From fd141da765c5e0509c794cabaa051c039a560968 Mon Sep 17 00:00:00 2001
From: Felix Wechsler <fxw+git@mailbox.org>
Date: Mon, 18 Oct 2021 17:16:02 -0400
Subject: [PATCH 1/2] Fix for loop, that all pos are shown

---
 get_position.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/get_position.py b/get_position.py
index 36c5230..00c982b 100644
--- a/get_position.py
+++ b/get_position.py
@@ -31,7 +31,7 @@ def main(args):
       with pyAPT.MTS50(serial_number=con[2]) as con:
         print('\tPosition (mm) = %.2f [enc:%d]'%(con.position(), con.position(raw=True)))
 
-      return 0
+    return 0
   else:
     print('\tNo APT controllers found. Maybe you need to specify a PID')
     return 1

From 6e5111891c11feb198ed40b08ede1ff8f3eacc02 Mon Sep 17 00:00:00 2001
From: roflmaostc <fxw+git@mailbox.org>
Date: Tue, 19 Oct 2021 18:12:51 -0400
Subject: [PATCH 2/2] Add KDC 101 controller

---
 pyAPT/__init__.py |  5 +++--
 pyAPT/kdc101.py   | 25 +++++++++++++++++++++++++
 2 files changed, 28 insertions(+), 2 deletions(-)
 create mode 100644 pyAPT/kdc101.py

diff --git a/pyAPT/__init__.py b/pyAPT/__init__.py
index 27aa681..7d6183a 100644
--- a/pyAPT/__init__.py
+++ b/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
diff --git a/pyAPT/kdc101.py b/pyAPT/kdc101.py
new file mode 100644
index 0000000..b0f64a8
--- /dev/null
+++ b/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)
+