** \def KINEMATICS_STRAIGHT KINEMATICS_COREXY
+
   This defines the type of kinematics your printer uses. That's essential!
 
   Valid values (see dda_kinematics.h):
@@ -20,7 +21,8 @@
     are long and crossing toothed belts and a print head
     moving on the X-Y-plane.
 */
-#define KINEMATICS               KINEMATICS_STRAIGHT
+#define KINEMATICS_STRAIGHT
+//#define KINEMATICS_COREXY
 
 /** \def STEPS_PER_M_X STEPS_PER_M_Y STEPS_PER_M_Z STEPS_PER_M_E
   Steps per meter ( = steps per mm * 1000 ), calculate these values
diff --git a/config/printer.wolfstrap.h b/config/printer.wolfstrap.h
index 2c7a543..2753ec8 100644
--- a/config/printer.wolfstrap.h
+++ b/config/printer.wolfstrap.h
@@ -6,6 +6,7 @@
 \***************************************************************************/
 
 /** \def KINEMATICS_STRAIGHT KINEMATICS_COREXY
+
   This defines the type of kinematics your printer uses. That's essential!
 
   Valid values (see dda_kinematics.h):
@@ -20,7 +21,8 @@
     are long and crossing toothed belts and a print head
     moving on the X-Y-plane.
 */
-#define KINEMATICS               KINEMATICS_STRAIGHT
+#define KINEMATICS_STRAIGHT
+//#define KINEMATICS_COREXY
 
 /** \def STEPS_PER_M_X STEPS_PER_M_Y STEPS_PER_M_Z STEPS_PER_M_E
   Steps per meter ( = steps per mm * 1000 ), calculate these values
diff --git a/configtool/mechanicalpage.py b/configtool/mechanicalpage.py
index d64e179..bd7d831 100644
--- a/configtool/mechanicalpage.py
+++ b/configtool/mechanicalpage.py
@@ -184,23 +184,14 @@ class MechanicalPage(wx.Panel, Page):
   def insertValues(self, cfgValues):
     Page.insertValues(self, cfgValues)
 
-    k = 'KINEMATICS'
-    if k in cfgValues.keys():
-      k = cfgValues[k]
-      if k in self.kinematicsKeys:
-        self.radioButtons[k].SetValue(True)
-      else:
-        self.radioButtons[self.kinematicsKeys[0]].SetValue(True)
-    else:
-      self.radioButtons[self.kinematicsKeys[0]].SetValue(True)
+    for tag in self.kinematicsKeys:
+      if tag in cfgValues.keys() and cfgValues[tag]:
+        self.radioButtons[tag].SetValue(True)
 
   def getValues(self):
     result = Page.getValues(self)
 
     for tag in self.kinematicsKeys:
-      rb = self.radioButtons[tag]
-      if rb.GetValue():
-        result['KINEMATICS'] = tag, True
-        break
+      result[tag] = self.radioButtons[tag].GetValue()
 
     return result
diff --git a/configtool/printer.generic.h b/configtool/printer.generic.h
index 3d5b68c..3bbddb8 100644
--- a/configtool/printer.generic.h
+++ b/configtool/printer.generic.h
@@ -6,6 +6,7 @@
 \***************************************************************************/
 
 /** \def KINEMATICS_STRAIGHT KINEMATICS_COREXY
+
   This defines the type of kinematics your printer uses. That's essential!
 
   Valid values (see dda_kinematics.h):
@@ -20,7 +21,8 @@
     are long and crossing toothed belts and a print head
     moving on the X-Y-plane.
 */
-#define KINEMATICS               KINEMATICS_STRAIGHT
+#define KINEMATICS_STRAIGHT
+#define KINEMATICS_COREXY
 
 /** \def STEPS_PER_M_X STEPS_PER_M_Y STEPS_PER_M_Z STEPS_PER_M_E
   Steps per meter ( = steps per mm * 1000 ), calculate these values
diff --git a/dda_kinematics.h b/dda_kinematics.h
index c88656b..baf51f5 100644
--- a/dda_kinematics.h
+++ b/dda_kinematics.h
@@ -1,16 +1,12 @@
 #ifndef _DDA_KINEMATICS_H
 #define _DDA_KINEMATICS_H
 
+#include "config_wrapper.h"
+
 #include <stdint.h>
 
 #include "dda.h"
 
-#define KINEMATICS_STRAIGHT 1
-#define KINEMATICS_COREXY 2
-//#define KINEMATICS_SCARA 3
-
-#include "config_wrapper.h"
-
 
 void carthesian_to_carthesian(TARGET *startpoint, TARGET *target,
                               axes_uint32_t delta_um, axes_int32_t steps);
@@ -27,11 +23,11 @@ static void code_axes_to_stepper_axes(TARGET *, TARGET *, axes_uint32_t,
 inline void code_axes_to_stepper_axes(TARGET *startpoint, TARGET *target,
                                       axes_uint32_t delta_um,
                                       axes_int32_t steps) {
-  #if KINEMATICS == KINEMATICS_STRAIGHT
+  #if defined KINEMATICS_STRAIGHT
     carthesian_to_carthesian(startpoint, target, delta_um, steps);
-  #elif KINEMATICS == KINEMATICS_COREXY
+  #elif defined KINEMATICS_COREXY
     carthesian_to_corexy(startpoint, target, delta_um, steps);
-//  #elif KINEMATICS == KINEMATICS_SCARA
+//  #elif defined KINEMATICS_SCARA
 //    return carthesian_to_scara(startpoint, target, delta_um, steps);
   #else
     #error KINEMATICS not defined or unknown, edit your config.h.
diff --git a/testcases/config.h.Profiling b/testcases/config.h.Profiling
index b13fc45..76591b8 100644
--- a/testcases/config.h.Profiling
+++ b/testcases/config.h.Profiling
@@ -78,7 +78,8 @@
                         long and crossing toothed belts and a print head moving
                         on the X-Y-plane.
 */
-#define KINEMATICS KINEMATICS_STRAIGHT
+#define KINEMATICS_STRAIGHT
+//#define KINEMATICS_COREXY
 
 
 /** \def STEPS_PER_M