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 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Qcodes example with Thorlabs K10CR1"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Initialization\n",
    "\n",
    "Create an instance of `Thorlabs_APT`, which is a wrapper for the APT.dll of the APT server which is part of the Thorlabs drivers."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "from qcodes_contrib_drivers.drivers.Thorlabs.APT import Thorlabs_APT\n",
    "\n",
    "apt = Thorlabs_APT()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Create an instance of `Thorlabs_K10CR1`, the actual driver class."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Connected to: Thorlabs K10CR1 (serial:55125694, firmware:SW Version 1.0.3) in 0.01s\n"
     ]
    }
   ],
   "source": [
    "from qcodes_contrib_drivers.drivers.Thorlabs.K10CR1 import Thorlabs_K10CR1\n",
    "\n",
    "inst = Thorlabs_K10CR1(\"K10CR1\", 0, apt)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Moving the rotator\n",
    "\n",
    "### Moving home\n",
    "\n",
    "Move the rotator to its home position (zero) and recalibrate it."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Position: 0.0\n"
     ]
    }
   ],
   "source": [
    "# Move to zero and recalibrate\n",
    "inst.move_home()\n",
    "\n",
    "# Read position\n",
    "print(\"Position:\", inst.position())"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Moving to certain position\n",
    "\n",
    "Move to 120° with 10°/s"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Position: 120.0\n"
     ]
    }
   ],
   "source": [
    "# Set target velocity to 10 deg/s\n",
    "inst.velocity_max(10)\n",
    "\n",
    "# Move to 120 and wait until it's finished\n",
    "inst.position(120)\n",
    "\n",
    "# Read position\n",
    "print(\"Position:\", inst.position())"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Moving to certain position (asynchronously)\n",
    "\n",
    "The following commands will start a rotation to position 240°. This will happen asynchronously so that you can read out the current position in the meantime. After reaching 180° the motor will be stopped."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Position: 120.0\n",
      "Position: 120.33045196533203\n",
      "Position: 121.30647277832031\n",
      "Position: 122.93938446044922\n",
      "Position: 125.22875213623047\n",
      "Position: 127.80081939697266\n",
      "Position: 130.36468505859375\n",
      "Position: 132.91712951660156\n",
      "Position: 135.5030059814453\n",
      "Position: 138.07122802734375\n",
      "Position: 140.61135864257812\n",
      "Position: 143.18075561523438\n",
      "Position: 145.73727416992188\n",
      "Position: 148.30560302734375\n",
      "Position: 150.8717498779297\n",
      "Position: 153.4274444580078\n",
      "Position: 155.98837280273438\n",
      "Position: 158.54783630371094\n",
      "Position: 161.1175994873047\n",
      "Position: 163.6906280517578\n",
      "Position: 166.25445556640625\n",
      "Position: 168.7959442138672\n",
      "Position: 171.37112426757812\n",
      "Position: 173.93038940429688\n",
      "Position: 176.48873901367188\n",
      "Position: 179.0663604736328\n",
      "Position: 181.61782836914062\n",
      "Position: 184.19651794433594\n"
     ]
    }
   ],
   "source": [
    "import time\n",
    "\n",
    "# Move to 300 without blocking\n",
    "inst.position_async(240)\n",
    "\n",
    "last_position = 120\n",
    "\n",
    "# Print current position every 250 ms, until 240 is reached\n",
    "while last_position < 180:\n",
    "    last_position = inst.position()\n",
    "    print(\"Position:\", last_position)\n",
    "    time.sleep(0.25)\n",
    "\n",
    "# Stop at around 240 (before 280 is reached)\n",
    "inst.stop()\n",
    "\n",
    "# Read position\n",
    "print(\"Position:\", inst.position())"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Clean up resources"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [],
   "source": [
    "inst.close()\n",
    "apt.apt_clean_up()"
   ]
  }
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