some small changes, mostly in drier loading

21 files changed, 332 insertions, 229 deletions

diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/EventType.pb-c.c b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/EventType.pb-c.c
index 153e5bd8d..7f667ae6d 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/EventType.pb-c.c
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/EventType.pb-c.c
@@ -7,7 +7,7 @@
 #endif
 
 #include "EventType.pb-c.h"
-static const ProtobufCEnumValue event_type__enum_values_by_number[358] =
+static const ProtobufCEnumValue event_type__enum_values_by_number[365] =
 {
   { "", "", 0 },
   { "", "", 1000 },
@@ -45,6 +45,7 @@ static const ProtobufCEnumValue event_type__enum_values_by_number[358] =
   { "", "", 2018 },
   { "", "", 2019 },
   { "", "", 2020 },
+  { "", "", 2021 },
   { "", "", 3000 },
   { "", "", 3001 },
   { "", "", 3002 },
@@ -212,6 +213,12 @@ static const ProtobufCEnumValue event_type__enum_values_by_number[358] =
   { "", "", 5090 },
   { "", "", 5091 },
   { "", "", 5092 },
+  { "", "", 5093 },
+  { "", "", 5094 },
+  { "", "", 5095 },
+  { "", "", 5096 },
+  { "", "", 5097 },
+  { "", "", 5098 },
   { "", "", 6000 },
   { "", "", 6001 },
   { "", "", 6002 },
@@ -369,177 +376,179 @@ static const ProtobufCEnumValue event_type__enum_values_by_number[358] =
   { "", "", 10005 },
 };
 static const ProtobufCIntRange event_type__value_ranges[] = {
-{0, 0},{1000, 1},{2000, 15},{3000, 36},{4000, 88},{5000, 110},{6000, 203},{7000, 209},{8000, 297},{9000, 329},{10000, 352},{0, 358}
+{0, 0},{1000, 1},{2000, 15},{3000, 37},{4000, 89},{5000, 111},{6000, 210},{7000, 216},{8000, 304},{9000, 336},{10000, 359},{0, 365}
 };
-static const ProtobufCEnumValueIndex event_type__enum_values_by_name[358] =
+static const ProtobufCEnumValueIndex event_type__enum_values_by_name[365] =
 {
-  { "", 330 },
-  { "", 329 },
-  { "", 355 },
+  { "", 337 },
+  { "", 336 },
+  { "", 362 },
   { "", 4 },
   { "", 5 },
   { "", 6 },
   { "", 7 },
+  { "", 22 },
   { "", 21 },
-  { "", 335 },
-  { "", 346 },
-  { "", 340 },
+  { "", 342 },
+  { "", 353 },
   { "", 347 },
-  { "", 341 },
+  { "", 354 },
   { "", 348 },
-  { "", 342 },
+  { "", 355 },
   { "", 349 },
-  { "", 343 },
+  { "", 356 },
   { "", 350 },
-  { "", 351 },
-  { "", 225 },
+  { "", 357 },
+  { "", 358 },
+  { "", 232 },
+  { "", 296 },
+  { "", 288 },
+  { "", 248 },
+  { "", 256 },
+  { "", 264 },
+  { "", 272 },
+  { "", 216 },
+  { "", 240 },
+  { "", 224 },
+  { "", 280 },
+  { "", 233 },
+  { "", 297 },
   { "", 289 },
-  { "", 281 },
-  { "", 241 },
   { "", 249 },
   { "", 257 },
   { "", 265 },
-  { "", 209 },
-  { "", 233 },
-  { "", 217 },
   { "", 273 },
-  { "", 226 },
+  { "", 217 },
+  { "", 241 },
+  { "", 225 },
+  { "", 281 },
+  { "", 234 },
+  { "", 298 },
   { "", 290 },
-  { "", 282 },
-  { "", 242 },
   { "", 250 },
   { "", 258 },
   { "", 266 },
-  { "", 210 },
-  { "", 234 },
-  { "", 218 },
   { "", 274 },
-  { "", 227 },
+  { "", 218 },
+  { "", 242 },
+  { "", 226 },
+  { "", 282 },
+  { "", 235 },
+  { "", 299 },
   { "", 291 },
-  { "", 283 },
-  { "", 243 },
   { "", 251 },
   { "", 259 },
   { "", 267 },
-  { "", 211 },
-  { "", 235 },
-  { "", 219 },
   { "", 275 },
-  { "", 228 },
+  { "", 219 },
+  { "", 243 },
+  { "", 227 },
+  { "", 283 },
+  { "", 236 },
+  { "", 300 },
   { "", 292 },
-  { "", 284 },
-  { "", 244 },
   { "", 252 },
   { "", 260 },
   { "", 268 },
-  { "", 212 },
-  { "", 236 },
-  { "", 220 },
   { "", 276 },
-  { "", 229 },
+  { "", 220 },
+  { "", 244 },
+  { "", 228 },
+  { "", 284 },
+  { "", 237 },
+  { "", 301 },
   { "", 293 },
-  { "", 285 },
-  { "", 245 },
   { "", 253 },
   { "", 261 },
   { "", 269 },
-  { "", 213 },
-  { "", 237 },
-  { "", 221 },
   { "", 277 },
-  { "", 230 },
+  { "", 221 },
+  { "", 245 },
+  { "", 229 },
+  { "", 285 },
+  { "", 238 },
+  { "", 302 },
   { "", 294 },
-  { "", 286 },
-  { "", 246 },
   { "", 254 },
   { "", 262 },
   { "", 270 },
-  { "", 214 },
-  { "", 238 },
-  { "", 222 },
   { "", 278 },
-  { "", 231 },
+  { "", 222 },
+  { "", 246 },
+  { "", 230 },
+  { "", 286 },
+  { "", 239 },
+  { "", 303 },
   { "", 295 },
-  { "", 287 },
-  { "", 247 },
   { "", 255 },
   { "", 263 },
   { "", 271 },
-  { "", 215 },
-  { "", 239 },
-  { "", 223 },
   { "", 279 },
-  { "", 232 },
-  { "", 296 },
-  { "", 288 },
-  { "", 248 },
-  { "", 256 },
-  { "", 264 },
-  { "", 272 },
-  { "", 216 },
-  { "", 240 },
-  { "", 224 },
-  { "", 280 },
-  { "", 92 },
-  { "", 103 },
+  { "", 223 },
+  { "", 247 },
+  { "", 231 },
+  { "", 287 },
+  { "", 93 },
   { "", 104 },
-  { "", 101 },
-  { "", 99 },
+  { "", 105 },
   { "", 102 },
   { "", 100 },
-  { "", 105 },
+  { "", 103 },
+  { "", 101 },
   { "", 106 },
   { "", 107 },
   { "", 108 },
-  { "", 88 },
+  { "", 109 },
   { "", 89 },
   { "", 90 },
   { "", 91 },
-  { "", 98 },
-  { "", 93 },
-  { "", 95 },
-  { "", 96 },
+  { "", 92 },
+  { "", 99 },
   { "", 94 },
-  { "", 109 },
+  { "", 96 },
   { "", 97 },
-  { "", 193 },
-  { "", 191 },
-  { "", 197 },
-  { "", 195 },
-  { "", 185 },
-  { "", 187 },
-  { "", 189 },
+  { "", 95 },
+  { "", 110 },
+  { "", 98 },
+  { "", 208 },
   { "", 194 },
   { "", 192 },
   { "", 198 },
   { "", 196 },
+  { "", 204 },
+  { "", 206 },
   { "", 186 },
   { "", 188 },
   { "", 190 },
-  { "", 149 },
+  { "", 195 },
+  { "", 193 },
+  { "", 199 },
+  { "", 197 },
+  { "", 205 },
+  { "", 207 },
+  { "", 187 },
+  { "", 189 },
+  { "", 191 },
   { "", 150 },
   { "", 151 },
   { "", 152 },
-  { "", 145 },
+  { "", 153 },
   { "", 146 },
   { "", 147 },
   { "", 148 },
-  { "", 140 },
+  { "", 149 },
   { "", 141 },
   { "", 142 },
   { "", 143 },
   { "", 144 },
-  { "", 139 },
+  { "", 145 },
+  { "", 140 },
+  { "", 203 },
+  { "", 201 },
   { "", 202 },
   { "", 200 },
-  { "", 201 },
-  { "", 199 },
-  { "", 138 },
-  { "", 182 },
-  { "", 175 },
-  { "", 156 },
-  { "", 162 },
-  { "", 168 },
+  { "", 139 },
+  { "", 209 },
   { "", 183 },
   { "", 176 },
   { "", 157 },
@@ -550,11 +559,11 @@ static const ProtobufCEnumValueIndex event_type__enum_values_by_name[358] =
   { "", 158 },
   { "", 164 },
   { "", 170 },
-  { "", 133 },
-  { "", 128 },
-  { "", 110 },
-  { "", 116 },
-  { "", 122 },
+  { "", 185 },
+  { "", 178 },
+  { "", 159 },
+  { "", 165 },
+  { "", 171 },
   { "", 134 },
   { "", 129 },
   { "", 111 },
@@ -575,16 +584,16 @@ static const ProtobufCEnumValueIndex event_type__enum_values_by_name[358] =
   { "", 114 },
   { "", 120 },
   { "", 126 },
-  { "", 178 },
-  { "", 171 },
+  { "", 138 },
+  { "", 133 },
   { "", 115 },
   { "", 121 },
   { "", 127 },
   { "", 179 },
   { "", 172 },
-  { "", 153 },
-  { "", 159 },
-  { "", 165 },
+  { "", 116 },
+  { "", 122 },
+  { "", 128 },
   { "", 180 },
   { "", 173 },
   { "", 154 },
@@ -595,41 +604,46 @@ static const ProtobufCEnumValueIndex event_type__enum_values_by_name[358] =
   { "", 155 },
   { "", 161 },
   { "", 167 },
+  { "", 182 },
+  { "", 175 },
+  { "", 156 },
+  { "", 162 },
+  { "", 168 },
   { "", 26 },
   { "", 27 },
   { "", 33 },
   { "", 16 },
-  { "", 74 },
-  { "", 77 },
-  { "", 80 },
-  { "", 83 },
-  { "", 39 },
-  { "", 46 },
-  { "", 53 },
-  { "", 60 },
+  { "", 75 },
+  { "", 78 },
+  { "", 81 },
+  { "", 84 },
+  { "", 40 },
+  { "", 47 },
+  { "", 54 },
+  { "", 61 },
   { "", 34 },
   { "", 17 },
   { "", 18 },
   { "", 19 },
   { "", 20 },
-  { "", 352 },
-  { "", 353 },
-  { "", 336 },
+  { "", 359 },
+  { "", 360 },
+  { "", 343 },
   { "", 12 },
   { "", 14 },
   { "", 13 },
   { "", 11 },
   { "", 10 },
-  { "", 42 },
-  { "", 49 },
-  { "", 56 },
-  { "", 63 },
-  { "", 45 },
-  { "", 52 },
-  { "", 59 },
-  { "", 66 },
-  { "", 68 },
+  { "", 43 },
+  { "", 50 },
+  { "", 57 },
+  { "", 64 },
+  { "", 46 },
+  { "", 53 },
+  { "", 60 },
   { "", 67 },
+  { "", 69 },
+  { "", 68 },
   { "", 24 },
   { "", 25 },
   { "", 23 },
@@ -637,100 +651,100 @@ static const ProtobufCEnumValueIndex event_type__enum_values_by_name[358] =
   { "", 29 },
   { "", 30 },
   { "", 28 },
-  { "", 86 },
+  { "", 87 },
+  { "", 312 },
+  { "", 328 },
+  { "", 304 },
+  { "", 320 },
+  { "", 313 },
+  { "", 329 },
   { "", 305 },
   { "", 321 },
-  { "", 297 },
-  { "", 313 },
+  { "", 314 },
+  { "", 330 },
   { "", 306 },
   { "", 322 },
-  { "", 298 },
-  { "", 314 },
+  { "", 315 },
+  { "", 331 },
   { "", 307 },
   { "", 323 },
-  { "", 299 },
-  { "", 315 },
+  { "", 316 },
+  { "", 332 },
   { "", 308 },
   { "", 324 },
-  { "", 300 },
-  { "", 316 },
+  { "", 317 },
+  { "", 333 },
   { "", 309 },
   { "", 325 },
-  { "", 301 },
-  { "", 317 },
+  { "", 318 },
+  { "", 334 },
   { "", 310 },
   { "", 326 },
-  { "", 302 },
-  { "", 318 },
+  { "", 319 },
+  { "", 335 },
   { "", 311 },
   { "", 327 },
-  { "", 303 },
-  { "", 319 },
-  { "", 312 },
-  { "", 328 },
-  { "", 304 },
-  { "", 320 },
-  { "", 208 },
-  { "", 207 },
-  { "", 203 },
-  { "", 206 },
-  { "", 204 },
-  { "", 205 },
-  { "", 332 },
-  { "", 354 },
+  { "", 215 },
+  { "", 214 },
+  { "", 210 },
+  { "", 213 },
+  { "", 211 },
+  { "", 212 },
+  { "", 339 },
+  { "", 361 },
   { "", 0 },
   { "", 15 },
-  { "", 344 },
-  { "", 338 },
+  { "", 351 },
   { "", 345 },
-  { "", 339 },
-  { "", 73 },
-  { "", 76 },
-  { "", 79 },
-  { "", 82 },
-  { "", 41 },
-  { "", 48 },
-  { "", 55 },
-  { "", 62 },
-  { "", 22 },
+  { "", 352 },
+  { "", 346 },
+  { "", 74 },
+  { "", 77 },
+  { "", 80 },
+  { "", 83 },
+  { "", 42 },
+  { "", 49 },
+  { "", 56 },
+  { "", 63 },
   { "", 8 },
   { "", 9 },
   { "", 3 },
   { "", 1 },
   { "", 2 },
-  { "", 40 },
-  { "", 47 },
-  { "", 54 },
-  { "", 61 },
-  { "", 70 },
-  { "", 69 },
+  { "", 41 },
+  { "", 48 },
+  { "", 55 },
+  { "", 62 },
   { "", 71 },
-  { "", 44 },
-  { "", 51 },
-  { "", 58 },
-  { "", 65 },
+  { "", 70 },
+  { "", 72 },
+  { "", 45 },
+  { "", 52 },
+  { "", 59 },
+  { "", 66 },
   { "", 36 },
-  { "", 87 },
   { "", 37 },
-  { "", 84 },
+  { "", 88 },
+  { "", 38 },
   { "", 85 },
+  { "", 86 },
   { "", 35 },
   { "", 31 },
-  { "", 337 },
-  { "", 334 },
-  { "", 356 },
-  { "", 357 },
-  { "", 331 },
-  { "", 333 },
-  { "", 38 },
-  { "", 72 },
-  { "", 75 },
-  { "", 78 },
-  { "", 81 },
-  { "", 43 },
-  { "", 50 },
-  { "", 57 },
-  { "", 64 },
+  { "", 344 },
+  { "", 341 },
+  { "", 363 },
+  { "", 364 },
+  { "", 338 },
+  { "", 340 },
+  { "", 39 },
+  { "", 73 },
+  { "", 76 },
+  { "", 79 },
+  { "", 82 },
+  { "", 44 },
+  { "", 51 },
+  { "", 58 },
+  { "", 65 },
 };
 const ProtobufCEnumDescriptor event_type__descriptor =
 {
@@ -739,9 +753,9 @@ const ProtobufCEnumDescriptor event_type__descriptor =
   "",
   "",
   "",
-  358,
+  365,
   event_type__enum_values_by_number,
-  358,
+  365,
   event_type__enum_values_by_name,
   11,
   event_type__value_ranges,
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/EventType.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/EventType.pb-c.h
index fe8060fb7..cfb700260 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/EventType.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/EventType.pb-c.h
@@ -42,7 +42,7 @@ typedef enum _EventType {
   EVENT_TYPE__FRONT_COVER_3_OPEN = 2004,
   EVENT_TYPE__FRONT_COVER_4_OPEN = 2005,
   EVENT_TYPE__CARTRIDGES_COVER_OPEN = 2006,
-  EVENT_TYPE__REAR_COVER_OPEN = 2007,
+  EVENT_TYPE__ARCH_COVER_OPEN = 2007,
   EVENT_TYPE__MACHINE_INTERNAL_OVERTEMPERATURE = 2008,
   EVENT_TYPE__MACHINE_FANS_RPM_TOO_LOW = 2009,
   EVENT_TYPE__MACHINE_FANS_STOPPED = 2010,
@@ -56,6 +56,7 @@ typedef enum _EventType {
   EVENT_TYPE__ELECTRICAL_CABINET_OVERTEMPERATURE = 2018,
   EVENT_TYPE__FPGA_WATCHDOG_ACTIVATED = 2019,
   EVENT_TYPE__UNINTENDED_RESET = 2020,
+  EVENT_TYPE__TEMPERATURE_MEASUREMENT_ERROR = 2021,
   EVENT_TYPE__THREAD_BREAK = 3000,
   EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_FEEDER_DANCER = 3001,
   EVENT_TYPE__WINDER_CONE_DOES_NOT_EXIST = 3002,
@@ -223,6 +224,12 @@ typedef enum _EventType {
   EVENT_TYPE__DYEING_HEAD_LEFT_ACTUATOR_UP_TIMEOUT = 5090,
   EVENT_TYPE__DYEING_HEAD_RIGHT_ACTUATOR_DOWN_TIMEOUT = 5091,
   EVENT_TYPE__DYEING_HEAD_LEFT_ACTUATOR_DOWN_TIMEOUT = 5092,
+  EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_HIGH = 5093,
+  EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_HIGH = 5094,
+  EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_LOW = 5095,
+  EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_LOW = 5096,
+  EVENT_TYPE__DYEING_HEAD_ARC_LID_IS_OPEN = 5097,
+  EVENT_TYPE__DYEING_HEAD_TUNNEL_LID_IS_OPEN = 5098,
   EVENT_TYPE__MIXER_OVERTEMPERATURE = 6000,
   EVENT_TYPE__MIXER_UNDERTEMPERATURE_A = 6001,
   EVENT_TYPE__MIXER_UNDERTEMPERATURE_B = 6002,
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
index 24b0fce27..6069c78ff 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
@@ -1157,7 +1157,7 @@ bool Safety_Incident_Report()//TODO move to GPIO folder
 {
     bool IsSafetyIncidentOccurred = No_Safety_Event;
 
-    if(ROM_GPIOPinRead(GPIO_PORTR_BASE, GPIO_PIN_2)) //EPB_S1 (GPI_PS1_DC_OK)
+    if(ROM_GPIOPinRead(GPIO_PORTR_BASE, GPIO_PIN_2)==0) //EPB_S1 (GPI_PS1_DC_OK)
         IsSafetyIncidentOccurred = Safety_Event_Occurred;
 
         return IsSafetyIncidentOccurred;
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/EEPROM/Dispenser_EEPROM.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/EEPROM/Dispenser_EEPROM.c
index 9ae12d0b4..d9f5385f6 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/EEPROM/Dispenser_EEPROM.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/EEPROM/Dispenser_EEPROM.c
@@ -272,7 +272,7 @@ uint32_t Get_EEPROM_DATA_From_Dispenser(int Dispenser_ID,StubDispenserEEpromData
         if (dispensereeprom->dispensers_n)
         memcpy(dispensereeprom->dispensers_n,Dispenser_struct[Dispenser_ID].Read_Disp_EEPROM.bytes.Dispenser_SN,sizeof(Dispenser_struct[Dispenser_ID].Read_Disp_EEPROM.bytes.Dispenser_SN));
         dispensereeprom->has_minimalpressure = true;
-        dispensereeprom->minimalpressure = Dispenser_struct[Dispenser_ID].Read_Disp_EEPROM.bytes.Maximal_Pressure;
+        dispensereeprom->minimalpressure = Dispenser_struct[Dispenser_ID].Read_Disp_EEPROM.bytes.Minimal_Pressure;
         dispensereeprom->has_maximalpressure = true;
         dispensereeprom->maximalpressure = Dispenser_struct[Dispenser_ID].Read_Disp_EEPROM.bytes.Maximal_Pressure;
         dispensereeprom->has_minimalmv = true;
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.c
index 32d82f8af..ad34e4224 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.c
@@ -651,6 +651,9 @@ uint32_t WHS_Pid_Testing_Func(double setParam,double measuredParam)
     //WHS_ControlData.m_params.dt = 2;
     close_loop_time = WHS_ControlData.m_params.dt;
     SendLimitedBlowerControl(calculated_speed);
+    if (calculated_speed < MIN_ALLOWED_BLOWER_VOLTAGE)
+        WHS_ControlData.m_integral = 0;
+
 
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
index aa5ffbb12..fdfb99561 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
@@ -350,7 +350,7 @@ uint32_t MotorMovetoBreakSensor (TimerMotors_t _motorId,bool direction, uint32_t
 uint32_t MotorMovetoDancerPosition (TimerMotors_t _motorId,bool direction, uint32_t Freq,uint32_t DancerId,bool dancervaluedirection,  callback_fptr callback,uint32_t timeout);
 uint32_t MotorAbortMovetoLimitSwitch (TimerMotors_t _motorId);
 uint32_t MotorMoveToStopper (TimerMotors_t _motorId,bool direction, uint32_t Speed, callback_fptr callback,uint32_t backlash,uint32_t timeout);
-uint32_t MotorMovetoEncoderPosition (TimerMotors_t MotorId,  callback_fptr callback,uint32_t timeout);
+uint32_t MotorMovetoEncoderPosition (TimerMotors_t MotorId,  callback_fptr callback,uint32_t timeout, bool direction);
 
 uint32_t MotorStopAction (TimerMotors_t MotorId); //Stop the controlled action of a motor
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
index 12c9193e3..e505ac017 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
@@ -283,7 +283,7 @@ uint32_t MotorVerifiedCallBackFunction(uint32_t IfIndex, uint32_t ArmPosition) /
        if (MotorCallback[MotorId])
            MotorCallback[MotorId](MotorId,ArmPosition);
        MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize);
-       MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,NULL,1000);
+       MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,NULL,1000,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize);
        DrierZeroPosition = Read_Dryer_ENC_Position(); //trigger the next call
 
    }
@@ -383,7 +383,7 @@ uint32_t MotorMoveToDrierPositionCallBackFunction(uint32_t IfIndex, uint32_t Rea
    }
    return OK;
 }
-uint32_t MotorMovetoEncoderPosition (TimerMotors_t MotorId,  callback_fptr callback,uint32_t timeout)
+uint32_t MotorMovetoEncoderPosition (TimerMotors_t MotorId,  callback_fptr callback,uint32_t timeout, bool direction)
 {
     //assert (callback);
     uint32_t currentposition = 0;
@@ -412,6 +412,7 @@ uint32_t MotorMovetoEncoderPosition (TimerMotors_t MotorId,  callback_fptr callb
     //Report("MotorMovetoEncoderPosition direction",__FILE__,__LINE__,direction,RpWarning,15,0);
 
     //MotorSetDirection( MotorId, direction);
+    MotorSetDirection(MotorId,direction);
     MotorSetSpeed (MotorId, 30);
     MotorControlId[MotorId] = AddControlCallback(NULL, MotorMoveToDrierPositionCallBackFunction,  2,Control_Read_Dryer_Position,(IfTypeMotors*0x100+MotorId), MotorId, 0 );
     MotorControlCallback[MotorId] = MotorMoveToDrierPositionCallBackFunction;
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index 26fba0194..14275533e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -597,6 +597,9 @@ uint32_t ControlLowLoop(uint32_t tick)
                 continue;
             if (ControlArray[ControlLowDevice_i].ControlTiming == eOneMillisecond)
                 continue;
+            if (ControlArray[ControlLowDevice_i].StartTick == tick)
+                continue;
+
             if (((tick - ControlArray[ControlLowDevice_i].StartTick)%ControlArray[ControlLowDevice_i].ControlTiming)<=skipped_ticks) // run the control on exact intervals
             {
                 ControlBacklog[backlogindex]=ControlLowDevice_i;
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
index 4d3344ce7..7bda97734 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
@@ -24,6 +24,7 @@
 #include  <PMR/Diagnostics/SetBlowerStateResponse.pb-c.h>
 #include  <PMR/Hardware/HardwareBlowerType.pb-c.h>
 
+#include <Drivers/I2C_Communication/RFID_NFC/I2C_IFS_Mux.h>
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 #include "drivers/I2C_Communication/DAC/blower.h"
 #include "drivers/I2C_Communication/ADC_MUX/ADC_MUX.h"
@@ -214,6 +215,11 @@ uint32_t SetDigitalOutRequestRequestFunc(MessageContainer* requestContainer)
                 Trigger_SetWHSValveWatseCartridge(request->value);
             break;
         case INTERFACE_IOS__GPO_WHS_WTANKPUMP2:
+            if ((IFS_Availability[1] == IFS_RECOGNIZED)&&(IFS_Availability[2] == IFS_RECOGNIZED)) //ifs installed -check cartridges
+            {
+                if (NoCartAvailable())
+                    return ERROR;
+            }
             SetWastePump( request->value);
             break;
         case INTERFACE_IOS__GPO_SPARE_SSR12_CTRL:
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index a439a8715..93bf916b2 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -480,18 +480,20 @@ uint32_t Diagnostics_Dryer_UnLoading_Callback(uint32_t MotorId, uint32_t ReadVal
     uint32_t temp = Read_Dryer_ENC_Position();
     Report("Diagnostics_Dryer_UnLoading_Callback",__FILE__,ReadValue,temp,RpMessage,D_DrierPrevLocation,0);
     //Report("Diagnostics_Dryer_UnLoading_Callback details",__FILE__,(int)(TotalLoadedLen),D_numberOfCycles,RpMessage,CallbackCounter,0);
-    if (ReadValue == NOTBUSY) // OK - take another round
+    if ((abs (temp -D_DrierPrevLocation)>1000  )&&(ReadValue == NOTBUSY)) // OK - take another round
+//    if (ReadValue == NOTBUSY) // OK - take another round
     {
         D_DrierPrevLocation = temp;
         Report("Diagnostics_Dryer_UnLoading cycles",__FILE__,D_numberOfCycles,LoadArmRounds,RpMessage,0,0);
         if (D_numberOfCycles<LoadArmRounds)
         {
+            MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmRounds-D_numberOfCycles);
             MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
                                    D_numberOfSteps,    Diagnostics_Dryer_UnLoading_Callback, 10000);
         }
         else //done enough cycles, go to the center point
         {
-            MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Diagnostics_Set_Load_Arm_To_Stopper_Callback,15000);
+            MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Diagnostics_Set_Load_Arm_To_Stopper_Callback,15000,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize);
             MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmRounds-D_numberOfCycles);
             Report("Store Number of cycles in drier",__FILE__,__LINE__,D_numberOfCycles,RpMessage,LoadArmRounds,0);
         }
@@ -556,6 +558,7 @@ uint32_t Diagnostics_Dryer_Loading_Callback(uint32_t MotorId, uint32_t ReadValue
 
     Report("Diagnostics_Dryer_Loading_Callback",__FILE__,(int)D_numberOfCycles,(int)D_DrierPrevLocation,RpMessage,ReadValue,0);
 
+    MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,D_numberOfCycles);
     if (ReadValue == NOTBUSY)
     {
         //Report("Diagnostics_Dryer_Loading_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
@@ -567,15 +570,13 @@ uint32_t Diagnostics_Dryer_Loading_Callback(uint32_t MotorId, uint32_t ReadValue
         }
         else
         {
-            MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Diagnostics_Dryer_MovetoEncoderPosition_Callback,15000);
-            MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,D_numberOfCycles);
+            MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Diagnostics_Dryer_MovetoEncoderPosition_Callback,15000,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize);
             Report("Store Number of cycles in drier",__FILE__,__LINE__,D_numberOfCycles,RpMessage,LoadArmRounds,0);
         }
     }
     else
     {
         Report("Store Number of cycles in drier - halted",__FILE__,__LINE__,D_numberOfCycles,RpMessage,LoadArmRounds,0);
-        MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,D_numberOfCycles);
         MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 200);
     }
     return OK;
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 73da7924b..a9899afd7 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -684,8 +684,7 @@ void PrepareACHeater(int HeaterId,uint32_t Frequency, uint32_t SetTemperatue)
             }
             DeActivateHeater(HeaterId);
             HeaterCmd[HeaterId].targettemperatue = 0;
-#warning PT100 error is misidentified as overheat in alarms
-            AlarmHandlingSetAlarm(EVENT_TYPE__POWER_UP_BIT_FAILURE, true);
+            AlarmHandlingSetAlarm(EVENT_TYPE__TEMPERATURE_MEASUREMENT_ERROR, true);
 
             return;
         }
@@ -767,7 +766,7 @@ int PrepareDCHeater(int HeaterId, uint32_t Frequency, uint32_t SetTemperatue)
             ControlIdtoHeaterId [HeaterId] = 0xFF;
         }
         DeActivateHeater(HeaterId);
-        AlarmHandlingSetAlarm(EVENT_TYPE__POWER_UP_BIT_FAILURE, true);
+        AlarmHandlingSetAlarm(EVENT_TYPE__TEMPERATURE_MEASUREMENT_ERROR, true);
         HeaterCmd[HeaterId].targettemperatue = 0;
 
         return ERROR;
@@ -1154,6 +1153,17 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
             DeActivateHeater(HEATER_TYPE__DryerMainHeater);
             HeaterRecalculateSharedHeatersParams(HEATER_TYPE__DryerMainHeater,0);
             HeaterRecalculateSharedHeatersParams(HEATER_TYPE__DryerSecondaryHeater,0);
+            if (HeaterSpikeRead[index] == 0)
+            {
+                HeaterSpikeRead[index] = readValue;
+            }
+            else
+            {
+                ReportWithPackageFilter(HeatersFilter,"restoring read Temperature Spike",__FILE__,index,HeaterPreviousRead[index],RpWarning,HeaterSpikeRead[index], index);
+                HeaterPreviousRead[index] = HeaterSpikeRead[index];
+                HeaterSpikeRead[index] = 0;
+            }
+
         }
         return ERROR;
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 8682d648a..5f1dfe138 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -593,7 +593,7 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
              Report("pressureReady = true  or timeout;",__FILE__,DispenserBuildTimeCounter,NumofReadyDispensers,RpWarning,(int)NumOfActiveDispensers,0);
          }
      }
-     else if ((endOfPrepareWCF == false)&&(NumOfActiveDispensers))
+     else if (endOfPrepareWCF == false)
      {
          if ((DispenserBuildTimeCounter == PRESSURE_READ_TIME_GAP)&&(FirstBrushStop))
          {
@@ -686,13 +686,6 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
 
          }
      }
-     else if (NumOfActiveDispensers == 0)
-     {
-         endOfPrepareWCF = true;
-         FreeBrushStopFileData(FirstBrushStop);
-         FirstBrushStop =NULL;
-         Report("endOfPrepareWCF = true;",__FILE__,DispenserBuildTimeCounter,NumofReadyDispensers,RpWarning,(int)NumOfActiveDispensers,0);
-     }
      //start new stage
      if (endOfPrepareWCF == true)
      {
@@ -1612,7 +1605,7 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
 //handle ending of presegment
     if (DispenserPreSegmentControlId != 0xFF)
     {
-        Report("IDS presegment not yet ended!!",__FILE__,__LINE__,(int)InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
+        Report("IDS presegment not yet ended!!",__FILE__,DispenserPreSegmentControlId,(int)InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
         //IDS_Cleaning_Stop_Cleaning_Solution (NULL);
         RemoveControlCallback(DispenserPreSegmentControlId, IDSPreSegmentStateCallbackRunner );
         DispenserPreSegmentControlId = 0xFF;
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index 6b6b85f2f..e14053ae3 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -1125,7 +1125,9 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
     size_t container_size = message_container__pack(&responseContainer, container_buffer);
     free(responseContainer.data.data);
-    progress_request__free_unpacked(request,NULL);
+    if (request)
+        progress_request__free_unpacked(request,NULL);
+    //writeLine("Progress Completed!");
     SendChars((char*)container_buffer, container_size);
     //free(container_buffer);
     if (RestartNeeded == true)
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index f5bc45d85..2c8db8b6c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -226,6 +226,19 @@
         }
         return OK;
     }
+    uint32_t Thread_Load_Set_Load_Arm_To_Stopper_OnError_Callback(uint32_t deviceID, uint32_t BusyFlag)
+    {
+
+        Report("Thread_Load_Set_Load_Arm_To_Stopper_OnError_Callback time",__FILE__,msec_millisecondCounter - UnloadingStart,msec_millisecondCounter,RpMessage,UnloadingStart,0);
+
+        Report("Thread_Load_Set_Load_Arm_To_Stopper_OnError_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
+        NumberOfDrierLoaderCycles=0;
+        //storeLoadArmParameters();
+        MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Hard_Stop);
+        SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM);  //set this point as the spool home
+
+        return OK;
+    }
     uint32_t Thread_Load_Set_Load_Arm_To_Stopper_Callback(uint32_t deviceID, uint32_t BusyFlag)
     {
 
@@ -600,7 +613,7 @@
     {
         numberOfCycles++;
 
-        Report("Thread_Load_Dryer_Loading_Callback",__FILE__,(int)TotalLoadedLen,(int)DrierPrevLocation,RpMessage,ReadValue,0);
+        Report("Thread_Load_Dryer_Loading_Callback",__FILE__,(int)TotalLoadedLen,(int)DrierPrevLocation,RpMessage,numberOfCycles,0);
 
         if ((fabs (TotalLoadedLen  -DrierPrevLocation)>50  )&&(ReadValue == NOTBUSY))
         {
@@ -618,7 +631,7 @@
             }
             else
             {
-                MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Dryer_MovetoEncoderPosition_Callback,30000);
+                MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Dryer_MovetoEncoderPosition_Callback,30000,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize);
                 MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,numberOfCycles);
                 Report("Store Number of cycles in drier",__FILE__,__LINE__,numberOfCycles,RpMessage,LoadArmRounds,0);
             }
@@ -803,6 +816,7 @@
     }
     uint32_t Thread_Load_Dryer_UnLoading_Callback(uint32_t MotorId, uint32_t ReadValue)
     {
+        bool direction;
         numberOfCycles++;
         uint32_t temp = Read_Dryer_ENC_Position();
         Report("Thread_Load_Dryer_UnLoading_Callback",__FILE__,ReadValue,temp,RpMessage,DrierPrevLocation,0);
@@ -823,7 +837,7 @@
             }
             else //done enough cycles, go to the center point
             {
-                MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Set_Load_Arm_To_Stopper_Callback,30000);
+                MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Set_Load_Arm_To_Stopper_Callback,30000,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize);
                 MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,0);
                 Report("Store Number of cycles in drier",__FILE__,__LINE__,numberOfCycles,RpMessage,LoadArmRounds,0);
             }
@@ -831,7 +845,23 @@
         else  //timeout or no movement
         {
             Report("Store Number of cycles in drier - halted",__FILE__,__LINE__,numberOfCycles,RpMessage,LoadArmRounds,0);
-            MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmRounds-numberOfCycles);
+            if (SecondTry == true)
+                MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,0);
+            else
+                MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmRounds-numberOfCycles);
+            if (abs(temp -DrierPrevLocation)<200)
+            {
+                if (temp<DrierPrevLocation)
+                    direction = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize;
+                else
+                    direction = 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize;
+                MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Set_Load_Arm_To_Stopper_OnError_Callback,3000,direction);
+
+            }
+            else
+                MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Hard_Stop);
+
+
             TimeoutsCounter = 0;
             CallbackCounter = 0;
             /*if(PullerControlId != 0xFF)
@@ -853,7 +883,6 @@
             MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);*/
 
             MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,Hard_Hiz);
-            MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Hard_Stop);
             load.color = fastBILNK;
             usnprintf(LoadErrorMsg, 100, "Stage %s - Drier load arm timeout",LoadStagesStr[LoadStages]);
             Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0);
@@ -1210,15 +1239,15 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 
 
     NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index];
-    MotorControlConfig[index].m_mesuredParam = NormalizedError;
-    MotorControlConfig[index].m_calculatedError = PIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam,
-                                                                          &MotorControlConfig[index].m_params,   &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral);
     if (index != FEEDER_MOTOR) //feeder unit handles errors opposite to left unit
     {
-        MotorControlConfig[index].m_calculatedError = (-1*MotorControlConfig[index].m_calculatedError);
+        NormalizedError = (-1*NormalizedError);
     }
+    MotorControlConfig[index].m_mesuredParam = NormalizedError;
+    MotorControlConfig[index].m_calculatedError = PIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam,
+                                                                          &MotorControlConfig[index].m_params,   &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral);
     calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
-    if (fabs(calculated_speed-CurrentControlledSpeed[index])> MotorControlConfig[index].m_ingnoreValue)
+    //if (fabs(calculated_speed-CurrentControlledSpeed[index])> MotorControlConfig[index].m_ingnoreValue)
     {
         CurrentControlledSpeed[index] = calculated_speed;
         MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h
index 308de0bd0..af4bd5e08 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h
@@ -33,6 +33,7 @@ void cartFILLING_END(void); //{set state of ACTIVE to FULL}
 CartridgeStateEnum cartGetState (WasteCartridgeEnum);
 bool cartGetPresence (WasteCartridgeEnum CartId);
 bool cartCart_door();//Polled by polling function. Notify waste. Poll each 1 second. During active filling poll each 100msec
+bool NoCartAvailable();
 
 void Waste_Init();
 void Waste_StateMachine(void);
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
index 7d358cfc2..40e23e0b3 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
@@ -499,3 +499,24 @@ void Waste_StateMachine(void)
             break;
     }
 }
+void Waste_Prepare(void)
+{
+    //check if the waste is ready to run - waste level not above overflow level and no cartridge in the slots
+    if (wasteLevel > wasteLevelOverflow)
+    {
+        Report("cannot start a job with waste tank overflow", __FILE__, __LINE__, wasteLevel, RpMessage, wasteLevelOverflow, 0);
+        PrepareReady(Module_Waste,ModuleFail);
+        return;
+    }
+    if ((WHS_IsEmptying())||(NoCartAvailable()))
+    {
+        PrepareReady(Module_Waste,ModuleDone);
+    }
+    else
+    {
+        Report("cannot start a job with cartridges in the IFS", __FILE__, __LINE__, wasteLevel, RpMessage, wasteLevelOverflow, 0);
+        PrepareReady(Module_Waste,ModuleFail);
+    }
+    return;
+
+}
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index 48ade0798..106d515ad 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -207,6 +207,10 @@ static ReturnCode PrepareState(void *JobDetails)
     {
         PrepareWaiting[Module_Thread] = ModuleWaiting;
     }
+    if (Configured[Module_Waste])
+    {
+        PrepareWaiting[Module_Waste] = ModuleWaiting;
+    }
     if (Configured[Module_Winder])
     {
         PrepareWaiting[Module_Winder] = ModuleWaiting;
@@ -239,6 +243,8 @@ static ReturnCode PrepareState(void *JobDetails)
            SendJobProgress(0.0, 0, false, "Winder prepare failed !!!!");
        }
     }
+    if (Configured[Module_Waste])
+        Waste_Prepare();
 
 	return retcode;
 }
@@ -548,7 +554,7 @@ uint32_t ThreadCleaningJob(int speed)
             Configured[Module_Winder] = true;
             Configured[Module_IDS] = true;
             Configured[Module_Heaters] = true;
-            Configured[Module_Waste] = false;
+            Configured[Module_Waste] = true;
             //set the requested speed without changing other process parameters
             memcpy (&ProcessParametersCopy,&ProcessParametersKeep,sizeof(ProcessParameters));
             if(speed)
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
index a0828322e..6f2b9c534 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
@@ -20,6 +20,7 @@
 #include "./printingSTM.h"
 
 #include "Drivers/Heater/Heater.h"
+#include <Drivers/I2C_Communication/RFID_NFC/I2C_IFS_Mux.h>
 
 #include "Modules/General/MachineStatus.h"
 #include "modules/General/process.h"
@@ -306,6 +307,8 @@ uint32_t PrintingHWConfiguration(void *Configuration)
     HardwareConfiguration *request = Configuration;
     if (request->n_winders == 1)
         Configured[Module_Winder] = true;
+    if ((IFS_Availability[1] == IFS_RECOGNIZED)&&(IFS_Availability[2] == IFS_RECOGNIZED)) //ifs installed -check cartridges
+        Configured[Module_Waste] = true;
 
     if (request->n_motors < HARDWARE_MOTOR_TYPE__MOTO_SPARE1_1)
     {
diff --git a/Software/Stubs Collection/Procedures/Dancers calibration.pproj b/Software/Stubs Collection/Procedures/Dancers calibration.pproj
new file mode 100644
index 000000000..e906c6329
--- /dev/null
+++ b/Software/Stubs Collection/Procedures/Dancers calibration.pproj
@@ -0,0 +1 @@
+{"$id":"1","Name":"Dancers calibration","Description":null,"Scripts":{"$id":"2","$values":[{"$id":"3","Code":"using System;\r\nusing System.Collections.Generic;\r\nusing System.Collections.ObjectModel;\r\nusing System.ComponentModel;\r\nusing System.Linq;\r\nusing System.Text;\r\nusing System.Threading;\r\nusing System.Threading.Tasks;\r\nusing Google.Protobuf;\r\nusing Tango.BL.Enumerations;\r\nusing Tango.PMR.Stubs;\r\nusing Tango.PMR.Diagnostics;\r\nusing Tango.FSE.Common.Diagnostics;\r\nusing Tango.FSE.Procedures;\r\n\r\npublic class Program\r\n{\r\n    public void OnExecute(IProcedureContext context)\r\n    {\r\n\r\n\t\tvar response1 = context.ShowQuestion(\"Please Enter Password:\");\r\n\t\tif (response1. \"Aa123456\")\r\n\t\t{\r\n\t\t\tcontext.WriteLine(response1);\r\n\t\t\t\r\n\t\t\t\r\n\t\t\tcontext.RequestTimeout = 2000;\r\n\t\t\t//for (int i = 0; i < 100; i++)\r\n\t\t\t{\r\n\t\t\t\tvar response = context.Send<StubDancerPositionResponse>(\"StubDancerPositionRequest\" ,0);\r\n\t\t\t\tThread.Sleep(1000);\r\n\t\t\t\t response = context.Send<StubDancerPositionResponse>(\"StubDancerPositionRequest\" ,1);\r\n\t\t\t\tThread.Sleep(1000);\r\n\t\t\t\t response = context.Send<StubDancerPositionResponse>(\"StubDancerPositionRequest\" ,2);\r\n\t\t\t\tThread.Sleep(1000);\r\n\t\t\t}\r\n\t    }\r\n\r\n    }\r\n}","Name":"Program.csx","IsEntryPoint":true},{"$id":"4","Code":"using System;\r\nusing System.Collections.Generic;\r\nusing System.Collections.ObjectModel;\r\nusing System.ComponentModel;\r\nusing System.Linq;\r\nusing System.Text;\r\nusing System.Threading;\r\nusing System.Threading.Tasks;\r\nusing Google.Protobuf;\r\nusing Tango.BL.Enumerations;\r\nusing Tango.PMR.Stubs;\r\nusing Tango.PMR.Diagnostics;\r\nusing Tango.FSE.Common.Diagnostics;\r\nusing Tango.FSE.Procedures;\r\n\r\npublic class Service\r\n{\r\n    public double Calc(double a, double b)\r\n    {\r\n        return a + b;\r\n    }\r\n}","Name":"Service.csx","IsEntryPoint":false}]},"Inputs":{"$id":"5","$values":[]},"ReferenceAssemblies":{"$id":"6","$values":[{"$id":"7","File":"C:\\Windows\\Microsoft.NET\\Framework\\v4.0.30319\\mscorlib.dll","HintType":"System.String, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"},{"$id":"8","File":"C:\\WINDOWS\\Microsoft.Net\\assembly\\GAC_MSIL\\System.Core\\v4.0_4.0.0.0__b77a5c561934e089\\System.Core.dll","HintType":"System.Linq.Enumerable, System.Core, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"},{"$id":"9","File":"C:\\WINDOWS\\Microsoft.Net\\assembly\\GAC_MSIL\\System.Windows.Forms\\v4.0_4.0.0.0__b77a5c561934e089\\System.Windows.Forms.dll","HintType":"System.Windows.Forms.Form, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"},{"$id":"10","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.FSE.Procedures.dll","HintType":"Tango.FSE.Procedures.ProcedureProject, Tango.FSE.Procedures, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null"},{"$id":"11","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.FSE.Common.dll","HintType":"Tango.FSE.Common.Diagnostics.IDiagnosticsProvider, Tango.FSE.Common, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null"},{"$id":"12","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.BL.dll","HintType":"Tango.BL.Enumerations.TechMonitors, Tango.BL, Version=2.0.36.1608, Culture=neutral, PublicKeyToken=null"},{"$id":"13","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.PMR.dll","HintType":"Tango.PMR.Common.MessageType, Tango.PMR, Version=2.0.40.1608, Culture=neutral, PublicKeyToken=null"},{"$id":"14","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.Transport.dll","HintType":"Tango.Transport.ITransporter, Tango.Transport, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null"},{"$id":"15","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.Integration.dll","HintType":"Tango.Integration.Operation.IMachineOperator, Tango.Integration, Version=2.0.31.1608, Culture=neutral, PublicKeyToken=null"},{"$id":"16","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Google.Protobuf.dll","HintType":"Google.Protobuf.IMessage, Google.Protobuf, Version=3.4.1.0, Culture=neutral, PublicKeyToken=a7d26565bac4d604"},{"$id":"17","File":"C:\\WINDOWS\\Microsoft.Net\\assembly\\GAC_MSIL\\System.Drawing\\v4.0_4.0.0.0__b03f5f7f11d50a3a\\System.Drawing.dll","HintType":"System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a"}]},"ApartmentState":"MTA"}
\ No newline at end of file
diff --git a/Software/Stubs Collection/Procedures/EmbeddedParametersBuild.pproj b/Software/Stubs Collection/Procedures/EmbeddedParametersBuild.pproj
new file mode 100644
index 000000000..0b1371bbb
--- /dev/null
+++ b/Software/Stubs Collection/Procedures/EmbeddedParametersBuild.pproj
@@ -0,0 +1 @@
+{"$id":"1","Name":"EmbeddedParametersBuild","Description":null,"Scripts":{"$id":"2","$values":[{"$id":"3","Code":"using System;\r\nusing System.Collections.Generic;\r\nusing System.Collections.ObjectModel;\r\nusing System.ComponentModel;\r\nusing System.Linq;\r\nusing System.Text;\r\nusing System.Threading;\r\nusing System.Threading.Tasks;\r\nusing System.IO;\r\nusing Google.Protobuf;\r\nusing Tango.BL.Enumerations;\r\nusing Tango.PMR.Stubs;\r\nusing Tango.PMR.Diagnostics;\r\nusing Tango.FSE.Common.Diagnostics;\r\nusing Tango.PMR.EmbeddedParameters;\r\nusing Tango.PMR.IO;\r\nusing Tango.FSE.Procedures;\r\n\r\npublic class Program\r\n{\r\n    public void OnExecute(IProcedureContext context)\r\n    {\r\n\r\n        context.AddResult(ResultType.Passed, \"My Value Name\", \"Test for this value has passed.\");\r\n\t\tConfigurationParameters configurationParameters = new ConfigurationParameters();\r\n\r\n\t\tconfigurationParameters.BreakSensorLimit = 10;\r\n\r\n\t\t//how many samples to collect in diagnostics before sending\r\n\t\tconfigurationParameters.DiagnosticCollectionLimit = 3;\r\n\r\n\t\t//how many consecutive readout before declaring DC over/underheat alarm\r\n\t\tconfigurationParameters.OverHeatCountLimit = 3;\r\n\t\tconfigurationParameters.UnderHeatCountLimit = 3;\r\n\r\n\t\t// time of motor activity before opening the valve or after closing the valve, in milliseconds\r\n\t\tconfigurationParameters.CloseValveTimeout = 20;\r\n\t\tconfigurationParameters.OpenValveTimeout = 20;\r\n\r\n\t\t//backlash after filling - target pressure, timoeout, time staps (speed will be added in general parameters)\r\n\t\tconfigurationParameters.InitialDispenserPressure = 0.25; \r\n\t\tconfigurationParameters.InitialDispenserTimeout = 60000; //20 seconds\r\n\t\tconfigurationParameters.InitialDispenserTimeLag = 100;\r\n\r\n\t\t//job prepare - build pressure in dispensers - target pressure, timoeout, time staps, speed\r\n\t\tconfigurationParameters.DispenserBuildPressureSpeed = 950; //no more than 1000\r\n\t\tconfigurationParameters.DispenserBuildPressureLimit = 0.85; \r\n\t\tconfigurationParameters.DispenserBuildPressureTimeout = 180000;\r\n\t\tconfigurationParameters.DispenserBuildPressureLag = 100;\r\n\r\n\t\t//temperature band 1000 = 100% - thresholds for job start around target temprature - AC\r\n\t\tconfigurationParameters.ACHeatersLowerOperationLimit = 995;\r\n\t\tconfigurationParameters.ACHeatersUpperOperationLimit = 1005;\r\n\r\n\t\t//temperature band 1000 = 100% - thresholds for job start around target temprature - DC\r\n\t\tconfigurationParameters.DCHeatersLowerOperationLimit = 978;\r\n\t\tconfigurationParameters.DCHeatersUpperOperationLimit = 1005;\r\n\r\n\t\t// mid tank reading offset to add to the readout (OBSOLETE!)\r\n\t\tconfigurationParameters.MidTankPressureCorrection = 0.0;\r\n\r\n\t\t//waste factor for intersegment pressure building\r\n\t\tconfigurationParameters.DispenserPresegmentWFCF = 40;\r\n\t\t//how much time to start the WFCF process (pressure buildup) before segment start\r\n\t\tconfigurationParameters.IDSPreSegmentWFCFTimeBeforeSegment = 12000;\r\n\r\n\t\t//flag: start heaters according to saved process parameters upon init?\r\n\t\tconfigurationParameters.StartHeatingOnInitSequence = true;\r\n\r\n\t\t// current test for the heaters - alarm thresholds\r\n\t\tconfigurationParameters.CurrentAlarmLowLimit = 0.78;\r\n\t\tconfigurationParameters.CurrentAlarmHighLimit = 1.07;\r\n\r\n\t\t//currently not in use\r\n\t\tconfigurationParameters.IDSSegmentRefillTimeout = 5000;\r\n\t\tconfigurationParameters.IDSPreSegmentBuildupTime = 5000;\r\n\t\t//cleaning!!!!!!!!!!\r\n\t\tconfigurationParameters.IDSCleaningSpeed = 800;\r\n\t\tconfigurationParameters.IDSCleaningStopBeforeSegmentTime = 10000;  //end of presegemnt\r\n\t\tconfigurationParameters.IDSCleaningStartSprayPreSegmentTime =2000; //beginning of presegment\r\n\r\n\t\tint Tup = 6,Tdelay1 = 26,Tdelay2 = 65;//300 milli up, stay 1 sec, stay down 2 sec\r\n\t\t//   Tup = LeftRockerSpeed/100;\r\n\t\t//    Tdelay1 = LeftRockerSpeed%100;\r\n\t\t//    Tdelay2 = RightRockerSpeed;\r\n\t\tint LeftRockerSpeed = Tup*100+Tdelay1;\r\n\t\tint RightRockerSpeed = Tdelay2;\r\n\r\n\t\tconfigurationParameters.IDSLeftCleaningMotorSpeed = LeftRockerSpeed;\r\n\t\tconfigurationParameters.IDSRightCleaningMotorSpeed = RightRockerSpeed;\r\n\r\n\t\tconfigurationParameters.SwitchToIdleTimeinSeconds = 3600;\r\n\t\tconfigurationParameters.IdleDrierTemperature = 80;\r\n\t\tconfigurationParameters.IdleHeadTemperature = 80;\r\n\t\tconfigurationParameters.IdleMixerTemperature = 0;\r\n\t\tconfigurationParameters.PowerOffTemperatureLimit = 60;\r\n\r\n\t\t//general parameters, ORDER MUST BE PRESERVED!!!!\r\n\t\t//check the dispensers hard limit alarms\r\n\t\t/*1*/\r\n\t\tDouble checkHardLimitAlarms = new Double();\r\n\r\n\t\tcheckHardLimitAlarms = 1.0;\r\n\t\tconfigurationParameters.GeneralParameters.Add(checkHardLimitAlarms);\r\n\r\n\t\t/*2*/\r\n\t\tDouble checkCurrentAlarms = new Double();\r\n\t\tcheckCurrentAlarms = 0.0;\r\n\t\tconfigurationParameters.GeneralParameters.Add(checkCurrentAlarms);\r\n\t\t//check the tamper alarms\r\n\r\n\t\t/*3*/\r\n\t\tDouble checkTamperAlarms = new Double();\r\n\t\tcheckTamperAlarms = 1.0;\r\n\t\tconfigurationParameters.GeneralParameters.Add(checkTamperAlarms);\r\n\r\n\t\t/*4*/\r\n\t\tDouble checkMotorAlarms = new Double();\r\n\t\tcheckMotorAlarms = 1.0;\r\n\t\tconfigurationParameters.GeneralParameters.Add(checkMotorAlarms);\r\n\r\n\t\t/*5*/\r\n\t\tDouble WinderBackToBaseTime = new Double();\r\n\t\tWinderBackToBaseTime = 820.0;\r\n\t\tconfigurationParameters.GeneralParameters.Add(WinderBackToBaseTime);\r\n\r\n\t\t/*6*/\r\n\t\tDouble DispenserInitialPressureSpeed = new Double();\r\n\t\tDispenserInitialPressureSpeed = 1050.0;\r\n\t\tconfigurationParameters.GeneralParameters.Add(DispenserInitialPressureSpeed);\r\n\r\n\t\t/*7*/\r\n\t\tDouble SetDiagnosticMode = new Double();\r\n\t\tSetDiagnosticMode = 3.0;\r\n\t\tconfigurationParameters.GeneralParameters.Add(SetDiagnosticMode);\r\n\r\n\t\t/*8*/\r\n\t\tDouble SetAutoFill = new Double();\r\n\t\tSetAutoFill = 3.0;\r\n\t\tconfigurationParameters.GeneralParameters.Add(SetAutoFill);\r\n\r\n\t\tFile.WriteAllBytes(\"C:/temp/EmbParam.cfg\",configurationParameters.ToBytes());\r\n\r\n\t\tbyte[] fileBytes = File.ReadAllBytes(\"C:/temp/EmbParam.cfg\");\r\n\r\n\r\n\t\tvar config = ConfigurationParameters.Parser.ParseFrom(fileBytes);\r\n\r\n\t\tcontext.Write( config);\r\n\t\tThread.Sleep(1000);\r\n\r\n\r\n\t\tcontext.Write(\"\\n\\n Deleting old file\");\r\n\r\n\t\tDeleteRequest deleteRequest = new DeleteRequest();\r\n\t\tdeleteRequest.Path = \"SYSINFO//EmbParam.cfg\";\r\n\t\tdeleteRequest.Attribute = Tango.PMR.IO.FileAttribute.Unspecified;\r\n\t\tDeleteResponse response5 = context.Send<DeleteResponse>(deleteRequest);\r\n\r\n\r\n\t\tThread.Sleep(1000);\r\n\t\tcontext.Write(\"\\n\\n Loading new file file\");\r\n\r\n\t\tFileUploadRequest fileUploadRequest = new FileUploadRequest();\r\n\t\tfileUploadRequest.Path = \"SYSINFO//EmbParam.cfg\";\r\n\t\tfileUploadRequest.Length = (int)fileBytes.Length;\r\n\t\tFileUploadResponse response2 = context.Send<FileUploadResponse>(fileUploadRequest);\r\n\t\tThread.Sleep(1000);\r\n\t\tlong chunk_size = response2.MaxChunkLength;\r\n\r\n\t\tFileStream fs = new FileStream(\"C:/temp/EmbParam.cfg\",FileMode.Open);\r\n\r\n\t\twhile (fs.Position < fs.Length)\r\n\t\t{\r\n\t\t\t\tcontext.Write(\"Position \"+ fs.Position+ \" Length \"+ fs.Length +\"\\n\\n\");\r\n\t\t\t\tFileChunkUploadRequest fileChunkUploadRequest = new FileChunkUploadRequest();\r\n\t\t\t\tfileChunkUploadRequest.UploadID = response2.UploadID;\r\n\t\t\t\tbyte[] chunk = new byte[Math.Min(chunk_size,fs.Length - fs.Position)];\r\n\t\t\t\tfs.Read(chunk,0,chunk.Length);\r\n\t\t\t\tfileChunkUploadRequest.Buffer = ByteString.CopyFrom(chunk);\t\r\n\t\t\t\tvar response3 = context.Send<FileChunkUploadResponse>(fileChunkUploadRequest);\r\n\t\t\t\tThread.Sleep(2000);\r\n\r\n\t\t}\r\n\r\n\t\t// activating the new file\r\n\t\tProgressRequest progressRequest = new ProgressRequest();\r\n\t\tprogressRequest.Amount = 0xCD;\r\n\t\tprogressRequest.Delay = 0xCD;\r\n\t\tvar response1 = context.Send<ProgressResponse>(progressRequest);\r\n\r\n    }\r\n}","Name":"Program.csx","IsEntryPoint":true},{"$id":"4","Code":"using System;\r\nusing System.Collections.Generic;\r\nusing System.Collections.ObjectModel;\r\nusing System.ComponentModel;\r\nusing System.Linq;\r\nusing System.Text;\r\nusing System.Threading;\r\nusing System.Threading.Tasks;\r\nusing Google.Protobuf;\r\nusing Tango.BL.Enumerations;\r\nusing Tango.PMR.Stubs;\r\nusing Tango.PMR.Diagnostics;\r\nusing Tango.FSE.Common.Diagnostics;\r\nusing Tango.FSE.Procedures;\r\n\r\npublic class Service\r\n{\r\n    public double Calc(double a, double b)\r\n    {\r\n        return a + b;\r\n    }\r\n}","Name":"Service.csx","IsEntryPoint":false}]},"Inputs":{"$id":"5","$values":[]},"ReferenceAssemblies":{"$id":"6","$values":[{"$id":"7","File":"C:\\Windows\\Microsoft.NET\\Framework\\v4.0.30319\\mscorlib.dll","HintType":"System.String, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"},{"$id":"8","File":"C:\\WINDOWS\\Microsoft.Net\\assembly\\GAC_MSIL\\System.Core\\v4.0_4.0.0.0__b77a5c561934e089\\System.Core.dll","HintType":"System.Linq.Enumerable, System.Core, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"},{"$id":"9","File":"C:\\WINDOWS\\Microsoft.Net\\assembly\\GAC_MSIL\\System.Windows.Forms\\v4.0_4.0.0.0__b77a5c561934e089\\System.Windows.Forms.dll","HintType":"System.Windows.Forms.Form, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"},{"$id":"10","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.FSE.Procedures.dll","HintType":"Tango.FSE.Procedures.ProcedureProject, Tango.FSE.Procedures, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null"},{"$id":"11","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.FSE.Common.dll","HintType":"Tango.FSE.Common.Diagnostics.IDiagnosticsProvider, Tango.FSE.Common, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null"},{"$id":"12","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.BL.dll","HintType":"Tango.BL.Enumerations.TechMonitors, Tango.BL, Version=2.0.36.1608, Culture=neutral, PublicKeyToken=null"},{"$id":"13","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.PMR.dll","HintType":"Tango.PMR.Common.MessageType, Tango.PMR, Version=2.0.40.1608, Culture=neutral, PublicKeyToken=null"},{"$id":"14","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.Transport.dll","HintType":"Tango.Transport.ITransporter, Tango.Transport, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null"},{"$id":"15","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.Integration.dll","HintType":"Tango.Integration.Operation.IMachineOperator, Tango.Integration, Version=2.0.31.1608, Culture=neutral, PublicKeyToken=null"},{"$id":"16","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Google.Protobuf.dll","HintType":"Google.Protobuf.IMessage, Google.Protobuf, Version=3.4.1.0, Culture=neutral, PublicKeyToken=a7d26565bac4d604"},{"$id":"17","File":"C:\\WINDOWS\\Microsoft.Net\\assembly\\GAC_MSIL\\System.Drawing\\v4.0_4.0.0.0__b03f5f7f11d50a3a\\System.Drawing.dll","HintType":"System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a"}]},"ApartmentState":"MTA"}
\ No newline at end of file
diff --git a/Software/Stubs Collection/Procedures/WHS Loop Disable.pproj b/Software/Stubs Collection/Procedures/WHS Loop Disable.pproj
new file mode 100644
index 000000000..046c188a1
--- /dev/null
+++ b/Software/Stubs Collection/Procedures/WHS Loop Disable.pproj
@@ -0,0 +1 @@
+{"$id":"1","Name":"WHS Loop Disable","Description":null,"Scripts":{"$id":"2","$values":[{"$id":"3","Code":"using System;\r\nusing System.Collections.Generic;\r\nusing System.Collections.ObjectModel;\r\nusing System.ComponentModel;\r\nusing System.Linq;\r\nusing System.Text;\r\nusing System.Threading;\r\nusing System.Threading.Tasks;\r\nusing Google.Protobuf;\r\nusing Tango.BL.Enumerations;\r\nusing Tango.PMR.Stubs;\r\nusing Tango.PMR.Diagnostics;\r\nusing Tango.FSE.Common.Diagnostics;\r\nusing Tango.FSE.Procedures;\r\n\r\npublic class Program\r\n{\r\n    public void OnExecute(IProcedureContext context)\r\n    {\r\n\r\n\t\tint ControlLoopEnable = 0x1000;\r\n\t\tint ControlLoopDisable = 0x0000;\r\n\t\t\r\n\t\tProgressRequest progressRequest = new ProgressRequest();\r\n\t\tprogressRequest.Amount = 0x3e8;\r\n\t\tprogressRequest.Delay = ControlLoopDisable+2700;\r\n\r\n\tvar response = context.Send<ProgressResponse>(progressRequest);\r\n\r\n    }\r\n}","Name":"Program.csx","IsEntryPoint":true},{"$id":"4","Code":"using System;\r\nusing System.Collections.Generic;\r\nusing System.Collections.ObjectModel;\r\nusing System.ComponentModel;\r\nusing System.Linq;\r\nusing System.Text;\r\nusing System.Threading;\r\nusing System.Threading.Tasks;\r\nusing Google.Protobuf;\r\nusing Tango.BL.Enumerations;\r\nusing Tango.PMR.Stubs;\r\nusing Tango.PMR.Diagnostics;\r\nusing Tango.FSE.Common.Diagnostics;\r\nusing Tango.FSE.Procedures;\r\n\r\npublic class Service\r\n{\r\n    public double Calc(double a, double b)\r\n    {\r\n        return a + b;\r\n    }\r\n}","Name":"Service.csx","IsEntryPoint":false}]},"Inputs":{"$id":"5","$values":[]},"ReferenceAssemblies":{"$id":"6","$values":[{"$id":"7","File":"C:\\Windows\\Microsoft.NET\\Framework\\v4.0.30319\\mscorlib.dll","HintType":"System.String, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"},{"$id":"8","File":"C:\\WINDOWS\\Microsoft.Net\\assembly\\GAC_MSIL\\System.Core\\v4.0_4.0.0.0__b77a5c561934e089\\System.Core.dll","HintType":"System.Linq.Enumerable, System.Core, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"},{"$id":"9","File":"C:\\WINDOWS\\Microsoft.Net\\assembly\\GAC_MSIL\\System.Windows.Forms\\v4.0_4.0.0.0__b77a5c561934e089\\System.Windows.Forms.dll","HintType":"System.Windows.Forms.Form, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"},{"$id":"10","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.FSE.Procedures.dll","HintType":"Tango.FSE.Procedures.ProcedureProject, Tango.FSE.Procedures, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null"},{"$id":"11","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.FSE.Common.dll","HintType":"Tango.FSE.Common.Diagnostics.IDiagnosticsProvider, Tango.FSE.Common, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null"},{"$id":"12","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.BL.dll","HintType":"Tango.BL.Enumerations.TechMonitors, Tango.BL, Version=2.0.36.1608, Culture=neutral, PublicKeyToken=null"},{"$id":"13","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.PMR.dll","HintType":"Tango.PMR.Common.MessageType, Tango.PMR, Version=2.0.40.1608, Culture=neutral, PublicKeyToken=null"},{"$id":"14","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.Transport.dll","HintType":"Tango.Transport.ITransporter, Tango.Transport, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null"},{"$id":"15","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.Integration.dll","HintType":"Tango.Integration.Operation.IMachineOperator, Tango.Integration, Version=2.0.31.1608, Culture=neutral, PublicKeyToken=null"},{"$id":"16","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Google.Protobuf.dll","HintType":"Google.Protobuf.IMessage, Google.Protobuf, Version=3.4.1.0, Culture=neutral, PublicKeyToken=a7d26565bac4d604"},{"$id":"17","File":"C:\\WINDOWS\\Microsoft.Net\\assembly\\GAC_MSIL\\System.Drawing\\v4.0_4.0.0.0__b03f5f7f11d50a3a\\System.Drawing.dll","HintType":"System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a"}]},"ApartmentState":"MTA"}
\ No newline at end of file