Update dancer config

33 files changed, 2439 insertions, 318 deletions

diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Common/MessageType.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Common/MessageType.pb-c.c
index 78ba96d77..45ba5c5b9 100644
--- a/Software/Code_Composer/twine_usblib_demo/PMR/Common/MessageType.pb-c.c
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Common/MessageType.pb-c.c
@@ -7,7 +7,7 @@
 #endif
 
 #include "MessageType.pb-c.h"
-static const ProtobufCEnumValue message_type__enum_values_by_number[110] =
+static const ProtobufCEnumValue message_type__enum_values_by_number[114] =
 {
   { "None", "MESSAGE_TYPE__None", 0 },
   { "CalculateRequest", "MESSAGE_TYPE__CalculateRequest", 3 },
@@ -74,6 +74,10 @@ static const ProtobufCEnumValue message_type__enum_values_by_number[110] =
   { "StubHeatingTestPollResponse", "MESSAGE_TYPE__StubHeatingTestPollResponse", 64 },
   { "StubMotorRequest", "MESSAGE_TYPE__StubMotorRequest", 65 },
   { "StubMotorResponse", "MESSAGE_TYPE__StubMotorResponse", 66 },
+  { "StubMotorHomeMarkRequest", "MESSAGE_TYPE__StubMotorHomeMarkRequest", 67 },
+  { "StubMotorHomeMarkResponse", "MESSAGE_TYPE__StubMotorHomeMarkResponse", 68 },
+  { "StubMotorRunStepTickRequest", "MESSAGE_TYPE__StubMotorRunStepTickRequest", 69 },
+  { "StubMotorRunStepTickResponse", "MESSAGE_TYPE__StubMotorRunStepTickResponse", 70 },
   { "ExternalBridgeUdpDiscoveryPacket", "MESSAGE_TYPE__ExternalBridgeUdpDiscoveryPacket", 1000 },
   { "ExternalClientLoginRequest", "MESSAGE_TYPE__ExternalClientLoginRequest", 1001 },
   { "ExternalClientLoginResponse", "MESSAGE_TYPE__ExternalClientLoginResponse", 1002 },
@@ -121,52 +125,52 @@ static const ProtobufCEnumValue message_type__enum_values_by_number[110] =
   { "UploadHardwareConfigurationResponse", "MESSAGE_TYPE__UploadHardwareConfigurationResponse", 5001 },
 };
 static const ProtobufCIntRange message_type__value_ranges[] = {
-{0, 0},{3, 1},{1000, 65},{2000, 74},{3000, 100},{4000, 106},{5000, 108},{0, 110}
+{0, 0},{3, 1},{1000, 69},{2000, 78},{3000, 104},{4000, 110},{5000, 112},{0, 114}
 };
-static const ProtobufCEnumValueIndex message_type__enum_values_by_name[110] =
+static const ProtobufCEnumValueIndex message_type__enum_values_by_name[114] =
 {
-  { "AbortJobRequest", 102 },
-  { "AbortJobResponse", 103 },
+  { "AbortJobRequest", 106 },
+  { "AbortJobResponse", 107 },
   { "CalculateRequest", 1 },
   { "CalculateResponse", 2 },
-  { "DebugLogRequest", 106 },
-  { "DebugLogResponse", 107 },
-  { "DirectSynchronizationRequest", 68 },
-  { "DirectSynchronizationResponse", 69 },
-  { "DispenserAbortHomingRequest", 84 },
-  { "DispenserAbortHomingResponse", 85 },
-  { "DispenserAbortJoggingRequest", 90 },
-  { "DispenserAbortJoggingResponse", 91 },
-  { "DispenserHomingRequest", 86 },
-  { "DispenserHomingResponse", 87 },
-  { "DispenserJoggingRequest", 88 },
-  { "DispenserJoggingResponse", 89 },
-  { "ExternalBridgeUdpDiscoveryPacket", 65 },
-  { "ExternalClientLoginRequest", 66 },
-  { "ExternalClientLoginResponse", 67 },
-  { "JobRequest", 100 },
-  { "JobResponse", 101 },
-  { "KeepAliveRequest", 72 },
-  { "KeepAliveResponse", 73 },
-  { "MotorAbortHomingRequest", 76 },
-  { "MotorAbortHomingResponse", 77 },
-  { "MotorAbortJoggingRequest", 82 },
-  { "MotorAbortJoggingResponse", 83 },
-  { "MotorHomingRequest", 78 },
-  { "MotorHomingResponse", 79 },
-  { "MotorJoggingRequest", 80 },
-  { "MotorJoggingResponse", 81 },
+  { "DebugLogRequest", 110 },
+  { "DebugLogResponse", 111 },
+  { "DirectSynchronizationRequest", 72 },
+  { "DirectSynchronizationResponse", 73 },
+  { "DispenserAbortHomingRequest", 88 },
+  { "DispenserAbortHomingResponse", 89 },
+  { "DispenserAbortJoggingRequest", 94 },
+  { "DispenserAbortJoggingResponse", 95 },
+  { "DispenserHomingRequest", 90 },
+  { "DispenserHomingResponse", 91 },
+  { "DispenserJoggingRequest", 92 },
+  { "DispenserJoggingResponse", 93 },
+  { "ExternalBridgeUdpDiscoveryPacket", 69 },
+  { "ExternalClientLoginRequest", 70 },
+  { "ExternalClientLoginResponse", 71 },
+  { "JobRequest", 104 },
+  { "JobResponse", 105 },
+  { "KeepAliveRequest", 76 },
+  { "KeepAliveResponse", 77 },
+  { "MotorAbortHomingRequest", 80 },
+  { "MotorAbortHomingResponse", 81 },
+  { "MotorAbortJoggingRequest", 86 },
+  { "MotorAbortJoggingResponse", 87 },
+  { "MotorHomingRequest", 82 },
+  { "MotorHomingResponse", 83 },
+  { "MotorJoggingRequest", 84 },
+  { "MotorJoggingResponse", 85 },
   { "None", 0 },
-  { "OverrideDataBaseRequest", 70 },
-  { "OverrideDataBaseResponse", 71 },
+  { "OverrideDataBaseRequest", 74 },
+  { "OverrideDataBaseResponse", 75 },
   { "ProgressRequest", 3 },
   { "ProgressResponse", 4 },
-  { "PushDiagnosticsRequest", 74 },
-  { "PushDiagnosticsResponse", 75 },
-  { "SetComponentValueRequest", 98 },
-  { "SetComponentValueResponse", 99 },
-  { "SetDigitalOutRequest", 92 },
-  { "SetDigitalOutResponse", 93 },
+  { "PushDiagnosticsRequest", 78 },
+  { "PushDiagnosticsResponse", 79 },
+  { "SetComponentValueRequest", 102 },
+  { "SetComponentValueResponse", 103 },
+  { "SetDigitalOutRequest", 96 },
+  { "SetDigitalOutResponse", 97 },
   { "StubCartridgeReadRequest", 5 },
   { "StubCartridgeReadResponse", 6 },
   { "StubCartridgeWriteRequest", 7 },
@@ -205,6 +209,8 @@ static const ProtobufCEnumValueIndex message_type__enum_values_by_name[110] =
   { "StubL6470DriverResponse", 40 },
   { "StubMotorEncoderRequest", 23 },
   { "StubMotorEncoderResponse", 24 },
+  { "StubMotorHomeMarkRequest", 65 },
+  { "StubMotorHomeMarkResponse", 66 },
   { "StubMotorInitRequest", 41 },
   { "StubMotorInitResponse", 42 },
   { "StubMotorMovRequest", 49 },
@@ -215,6 +221,8 @@ static const ProtobufCEnumValueIndex message_type__enum_values_by_name[110] =
   { "StubMotorResponse", 64 },
   { "StubMotorRunRequest", 43 },
   { "StubMotorRunResponse", 44 },
+  { "StubMotorRunStepTickRequest", 67 },
+  { "StubMotorRunStepTickResponse", 68 },
   { "StubMotorSpeedRequest", 51 },
   { "StubMotorSpeedResponse", 52 },
   { "StubMotorStatusRequest", 47 },
@@ -227,14 +235,14 @@ static const ProtobufCEnumValueIndex message_type__enum_values_by_name[110] =
   { "StubSteperMotorResponse", 28 },
   { "StubValveRequest", 29 },
   { "StubValveResponse", 30 },
-  { "ThreadAbortJoggingRequest", 96 },
-  { "ThreadAbortJoggingResponse", 97 },
-  { "ThreadJoggingRequest", 94 },
-  { "ThreadJoggingResponse", 95 },
-  { "UploadHardwareConfigurationRequest", 108 },
-  { "UploadHardwareConfigurationResponse", 109 },
-  { "UploadProcessParametersRequest", 104 },
-  { "UploadProcessParametersResponse", 105 },
+  { "ThreadAbortJoggingRequest", 100 },
+  { "ThreadAbortJoggingResponse", 101 },
+  { "ThreadJoggingRequest", 98 },
+  { "ThreadJoggingResponse", 99 },
+  { "UploadHardwareConfigurationRequest", 112 },
+  { "UploadHardwareConfigurationResponse", 113 },
+  { "UploadProcessParametersRequest", 108 },
+  { "UploadProcessParametersResponse", 109 },
 };
 const ProtobufCEnumDescriptor message_type__descriptor =
 {
@@ -243,9 +251,9 @@ const ProtobufCEnumDescriptor message_type__descriptor =
   "MessageType",
   "MessageType",
   "",
-  110,
+  114,
   message_type__enum_values_by_number,
-  110,
+  114,
   message_type__enum_values_by_name,
   7,
   message_type__value_ranges,
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Common/MessageType.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Common/MessageType.pb-c.h
index fdc8f18ba..387a5eb1d 100644
--- a/Software/Code_Composer/twine_usblib_demo/PMR/Common/MessageType.pb-c.h
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Common/MessageType.pb-c.h
@@ -85,6 +85,10 @@ typedef enum _MessageType {
   MESSAGE_TYPE__StubHeatingTestPollResponse = 64,
   MESSAGE_TYPE__StubMotorRequest = 65,
   MESSAGE_TYPE__StubMotorResponse = 66,
+  MESSAGE_TYPE__StubMotorHomeMarkRequest = 67,
+  MESSAGE_TYPE__StubMotorHomeMarkResponse = 68,
+  MESSAGE_TYPE__StubMotorRunStepTickRequest = 69,
+  MESSAGE_TYPE__StubMotorRunStepTickResponse = 70,
   MESSAGE_TYPE__ExternalBridgeUdpDiscoveryPacket = 1000,
   MESSAGE_TYPE__ExternalClientLoginRequest = 1001,
   MESSAGE_TYPE__ExternalClientLoginResponse = 1002,
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Diagnostics/EventType.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Diagnostics/EventType.pb-c.c
index cf6300148..bd3bc7fd6 100644
--- a/Software/Code_Composer/twine_usblib_demo/PMR/Diagnostics/EventType.pb-c.c
+++ b/Software/Code_Composer/twine_usblib_demo/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[34] =
+static const ProtobufCEnumValue event_type__enum_values_by_number[36] =
 {
   { "ThreadBreak", "EVENT_TYPE__ThreadBreak", 0 },
   { "ThreadTensionControlFailure", "EVENT_TYPE__ThreadTensionControlFailure", 1 },
@@ -42,17 +42,21 @@ static const ProtobufCEnumValue event_type__enum_values_by_number[34] =
   { "ResponseReceived", "EVENT_TYPE__ResponseReceived", 30 },
   { "RequestFailed", "EVENT_TYPE__RequestFailed", 31 },
   { "ApplicationException", "EVENT_TYPE__ApplicationException", 32 },
-  { "ApplicationInformation", "EVENT_TYPE__ApplicationInformation", 34 },
+  { "ApplicationInformation", "EVENT_TYPE__ApplicationInformation", 33 },
+  { "ApplicationStarted", "EVENT_TYPE__ApplicationStarted", 34 },
+  { "ApplicationTerminated", "EVENT_TYPE__ApplicationTerminated", 35 },
 };
 static const ProtobufCIntRange event_type__value_ranges[] = {
-{0, 0},{34, 33},{0, 34}
+{0, 0},{0, 36}
 };
-static const ProtobufCEnumValueIndex event_type__enum_values_by_name[34] =
+static const ProtobufCEnumValueIndex event_type__enum_values_by_name[36] =
 {
   { "AirFilterClogged", 13 },
   { "AirFilterNotInstalled", 14 },
   { "ApplicationException", 32 },
   { "ApplicationInformation", 33 },
+  { "ApplicationStarted", 34 },
+  { "ApplicationTerminated", 35 },
   { "DHThermalCutoff", 7 },
   { "DispenserEmpty", 18 },
   { "DispenserLowLevel", 19 },
@@ -91,11 +95,11 @@ const ProtobufCEnumDescriptor event_type__descriptor =
   "EventType",
   "EventType",
   "",
-  34,
+  36,
   event_type__enum_values_by_number,
-  34,
+  36,
   event_type__enum_values_by_name,
-  2,
+  1,
   event_type__value_ranges,
   NULL,NULL,NULL,NULL   /* reserved[1234] */
 };
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Diagnostics/EventType.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Diagnostics/EventType.pb-c.h
index 0fbfc6914..c6bd394cf 100644
--- a/Software/Code_Composer/twine_usblib_demo/PMR/Diagnostics/EventType.pb-c.h
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Diagnostics/EventType.pb-c.h
@@ -53,7 +53,9 @@ typedef enum _EventType {
   EVENT_TYPE__ResponseReceived = 30,
   EVENT_TYPE__RequestFailed = 31,
   EVENT_TYPE__ApplicationException = 32,
-  EVENT_TYPE__ApplicationInformation = 34
+  EVENT_TYPE__ApplicationInformation = 33,
+  EVENT_TYPE__ApplicationStarted = 34,
+  EVENT_TYPE__ApplicationTerminated = 35
     PROTOBUF_C__FORCE_ENUM_TO_BE_INT_SIZE(EVENT_TYPE)
 } EventType;
 
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Hardware/HardwarePidControl.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Hardware/HardwarePidControl.pb-c.c
index 8eb96d16d..9826afdda 100644
--- a/Software/Code_Composer/twine_usblib_demo/PMR/Hardware/HardwarePidControl.pb-c.c
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Hardware/HardwarePidControl.pb-c.c
@@ -52,7 +52,7 @@ void   hardware_pid_control__free_unpacked
   assert(message->base.descriptor == &hardware_pid_control__descriptor);
   protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
 }
-static const ProtobufCFieldDescriptor hardware_pid_control__field_descriptors[15] =
+static const ProtobufCFieldDescriptor hardware_pid_control__field_descriptors[17] =
 {
   {
     "HardwarePidControlType",
@@ -70,7 +70,7 @@ static const ProtobufCFieldDescriptor hardware_pid_control__field_descriptors[15
     "OutputProportionalPowerLimit",
     2,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_INT32,
+    PROTOBUF_C_TYPE_DOUBLE,
     offsetof(HardwarePidControl, has_outputproportionalpowerlimit),
     offsetof(HardwarePidControl, outputproportionalpowerlimit),
     NULL,
@@ -82,7 +82,7 @@ static const ProtobufCFieldDescriptor hardware_pid_control__field_descriptors[15
     "OutputProportionalBand",
     3,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_INT32,
+    PROTOBUF_C_TYPE_DOUBLE,
     offsetof(HardwarePidControl, has_outputproportionalband),
     offsetof(HardwarePidControl, outputproportionalband),
     NULL,
@@ -94,7 +94,7 @@ static const ProtobufCFieldDescriptor hardware_pid_control__field_descriptors[15
     "IntegralTime",
     4,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_INT32,
+    PROTOBUF_C_TYPE_DOUBLE,
     offsetof(HardwarePidControl, has_integraltime),
     offsetof(HardwarePidControl, integraltime),
     NULL,
@@ -106,7 +106,7 @@ static const ProtobufCFieldDescriptor hardware_pid_control__field_descriptors[15
     "DerivativeTime",
     5,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_INT32,
+    PROTOBUF_C_TYPE_DOUBLE,
     offsetof(HardwarePidControl, has_derivativetime),
     offsetof(HardwarePidControl, derivativetime),
     NULL,
@@ -118,7 +118,7 @@ static const ProtobufCFieldDescriptor hardware_pid_control__field_descriptors[15
     "SensorCorrectionAdjustment",
     6,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_INT32,
+    PROTOBUF_C_TYPE_DOUBLE,
     offsetof(HardwarePidControl, has_sensorcorrectionadjustment),
     offsetof(HardwarePidControl, sensorcorrectionadjustment),
     NULL,
@@ -130,7 +130,7 @@ static const ProtobufCFieldDescriptor hardware_pid_control__field_descriptors[15
     "SensorMinValue",
     7,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_INT32,
+    PROTOBUF_C_TYPE_DOUBLE,
     offsetof(HardwarePidControl, has_sensorminvalue),
     offsetof(HardwarePidControl, sensorminvalue),
     NULL,
@@ -142,7 +142,7 @@ static const ProtobufCFieldDescriptor hardware_pid_control__field_descriptors[15
     "SensorMaxValue",
     8,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_INT32,
+    PROTOBUF_C_TYPE_DOUBLE,
     offsetof(HardwarePidControl, has_sensormaxvalue),
     offsetof(HardwarePidControl, sensormaxvalue),
     NULL,
@@ -154,7 +154,7 @@ static const ProtobufCFieldDescriptor hardware_pid_control__field_descriptors[15
     "SetPointRampRateorSoftStartRamp",
     9,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_INT32,
+    PROTOBUF_C_TYPE_DOUBLE,
     offsetof(HardwarePidControl, has_setpointramprateorsoftstartramp),
     offsetof(HardwarePidControl, setpointramprateorsoftstartramp),
     NULL,
@@ -166,7 +166,7 @@ static const ProtobufCFieldDescriptor hardware_pid_control__field_descriptors[15
     "SetPointControlOutputRate",
     10,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_INT32,
+    PROTOBUF_C_TYPE_DOUBLE,
     offsetof(HardwarePidControl, has_setpointcontroloutputrate),
     offsetof(HardwarePidControl, setpointcontroloutputrate),
     NULL,
@@ -178,7 +178,7 @@ static const ProtobufCFieldDescriptor hardware_pid_control__field_descriptors[15
     "ControlOutputType",
     11,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_INT32,
+    PROTOBUF_C_TYPE_DOUBLE,
     offsetof(HardwarePidControl, has_controloutputtype),
     offsetof(HardwarePidControl, controloutputtype),
     NULL,
@@ -190,7 +190,7 @@ static const ProtobufCFieldDescriptor hardware_pid_control__field_descriptors[15
     "SsrControlOutputType",
     12,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_INT32,
+    PROTOBUF_C_TYPE_DOUBLE,
     offsetof(HardwarePidControl, has_ssrcontroloutputtype),
     offsetof(HardwarePidControl, ssrcontroloutputtype),
     NULL,
@@ -202,7 +202,7 @@ static const ProtobufCFieldDescriptor hardware_pid_control__field_descriptors[15
     "OutputOnOffHysteresisValue",
     13,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_INT32,
+    PROTOBUF_C_TYPE_DOUBLE,
     offsetof(HardwarePidControl, has_outputonoffhysteresisvalue),
     offsetof(HardwarePidControl, outputonoffhysteresisvalue),
     NULL,
@@ -214,7 +214,7 @@ static const ProtobufCFieldDescriptor hardware_pid_control__field_descriptors[15
     "ProcessVariableSamplingRate",
     14,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_INT32,
+    PROTOBUF_C_TYPE_DOUBLE,
     offsetof(HardwarePidControl, has_processvariablesamplingrate),
     offsetof(HardwarePidControl, processvariablesamplingrate),
     NULL,
@@ -226,7 +226,7 @@ static const ProtobufCFieldDescriptor hardware_pid_control__field_descriptors[15
     "PvInputFilterFactorMode",
     15,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_INT32,
+    PROTOBUF_C_TYPE_DOUBLE,
     offsetof(HardwarePidControl, has_pvinputfilterfactormode),
     offsetof(HardwarePidControl, pvinputfilterfactormode),
     NULL,
@@ -234,14 +234,40 @@ static const ProtobufCFieldDescriptor hardware_pid_control__field_descriptors[15
     0,             /* flags */
     0,NULL,NULL    /* reserved1,reserved2, etc */
   },
+  {
+    "OutputProportionalCycleTime",
+    16,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_INT32,
+    offsetof(HardwarePidControl, has_outputproportionalcycletime),
+    offsetof(HardwarePidControl, outputproportionalcycletime),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "AcHeatersHalfCycleTime",
+    17,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_INT32,
+    offsetof(HardwarePidControl, has_acheatershalfcycletime),
+    offsetof(HardwarePidControl, acheatershalfcycletime),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
 };
 static const unsigned hardware_pid_control__field_indices_by_name[] = {
+  16,   /* field[16] = AcHeatersHalfCycleTime */
   10,   /* field[10] = ControlOutputType */
   4,   /* field[4] = DerivativeTime */
   0,   /* field[0] = HardwarePidControlType */
   3,   /* field[3] = IntegralTime */
   12,   /* field[12] = OutputOnOffHysteresisValue */
   2,   /* field[2] = OutputProportionalBand */
+  15,   /* field[15] = OutputProportionalCycleTime */
   1,   /* field[1] = OutputProportionalPowerLimit */
   13,   /* field[13] = ProcessVariableSamplingRate */
   14,   /* field[14] = PvInputFilterFactorMode */
@@ -255,7 +281,7 @@ static const unsigned hardware_pid_control__field_indices_by_name[] = {
 static const ProtobufCIntRange hardware_pid_control__number_ranges[1 + 1] =
 {
   { 1, 0 },
-  { 0, 15 }
+  { 0, 17 }
 };
 const ProtobufCMessageDescriptor hardware_pid_control__descriptor =
 {
@@ -265,7 +291,7 @@ const ProtobufCMessageDescriptor hardware_pid_control__descriptor =
   "HardwarePidControl",
   "",
   sizeof(HardwarePidControl),
-  15,
+  17,
   hardware_pid_control__field_descriptors,
   hardware_pid_control__field_indices_by_name,
   1,  hardware_pid_control__number_ranges,
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Hardware/HardwarePidControl.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Hardware/HardwarePidControl.pb-c.h
index 2a316b5ab..b012fb377 100644
--- a/Software/Code_Composer/twine_usblib_demo/PMR/Hardware/HardwarePidControl.pb-c.h
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Hardware/HardwarePidControl.pb-c.h
@@ -30,37 +30,41 @@ struct  _HardwarePidControl
   protobuf_c_boolean has_hardwarepidcontroltype;
   HardwarePidControlType hardwarepidcontroltype;
   protobuf_c_boolean has_outputproportionalpowerlimit;
-  int32_t outputproportionalpowerlimit;
+  double outputproportionalpowerlimit;
   protobuf_c_boolean has_outputproportionalband;
-  int32_t outputproportionalband;
+  double outputproportionalband;
   protobuf_c_boolean has_integraltime;
-  int32_t integraltime;
+  double integraltime;
   protobuf_c_boolean has_derivativetime;
-  int32_t derivativetime;
+  double derivativetime;
   protobuf_c_boolean has_sensorcorrectionadjustment;
-  int32_t sensorcorrectionadjustment;
+  double sensorcorrectionadjustment;
   protobuf_c_boolean has_sensorminvalue;
-  int32_t sensorminvalue;
+  double sensorminvalue;
   protobuf_c_boolean has_sensormaxvalue;
-  int32_t sensormaxvalue;
+  double sensormaxvalue;
   protobuf_c_boolean has_setpointramprateorsoftstartramp;
-  int32_t setpointramprateorsoftstartramp;
+  double setpointramprateorsoftstartramp;
   protobuf_c_boolean has_setpointcontroloutputrate;
-  int32_t setpointcontroloutputrate;
+  double setpointcontroloutputrate;
   protobuf_c_boolean has_controloutputtype;
-  int32_t controloutputtype;
+  double controloutputtype;
   protobuf_c_boolean has_ssrcontroloutputtype;
-  int32_t ssrcontroloutputtype;
+  double ssrcontroloutputtype;
   protobuf_c_boolean has_outputonoffhysteresisvalue;
-  int32_t outputonoffhysteresisvalue;
+  double outputonoffhysteresisvalue;
   protobuf_c_boolean has_processvariablesamplingrate;
-  int32_t processvariablesamplingrate;
+  double processvariablesamplingrate;
   protobuf_c_boolean has_pvinputfilterfactormode;
-  int32_t pvinputfilterfactormode;
+  double pvinputfilterfactormode;
+  protobuf_c_boolean has_outputproportionalcycletime;
+  int32_t outputproportionalcycletime;
+  protobuf_c_boolean has_acheatershalfcycletime;
+  int32_t acheatershalfcycletime;
 };
 #define HARDWARE_PID_CONTROL__INIT \
  { PROTOBUF_C_MESSAGE_INIT (&hardware_pid_control__descriptor) \
-    , 0, HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
+    , 0, HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
 
 
 /* HardwarePidControl methods */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorHomeMarkRequest.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorHomeMarkRequest.pb-c.c
new file mode 100644
index 000000000..fbfe0ab08
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorHomeMarkRequest.pb-c.c
@@ -0,0 +1,105 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorHomeMarkRequest.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubMotorHomeMarkRequest.pb-c.h"
+void   stub_motor_home_mark_request__init
+                     (StubMotorHomeMarkRequest         *message)
+{
+  static const StubMotorHomeMarkRequest init_value = STUB_MOTOR_HOME_MARK_REQUEST__INIT;
+  *message = init_value;
+}
+size_t stub_motor_home_mark_request__get_packed_size
+                     (const StubMotorHomeMarkRequest *message)
+{
+  assert(message->base.descriptor == &stub_motor_home_mark_request__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_motor_home_mark_request__pack
+                     (const StubMotorHomeMarkRequest *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_motor_home_mark_request__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_motor_home_mark_request__pack_to_buffer
+                     (const StubMotorHomeMarkRequest *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_motor_home_mark_request__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubMotorHomeMarkRequest *
+       stub_motor_home_mark_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubMotorHomeMarkRequest *)
+     protobuf_c_message_unpack (&stub_motor_home_mark_request__descriptor,
+                                allocator, len, data);
+}
+void   stub_motor_home_mark_request__free_unpacked
+                     (StubMotorHomeMarkRequest *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_motor_home_mark_request__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_motor_home_mark_request__field_descriptors[2] =
+{
+  {
+    "Motor_ID",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorHomeMarkRequest, has_motor_id),
+    offsetof(StubMotorHomeMarkRequest, motor_id),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Set_Home_Mark_GO_Home_Mark",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorHomeMarkRequest, has_set_home_mark_go_home_mark),
+    offsetof(StubMotorHomeMarkRequest, set_home_mark_go_home_mark),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_motor_home_mark_request__field_indices_by_name[] = {
+  0,   /* field[0] = Motor_ID */
+  1,   /* field[1] = Set_Home_Mark_GO_Home_Mark */
+};
+static const ProtobufCIntRange stub_motor_home_mark_request__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 2 }
+};
+const ProtobufCMessageDescriptor stub_motor_home_mark_request__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubMotorHomeMarkRequest",
+  "StubMotorHomeMarkRequest",
+  "StubMotorHomeMarkRequest",
+  "",
+  sizeof(StubMotorHomeMarkRequest),
+  2,
+  stub_motor_home_mark_request__field_descriptors,
+  stub_motor_home_mark_request__field_indices_by_name,
+  1,  stub_motor_home_mark_request__number_ranges,
+  (ProtobufCMessageInit) stub_motor_home_mark_request__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorHomeMarkRequest.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorHomeMarkRequest.pb-c.h
new file mode 100644
index 000000000..401241e76
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorHomeMarkRequest.pb-c.h
@@ -0,0 +1,77 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorHomeMarkRequest.proto */
+
+#ifndef PROTOBUF_C_StubMotorHomeMarkRequest_2eproto__INCLUDED
+#define PROTOBUF_C_StubMotorHomeMarkRequest_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubMotorHomeMarkRequest StubMotorHomeMarkRequest;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubMotorHomeMarkRequest
+{
+  ProtobufCMessage base;
+  protobuf_c_boolean has_motor_id;
+  uint32_t motor_id;
+  /*
+   * 0..3
+   */
+  protobuf_c_boolean has_set_home_mark_go_home_mark;
+  uint32_t set_home_mark_go_home_mark;
+};
+#define STUB_MOTOR_HOME_MARK_REQUEST__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_motor_home_mark_request__descriptor) \
+    , 0, 0, 0, 0 }
+
+
+/* StubMotorHomeMarkRequest methods */
+void   stub_motor_home_mark_request__init
+                     (StubMotorHomeMarkRequest         *message);
+size_t stub_motor_home_mark_request__get_packed_size
+                     (const StubMotorHomeMarkRequest   *message);
+size_t stub_motor_home_mark_request__pack
+                     (const StubMotorHomeMarkRequest   *message,
+                      uint8_t             *out);
+size_t stub_motor_home_mark_request__pack_to_buffer
+                     (const StubMotorHomeMarkRequest   *message,
+                      ProtobufCBuffer     *buffer);
+StubMotorHomeMarkRequest *
+       stub_motor_home_mark_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_motor_home_mark_request__free_unpacked
+                     (StubMotorHomeMarkRequest *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubMotorHomeMarkRequest_Closure)
+                 (const StubMotorHomeMarkRequest *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_motor_home_mark_request__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubMotorHomeMarkRequest_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorHomeMarkResponse.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorHomeMarkResponse.pb-c.c
new file mode 100644
index 000000000..65f1b899f
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorHomeMarkResponse.pb-c.c
@@ -0,0 +1,105 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorHomeMarkResponse.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubMotorHomeMarkResponse.pb-c.h"
+void   stub_motor_home_mark_response__init
+                     (StubMotorHomeMarkResponse         *message)
+{
+  static const StubMotorHomeMarkResponse init_value = STUB_MOTOR_HOME_MARK_RESPONSE__INIT;
+  *message = init_value;
+}
+size_t stub_motor_home_mark_response__get_packed_size
+                     (const StubMotorHomeMarkResponse *message)
+{
+  assert(message->base.descriptor == &stub_motor_home_mark_response__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_motor_home_mark_response__pack
+                     (const StubMotorHomeMarkResponse *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_motor_home_mark_response__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_motor_home_mark_response__pack_to_buffer
+                     (const StubMotorHomeMarkResponse *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_motor_home_mark_response__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubMotorHomeMarkResponse *
+       stub_motor_home_mark_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubMotorHomeMarkResponse *)
+     protobuf_c_message_unpack (&stub_motor_home_mark_response__descriptor,
+                                allocator, len, data);
+}
+void   stub_motor_home_mark_response__free_unpacked
+                     (StubMotorHomeMarkResponse *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_motor_home_mark_response__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_motor_home_mark_response__field_descriptors[2] =
+{
+  {
+    "Motor_ID",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorHomeMarkResponse, has_motor_id),
+    offsetof(StubMotorHomeMarkResponse, motor_id),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Position",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorHomeMarkResponse, has_position),
+    offsetof(StubMotorHomeMarkResponse, position),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_motor_home_mark_response__field_indices_by_name[] = {
+  0,   /* field[0] = Motor_ID */
+  1,   /* field[1] = Position */
+};
+static const ProtobufCIntRange stub_motor_home_mark_response__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 2 }
+};
+const ProtobufCMessageDescriptor stub_motor_home_mark_response__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubMotorHomeMarkResponse",
+  "StubMotorHomeMarkResponse",
+  "StubMotorHomeMarkResponse",
+  "",
+  sizeof(StubMotorHomeMarkResponse),
+  2,
+  stub_motor_home_mark_response__field_descriptors,
+  stub_motor_home_mark_response__field_indices_by_name,
+  1,  stub_motor_home_mark_response__number_ranges,
+  (ProtobufCMessageInit) stub_motor_home_mark_response__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorHomeMarkResponse.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorHomeMarkResponse.pb-c.h
new file mode 100644
index 000000000..431e62d4b
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorHomeMarkResponse.pb-c.h
@@ -0,0 +1,74 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorHomeMarkResponse.proto */
+
+#ifndef PROTOBUF_C_StubMotorHomeMarkResponse_2eproto__INCLUDED
+#define PROTOBUF_C_StubMotorHomeMarkResponse_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubMotorHomeMarkResponse StubMotorHomeMarkResponse;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubMotorHomeMarkResponse
+{
+  ProtobufCMessage base;
+  protobuf_c_boolean has_motor_id;
+  uint32_t motor_id;
+  protobuf_c_boolean has_position;
+  uint32_t position;
+};
+#define STUB_MOTOR_HOME_MARK_RESPONSE__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_motor_home_mark_response__descriptor) \
+    , 0, 0, 0, 0 }
+
+
+/* StubMotorHomeMarkResponse methods */
+void   stub_motor_home_mark_response__init
+                     (StubMotorHomeMarkResponse         *message);
+size_t stub_motor_home_mark_response__get_packed_size
+                     (const StubMotorHomeMarkResponse   *message);
+size_t stub_motor_home_mark_response__pack
+                     (const StubMotorHomeMarkResponse   *message,
+                      uint8_t             *out);
+size_t stub_motor_home_mark_response__pack_to_buffer
+                     (const StubMotorHomeMarkResponse   *message,
+                      ProtobufCBuffer     *buffer);
+StubMotorHomeMarkResponse *
+       stub_motor_home_mark_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_motor_home_mark_response__free_unpacked
+                     (StubMotorHomeMarkResponse *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubMotorHomeMarkResponse_Closure)
+                 (const StubMotorHomeMarkResponse *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_motor_home_mark_response__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubMotorHomeMarkResponse_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunStepTickRequest.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunStepTickRequest.pb-c.c
new file mode 100644
index 000000000..80a362034
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunStepTickRequest.pb-c.c
@@ -0,0 +1,118 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorRunStepTickRequest.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubMotorRunStepTickRequest.pb-c.h"
+void   stub_motor_run_step_tick_request__init
+                     (StubMotorRunStepTickRequest         *message)
+{
+  static const StubMotorRunStepTickRequest init_value = STUB_MOTOR_RUN_STEP_TICK_REQUEST__INIT;
+  *message = init_value;
+}
+size_t stub_motor_run_step_tick_request__get_packed_size
+                     (const StubMotorRunStepTickRequest *message)
+{
+  assert(message->base.descriptor == &stub_motor_run_step_tick_request__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_motor_run_step_tick_request__pack
+                     (const StubMotorRunStepTickRequest *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_motor_run_step_tick_request__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_motor_run_step_tick_request__pack_to_buffer
+                     (const StubMotorRunStepTickRequest *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_motor_run_step_tick_request__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubMotorRunStepTickRequest *
+       stub_motor_run_step_tick_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubMotorRunStepTickRequest *)
+     protobuf_c_message_unpack (&stub_motor_run_step_tick_request__descriptor,
+                                allocator, len, data);
+}
+void   stub_motor_run_step_tick_request__free_unpacked
+                     (StubMotorRunStepTickRequest *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_motor_run_step_tick_request__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_motor_run_step_tick_request__field_descriptors[3] =
+{
+  {
+    "Motor_ID",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorRunStepTickRequest, has_motor_id),
+    offsetof(StubMotorRunStepTickRequest, motor_id),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Direction",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorRunStepTickRequest, has_direction),
+    offsetof(StubMotorRunStepTickRequest, direction),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Speed",
+    3,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_DOUBLE,
+    offsetof(StubMotorRunStepTickRequest, has_speed),
+    offsetof(StubMotorRunStepTickRequest, speed),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_motor_run_step_tick_request__field_indices_by_name[] = {
+  1,   /* field[1] = Direction */
+  0,   /* field[0] = Motor_ID */
+  2,   /* field[2] = Speed */
+};
+static const ProtobufCIntRange stub_motor_run_step_tick_request__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 3 }
+};
+const ProtobufCMessageDescriptor stub_motor_run_step_tick_request__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubMotorRunStepTickRequest",
+  "StubMotorRunStepTickRequest",
+  "StubMotorRunStepTickRequest",
+  "",
+  sizeof(StubMotorRunStepTickRequest),
+  3,
+  stub_motor_run_step_tick_request__field_descriptors,
+  stub_motor_run_step_tick_request__field_indices_by_name,
+  1,  stub_motor_run_step_tick_request__number_ranges,
+  (ProtobufCMessageInit) stub_motor_run_step_tick_request__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunStepTickRequest.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunStepTickRequest.pb-c.h
new file mode 100644
index 000000000..d2efb1df9
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunStepTickRequest.pb-c.h
@@ -0,0 +1,76 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorRunStepTickRequest.proto */
+
+#ifndef PROTOBUF_C_StubMotorRunStepTickRequest_2eproto__INCLUDED
+#define PROTOBUF_C_StubMotorRunStepTickRequest_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubMotorRunStepTickRequest StubMotorRunStepTickRequest;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubMotorRunStepTickRequest
+{
+  ProtobufCMessage base;
+  protobuf_c_boolean has_motor_id;
+  uint32_t motor_id;
+  protobuf_c_boolean has_direction;
+  protobuf_c_boolean direction;
+  protobuf_c_boolean has_speed;
+  double speed;
+};
+#define STUB_MOTOR_RUN_STEP_TICK_REQUEST__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_motor_run_step_tick_request__descriptor) \
+    , 0, 0, 0, 0, 0, 0 }
+
+
+/* StubMotorRunStepTickRequest methods */
+void   stub_motor_run_step_tick_request__init
+                     (StubMotorRunStepTickRequest         *message);
+size_t stub_motor_run_step_tick_request__get_packed_size
+                     (const StubMotorRunStepTickRequest   *message);
+size_t stub_motor_run_step_tick_request__pack
+                     (const StubMotorRunStepTickRequest   *message,
+                      uint8_t             *out);
+size_t stub_motor_run_step_tick_request__pack_to_buffer
+                     (const StubMotorRunStepTickRequest   *message,
+                      ProtobufCBuffer     *buffer);
+StubMotorRunStepTickRequest *
+       stub_motor_run_step_tick_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_motor_run_step_tick_request__free_unpacked
+                     (StubMotorRunStepTickRequest *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubMotorRunStepTickRequest_Closure)
+                 (const StubMotorRunStepTickRequest *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_motor_run_step_tick_request__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubMotorRunStepTickRequest_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunStepTickResponse.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunStepTickResponse.pb-c.c
new file mode 100644
index 000000000..1fa6f484a
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunStepTickResponse.pb-c.c
@@ -0,0 +1,183 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorRunStepTickResponse.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubMotorRunStepTickResponse.pb-c.h"
+void   stub_motor_run_step_tick_response__init
+                     (StubMotorRunStepTickResponse         *message)
+{
+  static const StubMotorRunStepTickResponse init_value = STUB_MOTOR_RUN_STEP_TICK_RESPONSE__INIT;
+  *message = init_value;
+}
+size_t stub_motor_run_step_tick_response__get_packed_size
+                     (const StubMotorRunStepTickResponse *message)
+{
+  assert(message->base.descriptor == &stub_motor_run_step_tick_response__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_motor_run_step_tick_response__pack
+                     (const StubMotorRunStepTickResponse *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_motor_run_step_tick_response__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_motor_run_step_tick_response__pack_to_buffer
+                     (const StubMotorRunStepTickResponse *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_motor_run_step_tick_response__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubMotorRunStepTickResponse *
+       stub_motor_run_step_tick_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubMotorRunStepTickResponse *)
+     protobuf_c_message_unpack (&stub_motor_run_step_tick_response__descriptor,
+                                allocator, len, data);
+}
+void   stub_motor_run_step_tick_response__free_unpacked
+                     (StubMotorRunStepTickResponse *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_motor_run_step_tick_response__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_motor_run_step_tick_response__field_descriptors[8] =
+{
+  {
+    "Motor_ID",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorRunStepTickResponse, has_motor_id),
+    offsetof(StubMotorRunStepTickResponse, motor_id),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Speed",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_DOUBLE,
+    offsetof(StubMotorRunStepTickResponse, has_speed),
+    offsetof(StubMotorRunStepTickResponse, speed),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Status_Reg",
+    3,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorRunStepTickResponse, has_status_reg),
+    offsetof(StubMotorRunStepTickResponse, status_reg),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Direction",
+    4,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorRunStepTickResponse, has_direction),
+    offsetof(StubMotorRunStepTickResponse, direction),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Mot_Status",
+    5,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorRunStepTickResponse, has_mot_status),
+    offsetof(StubMotorRunStepTickResponse, mot_status),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "STEP_LOSS_A",
+    6,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorRunStepTickResponse, has_step_loss_a),
+    offsetof(StubMotorRunStepTickResponse, step_loss_a),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "STEP_LOSS_B",
+    7,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorRunStepTickResponse, has_step_loss_b),
+    offsetof(StubMotorRunStepTickResponse, step_loss_b),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "BUSY",
+    8,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorRunStepTickResponse, has_busy),
+    offsetof(StubMotorRunStepTickResponse, busy),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_motor_run_step_tick_response__field_indices_by_name[] = {
+  7,   /* field[7] = BUSY */
+  3,   /* field[3] = Direction */
+  4,   /* field[4] = Mot_Status */
+  0,   /* field[0] = Motor_ID */
+  5,   /* field[5] = STEP_LOSS_A */
+  6,   /* field[6] = STEP_LOSS_B */
+  1,   /* field[1] = Speed */
+  2,   /* field[2] = Status_Reg */
+};
+static const ProtobufCIntRange stub_motor_run_step_tick_response__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 8 }
+};
+const ProtobufCMessageDescriptor stub_motor_run_step_tick_response__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubMotorRunStepTickResponse",
+  "StubMotorRunStepTickResponse",
+  "StubMotorRunStepTickResponse",
+  "",
+  sizeof(StubMotorRunStepTickResponse),
+  8,
+  stub_motor_run_step_tick_response__field_descriptors,
+  stub_motor_run_step_tick_response__field_indices_by_name,
+  1,  stub_motor_run_step_tick_response__number_ranges,
+  (ProtobufCMessageInit) stub_motor_run_step_tick_response__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunStepTickResponse.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunStepTickResponse.pb-c.h
new file mode 100644
index 000000000..5541f9b82
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunStepTickResponse.pb-c.h
@@ -0,0 +1,92 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorRunStepTickResponse.proto */
+
+#ifndef PROTOBUF_C_StubMotorRunStepTickResponse_2eproto__INCLUDED
+#define PROTOBUF_C_StubMotorRunStepTickResponse_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubMotorRunStepTickResponse StubMotorRunStepTickResponse;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubMotorRunStepTickResponse
+{
+  ProtobufCMessage base;
+  protobuf_c_boolean has_motor_id;
+  uint32_t motor_id;
+  protobuf_c_boolean has_speed;
+  double speed;
+  protobuf_c_boolean has_status_reg;
+  uint32_t status_reg;
+  /*
+   * Reverse / Forward
+   */
+  protobuf_c_boolean has_direction;
+  protobuf_c_boolean direction;
+  /*
+   *Stopped / Acceleration / Deceleration / Constant speed
+   */
+  protobuf_c_boolean has_mot_status;
+  uint32_t mot_status;
+  protobuf_c_boolean has_step_loss_a;
+  protobuf_c_boolean step_loss_a;
+  protobuf_c_boolean has_step_loss_b;
+  protobuf_c_boolean step_loss_b;
+  protobuf_c_boolean has_busy;
+  protobuf_c_boolean busy;
+};
+#define STUB_MOTOR_RUN_STEP_TICK_RESPONSE__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_motor_run_step_tick_response__descriptor) \
+    , 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
+
+
+/* StubMotorRunStepTickResponse methods */
+void   stub_motor_run_step_tick_response__init
+                     (StubMotorRunStepTickResponse         *message);
+size_t stub_motor_run_step_tick_response__get_packed_size
+                     (const StubMotorRunStepTickResponse   *message);
+size_t stub_motor_run_step_tick_response__pack
+                     (const StubMotorRunStepTickResponse   *message,
+                      uint8_t             *out);
+size_t stub_motor_run_step_tick_response__pack_to_buffer
+                     (const StubMotorRunStepTickResponse   *message,
+                      ProtobufCBuffer     *buffer);
+StubMotorRunStepTickResponse *
+       stub_motor_run_step_tick_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_motor_run_step_tick_response__free_unpacked
+                     (StubMotorRunStepTickResponse *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubMotorRunStepTickResponse_Closure)
+                 (const StubMotorRunStepTickResponse *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_motor_run_step_tick_response__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubMotorRunStepTickResponse_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Container.c b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Container.c
index 3cd3b3931..2f3bd6009 100644
--- a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Container.c
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Container.c
@@ -155,6 +155,14 @@ void receive_callback(char* buffer, size_t length)
              Stub_MotorRequest(requestContainer);
              break;
 
+         case MESSAGE_TYPE__StubMotorHomeMarkRequest:
+             Stub_MotorHomeMarkRequest(requestContainer);
+             break;
+         case MESSAGE_TYPE__StubMotorRunStepTickRequest:
+             Stub_MotorRunStepTickRequest(requestContainer);
+             break;
+
+
          default:
              //unsupported message type !!
              break;
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/DataDef.h b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/DataDef.h
index 30b9cab07..dcf8d151c 100644
--- a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/DataDef.h
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/DataDef.h
@@ -33,6 +33,12 @@ enum
 
 #define NOTBUSY 0
 #define BUSY 1
+
+#define SET_HOME 0
+#define SET_MARK 1
+#define GO_HOME  2
+#define GO_MARK  3
+
 //
 //#define SPI_BUSY 0
 //#define SPI_NOTBUSY 1
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Motor.c b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Motor.c
index d1e6ff82d..c6422d6d9 100644
--- a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Motor.c
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Motor.c
@@ -15,6 +15,10 @@
 #include <PMR/Stubs/StubMotorMovResponse.pb-c.h>
 #include <PMR/Stubs/StubMotorRequest.pb-c.h>
 #include <PMR/Stubs/StubMotorResponse.pb-c.h>
+#include <PMR/Stubs/StubMotorHomeMarkRequest.pb-c.h>
+#include <PMR/Stubs/StubMotorHomeMarkResponse.pb-c.h>
+#include <PMR/Stubs/StubMotorRunStepTickRequest.pb-c.h>
+#include <PMR/Stubs/StubMotorRunStepTickResponse.pb-c.h>
 
 #include <stdbool.h>
 #include <stdlib.h>
@@ -526,4 +530,114 @@ void Stub_MotorRequest(MessageContainer* requestContainer)
     free(requestContainer);
 }
 
+void Stub_MotorHomeMarkRequest(MessageContainer* requestContainer)
+{
+
+    MessageContainer responseContainer;
+
+    StubMotorHomeMarkRequest* request = stub_motor_home_mark_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    switch(request->set_home_mark_go_home_mark)
+    {
+    case SET_HOME:
+            ResetPos();
+        break;
+    case SET_MARK:
+        Get_Param(x_MARK); ///????
+        break;
+    case GO_HOME:
+            GoHome();
+        break;
+    case GO_MARK:
+            GoMark();
+        break;
+
+    default:
+        break;
+    }
+
+    StubMotorHomeMarkResponse response =   STUB_MOTOR_HOME_MARK_RESPONSE__INIT;
+
+    response.motor_id = request->motor_id;
+    response.has_motor_id = true;
+
+    response.position = Get_Param(x_ABS_POS);
+    response.has_position = true;
+
+    responseContainer = createContainer(MESSAGE_TYPE__StubMotorHomeMarkResponse, requestContainer->token, true, &response, &stub_motor_home_mark_response__pack, &stub_motor_home_mark_response__get_packed_size);
+
+    free(request);
+    //-------------------------------------------------------------------------------------------
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    SendChars((char*)container_buffer, container_size);
+    free(container_buffer);
+    free(requestContainer);
+}
+
+void Stub_MotorRunStepTickRequest(MessageContainer* requestContainer)
+{
+
+    uint32_t read_status;
+
+    MessageContainer responseContainer;
+
+    StubMotorRunStepTickRequest* request = stub_motor_run_step_tick_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+   //float  temp =  (float)request->speed;
+    //Run_Value = SpdCalc(temp);
+    //Direction = request->direction;
+
+
+   Run(request->direction,request->speed);
+
+
+
+
+
+    StubMotorRunStepTickResponse response =   STUB_MOTOR_RUN_STEP_TICK_RESPONSE__INIT;
+
+    response.motor_id = request->motor_id;
+    response.has_motor_id = true;
+
+    read_status = Get_and_Clear_Status();
+
+    response.speed = (Get_Param(x_SPEED));
+    response.has_speed = true;
+
+    response.status_reg = read_status;
+    response.has_status_reg = true;
+
+    response.direction = ((read_status & x_STATUS_DIR)>>4);
+    response.has_direction = true;
+
+    response.step_loss_a = ((read_status & x_STATUS_STEP_LOSS_A)>>13);
+    response.has_step_loss_a = true;
+    response.step_loss_b = ((read_status & x_STATUS_STEP_LOSS_B)>>14);
+    response.has_step_loss_b = true;
+
+
+    response.mot_status = ((read_status & x_STATUS_MOT_STATUS)>>5);
+    response.has_mot_status = true;
+
+    response.busy = ((read_status & x_STATUS_BUSY)>>1);
+    response.has_busy = true;
+
+
+    responseContainer = createContainer(MESSAGE_TYPE__StubMotorRunStepTickResponse, requestContainer->token, true, &response, &stub_motor_run_step_tick_response__pack, &stub_motor_run_step_tick_response__get_packed_size);
+
+    writeLine("Sending Response: ");
+
+    writeFloat(response.motor_id);
+
+
+    free(request);
+    //-------------------------------------------------------------------------------------------
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    SendChars((char*)container_buffer, container_size);
+    free(container_buffer);
+    free(requestContainer);
+}
+
 
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Motor.h b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Motor.h
index 59312179f..6366698c5 100644
--- a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Motor.h
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Motor.h
@@ -6,5 +6,6 @@ void Stub_MotorSpeedRequest(MessageContainer* requestContainer);
 void Stub_MotorPositionRequest(MessageContainer* requestContainer);
 void Stub_MotorMovRequest(MessageContainer* requestContainer);
 void Stub_MotorRequest(MessageContainer* requestContainer);
-
+void Stub_MotorHomeMarkRequest(MessageContainer* requestContainer);
+void Stub_MotorRunStepTickRequest(MessageContainer* requestContainer);
 
diff --git a/Software/Code_Composer/twine_usblib_demo/drivers/Danser_SSI/SSI_Comm.c b/Software/Code_Composer/twine_usblib_demo/drivers/Danser_SSI/SSI_Comm.c
index bf9460ab5..2cd0534a7 100644
--- a/Software/Code_Composer/twine_usblib_demo/drivers/Danser_SSI/SSI_Comm.c
+++ b/Software/Code_Composer/twine_usblib_demo/drivers/Danser_SSI/SSI_Comm.c
@@ -10,6 +10,26 @@
 //00 - No special requirements
 
 
+/*
+down
+
+Name : RByte
+    Default:34988
+    Hex:0x000088AC
+    Decimal:34988
+    Octal:0104254
+    Binary:0000000000000000 10001000101011 00b  (position = 8747)
+up
+    Name : RByte
+    Default:44520
+    Hex:0x0000ADE8
+    Decimal:44520
+    Octal:0126750
+    Binary:0000000000000000 10101101111010  00b (position = 11130)
+
+    missing 8 bits of Detailed status (the 16 MSB should not be receive)
+ */
+
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -33,9 +53,9 @@
 
 typedef struct  // 24bit
 {
-    unsigned char Det_status:8;
-    unsigned char Gen_status:2;
     unsigned short Position:14;
+    unsigned char Gen_status:2;
+    unsigned char Det_status:8;
 }SSI_ENC;
 
 SSI_ENC SSI_enc;
@@ -79,9 +99,9 @@ void SSI1_Init()
     SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
 
     /* Configure pad settings */  // AVI
-    GPIOPadConfigSet(GPIO_PORTE_BASE,
-            GPIO_PIN_4,
-            GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD);
+//    GPIOPadConfigSet(GPIO_PORTE_BASE,
+//            GPIO_PIN_4,
+//            GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD);
 
     GPIOPadConfigSet(GPIO_PORTE_BASE,
             GPIO_PIN_5,
@@ -121,8 +141,8 @@ void SSI1_Init()
     // Configure and enable the SSI1 port for SPI Master mode.
     //
 
-    SSIConfigSetExpClk(SSI1_BASE, ui32SysClock, SSI_FRF_NMW,
-                       SSI_MODE_MASTER, 500000, 16); // to receive Clock period 2uSec, Clock frequency 500KHz
+    SSIConfigSetExpClk(SSI1_BASE, ui32SysClock, SSI_FRF_MOTO_MODE_0,//SSI_FRF_NMW,
+                       SSI_MODE_MASTER, 500000, 32);//16); // to receive Clock period 2uSec, Clock frequency 500KHz
                                                      //SSI_MODE_MASTER send 24 bits 0x00 (dummy) 0x7f 0xff -> create clock of 24 bits for SSI
 
     SSIAdvModeSet(SSI1_BASE,SSI_ADV_MODE_READ_WRITE );
@@ -140,14 +160,17 @@ uint32_t Write_Dummy_Byte()
     uint8_t WByte = 0x00; // Dummy Byte
     uint32_t RByte = 0x00;
 
+
     SSIDataPut(SSI1_BASE, WByte);
 
     while(SSIBusy(SSI1_BASE)){};
 
-    SSIDataGet(SSI1_BASE, &RByte);// 24 bytes
 
-    return (RByte & 0xffffff);// 24 bytes
+    while(SSIDataGetNonBlocking(SSI1_BASE, &RByte)){}; //FIFO to read 24 bit
 
+
+    //return (RByte & 0xffffff);// 24 bytes
+    return (RByte & 0xffff);//14 bit position + 2 bit general status
 }
 
 void Read_Dancer_Position ()
@@ -158,11 +181,14 @@ void Read_Dancer_Position ()
 
     ENC_SSI_Data = Write_Dummy_Byte();
 
-    SSI_enc.Det_status = ENC_SSI_Data & 0xFF;
-    ENC_SSI_Data = ENC_SSI_Data >> 8;
+
+    //SSI_enc.Det_status = ENC_SSI_Data & 0xFF;
+    //ENC_SSI_Data = ENC_SSI_Data >> 8;
+    SSI_enc.Det_status = 0;
+
     SSI_enc.Gen_status = ENC_SSI_Data & 0x3;
     ENC_SSI_Data = ENC_SSI_Data >> 2;
-    SSI_enc.Position =   ENC_SSI_Data & 0x3FFF;
+    SSI_enc.Position =   ENC_SSI_Data & 0x3FFF; // up 11130 down 8747
 
     SSIDisable(SSI1_BASE);
 }
diff --git a/Software/Code_Composer/twine_usblib_demo/drivers/SPI/SPI_Comm.c b/Software/Code_Composer/twine_usblib_demo/drivers/SPI/SPI_Comm.c
index 4eeeda774..2f44ed635 100644
--- a/Software/Code_Composer/twine_usblib_demo/drivers/SPI/SPI_Comm.c
+++ b/Software/Code_Composer/twine_usblib_demo/drivers/SPI/SPI_Comm.c
@@ -394,7 +394,7 @@ void setup(StubMotorInitRequest* request)
         {
             SetParam(x_STEP_MODE,
                 !x_SYNC_EN |
-                x_STEP_SEL_1_8 |
+                x_STEP_SEL_1 |//x_STEP_SEL_1_8 |
                 x_SYNC_SEL_1);
         }
 
@@ -505,7 +505,7 @@ void setup(StubMotorInitRequest* request)
         read_status = Get_Param(x_STATUS);
     }
 
-    //writable only when outputs are in high impedance:
+//    //writable only when outputs are in high impedance:
     SetParam(x_CONFIG,
         x_CONFIG_PWM_DIV_1 |
         x_CONFIG_PWM_MUL_2 |
@@ -540,14 +540,14 @@ void setup(StubMotorInitRequest* request)
 //    SetParam(x_FN_SLP_DEC, /*0x48);// */ 0x23);
 
     //for Motor 49:
-    SetParam(x_KVAL_HOLD,  0x35);
-    SetParam(x_KVAL_RUN,   0x4B);
-    SetParam(x_KVAL_ACC,   0x4B);
-    SetParam(x_KVAL_DEC,   0x4B);
-    SetParam(x_ST_SLP,     0x20);
-    SetParam(x_INT_SPD,    0x1A13);
-    SetParam(x_FN_SLP_ACC, 0x50);
-    SetParam(x_FN_SLP_DEC, 0x50);
+//    SetParam(x_KVAL_HOLD,  0x35);
+//    SetParam(x_KVAL_RUN,   0x4B);
+//    SetParam(x_KVAL_ACC,   0x4B);
+//    SetParam(x_KVAL_DEC,   0x4B);
+//    SetParam(x_ST_SLP,     0x20);
+//    SetParam(x_INT_SPD,    0x1A13);
+//    SetParam(x_FN_SLP_ACC, 0x50);
+//    SetParam(x_FN_SLP_DEC, 0x50);
 
 
     //https://www.youtube.com/watch?v=8C7qdjPbhlg MIN 2:20
diff --git a/Software/Code_Composer/twine_usblib_demo/main.c b/Software/Code_Composer/twine_usblib_demo/main.c
index 2f1591661..a6eb475ad 100644
--- a/Software/Code_Composer/twine_usblib_demo/main.c
+++ b/Software/Code_Composer/twine_usblib_demo/main.c
@@ -139,7 +139,7 @@ int main(void)
    // SPI_Control();
 
     SSI1_Init(); // Read dancer ENC SSI
-    //Loop_SSI();
+    Loop_SSI();
 
     SPI2_Init();
     init_BUSY_Pin();
diff --git a/Software/PMR/Messages/Common/MessageType.proto b/Software/PMR/Messages/Common/MessageType.proto
index ee5adaf1e..2a0e0b753 100644
--- a/Software/PMR/Messages/Common/MessageType.proto
+++ b/Software/PMR/Messages/Common/MessageType.proto
@@ -74,6 +74,11 @@ enum MessageType
 	StubHeatingTestPollResponse = 64;
 	StubMotorRequest = 65;
 	StubMotorResponse = 66;
+	StubMotorHomeMarkRequest = 67;
+	StubMotorHomeMarkResponse = 68;
+	StubMotorRunStepTickRequest = 69;
+	StubMotorRunStepTickResponse = 70;
+
 
 	//Integration
 	ExternalBridgeUdpDiscoveryPacket = 1000;
diff --git a/Software/PMR/Messages/Stubs/StubMotorHomeMarkRequest.proto b/Software/PMR/Messages/Stubs/StubMotorHomeMarkRequest.proto
new file mode 100644
index 000000000..3ee519433
--- /dev/null
+++ b/Software/PMR/Messages/Stubs/StubMotorHomeMarkRequest.proto
@@ -0,0 +1,10 @@
+syntax = "proto3";
+
+package Tango.PMR.Stubs;
+option java_package = "com.twine.tango.pmr.stubs";
+
+message StubMotorHomeMarkRequest
+{
+		uint32 Motor_ID = 1;
+        uint32 Set_Home_Mark_GO_Home_Mark = 2; // 0..3
+}
\ No newline at end of file
diff --git a/Software/PMR/Messages/Stubs/StubMotorHomeMarkResponse.proto b/Software/PMR/Messages/Stubs/StubMotorHomeMarkResponse.proto
new file mode 100644
index 000000000..fc359d653
--- /dev/null
+++ b/Software/PMR/Messages/Stubs/StubMotorHomeMarkResponse.proto
@@ -0,0 +1,11 @@
+
+syntax = "proto3";
+
+package Tango.PMR.Stubs;
+option java_package = "com.twine.tango.pmr.stubs";
+
+message StubMotorHomeMarkResponse
+{
+		uint32 Motor_ID = 1;
+		uint32 Position = 2;
+}
\ No newline at end of file
diff --git a/Software/PMR/Messages/Stubs/StubMotorRunStepTickRequest.proto b/Software/PMR/Messages/Stubs/StubMotorRunStepTickRequest.proto
new file mode 100644
index 000000000..37ee5b7eb
--- /dev/null
+++ b/Software/PMR/Messages/Stubs/StubMotorRunStepTickRequest.proto
@@ -0,0 +1,11 @@
+syntax = "proto3";
+
+package Tango.PMR.Stubs;
+option java_package = "com.twine.tango.pmr.stubs";
+
+message StubMotorRunStepTickRequest
+{
+		uint32 Motor_ID = 1;
+		bool Direction = 2;
+		double Speed = 3;
+}
\ No newline at end of file
diff --git a/Software/PMR/Messages/Stubs/StubMotorRunStepTickResponse.proto b/Software/PMR/Messages/Stubs/StubMotorRunStepTickResponse.proto
new file mode 100644
index 000000000..4791f70bf
--- /dev/null
+++ b/Software/PMR/Messages/Stubs/StubMotorRunStepTickResponse.proto
@@ -0,0 +1,17 @@
+syntax = "proto3";
+
+package Tango.PMR.Stubs;
+option java_package = "com.twine.tango.pmr.stubs";
+
+message StubMotorRunStepTickResponse
+{
+		uint32 Motor_ID = 1;
+		double Speed = 2;
+		uint32 Status_Reg = 3;
+		bool Direction = 4;// Reverse / Forward
+		uint32 Mot_Status = 5; //Stopped / Acceleration / Deceleration / Constant speed
+		bool STEP_LOSS_A = 6;
+		bool STEP_LOSS_B = 7;
+		bool BUSY = 8;
+
+}
\ No newline at end of file
diff --git a/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs b/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs
index 0c46ea0d9..ca6fb0b75 100644
--- a/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs
+++ b/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs
@@ -22,7 +22,7 @@ namespace Tango.PMR.Common {
     static MessageTypeReflection() {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
-            "ChFNZXNzYWdlVHlwZS5wcm90bxIQVGFuZ28uUE1SLkNvbW1vbirqGAoLTWVz",
+            "ChFNZXNzYWdlVHlwZS5wcm90bxIQVGFuZ28uUE1SLkNvbW1vbirqGQoLTWVz",
             "c2FnZVR5cGUSCAoETm9uZRAAEhQKEENhbGN1bGF0ZVJlcXVlc3QQAxIVChFD",
             "YWxjdWxhdGVSZXNwb25zZRAEEhMKD1Byb2dyZXNzUmVxdWVzdBAFEhQKEFBy",
             "b2dyZXNzUmVzcG9uc2UQBhIcChhTdHViQ2FydHJpZGdlUmVhZFJlcXVlc3QQ",
@@ -63,38 +63,41 @@ namespace Tango.PMR.Common {
             "aW5nVGVzdFJlcXVlc3QQPRIbChdTdHViSGVhdGluZ1Rlc3RSZXNwb25zZRA+",
             "Eh4KGlN0dWJIZWF0aW5nVGVzdFBvbGxSZXF1ZXN0ED8SHwobU3R1YkhlYXRp",
             "bmdUZXN0UG9sbFJlc3BvbnNlEEASFAoQU3R1Yk1vdG9yUmVxdWVzdBBBEhUK",
-            "EVN0dWJNb3RvclJlc3BvbnNlEEISJQogRXh0ZXJuYWxCcmlkZ2VVZHBEaXNj",
-            "b3ZlcnlQYWNrZXQQ6AcSHwoaRXh0ZXJuYWxDbGllbnRMb2dpblJlcXVlc3QQ",
-            "6QcSIAobRXh0ZXJuYWxDbGllbnRMb2dpblJlc3BvbnNlEOoHEiEKHERpcmVj",
-            "dFN5bmNocm9uaXphdGlvblJlcXVlc3QQ6wcSIgodRGlyZWN0U3luY2hyb25p",
-            "emF0aW9uUmVzcG9uc2UQ7AcSHAoXT3ZlcnJpZGVEYXRhQmFzZVJlcXVlc3QQ",
-            "7QcSHQoYT3ZlcnJpZGVEYXRhQmFzZVJlc3BvbnNlEO4HEhUKEEtlZXBBbGl2",
-            "ZVJlcXVlc3QQ7wcSFgoRS2VlcEFsaXZlUmVzcG9uc2UQ8AcSGwoWUHVzaERp",
-            "YWdub3N0aWNzUmVxdWVzdBDQDxIcChdQdXNoRGlhZ25vc3RpY3NSZXNwb25z",
-            "ZRDRDxIcChdNb3RvckFib3J0SG9taW5nUmVxdWVzdBDSDxIdChhNb3RvckFi",
-            "b3J0SG9taW5nUmVzcG9uc2UQ0w8SFwoSTW90b3JIb21pbmdSZXF1ZXN0ENQP",
-            "EhgKE01vdG9ySG9taW5nUmVzcG9uc2UQ1Q8SGAoTTW90b3JKb2dnaW5nUmVx",
-            "dWVzdBDWDxIZChRNb3RvckpvZ2dpbmdSZXNwb25zZRDXDxIdChhNb3RvckFi",
-            "b3J0Sm9nZ2luZ1JlcXVlc3QQ2A8SHgoZTW90b3JBYm9ydEpvZ2dpbmdSZXNw",
-            "b25zZRDZDxIgChtEaXNwZW5zZXJBYm9ydEhvbWluZ1JlcXVlc3QQ2g8SIQoc",
-            "RGlzcGVuc2VyQWJvcnRIb21pbmdSZXNwb25zZRDbDxIbChZEaXNwZW5zZXJI",
-            "b21pbmdSZXF1ZXN0ENwPEhwKF0Rpc3BlbnNlckhvbWluZ1Jlc3BvbnNlEN0P",
-            "EhwKF0Rpc3BlbnNlckpvZ2dpbmdSZXF1ZXN0EN4PEh0KGERpc3BlbnNlckpv",
-            "Z2dpbmdSZXNwb25zZRDfDxIhChxEaXNwZW5zZXJBYm9ydEpvZ2dpbmdSZXF1",
-            "ZXN0EOAPEiIKHURpc3BlbnNlckFib3J0Sm9nZ2luZ1Jlc3BvbnNlEOEPEhkK",
-            "FFNldERpZ2l0YWxPdXRSZXF1ZXN0EOIPEhoKFVNldERpZ2l0YWxPdXRSZXNw",
-            "b25zZRDjDxIZChRUaHJlYWRKb2dnaW5nUmVxdWVzdBDkDxIaChVUaHJlYWRK",
-            "b2dnaW5nUmVzcG9uc2UQ5Q8SHgoZVGhyZWFkQWJvcnRKb2dnaW5nUmVxdWVz",
-            "dBDmDxIfChpUaHJlYWRBYm9ydEpvZ2dpbmdSZXNwb25zZRDnDxIdChhTZXRD",
-            "b21wb25lbnRWYWx1ZVJlcXVlc3QQ6A8SHgoZU2V0Q29tcG9uZW50VmFsdWVS",
-            "ZXNwb25zZRDpDxIPCgpKb2JSZXF1ZXN0ELgXEhAKC0pvYlJlc3BvbnNlELkX",
-            "EhQKD0Fib3J0Sm9iUmVxdWVzdBC6FxIVChBBYm9ydEpvYlJlc3BvbnNlELsX",
-            "EiMKHlVwbG9hZFByb2Nlc3NQYXJhbWV0ZXJzUmVxdWVzdBC8FxIkCh9VcGxv",
-            "YWRQcm9jZXNzUGFyYW1ldGVyc1Jlc3BvbnNlEL0XEhQKD0RlYnVnTG9nUmVx",
-            "dWVzdBCgHxIVChBEZWJ1Z0xvZ1Jlc3BvbnNlEKEfEicKIlVwbG9hZEhhcmR3",
-            "YXJlQ29uZmlndXJhdGlvblJlcXVlc3QQiCcSKAojVXBsb2FkSGFyZHdhcmVD",
-            "b25maWd1cmF0aW9uUmVzcG9uc2UQiSdCHAoaY29tLnR3aW5lLnRhbmdvLnBt",
-            "ci5jb21tb25iBnByb3RvMw=="));
+            "EVN0dWJNb3RvclJlc3BvbnNlEEISHAoYU3R1Yk1vdG9ySG9tZU1hcmtSZXF1",
+            "ZXN0EEMSHQoZU3R1Yk1vdG9ySG9tZU1hcmtSZXNwb25zZRBEEh8KG1N0dWJN",
+            "b3RvclJ1blN0ZXBUaWNrUmVxdWVzdBBFEiAKHFN0dWJNb3RvclJ1blN0ZXBU",
+            "aWNrUmVzcG9uc2UQRhIlCiBFeHRlcm5hbEJyaWRnZVVkcERpc2NvdmVyeVBh",
+            "Y2tldBDoBxIfChpFeHRlcm5hbENsaWVudExvZ2luUmVxdWVzdBDpBxIgChtF",
+            "eHRlcm5hbENsaWVudExvZ2luUmVzcG9uc2UQ6gcSIQocRGlyZWN0U3luY2hy",
+            "b25pemF0aW9uUmVxdWVzdBDrBxIiCh1EaXJlY3RTeW5jaHJvbml6YXRpb25S",
+            "ZXNwb25zZRDsBxIcChdPdmVycmlkZURhdGFCYXNlUmVxdWVzdBDtBxIdChhP",
+            "dmVycmlkZURhdGFCYXNlUmVzcG9uc2UQ7gcSFQoQS2VlcEFsaXZlUmVxdWVz",
+            "dBDvBxIWChFLZWVwQWxpdmVSZXNwb25zZRDwBxIbChZQdXNoRGlhZ25vc3Rp",
+            "Y3NSZXF1ZXN0ENAPEhwKF1B1c2hEaWFnbm9zdGljc1Jlc3BvbnNlENEPEhwK",
+            "F01vdG9yQWJvcnRIb21pbmdSZXF1ZXN0ENIPEh0KGE1vdG9yQWJvcnRIb21p",
+            "bmdSZXNwb25zZRDTDxIXChJNb3RvckhvbWluZ1JlcXVlc3QQ1A8SGAoTTW90",
+            "b3JIb21pbmdSZXNwb25zZRDVDxIYChNNb3RvckpvZ2dpbmdSZXF1ZXN0ENYP",
+            "EhkKFE1vdG9ySm9nZ2luZ1Jlc3BvbnNlENcPEh0KGE1vdG9yQWJvcnRKb2dn",
+            "aW5nUmVxdWVzdBDYDxIeChlNb3RvckFib3J0Sm9nZ2luZ1Jlc3BvbnNlENkP",
+            "EiAKG0Rpc3BlbnNlckFib3J0SG9taW5nUmVxdWVzdBDaDxIhChxEaXNwZW5z",
+            "ZXJBYm9ydEhvbWluZ1Jlc3BvbnNlENsPEhsKFkRpc3BlbnNlckhvbWluZ1Jl",
+            "cXVlc3QQ3A8SHAoXRGlzcGVuc2VySG9taW5nUmVzcG9uc2UQ3Q8SHAoXRGlz",
+            "cGVuc2VySm9nZ2luZ1JlcXVlc3QQ3g8SHQoYRGlzcGVuc2VySm9nZ2luZ1Jl",
+            "c3BvbnNlEN8PEiEKHERpc3BlbnNlckFib3J0Sm9nZ2luZ1JlcXVlc3QQ4A8S",
+            "IgodRGlzcGVuc2VyQWJvcnRKb2dnaW5nUmVzcG9uc2UQ4Q8SGQoUU2V0RGln",
+            "aXRhbE91dFJlcXVlc3QQ4g8SGgoVU2V0RGlnaXRhbE91dFJlc3BvbnNlEOMP",
+            "EhkKFFRocmVhZEpvZ2dpbmdSZXF1ZXN0EOQPEhoKFVRocmVhZEpvZ2dpbmdS",
+            "ZXNwb25zZRDlDxIeChlUaHJlYWRBYm9ydEpvZ2dpbmdSZXF1ZXN0EOYPEh8K",
+            "GlRocmVhZEFib3J0Sm9nZ2luZ1Jlc3BvbnNlEOcPEh0KGFNldENvbXBvbmVu",
+            "dFZhbHVlUmVxdWVzdBDoDxIeChlTZXRDb21wb25lbnRWYWx1ZVJlc3BvbnNl",
+            "EOkPEg8KCkpvYlJlcXVlc3QQuBcSEAoLSm9iUmVzcG9uc2UQuRcSFAoPQWJv",
+            "cnRKb2JSZXF1ZXN0ELoXEhUKEEFib3J0Sm9iUmVzcG9uc2UQuxcSIwoeVXBs",
+            "b2FkUHJvY2Vzc1BhcmFtZXRlcnNSZXF1ZXN0ELwXEiQKH1VwbG9hZFByb2Nl",
+            "c3NQYXJhbWV0ZXJzUmVzcG9uc2UQvRcSFAoPRGVidWdMb2dSZXF1ZXN0EKAf",
+            "EhUKEERlYnVnTG9nUmVzcG9uc2UQoR8SJwoiVXBsb2FkSGFyZHdhcmVDb25m",
+            "aWd1cmF0aW9uUmVxdWVzdBCIJxIoCiNVcGxvYWRIYXJkd2FyZUNvbmZpZ3Vy",
+            "YXRpb25SZXNwb25zZRCJJ0IcChpjb20udHdpbmUudGFuZ28ucG1yLmNvbW1v",
+            "bmIGcHJvdG8z"));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { },
           new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Common.MessageType), }, null));
@@ -175,6 +178,10 @@ namespace Tango.PMR.Common {
     [pbr::OriginalName("StubHeatingTestPollResponse")] StubHeatingTestPollResponse = 64,
     [pbr::OriginalName("StubMotorRequest")] StubMotorRequest = 65,
     [pbr::OriginalName("StubMotorResponse")] StubMotorResponse = 66,
+    [pbr::OriginalName("StubMotorHomeMarkRequest")] StubMotorHomeMarkRequest = 67,
+    [pbr::OriginalName("StubMotorHomeMarkResponse")] StubMotorHomeMarkResponse = 68,
+    [pbr::OriginalName("StubMotorRunStepTickRequest")] StubMotorRunStepTickRequest = 69,
+    [pbr::OriginalName("StubMotorRunStepTickResponse")] StubMotorRunStepTickResponse = 70,
     /// <summary>
     ///Integration
     /// </summary>
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/EventType.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/EventType.cs
index 7eebf2553..1506aef18 100644
--- a/Software/Visual_Studio/Tango.PMR/Diagnostics/EventType.cs
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/EventType.cs
@@ -22,7 +22,7 @@ namespace Tango.PMR.Diagnostics {
     static EventTypeReflection() {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
-            "Cg9FdmVudFR5cGUucHJvdG8SFVRhbmdvLlBNUi5EaWFnbm9zdGljcyroBgoJ",
+            "Cg9FdmVudFR5cGUucHJvdG8SFVRhbmdvLlBNUi5EaWFnbm9zdGljcyqbBwoJ",
             "RXZlbnRUeXBlEg8KC1RocmVhZEJyZWFrEAASHwobVGhyZWFkVGVuc2lvbkNv",
             "bnRyb2xGYWlsdXJlEAESGgoWRmVlZGVyQ29uZUluc3VmZmljaWFudBACEhYK",
             "EldpbmRlckdlbmVyYWxFcnJvchADEhcKE1dpbmRlckNvbmVOb3RFeGlzdHMQ",
@@ -42,8 +42,9 @@ namespace Tango.PMR.Diagnostics {
             "dXR0b25QcmVzc2VkEBsSFgoSU3lzdGVtR2VuZXJhbEVycm9yEBwSDwoLUmVx",
             "dWVzdFNlbnQQHRIUChBSZXNwb25zZVJlY2VpdmVkEB4SEQoNUmVxdWVzdEZh",
             "aWxlZBAfEhgKFEFwcGxpY2F0aW9uRXhjZXB0aW9uECASGgoWQXBwbGljYXRp",
-            "b25JbmZvcm1hdGlvbhAiQiEKH2NvbS50d2luZS50YW5nby5wbXIuZGlhZ25v",
-            "c3RpY3NiBnByb3RvMw=="));
+            "b25JbmZvcm1hdGlvbhAhEhYKEkFwcGxpY2F0aW9uU3RhcnRlZBAiEhkKFUFw",
+            "cGxpY2F0aW9uVGVybWluYXRlZBAjQiEKH2NvbS50d2luZS50YW5nby5wbXIu",
+            "ZGlhZ25vc3RpY3NiBnByb3RvMw=="));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { },
           new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Diagnostics.EventType), }, null));
@@ -188,7 +189,15 @@ namespace Tango.PMR.Diagnostics {
     /// <summary>
     ///General application event logs (Group = Application, Category = Info, Actions = )
     /// </summary>
-    [pbr::OriginalName("ApplicationInformation")] ApplicationInformation = 34,
+    [pbr::OriginalName("ApplicationInformation")] ApplicationInformation = 33,
+    /// <summary>
+    ///Notifies about application succesfully started (Group = Application, Category = Info, Actions = )
+    /// </summary>
+    [pbr::OriginalName("ApplicationStarted")] ApplicationStarted = 34,
+    /// <summary>
+    ///Notifies about application termination (Group = Application, Category = Info, Actions = )
+    /// </summary>
+    [pbr::OriginalName("ApplicationTerminated")] ApplicationTerminated = 35,
   }
 
   #endregion
diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/HardwarePidControl.cs b/Software/Visual_Studio/Tango.PMR/Hardware/HardwarePidControl.cs
index c59f07cc1..658f4463c 100644
--- a/Software/Visual_Studio/Tango.PMR/Hardware/HardwarePidControl.cs
+++ b/Software/Visual_Studio/Tango.PMR/Hardware/HardwarePidControl.cs
@@ -23,24 +23,26 @@ namespace Tango.PMR.Hardware {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
             "ChhIYXJkd2FyZVBpZENvbnRyb2wucHJvdG8SElRhbmdvLlBNUi5IYXJkd2Fy",
-            "ZRocSGFyZHdhcmVQaWRDb250cm9sVHlwZS5wcm90byKXBAoSSGFyZHdhcmVQ",
+            "ZRocSGFyZHdhcmVQaWRDb250cm9sVHlwZS5wcm90byLcBAoSSGFyZHdhcmVQ",
             "aWRDb250cm9sEkoKFkhhcmR3YXJlUGlkQ29udHJvbFR5cGUYASABKA4yKi5U",
             "YW5nby5QTVIuSGFyZHdhcmUuSGFyZHdhcmVQaWRDb250cm9sVHlwZRIkChxP",
-            "dXRwdXRQcm9wb3J0aW9uYWxQb3dlckxpbWl0GAIgASgFEh4KFk91dHB1dFBy",
-            "b3BvcnRpb25hbEJhbmQYAyABKAUSFAoMSW50ZWdyYWxUaW1lGAQgASgFEhYK",
-            "DkRlcml2YXRpdmVUaW1lGAUgASgFEiIKGlNlbnNvckNvcnJlY3Rpb25BZGp1",
-            "c3RtZW50GAYgASgFEhYKDlNlbnNvck1pblZhbHVlGAcgASgFEhYKDlNlbnNv",
-            "ck1heFZhbHVlGAggASgFEicKH1NldFBvaW50UmFtcFJhdGVvclNvZnRTdGFy",
-            "dFJhbXAYCSABKAUSIQoZU2V0UG9pbnRDb250cm9sT3V0cHV0UmF0ZRgKIAEo",
-            "BRIZChFDb250cm9sT3V0cHV0VHlwZRgLIAEoBRIcChRTc3JDb250cm9sT3V0",
-            "cHV0VHlwZRgMIAEoBRIiChpPdXRwdXRPbk9mZkh5c3RlcmVzaXNWYWx1ZRgN",
-            "IAEoBRIjChtQcm9jZXNzVmFyaWFibGVTYW1wbGluZ1JhdGUYDiABKAUSHwoX",
-            "UHZJbnB1dEZpbHRlckZhY3Rvck1vZGUYDyABKAVCHgocY29tLnR3aW5lLnRh",
-            "bmdvLnBtci5oYXJkd2FyZWIGcHJvdG8z"));
+            "dXRwdXRQcm9wb3J0aW9uYWxQb3dlckxpbWl0GAIgASgBEh4KFk91dHB1dFBy",
+            "b3BvcnRpb25hbEJhbmQYAyABKAESFAoMSW50ZWdyYWxUaW1lGAQgASgBEhYK",
+            "DkRlcml2YXRpdmVUaW1lGAUgASgBEiIKGlNlbnNvckNvcnJlY3Rpb25BZGp1",
+            "c3RtZW50GAYgASgBEhYKDlNlbnNvck1pblZhbHVlGAcgASgBEhYKDlNlbnNv",
+            "ck1heFZhbHVlGAggASgBEicKH1NldFBvaW50UmFtcFJhdGVvclNvZnRTdGFy",
+            "dFJhbXAYCSABKAESIQoZU2V0UG9pbnRDb250cm9sT3V0cHV0UmF0ZRgKIAEo",
+            "ARIZChFDb250cm9sT3V0cHV0VHlwZRgLIAEoARIcChRTc3JDb250cm9sT3V0",
+            "cHV0VHlwZRgMIAEoARIiChpPdXRwdXRPbk9mZkh5c3RlcmVzaXNWYWx1ZRgN",
+            "IAEoARIjChtQcm9jZXNzVmFyaWFibGVTYW1wbGluZ1JhdGUYDiABKAESHwoX",
+            "UHZJbnB1dEZpbHRlckZhY3Rvck1vZGUYDyABKAESIwobT3V0cHV0UHJvcG9y",
+            "dGlvbmFsQ3ljbGVUaW1lGBAgASgFEh4KFkFjSGVhdGVyc0hhbGZDeWNsZVRp",
+            "bWUYESABKAVCHgocY29tLnR3aW5lLnRhbmdvLnBtci5oYXJkd2FyZWIGcHJv",
+            "dG8z"));
       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)
+            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", "OutputProportionalCycleTime", "AcHeatersHalfCycleTime" }, null, null, null)
           }));
     }
     #endregion
@@ -86,6 +88,8 @@ namespace Tango.PMR.Hardware {
       outputOnOffHysteresisValue_ = other.outputOnOffHysteresisValue_;
       processVariableSamplingRate_ = other.processVariableSamplingRate_;
       pvInputFilterFactorMode_ = other.pvInputFilterFactorMode_;
+      outputProportionalCycleTime_ = other.outputProportionalCycleTime_;
+      acHeatersHalfCycleTime_ = other.acHeatersHalfCycleTime_;
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -106,9 +110,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "OutputProportionalPowerLimit" field.</summary>
     public const int OutputProportionalPowerLimitFieldNumber = 2;
-    private int outputProportionalPowerLimit_;
+    private double outputProportionalPowerLimit_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int OutputProportionalPowerLimit {
+    public double OutputProportionalPowerLimit {
       get { return outputProportionalPowerLimit_; }
       set {
         outputProportionalPowerLimit_ = value;
@@ -117,9 +121,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "OutputProportionalBand" field.</summary>
     public const int OutputProportionalBandFieldNumber = 3;
-    private int outputProportionalBand_;
+    private double outputProportionalBand_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int OutputProportionalBand {
+    public double OutputProportionalBand {
       get { return outputProportionalBand_; }
       set {
         outputProportionalBand_ = value;
@@ -128,9 +132,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "IntegralTime" field.</summary>
     public const int IntegralTimeFieldNumber = 4;
-    private int integralTime_;
+    private double integralTime_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int IntegralTime {
+    public double IntegralTime {
       get { return integralTime_; }
       set {
         integralTime_ = value;
@@ -139,9 +143,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "DerivativeTime" field.</summary>
     public const int DerivativeTimeFieldNumber = 5;
-    private int derivativeTime_;
+    private double derivativeTime_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int DerivativeTime {
+    public double DerivativeTime {
       get { return derivativeTime_; }
       set {
         derivativeTime_ = value;
@@ -150,9 +154,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "SensorCorrectionAdjustment" field.</summary>
     public const int SensorCorrectionAdjustmentFieldNumber = 6;
-    private int sensorCorrectionAdjustment_;
+    private double sensorCorrectionAdjustment_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int SensorCorrectionAdjustment {
+    public double SensorCorrectionAdjustment {
       get { return sensorCorrectionAdjustment_; }
       set {
         sensorCorrectionAdjustment_ = value;
@@ -161,9 +165,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "SensorMinValue" field.</summary>
     public const int SensorMinValueFieldNumber = 7;
-    private int sensorMinValue_;
+    private double sensorMinValue_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int SensorMinValue {
+    public double SensorMinValue {
       get { return sensorMinValue_; }
       set {
         sensorMinValue_ = value;
@@ -172,9 +176,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "SensorMaxValue" field.</summary>
     public const int SensorMaxValueFieldNumber = 8;
-    private int sensorMaxValue_;
+    private double sensorMaxValue_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int SensorMaxValue {
+    public double SensorMaxValue {
       get { return sensorMaxValue_; }
       set {
         sensorMaxValue_ = value;
@@ -183,9 +187,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "SetPointRampRateorSoftStartRamp" field.</summary>
     public const int SetPointRampRateorSoftStartRampFieldNumber = 9;
-    private int setPointRampRateorSoftStartRamp_;
+    private double setPointRampRateorSoftStartRamp_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int SetPointRampRateorSoftStartRamp {
+    public double SetPointRampRateorSoftStartRamp {
       get { return setPointRampRateorSoftStartRamp_; }
       set {
         setPointRampRateorSoftStartRamp_ = value;
@@ -194,9 +198,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "SetPointControlOutputRate" field.</summary>
     public const int SetPointControlOutputRateFieldNumber = 10;
-    private int setPointControlOutputRate_;
+    private double setPointControlOutputRate_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int SetPointControlOutputRate {
+    public double SetPointControlOutputRate {
       get { return setPointControlOutputRate_; }
       set {
         setPointControlOutputRate_ = value;
@@ -205,9 +209,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "ControlOutputType" field.</summary>
     public const int ControlOutputTypeFieldNumber = 11;
-    private int controlOutputType_;
+    private double controlOutputType_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int ControlOutputType {
+    public double ControlOutputType {
       get { return controlOutputType_; }
       set {
         controlOutputType_ = value;
@@ -216,9 +220,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "SsrControlOutputType" field.</summary>
     public const int SsrControlOutputTypeFieldNumber = 12;
-    private int ssrControlOutputType_;
+    private double ssrControlOutputType_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int SsrControlOutputType {
+    public double SsrControlOutputType {
       get { return ssrControlOutputType_; }
       set {
         ssrControlOutputType_ = value;
@@ -227,9 +231,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "OutputOnOffHysteresisValue" field.</summary>
     public const int OutputOnOffHysteresisValueFieldNumber = 13;
-    private int outputOnOffHysteresisValue_;
+    private double outputOnOffHysteresisValue_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int OutputOnOffHysteresisValue {
+    public double OutputOnOffHysteresisValue {
       get { return outputOnOffHysteresisValue_; }
       set {
         outputOnOffHysteresisValue_ = value;
@@ -238,9 +242,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "ProcessVariableSamplingRate" field.</summary>
     public const int ProcessVariableSamplingRateFieldNumber = 14;
-    private int processVariableSamplingRate_;
+    private double processVariableSamplingRate_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int ProcessVariableSamplingRate {
+    public double ProcessVariableSamplingRate {
       get { return processVariableSamplingRate_; }
       set {
         processVariableSamplingRate_ = value;
@@ -249,15 +253,37 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "PvInputFilterFactorMode" field.</summary>
     public const int PvInputFilterFactorModeFieldNumber = 15;
-    private int pvInputFilterFactorMode_;
+    private double pvInputFilterFactorMode_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int PvInputFilterFactorMode {
+    public double PvInputFilterFactorMode {
       get { return pvInputFilterFactorMode_; }
       set {
         pvInputFilterFactorMode_ = value;
       }
     }
 
+    /// <summary>Field number for the "OutputProportionalCycleTime" field.</summary>
+    public const int OutputProportionalCycleTimeFieldNumber = 16;
+    private int outputProportionalCycleTime_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int OutputProportionalCycleTime {
+      get { return outputProportionalCycleTime_; }
+      set {
+        outputProportionalCycleTime_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "AcHeatersHalfCycleTime" field.</summary>
+    public const int AcHeatersHalfCycleTimeFieldNumber = 17;
+    private int acHeatersHalfCycleTime_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int AcHeatersHalfCycleTime {
+      get { return acHeatersHalfCycleTime_; }
+      set {
+        acHeatersHalfCycleTime_ = value;
+      }
+    }
+
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public override bool Equals(object other) {
       return Equals(other as HardwarePidControl);
@@ -286,6 +312,8 @@ namespace Tango.PMR.Hardware {
       if (OutputOnOffHysteresisValue != other.OutputOnOffHysteresisValue) return false;
       if (ProcessVariableSamplingRate != other.ProcessVariableSamplingRate) return false;
       if (PvInputFilterFactorMode != other.PvInputFilterFactorMode) return false;
+      if (OutputProportionalCycleTime != other.OutputProportionalCycleTime) return false;
+      if (AcHeatersHalfCycleTime != other.AcHeatersHalfCycleTime) return false;
       return true;
     }
 
@@ -293,20 +321,22 @@ namespace Tango.PMR.Hardware {
     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();
+      if (OutputProportionalPowerLimit != 0D) hash ^= OutputProportionalPowerLimit.GetHashCode();
+      if (OutputProportionalBand != 0D) hash ^= OutputProportionalBand.GetHashCode();
+      if (IntegralTime != 0D) hash ^= IntegralTime.GetHashCode();
+      if (DerivativeTime != 0D) hash ^= DerivativeTime.GetHashCode();
+      if (SensorCorrectionAdjustment != 0D) hash ^= SensorCorrectionAdjustment.GetHashCode();
+      if (SensorMinValue != 0D) hash ^= SensorMinValue.GetHashCode();
+      if (SensorMaxValue != 0D) hash ^= SensorMaxValue.GetHashCode();
+      if (SetPointRampRateorSoftStartRamp != 0D) hash ^= SetPointRampRateorSoftStartRamp.GetHashCode();
+      if (SetPointControlOutputRate != 0D) hash ^= SetPointControlOutputRate.GetHashCode();
+      if (ControlOutputType != 0D) hash ^= ControlOutputType.GetHashCode();
+      if (SsrControlOutputType != 0D) hash ^= SsrControlOutputType.GetHashCode();
+      if (OutputOnOffHysteresisValue != 0D) hash ^= OutputOnOffHysteresisValue.GetHashCode();
+      if (ProcessVariableSamplingRate != 0D) hash ^= ProcessVariableSamplingRate.GetHashCode();
+      if (PvInputFilterFactorMode != 0D) hash ^= PvInputFilterFactorMode.GetHashCode();
+      if (OutputProportionalCycleTime != 0) hash ^= OutputProportionalCycleTime.GetHashCode();
+      if (AcHeatersHalfCycleTime != 0) hash ^= AcHeatersHalfCycleTime.GetHashCode();
       return hash;
     }
 
@@ -321,61 +351,69 @@ namespace Tango.PMR.Hardware {
         output.WriteRawTag(8);
         output.WriteEnum((int) HardwarePidControlType);
       }
-      if (OutputProportionalPowerLimit != 0) {
-        output.WriteRawTag(16);
-        output.WriteInt32(OutputProportionalPowerLimit);
+      if (OutputProportionalPowerLimit != 0D) {
+        output.WriteRawTag(17);
+        output.WriteDouble(OutputProportionalPowerLimit);
       }
-      if (OutputProportionalBand != 0) {
-        output.WriteRawTag(24);
-        output.WriteInt32(OutputProportionalBand);
+      if (OutputProportionalBand != 0D) {
+        output.WriteRawTag(25);
+        output.WriteDouble(OutputProportionalBand);
       }
-      if (IntegralTime != 0) {
-        output.WriteRawTag(32);
-        output.WriteInt32(IntegralTime);
+      if (IntegralTime != 0D) {
+        output.WriteRawTag(33);
+        output.WriteDouble(IntegralTime);
       }
-      if (DerivativeTime != 0) {
-        output.WriteRawTag(40);
-        output.WriteInt32(DerivativeTime);
+      if (DerivativeTime != 0D) {
+        output.WriteRawTag(41);
+        output.WriteDouble(DerivativeTime);
       }
-      if (SensorCorrectionAdjustment != 0) {
-        output.WriteRawTag(48);
-        output.WriteInt32(SensorCorrectionAdjustment);
+      if (SensorCorrectionAdjustment != 0D) {
+        output.WriteRawTag(49);
+        output.WriteDouble(SensorCorrectionAdjustment);
       }
-      if (SensorMinValue != 0) {
-        output.WriteRawTag(56);
-        output.WriteInt32(SensorMinValue);
+      if (SensorMinValue != 0D) {
+        output.WriteRawTag(57);
+        output.WriteDouble(SensorMinValue);
       }
-      if (SensorMaxValue != 0) {
-        output.WriteRawTag(64);
-        output.WriteInt32(SensorMaxValue);
+      if (SensorMaxValue != 0D) {
+        output.WriteRawTag(65);
+        output.WriteDouble(SensorMaxValue);
       }
-      if (SetPointRampRateorSoftStartRamp != 0) {
-        output.WriteRawTag(72);
-        output.WriteInt32(SetPointRampRateorSoftStartRamp);
+      if (SetPointRampRateorSoftStartRamp != 0D) {
+        output.WriteRawTag(73);
+        output.WriteDouble(SetPointRampRateorSoftStartRamp);
       }
-      if (SetPointControlOutputRate != 0) {
-        output.WriteRawTag(80);
-        output.WriteInt32(SetPointControlOutputRate);
+      if (SetPointControlOutputRate != 0D) {
+        output.WriteRawTag(81);
+        output.WriteDouble(SetPointControlOutputRate);
       }
-      if (ControlOutputType != 0) {
-        output.WriteRawTag(88);
-        output.WriteInt32(ControlOutputType);
+      if (ControlOutputType != 0D) {
+        output.WriteRawTag(89);
+        output.WriteDouble(ControlOutputType);
       }
-      if (SsrControlOutputType != 0) {
-        output.WriteRawTag(96);
-        output.WriteInt32(SsrControlOutputType);
+      if (SsrControlOutputType != 0D) {
+        output.WriteRawTag(97);
+        output.WriteDouble(SsrControlOutputType);
       }
-      if (OutputOnOffHysteresisValue != 0) {
-        output.WriteRawTag(104);
-        output.WriteInt32(OutputOnOffHysteresisValue);
+      if (OutputOnOffHysteresisValue != 0D) {
+        output.WriteRawTag(105);
+        output.WriteDouble(OutputOnOffHysteresisValue);
       }
-      if (ProcessVariableSamplingRate != 0) {
-        output.WriteRawTag(112);
-        output.WriteInt32(ProcessVariableSamplingRate);
+      if (ProcessVariableSamplingRate != 0D) {
+        output.WriteRawTag(113);
+        output.WriteDouble(ProcessVariableSamplingRate);
       }
-      if (PvInputFilterFactorMode != 0) {
-        output.WriteRawTag(120);
-        output.WriteInt32(PvInputFilterFactorMode);
+      if (PvInputFilterFactorMode != 0D) {
+        output.WriteRawTag(121);
+        output.WriteDouble(PvInputFilterFactorMode);
+      }
+      if (OutputProportionalCycleTime != 0) {
+        output.WriteRawTag(128, 1);
+        output.WriteInt32(OutputProportionalCycleTime);
+      }
+      if (AcHeatersHalfCycleTime != 0) {
+        output.WriteRawTag(136, 1);
+        output.WriteInt32(AcHeatersHalfCycleTime);
       }
     }
 
@@ -385,47 +423,53 @@ namespace Tango.PMR.Hardware {
       if (HardwarePidControlType != 0) {
         size += 1 + pb::CodedOutputStream.ComputeEnumSize((int) HardwarePidControlType);
       }
-      if (OutputProportionalPowerLimit != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(OutputProportionalPowerLimit);
+      if (OutputProportionalPowerLimit != 0D) {
+        size += 1 + 8;
+      }
+      if (OutputProportionalBand != 0D) {
+        size += 1 + 8;
       }
-      if (OutputProportionalBand != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(OutputProportionalBand);
+      if (IntegralTime != 0D) {
+        size += 1 + 8;
       }
-      if (IntegralTime != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(IntegralTime);
+      if (DerivativeTime != 0D) {
+        size += 1 + 8;
       }
-      if (DerivativeTime != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(DerivativeTime);
+      if (SensorCorrectionAdjustment != 0D) {
+        size += 1 + 8;
       }
-      if (SensorCorrectionAdjustment != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SensorCorrectionAdjustment);
+      if (SensorMinValue != 0D) {
+        size += 1 + 8;
       }
-      if (SensorMinValue != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SensorMinValue);
+      if (SensorMaxValue != 0D) {
+        size += 1 + 8;
       }
-      if (SensorMaxValue != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SensorMaxValue);
+      if (SetPointRampRateorSoftStartRamp != 0D) {
+        size += 1 + 8;
       }
-      if (SetPointRampRateorSoftStartRamp != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SetPointRampRateorSoftStartRamp);
+      if (SetPointControlOutputRate != 0D) {
+        size += 1 + 8;
       }
-      if (SetPointControlOutputRate != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SetPointControlOutputRate);
+      if (ControlOutputType != 0D) {
+        size += 1 + 8;
       }
-      if (ControlOutputType != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(ControlOutputType);
+      if (SsrControlOutputType != 0D) {
+        size += 1 + 8;
       }
-      if (SsrControlOutputType != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SsrControlOutputType);
+      if (OutputOnOffHysteresisValue != 0D) {
+        size += 1 + 8;
       }
-      if (OutputOnOffHysteresisValue != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(OutputOnOffHysteresisValue);
+      if (ProcessVariableSamplingRate != 0D) {
+        size += 1 + 8;
       }
-      if (ProcessVariableSamplingRate != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(ProcessVariableSamplingRate);
+      if (PvInputFilterFactorMode != 0D) {
+        size += 1 + 8;
       }
-      if (PvInputFilterFactorMode != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(PvInputFilterFactorMode);
+      if (OutputProportionalCycleTime != 0) {
+        size += 2 + pb::CodedOutputStream.ComputeInt32Size(OutputProportionalCycleTime);
+      }
+      if (AcHeatersHalfCycleTime != 0) {
+        size += 2 + pb::CodedOutputStream.ComputeInt32Size(AcHeatersHalfCycleTime);
       }
       return size;
     }
@@ -438,48 +482,54 @@ namespace Tango.PMR.Hardware {
       if (other.HardwarePidControlType != 0) {
         HardwarePidControlType = other.HardwarePidControlType;
       }
-      if (other.OutputProportionalPowerLimit != 0) {
+      if (other.OutputProportionalPowerLimit != 0D) {
         OutputProportionalPowerLimit = other.OutputProportionalPowerLimit;
       }
-      if (other.OutputProportionalBand != 0) {
+      if (other.OutputProportionalBand != 0D) {
         OutputProportionalBand = other.OutputProportionalBand;
       }
-      if (other.IntegralTime != 0) {
+      if (other.IntegralTime != 0D) {
         IntegralTime = other.IntegralTime;
       }
-      if (other.DerivativeTime != 0) {
+      if (other.DerivativeTime != 0D) {
         DerivativeTime = other.DerivativeTime;
       }
-      if (other.SensorCorrectionAdjustment != 0) {
+      if (other.SensorCorrectionAdjustment != 0D) {
         SensorCorrectionAdjustment = other.SensorCorrectionAdjustment;
       }
-      if (other.SensorMinValue != 0) {
+      if (other.SensorMinValue != 0D) {
         SensorMinValue = other.SensorMinValue;
       }
-      if (other.SensorMaxValue != 0) {
+      if (other.SensorMaxValue != 0D) {
         SensorMaxValue = other.SensorMaxValue;
       }
-      if (other.SetPointRampRateorSoftStartRamp != 0) {
+      if (other.SetPointRampRateorSoftStartRamp != 0D) {
         SetPointRampRateorSoftStartRamp = other.SetPointRampRateorSoftStartRamp;
       }
-      if (other.SetPointControlOutputRate != 0) {
+      if (other.SetPointControlOutputRate != 0D) {
         SetPointControlOutputRate = other.SetPointControlOutputRate;
       }
-      if (other.ControlOutputType != 0) {
+      if (other.ControlOutputType != 0D) {
         ControlOutputType = other.ControlOutputType;
       }
-      if (other.SsrControlOutputType != 0) {
+      if (other.SsrControlOutputType != 0D) {
         SsrControlOutputType = other.SsrControlOutputType;
       }
-      if (other.OutputOnOffHysteresisValue != 0) {
+      if (other.OutputOnOffHysteresisValue != 0D) {
         OutputOnOffHysteresisValue = other.OutputOnOffHysteresisValue;
       }
-      if (other.ProcessVariableSamplingRate != 0) {
+      if (other.ProcessVariableSamplingRate != 0D) {
         ProcessVariableSamplingRate = other.ProcessVariableSamplingRate;
       }
-      if (other.PvInputFilterFactorMode != 0) {
+      if (other.PvInputFilterFactorMode != 0D) {
         PvInputFilterFactorMode = other.PvInputFilterFactorMode;
       }
+      if (other.OutputProportionalCycleTime != 0) {
+        OutputProportionalCycleTime = other.OutputProportionalCycleTime;
+      }
+      if (other.AcHeatersHalfCycleTime != 0) {
+        AcHeatersHalfCycleTime = other.AcHeatersHalfCycleTime;
+      }
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -494,60 +544,68 @@ namespace Tango.PMR.Hardware {
             hardwarePidControlType_ = (global::Tango.PMR.Hardware.HardwarePidControlType) input.ReadEnum();
             break;
           }
-          case 16: {
-            OutputProportionalPowerLimit = input.ReadInt32();
+          case 17: {
+            OutputProportionalPowerLimit = input.ReadDouble();
+            break;
+          }
+          case 25: {
+            OutputProportionalBand = input.ReadDouble();
+            break;
+          }
+          case 33: {
+            IntegralTime = input.ReadDouble();
             break;
           }
-          case 24: {
-            OutputProportionalBand = input.ReadInt32();
+          case 41: {
+            DerivativeTime = input.ReadDouble();
             break;
           }
-          case 32: {
-            IntegralTime = input.ReadInt32();
+          case 49: {
+            SensorCorrectionAdjustment = input.ReadDouble();
             break;
           }
-          case 40: {
-            DerivativeTime = input.ReadInt32();
+          case 57: {
+            SensorMinValue = input.ReadDouble();
             break;
           }
-          case 48: {
-            SensorCorrectionAdjustment = input.ReadInt32();
+          case 65: {
+            SensorMaxValue = input.ReadDouble();
             break;
           }
-          case 56: {
-            SensorMinValue = input.ReadInt32();
+          case 73: {
+            SetPointRampRateorSoftStartRamp = input.ReadDouble();
             break;
           }
-          case 64: {
-            SensorMaxValue = input.ReadInt32();
+          case 81: {
+            SetPointControlOutputRate = input.ReadDouble();
             break;
           }
-          case 72: {
-            SetPointRampRateorSoftStartRamp = input.ReadInt32();
+          case 89: {
+            ControlOutputType = input.ReadDouble();
             break;
           }
-          case 80: {
-            SetPointControlOutputRate = input.ReadInt32();
+          case 97: {
+            SsrControlOutputType = input.ReadDouble();
             break;
           }
-          case 88: {
-            ControlOutputType = input.ReadInt32();
+          case 105: {
+            OutputOnOffHysteresisValue = input.ReadDouble();
             break;
           }
-          case 96: {
-            SsrControlOutputType = input.ReadInt32();
+          case 113: {
+            ProcessVariableSamplingRate = input.ReadDouble();
             break;
           }
-          case 104: {
-            OutputOnOffHysteresisValue = input.ReadInt32();
+          case 121: {
+            PvInputFilterFactorMode = input.ReadDouble();
             break;
           }
-          case 112: {
-            ProcessVariableSamplingRate = input.ReadInt32();
+          case 128: {
+            OutputProportionalCycleTime = input.ReadInt32();
             break;
           }
-          case 120: {
-            PvInputFilterFactorMode = input.ReadInt32();
+          case 136: {
+            AcHeatersHalfCycleTime = input.ReadInt32();
             break;
           }
         }
diff --git a/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorHomeMarkRequest.cs b/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorHomeMarkRequest.cs
new file mode 100644
index 000000000..b7a630ba8
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorHomeMarkRequest.cs
@@ -0,0 +1,191 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: StubMotorHomeMarkRequest.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.Stubs {
+
+  /// <summary>Holder for reflection information generated from StubMotorHomeMarkRequest.proto</summary>
+  public static partial class StubMotorHomeMarkRequestReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for StubMotorHomeMarkRequest.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static StubMotorHomeMarkRequestReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "Ch5TdHViTW90b3JIb21lTWFya1JlcXVlc3QucHJvdG8SD1RhbmdvLlBNUi5T",
+            "dHVicyJQChhTdHViTW90b3JIb21lTWFya1JlcXVlc3QSEAoITW90b3JfSUQY",
+            "ASABKA0SIgoaU2V0X0hvbWVfTWFya19HT19Ib21lX01hcmsYAiABKA1CGwoZ",
+            "Y29tLnR3aW5lLnRhbmdvLnBtci5zdHVic2IGcHJvdG8z"));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Stubs.StubMotorHomeMarkRequest), global::Tango.PMR.Stubs.StubMotorHomeMarkRequest.Parser, new[]{ "MotorID", "SetHomeMarkGOHomeMark" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class StubMotorHomeMarkRequest : pb::IMessage<StubMotorHomeMarkRequest> {
+    private static readonly pb::MessageParser<StubMotorHomeMarkRequest> _parser = new pb::MessageParser<StubMotorHomeMarkRequest>(() => new StubMotorHomeMarkRequest());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<StubMotorHomeMarkRequest> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Stubs.StubMotorHomeMarkRequestReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorHomeMarkRequest() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorHomeMarkRequest(StubMotorHomeMarkRequest other) : this() {
+      motorID_ = other.motorID_;
+      setHomeMarkGOHomeMark_ = other.setHomeMarkGOHomeMark_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorHomeMarkRequest Clone() {
+      return new StubMotorHomeMarkRequest(this);
+    }
+
+    /// <summary>Field number for the "Motor_ID" field.</summary>
+    public const int MotorIDFieldNumber = 1;
+    private uint motorID_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint MotorID {
+      get { return motorID_; }
+      set {
+        motorID_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Set_Home_Mark_GO_Home_Mark" field.</summary>
+    public const int SetHomeMarkGOHomeMarkFieldNumber = 2;
+    private uint setHomeMarkGOHomeMark_;
+    /// <summary>
+    /// 0..3
+    /// </summary>
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint SetHomeMarkGOHomeMark {
+      get { return setHomeMarkGOHomeMark_; }
+      set {
+        setHomeMarkGOHomeMark_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as StubMotorHomeMarkRequest);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(StubMotorHomeMarkRequest other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (MotorID != other.MotorID) return false;
+      if (SetHomeMarkGOHomeMark != other.SetHomeMarkGOHomeMark) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (MotorID != 0) hash ^= MotorID.GetHashCode();
+      if (SetHomeMarkGOHomeMark != 0) hash ^= SetHomeMarkGOHomeMark.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 (MotorID != 0) {
+        output.WriteRawTag(8);
+        output.WriteUInt32(MotorID);
+      }
+      if (SetHomeMarkGOHomeMark != 0) {
+        output.WriteRawTag(16);
+        output.WriteUInt32(SetHomeMarkGOHomeMark);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (MotorID != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MotorID);
+      }
+      if (SetHomeMarkGOHomeMark != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(SetHomeMarkGOHomeMark);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(StubMotorHomeMarkRequest other) {
+      if (other == null) {
+        return;
+      }
+      if (other.MotorID != 0) {
+        MotorID = other.MotorID;
+      }
+      if (other.SetHomeMarkGOHomeMark != 0) {
+        SetHomeMarkGOHomeMark = other.SetHomeMarkGOHomeMark;
+      }
+    }
+
+    [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: {
+            MotorID = input.ReadUInt32();
+            break;
+          }
+          case 16: {
+            SetHomeMarkGOHomeMark = input.ReadUInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorHomeMarkResponse.cs b/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorHomeMarkResponse.cs
new file mode 100644
index 000000000..817750898
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorHomeMarkResponse.cs
@@ -0,0 +1,188 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: StubMotorHomeMarkResponse.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.Stubs {
+
+  /// <summary>Holder for reflection information generated from StubMotorHomeMarkResponse.proto</summary>
+  public static partial class StubMotorHomeMarkResponseReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for StubMotorHomeMarkResponse.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static StubMotorHomeMarkResponseReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "Ch9TdHViTW90b3JIb21lTWFya1Jlc3BvbnNlLnByb3RvEg9UYW5nby5QTVIu",
+            "U3R1YnMiPwoZU3R1Yk1vdG9ySG9tZU1hcmtSZXNwb25zZRIQCghNb3Rvcl9J",
+            "RBgBIAEoDRIQCghQb3NpdGlvbhgCIAEoDUIbChljb20udHdpbmUudGFuZ28u",
+            "cG1yLnN0dWJzYgZwcm90bzM="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Stubs.StubMotorHomeMarkResponse), global::Tango.PMR.Stubs.StubMotorHomeMarkResponse.Parser, new[]{ "MotorID", "Position" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class StubMotorHomeMarkResponse : pb::IMessage<StubMotorHomeMarkResponse> {
+    private static readonly pb::MessageParser<StubMotorHomeMarkResponse> _parser = new pb::MessageParser<StubMotorHomeMarkResponse>(() => new StubMotorHomeMarkResponse());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<StubMotorHomeMarkResponse> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Stubs.StubMotorHomeMarkResponseReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorHomeMarkResponse() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorHomeMarkResponse(StubMotorHomeMarkResponse other) : this() {
+      motorID_ = other.motorID_;
+      position_ = other.position_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorHomeMarkResponse Clone() {
+      return new StubMotorHomeMarkResponse(this);
+    }
+
+    /// <summary>Field number for the "Motor_ID" field.</summary>
+    public const int MotorIDFieldNumber = 1;
+    private uint motorID_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint MotorID {
+      get { return motorID_; }
+      set {
+        motorID_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Position" field.</summary>
+    public const int PositionFieldNumber = 2;
+    private uint position_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint Position {
+      get { return position_; }
+      set {
+        position_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as StubMotorHomeMarkResponse);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(StubMotorHomeMarkResponse other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (MotorID != other.MotorID) return false;
+      if (Position != other.Position) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (MotorID != 0) hash ^= MotorID.GetHashCode();
+      if (Position != 0) hash ^= Position.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 (MotorID != 0) {
+        output.WriteRawTag(8);
+        output.WriteUInt32(MotorID);
+      }
+      if (Position != 0) {
+        output.WriteRawTag(16);
+        output.WriteUInt32(Position);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (MotorID != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MotorID);
+      }
+      if (Position != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(Position);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(StubMotorHomeMarkResponse other) {
+      if (other == null) {
+        return;
+      }
+      if (other.MotorID != 0) {
+        MotorID = other.MotorID;
+      }
+      if (other.Position != 0) {
+        Position = other.Position;
+      }
+    }
+
+    [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: {
+            MotorID = input.ReadUInt32();
+            break;
+          }
+          case 16: {
+            Position = input.ReadUInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorRunStepTickRequest.cs b/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorRunStepTickRequest.cs
new file mode 100644
index 000000000..1697b715a
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorRunStepTickRequest.cs
@@ -0,0 +1,216 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: StubMotorRunStepTickRequest.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.Stubs {
+
+  /// <summary>Holder for reflection information generated from StubMotorRunStepTickRequest.proto</summary>
+  public static partial class StubMotorRunStepTickRequestReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for StubMotorRunStepTickRequest.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static StubMotorRunStepTickRequestReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "CiFTdHViTW90b3JSdW5TdGVwVGlja1JlcXVlc3QucHJvdG8SD1RhbmdvLlBN",
+            "Ui5TdHVicyJRChtTdHViTW90b3JSdW5TdGVwVGlja1JlcXVlc3QSEAoITW90",
+            "b3JfSUQYASABKA0SEQoJRGlyZWN0aW9uGAIgASgIEg0KBVNwZWVkGAMgASgB",
+            "QhsKGWNvbS50d2luZS50YW5nby5wbXIuc3R1YnNiBnByb3RvMw=="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Stubs.StubMotorRunStepTickRequest), global::Tango.PMR.Stubs.StubMotorRunStepTickRequest.Parser, new[]{ "MotorID", "Direction", "Speed" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class StubMotorRunStepTickRequest : pb::IMessage<StubMotorRunStepTickRequest> {
+    private static readonly pb::MessageParser<StubMotorRunStepTickRequest> _parser = new pb::MessageParser<StubMotorRunStepTickRequest>(() => new StubMotorRunStepTickRequest());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<StubMotorRunStepTickRequest> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Stubs.StubMotorRunStepTickRequestReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorRunStepTickRequest() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorRunStepTickRequest(StubMotorRunStepTickRequest other) : this() {
+      motorID_ = other.motorID_;
+      direction_ = other.direction_;
+      speed_ = other.speed_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorRunStepTickRequest Clone() {
+      return new StubMotorRunStepTickRequest(this);
+    }
+
+    /// <summary>Field number for the "Motor_ID" field.</summary>
+    public const int MotorIDFieldNumber = 1;
+    private uint motorID_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint MotorID {
+      get { return motorID_; }
+      set {
+        motorID_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Direction" field.</summary>
+    public const int DirectionFieldNumber = 2;
+    private bool direction_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Direction {
+      get { return direction_; }
+      set {
+        direction_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Speed" field.</summary>
+    public const int SpeedFieldNumber = 3;
+    private double speed_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double Speed {
+      get { return speed_; }
+      set {
+        speed_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as StubMotorRunStepTickRequest);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(StubMotorRunStepTickRequest other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (MotorID != other.MotorID) return false;
+      if (Direction != other.Direction) return false;
+      if (Speed != other.Speed) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (MotorID != 0) hash ^= MotorID.GetHashCode();
+      if (Direction != false) hash ^= Direction.GetHashCode();
+      if (Speed != 0D) hash ^= Speed.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 (MotorID != 0) {
+        output.WriteRawTag(8);
+        output.WriteUInt32(MotorID);
+      }
+      if (Direction != false) {
+        output.WriteRawTag(16);
+        output.WriteBool(Direction);
+      }
+      if (Speed != 0D) {
+        output.WriteRawTag(25);
+        output.WriteDouble(Speed);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (MotorID != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MotorID);
+      }
+      if (Direction != false) {
+        size += 1 + 1;
+      }
+      if (Speed != 0D) {
+        size += 1 + 8;
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(StubMotorRunStepTickRequest other) {
+      if (other == null) {
+        return;
+      }
+      if (other.MotorID != 0) {
+        MotorID = other.MotorID;
+      }
+      if (other.Direction != false) {
+        Direction = other.Direction;
+      }
+      if (other.Speed != 0D) {
+        Speed = other.Speed;
+      }
+    }
+
+    [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: {
+            MotorID = input.ReadUInt32();
+            break;
+          }
+          case 16: {
+            Direction = input.ReadBool();
+            break;
+          }
+          case 25: {
+            Speed = input.ReadDouble();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorRunStepTickResponse.cs b/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorRunStepTickResponse.cs
new file mode 100644
index 000000000..d1b53c1ba
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorRunStepTickResponse.cs
@@ -0,0 +1,365 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: StubMotorRunStepTickResponse.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.Stubs {
+
+  /// <summary>Holder for reflection information generated from StubMotorRunStepTickResponse.proto</summary>
+  public static partial class StubMotorRunStepTickResponseReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for StubMotorRunStepTickResponse.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static StubMotorRunStepTickResponseReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "CiJTdHViTW90b3JSdW5TdGVwVGlja1Jlc3BvbnNlLnByb3RvEg9UYW5nby5Q",
+            "TVIuU3R1YnMisgEKHFN0dWJNb3RvclJ1blN0ZXBUaWNrUmVzcG9uc2USEAoI",
+            "TW90b3JfSUQYASABKA0SDQoFU3BlZWQYAiABKAESEgoKU3RhdHVzX1JlZxgD",
+            "IAEoDRIRCglEaXJlY3Rpb24YBCABKAgSEgoKTW90X1N0YXR1cxgFIAEoDRIT",
+            "CgtTVEVQX0xPU1NfQRgGIAEoCBITCgtTVEVQX0xPU1NfQhgHIAEoCBIMCgRC",
+            "VVNZGAggASgIQhsKGWNvbS50d2luZS50YW5nby5wbXIuc3R1YnNiBnByb3Rv",
+            "Mw=="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Stubs.StubMotorRunStepTickResponse), global::Tango.PMR.Stubs.StubMotorRunStepTickResponse.Parser, new[]{ "MotorID", "Speed", "StatusReg", "Direction", "MotStatus", "STEPLOSSA", "STEPLOSSB", "BUSY" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class StubMotorRunStepTickResponse : pb::IMessage<StubMotorRunStepTickResponse> {
+    private static readonly pb::MessageParser<StubMotorRunStepTickResponse> _parser = new pb::MessageParser<StubMotorRunStepTickResponse>(() => new StubMotorRunStepTickResponse());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<StubMotorRunStepTickResponse> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Stubs.StubMotorRunStepTickResponseReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorRunStepTickResponse() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorRunStepTickResponse(StubMotorRunStepTickResponse other) : this() {
+      motorID_ = other.motorID_;
+      speed_ = other.speed_;
+      statusReg_ = other.statusReg_;
+      direction_ = other.direction_;
+      motStatus_ = other.motStatus_;
+      sTEPLOSSA_ = other.sTEPLOSSA_;
+      sTEPLOSSB_ = other.sTEPLOSSB_;
+      bUSY_ = other.bUSY_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorRunStepTickResponse Clone() {
+      return new StubMotorRunStepTickResponse(this);
+    }
+
+    /// <summary>Field number for the "Motor_ID" field.</summary>
+    public const int MotorIDFieldNumber = 1;
+    private uint motorID_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint MotorID {
+      get { return motorID_; }
+      set {
+        motorID_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Speed" field.</summary>
+    public const int SpeedFieldNumber = 2;
+    private double speed_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double Speed {
+      get { return speed_; }
+      set {
+        speed_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Status_Reg" field.</summary>
+    public const int StatusRegFieldNumber = 3;
+    private uint statusReg_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint StatusReg {
+      get { return statusReg_; }
+      set {
+        statusReg_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Direction" field.</summary>
+    public const int DirectionFieldNumber = 4;
+    private bool direction_;
+    /// <summary>
+    /// Reverse / Forward
+    /// </summary>
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Direction {
+      get { return direction_; }
+      set {
+        direction_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Mot_Status" field.</summary>
+    public const int MotStatusFieldNumber = 5;
+    private uint motStatus_;
+    /// <summary>
+    ///Stopped / Acceleration / Deceleration / Constant speed
+    /// </summary>
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint MotStatus {
+      get { return motStatus_; }
+      set {
+        motStatus_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "STEP_LOSS_A" field.</summary>
+    public const int STEPLOSSAFieldNumber = 6;
+    private bool sTEPLOSSA_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool STEPLOSSA {
+      get { return sTEPLOSSA_; }
+      set {
+        sTEPLOSSA_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "STEP_LOSS_B" field.</summary>
+    public const int STEPLOSSBFieldNumber = 7;
+    private bool sTEPLOSSB_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool STEPLOSSB {
+      get { return sTEPLOSSB_; }
+      set {
+        sTEPLOSSB_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "BUSY" field.</summary>
+    public const int BUSYFieldNumber = 8;
+    private bool bUSY_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool BUSY {
+      get { return bUSY_; }
+      set {
+        bUSY_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as StubMotorRunStepTickResponse);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(StubMotorRunStepTickResponse other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (MotorID != other.MotorID) return false;
+      if (Speed != other.Speed) return false;
+      if (StatusReg != other.StatusReg) return false;
+      if (Direction != other.Direction) return false;
+      if (MotStatus != other.MotStatus) return false;
+      if (STEPLOSSA != other.STEPLOSSA) return false;
+      if (STEPLOSSB != other.STEPLOSSB) return false;
+      if (BUSY != other.BUSY) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (MotorID != 0) hash ^= MotorID.GetHashCode();
+      if (Speed != 0D) hash ^= Speed.GetHashCode();
+      if (StatusReg != 0) hash ^= StatusReg.GetHashCode();
+      if (Direction != false) hash ^= Direction.GetHashCode();
+      if (MotStatus != 0) hash ^= MotStatus.GetHashCode();
+      if (STEPLOSSA != false) hash ^= STEPLOSSA.GetHashCode();
+      if (STEPLOSSB != false) hash ^= STEPLOSSB.GetHashCode();
+      if (BUSY != false) hash ^= BUSY.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 (MotorID != 0) {
+        output.WriteRawTag(8);
+        output.WriteUInt32(MotorID);
+      }
+      if (Speed != 0D) {
+        output.WriteRawTag(17);
+        output.WriteDouble(Speed);
+      }
+      if (StatusReg != 0) {
+        output.WriteRawTag(24);
+        output.WriteUInt32(StatusReg);
+      }
+      if (Direction != false) {
+        output.WriteRawTag(32);
+        output.WriteBool(Direction);
+      }
+      if (MotStatus != 0) {
+        output.WriteRawTag(40);
+        output.WriteUInt32(MotStatus);
+      }
+      if (STEPLOSSA != false) {
+        output.WriteRawTag(48);
+        output.WriteBool(STEPLOSSA);
+      }
+      if (STEPLOSSB != false) {
+        output.WriteRawTag(56);
+        output.WriteBool(STEPLOSSB);
+      }
+      if (BUSY != false) {
+        output.WriteRawTag(64);
+        output.WriteBool(BUSY);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (MotorID != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MotorID);
+      }
+      if (Speed != 0D) {
+        size += 1 + 8;
+      }
+      if (StatusReg != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(StatusReg);
+      }
+      if (Direction != false) {
+        size += 1 + 1;
+      }
+      if (MotStatus != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MotStatus);
+      }
+      if (STEPLOSSA != false) {
+        size += 1 + 1;
+      }
+      if (STEPLOSSB != false) {
+        size += 1 + 1;
+      }
+      if (BUSY != false) {
+        size += 1 + 1;
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(StubMotorRunStepTickResponse other) {
+      if (other == null) {
+        return;
+      }
+      if (other.MotorID != 0) {
+        MotorID = other.MotorID;
+      }
+      if (other.Speed != 0D) {
+        Speed = other.Speed;
+      }
+      if (other.StatusReg != 0) {
+        StatusReg = other.StatusReg;
+      }
+      if (other.Direction != false) {
+        Direction = other.Direction;
+      }
+      if (other.MotStatus != 0) {
+        MotStatus = other.MotStatus;
+      }
+      if (other.STEPLOSSA != false) {
+        STEPLOSSA = other.STEPLOSSA;
+      }
+      if (other.STEPLOSSB != false) {
+        STEPLOSSB = other.STEPLOSSB;
+      }
+      if (other.BUSY != false) {
+        BUSY = other.BUSY;
+      }
+    }
+
+    [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: {
+            MotorID = input.ReadUInt32();
+            break;
+          }
+          case 17: {
+            Speed = input.ReadDouble();
+            break;
+          }
+          case 24: {
+            StatusReg = input.ReadUInt32();
+            break;
+          }
+          case 32: {
+            Direction = input.ReadBool();
+            break;
+          }
+          case 40: {
+            MotStatus = input.ReadUInt32();
+            break;
+          }
+          case 48: {
+            STEPLOSSA = input.ReadBool();
+            break;
+          }
+          case 56: {
+            STEPLOSSB = input.ReadBool();
+            break;
+          }
+          case 64: {
+            BUSY = input.ReadBool();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code