Add KDC101 controller

pyAPT/__init__.py

@@ -1,18 +1,19 @@
 from __future__ import absolute_import
 import pylibftdi
 
-from pyAPT import message, controller, mts50, prm1
+from pyAPT import message, controller, mts50, prm1, kdc101
 
 __version__ = "0.01"
 __author__ = "Shuning Bian"
 
 __all__ = ['Message', 'Controller', 'MTS50', 'OutOfRangeError', 'PRM1',
-           'add_PID']
+           "KDC101", 'add_PID']
 
 Message = message.Message
 Controller = controller.Controller
 MTS50 = mts50.MTS50
 PRM1 = prm1.PRM1
+KDC101 = kdc101.KDC101
 OutOfRangeError = controller.OutOfRangeError
 
 _PRODUCT_IDS = pylibftdi.USB_PID_LIST

pyAPT/kdc101.py

@@ -0,0 +1,25 @@
+from __future__ import absolute_import, division
+from .controller import Controller
+
+class KDC101(Controller):
+  """
+  A controller for a KDC101 linear translation stage.
+  """
+  def __init__(self,*args, **kwargs):
+    super(KDC101, self).__init__(*args, **kwargs)
+
+    # can be set manually in the menu of the KDC101 
+    self.max_velocity = 0.48
+    self.max_acceleration = 0.48
+
+    # see manual https://www.thorlabs.com/drawings/7edd686f3ac5c5ad-097D682C-AA42-53E4-3C7EB522A4840171/KDC101-KDC101ManualforAPT.pdf
+    enccnt = 34304 
+    T = 2048/6e6
+
+    # these equations are taken from the APT protocol manual
+    self.position_scale = enccnt
+    self.velocity_scale = enccnt * T * 65536
+    self.acceleration_scale = enccnt * T * T * 65536
+
+    self.linear_range = (0,50)
+