From 58d048b38ed8fe03530baf132b1254b7f28d1158 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 11 Dec 2024 17:29:51 -0600
Subject: [PATCH 01/31] Import InertialMotor

---
 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..4bbfcdc 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.MotionContro.TCube.InertialMotorCLI")
 
 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.TCube.InertialMotorCLI as InertialMotorCLI
 
 Device.DeviceManagerCLI.BuildDeviceList()
 serialnumbers_integrated_stepper = [str(ser) for ser in
@@ -323,6 +325,9 @@ def get_position(self) -> float:
     def stop(self):
         pass
 
+class KIM101(Kinesis): 
+    def 
+
 if __name__ == '__main__':
     controller = BrushlessDCMotor()
     controller.connect(serialnumbers_brushless[0])

From 14386610349a073aca5aed13ef3c29d4448aadec Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 11 Dec 2024 17:30:01 -0600
Subject: [PATCH 02/31] Create KIM101

---
 .../daq_move_plugins/daq_move_KIM101.py       | 126 ++++++++++++++++++
 1 file changed, 126 insertions(+)
 create mode 100644 src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
new file mode 100644
index 0000000..6c75517
--- /dev/null
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
@@ -0,0 +1,126 @@
+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_piezo, Piezo
+from pymodaq.utils.logger import set_logger, get_module_name
+
+class DAQ_Move_KIM101(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.
+
+    Attributes:
+    -----------
+    controller: object
+        The particular object that allow the communication with the hardware, in general a python wrapper around the
+         hardware library.
+
+    """
+    _controller_units = Piezo.default_units
+    is_multiaxes = True
+    _axes_names = {'1': 1}
+    _epsilon = 0.01
+    data_actuator_type = DataActuatorType.DataActuator
+    params = [
+                 {'title': 'Serial Number:', 'name': 'serial_number', 'type': 'list',
+                  'limits': serialnumbers_piezo, 'value': serialnumbers_piezo[0]}
+
+             ] + comon_parameters_fun(is_multiaxes, axes_names=_axes_names, epsilon=_epsilon)
+
+    def ini_attributes(self):
+        self.controller: Piezo = None
+
+    def get_actuator_value(self):
+        """Get the current value from the hardware with scaling conversion.
+
+        Returns
+        -------
+        DataActuator: The position obtained after scaling conversion.
+        """
+        pos = DataActuator(
+            data=self.controller.get_position(),
+            units=self.controller.get_units()
+        )
+        pos = self.get_position_with_scaling(pos)
+        return pos
+
+    def close(self):
+        """Terminate the communication protocol"""
+        if self.is_master:
+            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(self.axis_value)
+
+    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
+        """
+
+        if self.is_master:
+            self.controller = Piezo()
+            self.controller.connect(self.settings['serial_number'])
+        else:
+            self.controller = controller
+
+        self.axis_unit = self._controller_units
+
+        info = f'{self.controller.name} - {self.controller.serial_number}'
+        initialized = True
+        return info, initialized
+
+    def move_abs(self, value: DataActuator):
+        """ Move the actuator to the absolute target defined by value
+
+        Parameters
+        ----------
+        value: (DataActuator) 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: (DataActuator) value of the relative target positioning
+        """
+        value = self.check_bound(self.current_value + value) - self.current_value
+        self.target_value = value + self.current_value
+        value = self.set_position_relative_with_scaling(value)
+        self.controller.move_abs(self.target_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()
+
+
+if __name__ == '__main__':
+    main(__file__, init=False)

From c7ad61221d307650653ac553792bb419b072c988 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 11 Dec 2024 17:55:45 -0600
Subject: [PATCH 03/31] Finish Kinesis

---
 .../hardware/kinesis.py                       | 30 +++++++++++++++++--
 1 file changed, 27 insertions(+), 3 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 4bbfcdc..a2a96b9 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -19,7 +19,7 @@
 clr.AddReference("Thorlabs.MotionControl.FilterFlipperCLI")
 clr.AddReference("Thorlabs.MotionControl.Benchtop.BrushlessMotorCLI")
 clr.AddReference("Thorlabs.MotionControl.KCube.PiezoCLI")
-clr.AddReference("Thorlabs.MotionContro.TCube.InertialMotorCLI")
+clr.AddReference("Thorlabs.MotionContro.KCube.InertialMotorCLI")
 
 import Thorlabs.MotionControl.FilterFlipperCLI as FilterFlipper
 import Thorlabs.MotionControl.IntegratedStepperMotorsCLI as Integrated
@@ -27,7 +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.TCube.InertialMotorCLI as InertialMotorCLI
+import Thorlabs.MotionControl.KCube.InertialMotorCLI as InertialMotorCLI
 
 Device.DeviceManagerCLI.BuildDeviceList()
 serialnumbers_integrated_stepper = [str(ser) for ser in
@@ -37,6 +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_inertial_motor = [str(ser) for ser in Device.DeviceManagerCLI.GetDeviceList(InertialMotorCLI.InertialMotor.DevicePrefix)]
 
 
 class Kinesis:
@@ -326,7 +327,30 @@ def stop(self):
         pass
 
 class KIM101(Kinesis): 
-    def 
+    default_units = 'mm' 
+
+    def __init__(self):
+        self._device: InertialMotorCLI.InertialMotor = None
+    
+    def connect(self, serial: int): 
+        if serial in serialnumbers_inertial_motor: 
+            self._device = InertialMotorCLI.InertialMotor.CreateKcubeInertialMotor(serial)
+            self._device.Connect(serial) 
+            self._device.WaitForSettingsInitialized(5000)
+            self._device.StartPolling(250)
+            self._device.EnableDevice() 
+    def move_abs(self, position: float, channel: int): 
+        self._device.MoveTo(channel, Decimal(position), 6000)
+
+    def get_position(self, channel: int):
+        return Decimal.ToDouble(self._device.GetPosition(channel))
+
+    def home(self, channel: int): 
+        self._device.SetPositionAs(channel, Decimal(0))
+
+    def stop(self): 
+        pass
+
 
 if __name__ == '__main__':
     controller = BrushlessDCMotor()

From 7c847177ebf37d00acf18ac636bc5eea690b95f7 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 11 Dec 2024 17:56:59 -0600
Subject: [PATCH 04/31] Update import

---
 .../daq_move_plugins/daq_move_KIM101.py                   | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
index 6c75517..86ae1bb 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
@@ -2,7 +2,7 @@
     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_piezo, Piezo
+from pymodaq_plugins_thorlabs.hardware.kinesis import serialnumbers_inertial_motor, KIM101
 from pymodaq.utils.logger import set_logger, get_module_name
 
 class DAQ_Move_KIM101(DAQ_Move_base):
@@ -18,19 +18,19 @@ class DAQ_Move_KIM101(DAQ_Move_base):
          hardware library.
 
     """
-    _controller_units = Piezo.default_units
+    _controller_units = KIM101.default_units
     is_multiaxes = True
     _axes_names = {'1': 1}
     _epsilon = 0.01
     data_actuator_type = DataActuatorType.DataActuator
     params = [
                  {'title': 'Serial Number:', 'name': 'serial_number', 'type': 'list',
-                  'limits': serialnumbers_piezo, 'value': serialnumbers_piezo[0]}
+                  'limits': serialnumbers_inertial_motor, 'value': serialnumbers_inertial_motor[0]}
 
              ] + comon_parameters_fun(is_multiaxes, axes_names=_axes_names, epsilon=_epsilon)
 
     def ini_attributes(self):
-        self.controller: Piezo = None
+        self.controller: KIM101 = None
 
     def get_actuator_value(self):
         """Get the current value from the hardware with scaling conversion.

From de2cdabd1fc5b84c141dfa204f6e22c9ba5a9f5a Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 11 Dec 2024 17:57:28 -0600
Subject: [PATCH 05/31] Add close method

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

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index a2a96b9..102647e 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -351,6 +351,10 @@ def home(self, channel: int):
     def stop(self): 
         pass
 
+    def close(self): 
+        self._device.StopPolling()
+        self._device.Disconnect()
+
 
 if __name__ == '__main__':
     controller = BrushlessDCMotor()

From 2c4df5b72cbf0312d931167fb7aaf60baa419339 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 11 Dec 2024 18:00:14 -0600
Subject: [PATCH 06/31] Update daq_move

---
 .../daq_move_plugins/daq_move_KIM101.py                  | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
index 86ae1bb..207ea0e 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
@@ -25,7 +25,8 @@ class DAQ_Move_KIM101(DAQ_Move_base):
     data_actuator_type = DataActuatorType.DataActuator
     params = [
                  {'title': 'Serial Number:', 'name': 'serial_number', 'type': 'list',
-                  'limits': serialnumbers_inertial_motor, 'value': serialnumbers_inertial_motor[0]}
+                  'limits': serialnumbers_inertial_motor, 'value': serialnumbers_inertial_motor[0]}, 
+                  {'title': 'Channel:', 'name': 'channel', 'type': 'int', 'value': 1, 'default': 1}
 
              ] + comon_parameters_fun(is_multiaxes, axes_names=_axes_names, epsilon=_epsilon)
 
@@ -59,8 +60,8 @@ 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':
-            self.axis_unit = self.controller.get_units(self.axis_value)
+        if param.name() == 'channel':
+            self.axis_unit = self.controller.get_channel(self.axis_value)
 
     def ini_stage(self, controller=None):
         """Actuator communication initialization
@@ -78,7 +79,7 @@ def ini_stage(self, controller=None):
         """
 
         if self.is_master:
-            self.controller = Piezo()
+            self.controller = KIM101()
             self.controller.connect(self.settings['serial_number'])
         else:
             self.controller = controller

From 6dfbadd3b9c6654b04278ed7f738ed36a1aece52 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 11 Dec 2024 18:00:25 -0600
Subject: [PATCH 07/31] Add channel

---
 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 102647e..aea425d 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -331,6 +331,7 @@ class KIM101(Kinesis):
 
     def __init__(self):
         self._device: InertialMotorCLI.InertialMotor = None
+        self._channel = 1
     
     def connect(self, serial: int): 
         if serial in serialnumbers_inertial_motor: 

From f52827ea3182e5ae6635014b403b8ae37b081cec Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 11 Dec 2024 18:02:04 -0600
Subject: [PATCH 08/31] Fix self._channel

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index aea425d..51a5dc9 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -331,7 +331,7 @@ class KIM101(Kinesis):
 
     def __init__(self):
         self._device: InertialMotorCLI.InertialMotor = None
-        self._channel = 1
+        self._channel = [0,0]
     
     def connect(self, serial: int): 
         if serial in serialnumbers_inertial_motor: 
@@ -340,18 +340,24 @@ def connect(self, serial: int):
             self._device.WaitForSettingsInitialized(5000)
             self._device.StartPolling(250)
             self._device.EnableDevice() 
+
     def move_abs(self, position: float, channel: int): 
         self._device.MoveTo(channel, Decimal(position), 6000)
+        self._channel[channel - 1] = channel
 
     def get_position(self, channel: int):
         return Decimal.ToDouble(self._device.GetPosition(channel))
 
     def home(self, channel: int): 
         self._device.SetPositionAs(channel, Decimal(0))
+        self._channel[channel - 1] = channel
 
     def stop(self): 
         pass
 
+    def get_channel(self):
+        return self._channel
+
     def close(self): 
         self._device.StopPolling()
         self._device.Disconnect()

From 68a02ef504eaee9c96be2ba0f0aabf5c64b97c2d Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 11 Dec 2024 18:03:22 -0600
Subject: [PATCH 09/31] Update channel daq_move

---
 .../daq_move_plugins/daq_move_KIM101.py                         | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
index 207ea0e..6605568 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
@@ -61,7 +61,7 @@ def commit_settings(self, param: Parameter):
             A given parameter (within detector_settings) whose value has been changed by the user
         """
         if param.name() == 'channel':
-            self.axis_unit = self.controller.get_channel(self.axis_value)
+            self.axis_unit = self.controller.get_channel(self.axis_values['channel'])
 
     def ini_stage(self, controller=None):
         """Actuator communication initialization

From b3cabc0d02be968a8b6ea0361fea54b8540554cc Mon Sep 17 00:00:00 2001
From: nano713 <50872819+nano713@users.noreply.github.com>
Date: Thu, 12 Dec 2024 10:02:33 +0900
Subject: [PATCH 10/31] Correct typo.

---
 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 51a5dc9..e779abe 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -19,7 +19,7 @@
 clr.AddReference("Thorlabs.MotionControl.FilterFlipperCLI")
 clr.AddReference("Thorlabs.MotionControl.Benchtop.BrushlessMotorCLI")
 clr.AddReference("Thorlabs.MotionControl.KCube.PiezoCLI")
-clr.AddReference("Thorlabs.MotionContro.KCube.InertialMotorCLI")
+clr.AddReference("Thorlabs.MotionControl.KCube.InertialMotorCLI")
 
 import Thorlabs.MotionControl.FilterFlipperCLI as FilterFlipper
 import Thorlabs.MotionControl.IntegratedStepperMotorsCLI as Integrated

From 054a8ea590e2a12e99ee132fec0dcb0dda4ea82a Mon Sep 17 00:00:00 2001
From: nano713 <50872819+nano713@users.noreply.github.com>
Date: Thu, 12 Dec 2024 10:11:41 +0900
Subject: [PATCH 11/31] Add suggestion in move_rel, channel, and others.

---
 .../daq_move_plugins/daq_move_KIM101.py              | 12 ++++++------
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py     |  2 +-
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
index 6605568..11d3bb9 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
@@ -20,13 +20,13 @@ class DAQ_Move_KIM101(DAQ_Move_base):
     """
     _controller_units = KIM101.default_units
     is_multiaxes = True
-    _axes_names = {'1': 1}
+    _axes_names = {'1': 1} # DK - Add more. KIM101 has 4 channels
     _epsilon = 0.01
     data_actuator_type = DataActuatorType.DataActuator
     params = [
                  {'title': 'Serial Number:', 'name': 'serial_number', 'type': 'list',
                   'limits': serialnumbers_inertial_motor, 'value': serialnumbers_inertial_motor[0]}, 
-                  {'title': 'Channel:', 'name': 'channel', 'type': 'int', 'value': 1, 'default': 1}
+                  {'title': 'Channel:', 'name': 'channel', 'type': 'int', 'value': 1, 'default': 1} # DK - delete this line. channel will be handled in multiaxes feature.
 
              ] + comon_parameters_fun(is_multiaxes, axes_names=_axes_names, epsilon=_epsilon)
 
@@ -60,7 +60,7 @@ 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() == 'channel':
+        if param.name() == 'channel': # DK - delete this statement accordingly.
             self.axis_unit = self.controller.get_channel(self.axis_values['channel'])
 
     def ini_stage(self, controller=None):
@@ -86,7 +86,7 @@ def ini_stage(self, controller=None):
 
         self.axis_unit = self._controller_units
 
-        info = f'{self.controller.name} - {self.controller.serial_number}'
+        info = f'{self.controller.name} - {self.controller.serial_number}' # DK - self.controller.serial_number should be corrected because self.controller does not have a property of `serial_number`
         initialized = True
         return info, initialized
 
@@ -111,8 +111,8 @@ def move_rel(self, value: DataActuator):
         """
         value = self.check_bound(self.current_value + value) - self.current_value
         self.target_value = value + self.current_value
-        value = self.set_position_relative_with_scaling(value)
-        self.controller.move_abs(self.target_value.value())
+        value = self.set_position_relative_with_scaling(value) # DK - If you reuse move_abs, use set_position_with_scaling.
+        self.controller.move_abs(self.target_value.value()) # DK - use an attribute of the scaled `value`
 
     def move_home(self):
         """Call the reference method of the controller"""
diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index e779abe..d7c9940 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -327,7 +327,7 @@ def stop(self):
         pass
 
 class KIM101(Kinesis): 
-    default_units = 'mm' 
+    default_units = 'mm'  # KIM101 uses only V.
 
     def __init__(self):
         self._device: InertialMotorCLI.InertialMotor = None

From a8de663292824bb7739429fd80da26f22c79e1d5 Mon Sep 17 00:00:00 2001
From: nano713 <50872819+nano713@users.noreply.github.com>
Date: Thu, 12 Dec 2024 10:12:31 +0900
Subject: [PATCH 12/31] default_units

---
 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 d7c9940..1686a57 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -327,7 +327,7 @@ def stop(self):
         pass
 
 class KIM101(Kinesis): 
-    default_units = 'mm'  # KIM101 uses only V.
+    default_units = 'mm'  # DK - KIM101 uses only V.
 
     def __init__(self):
         self._device: InertialMotorCLI.InertialMotor = None

From 020a1940f4276d4b567703b51377736a9044a14c Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 11 Dec 2024 20:16:53 -0600
Subject: [PATCH 13/31] Fix params, fix serialnumbers

---
 .../daq_move_plugins/daq_move_KIM101.py                  | 9 ++++-----
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py         | 6 +++---
 2 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
index 11d3bb9..a3844b3 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
@@ -20,13 +20,12 @@ class DAQ_Move_KIM101(DAQ_Move_base):
     """
     _controller_units = KIM101.default_units
     is_multiaxes = True
-    _axes_names = {'1': 1} # DK - Add more. KIM101 has 4 channels
+    _axes_names = {'1': 1, '2': 2, '3': 3, '4': 4} 
     _epsilon = 0.01
     data_actuator_type = DataActuatorType.DataActuator
     params = [
                  {'title': 'Serial Number:', 'name': 'serial_number', 'type': 'list',
                   'limits': serialnumbers_inertial_motor, 'value': serialnumbers_inertial_motor[0]}, 
-                  {'title': 'Channel:', 'name': 'channel', 'type': 'int', 'value': 1, 'default': 1} # DK - delete this line. channel will be handled in multiaxes feature.
 
              ] + comon_parameters_fun(is_multiaxes, axes_names=_axes_names, epsilon=_epsilon)
 
@@ -60,8 +59,8 @@ 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() == 'channel': # DK - delete this statement accordingly.
-            self.axis_unit = self.controller.get_channel(self.axis_values['channel'])
+        if param.name() == 'axis' 
+            self.axis = param.value()
 
     def ini_stage(self, controller=None):
         """Actuator communication initialization
@@ -86,7 +85,7 @@ def ini_stage(self, controller=None):
 
         self.axis_unit = self._controller_units
 
-        info = f'{self.controller.name} - {self.controller.serial_number}' # DK - self.controller.serial_number should be corrected because self.controller does not have a property of `serial_number`
+        info = "KIM101 Initialized"
         initialized = True
         return info, initialized
 
diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 1686a57..7a0892a 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -27,7 +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.InertialMotorCLI as InertialMotorCLI
+import Thorlabs.MotionControl.KCube.InertialMotorCLI as InertialMotor
 
 Device.DeviceManagerCLI.BuildDeviceList()
 serialnumbers_integrated_stepper = [str(ser) for ser in
@@ -37,7 +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_inertial_motor = [str(ser) for ser in Device.DeviceManagerCLI.GetDeviceList(InertialMotorCLI.InertialMotor.DevicePrefix)]
+serialnumbers_inertial_motor = [str(ser) for ser in Device.DeviceManagerCLI.GetDeviceList(InertialMotor.KCube.DevicePrefix)] #or InertialMotor.KCube.InertialMotor.DevicePrefix
 
 
 class Kinesis:
@@ -327,7 +327,7 @@ def stop(self):
         pass
 
 class KIM101(Kinesis): 
-    default_units = 'mm'  # DK - KIM101 uses only V.
+    default_units = 'V'  
 
     def __init__(self):
         self._device: InertialMotorCLI.InertialMotor = None

From 112411928ae9317bb597f78ed6a6fbe64f016997 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 11 Dec 2024 20:19:23 -0600
Subject: [PATCH 14/31] pass move_rel

---
 .../daq_move_plugins/daq_move_KIM101.py                    | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
index a3844b3..3a1db2b 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
@@ -99,7 +99,7 @@ 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(), axis=self.axis)
 
     def move_rel(self, value: DataActuator):
         """ Move the actuator to the relative target actuator value defined by value
@@ -108,10 +108,7 @@ def move_rel(self, value: DataActuator):
         ----------
         value: (DataActuator) value of the relative target positioning
         """
-        value = self.check_bound(self.current_value + value) - self.current_value
-        self.target_value = value + self.current_value
-        value = self.set_position_relative_with_scaling(value) # DK - If you reuse move_abs, use set_position_with_scaling.
-        self.controller.move_abs(self.target_value.value()) # DK - use an attribute of the scaled `value`
+        pass
 
     def move_home(self):
         """Call the reference method of the controller"""

From 3e76ecb6a9f853bdfbd7f7d7b3112e7033d8220e Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Wed, 11 Dec 2024 20:19:55 -0600
Subject: [PATCH 15/31] Update axis

---
 .../daq_move_plugins/daq_move_KIM101.py                       | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
index 3a1db2b..d95f6b9 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
@@ -59,7 +59,7 @@ 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() == 'axis':
             self.axis = param.value()
 
     def ini_stage(self, controller=None):
@@ -112,7 +112,7 @@ def move_rel(self, value: DataActuator):
 
     def move_home(self):
         """Call the reference method of the controller"""
-        self.controller.home()
+        self.controller.home(self.axis)
 
     def stop_motion(self):
         """Stop the actuator and emits move_done signal"""

From d0c0336f5a05ea87235e8e20c474739e07f862e0 Mon Sep 17 00:00:00 2001
From: nano713 <50872819+nano713@users.noreply.github.com>
Date: Thu, 12 Dec 2024 12:44:23 +0900
Subject: [PATCH 16/31] test and debug

---
 .../hardware/kinesis.py                       | 25 ++++++++++++-------
 1 file changed, 16 insertions(+), 9 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 7a0892a..ef527d6 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -37,7 +37,8 @@
 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_inertial_motor = [str(ser) for ser in Device.DeviceManagerCLI.GetDeviceList(InertialMotor.KCube.DevicePrefix)] #or InertialMotor.KCube.InertialMotor.DevicePrefix
+# TODO fix serialnumbers_inertial_motor
+serialnumbers_inertial_motor = [str(ser) for ser in Device.DeviceManagerCLI.GetDeviceList(InertialMotor.KCubeInertialMotor.DevicePrefix_KIM101)] #or InertialMotor.KCube.InertialMotor.DevicePrefix
 
 
 class Kinesis:
@@ -330,19 +331,25 @@ class KIM101(Kinesis):
     default_units = 'V'  
 
     def __init__(self):
-        self._device: InertialMotorCLI.InertialMotor = None
-        self._channel = [0,0]
+        self._device:  InertialMotor.KCubeInertialMotor = None
+        self._channel = []
     
     def connect(self, serial: int): 
         if serial in serialnumbers_inertial_motor: 
-            self._device = InertialMotorCLI.InertialMotor.CreateKcubeInertialMotor(serial)
-            self._device.Connect(serial) 
+            self._device = InertialMotor.KCubeInertialMotor.CreateKCubeInertialMotor(serial)
+            self._device.Connect(serial)
             self._device.WaitForSettingsInitialized(5000)
             self._device.StartPolling(250)
-            self._device.EnableDevice() 
-
-    def move_abs(self, position: float, channel: int): 
-        self._device.MoveTo(channel, Decimal(position), 6000)
+            self._device.EnableDevice()
+            self._channel = [
+                InertialMotor.InertialMotorStatus.MotorChannels.Channel1,
+                InertialMotor.InertialMotorStatus.MotorChannels.Channel2,
+                InertialMotor.InertialMotorStatus.MotorChannels.Channel3,
+                InertialMotor.InertialMotorStatus.MotorChannels.Channel4
+            ]
+
+    def move_abs(self, position: float, channel: int):  # DK - position should be int
+        self._device.MoveTo(channel, Decimal(position), 6000) # DK - Decimal(position) should be position
         self._channel[channel - 1] = channel
 
     def get_position(self, channel: int):

From b09c8094fcbda2d90527f0fb84d4899e8e993b41 Mon Sep 17 00:00:00 2001
From: nano713 <50872819+nano713@users.noreply.github.com>
Date: Fri, 13 Dec 2024 11:04:19 +0900
Subject: [PATCH 17/31] Correct unit. Add suggestion

---
 .../daq_move_plugins/daq_move_KIM101.py                         | 2 +-
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py                | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
index d95f6b9..e8fbf94 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
@@ -59,7 +59,7 @@ 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() == 'axis':# DK - delete this. daq_move covers this.
             self.axis = param.value()
 
     def ini_stage(self, controller=None):
diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index ef527d6..05839b9 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -328,7 +328,7 @@ def stop(self):
         pass
 
 class KIM101(Kinesis): 
-    default_units = 'V'  
+    default_units = ' '
 
     def __init__(self):
         self._device:  InertialMotor.KCubeInertialMotor = None

From f2150fd0b8a3ab86f02e3d905da1343a632f190f Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Thu, 12 Dec 2024 22:12:52 -0600
Subject: [PATCH 18/31] add self.axis

---
 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 05839b9..96eaa67 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -362,8 +362,8 @@ def home(self, channel: int):
     def stop(self): 
         pass
 
-    def get_channel(self):
-        return self._channel
+    def get_channel(self, channel: int):
+        return self._channel[channel - 1]
 
     def close(self): 
         self._device.StopPolling()

From ebc88adb46d1029e007dc0bb25f6bd98277b4ea5 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Thu, 12 Dec 2024 22:13:10 -0600
Subject: [PATCH 19/31] Update channel

---
 .../daq_move_plugins/daq_move_KIM101.py                         | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
index e8fbf94..5566fa9 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
@@ -40,7 +40,7 @@ def get_actuator_value(self):
         DataActuator: The position obtained after scaling conversion.
         """
         pos = DataActuator(
-            data=self.controller.get_position(),
+            data=self.controller.get_position(channel=self.axis),   
             units=self.controller.get_units()
         )
         pos = self.get_position_with_scaling(pos)

From 35232e7f7c2b692634711da29ac2e713e9936811 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Thu, 12 Dec 2024 22:16:26 -0600
Subject: [PATCH 20/31] Add int() for channel

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 96eaa67..e6fba8b 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -342,10 +342,10 @@ def connect(self, serial: int):
             self._device.StartPolling(250)
             self._device.EnableDevice()
             self._channel = [
-                InertialMotor.InertialMotorStatus.MotorChannels.Channel1,
-                InertialMotor.InertialMotorStatus.MotorChannels.Channel2,
-                InertialMotor.InertialMotorStatus.MotorChannels.Channel3,
-                InertialMotor.InertialMotorStatus.MotorChannels.Channel4
+                int(InertialMotor.InertialMotorStatus.MotorChannels.Channel1),
+                int(InertialMotor.InertialMotorStatus.MotorChannels.Channel2),
+                int(InertialMotor.InertialMotorStatus.MotorChannels.Channel3),
+                int(InertialMotor.InertialMotorStatus.MotorChannels.Channel4)
             ]
 
     def move_abs(self, position: float, channel: int):  # DK - position should be int

From b299c54363845b10baf36bdd88327d03ff28e1c9 Mon Sep 17 00:00:00 2001
From: nano713 <50872819+nano713@users.noreply.github.com>
Date: Fri, 13 Dec 2024 14:15:20 +0900
Subject: [PATCH 21/31] Update move_abs, home. Test and debug.

---
 .../hardware/kinesis.py                       | 20 +++++++++----------
 1 file changed, 9 insertions(+), 11 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index e6fba8b..7a5d45b 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -342,28 +342,26 @@ def connect(self, serial: int):
             self._device.StartPolling(250)
             self._device.EnableDevice()
             self._channel = [
-                int(InertialMotor.InertialMotorStatus.MotorChannels.Channel1),
-                int(InertialMotor.InertialMotorStatus.MotorChannels.Channel2),
-                int(InertialMotor.InertialMotorStatus.MotorChannels.Channel3),
-                int(InertialMotor.InertialMotorStatus.MotorChannels.Channel4)
+                InertialMotor.InertialMotorStatus.MotorChannels.Channel1,
+                InertialMotor.InertialMotorStatus.MotorChannels.Channel2,
+                InertialMotor.InertialMotorStatus.MotorChannels.Channel3,
+                InertialMotor.InertialMotorStatus.MotorChannels.Channel4
             ]
 
     def move_abs(self, position: float, channel: int):  # DK - position should be int
-        self._device.MoveTo(channel, Decimal(position), 6000) # DK - Decimal(position) should be position
-        self._channel[channel - 1] = channel
+        self._device.MoveTo(self._channel[channel-1], position, 6000)
 
     def get_position(self, channel: int):
-        return Decimal.ToDouble(self._device.GetPosition(channel))
+        return self._device.GetPosition(self._channel[channel-1])
 
     def home(self, channel: int): 
-        self._device.SetPositionAs(channel, Decimal(0))
-        self._channel[channel - 1] = channel
+        self._device.MoveTo(self._channel[channel-1], 0, 6000)
 
     def stop(self): 
         pass
 
-    def get_channel(self, channel: int):
-        return self._channel[channel - 1]
+    # def get_channel(self, channel: int):
+    #     return self._channel[channel - 1]
 
     def close(self): 
         self._device.StopPolling()

From 858926a39d7d2d77ba219e7606f560023d7d81cc Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Fri, 13 Dec 2024 00:03:24 -0600
Subject: [PATCH 22/31] Remove decimal

---
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index e6fba8b..b84d90c 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -349,8 +349,7 @@ def connect(self, serial: int):
             ]
 
     def move_abs(self, position: float, channel: int):  # DK - position should be int
-        self._device.MoveTo(channel, Decimal(position), 6000) # DK - Decimal(position) should be position
-        self._channel[channel - 1] = channel
+        self._device.MoveTo(self._channel[channel-1], position, 6000)
 
     def get_position(self, channel: int):
         return Decimal.ToDouble(self._device.GetPosition(channel))

From 58b8b51b9cfca1c2a7b48a413e8eba20b8176dd0 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Fri, 13 Dec 2024 00:06:43 -0600
Subject: [PATCH 23/31] Add channel and pass move_rel

---
 .../daq_move_plugins/daq_move_KPZ101.py                  | 9 +++------
 src/pymodaq_plugins_thorlabs/hardware/kinesis.py         | 2 +-
 2 files changed, 4 insertions(+), 7 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KPZ101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KPZ101.py
index ee8c95b..28df607 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KPZ101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KPZ101.py
@@ -102,7 +102,7 @@ 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(), axis=self.axis)
 
     def move_rel(self, value: DataActuator):
         """ Move the actuator to the relative target actuator value defined by value
@@ -111,14 +111,11 @@ def move_rel(self, value: DataActuator):
         ----------
         value: (DataActuator) value of the relative target positioning
         """
-        value = self.check_bound(self.current_value + value) - self.current_value
-        self.target_value = value + self.current_value
-        value = self.set_position_relative_with_scaling(value)
-        self.controller.move_abs(self.target_value.value())
+        pass
 
     def move_home(self):
         """Call the reference method of the controller"""
-        self.controller.home()
+        self.controller.home(axis=self.axis)
 
     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 7a5d45b..85c5e2b 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -348,7 +348,7 @@ def connect(self, serial: int):
                 InertialMotor.InertialMotorStatus.MotorChannels.Channel4
             ]
 
-    def move_abs(self, position: float, channel: int):  # DK - position should be int
+    def move_abs(self, position: int, channel: int):  # DK - position should be int
         self._device.MoveTo(self._channel[channel-1], position, 6000)
 
     def get_position(self, channel: int):

From 41f7989b3786266192a93bc35ef7faa644c6ee11 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Fri, 13 Dec 2024 00:07:12 -0600
Subject: [PATCH 24/31] Update info

---
 .../daq_move_plugins/daq_move_KPZ101.py                         | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KPZ101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KPZ101.py
index 28df607..ddb5161 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KPZ101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KPZ101.py
@@ -88,7 +88,7 @@ def ini_stage(self, controller=None):
 
         self.axis_unit = self._controller_units
 
-        info = f'{self.controller.name} - {self.controller.serial_number}'
+        info = "KIM101 Initialized"
         initialized = True
         return info, initialized
 

From 2097b0f1d2996458b42a4f96ce418922fd532671 Mon Sep 17 00:00:00 2001
From: nano713 <50872819+nano713@users.noreply.github.com>
Date: Sat, 14 Dec 2024 14:57:49 +0900
Subject: [PATCH 25/31] Update move_rel  method.

Co-authored-by: Amelie Francoise Deshazer <adeshazer123@users.noreply.github.com>
---
 .../daq_move_plugins/daq_move_KIM101.py       | 21 ++++++++++++-------
 .../hardware/kinesis.py                       | 13 ++++++++++++
 2 files changed, 26 insertions(+), 8 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
index 5566fa9..57ea396 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
@@ -20,12 +20,12 @@ class DAQ_Move_KIM101(DAQ_Move_base):
     """
     _controller_units = KIM101.default_units
     is_multiaxes = True
-    _axes_names = {'1': 1, '2': 2, '3': 3, '4': 4} 
+    _axes_names = {'1': 1, '2': 2, '3': 3, '4': 4}
     _epsilon = 0.01
     data_actuator_type = DataActuatorType.DataActuator
     params = [
                  {'title': 'Serial Number:', 'name': 'serial_number', 'type': 'list',
-                  'limits': serialnumbers_inertial_motor, 'value': serialnumbers_inertial_motor[0]}, 
+                  'limits': serialnumbers_inertial_motor, 'value': serialnumbers_inertial_motor[0]},
 
              ] + comon_parameters_fun(is_multiaxes, axes_names=_axes_names, epsilon=_epsilon)
 
@@ -40,7 +40,7 @@ def get_actuator_value(self):
         DataActuator: The position obtained after scaling conversion.
         """
         pos = DataActuator(
-            data=self.controller.get_position(channel=self.axis),   
+            data=self.controller.get_position(channel=self.axis_value),
             units=self.controller.get_units()
         )
         pos = self.get_position_with_scaling(pos)
@@ -98,21 +98,26 @@ 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(), axis=self.axis)
+        value = self.set_position_with_scaling(value)
+        self.controller.move_abs(int(value.value()), self.axis_value)
 
     def move_rel(self, value: DataActuator):
         """ Move the actuator to the relative target actuator value defined by value
 
         Parameters
         ----------
-        value: (DataActuator) value of the relative target positioning
+        value: (float) value of the relative target positioning
         """
-        pass
+        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(int(value.value()), self.axis_value)
+        
 
     def move_home(self):
         """Call the reference method of the controller"""
-        self.controller.home(self.axis)
+        self.controller.home(self.axis_value)
 
     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 85c5e2b..2829b20 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -6,6 +6,7 @@
 from System import Action
 from System import UInt64
 from System import UInt32
+import logging
 
 kinesis_path = 'C:\\Program Files\\Thorlabs\\Kinesis'
 sys.path.append(kinesis_path)
@@ -351,6 +352,18 @@ def connect(self, serial: int):
     def move_abs(self, position: int, channel: int):  # DK - position should be int
         self._device.MoveTo(self._channel[channel-1], position, 6000)
 
+    def move_rel(self, increment: int, channel: int):
+        target_position = self.get_position(channel) + increment
+        while (increment != 0):
+            if (increment > 0): 
+                step = min(increment, 1) 
+            else: 
+                step = max(increment, -1)
+            position_new = self.get_position(channel) + step
+            self.move_abs(position_new, channel)
+            increment = target_position - self.get_position(channel)
+
+    
     def get_position(self, channel: int):
         return self._device.GetPosition(self._channel[channel-1])
 

From 61af638bee6961ef718393460e6b8de5d1d17eaa Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Tue, 17 Dec 2024 22:28:29 -0600
Subject: [PATCH 26/31] pass commit_settings

---
 .../daq_move_plugins/daq_move_KIM101.py                        | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
index 57ea396..c4e6280 100644
--- a/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
+++ b/src/pymodaq_plugins_thorlabs/daq_move_plugins/daq_move_KIM101.py
@@ -59,8 +59,7 @@ 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':# DK - delete this. daq_move covers this.
-            self.axis = param.value()
+        pass
 
     def ini_stage(self, controller=None):
         """Actuator communication initialization

From 51b5b335e16d71555e55d55572083c16b408d7f4 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Mon, 13 Jan 2025 20:06:07 -0600
Subject: [PATCH 27/31] Delete comments

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

diff --git a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
index 2829b20..6a6ec12 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -349,7 +349,7 @@ def connect(self, serial: int):
                 InertialMotor.InertialMotorStatus.MotorChannels.Channel4
             ]
 
-    def move_abs(self, position: int, channel: int):  # DK - position should be int
+    def move_abs(self, position: int, channel: int):  
         self._device.MoveTo(self._channel[channel-1], position, 6000)
 
     def move_rel(self, increment: int, channel: int):
@@ -373,9 +373,6 @@ def home(self, channel: int):
     def stop(self): 
         pass
 
-    # def get_channel(self, channel: int):
-    #     return self._channel[channel - 1]
-
     def close(self): 
         self._device.StopPolling()
         self._device.Disconnect()

From fe36ecc1f5a8e0995e91b2a756fb2abf670f6633 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Mon, 13 Jan 2025 20:12:46 -0600
Subject: [PATCH 28/31] Update actuators

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

diff --git a/README.rst b/README.rst
index 882c569..0321e4c 100644
--- a/README.rst
+++ b/README.rst
@@ -42,6 +42,7 @@ 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)
+* **KIM101**: Four Channel Piezo Inertia Motion Kinesis series (KIM101)
 
 
 Viewer0D

From fbb46bca90048514bf676c59e175122dc1f21566 Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Mon, 13 Jan 2025 20:13:07 -0600
Subject: [PATCH 29/31] Rename KIM101

---
 README.rst | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.rst b/README.rst
index 0321e4c..8cc503b 100644
--- a/README.rst
+++ b/README.rst
@@ -42,7 +42,7 @@ 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)
-* **KIM101**: Four Channel Piezo Inertia Motion Kinesis series (KIM101)
+* **Kinesis_KIM101**: Four Channel Piezo Inertia Motion Kinesis series (KIM101)
 
 
 Viewer0D

From 19ff78ac898dfc02cabd8551d97f337800be3b6e Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Mon, 13 Jan 2025 20:39:32 -0600
Subject: [PATCH 30/31] delete comments

---
 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 6a6ec12..61a51a6 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -38,7 +38,7 @@
 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)]
-# TODO fix serialnumbers_inertial_motor
+
 serialnumbers_inertial_motor = [str(ser) for ser in Device.DeviceManagerCLI.GetDeviceList(InertialMotor.KCubeInertialMotor.DevicePrefix_KIM101)] #or InertialMotor.KCube.InertialMotor.DevicePrefix
 
 

From cf1d26214893d087940c286b437fc31707b9c01a Mon Sep 17 00:00:00 2001
From: adeshazer123 <adeshazer@wisc.edu>
Date: Mon, 13 Jan 2025 20:40:08 -0600
Subject: [PATCH 31/31] Refractor comments

---
 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 61a51a6..168017b 100644
--- a/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
+++ b/src/pymodaq_plugins_thorlabs/hardware/kinesis.py
@@ -39,7 +39,7 @@
                            Device.DeviceManagerCLI.GetDeviceList(BrushlessMotorCLI.BenchtopBrushlessMotor.DevicePrefix)]
 serialnumbers_piezo = [str(ser) for ser in Device.DeviceManagerCLI.GetDeviceList(KCubePiezo.KCubePiezo.DevicePrefix)]
 
-serialnumbers_inertial_motor = [str(ser) for ser in Device.DeviceManagerCLI.GetDeviceList(InertialMotor.KCubeInertialMotor.DevicePrefix_KIM101)] #or InertialMotor.KCube.InertialMotor.DevicePrefix
+serialnumbers_inertial_motor = [str(ser) for ser in Device.DeviceManagerCLI.GetDeviceList(InertialMotor.KCubeInertialMotor.DevicePrefix_KIM101)] 
 
 
 class Kinesis: