Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango

2 files changed, 867 insertions, 0 deletions

diff --git a/Software/Visual_Studio/Tango.PMR/Jobs/Dispenser.cs b/Software/Visual_Studio/Tango.PMR/Jobs/Dispenser.cs
new file mode 100644
index 000000000..9a196728b
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Jobs/Dispenser.cs
@@ -0,0 +1,327 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: dispenser.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.Jobs {
+
+  /// <summary>Holder for reflection information generated from dispenser.proto</summary>
+  public static partial class DispenserReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for dispenser.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static DispenserReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "Cg9kaXNwZW5zZXIucHJvdG8SDlRhbmdvLlBNUi5Kb2JzIh4KDGdyYWRpZW50",
+            "RmxvdxIOCgZOTGZsb3cYASABKAEiWQoIRGlzcGVuc2USCgoCSWQYASABKAUS",
+            "EQoJc3RhcnRGbG93GAIgASgBEi4KCGdyYWRpZW50GAMgAygLMhwuVGFuZ28u",
+            "UE1SLkpvYnMuZ3JhZGllbnRGbG93QhoKGGNvbS50d2luZS50YW5nby5wbXIu",
+            "am9ic2IGcHJvdG8z"));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Jobs.gradientFlow), global::Tango.PMR.Jobs.gradientFlow.Parser, new[]{ "NLflow" }, null, null, null),
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Jobs.Dispense), global::Tango.PMR.Jobs.Dispense.Parser, new[]{ "Id", "StartFlow", "Gradient" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class gradientFlow : pb::IMessage<gradientFlow> {
+    private static readonly pb::MessageParser<gradientFlow> _parser = new pb::MessageParser<gradientFlow>(() => new gradientFlow());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<gradientFlow> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Jobs.DispenserReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public gradientFlow() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public gradientFlow(gradientFlow other) : this() {
+      nLflow_ = other.nLflow_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public gradientFlow Clone() {
+      return new gradientFlow(this);
+    }
+
+    /// <summary>Field number for the "NLflow" field.</summary>
+    public const int NLflowFieldNumber = 1;
+    private double nLflow_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double NLflow {
+      get { return nLflow_; }
+      set {
+        nLflow_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as gradientFlow);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(gradientFlow other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (NLflow != other.NLflow) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (NLflow != 0D) hash ^= NLflow.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 (NLflow != 0D) {
+        output.WriteRawTag(9);
+        output.WriteDouble(NLflow);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (NLflow != 0D) {
+        size += 1 + 8;
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(gradientFlow other) {
+      if (other == null) {
+        return;
+      }
+      if (other.NLflow != 0D) {
+        NLflow = other.NLflow;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 9: {
+            NLflow = input.ReadDouble();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  public sealed partial class Dispense : pb::IMessage<Dispense> {
+    private static readonly pb::MessageParser<Dispense> _parser = new pb::MessageParser<Dispense>(() => new Dispense());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<Dispense> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Jobs.DispenserReflection.Descriptor.MessageTypes[1]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public Dispense() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public Dispense(Dispense other) : this() {
+      id_ = other.id_;
+      startFlow_ = other.startFlow_;
+      gradient_ = other.gradient_.Clone();
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public Dispense Clone() {
+      return new Dispense(this);
+    }
+
+    /// <summary>Field number for the "Id" field.</summary>
+    public const int IdFieldNumber = 1;
+    private int id_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Id {
+      get { return id_; }
+      set {
+        id_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "startFlow" field.</summary>
+    public const int StartFlowFieldNumber = 2;
+    private double startFlow_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double StartFlow {
+      get { return startFlow_; }
+      set {
+        startFlow_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "gradient" field.</summary>
+    public const int GradientFieldNumber = 3;
+    private static readonly pb::FieldCodec<global::Tango.PMR.Jobs.gradientFlow> _repeated_gradient_codec
+        = pb::FieldCodec.ForMessage(26, global::Tango.PMR.Jobs.gradientFlow.Parser);
+    private readonly pbc::RepeatedField<global::Tango.PMR.Jobs.gradientFlow> gradient_ = new pbc::RepeatedField<global::Tango.PMR.Jobs.gradientFlow>();
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public pbc::RepeatedField<global::Tango.PMR.Jobs.gradientFlow> Gradient {
+      get { return gradient_; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as Dispense);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(Dispense other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Id != other.Id) return false;
+      if (StartFlow != other.StartFlow) return false;
+      if(!gradient_.Equals(other.gradient_)) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Id != 0) hash ^= Id.GetHashCode();
+      if (StartFlow != 0D) hash ^= StartFlow.GetHashCode();
+      hash ^= gradient_.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 (Id != 0) {
+        output.WriteRawTag(8);
+        output.WriteInt32(Id);
+      }
+      if (StartFlow != 0D) {
+        output.WriteRawTag(17);
+        output.WriteDouble(StartFlow);
+      }
+      gradient_.WriteTo(output, _repeated_gradient_codec);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Id != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Id);
+      }
+      if (StartFlow != 0D) {
+        size += 1 + 8;
+      }
+      size += gradient_.CalculateSize(_repeated_gradient_codec);
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(Dispense other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Id != 0) {
+        Id = other.Id;
+      }
+      if (other.StartFlow != 0D) {
+        StartFlow = other.StartFlow;
+      }
+      gradient_.Add(other.gradient_);
+    }
+
+    [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: {
+            Id = input.ReadInt32();
+            break;
+          }
+          case 17: {
+            StartFlow = input.ReadDouble();
+            break;
+          }
+          case 26: {
+            gradient_.AddEntriesFrom(input, _repeated_gradient_codec);
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Jobs/Motor.cs b/Software/Visual_Studio/Tango.PMR/Jobs/Motor.cs
new file mode 100644
index 000000000..b0ce0abe2
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Jobs/Motor.cs
@@ -0,0 +1,540 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: motor.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.Jobs {
+
+  /// <summary>Holder for reflection information generated from motor.proto</summary>
+  public static partial class MotorReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for motor.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static MotorReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "Cgttb3Rvci5wcm90bxIOVGFuZ28uUE1SLkpvYnMisAIKC01vdG9yQ29uZmln",
+            "EiMKAklkGAEgASgOMhcuVGFuZ28uUE1SLkpvYnMuTW90b3JJZBIPCgdtaW5m",
+            "cmVxGAIgASgNEg8KB21heGZyZXEYAyABKA0SFAoMbWlubWljcm9zdGVwGAQg",
+            "ASgNEhQKDG1heG1pY3Jvc3RlcBgFIAEoDRITCgtsaW5lYXJyYXRpbxgGIAEo",
+            "ARIWCg5tZWRpYW5wb3NpdGlvbhgHIAEoDRIWCg5jb3JyZWN0aW9uZ2FpbhgI",
+            "IAEoARIXCg9yYXRpb24yZHJ5ZXJzcGQYCSABKAESCgoCS3AYCiABKAESCgoC",
+            "S2kYCyABKAESCgoCS2QYDCABKAESEwoLY2hhbmdlU2xvcGUYDSABKAESFwoP",
+            "aGlnaHRpbWVvdXRtU2VjGA4gASgBKjgKB01vdG9ySWQSCgoGRmVlZGVyEAAS",
+            "CQoFRHJ5ZXIQARIKCgZQb29sZXIQAhIKCgZXaW5kZXIQA0IaChhjb20udHdp",
+            "bmUudGFuZ28ucG1yLmpvYnNiBnByb3RvMw=="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Jobs.MotorId), }, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Jobs.MotorConfig), global::Tango.PMR.Jobs.MotorConfig.Parser, new[]{ "Id", "Minfreq", "Maxfreq", "Minmicrostep", "Maxmicrostep", "Linearratio", "Medianposition", "Correctiongain", "Ration2Dryerspd", "Kp", "Ki", "Kd", "ChangeSlope", "HightimeoutmSec" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Enums
+  public enum MotorId {
+    [pbr::OriginalName("Feeder")] Feeder = 0,
+    [pbr::OriginalName("Dryer")] Dryer = 1,
+    [pbr::OriginalName("Pooler")] Pooler = 2,
+    [pbr::OriginalName("Winder")] Winder = 3,
+  }
+
+  #endregion
+
+  #region Messages
+  public sealed partial class MotorConfig : pb::IMessage<MotorConfig> {
+    private static readonly pb::MessageParser<MotorConfig> _parser = new pb::MessageParser<MotorConfig>(() => new MotorConfig());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<MotorConfig> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Jobs.MotorReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorConfig() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorConfig(MotorConfig other) : this() {
+      id_ = other.id_;
+      minfreq_ = other.minfreq_;
+      maxfreq_ = other.maxfreq_;
+      minmicrostep_ = other.minmicrostep_;
+      maxmicrostep_ = other.maxmicrostep_;
+      linearratio_ = other.linearratio_;
+      medianposition_ = other.medianposition_;
+      correctiongain_ = other.correctiongain_;
+      ration2Dryerspd_ = other.ration2Dryerspd_;
+      kp_ = other.kp_;
+      ki_ = other.ki_;
+      kd_ = other.kd_;
+      changeSlope_ = other.changeSlope_;
+      hightimeoutmSec_ = other.hightimeoutmSec_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorConfig Clone() {
+      return new MotorConfig(this);
+    }
+
+    /// <summary>Field number for the "Id" field.</summary>
+    public const int IdFieldNumber = 1;
+    private global::Tango.PMR.Jobs.MotorId id_ = 0;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public global::Tango.PMR.Jobs.MotorId Id {
+      get { return id_; }
+      set {
+        id_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "minfreq" field.</summary>
+    public const int MinfreqFieldNumber = 2;
+    private uint minfreq_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint Minfreq {
+      get { return minfreq_; }
+      set {
+        minfreq_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "maxfreq" field.</summary>
+    public const int MaxfreqFieldNumber = 3;
+    private uint maxfreq_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint Maxfreq {
+      get { return maxfreq_; }
+      set {
+        maxfreq_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "minmicrostep" field.</summary>
+    public const int MinmicrostepFieldNumber = 4;
+    private uint minmicrostep_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint Minmicrostep {
+      get { return minmicrostep_; }
+      set {
+        minmicrostep_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "maxmicrostep" field.</summary>
+    public const int MaxmicrostepFieldNumber = 5;
+    private uint maxmicrostep_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint Maxmicrostep {
+      get { return maxmicrostep_; }
+      set {
+        maxmicrostep_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "linearratio" field.</summary>
+    public const int LinearratioFieldNumber = 6;
+    private double linearratio_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double Linearratio {
+      get { return linearratio_; }
+      set {
+        linearratio_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "medianposition" field.</summary>
+    public const int MedianpositionFieldNumber = 7;
+    private uint medianposition_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint Medianposition {
+      get { return medianposition_; }
+      set {
+        medianposition_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "correctiongain" field.</summary>
+    public const int CorrectiongainFieldNumber = 8;
+    private double correctiongain_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double Correctiongain {
+      get { return correctiongain_; }
+      set {
+        correctiongain_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "ration2dryerspd" field.</summary>
+    public const int Ration2DryerspdFieldNumber = 9;
+    private double ration2Dryerspd_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double Ration2Dryerspd {
+      get { return ration2Dryerspd_; }
+      set {
+        ration2Dryerspd_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Kp" field.</summary>
+    public const int KpFieldNumber = 10;
+    private double kp_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double Kp {
+      get { return kp_; }
+      set {
+        kp_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Ki" field.</summary>
+    public const int KiFieldNumber = 11;
+    private double ki_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double Ki {
+      get { return ki_; }
+      set {
+        ki_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Kd" field.</summary>
+    public const int KdFieldNumber = 12;
+    private double kd_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double Kd {
+      get { return kd_; }
+      set {
+        kd_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "changeSlope" field.</summary>
+    public const int ChangeSlopeFieldNumber = 13;
+    private double changeSlope_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double ChangeSlope {
+      get { return changeSlope_; }
+      set {
+        changeSlope_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "hightimeoutmSec" field.</summary>
+    public const int HightimeoutmSecFieldNumber = 14;
+    private double hightimeoutmSec_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double HightimeoutmSec {
+      get { return hightimeoutmSec_; }
+      set {
+        hightimeoutmSec_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as MotorConfig);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(MotorConfig other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Id != other.Id) return false;
+      if (Minfreq != other.Minfreq) return false;
+      if (Maxfreq != other.Maxfreq) return false;
+      if (Minmicrostep != other.Minmicrostep) return false;
+      if (Maxmicrostep != other.Maxmicrostep) return false;
+      if (Linearratio != other.Linearratio) return false;
+      if (Medianposition != other.Medianposition) return false;
+      if (Correctiongain != other.Correctiongain) return false;
+      if (Ration2Dryerspd != other.Ration2Dryerspd) return false;
+      if (Kp != other.Kp) return false;
+      if (Ki != other.Ki) return false;
+      if (Kd != other.Kd) return false;
+      if (ChangeSlope != other.ChangeSlope) return false;
+      if (HightimeoutmSec != other.HightimeoutmSec) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Id != 0) hash ^= Id.GetHashCode();
+      if (Minfreq != 0) hash ^= Minfreq.GetHashCode();
+      if (Maxfreq != 0) hash ^= Maxfreq.GetHashCode();
+      if (Minmicrostep != 0) hash ^= Minmicrostep.GetHashCode();
+      if (Maxmicrostep != 0) hash ^= Maxmicrostep.GetHashCode();
+      if (Linearratio != 0D) hash ^= Linearratio.GetHashCode();
+      if (Medianposition != 0) hash ^= Medianposition.GetHashCode();
+      if (Correctiongain != 0D) hash ^= Correctiongain.GetHashCode();
+      if (Ration2Dryerspd != 0D) hash ^= Ration2Dryerspd.GetHashCode();
+      if (Kp != 0D) hash ^= Kp.GetHashCode();
+      if (Ki != 0D) hash ^= Ki.GetHashCode();
+      if (Kd != 0D) hash ^= Kd.GetHashCode();
+      if (ChangeSlope != 0D) hash ^= ChangeSlope.GetHashCode();
+      if (HightimeoutmSec != 0D) hash ^= HightimeoutmSec.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 (Id != 0) {
+        output.WriteRawTag(8);
+        output.WriteEnum((int) Id);
+      }
+      if (Minfreq != 0) {
+        output.WriteRawTag(16);
+        output.WriteUInt32(Minfreq);
+      }
+      if (Maxfreq != 0) {
+        output.WriteRawTag(24);
+        output.WriteUInt32(Maxfreq);
+      }
+      if (Minmicrostep != 0) {
+        output.WriteRawTag(32);
+        output.WriteUInt32(Minmicrostep);
+      }
+      if (Maxmicrostep != 0) {
+        output.WriteRawTag(40);
+        output.WriteUInt32(Maxmicrostep);
+      }
+      if (Linearratio != 0D) {
+        output.WriteRawTag(49);
+        output.WriteDouble(Linearratio);
+      }
+      if (Medianposition != 0) {
+        output.WriteRawTag(56);
+        output.WriteUInt32(Medianposition);
+      }
+      if (Correctiongain != 0D) {
+        output.WriteRawTag(65);
+        output.WriteDouble(Correctiongain);
+      }
+      if (Ration2Dryerspd != 0D) {
+        output.WriteRawTag(73);
+        output.WriteDouble(Ration2Dryerspd);
+      }
+      if (Kp != 0D) {
+        output.WriteRawTag(81);
+        output.WriteDouble(Kp);
+      }
+      if (Ki != 0D) {
+        output.WriteRawTag(89);
+        output.WriteDouble(Ki);
+      }
+      if (Kd != 0D) {
+        output.WriteRawTag(97);
+        output.WriteDouble(Kd);
+      }
+      if (ChangeSlope != 0D) {
+        output.WriteRawTag(105);
+        output.WriteDouble(ChangeSlope);
+      }
+      if (HightimeoutmSec != 0D) {
+        output.WriteRawTag(113);
+        output.WriteDouble(HightimeoutmSec);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Id != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeEnumSize((int) Id);
+      }
+      if (Minfreq != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(Minfreq);
+      }
+      if (Maxfreq != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(Maxfreq);
+      }
+      if (Minmicrostep != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(Minmicrostep);
+      }
+      if (Maxmicrostep != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(Maxmicrostep);
+      }
+      if (Linearratio != 0D) {
+        size += 1 + 8;
+      }
+      if (Medianposition != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(Medianposition);
+      }
+      if (Correctiongain != 0D) {
+        size += 1 + 8;
+      }
+      if (Ration2Dryerspd != 0D) {
+        size += 1 + 8;
+      }
+      if (Kp != 0D) {
+        size += 1 + 8;
+      }
+      if (Ki != 0D) {
+        size += 1 + 8;
+      }
+      if (Kd != 0D) {
+        size += 1 + 8;
+      }
+      if (ChangeSlope != 0D) {
+        size += 1 + 8;
+      }
+      if (HightimeoutmSec != 0D) {
+        size += 1 + 8;
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(MotorConfig other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Id != 0) {
+        Id = other.Id;
+      }
+      if (other.Minfreq != 0) {
+        Minfreq = other.Minfreq;
+      }
+      if (other.Maxfreq != 0) {
+        Maxfreq = other.Maxfreq;
+      }
+      if (other.Minmicrostep != 0) {
+        Minmicrostep = other.Minmicrostep;
+      }
+      if (other.Maxmicrostep != 0) {
+        Maxmicrostep = other.Maxmicrostep;
+      }
+      if (other.Linearratio != 0D) {
+        Linearratio = other.Linearratio;
+      }
+      if (other.Medianposition != 0) {
+        Medianposition = other.Medianposition;
+      }
+      if (other.Correctiongain != 0D) {
+        Correctiongain = other.Correctiongain;
+      }
+      if (other.Ration2Dryerspd != 0D) {
+        Ration2Dryerspd = other.Ration2Dryerspd;
+      }
+      if (other.Kp != 0D) {
+        Kp = other.Kp;
+      }
+      if (other.Ki != 0D) {
+        Ki = other.Ki;
+      }
+      if (other.Kd != 0D) {
+        Kd = other.Kd;
+      }
+      if (other.ChangeSlope != 0D) {
+        ChangeSlope = other.ChangeSlope;
+      }
+      if (other.HightimeoutmSec != 0D) {
+        HightimeoutmSec = other.HightimeoutmSec;
+      }
+    }
+
+    [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: {
+            id_ = (global::Tango.PMR.Jobs.MotorId) input.ReadEnum();
+            break;
+          }
+          case 16: {
+            Minfreq = input.ReadUInt32();
+            break;
+          }
+          case 24: {
+            Maxfreq = input.ReadUInt32();
+            break;
+          }
+          case 32: {
+            Minmicrostep = input.ReadUInt32();
+            break;
+          }
+          case 40: {
+            Maxmicrostep = input.ReadUInt32();
+            break;
+          }
+          case 49: {
+            Linearratio = input.ReadDouble();
+            break;
+          }
+          case 56: {
+            Medianposition = input.ReadUInt32();
+            break;
+          }
+          case 65: {
+            Correctiongain = input.ReadDouble();
+            break;
+          }
+          case 73: {
+            Ration2Dryerspd = input.ReadDouble();
+            break;
+          }
+          case 81: {
+            Kp = input.ReadDouble();
+            break;
+          }
+          case 89: {
+            Ki = input.ReadDouble();
+            break;
+          }
+          case 97: {
+            Kd = input.ReadDouble();
+            break;
+          }
+          case 105: {
+            ChangeSlope = input.ReadDouble();
+            break;
+          }
+          case 113: {
+            HightimeoutmSec = input.ReadDouble();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code