From dba8e9f8ff331bfdd1da0933a4588013ea20957c Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Mon, 18 Nov 2024 22:25:15 -0600
Subject: [PATCH 01/53] Add KDC101 class

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 9cdd755..a3e9bd2 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -323,6 +323,11 @@ def get_position(self) -> float:
     def stop(self):
         pass
 
+class KDC101(Kinesis):
+    def __init__(self): 
+        self._device = 
+
+
 if __name__ == '__main__':
     controller = BrushlessDCMotor()
     controller.connect(serialnumbers_brushless[0])

From 9cb8b7a3e2e22b5b80361590ead5abd7f7fa84ff Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Mon, 18 Nov 2024 22:31:50 -0600
Subject: [PATCH 02/53] Update kdc101

---
 .../hardware/kinesis.py                       | 31 ++++++++++++++++++-
 1 file changed, 30 insertions(+), 1 deletion(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index a3e9bd2..c7ec9e0 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -19,6 +19,7 @@
 clr.AddReference("Thorlabs.MotionControl.FilterFlipperCLI")
 clr.AddReference("Thorlabs.MotionControl.Benchtop.BrushlessMotorCLI")
 clr.AddReference("Thorlabs.MotionControl.KCube.PiezoCLI")
+clr.AddReference("Thorlabs.MotionControl.KCube.DCServoCLI")
 
 import Thorlabs.MotionControl.FilterFlipperCLI as FilterFlipper
 import Thorlabs.MotionControl.IntegratedStepperMotorsCLI as Integrated
@@ -26,6 +27,7 @@
 import Thorlabs.MotionControl.GenericMotorCLI as Generic
 import Thorlabs.MotionControl.Benchtop.BrushlessMotorCLI as BrushlessMotorCLI
 import Thorlabs.MotionControl.KCube.PiezoCLI as KCubePiezo
+import Thorlabs.MotionControl.KCube.DCServoCLI as KCube
 
 Device.DeviceManagerCLI.BuildDeviceList()
 serialnumbers_integrated_stepper = [str(ser) for ser in
@@ -35,6 +37,7 @@
 serialnumbers_brushless = [str(ser) for ser in
                            Device.DeviceManagerCLI.GetDeviceList(BrushlessMotorCLI.BenchtopBrushlessMotor.DevicePrefix)]
 serialnumbers_piezo = [str(ser) for ser in Device.DeviceManagerCLI.GetDeviceList(KCubePiezo.KCubePiezo.DevicePrefix)]
+serialnumbers_kdc101 = [str(ser) for ser in Device.DeviceManagerCLI.GetDeviceList(KCube.KCubeDCServo.DevicePrefix)]
 
 
 class Kinesis:
@@ -325,7 +328,33 @@ def stop(self):
 
 class KDC101(Kinesis):
     def __init__(self): 
-        self._device = 
+        self._device = KCube.KCubeDCServo = None
+    def connect(self, serial: int):
+        if serial in serialnumbers_kdc101:
+            self._device = KCube.KCubeDCServo.CreateDCServo(serial)
+            self._device.Connect(serial)
+            self._device.StartPolling(250)
+            self._device.EnableDevice()
+            self._device.GetMotorConfiguration(serial)
+        else:
+            raise ValueError('Invalid Serial Number')
+     
+    def get_position(self):
+        return Decimal.ToDouble(self._device.RequestPosition())
+    
+    def move_abs(self, position: float, callback=None):
+        if callback is not None:
+            callback = Action[UInt64](callback)
+        else:
+            callback = 0
+        self._device.SetPosition(Decimal(position), callback)
+        
+    def home(self, callback=None):
+        if callback is not None:
+            callback = Action[UInt64](callback)
+        else:
+            callback = 0
+        self._device.Home(callback) 
 
 
 if __name__ == '__main__':

From aae7bf661cbfc8594977f798858f22c886267de5 Mon Sep 17 00:00:00 2001
From: nano713 <50872819+nano713@users.noreply.github.com>
Date: Tue, 19 Nov 2024 14:11:47 +0900
Subject: [PATCH 03/53] Test and debug - init - connect

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index c7ec9e0..9270c77 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -326,16 +326,17 @@ def get_position(self) -> float:
     def stop(self):
         pass
 
-class KDC101(Kinesis):
+class KDC101(Kinesis): # DK - Rename once we finish writing the hardware
     def __init__(self): 
-        self._device = KCube.KCubeDCServo = None
+        self._device: KCube.DCServo = None
+
     def connect(self, serial: int):
         if serial in serialnumbers_kdc101:
-            self._device = KCube.KCubeDCServo.CreateDCServo(serial)
+            self._device = KCube.KCubeDCServo.CreateKCubeDCServo(serial)
             self._device.Connect(serial)
             self._device.StartPolling(250)
             self._device.EnableDevice()
-            self._device.GetMotorConfiguration(serial)
+            # self._device.GetMotorConfiguration(serial)
         else:
             raise ValueError('Invalid Serial Number')
      
@@ -347,7 +348,8 @@ def move_abs(self, position: float, callback=None):
             callback = Action[UInt64](callback)
         else:
             callback = 0
-        self._device.SetPosition(Decimal(position), callback)
+        # self._device.SetPosition(Decimal(position), callback)
+        self._device.MoveTo(Decimal(position), callback)
         
     def home(self, callback=None):
         if callback is not None:
@@ -356,7 +358,6 @@ def home(self, callback=None):
             callback = 0
         self._device.Home(callback) 
 
-
 if __name__ == '__main__':
     controller = BrushlessDCMotor()
     controller.connect(serialnumbers_brushless[0])

From a003d4468ddfe4c3a48123878cba355dc2b7ca2d Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Mon, 18 Nov 2024 23:14:38 -0600
Subject: [PATCH 04/53] Update the initialization

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 15 +++++++++++----
 1 file changed, 11 insertions(+), 4 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index c7ec9e0..579b3fb 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -328,14 +328,21 @@ def stop(self):
 
 class KDC101(Kinesis):
     def __init__(self): 
-        self._device = KCube.KCubeDCServo = None
+        self._device: KCube.KCubeDCServo = None
     def connect(self, serial: int):
         if serial in serialnumbers_kdc101:
-            self._device = KCube.KCubeDCServo.CreateDCServo(serial)
+            self._device = KCube.KCubeDCServo.CreateKCubeDCServo(serial)
             self._device.Connect(serial)
+            time.sleep(0.25)
             self._device.StartPolling(250)
+            time.sleep(0.25)
             self._device.EnableDevice()
-            self._device.GetMotorConfiguration(serial)
+            time.sleep(0.25)
+
+            if not self._device.IsSettingsInitialized():
+                raise Exception("Device not initialized")
+
+            # self._device.GetMotorConfiguration(serial)
         else:
             raise ValueError('Invalid Serial Number')
      
@@ -347,7 +354,7 @@ def move_abs(self, position: float, callback=None):
             callback = Action[UInt64](callback)
         else:
             callback = 0
-        self._device.SetPosition(Decimal(position), callback)
+        self._device.MoveTo(Decimal(position), callback)
         
     def home(self, callback=None):
         if callback is not None:

From 999ac9b0bab57dc03acdee9929f47508bea6eed5 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Mon, 18 Nov 2024 23:15:42 -0600
Subject: [PATCH 05/53] Comment out get_position

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 579b3fb..3df6e96 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -346,8 +346,8 @@ def connect(self, serial: int):
         else:
             raise ValueError('Invalid Serial Number')
      
-    def get_position(self):
-        return Decimal.ToDouble(self._device.RequestPosition())
+    # def get_position(self): #Not implemented?
+    #     return Decimal.ToDouble(self._device.RequestPosition())
     
     def move_abs(self, position: float, callback=None):
         if callback is not None:

From 3e6919acd817f7193034513f1dfc0b0a05712723 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Mon, 18 Nov 2024 23:21:28 -0600
Subject: [PATCH 06/53] import time

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 3df6e96..f14edcd 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -1,6 +1,7 @@
 import clr
 import sys
 from typing import Dict
+import time
 
 from System import Decimal
 from System import Action

From 93d898b1a8f7622672cb00361e69c89608d688e2 Mon Sep 17 00:00:00 2001
From: Daichi Kozawa <50872819+nano713@users.noreply.github.com>
Date: Tue, 19 Nov 2024 18:54:09 +0900
Subject: [PATCH 07/53] Update kinesis.py

Add suggestion of methods.
---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index f14edcd..e8a36bb 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -340,9 +340,12 @@ def connect(self, serial: int):
             self._device.EnableDevice()
             time.sleep(0.25)
 
+          # DK - perhaps you need xxx.GetDeviceInfo()
+
             if not self._device.IsSettingsInitialized():
                 raise Exception("Device not initialized")
 
+      # DK - restore this because the say "Before homing or moving device, ensure the motor's configuration is loaded"
             # self._device.GetMotorConfiguration(serial)
         else:
             raise ValueError('Invalid Serial Number')
@@ -356,7 +359,9 @@ def move_abs(self, position: float, callback=None):
         else:
             callback = 0
         self._device.MoveTo(Decimal(position), callback)
-        
+
+  # DK - add move_rel if there is an appropriate dll method.
+  
     def home(self, callback=None):
         if callback is not None:
             callback = Action[UInt64](callback)
@@ -364,6 +369,9 @@ def home(self, callback=None):
             callback = 0
         self._device.Home(callback) 
 
+# DK - add stop method if there is a dll method.
+
+# DK - add get_position method if there is a dll method.
 
 if __name__ == '__main__':
     controller = BrushlessDCMotor()
@@ -380,4 +388,4 @@ def home(self, callback=None):
     print(f'Moving: {motor.is_moving}')
     print(motor.get_target_position())
 
-    controller.close()
\ No newline at end of file
+    controller.close()

From 9d86e2870e8baefb22572542d3cfc7e8896f32ee Mon Sep 17 00:00:00 2001
From: Daichi Kozawa <50872819+nano713@users.noreply.github.com>
Date: Tue, 19 Nov 2024 22:30:00 +0900
Subject: [PATCH 08/53] Update kinesis.py

Add suggestion in initalization.
---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index e8a36bb..996f5a4 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -344,9 +344,10 @@ def connect(self, serial: int):
 
             if not self._device.IsSettingsInitialized():
                 raise Exception("Device not initialized")
-
-      # DK - restore this because the say "Before homing or moving device, ensure the motor's configuration is loaded"
-            # self._device.GetMotorConfiguration(serial)
+        
+      # DK - add this. The example says "Before homing or moving device, ensure the motor's configuration is loaded" Edit variable names.
+              m_config = device.LoadMotorConfiguration(serial_no,
+                                                DeviceConfiguration.DeviceSettingsUseOptionType.UseFileSettings)
         else:
             raise ValueError('Invalid Serial Number')
      

From 14ec645a1c90969bab8084956efb4b2520493e5c Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Tue, 19 Nov 2024 17:55:09 -0600
Subject: [PATCH 09/53] Update stop and initialize methods

---
 .../hardware/kinesis.py                       | 23 ++++++++-----------
 1 file changed, 9 insertions(+), 14 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index e8a36bb..60fb1c2 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -340,19 +340,16 @@ def connect(self, serial: int):
             self._device.EnableDevice()
             time.sleep(0.25)
 
-          # DK - perhaps you need xxx.GetDeviceInfo()
 
             if not self._device.IsSettingsInitialized():
-                raise Exception("Device not initialized")
+                self._device.WaitForSettingsInitialized(10000)
+                assert self._device.IsSettingsInitialized() is True
+        
+        servo_config = self._device.LoadMotorConfiguration(serial)
+        servo_config.DeviceSettingsName = "PRMTZ8" #???
+        servo_config.UpdateCurrentConfiguration()
+        self._device.SetSettings(self._device.MotorDeviceSettings, True, False)
 
-      # DK - restore this because the say "Before homing or moving device, ensure the motor's configuration is loaded"
-            # self._device.GetMotorConfiguration(serial)
-        else:
-            raise ValueError('Invalid Serial Number')
-     
-    # def get_position(self): #Not implemented?
-    #     return Decimal.ToDouble(self._device.RequestPosition())
-    
     def move_abs(self, position: float, callback=None):
         if callback is not None:
             callback = Action[UInt64](callback)
@@ -360,8 +357,6 @@ def move_abs(self, position: float, callback=None):
             callback = 0
         self._device.MoveTo(Decimal(position), callback)
 
-  # DK - add move_rel if there is an appropriate dll method.
-  
     def home(self, callback=None):
         if callback is not None:
             callback = Action[UInt64](callback)
@@ -369,9 +364,9 @@ def home(self, callback=None):
             callback = 0
         self._device.Home(callback) 
 
-# DK - add stop method if there is a dll method.
+    def stop(self):
+        self._device.Stop(0)
 
-# DK - add get_position method if there is a dll method.
 
 if __name__ == '__main__':
     controller = BrushlessDCMotor()

From 257c8345cab022a287a5426a4523450cc9b2f35d Mon Sep 17 00:00:00 2001
From: nano713 <50872819+nano713@users.noreply.github.com>
Date: Wed, 20 Nov 2024 10:29:24 +0900
Subject: [PATCH 10/53] Add suggestion where I tested with KDC101.

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 16 +++++++++-------
 1 file changed, 9 insertions(+), 7 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 60fb1c2..a398691 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -346,25 +346,27 @@ def connect(self, serial: int):
                 assert self._device.IsSettingsInitialized() is True
         
         servo_config = self._device.LoadMotorConfiguration(serial)
-        servo_config.DeviceSettingsName = "PRMTZ8" #???
-        servo_config.UpdateCurrentConfiguration()
-        self._device.SetSettings(self._device.MotorDeviceSettings, True, False)
+        # servo_config.DeviceSettingsName = "PRMTZ8" #??? # DK - delete. we don't use. I guess this is their own setting name.
+        # servo_config.UpdateCurrentConfiguration() # DK - delete. we don't use
+        # self._device.SetSettings(self._device.MotorDeviceSettings, True, False)  # DK - delete. we don't use
 
-    def move_abs(self, position: float, callback=None):
+    # DK - write your own get_position because kinesis shows raise NotImplementedError
+
+    def move_abs(self, position: float, callback=None): # DK - delete this method because this is exactly same as the method in kinesis class.
         if callback is not None:
             callback = Action[UInt64](callback)
         else:
             callback = 0
         self._device.MoveTo(Decimal(position), callback)
 
-    def home(self, callback=None):
+    def home(self, callback=None): # DK - delete because of the same reason.
         if callback is not None:
             callback = Action[UInt64](callback)
         else:
             callback = 0
-        self._device.Home(callback) 
+        self._device.Home(callback)
 
-    def stop(self):
+    def stop(self):  # DK - delete because of the same reason.
         self._device.Stop(0)
 
 

From 0fac5ce978fcedbfde37cd8e680b8e3147d2f4a6 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Tue, 19 Nov 2024 22:28:09 -0600
Subject: [PATCH 11/53] Add get_position and stop

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 60fb1c2..f75bf68 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -330,6 +330,7 @@ def stop(self):
 class KDC101(Kinesis):
     def __init__(self): 
         self._device: KCube.KCubeDCServo = None
+        self._class = KDC101()
     def connect(self, serial: int):
         if serial in serialnumbers_kdc101:
             self._device = KCube.KCubeDCServo.CreateKCubeDCServo(serial)
@@ -340,7 +341,6 @@ def connect(self, serial: int):
             self._device.EnableDevice()
             time.sleep(0.25)
 
-
             if not self._device.IsSettingsInitialized():
                 self._device.WaitForSettingsInitialized(10000)
                 assert self._device.IsSettingsInitialized() is True
@@ -350,6 +350,9 @@ def connect(self, serial: int):
         servo_config.UpdateCurrentConfiguration()
         self._device.SetSettings(self._device.MotorDeviceSettings, True, False)
 
+    def get_position(self): 
+        return self._class.home()
+    
     def move_abs(self, position: float, callback=None):
         if callback is not None:
             callback = Action[UInt64](callback)
@@ -365,7 +368,7 @@ def home(self, callback=None):
         self._device.Home(callback) 
 
     def stop(self):
-        self._device.Stop(0)
+        return self._class.stop()
 
 
 if __name__ == '__main__':

From b0026aef88e6b7430bda8005227921af8dd178f5 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Tue, 19 Nov 2024 22:30:04 -0600
Subject: [PATCH 12/53] Add logger

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 1ab8e84..465c3cb 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -2,6 +2,8 @@
 import sys
 from typing import Dict
 import time
+import logging
+logger = logging.getLogger(__name__)
 
 from System import Decimal
 from System import Action
@@ -346,9 +348,7 @@ def connect(self, serial: int):
                 assert self._device.IsSettingsInitialized() is True
         
         servo_config = self._device.LoadMotorConfiguration(serial)
-        servo_config.DeviceSettingsName = "PRMTZ8" #???
-        servo_config.UpdateCurrentConfiguration()
-        self._device.SetSettings(self._device.MotorDeviceSettings, True, False)
+        logger.info(f"Servo Configuration: {servo_config}")
 
     def get_position(self): 
         return self._class.home()

From a1de23c41800a756a0c777e3f9b24d23f78a541e Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Tue, 19 Nov 2024 22:31:32 -0600
Subject: [PATCH 13/53] edit home and stop

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 10 +++-------
 1 file changed, 3 insertions(+), 7 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 465c3cb..31296bc 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -360,15 +360,11 @@ def move_abs(self, position: float, callback=None):
             callback = 0
         self._device.MoveTo(Decimal(position), callback)
 
-    def home(self, callback=None): # DK - delete because of the same reason.
-        if callback is not None:
-            callback = Action[UInt64](callback)
-        else:
-            callback = 0
-        self._device.Home(callback)
+    def home(self, callback=None):
+        self._class.home(callback)
 
     def stop(self):
-        return self._class.stop()
+        self._class.stop()
 
 
 if __name__ == '__main__':

From 1cbe449d81c58e69f005692209becda56bf23ed4 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Tue, 19 Nov 2024 23:03:15 -0600
Subject: [PATCH 14/53] Utilize super for inheritance

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 31296bc..bbcf191 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -351,7 +351,7 @@ def connect(self, serial: int):
         logger.info(f"Servo Configuration: {servo_config}")
 
     def get_position(self): 
-        return self._class.home()
+        return super().get_position()
     
     def move_abs(self, position: float, callback=None):
         if callback is not None:
@@ -361,10 +361,10 @@ def move_abs(self, position: float, callback=None):
         self._device.MoveTo(Decimal(position), callback)
 
     def home(self, callback=None):
-        self._class.home(callback)
+        super().home(callback)
 
     def stop(self):
-        self._class.stop()
+        super().stop()
 
 
 if __name__ == '__main__':

From ddd1c86ce11b8786385890da2ade219a46a3196f Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 20 Nov 2024 06:36:40 -0600
Subject: [PATCH 15/53] Delete code

---
 .../hardware/kinesis.py                       | 36 -------------------
 1 file changed, 36 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index bbcf191..99b0f92 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -329,42 +329,6 @@ def get_position(self) -> float:
     def stop(self):
         pass
 
-class KDC101(Kinesis):
-    def __init__(self): 
-        self._device: KCube.KCubeDCServo = None
-        self._class = KDC101()
-    def connect(self, serial: int):
-        if serial in serialnumbers_kdc101:
-            self._device = KCube.KCubeDCServo.CreateKCubeDCServo(serial)
-            self._device.Connect(serial)
-            time.sleep(0.25)
-            self._device.StartPolling(250)
-            time.sleep(0.25)
-            self._device.EnableDevice()
-            time.sleep(0.25)
-
-            if not self._device.IsSettingsInitialized():
-                self._device.WaitForSettingsInitialized(10000)
-                assert self._device.IsSettingsInitialized() is True
-        
-        servo_config = self._device.LoadMotorConfiguration(serial)
-        logger.info(f"Servo Configuration: {servo_config}")
-
-    def get_position(self): 
-        return super().get_position()
-    
-    def move_abs(self, position: float, callback=None):
-        if callback is not None:
-            callback = Action[UInt64](callback)
-        else:
-            callback = 0
-        self._device.MoveTo(Decimal(position), callback)
-
-    def home(self, callback=None):
-        super().home(callback)
-
-    def stop(self):
-        super().stop()
 
 
 if __name__ == '__main__':

From cb330d9dde50338c788b044b804e6b4802be0c0b Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 20 Nov 2024 07:18:59 -0600
Subject: [PATCH 16/53] Restore and update logger

---
 .../hardware/kinesis.py                       | 36 +++++++++++++++++++
 1 file changed, 36 insertions(+)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 99b0f92..29feda9 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -329,6 +329,42 @@ def get_position(self) -> float:
     def stop(self):
         pass
 
+class KDC101(Kinesis):
+    def __init__(self): 
+        self._device: KCube.KCubeDCServo = None
+
+    def connect(self, serial: int):
+        if serial in serialnumbers_kdc101:
+            self._device = KCube.KCubeDCServo.CreateKCubeDCServo(serial)
+            self._device.Connect(serial)
+            time.sleep(0.25)
+            self._device.StartPolling(250)
+            time.sleep(0.25)
+            self._device.EnableDevice()
+            time.sleep(0.25)
+
+            if not self._device.IsSettingsInitialized():
+                self._device.WaitForSettingsInitialized(10000)
+                assert self._device.IsSettingsInitialized() is True
+        
+        servo_config = self._device.LoadMotorConfiguration(serial)
+        logger.info(f"Servo Configuration: {servo_config}")
+
+    def get_position(self): 
+        return super().get_position()
+    
+    def move_abs(self, position: float, callback=None):
+        if callback is not None:
+            callback = Action[UInt64](callback)
+        else:
+            callback = 0
+        self._device.MoveTo(Decimal(position), callback)
+
+    def home(self, callback=None):
+        super().home(callback)
+
+    def stop(self):
+        super().stop()
 
 
 if __name__ == '__main__':

From 58010852623b1150be4cc56e554995307e293aa5 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 20 Nov 2024 07:24:03 -0600
Subject: [PATCH 17/53] updateget_position

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 29feda9..da15095 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -351,7 +351,7 @@ def connect(self, serial: int):
         logger.info(f"Servo Configuration: {servo_config}")
 
     def get_position(self): 
-        return super().get_position()
+        return Decimal.ToDouble(self._device.get_DevicePosition())
     
     def move_abs(self, position: float, callback=None):
         if callback is not None:

From 7b0dda50c366b8a07fd430e30980f769c4850899 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 20 Nov 2024 07:34:59 -0600
Subject: [PATCH 18/53] update move_rel

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index da15095..2af745c 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -359,6 +359,9 @@ def move_abs(self, position: float, callback=None):
         else:
             callback = 0
         self._device.MoveTo(Decimal(position), callback)
+        
+    def move_rel(self, position: float, callback=None):
+        super().move_rel(position, callback)
 
     def home(self, callback=None):
         super().home(callback)

From ee5c59c0426ee15955ebde5930cbe0ba9547885e Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 20 Nov 2024 22:30:14 -0600
Subject: [PATCH 19/53] Update and add commands to daq_move

---
 .../daq_move_plugins/daq_move_KDC101.py       | 146 ++++++++++++++++++
 1 file changed, 146 insertions(+)
 create mode 100644 src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
new file mode 100644
index 0000000..a2096de
--- /dev/null
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -0,0 +1,146 @@
+from pymodaq_plugins_thorlabs.hardware.kinesis import serialnumbers_kdc101, KDC101
+from typing import Union, List, Dict
+from pymodaq.control_modules.move_utility_classes import DAQ_Move_base, comon_parameters_fun, main, DataActuatorType,\
+    DataActuator  # common set of parameters for all actuators
+from pymodaq.utils.daq_utils import ThreadCommand # object used to send info back to the main thread
+from pymodaq.utils.parameter import Parameter
+
+
+# TODO:
+# (1) change the name of the following class to DAQ_Move_TheNameOfYourChoice
+# (2) change the name of this file to daq_move_TheNameOfYourChoice ("TheNameOfYourChoice" should be the SAME
+#     for the class name and the file name.)
+# (3) this file should then be put into the right folder, namely IN THE FOLDER OF THE PLUGIN YOU ARE DEVELOPING:
+#     pymodaq_plugins_my_plugin/daq_move_plugins
+class DAQ_Move_Template(DAQ_Move_base):
+    """ Instrument plugin class for an actuator.
+    
+    This object inherits all functionalities to communicate with PyMoDAQ’s DAQ_Move module through inheritance via
+    DAQ_Move_base. It makes a bridge between the DAQ_Move module and the Python wrapper of a particular instrument.
+
+    TODO Complete the docstring of your plugin with:
+        * The set of controllers and actuators that should be compatible with this instrument plugin.
+        * With which instrument and controller it has been tested.
+        * The version of PyMoDAQ during the test.
+        * The version of the operating system.
+        * Installation instructions: what manufacturer’s drivers should be installed to make it run?
+
+    Attributes:
+    -----------
+    controller: object
+        The particular object that allow the communication with the hardware, in general a python wrapper around the
+         hardware library.
+         
+    # TODO add your particular attributes here if any
+
+    """
+    is_multiaxes = True 
+    _axis_names: Union[List[str], Dict[str, int]] = {'1': 1} 
+    _controller_units: Union[str, List[str]] = 'mm'  
+    _epsilon: Union[float, List[float]] = 0.01  
+    data_actuator_type = DataActuatorType.DataActuator  
+
+    params = [
+                 {'title': 'Serial Number:', 'name': 'serial_number', 'type': 'list',
+                  'limits': serialnumbers_kdc101, 'value': serialnumbers_kdc101[0]}
+
+             ] + comon_parameters_fun(is_multiaxes, axes_names=_axis_names, epsilon=_epsilon)
+
+    def ini_attributes(self):
+        self.controller: KDC101 = None
+
+
+    def get_actuator_value(self):
+        """Get the current value from the hardware with scaling conversion.
+
+        Returns
+        -------
+        float: The position obtained after scaling conversion.
+        """
+
+        pos = DataActuator(data=self.controller.get_position())  # when writing your own plugin replace this line
+        pos = self.get_position_with_scaling(pos)
+        return pos
+
+    def close(self):
+        """Terminate the communication protocol"""
+        self.controller.close()
+
+    def commit_settings(self, param: Parameter):
+        """Apply the consequences of a change of value in the detector settings
+
+        Parameters
+        ----------
+        param: Parameter
+            A given parameter (within detector_settings) whose value has been changed by the user
+        """
+        if param.name() == 'axis':
+            self.axis_unit = self.controller.get_units()
+        else:
+            pass
+
+    def ini_stage(self, controller=None):
+        """Actuator communication initialization
+
+        Parameters
+        ----------
+        controller: (object)
+            custom object of a PyMoDAQ plugin (Slave case). None if only one actuator by controller (Master case)
+
+        Returns
+        -------
+        info: str
+        initialized: bool
+            False if initialization failed otherwise True
+        """
+        self.ini_stage_init(slave_controller=controller)  # will be useful when controller is slave
+
+        if self.is_master:  # is needed when controller is master
+            self.controller = KDC101()
+
+        info = "KDC101 DCServo initialized"
+        initialized = True
+        return info, initialized
+
+    def move_abs(self, value: DataActuator):
+        """ Move the actuator to the absolute target defined by value
+
+        Parameters
+        ----------
+        value: (float) value of the absolute target positioning
+        """
+
+        value = self.check_bound(value) 
+        self.target_value = value
+        value = self.set_position_with_scaling(value)
+        self.controller.move_abs(value.value())
+
+    def move_rel(self, value: DataActuator):
+        """ Move the actuator to the relative target actuator value defined by value
+
+        Parameters
+        ----------
+        value: (float) value of the relative target positioning
+        """
+        value = self.check_bound(self.current_position + value) - self.current_position
+        self.target_value = value + self.current_position
+        value = self.set_position_relative_with_scaling(value)
+
+
+        self.controller.move_rel(value.value())
+
+    def move_home(self):
+        """Call the reference method of the controller"""
+
+        self.controller.home()
+
+    def stop_motion(self):
+      """Stop the actuator and emits move_done signal"""
+
+      self.controller.stop()
+      self.emit_status(ThreadCommand('Update_Status', ['KDC101 DCServo stopped']))  
+
+
+if __name__ == '__main__':
+    main(__file__)
+

From f70713387aacc0538e38026bbd86990fa3bdf8be Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Thu, 21 Nov 2024 06:31:45 -0600
Subject: [PATCH 20/53] Delete comments

---
 .../daq_move_plugins/daq_move_KDC101.py              | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index a2096de..e126b19 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -1,8 +1,8 @@
 from pymodaq_plugins_thorlabs.hardware.kinesis import serialnumbers_kdc101, KDC101
 from typing import Union, List, Dict
 from pymodaq.control_modules.move_utility_classes import DAQ_Move_base, comon_parameters_fun, main, DataActuatorType,\
-    DataActuator  # common set of parameters for all actuators
-from pymodaq.utils.daq_utils import ThreadCommand # object used to send info back to the main thread
+    DataActuator  
+from pymodaq.utils.daq_utils import ThreadCommand 
 from pymodaq.utils.parameter import Parameter
 
 
@@ -12,6 +12,7 @@
 #     for the class name and the file name.)
 # (3) this file should then be put into the right folder, namely IN THE FOLDER OF THE PLUGIN YOU ARE DEVELOPING:
 #     pymodaq_plugins_my_plugin/daq_move_plugins
+
 class DAQ_Move_Template(DAQ_Move_base):
     """ Instrument plugin class for an actuator.
     
@@ -31,7 +32,6 @@ class DAQ_Move_Template(DAQ_Move_base):
         The particular object that allow the communication with the hardware, in general a python wrapper around the
          hardware library.
          
-    # TODO add your particular attributes here if any
 
     """
     is_multiaxes = True 
@@ -58,7 +58,7 @@ def get_actuator_value(self):
         float: The position obtained after scaling conversion.
         """
 
-        pos = DataActuator(data=self.controller.get_position())  # when writing your own plugin replace this line
+        pos = DataActuator(data=self.controller.get_position())  
         pos = self.get_position_with_scaling(pos)
         return pos
 
@@ -93,9 +93,9 @@ def ini_stage(self, controller=None):
         initialized: bool
             False if initialization failed otherwise True
         """
-        self.ini_stage_init(slave_controller=controller)  # will be useful when controller is slave
+        self.ini_stage_init(slave_controller=controller) 
 
-        if self.is_master:  # is needed when controller is master
+        if self.is_master: 
             self.controller = KDC101()
 
         info = "KDC101 DCServo initialized"

From db232f6986f957126144e95a2ad6bfdefa48f01b Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Thu, 21 Nov 2024 07:01:58 -0600
Subject: [PATCH 21/53] update units

---
 .../daq_move_plugins/daq_move_KDC101.py                    | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index e126b19..3dceb4e 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -36,13 +36,14 @@ class DAQ_Move_Template(DAQ_Move_base):
     """
     is_multiaxes = True 
     _axis_names: Union[List[str], Dict[str, int]] = {'1': 1} 
-    _controller_units: Union[str, List[str]] = 'mm'  
-    _epsilon: Union[float, List[float]] = 0.01  
+    _controller_units: Union[str, List[str]] = KDC101.default_units 
+    _epsilon: Union[float, List[float]] = 0.2e-3 
     data_actuator_type = DataActuatorType.DataActuator  
 
     params = [
                  {'title': 'Serial Number:', 'name': 'serial_number', 'type': 'list',
-                  'limits': serialnumbers_kdc101, 'value': serialnumbers_kdc101[0]}
+                  'limits': serialnumbers_kdc101, 'value': serialnumbers_kdc101[0]},
+                  {'title': 'Units:', 'name': 'units', 'type': 'string', 'value': _controller_units}
 
              ] + comon_parameters_fun(is_multiaxes, axes_names=_axis_names, epsilon=_epsilon)
 

From 68dfd2529a59279e1da46bea6743cb71a8edddfe Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Thu, 21 Nov 2024 07:31:21 -0600
Subject: [PATCH 22/53] update callback

---
 .../daq_move_plugins/daq_move_KDC101.py        | 18 ++++++------------
 1 file changed, 6 insertions(+), 12 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index 3dceb4e..16de475 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -1,18 +1,11 @@
-from pymodaq_plugins_thorlabs.hardware.kinesis import serialnumbers_kdc101, KDC101
 from typing import Union, List, Dict
 from pymodaq.control_modules.move_utility_classes import DAQ_Move_base, comon_parameters_fun, main, DataActuatorType,\
     DataActuator  
 from pymodaq.utils.daq_utils import ThreadCommand 
 from pymodaq.utils.parameter import Parameter
+from pymodaq_plugins_thorlabs.hardware.kinesis import serialnumbers_kdc101, KDC101
 
 
-# TODO:
-# (1) change the name of the following class to DAQ_Move_TheNameOfYourChoice
-# (2) change the name of this file to daq_move_TheNameOfYourChoice ("TheNameOfYourChoice" should be the SAME
-#     for the class name and the file name.)
-# (3) this file should then be put into the right folder, namely IN THE FOLDER OF THE PLUGIN YOU ARE DEVELOPING:
-#     pymodaq_plugins_my_plugin/daq_move_plugins
-
 class DAQ_Move_Template(DAQ_Move_base):
     """ Instrument plugin class for an actuator.
     
@@ -75,7 +68,7 @@ def commit_settings(self, param: Parameter):
         param: Parameter
             A given parameter (within detector_settings) whose value has been changed by the user
         """
-        if param.name() == 'axis':
+        if param.name() == 'units':
             self.axis_unit = self.controller.get_units()
         else:
             pass
@@ -98,6 +91,7 @@ def ini_stage(self, controller=None):
 
         if self.is_master: 
             self.controller = KDC101()
+            self.controller.connect(self.settings['serial_number'])
 
         info = "KDC101 DCServo initialized"
         initialized = True
@@ -114,7 +108,7 @@ def move_abs(self, value: DataActuator):
         value = self.check_bound(value) 
         self.target_value = value
         value = self.set_position_with_scaling(value)
-        self.controller.move_abs(value.value())
+        self.controller.move_abs(value.value(), 60000)
 
     def move_rel(self, value: DataActuator):
         """ Move the actuator to the relative target actuator value defined by value
@@ -128,12 +122,12 @@ def move_rel(self, value: DataActuator):
         value = self.set_position_relative_with_scaling(value)
 
 
-        self.controller.move_rel(value.value())
+        self.controller.move_rel(value.value(), 60000) #TODO: CHECK IF MOVE_REL IS IMPLEMENTED IN KDC101
 
     def move_home(self):
         """Call the reference method of the controller"""
 
-        self.controller.home()
+        self.controller.home(60000)
 
     def stop_motion(self):
       """Stop the actuator and emits move_done signal"""

From 35bb5ea176ca2f0408e1688e700210adb9214bb7 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Thu, 21 Nov 2024 07:44:02 -0600
Subject: [PATCH 23/53] test multiaxis = false

---
 .../daq_move_plugins/daq_move_KDC101.py                        | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index 16de475..c03e2bf 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -25,9 +25,8 @@ class DAQ_Move_Template(DAQ_Move_base):
         The particular object that allow the communication with the hardware, in general a python wrapper around the
          hardware library.
          
-
     """
-    is_multiaxes = True 
+    is_multiaxes = False #TODO: TEST WITHOUT MULTIAXIS
     _axis_names: Union[List[str], Dict[str, int]] = {'1': 1} 
     _controller_units: Union[str, List[str]] = KDC101.default_units 
     _epsilon: Union[float, List[float]] = 0.2e-3 

From 86d046a682bb082732a7928b31e2dc5fe247410a Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Tue, 3 Dec 2024 21:05:34 -0700
Subject: [PATCH 24/53] Remove units in params

---
 .../daq_move_plugins/daq_move_KDC101.py                     | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index c03e2bf..bbc6682 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -6,7 +6,7 @@
 from pymodaq_plugins_thorlabs.hardware.kinesis import serialnumbers_kdc101, KDC101
 
 
-class DAQ_Move_Template(DAQ_Move_base):
+class DAQ_Move_KDC101(DAQ_Move_base):
     """ Instrument plugin class for an actuator.
     
     This object inherits all functionalities to communicate with PyMoDAQ’s DAQ_Move module through inheritance via
@@ -34,8 +34,8 @@ class DAQ_Move_Template(DAQ_Move_base):
 
     params = [
                  {'title': 'Serial Number:', 'name': 'serial_number', 'type': 'list',
-                  'limits': serialnumbers_kdc101, 'value': serialnumbers_kdc101[0]},
-                  {'title': 'Units:', 'name': 'units', 'type': 'string', 'value': _controller_units}
+                  'limits': serialnumbers_kdc101, 'value': serialnumbers_kdc101[0]}
+                #   {'title': 'Units:', 'name': 'units', 'type': 'string', 'value': _controller_units}
 
              ] + comon_parameters_fun(is_multiaxes, axes_names=_axis_names, epsilon=_epsilon)
 

From cb083db307f1d07f1cf5a7e3b780ad025e54507c Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Tue, 3 Dec 2024 21:48:41 -0700
Subject: [PATCH 25/53] Update default_units

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 2af745c..9cd2603 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -330,6 +330,7 @@ def stop(self):
         pass
 
 class KDC101(Kinesis):
+    default_units = 'mm'
     def __init__(self): 
         self._device: KCube.KCubeDCServo = None
 

From b1077b83895ce2861b1d1f74aedf48067afebb61 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Tue, 3 Dec 2024 21:59:05 -0700
Subject: [PATCH 26/53] Added set_unitd and reset default_units

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 9cd2603..f584645 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -330,7 +330,7 @@ def stop(self):
         pass
 
 class KDC101(Kinesis):
-    default_units = 'mm'
+    default_units = ''
     def __init__(self): 
         self._device: KCube.KCubeDCServo = None
 
@@ -370,6 +370,9 @@ def home(self, callback=None):
     def stop(self):
         super().stop()
 
+    def set_units(self, units: str):
+        self._device.get_UnitConverter().SetUnits(units)
+
 
 if __name__ == '__main__':
     controller = BrushlessDCMotor()

From 0e2efdb3717560ca8a5b0309c4f8afed940a1d25 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 4 Dec 2024 12:16:24 -0700
Subject: [PATCH 27/53] Update hardware

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 10 +++-------
 1 file changed, 3 insertions(+), 7 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index f584645..114e7d2 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -355,20 +355,16 @@ def get_position(self):
         return Decimal.ToDouble(self._device.get_DevicePosition())
     
     def move_abs(self, position: float, callback=None):
-        if callback is not None:
-            callback = Action[UInt64](callback)
-        else:
-            callback = 0
         self._device.MoveTo(Decimal(position), callback)
         
     def move_rel(self, position: float, callback=None):
-        super().move_rel(position, callback)
+        self._device.MoveRelative(KCube.KCubeDCServo.MoveDirection.Forward, Decimal(position), callback)
 
     def home(self, callback=None):
-        super().home(callback)
+        self._device.Home(callback)
 
     def stop(self):
-        super().stop()
+        self._device.Stop(0)
 
     def set_units(self, units: str):
         self._device.get_UnitConverter().SetUnits(units)

From 3d9dfd908bcd0c0e79d89daf49abc92a52b751f4 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 4 Dec 2024 12:20:55 -0700
Subject: [PATCH 28/53] Update units method

---
 .../daq_move_plugins/daq_move_KDC101.py                     | 4 ++--
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py            | 6 +++++-
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index bbc6682..8cc1a6d 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -26,7 +26,7 @@ class DAQ_Move_KDC101(DAQ_Move_base):
          hardware library.
          
     """
-    is_multiaxes = False #TODO: TEST WITHOUT MULTIAXIS
+    is_multiaxes = False 
     _axis_names: Union[List[str], Dict[str, int]] = {'1': 1} 
     _controller_units: Union[str, List[str]] = KDC101.default_units 
     _epsilon: Union[float, List[float]] = 0.2e-3 
@@ -35,7 +35,7 @@ class DAQ_Move_KDC101(DAQ_Move_base):
     params = [
                  {'title': 'Serial Number:', 'name': 'serial_number', 'type': 'list',
                   'limits': serialnumbers_kdc101, 'value': serialnumbers_kdc101[0]}
-                #   {'title': 'Units:', 'name': 'units', 'type': 'string', 'value': _controller_units}
+                {'title': 'Units:', 'name': 'units', 'type': 'string', 'value': _controller_units}
 
              ] + comon_parameters_fun(is_multiaxes, axes_names=_axis_names, epsilon=_epsilon)
 
diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 114e7d2..24b92e8 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -367,7 +367,11 @@ def stop(self):
         self._device.Stop(0)
 
     def set_units(self, units: str):
-        self._device.get_UnitConverter().SetUnits(units)
+        """ Set the stage units from the controller"""
+        self.default_units = self._device.get_UnitConverter().SetUnits(units)
+    def get_units(self):
+        """ Get the stage units from the controller""" 
+        return self.default_units
 
 
 if __name__ == '__main__':

From 514bb6f86e2e6bd6da2ae29107588225c18ed0b7 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 4 Dec 2024 12:26:18 -0700
Subject: [PATCH 29/53] Update set_units

---
 src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index 8cc1a6d..63c4170 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -69,6 +69,7 @@ def commit_settings(self, param: Parameter):
         """
         if param.name() == 'units':
             self.axis_unit = self.controller.get_units()
+            self.settings.child(('units')).setValue(self.axis_unit)
         else:
             pass
 

From b726153d851b3b0f29e2e97b09f3c783c3bdc2d7 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 4 Dec 2024 12:26:27 -0700
Subject: [PATCH 30/53] Update set_units correctly

---
 .../daq_move_plugins/daq_move_KDC101.py                        | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index 63c4170..be66dd1 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -68,8 +68,7 @@ def commit_settings(self, param: Parameter):
             A given parameter (within detector_settings) whose value has been changed by the user
         """
         if param.name() == 'units':
-            self.axis_unit = self.controller.get_units()
-            self.settings.child(('units')).setValue(self.axis_unit)
+            self.controller.set_units(self.settings.child(('units')).value())
         else:
             pass
 

From fddeb181cfaf1d16b2883de050556258bc3e5571 Mon Sep 17 00:00:00 2001
From: nano713 <50872819+nano713@users.noreply.github.com>
Date: Thu, 5 Dec 2024 11:43:10 +0900
Subject: [PATCH 31/53] Add suggestion

---
 .../daq_move_plugins/daq_move_KDC101.py                   | 8 ++++----
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py          | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index be66dd1..2ca17d8 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -34,8 +34,8 @@ class DAQ_Move_KDC101(DAQ_Move_base):
 
     params = [
                  {'title': 'Serial Number:', 'name': 'serial_number', 'type': 'list',
-                  'limits': serialnumbers_kdc101, 'value': serialnumbers_kdc101[0]}
-                {'title': 'Units:', 'name': 'units', 'type': 'string', 'value': _controller_units}
+                  'limits': serialnumbers_kdc101, 'value': serialnumbers_kdc101[0]} # DK - add comma at the end
+                # {'title': 'Units:', 'name': 'units', 'type': 'string', 'value': _controller_units}  # DK - correct type. This causes an error in initialization
 
              ] + comon_parameters_fun(is_multiaxes, axes_names=_axis_names, epsilon=_epsilon)
 
@@ -68,7 +68,7 @@ def commit_settings(self, param: Parameter):
             A given parameter (within detector_settings) whose value has been changed by the user
         """
         if param.name() == 'units':
-            self.controller.set_units(self.settings.child(('units')).value())
+            self.controller.set_units(self.settings.child(('units')).value()) # DK - Is neting tuple (('units')) correct?
         else:
             pass
 
@@ -126,7 +126,7 @@ def move_rel(self, value: DataActuator):
     def move_home(self):
         """Call the reference method of the controller"""
 
-        self.controller.home(60000)
+        self.controller.home(60000) # DK - Revise. This causes an error in initialization
 
     def stop_motion(self):
       """Stop the actuator and emits move_done signal"""
diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 24b92e8..40ff1fb 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -330,7 +330,7 @@ def stop(self):
         pass
 
 class KDC101(Kinesis):
-    default_units = ''
+    default_units = 'mm'
     def __init__(self): 
         self._device: KCube.KCubeDCServo = None
 

From 9a3ce46a63f46708952e0dd57315cde312d800b1 Mon Sep 17 00:00:00 2001
From: nano713 <50872819+nano713@users.noreply.github.com>
Date: Thu, 5 Dec 2024 11:47:53 +0900
Subject: [PATCH 32/53] Edit comments

---
 .../daq_move_plugins/daq_move_KDC101.py                       | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index 2ca17d8..0715639 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -68,7 +68,7 @@ def commit_settings(self, param: Parameter):
             A given parameter (within detector_settings) whose value has been changed by the user
         """
         if param.name() == 'units':
-            self.controller.set_units(self.settings.child(('units')).value()) # DK - Is neting tuple (('units')) correct?
+            self.controller.set_units(self.settings.child(('units')).value()) # DK - Is nesting tuple (('units')) correct?
         else:
             pass
 
@@ -126,7 +126,7 @@ def move_rel(self, value: DataActuator):
     def move_home(self):
         """Call the reference method of the controller"""
 
-        self.controller.home(60000) # DK - Revise. This causes an error in initialization
+        self.controller.home(60000)
 
     def stop_motion(self):
       """Stop the actuator and emits move_done signal"""

From 8b73ea774ce9acdebdbd5f0796b6d93b9bd9440a Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 4 Dec 2024 21:33:17 -0700
Subject: [PATCH 33/53] Update params

---
 .../daq_move_plugins/daq_move_KDC101.py                        | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index be66dd1..e0c56da 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -35,7 +35,8 @@ class DAQ_Move_KDC101(DAQ_Move_base):
     params = [
                  {'title': 'Serial Number:', 'name': 'serial_number', 'type': 'list',
                   'limits': serialnumbers_kdc101, 'value': serialnumbers_kdc101[0]}
-                {'title': 'Units:', 'name': 'units', 'type': 'string', 'value': _controller_units}
+                {'title': 'Units:', 'name': 'units', 'type': 'list', "limits": ["mm", "um", "m", "nm"], 
+                    "value": 'mm'}
 
              ] + comon_parameters_fun(is_multiaxes, axes_names=_axis_names, epsilon=_epsilon)
 

From 674f74b77ef4d842dcd8807c79b566109a9aa941 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 4 Dec 2024 21:33:58 -0700
Subject: [PATCH 34/53] delete comments

---
 .../daq_move_plugins/daq_move_KDC101.py                         | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index e0c56da..9963038 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -122,7 +122,7 @@ def move_rel(self, value: DataActuator):
         value = self.set_position_relative_with_scaling(value)
 
 
-        self.controller.move_rel(value.value(), 60000) #TODO: CHECK IF MOVE_REL IS IMPLEMENTED IN KDC101
+        self.controller.move_rel(value.value(), 60000) 
 
     def move_home(self):
         """Call the reference method of the controller"""

From 22d96ec794bf5de78ff3e3f8b0c93689a73b333b Mon Sep 17 00:00:00 2001
From: nano713 <50872819+nano713@users.noreply.github.com>
Date: Thu, 5 Dec 2024 22:27:44 +0900
Subject: [PATCH 35/53] Add suggestion in commit_settings, methods around units

---
 .../daq_move_plugins/daq_move_KDC101.py                | 10 ++++++----
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py       |  4 ++--
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index 0715639..ad270df 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -34,8 +34,8 @@ class DAQ_Move_KDC101(DAQ_Move_base):
 
     params = [
                  {'title': 'Serial Number:', 'name': 'serial_number', 'type': 'list',
-                  'limits': serialnumbers_kdc101, 'value': serialnumbers_kdc101[0]} # DK - add comma at the end
-                # {'title': 'Units:', 'name': 'units', 'type': 'string', 'value': _controller_units}  # DK - correct type. This causes an error in initialization
+                  'limits': serialnumbers_kdc101, 'value': serialnumbers_kdc101[0]}, # DK - add comma at the end
+                  # {'title': 'Units:', 'name': 'units', 'type': 'list', "limits": ["mm", "um", "m", "nm"], "value": 'mm'}
 
              ] + comon_parameters_fun(is_multiaxes, axes_names=_axis_names, epsilon=_epsilon)
 
@@ -68,7 +68,8 @@ def commit_settings(self, param: Parameter):
             A given parameter (within detector_settings) whose value has been changed by the user
         """
         if param.name() == 'units':
-            self.controller.set_units(self.settings.child(('units')).value()) # DK - Is nesting tuple (('units')) correct?
+            self.controller.set_units(self.settings.child('units').value()) # DK - Is nesting tuple (('units')) correct?
+            # DK - if you update the units, also update _controller_units = xxx
         else:
             pass
 
@@ -86,7 +87,8 @@ def ini_stage(self, controller=None):
         initialized: bool
             False if initialization failed otherwise True
         """
-        self.ini_stage_init(slave_controller=controller) 
+
+        self.ini_stage_init(slave_controller=controller)
 
         if self.is_master: 
             self.controller = KDC101()
diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 40ff1fb..a1892fd 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -368,10 +368,10 @@ def stop(self):
 
     def set_units(self, units: str):
         """ Set the stage units from the controller"""
-        self.default_units = self._device.get_UnitConverter().SetUnits(units)
+        self.default_units = self._device.get_UnitConverter().SetUnits(units) # DK - correct or delete set_units method
     def get_units(self):
         """ Get the stage units from the controller""" 
-        return self.default_units
+        return self.default_units # DK - inherit or follow the way Kinesit class does
 
 
 if __name__ == '__main__':

From 7985ad8d7348b1952f878d94700a89475beabd87 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Thu, 5 Dec 2024 23:07:23 -0600
Subject: [PATCH 36/53] delete kdc_move

---
 .../daq_move_plugins/daq_move_KDC101.py       | 141 ------------------
 1 file changed, 141 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index 9963038..e69de29 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -1,141 +0,0 @@
-from typing import Union, List, Dict
-from pymodaq.control_modules.move_utility_classes import DAQ_Move_base, comon_parameters_fun, main, DataActuatorType,\
-    DataActuator  
-from pymodaq.utils.daq_utils import ThreadCommand 
-from pymodaq.utils.parameter import Parameter
-from pymodaq_plugins_thorlabs.hardware.kinesis import serialnumbers_kdc101, KDC101
-
-
-class DAQ_Move_KDC101(DAQ_Move_base):
-    """ Instrument plugin class for an actuator.
-    
-    This object inherits all functionalities to communicate with PyMoDAQ’s DAQ_Move module through inheritance via
-    DAQ_Move_base. It makes a bridge between the DAQ_Move module and the Python wrapper of a particular instrument.
-
-    TODO Complete the docstring of your plugin with:
-        * The set of controllers and actuators that should be compatible with this instrument plugin.
-        * With which instrument and controller it has been tested.
-        * The version of PyMoDAQ during the test.
-        * The version of the operating system.
-        * Installation instructions: what manufacturer’s drivers should be installed to make it run?
-
-    Attributes:
-    -----------
-    controller: object
-        The particular object that allow the communication with the hardware, in general a python wrapper around the
-         hardware library.
-         
-    """
-    is_multiaxes = False 
-    _axis_names: Union[List[str], Dict[str, int]] = {'1': 1} 
-    _controller_units: Union[str, List[str]] = KDC101.default_units 
-    _epsilon: Union[float, List[float]] = 0.2e-3 
-    data_actuator_type = DataActuatorType.DataActuator  
-
-    params = [
-                 {'title': 'Serial Number:', 'name': 'serial_number', 'type': 'list',
-                  'limits': serialnumbers_kdc101, 'value': serialnumbers_kdc101[0]}
-                {'title': 'Units:', 'name': 'units', 'type': 'list', "limits": ["mm", "um", "m", "nm"], 
-                    "value": 'mm'}
-
-             ] + comon_parameters_fun(is_multiaxes, axes_names=_axis_names, epsilon=_epsilon)
-
-    def ini_attributes(self):
-        self.controller: KDC101 = None
-
-
-    def get_actuator_value(self):
-        """Get the current value from the hardware with scaling conversion.
-
-        Returns
-        -------
-        float: The position obtained after scaling conversion.
-        """
-
-        pos = DataActuator(data=self.controller.get_position())  
-        pos = self.get_position_with_scaling(pos)
-        return pos
-
-    def close(self):
-        """Terminate the communication protocol"""
-        self.controller.close()
-
-    def commit_settings(self, param: Parameter):
-        """Apply the consequences of a change of value in the detector settings
-
-        Parameters
-        ----------
-        param: Parameter
-            A given parameter (within detector_settings) whose value has been changed by the user
-        """
-        if param.name() == 'units':
-            self.controller.set_units(self.settings.child(('units')).value())
-        else:
-            pass
-
-    def ini_stage(self, controller=None):
-        """Actuator communication initialization
-
-        Parameters
-        ----------
-        controller: (object)
-            custom object of a PyMoDAQ plugin (Slave case). None if only one actuator by controller (Master case)
-
-        Returns
-        -------
-        info: str
-        initialized: bool
-            False if initialization failed otherwise True
-        """
-        self.ini_stage_init(slave_controller=controller) 
-
-        if self.is_master: 
-            self.controller = KDC101()
-            self.controller.connect(self.settings['serial_number'])
-
-        info = "KDC101 DCServo initialized"
-        initialized = True
-        return info, initialized
-
-    def move_abs(self, value: DataActuator):
-        """ Move the actuator to the absolute target defined by value
-
-        Parameters
-        ----------
-        value: (float) value of the absolute target positioning
-        """
-
-        value = self.check_bound(value) 
-        self.target_value = value
-        value = self.set_position_with_scaling(value)
-        self.controller.move_abs(value.value(), 60000)
-
-    def move_rel(self, value: DataActuator):
-        """ Move the actuator to the relative target actuator value defined by value
-
-        Parameters
-        ----------
-        value: (float) value of the relative target positioning
-        """
-        value = self.check_bound(self.current_position + value) - self.current_position
-        self.target_value = value + self.current_position
-        value = self.set_position_relative_with_scaling(value)
-
-
-        self.controller.move_rel(value.value(), 60000) 
-
-    def move_home(self):
-        """Call the reference method of the controller"""
-
-        self.controller.home(60000)
-
-    def stop_motion(self):
-      """Stop the actuator and emits move_done signal"""
-
-      self.controller.stop()
-      self.emit_status(ThreadCommand('Update_Status', ['KDC101 DCServo stopped']))  
-
-
-if __name__ == '__main__':
-    main(__file__)
-

From 18549b2e232871f7ac30b29aaef2da0538bda031 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Thu, 5 Dec 2024 23:08:21 -0600
Subject: [PATCH 37/53] delete kdc hardware

---
 .../hardware/kinesis.py                       | 42 -------------------
 1 file changed, 42 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 24b92e8..b0cee03 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -329,49 +329,7 @@ def get_position(self) -> float:
     def stop(self):
         pass
 
-class KDC101(Kinesis):
-    default_units = ''
-    def __init__(self): 
-        self._device: KCube.KCubeDCServo = None
-
-    def connect(self, serial: int):
-        if serial in serialnumbers_kdc101:
-            self._device = KCube.KCubeDCServo.CreateKCubeDCServo(serial)
-            self._device.Connect(serial)
-            time.sleep(0.25)
-            self._device.StartPolling(250)
-            time.sleep(0.25)
-            self._device.EnableDevice()
-            time.sleep(0.25)
-
-            if not self._device.IsSettingsInitialized():
-                self._device.WaitForSettingsInitialized(10000)
-                assert self._device.IsSettingsInitialized() is True
-        
-        servo_config = self._device.LoadMotorConfiguration(serial)
-        logger.info(f"Servo Configuration: {servo_config}")
-
-    def get_position(self): 
-        return Decimal.ToDouble(self._device.get_DevicePosition())
-    
-    def move_abs(self, position: float, callback=None):
-        self._device.MoveTo(Decimal(position), callback)
-        
-    def move_rel(self, position: float, callback=None):
-        self._device.MoveRelative(KCube.KCubeDCServo.MoveDirection.Forward, Decimal(position), callback)
-
-    def home(self, callback=None):
-        self._device.Home(callback)
-
-    def stop(self):
-        self._device.Stop(0)
 
-    def set_units(self, units: str):
-        """ Set the stage units from the controller"""
-        self.default_units = self._device.get_UnitConverter().SetUnits(units)
-    def get_units(self):
-        """ Get the stage units from the controller""" 
-        return self.default_units
 
 
 if __name__ == '__main__':

From 2a721e0752e4435619c7c5d25906829020f90a9c Mon Sep 17 00:00:00 2001
From: nano713 <50872819+nano713@users.noreply.github.com>
Date: Fri, 6 Dec 2024 23:02:25 +0900
Subject: [PATCH 38/53] Delete unused lines

---
 .../daq_move_plugins/daq_move_KDC101.py                | 10 ++--------
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py       |  8 --------
 2 files changed, 2 insertions(+), 16 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index ad270df..46ef383 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -34,9 +34,7 @@ class DAQ_Move_KDC101(DAQ_Move_base):
 
     params = [
                  {'title': 'Serial Number:', 'name': 'serial_number', 'type': 'list',
-                  'limits': serialnumbers_kdc101, 'value': serialnumbers_kdc101[0]}, # DK - add comma at the end
-                  # {'title': 'Units:', 'name': 'units', 'type': 'list', "limits": ["mm", "um", "m", "nm"], "value": 'mm'}
-
+                  'limits': serialnumbers_kdc101, 'value': serialnumbers_kdc101[0]},
              ] + comon_parameters_fun(is_multiaxes, axes_names=_axis_names, epsilon=_epsilon)
 
     def ini_attributes(self):
@@ -67,11 +65,7 @@ def commit_settings(self, param: Parameter):
         param: Parameter
             A given parameter (within detector_settings) whose value has been changed by the user
         """
-        if param.name() == 'units':
-            self.controller.set_units(self.settings.child('units').value()) # DK - Is nesting tuple (('units')) correct?
-            # DK - if you update the units, also update _controller_units = xxx
-        else:
-            pass
+        pass
 
     def ini_stage(self, controller=None):
         """Actuator communication initialization
diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index a1892fd..bbc1315 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -366,14 +366,6 @@ def home(self, callback=None):
     def stop(self):
         self._device.Stop(0)
 
-    def set_units(self, units: str):
-        """ Set the stage units from the controller"""
-        self.default_units = self._device.get_UnitConverter().SetUnits(units) # DK - correct or delete set_units method
-    def get_units(self):
-        """ Get the stage units from the controller""" 
-        return self.default_units # DK - inherit or follow the way Kinesit class does
-
-
 if __name__ == '__main__':
     controller = BrushlessDCMotor()
     controller.connect(serialnumbers_brushless[0])

From 2b1578acb4ba16acb46ca0349d2611b9ac049fb0 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Fri, 6 Dec 2024 21:49:09 -0600
Subject: [PATCH 39/53] Restore daq_move

---
 .../daq_move_plugins/daq_move_KDC101.py       | 140 ++++++++++++++++++
 1 file changed, 140 insertions(+)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index e69de29..01413c5 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -0,0 +1,140 @@
+from typing import Union, List, Dict
+from pymodaq.control_modules.move_utility_classes import DAQ_Move_base, comon_parameters_fun, main, DataActuatorType,\
+    DataActuator  
+from pymodaq.utils.daq_utils import ThreadCommand 
+from pymodaq.utils.parameter import Parameter
+from pymodaq_plugins_thorlabs.hardware.kinesis import serialnumbers_kdc101, KDC101
+
+
+class DAQ_Move_KDC101(DAQ_Move_base):
+    """ Instrument plugin class for an actuator.
+    
+    This object inherits all functionalities to communicate with PyMoDAQ’s DAQ_Move module through inheritance via
+    DAQ_Move_base. It makes a bridge between the DAQ_Move module and the Python wrapper of a particular instrument.
+
+    TODO Complete the docstring of your plugin with:
+        * The set of controllers and actuators that should be compatible with this instrument plugin.
+        * With which instrument and controller it has been tested.
+        * The version of PyMoDAQ during the test.
+        * The version of the operating system.
+        * Installation instructions: what manufacturer’s drivers should be installed to make it run?
+
+    Attributes:
+    -----------
+    controller: object
+        The particular object that allow the communication with the hardware, in general a python wrapper around the
+         hardware library.
+         
+    """
+    is_multiaxes = False 
+    _axis_names: Union[List[str], Dict[str, int]] = {'1': 1} 
+    _controller_units: Union[str, List[str]] = KDC101.default_units 
+    _epsilon: Union[float, List[float]] = 0.2e-3 
+    data_actuator_type = DataActuatorType.DataActuator  
+
+    params = [
+                 {'title': 'Serial Number:', 'name': 'serial_number', 'type': 'list',
+                  'limits': serialnumbers_kdc101, 'value': serialnumbers_kdc101[0]}
+                {'title': 'Units:', 'name': 'units', 'type': 'list', "limits": ["mm", "um", "m", "nm"], 
+                    "value": 'mm'}
+
+             ] + comon_parameters_fun(is_multiaxes, axes_names=_axis_names, epsilon=_epsilon)
+
+    def ini_attributes(self):
+        self.controller: KDC101 = None
+
+
+    def get_actuator_value(self):
+        """Get the current value from the hardware with scaling conversion.
+
+        Returns
+        -------
+        float: The position obtained after scaling conversion.
+        """
+
+        pos = DataActuator(data=self.controller.get_position())  
+        pos = self.get_position_with_scaling(pos)
+        return pos
+
+    def close(self):
+        """Terminate the communication protocol"""
+        self.controller.close()
+
+    def commit_settings(self, param: Parameter):
+        """Apply the consequences of a change of value in the detector settings
+
+        Parameters
+        ----------
+        param: Parameter
+            A given parameter (within detector_settings) whose value has been changed by the user
+        """
+        if param.name() == 'units':
+            self.controller.set_units(self.settings.child(('units')).value())
+        else:
+            pass
+
+    def ini_stage(self, controller=None):
+        """Actuator communication initialization
+
+        Parameters
+        ----------
+        controller: (object)
+            custom object of a PyMoDAQ plugin (Slave case). None if only one actuator by controller (Master case)
+
+        Returns
+        -------
+        info: str
+        initialized: bool
+            False if initialization failed otherwise True
+        """
+        self.ini_stage_init(slave_controller=controller) 
+
+        if self.is_master: 
+            self.controller = KDC101()
+            self.controller.connect(self.settings['serial_number'])
+
+        info = "KDC101 DCServo initialized"
+        initialized = True
+        return info, initialized
+
+    def move_abs(self, value: DataActuator):
+        """ Move the actuator to the absolute target defined by value
+
+        Parameters
+        ----------
+        value: (float) value of the absolute target positioning
+        """
+
+        value = self.check_bound(value) 
+        self.target_value = value
+        value = self.set_position_with_scaling(value)
+        self.controller.move_abs(value.value(), 60000)
+
+    def move_rel(self, value: DataActuator):
+        """ Move the actuator to the relative target actuator value defined by value
+
+        Parameters
+        ----------
+        value: (float) value of the relative target positioning
+        """
+        value = self.check_bound(self.current_position + value) - self.current_position
+        self.target_value = value + self.current_position
+        value = self.set_position_relative_with_scaling(value)
+
+
+        self.controller.move_rel(value.value(), 60000) 
+
+    def move_home(self):
+        """Call the reference method of the controller"""
+
+        self.controller.home(60000)
+
+    def stop_motion(self):
+      """Stop the actuator and emits move_done signal"""
+
+      self.controller.stop()
+      self.emit_status(ThreadCommand('Update_Status', ['KDC101 DCServo stopped']))  
+
+
+if __name__ == '__main__':
+    main(__file__)

From 672337f6a2a377dc97adc309c84014c92d7d1850 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Fri, 6 Dec 2024 21:50:01 -0600
Subject: [PATCH 40/53] Restore kinesis

---
 .../hardware/kinesis.py                       | 42 +++++++++++++++++++
 1 file changed, 42 insertions(+)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index b0cee03..24b92e8 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -329,7 +329,49 @@ def get_position(self) -> float:
     def stop(self):
         pass
 
+class KDC101(Kinesis):
+    default_units = ''
+    def __init__(self): 
+        self._device: KCube.KCubeDCServo = None
+
+    def connect(self, serial: int):
+        if serial in serialnumbers_kdc101:
+            self._device = KCube.KCubeDCServo.CreateKCubeDCServo(serial)
+            self._device.Connect(serial)
+            time.sleep(0.25)
+            self._device.StartPolling(250)
+            time.sleep(0.25)
+            self._device.EnableDevice()
+            time.sleep(0.25)
+
+            if not self._device.IsSettingsInitialized():
+                self._device.WaitForSettingsInitialized(10000)
+                assert self._device.IsSettingsInitialized() is True
+        
+        servo_config = self._device.LoadMotorConfiguration(serial)
+        logger.info(f"Servo Configuration: {servo_config}")
+
+    def get_position(self): 
+        return Decimal.ToDouble(self._device.get_DevicePosition())
+    
+    def move_abs(self, position: float, callback=None):
+        self._device.MoveTo(Decimal(position), callback)
+        
+    def move_rel(self, position: float, callback=None):
+        self._device.MoveRelative(KCube.KCubeDCServo.MoveDirection.Forward, Decimal(position), callback)
+
+    def home(self, callback=None):
+        self._device.Home(callback)
+
+    def stop(self):
+        self._device.Stop(0)
 
+    def set_units(self, units: str):
+        """ Set the stage units from the controller"""
+        self.default_units = self._device.get_UnitConverter().SetUnits(units)
+    def get_units(self):
+        """ Get the stage units from the controller""" 
+        return self.default_units
 
 
 if __name__ == '__main__':

From a7cb24ca3a876d0f6a1a4391d65de2199915da69 Mon Sep 17 00:00:00 2001
From: nano713 <50872819+nano713@users.noreply.github.com>
Date: Thu, 12 Dec 2024 15:45:54 +0900
Subject: [PATCH 41/53] update params

---
 .../daq_move_plugins/daq_move_KDC101.py                         | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index 01413c5..7b90564 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -34,7 +34,7 @@ class DAQ_Move_KDC101(DAQ_Move_base):
 
     params = [
                  {'title': 'Serial Number:', 'name': 'serial_number', 'type': 'list',
-                  'limits': serialnumbers_kdc101, 'value': serialnumbers_kdc101[0]}
+                  'limits': serialnumbers_kdc101, 'value': serialnumbers_kdc101[0]},
                 {'title': 'Units:', 'name': 'units', 'type': 'list', "limits": ["mm", "um", "m", "nm"], 
                     "value": 'mm'}
 

From c7a0ac9e6714e14c55f3962b89db07f182b12392 Mon Sep 17 00:00:00 2001
From: nano713 <50872819+nano713@users.noreply.github.com>
Date: Thu, 12 Dec 2024 22:09:03 +0900
Subject: [PATCH 42/53] Update params

---
 .../daq_move_plugins/daq_move_KDC101.py                        | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index 7b90564..628378c 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -35,9 +35,6 @@ class DAQ_Move_KDC101(DAQ_Move_base):
     params = [
                  {'title': 'Serial Number:', 'name': 'serial_number', 'type': 'list',
                   'limits': serialnumbers_kdc101, 'value': serialnumbers_kdc101[0]},
-                {'title': 'Units:', 'name': 'units', 'type': 'list', "limits": ["mm", "um", "m", "nm"], 
-                    "value": 'mm'}
-
              ] + comon_parameters_fun(is_multiaxes, axes_names=_axis_names, epsilon=_epsilon)
 
     def ini_attributes(self):

From 840f0565cea5bae18acd2b19c802c77f672fd6f1 Mon Sep 17 00:00:00 2001
From: nano713 <50872819+nano713@users.noreply.github.com>
Date: Mon, 16 Dec 2024 17:34:05 +0900
Subject: [PATCH 43/53] Add suggestion in move_rel error.

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index bbc1315..e189269 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -358,7 +358,7 @@ def move_abs(self, position: float, callback=None):
         self._device.MoveTo(Decimal(position), callback)
         
     def move_rel(self, position: float, callback=None):
-        self._device.MoveRelative(KCube.KCubeDCServo.MoveDirection.Forward, Decimal(position), callback)
+        self._device.MoveRelative(KCube.KCubeDCServo.MoveDirection.Forward, Decimal(position), callback) # DK - KCube.KCubeDCServo.MoveDirection.Forward should be corrected
 
     def home(self, callback=None):
         self._device.Home(callback)

From c782772a7f69e807c7517202073cee55f6bf90e2 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Mon, 16 Dec 2024 21:54:05 -0600
Subject: [PATCH 44/53] Update move_rel

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index e189269..b578278 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -358,7 +358,7 @@ def move_abs(self, position: float, callback=None):
         self._device.MoveTo(Decimal(position), callback)
         
     def move_rel(self, position: float, callback=None):
-        self._device.MoveRelative(KCube.KCubeDCServo.MoveDirection.Forward, Decimal(position), callback) # DK - KCube.KCubeDCServo.MoveDirection.Forward should be corrected
+        self._device.MoveRelative(Generic.MoveDirection.Forward, Decimal(position), callback) # DK - KCube.KCubeDCServo.MoveDirection.Forward should be corrected
 
     def home(self, callback=None):
         self._device.Home(callback)

From 545d73637c790135640d116a6764e26205c81a82 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Mon, 16 Dec 2024 21:56:03 -0600
Subject: [PATCH 45/53] Update README

---
 README.rst | 1 +
 1 file changed, 1 insertion(+)

diff --git a/README.rst b/README.rst
index 5873809..5f7803a 100644
--- a/README.rst
+++ b/README.rst
@@ -39,6 +39,7 @@ Actuators
 * **PRM1Z8_pylablib**: DC servo motorized 360° rotation mount (Thorlabs PRM1Z8) using the pylablib control module. The Thorlabs APT software should be installed: https://www.thorlabs.com/newgrouppage9.cfm?objectgroup_id=9019.
 * **BrushlessDCMotor**: Kinesis control of DC Brushless Motor (tested with the BBD201 controller)
 * **Kinesis_KPZ101**: Piezo Electric Stage Kinesis series (KPZ101)
+* **Kinesis_KDC101**: DC Servo Motor Kinesis series (KDC101)
 
 
 Viewer0D

From 419e305e59e8c1b2e819e87a68ea8ad07392c368 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Mon, 16 Dec 2024 22:43:02 -0600
Subject: [PATCH 46/53] Delete comment

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index b578278..06f6b4e 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -358,7 +358,7 @@ def move_abs(self, position: float, callback=None):
         self._device.MoveTo(Decimal(position), callback)
         
     def move_rel(self, position: float, callback=None):
-        self._device.MoveRelative(Generic.MoveDirection.Forward, Decimal(position), callback) # DK - KCube.KCubeDCServo.MoveDirection.Forward should be corrected
+        self._device.MoveRelative(Generic.MoveDirection.Forward, Decimal(position), callback)
 
     def home(self, callback=None):
         self._device.Home(callback)

From 9cfea1d4d8680607e0d6f55b5c6c4d7b8f28179a Mon Sep 17 00:00:00 2001
From: nano713 <50872819+nano713@users.noreply.github.com>
Date: Tue, 17 Dec 2024 13:43:13 +0900
Subject: [PATCH 47/53] Update move_rel

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 06f6b4e..5488865 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -358,7 +358,7 @@ def move_abs(self, position: float, callback=None):
         self._device.MoveTo(Decimal(position), callback)
         
     def move_rel(self, position: float, callback=None):
-        self._device.MoveRelative(Generic.MoveDirection.Forward, Decimal(position), callback)
+        self._device.MoveRelative(Generic.MotorDirection.Forward, Decimal(position), callback)
 
     def home(self, callback=None):
         self._device.Home(callback)

From 3bb45a592f0d1d5f60fb5d140978375fa65b51f7 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Mon, 16 Dec 2024 22:58:34 -0600
Subject: [PATCH 48/53] Update class name

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 06f6b4e..e688927 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -329,7 +329,7 @@ def get_position(self) -> float:
     def stop(self):
         pass
 
-class KDC101(Kinesis):
+class DCservo(Kinesis):
     default_units = 'mm'
     def __init__(self): 
         self._device: KCube.KCubeDCServo = None

From ffe6e82ed6f52255b3224fd32bbc57f737a20fb0 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Mon, 16 Dec 2024 23:01:47 -0600
Subject: [PATCH 49/53] Update daq_move import

---
 .../daq_move_plugins/daq_move_KDC101.py                         | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index 628378c..f853ebe 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -3,7 +3,7 @@
     DataActuator  
 from pymodaq.utils.daq_utils import ThreadCommand 
 from pymodaq.utils.parameter import Parameter
-from pymodaq_plugins_thorlabs.hardware.kinesis import serialnumbers_kdc101, KDC101
+from pymodaq_plugins_thorlabs.hardware.kinesis import serialnumbers_kdc101, DCservo as KDC101
 
 
 class DAQ_Move_KDC101(DAQ_Move_base):

From 897eb46d2b815f54a742c278d9a38e991e8e0185 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Mon, 16 Dec 2024 23:04:19 -0600
Subject: [PATCH 50/53] Update serial numbers

---
 .../daq_move_plugins/daq_move_KDC101.py                       | 4 ++--
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py              | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index f853ebe..7282f90 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -3,7 +3,7 @@
     DataActuator  
 from pymodaq.utils.daq_utils import ThreadCommand 
 from pymodaq.utils.parameter import Parameter
-from pymodaq_plugins_thorlabs.hardware.kinesis import serialnumbers_kdc101, DCservo as KDC101
+from pymodaq_plugins_thorlabs.hardware.kinesis import serialnumbers_dcServo, DCservo as KDC101
 
 
 class DAQ_Move_KDC101(DAQ_Move_base):
@@ -34,7 +34,7 @@ class DAQ_Move_KDC101(DAQ_Move_base):
 
     params = [
                  {'title': 'Serial Number:', 'name': 'serial_number', 'type': 'list',
-                  'limits': serialnumbers_kdc101, 'value': serialnumbers_kdc101[0]},
+                  'limits': serialnumbers_dcServo, 'value': serialnumbers_dcServo[0]},
              ] + comon_parameters_fun(is_multiaxes, axes_names=_axis_names, epsilon=_epsilon)
 
     def ini_attributes(self):
diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index e688927..5b7d907 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -40,7 +40,7 @@
 serialnumbers_brushless = [str(ser) for ser in
                            Device.DeviceManagerCLI.GetDeviceList(BrushlessMotorCLI.BenchtopBrushlessMotor.DevicePrefix)]
 serialnumbers_piezo = [str(ser) for ser in Device.DeviceManagerCLI.GetDeviceList(KCubePiezo.KCubePiezo.DevicePrefix)]
-serialnumbers_kdc101 = [str(ser) for ser in Device.DeviceManagerCLI.GetDeviceList(KCube.KCubeDCServo.DevicePrefix)]
+serialnumbers_dcServo = [str(ser) for ser in Device.DeviceManagerCLI.GetDeviceList(KCube.KCubeDCServo.DevicePrefix)]
 
 
 class Kinesis:

From 253c9d20b8b725641a2382aca7b2d778d22624d3 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Mon, 16 Dec 2024 23:04:29 -0600
Subject: [PATCH 51/53] Update serialnumbers

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 5b7d907..b6bca60 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -335,7 +335,7 @@ def __init__(self):
         self._device: KCube.KCubeDCServo = None
 
     def connect(self, serial: int):
-        if serial in serialnumbers_kdc101:
+        if serial in serialnumbers_dcServo:
             self._device = KCube.KCubeDCServo.CreateKCubeDCServo(serial)
             self._device.Connect(serial)
             time.sleep(0.25)

From c6a1c8977e7f92c1d0cc4fc8d8d23d910db9f1fc Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Tue, 17 Dec 2024 21:57:55 -0600
Subject: [PATCH 52/53] Add author

---
 README.rst | 1 +
 1 file changed, 1 insertion(+)

diff --git a/README.rst b/README.rst
index 5f7803a..4a3a5e1 100644
--- a/README.rst
+++ b/README.rst
@@ -24,6 +24,7 @@ Authors
 * David Bresteau (david.bresteau@cea.fr)
 * Nicolas Tappy (nicolas.tappy@epfl.ch)
 * Romain Geneaux (romain.geneaux@cea.fr)
+* Amelie Deshazer
 
 Instruments
 ===========

From 89d74b35b3a4463b39ffe7251bcf3776a232b7a6 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Mon, 13 Jan 2025 19:59:49 -0600
Subject: [PATCH 53/53] Delete comments

---
 .../daq_move_plugins/daq_move_KDC101.py                    | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
index 7282f90..ceea14d 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KDC101.py
@@ -12,13 +12,6 @@ class DAQ_Move_KDC101(DAQ_Move_base):
     This object inherits all functionalities to communicate with PyMoDAQ’s DAQ_Move module through inheritance via
     DAQ_Move_base. It makes a bridge between the DAQ_Move module and the Python wrapper of a particular instrument.
 
-    TODO Complete the docstring of your plugin with:
-        * The set of controllers and actuators that should be compatible with this instrument plugin.
-        * With which instrument and controller it has been tested.
-        * The version of PyMoDAQ during the test.
-        * The version of the operating system.
-        * Installation instructions: what manufacturer’s drivers should be installed to make it run?
-
     Attributes:
     -----------
     controller: object