Implemented PMR Generator for hardware objects !

29 files changed, 2754 insertions, 2 deletions

diff --git a/Software/DB/Tango.mdf b/Software/DB/Tango.mdf
index 20bd8256c..5bfbb30dc 100644
--- a/Software/DB/Tango.mdf
+++ b/Software/DB/Tango.mdf
diff --git a/Software/DB/Tango_log.ldf b/Software/DB/Tango_log.ldf
index 50f9ee40a..95b19a0f7 100644
--- a/Software/DB/Tango_log.ldf
+++ b/Software/DB/Tango_log.ldf
diff --git a/Software/PMR/Messages/Hardware/HardwareDancer.proto b/Software/PMR/Messages/Hardware/HardwareDancer.proto
new file mode 100644
index 000000000..43b9435ee
--- /dev/null
+++ b/Software/PMR/Messages/Hardware/HardwareDancer.proto
@@ -0,0 +1,23 @@
+syntax = "proto3";
+
+//This file is auto-generated. Do not modify!
+
+import "HardwareDancerType.proto";
+
+package Tango.PMR.Hardware;
+option java_package = "com.twine.tango.pmr.hardware";
+
+message HardwareDancer
+{
+
+    HardwareDancerType HardwareDancerType = 1;
+
+    bool Gradual = 2;
+
+    double K = 3;
+
+    double X = 4;
+
+    int32 PulsePerMmSpring = 5;
+
+}
diff --git a/Software/PMR/Messages/Hardware/HardwareDancerType.proto b/Software/PMR/Messages/Hardware/HardwareDancerType.proto
new file mode 100644
index 000000000..f61b00ec3
--- /dev/null
+++ b/Software/PMR/Messages/Hardware/HardwareDancerType.proto
@@ -0,0 +1,17 @@
+syntax = "proto3";
+
+//This file is auto-generated. Do not modify!
+
+package Tango.PMR.Hardware;
+option java_package = "com.twine.tango.pmr.hardware";
+
+enum HardwareDancerType
+{
+
+    LeftDancer = 0;
+
+    MiddleDancer = 1;
+
+    RightDancer = 2;
+
+}
diff --git a/Software/PMR/Messages/Hardware/HardwareDispenser.proto b/Software/PMR/Messages/Hardware/HardwareDispenser.proto
new file mode 100644
index 000000000..e6e3c0785
--- /dev/null
+++ b/Software/PMR/Messages/Hardware/HardwareDispenser.proto
@@ -0,0 +1,41 @@
+syntax = "proto3";
+
+//This file is auto-generated. Do not modify!
+
+package Tango.PMR.Hardware;
+option java_package = "com.twine.tango.pmr.hardware";
+
+message HardwareDispenser
+{
+
+    int32 Code = 1;
+
+    int32 OutputProportionalPowerLimit = 2;
+
+    int32 OutputProportionalBand = 3;
+
+    int32 IntegralTime = 4;
+
+    int32 DerivativeTime = 5;
+
+    int32 SensorCorrectionAdjustment = 6;
+
+    int32 SensorMinValue = 7;
+
+    int32 SensorMaxValue = 8;
+
+    int32 SetPointRampRateorSoftStartRamp = 9;
+
+    int32 SetPointControlOutputRate = 10;
+
+    int32 ControlOutputType = 11;
+
+    int32 SsrControlOutputType = 12;
+
+    int32 OutputOnOffHysteresisValue = 13;
+
+    int32 ProcessVariableSamplingRate = 14;
+
+    int32 PvInputFilterFactorMode = 15;
+
+}
diff --git a/Software/PMR/Messages/Hardware/HardwareMotor.proto b/Software/PMR/Messages/Hardware/HardwareMotor.proto
new file mode 100644
index 000000000..accc2a5ff
--- /dev/null
+++ b/Software/PMR/Messages/Hardware/HardwareMotor.proto
@@ -0,0 +1,43 @@
+syntax = "proto3";
+
+//This file is auto-generated. Do not modify!
+
+import "HardwareMotorType.proto";
+
+package Tango.PMR.Hardware;
+option java_package = "com.twine.tango.pmr.hardware";
+
+message HardwareMotor
+{
+
+    HardwareMotorType HardwareMotorType = 1;
+
+    int32 MinFrequency = 2;
+
+    int32 MaxFrequency = 3;
+
+    int32 MinMicroStep = 4;
+
+    int32 MaxMicroStep = 5;
+
+    double LinearRatio = 6;
+
+    int32 MedianPosition = 7;
+
+    double CorrectionGain = 8;
+
+    double RatioToDryerSpeed = 9;
+
+    double Kp = 10;
+
+    double Ki = 11;
+
+    double Kd = 12;
+
+    double ChangeSlope = 13;
+
+    double HighLengthMicroSecond = 14;
+
+    bool SpeedMaster = 15;
+
+}
diff --git a/Software/PMR/Messages/Hardware/HardwareMotorType.proto b/Software/PMR/Messages/Hardware/HardwareMotorType.proto
new file mode 100644
index 000000000..46c6911f9
--- /dev/null
+++ b/Software/PMR/Messages/Hardware/HardwareMotorType.proto
@@ -0,0 +1,19 @@
+syntax = "proto3";
+
+//This file is auto-generated. Do not modify!
+
+package Tango.PMR.Hardware;
+option java_package = "com.twine.tango.pmr.hardware";
+
+enum HardwareMotorType
+{
+
+    WinderMotor = 0;
+
+    FeederMotor = 1;
+
+    DryerMotor = 2;
+
+    PoolerMotor = 3;
+
+}
diff --git a/Software/PMR/Messages/Hardware/HardwarePidControl.proto b/Software/PMR/Messages/Hardware/HardwarePidControl.proto
new file mode 100644
index 000000000..49f1928cd
--- /dev/null
+++ b/Software/PMR/Messages/Hardware/HardwarePidControl.proto
@@ -0,0 +1,43 @@
+syntax = "proto3";
+
+//This file is auto-generated. Do not modify!
+
+import "HardwarePidControlType.proto";
+
+package Tango.PMR.Hardware;
+option java_package = "com.twine.tango.pmr.hardware";
+
+message HardwarePidControl
+{
+
+    HardwarePidControlType HardwarePidControlType = 1;
+
+    int32 OutputProportionalPowerLimit = 2;
+
+    int32 OutputProportionalBand = 3;
+
+    int32 IntegralTime = 4;
+
+    int32 DerivativeTime = 5;
+
+    int32 SensorCorrectionAdjustment = 6;
+
+    int32 SensorMinValue = 7;
+
+    int32 SensorMaxValue = 8;
+
+    int32 SetPointRampRateorSoftStartRamp = 9;
+
+    int32 SetPointControlOutputRate = 10;
+
+    int32 ControlOutputType = 11;
+
+    int32 SsrControlOutputType = 12;
+
+    int32 OutputOnOffHysteresisValue = 13;
+
+    int32 ProcessVariableSamplingRate = 14;
+
+    int32 PvInputFilterFactorMode = 15;
+
+}
diff --git a/Software/PMR/Messages/Hardware/HardwarePidControlType.proto b/Software/PMR/Messages/Hardware/HardwarePidControlType.proto
new file mode 100644
index 000000000..e9fa9fd30
--- /dev/null
+++ b/Software/PMR/Messages/Hardware/HardwarePidControlType.proto
@@ -0,0 +1,39 @@
+syntax = "proto3";
+
+//This file is auto-generated. Do not modify!
+
+package Tango.PMR.Hardware;
+option java_package = "com.twine.tango.pmr.hardware";
+
+enum HardwarePidControlType
+{
+
+    DryerHeater1000w = 0;
+
+    DryerHeater200w1 = 1;
+
+    DryerHeater200w2 = 2;
+
+    HeadHeaterZ1 = 3;
+
+    HeadHeaterZ2 = 4;
+
+    HeadHeaterZ3 = 5;
+
+    HeadHeaterZ4 = 6;
+
+    MixerHeater = 7;
+
+    WasteControl = 8;
+
+    MotorDryer = 9;
+
+    MotorFeeder = 10;
+
+    MotorPooler = 11;
+
+    MotorWinder = 12;
+
+    DryerHeater400 = 13;
+
+}
diff --git a/Software/Visual_Studio/Tango.CodeGeneration/ProtoEnumFile.cs b/Software/Visual_Studio/Tango.CodeGeneration/ProtoEnumFile.cs
new file mode 100644
index 000000000..2a4ad5d35
--- /dev/null
+++ b/Software/Visual_Studio/Tango.CodeGeneration/ProtoEnumFile.cs
@@ -0,0 +1,19 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Tango.CodeGeneration
+{
+    public class ProtoEnumFile : EnumerationFile
+    {
+        public String Package { get; set; }
+        public List<String> Imports { get; set; }
+
+        public ProtoEnumFile()
+        {
+            Imports = new List<string>();
+        }
+    }
+}
diff --git a/Software/Visual_Studio/Tango.CodeGeneration/ProtoMessageFile.cs b/Software/Visual_Studio/Tango.CodeGeneration/ProtoMessageFile.cs
new file mode 100644
index 000000000..6d771099a
--- /dev/null
+++ b/Software/Visual_Studio/Tango.CodeGeneration/ProtoMessageFile.cs
@@ -0,0 +1,19 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Tango.CodeGeneration
+{
+    public class ProtoMessageFile : Class
+    {
+        public String Package { get; set; }
+        public List<String> Imports { get; set; }
+
+        public ProtoMessageFile()
+        {
+            Imports = new List<string>();
+        }
+    }
+}
diff --git a/Software/Visual_Studio/Tango.CodeGeneration/Tango.CodeGeneration.csproj b/Software/Visual_Studio/Tango.CodeGeneration/Tango.CodeGeneration.csproj
index ff9072a1a..d622bd6a0 100644
--- a/Software/Visual_Studio/Tango.CodeGeneration/Tango.CodeGeneration.csproj
+++ b/Software/Visual_Studio/Tango.CodeGeneration/Tango.CodeGeneration.csproj
@@ -68,6 +68,8 @@
     <Compile Include="EntityCodeFile.cs" />
     <Compile Include="EnumerationField.cs" />
     <Compile Include="ObservablesContextCodeFile.cs" />
+    <Compile Include="ProtoEnumFile.cs" />
+    <Compile Include="ProtoMessageFile.cs" />
     <Compile Include="TangoDAOJavaFile.cs" />
     <Compile Include="EnumerationFileJava.cs" />
     <Compile Include="EnumerationFile.cs" />
@@ -106,6 +108,8 @@
     <EmbeddedResource Include="Templates\EnumerationFileJava.cshtml" />
     <EmbeddedResource Include="Templates\TangoDAOJavaFile.cshtml" />
     <EmbeddedResource Include="Templates\ObservablesContextCodeFile.cshtml" />
+    <EmbeddedResource Include="Templates\ProtoMessageFile.cshtml" />
+    <EmbeddedResource Include="Templates\ProtoEnumFile.cshtml" />
   </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
   <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
diff --git a/Software/Visual_Studio/Tango.CodeGeneration/Templates/ProtoEnumFile.cshtml b/Software/Visual_Studio/Tango.CodeGeneration/Templates/ProtoEnumFile.cshtml
new file mode 100644
index 000000000..790e5dd93
--- /dev/null
+++ b/Software/Visual_Studio/Tango.CodeGeneration/Templates/ProtoEnumFile.cshtml
@@ -0,0 +1,23 @@
+syntax = "proto3";
+
+//This file is auto-generated. Do not modify!
+
+@foreach (var import in Model.Imports)
+{
+    <div>
+        import "@(import)";
+    </div>
+}
+
+package @(Model.Package);
+option java_package = "com.twine.@(Model.Package.ToLower())";
+
+enum @(Model.Name)
+{
+    @foreach (var prop in Model.Fields)
+    {
+    <div>
+        @(prop.Name) = @(prop.Value);
+    </div>
+    }
+}
diff --git a/Software/Visual_Studio/Tango.CodeGeneration/Templates/ProtoMessageFile.cshtml b/Software/Visual_Studio/Tango.CodeGeneration/Templates/ProtoMessageFile.cshtml
new file mode 100644
index 000000000..7452db6e6
--- /dev/null
+++ b/Software/Visual_Studio/Tango.CodeGeneration/Templates/ProtoMessageFile.cshtml
@@ -0,0 +1,24 @@
+syntax = "proto3";
+
+//This file is auto-generated. Do not modify!
+
+@foreach (var import in Model.Imports)
+{
+    <div>
+        import "@(import)";
+    </div>
+}
+
+package @(Model.Package);
+option java_package = "com.twine.@(Model.Package.ToLower())";
+
+message @(Model.Name)
+{
+
+@for (int i = 0; i < Model.Properties.Count; i++)
+{
+<div>
+    @(Model.Properties[i].Type) @(Model.Properties[i].Name) = @(i + 1);
+</div>
+}
+}
diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/HardwareDancer.cs b/Software/Visual_Studio/Tango.PMR/Hardware/HardwareDancer.cs
new file mode 100644
index 000000000..38c04472c
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Hardware/HardwareDancer.cs
@@ -0,0 +1,274 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: HardwareDancer.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Hardware {
+
+  /// <summary>Holder for reflection information generated from HardwareDancer.proto</summary>
+  public static partial class HardwareDancerReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for HardwareDancer.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static HardwareDancerReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChRIYXJkd2FyZURhbmNlci5wcm90bxISVGFuZ28uUE1SLkhhcmR3YXJlGhhI",
+            "YXJkd2FyZURhbmNlclR5cGUucHJvdG8ilQEKDkhhcmR3YXJlRGFuY2VyEkIK",
+            "EkhhcmR3YXJlRGFuY2VyVHlwZRgBIAEoDjImLlRhbmdvLlBNUi5IYXJkd2Fy",
+            "ZS5IYXJkd2FyZURhbmNlclR5cGUSDwoHR3JhZHVhbBgCIAEoCBIJCgFLGAMg",
+            "ASgBEgkKAVgYBCABKAESGAoQUHVsc2VQZXJNbVNwcmluZxgFIAEoBUIeChxj",
+            "b20udHdpbmUudGFuZ28ucG1yLmhhcmR3YXJlYgZwcm90bzM="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { global::Tango.PMR.Hardware.HardwareDancerTypeReflection.Descriptor, },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Hardware.HardwareDancer), global::Tango.PMR.Hardware.HardwareDancer.Parser, new[]{ "HardwareDancerType", "Gradual", "K", "X", "PulsePerMmSpring" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class HardwareDancer : pb::IMessage<HardwareDancer> {
+    private static readonly pb::MessageParser<HardwareDancer> _parser = new pb::MessageParser<HardwareDancer>(() => new HardwareDancer());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<HardwareDancer> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Hardware.HardwareDancerReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public HardwareDancer() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public HardwareDancer(HardwareDancer other) : this() {
+      hardwareDancerType_ = other.hardwareDancerType_;
+      gradual_ = other.gradual_;
+      k_ = other.k_;
+      x_ = other.x_;
+      pulsePerMmSpring_ = other.pulsePerMmSpring_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public HardwareDancer Clone() {
+      return new HardwareDancer(this);
+    }
+
+    /// <summary>Field number for the "HardwareDancerType" field.</summary>
+    public const int HardwareDancerTypeFieldNumber = 1;
+    private global::Tango.PMR.Hardware.HardwareDancerType hardwareDancerType_ = 0;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public global::Tango.PMR.Hardware.HardwareDancerType HardwareDancerType {
+      get { return hardwareDancerType_; }
+      set {
+        hardwareDancerType_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Gradual" field.</summary>
+    public const int GradualFieldNumber = 2;
+    private bool gradual_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Gradual {
+      get { return gradual_; }
+      set {
+        gradual_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "K" field.</summary>
+    public const int KFieldNumber = 3;
+    private double k_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double K {
+      get { return k_; }
+      set {
+        k_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "X" field.</summary>
+    public const int XFieldNumber = 4;
+    private double x_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double X {
+      get { return x_; }
+      set {
+        x_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "PulsePerMmSpring" field.</summary>
+    public const int PulsePerMmSpringFieldNumber = 5;
+    private int pulsePerMmSpring_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int PulsePerMmSpring {
+      get { return pulsePerMmSpring_; }
+      set {
+        pulsePerMmSpring_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as HardwareDancer);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(HardwareDancer other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (HardwareDancerType != other.HardwareDancerType) return false;
+      if (Gradual != other.Gradual) return false;
+      if (K != other.K) return false;
+      if (X != other.X) return false;
+      if (PulsePerMmSpring != other.PulsePerMmSpring) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (HardwareDancerType != 0) hash ^= HardwareDancerType.GetHashCode();
+      if (Gradual != false) hash ^= Gradual.GetHashCode();
+      if (K != 0D) hash ^= K.GetHashCode();
+      if (X != 0D) hash ^= X.GetHashCode();
+      if (PulsePerMmSpring != 0) hash ^= PulsePerMmSpring.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (HardwareDancerType != 0) {
+        output.WriteRawTag(8);
+        output.WriteEnum((int) HardwareDancerType);
+      }
+      if (Gradual != false) {
+        output.WriteRawTag(16);
+        output.WriteBool(Gradual);
+      }
+      if (K != 0D) {
+        output.WriteRawTag(25);
+        output.WriteDouble(K);
+      }
+      if (X != 0D) {
+        output.WriteRawTag(33);
+        output.WriteDouble(X);
+      }
+      if (PulsePerMmSpring != 0) {
+        output.WriteRawTag(40);
+        output.WriteInt32(PulsePerMmSpring);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (HardwareDancerType != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeEnumSize((int) HardwareDancerType);
+      }
+      if (Gradual != false) {
+        size += 1 + 1;
+      }
+      if (K != 0D) {
+        size += 1 + 8;
+      }
+      if (X != 0D) {
+        size += 1 + 8;
+      }
+      if (PulsePerMmSpring != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(PulsePerMmSpring);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(HardwareDancer other) {
+      if (other == null) {
+        return;
+      }
+      if (other.HardwareDancerType != 0) {
+        HardwareDancerType = other.HardwareDancerType;
+      }
+      if (other.Gradual != false) {
+        Gradual = other.Gradual;
+      }
+      if (other.K != 0D) {
+        K = other.K;
+      }
+      if (other.X != 0D) {
+        X = other.X;
+      }
+      if (other.PulsePerMmSpring != 0) {
+        PulsePerMmSpring = other.PulsePerMmSpring;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 8: {
+            hardwareDancerType_ = (global::Tango.PMR.Hardware.HardwareDancerType) input.ReadEnum();
+            break;
+          }
+          case 16: {
+            Gradual = input.ReadBool();
+            break;
+          }
+          case 25: {
+            K = input.ReadDouble();
+            break;
+          }
+          case 33: {
+            X = input.ReadDouble();
+            break;
+          }
+          case 40: {
+            PulsePerMmSpring = input.ReadInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/HardwareDancerType.cs b/Software/Visual_Studio/Tango.PMR/Hardware/HardwareDancerType.cs
new file mode 100644
index 000000000..a314c8996
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Hardware/HardwareDancerType.cs
@@ -0,0 +1,47 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: HardwareDancerType.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Hardware {
+
+  /// <summary>Holder for reflection information generated from HardwareDancerType.proto</summary>
+  public static partial class HardwareDancerTypeReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for HardwareDancerType.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static HardwareDancerTypeReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChhIYXJkd2FyZURhbmNlclR5cGUucHJvdG8SElRhbmdvLlBNUi5IYXJkd2Fy",
+            "ZSpHChJIYXJkd2FyZURhbmNlclR5cGUSDgoKTGVmdERhbmNlchAAEhAKDE1p",
+            "ZGRsZURhbmNlchABEg8KC1JpZ2h0RGFuY2VyEAJCHgocY29tLnR3aW5lLnRh",
+            "bmdvLnBtci5oYXJkd2FyZWIGcHJvdG8z"));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Hardware.HardwareDancerType), }, null));
+    }
+    #endregion
+
+  }
+  #region Enums
+  public enum HardwareDancerType {
+    [pbr::OriginalName("LeftDancer")] LeftDancer = 0,
+    [pbr::OriginalName("MiddleDancer")] MiddleDancer = 1,
+    [pbr::OriginalName("RightDancer")] RightDancer = 2,
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/HardwareDispenser.cs b/Software/Visual_Studio/Tango.PMR/Hardware/HardwareDispenser.cs
new file mode 100644
index 000000000..97d08a931
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Hardware/HardwareDispenser.cs
@@ -0,0 +1,561 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: HardwareDispenser.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Hardware {
+
+  /// <summary>Holder for reflection information generated from HardwareDispenser.proto</summary>
+  public static partial class HardwareDispenserReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for HardwareDispenser.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static HardwareDispenserReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChdIYXJkd2FyZURpc3BlbnNlci5wcm90bxISVGFuZ28uUE1SLkhhcmR3YXJl",
+            "ItgDChFIYXJkd2FyZURpc3BlbnNlchIMCgRDb2RlGAEgASgFEiQKHE91dHB1",
+            "dFByb3BvcnRpb25hbFBvd2VyTGltaXQYAiABKAUSHgoWT3V0cHV0UHJvcG9y",
+            "dGlvbmFsQmFuZBgDIAEoBRIUCgxJbnRlZ3JhbFRpbWUYBCABKAUSFgoORGVy",
+            "aXZhdGl2ZVRpbWUYBSABKAUSIgoaU2Vuc29yQ29ycmVjdGlvbkFkanVzdG1l",
+            "bnQYBiABKAUSFgoOU2Vuc29yTWluVmFsdWUYByABKAUSFgoOU2Vuc29yTWF4",
+            "VmFsdWUYCCABKAUSJwofU2V0UG9pbnRSYW1wUmF0ZW9yU29mdFN0YXJ0UmFt",
+            "cBgJIAEoBRIhChlTZXRQb2ludENvbnRyb2xPdXRwdXRSYXRlGAogASgFEhkK",
+            "EUNvbnRyb2xPdXRwdXRUeXBlGAsgASgFEhwKFFNzckNvbnRyb2xPdXRwdXRU",
+            "eXBlGAwgASgFEiIKGk91dHB1dE9uT2ZmSHlzdGVyZXNpc1ZhbHVlGA0gASgF",
+            "EiMKG1Byb2Nlc3NWYXJpYWJsZVNhbXBsaW5nUmF0ZRgOIAEoBRIfChdQdklu",
+            "cHV0RmlsdGVyRmFjdG9yTW9kZRgPIAEoBUIeChxjb20udHdpbmUudGFuZ28u",
+            "cG1yLmhhcmR3YXJlYgZwcm90bzM="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Hardware.HardwareDispenser), global::Tango.PMR.Hardware.HardwareDispenser.Parser, new[]{ "Code", "OutputProportionalPowerLimit", "OutputProportionalBand", "IntegralTime", "DerivativeTime", "SensorCorrectionAdjustment", "SensorMinValue", "SensorMaxValue", "SetPointRampRateorSoftStartRamp", "SetPointControlOutputRate", "ControlOutputType", "SsrControlOutputType", "OutputOnOffHysteresisValue", "ProcessVariableSamplingRate", "PvInputFilterFactorMode" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class HardwareDispenser : pb::IMessage<HardwareDispenser> {
+    private static readonly pb::MessageParser<HardwareDispenser> _parser = new pb::MessageParser<HardwareDispenser>(() => new HardwareDispenser());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<HardwareDispenser> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Hardware.HardwareDispenserReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public HardwareDispenser() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public HardwareDispenser(HardwareDispenser other) : this() {
+      code_ = other.code_;
+      outputProportionalPowerLimit_ = other.outputProportionalPowerLimit_;
+      outputProportionalBand_ = other.outputProportionalBand_;
+      integralTime_ = other.integralTime_;
+      derivativeTime_ = other.derivativeTime_;
+      sensorCorrectionAdjustment_ = other.sensorCorrectionAdjustment_;
+      sensorMinValue_ = other.sensorMinValue_;
+      sensorMaxValue_ = other.sensorMaxValue_;
+      setPointRampRateorSoftStartRamp_ = other.setPointRampRateorSoftStartRamp_;
+      setPointControlOutputRate_ = other.setPointControlOutputRate_;
+      controlOutputType_ = other.controlOutputType_;
+      ssrControlOutputType_ = other.ssrControlOutputType_;
+      outputOnOffHysteresisValue_ = other.outputOnOffHysteresisValue_;
+      processVariableSamplingRate_ = other.processVariableSamplingRate_;
+      pvInputFilterFactorMode_ = other.pvInputFilterFactorMode_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public HardwareDispenser Clone() {
+      return new HardwareDispenser(this);
+    }
+
+    /// <summary>Field number for the "Code" field.</summary>
+    public const int CodeFieldNumber = 1;
+    private int code_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Code {
+      get { return code_; }
+      set {
+        code_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "OutputProportionalPowerLimit" field.</summary>
+    public const int OutputProportionalPowerLimitFieldNumber = 2;
+    private int outputProportionalPowerLimit_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int OutputProportionalPowerLimit {
+      get { return outputProportionalPowerLimit_; }
+      set {
+        outputProportionalPowerLimit_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "OutputProportionalBand" field.</summary>
+    public const int OutputProportionalBandFieldNumber = 3;
+    private int outputProportionalBand_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int OutputProportionalBand {
+      get { return outputProportionalBand_; }
+      set {
+        outputProportionalBand_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "IntegralTime" field.</summary>
+    public const int IntegralTimeFieldNumber = 4;
+    private int integralTime_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int IntegralTime {
+      get { return integralTime_; }
+      set {
+        integralTime_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "DerivativeTime" field.</summary>
+    public const int DerivativeTimeFieldNumber = 5;
+    private int derivativeTime_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int DerivativeTime {
+      get { return derivativeTime_; }
+      set {
+        derivativeTime_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "SensorCorrectionAdjustment" field.</summary>
+    public const int SensorCorrectionAdjustmentFieldNumber = 6;
+    private int sensorCorrectionAdjustment_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int SensorCorrectionAdjustment {
+      get { return sensorCorrectionAdjustment_; }
+      set {
+        sensorCorrectionAdjustment_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "SensorMinValue" field.</summary>
+    public const int SensorMinValueFieldNumber = 7;
+    private int sensorMinValue_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int SensorMinValue {
+      get { return sensorMinValue_; }
+      set {
+        sensorMinValue_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "SensorMaxValue" field.</summary>
+    public const int SensorMaxValueFieldNumber = 8;
+    private int sensorMaxValue_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int SensorMaxValue {
+      get { return sensorMaxValue_; }
+      set {
+        sensorMaxValue_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "SetPointRampRateorSoftStartRamp" field.</summary>
+    public const int SetPointRampRateorSoftStartRampFieldNumber = 9;
+    private int setPointRampRateorSoftStartRamp_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int SetPointRampRateorSoftStartRamp {
+      get { return setPointRampRateorSoftStartRamp_; }
+      set {
+        setPointRampRateorSoftStartRamp_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "SetPointControlOutputRate" field.</summary>
+    public const int SetPointControlOutputRateFieldNumber = 10;
+    private int setPointControlOutputRate_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int SetPointControlOutputRate {
+      get { return setPointControlOutputRate_; }
+      set {
+        setPointControlOutputRate_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "ControlOutputType" field.</summary>
+    public const int ControlOutputTypeFieldNumber = 11;
+    private int controlOutputType_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int ControlOutputType {
+      get { return controlOutputType_; }
+      set {
+        controlOutputType_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "SsrControlOutputType" field.</summary>
+    public const int SsrControlOutputTypeFieldNumber = 12;
+    private int ssrControlOutputType_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int SsrControlOutputType {
+      get { return ssrControlOutputType_; }
+      set {
+        ssrControlOutputType_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "OutputOnOffHysteresisValue" field.</summary>
+    public const int OutputOnOffHysteresisValueFieldNumber = 13;
+    private int outputOnOffHysteresisValue_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int OutputOnOffHysteresisValue {
+      get { return outputOnOffHysteresisValue_; }
+      set {
+        outputOnOffHysteresisValue_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "ProcessVariableSamplingRate" field.</summary>
+    public const int ProcessVariableSamplingRateFieldNumber = 14;
+    private int processVariableSamplingRate_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int ProcessVariableSamplingRate {
+      get { return processVariableSamplingRate_; }
+      set {
+        processVariableSamplingRate_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "PvInputFilterFactorMode" field.</summary>
+    public const int PvInputFilterFactorModeFieldNumber = 15;
+    private int pvInputFilterFactorMode_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int PvInputFilterFactorMode {
+      get { return pvInputFilterFactorMode_; }
+      set {
+        pvInputFilterFactorMode_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as HardwareDispenser);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(HardwareDispenser other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Code != other.Code) return false;
+      if (OutputProportionalPowerLimit != other.OutputProportionalPowerLimit) return false;
+      if (OutputProportionalBand != other.OutputProportionalBand) return false;
+      if (IntegralTime != other.IntegralTime) return false;
+      if (DerivativeTime != other.DerivativeTime) return false;
+      if (SensorCorrectionAdjustment != other.SensorCorrectionAdjustment) return false;
+      if (SensorMinValue != other.SensorMinValue) return false;
+      if (SensorMaxValue != other.SensorMaxValue) return false;
+      if (SetPointRampRateorSoftStartRamp != other.SetPointRampRateorSoftStartRamp) return false;
+      if (SetPointControlOutputRate != other.SetPointControlOutputRate) return false;
+      if (ControlOutputType != other.ControlOutputType) return false;
+      if (SsrControlOutputType != other.SsrControlOutputType) return false;
+      if (OutputOnOffHysteresisValue != other.OutputOnOffHysteresisValue) return false;
+      if (ProcessVariableSamplingRate != other.ProcessVariableSamplingRate) return false;
+      if (PvInputFilterFactorMode != other.PvInputFilterFactorMode) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Code != 0) hash ^= Code.GetHashCode();
+      if (OutputProportionalPowerLimit != 0) hash ^= OutputProportionalPowerLimit.GetHashCode();
+      if (OutputProportionalBand != 0) hash ^= OutputProportionalBand.GetHashCode();
+      if (IntegralTime != 0) hash ^= IntegralTime.GetHashCode();
+      if (DerivativeTime != 0) hash ^= DerivativeTime.GetHashCode();
+      if (SensorCorrectionAdjustment != 0) hash ^= SensorCorrectionAdjustment.GetHashCode();
+      if (SensorMinValue != 0) hash ^= SensorMinValue.GetHashCode();
+      if (SensorMaxValue != 0) hash ^= SensorMaxValue.GetHashCode();
+      if (SetPointRampRateorSoftStartRamp != 0) hash ^= SetPointRampRateorSoftStartRamp.GetHashCode();
+      if (SetPointControlOutputRate != 0) hash ^= SetPointControlOutputRate.GetHashCode();
+      if (ControlOutputType != 0) hash ^= ControlOutputType.GetHashCode();
+      if (SsrControlOutputType != 0) hash ^= SsrControlOutputType.GetHashCode();
+      if (OutputOnOffHysteresisValue != 0) hash ^= OutputOnOffHysteresisValue.GetHashCode();
+      if (ProcessVariableSamplingRate != 0) hash ^= ProcessVariableSamplingRate.GetHashCode();
+      if (PvInputFilterFactorMode != 0) hash ^= PvInputFilterFactorMode.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (Code != 0) {
+        output.WriteRawTag(8);
+        output.WriteInt32(Code);
+      }
+      if (OutputProportionalPowerLimit != 0) {
+        output.WriteRawTag(16);
+        output.WriteInt32(OutputProportionalPowerLimit);
+      }
+      if (OutputProportionalBand != 0) {
+        output.WriteRawTag(24);
+        output.WriteInt32(OutputProportionalBand);
+      }
+      if (IntegralTime != 0) {
+        output.WriteRawTag(32);
+        output.WriteInt32(IntegralTime);
+      }
+      if (DerivativeTime != 0) {
+        output.WriteRawTag(40);
+        output.WriteInt32(DerivativeTime);
+      }
+      if (SensorCorrectionAdjustment != 0) {
+        output.WriteRawTag(48);
+        output.WriteInt32(SensorCorrectionAdjustment);
+      }
+      if (SensorMinValue != 0) {
+        output.WriteRawTag(56);
+        output.WriteInt32(SensorMinValue);
+      }
+      if (SensorMaxValue != 0) {
+        output.WriteRawTag(64);
+        output.WriteInt32(SensorMaxValue);
+      }
+      if (SetPointRampRateorSoftStartRamp != 0) {
+        output.WriteRawTag(72);
+        output.WriteInt32(SetPointRampRateorSoftStartRamp);
+      }
+      if (SetPointControlOutputRate != 0) {
+        output.WriteRawTag(80);
+        output.WriteInt32(SetPointControlOutputRate);
+      }
+      if (ControlOutputType != 0) {
+        output.WriteRawTag(88);
+        output.WriteInt32(ControlOutputType);
+      }
+      if (SsrControlOutputType != 0) {
+        output.WriteRawTag(96);
+        output.WriteInt32(SsrControlOutputType);
+      }
+      if (OutputOnOffHysteresisValue != 0) {
+        output.WriteRawTag(104);
+        output.WriteInt32(OutputOnOffHysteresisValue);
+      }
+      if (ProcessVariableSamplingRate != 0) {
+        output.WriteRawTag(112);
+        output.WriteInt32(ProcessVariableSamplingRate);
+      }
+      if (PvInputFilterFactorMode != 0) {
+        output.WriteRawTag(120);
+        output.WriteInt32(PvInputFilterFactorMode);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Code != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Code);
+      }
+      if (OutputProportionalPowerLimit != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(OutputProportionalPowerLimit);
+      }
+      if (OutputProportionalBand != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(OutputProportionalBand);
+      }
+      if (IntegralTime != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(IntegralTime);
+      }
+      if (DerivativeTime != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(DerivativeTime);
+      }
+      if (SensorCorrectionAdjustment != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SensorCorrectionAdjustment);
+      }
+      if (SensorMinValue != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SensorMinValue);
+      }
+      if (SensorMaxValue != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SensorMaxValue);
+      }
+      if (SetPointRampRateorSoftStartRamp != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SetPointRampRateorSoftStartRamp);
+      }
+      if (SetPointControlOutputRate != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SetPointControlOutputRate);
+      }
+      if (ControlOutputType != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(ControlOutputType);
+      }
+      if (SsrControlOutputType != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SsrControlOutputType);
+      }
+      if (OutputOnOffHysteresisValue != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(OutputOnOffHysteresisValue);
+      }
+      if (ProcessVariableSamplingRate != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(ProcessVariableSamplingRate);
+      }
+      if (PvInputFilterFactorMode != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(PvInputFilterFactorMode);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(HardwareDispenser other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Code != 0) {
+        Code = other.Code;
+      }
+      if (other.OutputProportionalPowerLimit != 0) {
+        OutputProportionalPowerLimit = other.OutputProportionalPowerLimit;
+      }
+      if (other.OutputProportionalBand != 0) {
+        OutputProportionalBand = other.OutputProportionalBand;
+      }
+      if (other.IntegralTime != 0) {
+        IntegralTime = other.IntegralTime;
+      }
+      if (other.DerivativeTime != 0) {
+        DerivativeTime = other.DerivativeTime;
+      }
+      if (other.SensorCorrectionAdjustment != 0) {
+        SensorCorrectionAdjustment = other.SensorCorrectionAdjustment;
+      }
+      if (other.SensorMinValue != 0) {
+        SensorMinValue = other.SensorMinValue;
+      }
+      if (other.SensorMaxValue != 0) {
+        SensorMaxValue = other.SensorMaxValue;
+      }
+      if (other.SetPointRampRateorSoftStartRamp != 0) {
+        SetPointRampRateorSoftStartRamp = other.SetPointRampRateorSoftStartRamp;
+      }
+      if (other.SetPointControlOutputRate != 0) {
+        SetPointControlOutputRate = other.SetPointControlOutputRate;
+      }
+      if (other.ControlOutputType != 0) {
+        ControlOutputType = other.ControlOutputType;
+      }
+      if (other.SsrControlOutputType != 0) {
+        SsrControlOutputType = other.SsrControlOutputType;
+      }
+      if (other.OutputOnOffHysteresisValue != 0) {
+        OutputOnOffHysteresisValue = other.OutputOnOffHysteresisValue;
+      }
+      if (other.ProcessVariableSamplingRate != 0) {
+        ProcessVariableSamplingRate = other.ProcessVariableSamplingRate;
+      }
+      if (other.PvInputFilterFactorMode != 0) {
+        PvInputFilterFactorMode = other.PvInputFilterFactorMode;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 8: {
+            Code = input.ReadInt32();
+            break;
+          }
+          case 16: {
+            OutputProportionalPowerLimit = input.ReadInt32();
+            break;
+          }
+          case 24: {
+            OutputProportionalBand = input.ReadInt32();
+            break;
+          }
+          case 32: {
+            IntegralTime = input.ReadInt32();
+            break;
+          }
+          case 40: {
+            DerivativeTime = input.ReadInt32();
+            break;
+          }
+          case 48: {
+            SensorCorrectionAdjustment = input.ReadInt32();
+            break;
+          }
+          case 56: {
+            SensorMinValue = input.ReadInt32();
+            break;
+          }
+          case 64: {
+            SensorMaxValue = input.ReadInt32();
+            break;
+          }
+          case 72: {
+            SetPointRampRateorSoftStartRamp = input.ReadInt32();
+            break;
+          }
+          case 80: {
+            SetPointControlOutputRate = input.ReadInt32();
+            break;
+          }
+          case 88: {
+            ControlOutputType = input.ReadInt32();
+            break;
+          }
+          case 96: {
+            SsrControlOutputType = input.ReadInt32();
+            break;
+          }
+          case 104: {
+            OutputOnOffHysteresisValue = input.ReadInt32();
+            break;
+          }
+          case 112: {
+            ProcessVariableSamplingRate = input.ReadInt32();
+            break;
+          }
+          case 120: {
+            PvInputFilterFactorMode = input.ReadInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/HardwareMotor.cs b/Software/Visual_Studio/Tango.PMR/Hardware/HardwareMotor.cs
new file mode 100644
index 000000000..eb6743fba
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Hardware/HardwareMotor.cs
@@ -0,0 +1,559 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: HardwareMotor.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Hardware {
+
+  /// <summary>Holder for reflection information generated from HardwareMotor.proto</summary>
+  public static partial class HardwareMotorReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for HardwareMotor.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static HardwareMotorReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChNIYXJkd2FyZU1vdG9yLnByb3RvEhJUYW5nby5QTVIuSGFyZHdhcmUaF0hh",
+            "cmR3YXJlTW90b3JUeXBlLnByb3RvIvYCCg1IYXJkd2FyZU1vdG9yEkAKEUhh",
+            "cmR3YXJlTW90b3JUeXBlGAEgASgOMiUuVGFuZ28uUE1SLkhhcmR3YXJlLkhh",
+            "cmR3YXJlTW90b3JUeXBlEhQKDE1pbkZyZXF1ZW5jeRgCIAEoBRIUCgxNYXhG",
+            "cmVxdWVuY3kYAyABKAUSFAoMTWluTWljcm9TdGVwGAQgASgFEhQKDE1heE1p",
+            "Y3JvU3RlcBgFIAEoBRITCgtMaW5lYXJSYXRpbxgGIAEoARIWCg5NZWRpYW5Q",
+            "b3NpdGlvbhgHIAEoBRIWCg5Db3JyZWN0aW9uR2FpbhgIIAEoARIZChFSYXRp",
+            "b1RvRHJ5ZXJTcGVlZBgJIAEoARIKCgJLcBgKIAEoARIKCgJLaRgLIAEoARIK",
+            "CgJLZBgMIAEoARITCgtDaGFuZ2VTbG9wZRgNIAEoARIdChVIaWdoTGVuZ3Ro",
+            "TWljcm9TZWNvbmQYDiABKAESEwoLU3BlZWRNYXN0ZXIYDyABKAhCHgocY29t",
+            "LnR3aW5lLnRhbmdvLnBtci5oYXJkd2FyZWIGcHJvdG8z"));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { global::Tango.PMR.Hardware.HardwareMotorTypeReflection.Descriptor, },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Hardware.HardwareMotor), global::Tango.PMR.Hardware.HardwareMotor.Parser, new[]{ "HardwareMotorType", "MinFrequency", "MaxFrequency", "MinMicroStep", "MaxMicroStep", "LinearRatio", "MedianPosition", "CorrectionGain", "RatioToDryerSpeed", "Kp", "Ki", "Kd", "ChangeSlope", "HighLengthMicroSecond", "SpeedMaster" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class HardwareMotor : pb::IMessage<HardwareMotor> {
+    private static readonly pb::MessageParser<HardwareMotor> _parser = new pb::MessageParser<HardwareMotor>(() => new HardwareMotor());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<HardwareMotor> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Hardware.HardwareMotorReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public HardwareMotor() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public HardwareMotor(HardwareMotor other) : this() {
+      hardwareMotorType_ = other.hardwareMotorType_;
+      minFrequency_ = other.minFrequency_;
+      maxFrequency_ = other.maxFrequency_;
+      minMicroStep_ = other.minMicroStep_;
+      maxMicroStep_ = other.maxMicroStep_;
+      linearRatio_ = other.linearRatio_;
+      medianPosition_ = other.medianPosition_;
+      correctionGain_ = other.correctionGain_;
+      ratioToDryerSpeed_ = other.ratioToDryerSpeed_;
+      kp_ = other.kp_;
+      ki_ = other.ki_;
+      kd_ = other.kd_;
+      changeSlope_ = other.changeSlope_;
+      highLengthMicroSecond_ = other.highLengthMicroSecond_;
+      speedMaster_ = other.speedMaster_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public HardwareMotor Clone() {
+      return new HardwareMotor(this);
+    }
+
+    /// <summary>Field number for the "HardwareMotorType" field.</summary>
+    public const int HardwareMotorTypeFieldNumber = 1;
+    private global::Tango.PMR.Hardware.HardwareMotorType hardwareMotorType_ = 0;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public global::Tango.PMR.Hardware.HardwareMotorType HardwareMotorType {
+      get { return hardwareMotorType_; }
+      set {
+        hardwareMotorType_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "MinFrequency" field.</summary>
+    public const int MinFrequencyFieldNumber = 2;
+    private int minFrequency_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int MinFrequency {
+      get { return minFrequency_; }
+      set {
+        minFrequency_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "MaxFrequency" field.</summary>
+    public const int MaxFrequencyFieldNumber = 3;
+    private int maxFrequency_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int MaxFrequency {
+      get { return maxFrequency_; }
+      set {
+        maxFrequency_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "MinMicroStep" field.</summary>
+    public const int MinMicroStepFieldNumber = 4;
+    private int minMicroStep_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int MinMicroStep {
+      get { return minMicroStep_; }
+      set {
+        minMicroStep_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "MaxMicroStep" field.</summary>
+    public const int MaxMicroStepFieldNumber = 5;
+    private int maxMicroStep_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int MaxMicroStep {
+      get { return maxMicroStep_; }
+      set {
+        maxMicroStep_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "LinearRatio" field.</summary>
+    public const int LinearRatioFieldNumber = 6;
+    private double linearRatio_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double LinearRatio {
+      get { return linearRatio_; }
+      set {
+        linearRatio_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "MedianPosition" field.</summary>
+    public const int MedianPositionFieldNumber = 7;
+    private int medianPosition_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int MedianPosition {
+      get { return medianPosition_; }
+      set {
+        medianPosition_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "CorrectionGain" field.</summary>
+    public const int CorrectionGainFieldNumber = 8;
+    private double correctionGain_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double CorrectionGain {
+      get { return correctionGain_; }
+      set {
+        correctionGain_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "RatioToDryerSpeed" field.</summary>
+    public const int RatioToDryerSpeedFieldNumber = 9;
+    private double ratioToDryerSpeed_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double RatioToDryerSpeed {
+      get { return ratioToDryerSpeed_; }
+      set {
+        ratioToDryerSpeed_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Kp" field.</summary>
+    public const int KpFieldNumber = 10;
+    private double kp_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double Kp {
+      get { return kp_; }
+      set {
+        kp_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Ki" field.</summary>
+    public const int KiFieldNumber = 11;
+    private double ki_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double Ki {
+      get { return ki_; }
+      set {
+        ki_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Kd" field.</summary>
+    public const int KdFieldNumber = 12;
+    private double kd_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double Kd {
+      get { return kd_; }
+      set {
+        kd_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "ChangeSlope" field.</summary>
+    public const int ChangeSlopeFieldNumber = 13;
+    private double changeSlope_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double ChangeSlope {
+      get { return changeSlope_; }
+      set {
+        changeSlope_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "HighLengthMicroSecond" field.</summary>
+    public const int HighLengthMicroSecondFieldNumber = 14;
+    private double highLengthMicroSecond_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double HighLengthMicroSecond {
+      get { return highLengthMicroSecond_; }
+      set {
+        highLengthMicroSecond_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "SpeedMaster" field.</summary>
+    public const int SpeedMasterFieldNumber = 15;
+    private bool speedMaster_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool SpeedMaster {
+      get { return speedMaster_; }
+      set {
+        speedMaster_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as HardwareMotor);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(HardwareMotor other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (HardwareMotorType != other.HardwareMotorType) return false;
+      if (MinFrequency != other.MinFrequency) return false;
+      if (MaxFrequency != other.MaxFrequency) return false;
+      if (MinMicroStep != other.MinMicroStep) return false;
+      if (MaxMicroStep != other.MaxMicroStep) return false;
+      if (LinearRatio != other.LinearRatio) return false;
+      if (MedianPosition != other.MedianPosition) return false;
+      if (CorrectionGain != other.CorrectionGain) return false;
+      if (RatioToDryerSpeed != other.RatioToDryerSpeed) return false;
+      if (Kp != other.Kp) return false;
+      if (Ki != other.Ki) return false;
+      if (Kd != other.Kd) return false;
+      if (ChangeSlope != other.ChangeSlope) return false;
+      if (HighLengthMicroSecond != other.HighLengthMicroSecond) return false;
+      if (SpeedMaster != other.SpeedMaster) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (HardwareMotorType != 0) hash ^= HardwareMotorType.GetHashCode();
+      if (MinFrequency != 0) hash ^= MinFrequency.GetHashCode();
+      if (MaxFrequency != 0) hash ^= MaxFrequency.GetHashCode();
+      if (MinMicroStep != 0) hash ^= MinMicroStep.GetHashCode();
+      if (MaxMicroStep != 0) hash ^= MaxMicroStep.GetHashCode();
+      if (LinearRatio != 0D) hash ^= LinearRatio.GetHashCode();
+      if (MedianPosition != 0) hash ^= MedianPosition.GetHashCode();
+      if (CorrectionGain != 0D) hash ^= CorrectionGain.GetHashCode();
+      if (RatioToDryerSpeed != 0D) hash ^= RatioToDryerSpeed.GetHashCode();
+      if (Kp != 0D) hash ^= Kp.GetHashCode();
+      if (Ki != 0D) hash ^= Ki.GetHashCode();
+      if (Kd != 0D) hash ^= Kd.GetHashCode();
+      if (ChangeSlope != 0D) hash ^= ChangeSlope.GetHashCode();
+      if (HighLengthMicroSecond != 0D) hash ^= HighLengthMicroSecond.GetHashCode();
+      if (SpeedMaster != false) hash ^= SpeedMaster.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (HardwareMotorType != 0) {
+        output.WriteRawTag(8);
+        output.WriteEnum((int) HardwareMotorType);
+      }
+      if (MinFrequency != 0) {
+        output.WriteRawTag(16);
+        output.WriteInt32(MinFrequency);
+      }
+      if (MaxFrequency != 0) {
+        output.WriteRawTag(24);
+        output.WriteInt32(MaxFrequency);
+      }
+      if (MinMicroStep != 0) {
+        output.WriteRawTag(32);
+        output.WriteInt32(MinMicroStep);
+      }
+      if (MaxMicroStep != 0) {
+        output.WriteRawTag(40);
+        output.WriteInt32(MaxMicroStep);
+      }
+      if (LinearRatio != 0D) {
+        output.WriteRawTag(49);
+        output.WriteDouble(LinearRatio);
+      }
+      if (MedianPosition != 0) {
+        output.WriteRawTag(56);
+        output.WriteInt32(MedianPosition);
+      }
+      if (CorrectionGain != 0D) {
+        output.WriteRawTag(65);
+        output.WriteDouble(CorrectionGain);
+      }
+      if (RatioToDryerSpeed != 0D) {
+        output.WriteRawTag(73);
+        output.WriteDouble(RatioToDryerSpeed);
+      }
+      if (Kp != 0D) {
+        output.WriteRawTag(81);
+        output.WriteDouble(Kp);
+      }
+      if (Ki != 0D) {
+        output.WriteRawTag(89);
+        output.WriteDouble(Ki);
+      }
+      if (Kd != 0D) {
+        output.WriteRawTag(97);
+        output.WriteDouble(Kd);
+      }
+      if (ChangeSlope != 0D) {
+        output.WriteRawTag(105);
+        output.WriteDouble(ChangeSlope);
+      }
+      if (HighLengthMicroSecond != 0D) {
+        output.WriteRawTag(113);
+        output.WriteDouble(HighLengthMicroSecond);
+      }
+      if (SpeedMaster != false) {
+        output.WriteRawTag(120);
+        output.WriteBool(SpeedMaster);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (HardwareMotorType != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeEnumSize((int) HardwareMotorType);
+      }
+      if (MinFrequency != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(MinFrequency);
+      }
+      if (MaxFrequency != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(MaxFrequency);
+      }
+      if (MinMicroStep != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(MinMicroStep);
+      }
+      if (MaxMicroStep != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(MaxMicroStep);
+      }
+      if (LinearRatio != 0D) {
+        size += 1 + 8;
+      }
+      if (MedianPosition != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(MedianPosition);
+      }
+      if (CorrectionGain != 0D) {
+        size += 1 + 8;
+      }
+      if (RatioToDryerSpeed != 0D) {
+        size += 1 + 8;
+      }
+      if (Kp != 0D) {
+        size += 1 + 8;
+      }
+      if (Ki != 0D) {
+        size += 1 + 8;
+      }
+      if (Kd != 0D) {
+        size += 1 + 8;
+      }
+      if (ChangeSlope != 0D) {
+        size += 1 + 8;
+      }
+      if (HighLengthMicroSecond != 0D) {
+        size += 1 + 8;
+      }
+      if (SpeedMaster != false) {
+        size += 1 + 1;
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(HardwareMotor other) {
+      if (other == null) {
+        return;
+      }
+      if (other.HardwareMotorType != 0) {
+        HardwareMotorType = other.HardwareMotorType;
+      }
+      if (other.MinFrequency != 0) {
+        MinFrequency = other.MinFrequency;
+      }
+      if (other.MaxFrequency != 0) {
+        MaxFrequency = other.MaxFrequency;
+      }
+      if (other.MinMicroStep != 0) {
+        MinMicroStep = other.MinMicroStep;
+      }
+      if (other.MaxMicroStep != 0) {
+        MaxMicroStep = other.MaxMicroStep;
+      }
+      if (other.LinearRatio != 0D) {
+        LinearRatio = other.LinearRatio;
+      }
+      if (other.MedianPosition != 0) {
+        MedianPosition = other.MedianPosition;
+      }
+      if (other.CorrectionGain != 0D) {
+        CorrectionGain = other.CorrectionGain;
+      }
+      if (other.RatioToDryerSpeed != 0D) {
+        RatioToDryerSpeed = other.RatioToDryerSpeed;
+      }
+      if (other.Kp != 0D) {
+        Kp = other.Kp;
+      }
+      if (other.Ki != 0D) {
+        Ki = other.Ki;
+      }
+      if (other.Kd != 0D) {
+        Kd = other.Kd;
+      }
+      if (other.ChangeSlope != 0D) {
+        ChangeSlope = other.ChangeSlope;
+      }
+      if (other.HighLengthMicroSecond != 0D) {
+        HighLengthMicroSecond = other.HighLengthMicroSecond;
+      }
+      if (other.SpeedMaster != false) {
+        SpeedMaster = other.SpeedMaster;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 8: {
+            hardwareMotorType_ = (global::Tango.PMR.Hardware.HardwareMotorType) input.ReadEnum();
+            break;
+          }
+          case 16: {
+            MinFrequency = input.ReadInt32();
+            break;
+          }
+          case 24: {
+            MaxFrequency = input.ReadInt32();
+            break;
+          }
+          case 32: {
+            MinMicroStep = input.ReadInt32();
+            break;
+          }
+          case 40: {
+            MaxMicroStep = input.ReadInt32();
+            break;
+          }
+          case 49: {
+            LinearRatio = input.ReadDouble();
+            break;
+          }
+          case 56: {
+            MedianPosition = input.ReadInt32();
+            break;
+          }
+          case 65: {
+            CorrectionGain = input.ReadDouble();
+            break;
+          }
+          case 73: {
+            RatioToDryerSpeed = input.ReadDouble();
+            break;
+          }
+          case 81: {
+            Kp = input.ReadDouble();
+            break;
+          }
+          case 89: {
+            Ki = input.ReadDouble();
+            break;
+          }
+          case 97: {
+            Kd = input.ReadDouble();
+            break;
+          }
+          case 105: {
+            ChangeSlope = input.ReadDouble();
+            break;
+          }
+          case 113: {
+            HighLengthMicroSecond = input.ReadDouble();
+            break;
+          }
+          case 120: {
+            SpeedMaster = input.ReadBool();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/HardwareMotorType.cs b/Software/Visual_Studio/Tango.PMR/Hardware/HardwareMotorType.cs
new file mode 100644
index 000000000..49aa1d688
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Hardware/HardwareMotorType.cs
@@ -0,0 +1,48 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: HardwareMotorType.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Hardware {
+
+  /// <summary>Holder for reflection information generated from HardwareMotorType.proto</summary>
+  public static partial class HardwareMotorTypeReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for HardwareMotorType.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static HardwareMotorTypeReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChdIYXJkd2FyZU1vdG9yVHlwZS5wcm90bxISVGFuZ28uUE1SLkhhcmR3YXJl",
+            "KlYKEUhhcmR3YXJlTW90b3JUeXBlEg8KC1dpbmRlck1vdG9yEAASDwoLRmVl",
+            "ZGVyTW90b3IQARIOCgpEcnllck1vdG9yEAISDwoLUG9vbGVyTW90b3IQA0Ie",
+            "Chxjb20udHdpbmUudGFuZ28ucG1yLmhhcmR3YXJlYgZwcm90bzM="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Hardware.HardwareMotorType), }, null));
+    }
+    #endregion
+
+  }
+  #region Enums
+  public enum HardwareMotorType {
+    [pbr::OriginalName("WinderMotor")] WinderMotor = 0,
+    [pbr::OriginalName("FeederMotor")] FeederMotor = 1,
+    [pbr::OriginalName("DryerMotor")] DryerMotor = 2,
+    [pbr::OriginalName("PoolerMotor")] PoolerMotor = 3,
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/HardwarePidControl.cs b/Software/Visual_Studio/Tango.PMR/Hardware/HardwarePidControl.cs
new file mode 100644
index 000000000..c59f07cc1
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Hardware/HardwarePidControl.cs
@@ -0,0 +1,563 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: HardwarePidControl.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Hardware {
+
+  /// <summary>Holder for reflection information generated from HardwarePidControl.proto</summary>
+  public static partial class HardwarePidControlReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for HardwarePidControl.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static HardwarePidControlReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChhIYXJkd2FyZVBpZENvbnRyb2wucHJvdG8SElRhbmdvLlBNUi5IYXJkd2Fy",
+            "ZRocSGFyZHdhcmVQaWRDb250cm9sVHlwZS5wcm90byKXBAoSSGFyZHdhcmVQ",
+            "aWRDb250cm9sEkoKFkhhcmR3YXJlUGlkQ29udHJvbFR5cGUYASABKA4yKi5U",
+            "YW5nby5QTVIuSGFyZHdhcmUuSGFyZHdhcmVQaWRDb250cm9sVHlwZRIkChxP",
+            "dXRwdXRQcm9wb3J0aW9uYWxQb3dlckxpbWl0GAIgASgFEh4KFk91dHB1dFBy",
+            "b3BvcnRpb25hbEJhbmQYAyABKAUSFAoMSW50ZWdyYWxUaW1lGAQgASgFEhYK",
+            "DkRlcml2YXRpdmVUaW1lGAUgASgFEiIKGlNlbnNvckNvcnJlY3Rpb25BZGp1",
+            "c3RtZW50GAYgASgFEhYKDlNlbnNvck1pblZhbHVlGAcgASgFEhYKDlNlbnNv",
+            "ck1heFZhbHVlGAggASgFEicKH1NldFBvaW50UmFtcFJhdGVvclNvZnRTdGFy",
+            "dFJhbXAYCSABKAUSIQoZU2V0UG9pbnRDb250cm9sT3V0cHV0UmF0ZRgKIAEo",
+            "BRIZChFDb250cm9sT3V0cHV0VHlwZRgLIAEoBRIcChRTc3JDb250cm9sT3V0",
+            "cHV0VHlwZRgMIAEoBRIiChpPdXRwdXRPbk9mZkh5c3RlcmVzaXNWYWx1ZRgN",
+            "IAEoBRIjChtQcm9jZXNzVmFyaWFibGVTYW1wbGluZ1JhdGUYDiABKAUSHwoX",
+            "UHZJbnB1dEZpbHRlckZhY3Rvck1vZGUYDyABKAVCHgocY29tLnR3aW5lLnRh",
+            "bmdvLnBtci5oYXJkd2FyZWIGcHJvdG8z"));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { global::Tango.PMR.Hardware.HardwarePidControlTypeReflection.Descriptor, },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Hardware.HardwarePidControl), global::Tango.PMR.Hardware.HardwarePidControl.Parser, new[]{ "HardwarePidControlType", "OutputProportionalPowerLimit", "OutputProportionalBand", "IntegralTime", "DerivativeTime", "SensorCorrectionAdjustment", "SensorMinValue", "SensorMaxValue", "SetPointRampRateorSoftStartRamp", "SetPointControlOutputRate", "ControlOutputType", "SsrControlOutputType", "OutputOnOffHysteresisValue", "ProcessVariableSamplingRate", "PvInputFilterFactorMode" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class HardwarePidControl : pb::IMessage<HardwarePidControl> {
+    private static readonly pb::MessageParser<HardwarePidControl> _parser = new pb::MessageParser<HardwarePidControl>(() => new HardwarePidControl());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<HardwarePidControl> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Hardware.HardwarePidControlReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public HardwarePidControl() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public HardwarePidControl(HardwarePidControl other) : this() {
+      hardwarePidControlType_ = other.hardwarePidControlType_;
+      outputProportionalPowerLimit_ = other.outputProportionalPowerLimit_;
+      outputProportionalBand_ = other.outputProportionalBand_;
+      integralTime_ = other.integralTime_;
+      derivativeTime_ = other.derivativeTime_;
+      sensorCorrectionAdjustment_ = other.sensorCorrectionAdjustment_;
+      sensorMinValue_ = other.sensorMinValue_;
+      sensorMaxValue_ = other.sensorMaxValue_;
+      setPointRampRateorSoftStartRamp_ = other.setPointRampRateorSoftStartRamp_;
+      setPointControlOutputRate_ = other.setPointControlOutputRate_;
+      controlOutputType_ = other.controlOutputType_;
+      ssrControlOutputType_ = other.ssrControlOutputType_;
+      outputOnOffHysteresisValue_ = other.outputOnOffHysteresisValue_;
+      processVariableSamplingRate_ = other.processVariableSamplingRate_;
+      pvInputFilterFactorMode_ = other.pvInputFilterFactorMode_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public HardwarePidControl Clone() {
+      return new HardwarePidControl(this);
+    }
+
+    /// <summary>Field number for the "HardwarePidControlType" field.</summary>
+    public const int HardwarePidControlTypeFieldNumber = 1;
+    private global::Tango.PMR.Hardware.HardwarePidControlType hardwarePidControlType_ = 0;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public global::Tango.PMR.Hardware.HardwarePidControlType HardwarePidControlType {
+      get { return hardwarePidControlType_; }
+      set {
+        hardwarePidControlType_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "OutputProportionalPowerLimit" field.</summary>
+    public const int OutputProportionalPowerLimitFieldNumber = 2;
+    private int outputProportionalPowerLimit_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int OutputProportionalPowerLimit {
+      get { return outputProportionalPowerLimit_; }
+      set {
+        outputProportionalPowerLimit_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "OutputProportionalBand" field.</summary>
+    public const int OutputProportionalBandFieldNumber = 3;
+    private int outputProportionalBand_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int OutputProportionalBand {
+      get { return outputProportionalBand_; }
+      set {
+        outputProportionalBand_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "IntegralTime" field.</summary>
+    public const int IntegralTimeFieldNumber = 4;
+    private int integralTime_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int IntegralTime {
+      get { return integralTime_; }
+      set {
+        integralTime_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "DerivativeTime" field.</summary>
+    public const int DerivativeTimeFieldNumber = 5;
+    private int derivativeTime_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int DerivativeTime {
+      get { return derivativeTime_; }
+      set {
+        derivativeTime_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "SensorCorrectionAdjustment" field.</summary>
+    public const int SensorCorrectionAdjustmentFieldNumber = 6;
+    private int sensorCorrectionAdjustment_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int SensorCorrectionAdjustment {
+      get { return sensorCorrectionAdjustment_; }
+      set {
+        sensorCorrectionAdjustment_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "SensorMinValue" field.</summary>
+    public const int SensorMinValueFieldNumber = 7;
+    private int sensorMinValue_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int SensorMinValue {
+      get { return sensorMinValue_; }
+      set {
+        sensorMinValue_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "SensorMaxValue" field.</summary>
+    public const int SensorMaxValueFieldNumber = 8;
+    private int sensorMaxValue_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int SensorMaxValue {
+      get { return sensorMaxValue_; }
+      set {
+        sensorMaxValue_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "SetPointRampRateorSoftStartRamp" field.</summary>
+    public const int SetPointRampRateorSoftStartRampFieldNumber = 9;
+    private int setPointRampRateorSoftStartRamp_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int SetPointRampRateorSoftStartRamp {
+      get { return setPointRampRateorSoftStartRamp_; }
+      set {
+        setPointRampRateorSoftStartRamp_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "SetPointControlOutputRate" field.</summary>
+    public const int SetPointControlOutputRateFieldNumber = 10;
+    private int setPointControlOutputRate_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int SetPointControlOutputRate {
+      get { return setPointControlOutputRate_; }
+      set {
+        setPointControlOutputRate_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "ControlOutputType" field.</summary>
+    public const int ControlOutputTypeFieldNumber = 11;
+    private int controlOutputType_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int ControlOutputType {
+      get { return controlOutputType_; }
+      set {
+        controlOutputType_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "SsrControlOutputType" field.</summary>
+    public const int SsrControlOutputTypeFieldNumber = 12;
+    private int ssrControlOutputType_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int SsrControlOutputType {
+      get { return ssrControlOutputType_; }
+      set {
+        ssrControlOutputType_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "OutputOnOffHysteresisValue" field.</summary>
+    public const int OutputOnOffHysteresisValueFieldNumber = 13;
+    private int outputOnOffHysteresisValue_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int OutputOnOffHysteresisValue {
+      get { return outputOnOffHysteresisValue_; }
+      set {
+        outputOnOffHysteresisValue_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "ProcessVariableSamplingRate" field.</summary>
+    public const int ProcessVariableSamplingRateFieldNumber = 14;
+    private int processVariableSamplingRate_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int ProcessVariableSamplingRate {
+      get { return processVariableSamplingRate_; }
+      set {
+        processVariableSamplingRate_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "PvInputFilterFactorMode" field.</summary>
+    public const int PvInputFilterFactorModeFieldNumber = 15;
+    private int pvInputFilterFactorMode_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int PvInputFilterFactorMode {
+      get { return pvInputFilterFactorMode_; }
+      set {
+        pvInputFilterFactorMode_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as HardwarePidControl);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(HardwarePidControl other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (HardwarePidControlType != other.HardwarePidControlType) return false;
+      if (OutputProportionalPowerLimit != other.OutputProportionalPowerLimit) return false;
+      if (OutputProportionalBand != other.OutputProportionalBand) return false;
+      if (IntegralTime != other.IntegralTime) return false;
+      if (DerivativeTime != other.DerivativeTime) return false;
+      if (SensorCorrectionAdjustment != other.SensorCorrectionAdjustment) return false;
+      if (SensorMinValue != other.SensorMinValue) return false;
+      if (SensorMaxValue != other.SensorMaxValue) return false;
+      if (SetPointRampRateorSoftStartRamp != other.SetPointRampRateorSoftStartRamp) return false;
+      if (SetPointControlOutputRate != other.SetPointControlOutputRate) return false;
+      if (ControlOutputType != other.ControlOutputType) return false;
+      if (SsrControlOutputType != other.SsrControlOutputType) return false;
+      if (OutputOnOffHysteresisValue != other.OutputOnOffHysteresisValue) return false;
+      if (ProcessVariableSamplingRate != other.ProcessVariableSamplingRate) return false;
+      if (PvInputFilterFactorMode != other.PvInputFilterFactorMode) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (HardwarePidControlType != 0) hash ^= HardwarePidControlType.GetHashCode();
+      if (OutputProportionalPowerLimit != 0) hash ^= OutputProportionalPowerLimit.GetHashCode();
+      if (OutputProportionalBand != 0) hash ^= OutputProportionalBand.GetHashCode();
+      if (IntegralTime != 0) hash ^= IntegralTime.GetHashCode();
+      if (DerivativeTime != 0) hash ^= DerivativeTime.GetHashCode();
+      if (SensorCorrectionAdjustment != 0) hash ^= SensorCorrectionAdjustment.GetHashCode();
+      if (SensorMinValue != 0) hash ^= SensorMinValue.GetHashCode();
+      if (SensorMaxValue != 0) hash ^= SensorMaxValue.GetHashCode();
+      if (SetPointRampRateorSoftStartRamp != 0) hash ^= SetPointRampRateorSoftStartRamp.GetHashCode();
+      if (SetPointControlOutputRate != 0) hash ^= SetPointControlOutputRate.GetHashCode();
+      if (ControlOutputType != 0) hash ^= ControlOutputType.GetHashCode();
+      if (SsrControlOutputType != 0) hash ^= SsrControlOutputType.GetHashCode();
+      if (OutputOnOffHysteresisValue != 0) hash ^= OutputOnOffHysteresisValue.GetHashCode();
+      if (ProcessVariableSamplingRate != 0) hash ^= ProcessVariableSamplingRate.GetHashCode();
+      if (PvInputFilterFactorMode != 0) hash ^= PvInputFilterFactorMode.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (HardwarePidControlType != 0) {
+        output.WriteRawTag(8);
+        output.WriteEnum((int) HardwarePidControlType);
+      }
+      if (OutputProportionalPowerLimit != 0) {
+        output.WriteRawTag(16);
+        output.WriteInt32(OutputProportionalPowerLimit);
+      }
+      if (OutputProportionalBand != 0) {
+        output.WriteRawTag(24);
+        output.WriteInt32(OutputProportionalBand);
+      }
+      if (IntegralTime != 0) {
+        output.WriteRawTag(32);
+        output.WriteInt32(IntegralTime);
+      }
+      if (DerivativeTime != 0) {
+        output.WriteRawTag(40);
+        output.WriteInt32(DerivativeTime);
+      }
+      if (SensorCorrectionAdjustment != 0) {
+        output.WriteRawTag(48);
+        output.WriteInt32(SensorCorrectionAdjustment);
+      }
+      if (SensorMinValue != 0) {
+        output.WriteRawTag(56);
+        output.WriteInt32(SensorMinValue);
+      }
+      if (SensorMaxValue != 0) {
+        output.WriteRawTag(64);
+        output.WriteInt32(SensorMaxValue);
+      }
+      if (SetPointRampRateorSoftStartRamp != 0) {
+        output.WriteRawTag(72);
+        output.WriteInt32(SetPointRampRateorSoftStartRamp);
+      }
+      if (SetPointControlOutputRate != 0) {
+        output.WriteRawTag(80);
+        output.WriteInt32(SetPointControlOutputRate);
+      }
+      if (ControlOutputType != 0) {
+        output.WriteRawTag(88);
+        output.WriteInt32(ControlOutputType);
+      }
+      if (SsrControlOutputType != 0) {
+        output.WriteRawTag(96);
+        output.WriteInt32(SsrControlOutputType);
+      }
+      if (OutputOnOffHysteresisValue != 0) {
+        output.WriteRawTag(104);
+        output.WriteInt32(OutputOnOffHysteresisValue);
+      }
+      if (ProcessVariableSamplingRate != 0) {
+        output.WriteRawTag(112);
+        output.WriteInt32(ProcessVariableSamplingRate);
+      }
+      if (PvInputFilterFactorMode != 0) {
+        output.WriteRawTag(120);
+        output.WriteInt32(PvInputFilterFactorMode);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (HardwarePidControlType != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeEnumSize((int) HardwarePidControlType);
+      }
+      if (OutputProportionalPowerLimit != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(OutputProportionalPowerLimit);
+      }
+      if (OutputProportionalBand != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(OutputProportionalBand);
+      }
+      if (IntegralTime != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(IntegralTime);
+      }
+      if (DerivativeTime != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(DerivativeTime);
+      }
+      if (SensorCorrectionAdjustment != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SensorCorrectionAdjustment);
+      }
+      if (SensorMinValue != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SensorMinValue);
+      }
+      if (SensorMaxValue != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SensorMaxValue);
+      }
+      if (SetPointRampRateorSoftStartRamp != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SetPointRampRateorSoftStartRamp);
+      }
+      if (SetPointControlOutputRate != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SetPointControlOutputRate);
+      }
+      if (ControlOutputType != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(ControlOutputType);
+      }
+      if (SsrControlOutputType != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SsrControlOutputType);
+      }
+      if (OutputOnOffHysteresisValue != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(OutputOnOffHysteresisValue);
+      }
+      if (ProcessVariableSamplingRate != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(ProcessVariableSamplingRate);
+      }
+      if (PvInputFilterFactorMode != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(PvInputFilterFactorMode);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(HardwarePidControl other) {
+      if (other == null) {
+        return;
+      }
+      if (other.HardwarePidControlType != 0) {
+        HardwarePidControlType = other.HardwarePidControlType;
+      }
+      if (other.OutputProportionalPowerLimit != 0) {
+        OutputProportionalPowerLimit = other.OutputProportionalPowerLimit;
+      }
+      if (other.OutputProportionalBand != 0) {
+        OutputProportionalBand = other.OutputProportionalBand;
+      }
+      if (other.IntegralTime != 0) {
+        IntegralTime = other.IntegralTime;
+      }
+      if (other.DerivativeTime != 0) {
+        DerivativeTime = other.DerivativeTime;
+      }
+      if (other.SensorCorrectionAdjustment != 0) {
+        SensorCorrectionAdjustment = other.SensorCorrectionAdjustment;
+      }
+      if (other.SensorMinValue != 0) {
+        SensorMinValue = other.SensorMinValue;
+      }
+      if (other.SensorMaxValue != 0) {
+        SensorMaxValue = other.SensorMaxValue;
+      }
+      if (other.SetPointRampRateorSoftStartRamp != 0) {
+        SetPointRampRateorSoftStartRamp = other.SetPointRampRateorSoftStartRamp;
+      }
+      if (other.SetPointControlOutputRate != 0) {
+        SetPointControlOutputRate = other.SetPointControlOutputRate;
+      }
+      if (other.ControlOutputType != 0) {
+        ControlOutputType = other.ControlOutputType;
+      }
+      if (other.SsrControlOutputType != 0) {
+        SsrControlOutputType = other.SsrControlOutputType;
+      }
+      if (other.OutputOnOffHysteresisValue != 0) {
+        OutputOnOffHysteresisValue = other.OutputOnOffHysteresisValue;
+      }
+      if (other.ProcessVariableSamplingRate != 0) {
+        ProcessVariableSamplingRate = other.ProcessVariableSamplingRate;
+      }
+      if (other.PvInputFilterFactorMode != 0) {
+        PvInputFilterFactorMode = other.PvInputFilterFactorMode;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 8: {
+            hardwarePidControlType_ = (global::Tango.PMR.Hardware.HardwarePidControlType) input.ReadEnum();
+            break;
+          }
+          case 16: {
+            OutputProportionalPowerLimit = input.ReadInt32();
+            break;
+          }
+          case 24: {
+            OutputProportionalBand = input.ReadInt32();
+            break;
+          }
+          case 32: {
+            IntegralTime = input.ReadInt32();
+            break;
+          }
+          case 40: {
+            DerivativeTime = input.ReadInt32();
+            break;
+          }
+          case 48: {
+            SensorCorrectionAdjustment = input.ReadInt32();
+            break;
+          }
+          case 56: {
+            SensorMinValue = input.ReadInt32();
+            break;
+          }
+          case 64: {
+            SensorMaxValue = input.ReadInt32();
+            break;
+          }
+          case 72: {
+            SetPointRampRateorSoftStartRamp = input.ReadInt32();
+            break;
+          }
+          case 80: {
+            SetPointControlOutputRate = input.ReadInt32();
+            break;
+          }
+          case 88: {
+            ControlOutputType = input.ReadInt32();
+            break;
+          }
+          case 96: {
+            SsrControlOutputType = input.ReadInt32();
+            break;
+          }
+          case 104: {
+            OutputOnOffHysteresisValue = input.ReadInt32();
+            break;
+          }
+          case 112: {
+            ProcessVariableSamplingRate = input.ReadInt32();
+            break;
+          }
+          case 120: {
+            PvInputFilterFactorMode = input.ReadInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/HardwarePidControlType.cs b/Software/Visual_Studio/Tango.PMR/Hardware/HardwarePidControlType.cs
new file mode 100644
index 000000000..1ef856a75
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Hardware/HardwarePidControlType.cs
@@ -0,0 +1,63 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: HardwarePidControlType.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Hardware {
+
+  /// <summary>Holder for reflection information generated from HardwarePidControlType.proto</summary>
+  public static partial class HardwarePidControlTypeReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for HardwarePidControlType.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static HardwarePidControlTypeReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChxIYXJkd2FyZVBpZENvbnRyb2xUeXBlLnByb3RvEhJUYW5nby5QTVIuSGFy",
+            "ZHdhcmUqnAIKFkhhcmR3YXJlUGlkQ29udHJvbFR5cGUSFAoQRHJ5ZXJIZWF0",
+            "ZXIxMDAwdxAAEhQKEERyeWVySGVhdGVyMjAwdzEQARIUChBEcnllckhlYXRl",
+            "cjIwMHcyEAISEAoMSGVhZEhlYXRlcloxEAMSEAoMSGVhZEhlYXRlcloyEAQS",
+            "EAoMSGVhZEhlYXRlclozEAUSEAoMSGVhZEhlYXRlclo0EAYSDwoLTWl4ZXJI",
+            "ZWF0ZXIQBxIQCgxXYXN0ZUNvbnRyb2wQCBIOCgpNb3RvckRyeWVyEAkSDwoL",
+            "TW90b3JGZWVkZXIQChIPCgtNb3RvclBvb2xlchALEg8KC01vdG9yV2luZGVy",
+            "EAwSEgoORHJ5ZXJIZWF0ZXI0MDAQDUIeChxjb20udHdpbmUudGFuZ28ucG1y",
+            "LmhhcmR3YXJlYgZwcm90bzM="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Hardware.HardwarePidControlType), }, null));
+    }
+    #endregion
+
+  }
+  #region Enums
+  public enum HardwarePidControlType {
+    [pbr::OriginalName("DryerHeater1000w")] DryerHeater1000W = 0,
+    [pbr::OriginalName("DryerHeater200w1")] DryerHeater200W1 = 1,
+    [pbr::OriginalName("DryerHeater200w2")] DryerHeater200W2 = 2,
+    [pbr::OriginalName("HeadHeaterZ1")] HeadHeaterZ1 = 3,
+    [pbr::OriginalName("HeadHeaterZ2")] HeadHeaterZ2 = 4,
+    [pbr::OriginalName("HeadHeaterZ3")] HeadHeaterZ3 = 5,
+    [pbr::OriginalName("HeadHeaterZ4")] HeadHeaterZ4 = 6,
+    [pbr::OriginalName("MixerHeater")] MixerHeater = 7,
+    [pbr::OriginalName("WasteControl")] WasteControl = 8,
+    [pbr::OriginalName("MotorDryer")] MotorDryer = 9,
+    [pbr::OriginalName("MotorFeeder")] MotorFeeder = 10,
+    [pbr::OriginalName("MotorPooler")] MotorPooler = 11,
+    [pbr::OriginalName("MotorWinder")] MotorWinder = 12,
+    [pbr::OriginalName("DryerHeater400")] DryerHeater400 = 13,
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj b/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj
index 45f1f06a3..be8bd22ee 100644
--- a/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj
+++ b/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj
@@ -86,6 +86,13 @@
     <Compile Include="Diagnostics\ThreadJoggingRequest.cs" />
     <Compile Include="Diagnostics\ThreadJoggingResponse.cs" />
     <Compile Include="ExtensionMethods.cs" />
+    <Compile Include="Hardware\HardwareDancer.cs" />
+    <Compile Include="Hardware\HardwareDancerType.cs" />
+    <Compile Include="Hardware\HardwareDispenser.cs" />
+    <Compile Include="Hardware\HardwareMotor.cs" />
+    <Compile Include="Hardware\HardwareMotorType.cs" />
+    <Compile Include="Hardware\HardwarePidControl.cs" />
+    <Compile Include="Hardware\HardwarePidControlType.cs" />
     <Compile Include="Integration\DirectSynchronizationRequest.cs" />
     <Compile Include="Integration\DirectSynchronizationResponse.cs" />
     <Compile Include="Integration\ExternalBridgeUdpDiscoveryPacket.cs" />
diff --git a/Software/Visual_Studio/Tango.sln b/Software/Visual_Studio/Tango.sln
index a048d7f99..b1a0d1ce2 100644
--- a/Software/Visual_Studio/Tango.sln
+++ b/Software/Visual_Studio/Tango.sln
@@ -1,7 +1,7 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
 # Visual Studio 15
-VisualStudioVersion = 15.0.27004.2010
+VisualStudioVersion = 15.0.26430.16
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Tango.Protobuf", "Tango.Protobuf\Tango.Protobuf.csproj", "{40073806-914E-4E78-97AB-FA9639308EBE}"
 EndProject
@@ -145,6 +145,8 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libEmbroideryTest", "Embroi
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Tango.MachineStudio.HardwareDesigner", "MachineStudio\Modules\Tango.MachineStudio.HardwareDesigner\Tango.MachineStudio.HardwareDesigner.csproj", "{69DB0564-268C-4B3C-B5D6-A3CDC7D14EAE}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Tango.PMRGenerator.CLI", "Utilities\Tango.PMRGenerator.CLI\Tango.PMRGenerator.CLI.csproj", "{5AFD5B7D-757A-400C-B0C9-118834F5D67E}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -1886,6 +1888,36 @@ Global
 		{69DB0564-268C-4B3C-B5D6-A3CDC7D14EAE}.Release|x64.Build.0 = Release|Any CPU
 		{69DB0564-268C-4B3C-B5D6-A3CDC7D14EAE}.Release|x86.ActiveCfg = Release|Any CPU
 		{69DB0564-268C-4B3C-B5D6-A3CDC7D14EAE}.Release|x86.Build.0 = Release|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.Debug|ARM.ActiveCfg = Debug|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.Debug|ARM.Build.0 = Debug|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.Debug|ARM64.ActiveCfg = Debug|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.Debug|ARM64.Build.0 = Debug|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.Debug|x64.ActiveCfg = Debug|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.Debug|x64.Build.0 = Debug|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.Debug|x86.ActiveCfg = Debug|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.Debug|x86.Build.0 = Debug|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.DefaultBuild|Any CPU.ActiveCfg = Debug|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.DefaultBuild|Any CPU.Build.0 = Debug|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.DefaultBuild|ARM.ActiveCfg = Debug|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.DefaultBuild|ARM.Build.0 = Debug|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.DefaultBuild|ARM64.ActiveCfg = Debug|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.DefaultBuild|ARM64.Build.0 = Debug|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.DefaultBuild|x64.ActiveCfg = Debug|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.DefaultBuild|x64.Build.0 = Debug|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.DefaultBuild|x86.ActiveCfg = Debug|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.DefaultBuild|x86.Build.0 = Debug|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.Release|Any CPU.Build.0 = Release|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.Release|ARM.ActiveCfg = Release|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.Release|ARM.Build.0 = Release|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.Release|ARM64.ActiveCfg = Release|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.Release|ARM64.Build.0 = Release|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.Release|x64.ActiveCfg = Release|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.Release|x64.Build.0 = Release|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.Release|x86.ActiveCfg = Release|Any CPU
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E}.Release|x86.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -1929,6 +1961,7 @@ Global
 		{BD30C7BD-9230-4ED7-B581-11F14041909D} = {34839F9A-61D3-4ED3-B3F7-7DA3424CB0B6}
 		{0565AEEC-ED1B-4F0E-A277-D33F852207BC} = {34839F9A-61D3-4ED3-B3F7-7DA3424CB0B6}
 		{69DB0564-268C-4B3C-B5D6-A3CDC7D14EAE} = {B2AF4F3F-2828-47C3-8F3E-A0EA0BD66FF8}
+		{5AFD5B7D-757A-400C-B0C9-118834F5D67E} = {5F6BBAA8-EAD0-4B18-97E5-55B4F56DD760}
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
 		SolutionGuid = {7986F7F4-A86A-4994-B1B6-0988D7F057B6}
diff --git a/Software/Visual_Studio/Utilities/Tango.DBObservablesGenerator.CLI/Properties/AssemblyInfo.cs b/Software/Visual_Studio/Utilities/Tango.DBObservablesGenerator.CLI/Properties/AssemblyInfo.cs
index 9260e2580..ac044393e 100644
--- a/Software/Visual_Studio/Utilities/Tango.DBObservablesGenerator.CLI/Properties/AssemblyInfo.cs
+++ b/Software/Visual_Studio/Utilities/Tango.DBObservablesGenerator.CLI/Properties/AssemblyInfo.cs
@@ -2,5 +2,5 @@
 using System.Runtime.CompilerServices;
 using System.Runtime.InteropServices;
 
-[assembly: AssemblyTitle("Tango - Machine Designer")]
+[assembly: AssemblyTitle("Tango - DAL Observables Generator")]
 [assembly: ComVisible(false)]
\ No newline at end of file
diff --git a/Software/Visual_Studio/Utilities/Tango.PMRGenerator.CLI/App.config b/Software/Visual_Studio/Utilities/Tango.PMRGenerator.CLI/App.config
new file mode 100644
index 000000000..92aa00bf9
--- /dev/null
+++ b/Software/Visual_Studio/Utilities/Tango.PMRGenerator.CLI/App.config
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="utf-8"?>
+<configuration>
+  <configSections>
+    <!-- For more information on Entity Framework configuration, visit http://go.microsoft.com/fwlink/?LinkID=237468 -->
+    <section name="entityFramework" type="System.Data.Entity.Internal.ConfigFile.EntityFrameworkSection, EntityFramework, Version=6.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" requirePermission="false" />
+  </configSections>
+  <startup>
+    <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6" />
+  </startup>
+  <entityFramework>
+    <defaultConnectionFactory type="System.Data.Entity.Infrastructure.SqlConnectionFactory, EntityFramework" />
+    <providers>
+      <provider invariantName="System.Data.SqlClient" type="System.Data.Entity.SqlServer.SqlProviderServices, EntityFramework.SqlServer" />
+    </providers>
+  </entityFramework>
+</configuration>
\ No newline at end of file
diff --git a/Software/Visual_Studio/Utilities/Tango.PMRGenerator.CLI/Program.cs b/Software/Visual_Studio/Utilities/Tango.PMRGenerator.CLI/Program.cs
new file mode 100644
index 000000000..cbda9849e
--- /dev/null
+++ b/Software/Visual_Studio/Utilities/Tango.PMRGenerator.CLI/Program.cs
@@ -0,0 +1,180 @@
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using System.Reflection;
+using System.Text;
+using System.Threading.Tasks;
+using Tango.CodeGeneration;
+using Tango.Integration.Observables;
+
+namespace Tango.PMRGenerator.CLI
+{
+    class Program
+    {
+        static void Main(string[] args)
+        {
+            Console.WriteLine("Generating PMR's...");
+            Console.WriteLine();
+
+            Environment.CurrentDirectory = Path.GetDirectoryName(Assembly.GetEntryAssembly().Location);
+            String pmrFolder = "..\\..\\..\\PMR\\Messages";
+
+            using (ObservablesContext db = ObservablesContext.CreateDefault())
+            {
+                db.Configuration.LazyLoadingEnabled = false;
+                GenerateHardwareMotors(db, pmrFolder);
+                GenerateHardwareDancers(db, pmrFolder);
+                GenerateHardwarePidControls(db, pmrFolder);
+                GenerateHardwareDispensers(db, pmrFolder);
+            }
+
+            Console.WriteLine("Done");
+        }
+
+        private static void GenerateHardwareMotors(ObservablesContext db, String pmrFolder)
+        {
+            Console.WriteLine("Generating Hardware Motor Types...");
+
+            ProtoEnumFile enumFile = new ProtoEnumFile();
+            enumFile.Name = "HardwareMotorType";
+            enumFile.Package = "Tango.PMR.Hardware";
+
+            foreach (var field in db.HardwareMotorTypes.ToList().OrderBy(x => x.Code))
+            {
+                enumFile.Fields.Add(new EnumerationField()
+                {
+                    Name = field.Name.Replace(" ", ""),
+                    Value = field.Code,
+                });
+            }
+
+            Console.WriteLine("Generating Hardware Motor...");
+            ProtoMessageFile messageFile = new ProtoMessageFile();
+            messageFile.Name = "HardwareMotor";
+            messageFile.Package = "Tango.PMR.Hardware";
+            messageFile.Imports.Add("HardwareMotorType.proto");
+
+            messageFile.Properties.Add(new Property("HardwareMotorType", "HardwareMotorType"));
+
+            foreach (var prop in typeof(HardwareMotor).GetProperties(BindingFlags.Instance | BindingFlags.Public | BindingFlags.DeclaredOnly).Where(x => x.PropertyType.IsPrimitive))
+            {
+                messageFile.Properties.Add(new Property(prop.Name, CoercePropertyType(prop.PropertyType)));
+            }
+
+            String enumString = enumFile.GenerateCode();
+            String messageString = messageFile.GenerateCode();
+
+            File.WriteAllText(Path.Combine(pmrFolder, "Hardware", enumFile.Name + ".proto"), enumString);
+            File.WriteAllText(Path.Combine(pmrFolder, "Hardware", messageFile.Name + ".proto"), messageString);
+        }
+
+        private static void GenerateHardwareDancers(ObservablesContext db, String pmrFolder)
+        {
+            Console.WriteLine("Generating Hardware Dancer Types...");
+
+            ProtoEnumFile enumFile = new ProtoEnumFile();
+            enumFile.Name = "HardwareDancerType";
+            enumFile.Package = "Tango.PMR.Hardware";
+
+            foreach (var field in db.HardwareDancerTypes.ToList().OrderBy(x => x.Code))
+            {
+                enumFile.Fields.Add(new EnumerationField()
+                {
+                    Name = field.Name.Replace(" ", ""),
+                    Value = field.Code,
+                });
+            }
+
+            Console.WriteLine("Generating Hardware Dancer...");
+
+            ProtoMessageFile messageFile = new ProtoMessageFile();
+            messageFile.Name = "HardwareDancer";
+            messageFile.Package = "Tango.PMR.Hardware";
+            messageFile.Imports.Add("HardwareDancerType.proto");
+
+            messageFile.Properties.Add(new Property("HardwareDancerType", "HardwareDancerType"));
+
+            foreach (var prop in typeof(HardwareDancer).GetProperties(BindingFlags.Instance | BindingFlags.Public | BindingFlags.DeclaredOnly).Where(x => x.PropertyType.IsPrimitive))
+            {
+                messageFile.Properties.Add(new Property(prop.Name, CoercePropertyType(prop.PropertyType)));
+            }
+
+            String enumString = enumFile.GenerateCode();
+            String messageString = messageFile.GenerateCode();
+
+            File.WriteAllText(Path.Combine(pmrFolder, "Hardware", enumFile.Name + ".proto"), enumString);
+            File.WriteAllText(Path.Combine(pmrFolder, "Hardware", messageFile.Name + ".proto"), messageString);
+        }
+
+        private static void GenerateHardwarePidControls(ObservablesContext db, String pmrFolder)
+        {
+            Console.WriteLine("Generating Hardware PID Control Types...");
+
+            ProtoEnumFile enumFile = new ProtoEnumFile();
+            enumFile.Name = "HardwarePidControlType";
+            enumFile.Package = "Tango.PMR.Hardware";
+
+            foreach (var field in db.HardwarePidControlTypes.ToList().OrderBy(x => x.Code))
+            {
+                enumFile.Fields.Add(new EnumerationField()
+                {
+                    Name = field.Name.Replace(" ", ""),
+                    Value = field.Code,
+                });
+            }
+
+            Console.WriteLine("Generating Hardware PID Control...");
+
+            ProtoMessageFile messageFile = new ProtoMessageFile();
+            messageFile.Name = "HardwarePidControl";
+            messageFile.Package = "Tango.PMR.Hardware";
+            messageFile.Imports.Add("HardwarePidControlType.proto");
+
+            messageFile.Properties.Add(new Property("HardwarePidControlType", "HardwarePidControlType"));
+
+            foreach (var prop in typeof(HardwarePidControl).GetProperties(BindingFlags.Instance | BindingFlags.Public | BindingFlags.DeclaredOnly).Where(x => x.PropertyType.IsPrimitive))
+            {
+                messageFile.Properties.Add(new Property(prop.Name, CoercePropertyType(prop.PropertyType)));
+            }
+
+            String enumString = enumFile.GenerateCode();
+            String messageString = messageFile.GenerateCode();
+
+            File.WriteAllText(Path.Combine(pmrFolder, "Hardware", enumFile.Name + ".proto"), enumString);
+            File.WriteAllText(Path.Combine(pmrFolder, "Hardware", messageFile.Name + ".proto"), messageString);
+        }
+
+        private static void GenerateHardwareDispensers(ObservablesContext db, String pmrFolder)
+        {
+            Console.WriteLine("Generating Dispenser Control...");
+
+            ProtoMessageFile messageFile = new ProtoMessageFile();
+            messageFile.Name = "HardwareDispenser";
+            messageFile.Package = "Tango.PMR.Hardware";
+
+            messageFile.Properties.Add(new Property("Code", "int32"));
+
+            foreach (var prop in typeof(HardwarePidControl).GetProperties(BindingFlags.Instance | BindingFlags.Public | BindingFlags.DeclaredOnly).Where(x => x.PropertyType.IsPrimitive))
+            {
+                messageFile.Properties.Add(new Property(prop.Name, CoercePropertyType(prop.PropertyType)));
+            }
+
+            String messageString = messageFile.GenerateCode();
+
+            File.WriteAllText(Path.Combine(pmrFolder, "Hardware", messageFile.Name + ".proto"), messageString);
+        }
+
+        private static String CoercePropertyType(Type type)
+        {
+            if (type == typeof(bool))
+            {
+                return "bool";
+            }
+            else
+            {
+                return type.Name.ToLower();
+            }
+        }
+    }
+}
diff --git a/Software/Visual_Studio/Utilities/Tango.PMRGenerator.CLI/Properties/AssemblyInfo.cs b/Software/Visual_Studio/Utilities/Tango.PMRGenerator.CLI/Properties/AssemblyInfo.cs
new file mode 100644
index 000000000..349d5d4a4
--- /dev/null
+++ b/Software/Visual_Studio/Utilities/Tango.PMRGenerator.CLI/Properties/AssemblyInfo.cs
@@ -0,0 +1,6 @@
+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+[assembly: AssemblyTitle("Tango - PMR Generator")]
+[assembly: ComVisible(false)]
\ No newline at end of file
diff --git a/Software/Visual_Studio/Utilities/Tango.PMRGenerator.CLI/Tango.PMRGenerator.CLI.csproj b/Software/Visual_Studio/Utilities/Tango.PMRGenerator.CLI/Tango.PMRGenerator.CLI.csproj
new file mode 100644
index 000000000..813f80cb4
--- /dev/null
+++ b/Software/Visual_Studio/Utilities/Tango.PMRGenerator.CLI/Tango.PMRGenerator.CLI.csproj
@@ -0,0 +1,77 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{5AFD5B7D-757A-400C-B0C9-118834F5D67E}</ProjectGuid>
+    <OutputType>Exe</OutputType>
+    <RootNamespace>Tango.PMRGenerator.CLI</RootNamespace>
+    <AssemblyName>Tango.PMRGenerator.CLI</AssemblyName>
+    <TargetFrameworkVersion>v4.6</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>..\..\Build\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="EntityFramework, Version=6.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089, processorArchitecture=MSIL">
+      <HintPath>..\..\packages\EntityFramework.6.0.0\lib\net45\EntityFramework.dll</HintPath>
+    </Reference>
+    <Reference Include="EntityFramework.SqlServer, Version=6.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089, processorArchitecture=MSIL">
+      <HintPath>..\..\packages\EntityFramework.6.0.0\lib\net45\EntityFramework.SqlServer.dll</HintPath>
+    </Reference>
+    <Reference Include="System" />
+    <Reference Include="System.ComponentModel.DataAnnotations" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Xml.Linq" />
+    <Reference Include="System.Data.DataSetExtensions" />
+    <Reference Include="Microsoft.CSharp" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Net.Http" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="..\..\Versioning\GlobalVersionInfo.cs">
+      <Link>GlobalVersionInfo.cs</Link>
+    </Compile>
+    <Compile Include="Program.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="App.config" />
+    <None Include="packages.config" />
+  </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\..\Tango.CodeGeneration\Tango.CodeGeneration.csproj">
+      <Project>{caedae94-11ed-473c-888a-268a6d38cd20}</Project>
+      <Name>Tango.CodeGeneration</Name>
+    </ProjectReference>
+    <ProjectReference Include="..\..\Tango.Core\Tango.Core.csproj">
+      <Project>{a34ee0f0-649d-41c8-8489-b6f1cc6924ee}</Project>
+      <Name>Tango.Core</Name>
+    </ProjectReference>
+    <ProjectReference Include="..\..\Tango.Integration\Tango.Integration.csproj">
+      <Project>{4206ac58-3b57-4699-8835-90bf6db01a61}</Project>
+      <Name>Tango.Integration</Name>
+    </ProjectReference>
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+</Project>
\ No newline at end of file
diff --git a/Software/Visual_Studio/Utilities/Tango.PMRGenerator.CLI/packages.config b/Software/Visual_Studio/Utilities/Tango.PMRGenerator.CLI/packages.config
new file mode 100644
index 000000000..9256e1591
--- /dev/null
+++ b/Software/Visual_Studio/Utilities/Tango.PMRGenerator.CLI/packages.config
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<packages>
+  <package id="EntityFramework" version="6.0.0" targetFramework="net46" />
+</packages>
\ No newline at end of file