adding basic functionality for KDC101 KCube.

[edyoshikun]

This PR adds the throlabs stages that use the KDC101 DC motors as well as controls for the KIM001 KCube for intertia piezo motors.

[edyoshikun]

RENAME TO LIMITS

[AhmetCanSolak]

can those global declarations get into some smaller contexts @edyoshikun ?

[edyoshikun]

@AhmetCanSolak I think the next step is actually making a single file KCUBE.py and having the global contexts (which I am assuming you mean the clr.AddReference(.dll)stuff (?)) live inside the class. For example, both KDC101 and KIM101 share some .dlls but defer on the motor/stage type they import, so we could have something like

clr.AddRefererence(THorlabsDevice.dll) #common to all thorlabs kcube devices

class KIM101():
    clr.AddReference(InertiaMotor.dll)  #unique to this device.

[AhmetCanSolak]

@AhmetCanSolak I think the next step is actually making a single file KCUBE.py and having the global contexts (which I am assuming you mean the clr.AddReference(.dll)stuff (?)) live inside the class. For example, both KDC101 and KIM101 share some .dlls but defer on the motor/stage type they import, so we could have something like

clr.AddRefererence(THorlabsDevice.dll) #common to all thorlabs kcube devices

class KIM101():
    clr.AddReference(InertiaMotor.dll)  #unique to this device.

yes, and I loved the proposed solution. Thank you @edyoshikun !

[ieivanov]

I think it will be helpful to have a move_absolute method in the abstract class, matching move_relative as in dc5516d

[ieivanov]

I find that the KIM101 stage works well initially, but errors out after several moves. With the stage on the mantis LS remote refocus arm this sequence of steps will error out:

for i in range(50):
    stage.move_relative(10)
    stage.move_relative(-10)

Reinitializing the stage allows it to move without error again. It seems like the error happens a set number of moves after init - it's possible that something gets backed up and we need to clear it.

For now I'm switching to using pylablib for controlling the stage - it seems to work reliably in my tests

[AhmetCanSolak]

pylablib

pylablib is a little heavier dependency to have, but if it is the only thing working reliably we can consider introducing it as a dependency to coPylot @ieivanov .