Stubs collection

103 files changed, 10576 insertions, 0 deletions

diff --git a/Software/Stubs Collection/stubs/2Way_valve.cs b/Software/Stubs Collection/stubs/2Way_valve.cs
new file mode 100644
index 000000000..7c9a9923b
--- /dev/null
+++ b/Software/Stubs Collection/stubs/2Way_valve.cs
@@ -0,0 +1,43 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+const Int32 FPGA3 =  0x60000800;
+const Int32 F3_VALVE_OUT = 0x0E2;
+
+const Int32 MIDTANK2MANIF4_VALVE_2 = 1 << 0;
+const Int32 MIDTANK2MANIF4_VALVE_1 = 1 << 1;
+const Int32 MIDTANK2MANIF3_VALVE_2 = 1 << 2;
+const Int32 MIDTANK2MANIF3_VALVE_1 = 1 << 3;
+const Int32 MIDTANK2MANIF2_VALVE_2 = 1 << 4;
+const Int32 MIDTANK2MANIF2_VALVE_1 = 1 << 5;
+const Int32 MIDTANK2MANIF1_VALVE_2 = 1 << 6;
+const Int32 MIDTANK2MANIF1_VALVE_1 = 1 << 7;
+const Int32 CART2MIDTANK4_VALVE_2  = 1 << 8;
+const Int32 CART2MIDTANK4_VALVE_1  = 1 << 9;
+const Int32 CART2MIDTANK3_VALVE_2  = 1 << 10;
+const Int32 CART2MIDTANK3_VALVE_1  = 1 << 11;
+const Int32 CART2MIDTANK2_VALVE_2  = 1 << 12;
+const Int32 CART2MIDTANK2_VALVE_1  = 1 << 13;
+const Int32 CART2MIDTANK1_VALVE_2  = 1 << 14;
+const Int32 CART2MIDTANK1_VALVE_1  = 1 << 15;
+
+public void OnExecute(StubManager stubManager)
+{
+	//ON
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" , FPGA3 + F3_VALVE_OUT);
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,FPGA3 | F3_VALVE_OUT, response | MIDTANK2MANIF4_VALVE_2); // ON
+	
+	
+	//OFF
+	var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" , FPGA3 + F3_VALVE_OUT);
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,FPGA3 + F3_VALVE_OUT, response1 & ~MIDTANK2MANIF4_VALVE_2); // OFF
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/AbortJob.cs b/Software/Stubs Collection/stubs/AbortJob.cs
new file mode 100644
index 000000000..39dc6d083
--- /dev/null
+++ b/Software/Stubs Collection/stubs/AbortJob.cs
@@ -0,0 +1,19 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Printing;
+using Tango.Stubs;
+
+public void OnExecute(StubManager stubManager)
+{
+
+AbortJobRequest abortJobRequest = new AbortJobRequest();
+        var response = stubManager.Run<AbortJobResponse>(abortJobRequest);
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Connect.cs b/Software/Stubs Collection/stubs/Connect.cs
new file mode 100644
index 000000000..e616844c8
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Connect.cs
@@ -0,0 +1,24 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Connection;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+	stubManager.RequestTimeout = 100;
+	
+ConnectRequest connectRequest = new ConnectRequest();
+connectRequest.Password = "1234";
+
+    {
+        var response = stubManager.Run<ConnectResponse>(connectRequest);
+
+    }
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/HardwareConfig.cs b/Software/Stubs Collection/stubs/HardwareConfig.cs
new file mode 100644
index 000000000..19f51c4e6
--- /dev/null
+++ b/Software/Stubs Collection/stubs/HardwareConfig.cs
@@ -0,0 +1,59 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+
+public void OnExecute(StubManager stubManager)
+{
+
+UploadHardwareConfigurationRequest uploadHardwareConfigurationRequest = new UploadHardwareConfigurationRequest();
+
+HardwareConfiguration hardwareConfiguration = new HardwareConfiguration();
+
+
+StubMotorInitRequest stubMotorInitRequest = new StubMotorInitRequest();
+stubMotorInitRequest.MotorID = 0;
+stubMotorInitRequest.MicroSteps = 0;
+stubMotorInitRequest.SetMicroSteps = false;
+stubMotorInitRequest.ACC = 0;
+stubMotorInitRequest.SetACC = false;
+stubMotorInitRequest.DEC = 0;
+stubMotorInitRequest.SetDec = false;
+stubMotorInitRequest.MaxSpeed = 0;
+stubMotorInitRequest.SetMaxSpeed = false;
+
+HardwareMotor hardwareMotor = new HardwareMotor();
+hardwareMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
+hardwareMotor.MinFrequency = 0;
+hardwareMotor.MaxFrequency = 8000;
+hardwareMotor.MinMicroStep = 8;
+hardwareMotor.MaxMicroStep = 8;
+hardwareMotor.LinearRatio = 0;
+hardwareMotor.MedianPosition = 0;
+hardwareMotor.CorrectionGain = 0;
+hardwareMotor.RatioToDryerSpeed = 1;
+hardwareMotor.Kp = 500;
+hardwareMotor.Ki = 100;
+hardwareMotor.Kd = 0;
+hardwareMotor.ChangeSlope = 0;
+hardwareMotor.HighLengthMicroSecond = 0;
+hardwareMotor.SpeedMaster = true;
+hardwareConfiguration.Motors.Add(hardwareMotor);
+
+
+uploadHardwareConfigurationRequest.HardwareConfiguration = hardwareConfiguration;
+
+var response = stubManager.Run<UploadHardwareConfigurationResponse>(uploadHardwareConfigurationRequest);
+
+
+}
+
diff --git a/Software/Stubs Collection/stubs/HardwareConfiguration.cs b/Software/Stubs Collection/stubs/HardwareConfiguration.cs
new file mode 100644
index 000000000..3e49edf5b
--- /dev/null
+++ b/Software/Stubs Collection/stubs/HardwareConfiguration.cs
@@ -0,0 +1,97 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+include "D:\stubs\addedfiles\ACHeatersDefinition.cs"
+include "D:\stubs\addedfiles\DCHeatersDefinition.cs"
+include "D:\stubs\addedfiles\MotorsConfiguration.cs"
+include "D:\stubs\addedfiles\DispensersConfiguration.cs"
+include "D:\stubs\addedfiles\DancersConfiguration.cs"
+include "D:\stubs\addedfiles\PID_Configuration.cs"
+
+public void OnExecute(StubManager stubManager)
+{
+        Thread.Sleep(10);
+
+/*ProcessParameters processParameters = new ProcessParameters();
+processParameters.DyeingSpeed = 10;
+processParameters.MixerTemp = 0;
+processParameters.DryerBufferLength = 0;
+processParameters.MinInkUptake = 0;
+processParameters.HeadZone1Temp = 0;
+processParameters.DryerZone1Temp = 100;
+processParameters.FeederTension = 0;
+processParameters.DryerZone2Temp = 100;
+processParameters.HeadZone2Temp = 0;
+processParameters.PullerTension = 0;
+processParameters.HeadZone3Temp = 0;
+processParameters.DryerZone3Temp = 0;
+processParameters.WinderTension = 0;
+processParameters.HeadAirFlow = 0;
+processParameters.DryerAirFlow = 0;
+processParameters.TableIndex = 0;
+
+uploadProcessParametersRequest.ProcessParameters = processParameters;
+var response1 = stubManager.Run<UploadProcessParametersResponse>(uploadProcessParametersRequest);
+*/
+
+UploadHardwareConfigurationRequest uploadHardwareConfigurationRequest = new UploadHardwareConfigurationRequest();
+
+HardwareConfiguration hardwareConfiguration = new HardwareConfiguration();
+
+//hardwareConfiguration.PidControls.Add(HeadZ1Heater);
+//hardwareConfiguration.PidControls.Add(HeadZ2Heater);
+//hardwareConfiguration.PidControls.Add(HeadZ3Heater);
+//hardwareConfiguration.PidControls.Add(HeadZ4Heater);
+//hardwareConfiguration.PidControls.Add(MixerHeater);
+
+//hardwareConfiguration.PidControls.Add(DryerHeater1000);
+//hardwareConfiguration.PidControls.Add(DryerHeater200w1);
+
+
+hardwareConfiguration.Motors.Add(FeederMotor);
+hardwareConfiguration.Motors.Add(WinderMotor);
+hardwareConfiguration.Motors.Add(DryerMotor);
+hardwareConfiguration.Motors.Add(PoolerMotor);
+hardwareConfiguration.Motors.Add(ScrewMotor);
+//hardwareConfiguration.Motors.Add(LeftRockerMotor);
+//hardwareConfiguration.Motors.Add(RightRockerMotor);
+//hardwareConfiguration.Motors.Add(Dispenser4Motor);
+hardwareConfiguration.Motors.Add(Dispenser7Motor);
+hardwareConfiguration.Motors.Add(Dispenser8Motor);
+
+hardwareConfiguration.Dispensers.Add(hardware7Dispenser);
+hardwareConfiguration.Dispensers.Add(hardware8Dispenser);
+
+hardwareConfiguration.PidControls.Add(FeederPidControl);
+hardwareConfiguration.PidControls.Add(PoolerPidControl);
+hardwareConfiguration.PidControls.Add(WinderPidControl);
+
+hardwareConfiguration.Dancers.Add(FeederDancer);
+hardwareConfiguration.Dancers.Add(PoolerDancer);
+hardwareConfiguration.Dancers.Add(WinderDancer);
+
+hardwareConfiguration.Winders.Add(Winder);
+
+
+
+stubManager.WriteLine("data.data length = " + hardwareConfiguration.CalculateSize());
+
+
+uploadHardwareConfigurationRequest.HardwareConfiguration = hardwareConfiguration;
+var response = stubManager.Run<UploadHardwareConfigurationResponse>(uploadHardwareConfigurationRequest);
+        /*Thread.Sleep(5000);*/
+
+
+}
+
diff --git a/Software/Stubs Collection/stubs/HeadHeaterTest.cs b/Software/Stubs Collection/stubs/HeadHeaterTest.cs
new file mode 100644
index 000000000..2caa91cfa
--- /dev/null
+++ b/Software/Stubs Collection/stubs/HeadHeaterTest.cs
@@ -0,0 +1,47 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+// Request ----
+// UInt32 : HeaterGroupId
+// Boolean : HeaterGroupOn
+// UInt32 : HeaterTemperatureReq
+
+// Response ----
+// UInt32 : HeaterGroupId
+// UInt32 : HeaterTemperatureSensor
+// String : Status
+// UInt32 : StatusWord
+//var response = stubManager.Run<StubHeaterResponse>("StubHeaterRequest" ,3, true, 300);   
+	for (int i = 0; i < 1000; i++)
+    {
+// Request ----
+// UInt32 : STempSensorID
+
+// Response ----
+// UInt32 : TempSensorID
+// UInt32 : TemperatureCMultBy100
+/*var response1 = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,1);
+var response2 = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,2);
+var response3 = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,3);
+var response4 = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,4);
+var response5 = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,5);
+stubManager.WriteLine (String.Format("Temperature, Head1: {0}, Head2: {1}, Head3: {2} Head4: {3} Head5: {4}",response1.TemperatureCMultBy100,response2.TemperatureCMultBy100,response3.TemperatureCMultBy100,response4.TemperatureCMultBy100,response5.TemperatureCMultBy100));*/
+var response6 = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,6);
+var response7 = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,7);
+var response8 = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,8);
+stubManager.WriteLine (String.Format("Temperature, Dryer1: {0}, Dryer2: {1}, Dryer3: {2} ",response6.TemperatureCMultBy100,response7.TemperatureCMultBy100,response8.TemperatureCMultBy100));
+		Thread.Sleep(3000);
+
+	}
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/HeaterTest1.cs b/Software/Stubs Collection/stubs/HeaterTest1.cs
new file mode 100644
index 000000000..935738e31
--- /dev/null
+++ b/Software/Stubs Collection/stubs/HeaterTest1.cs
@@ -0,0 +1,81 @@
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.PMR.Hardware;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+/*    for (int i = 0; i < 10; i++)
+    {
+        var response = stubManager.Run<CalculateResponse>("calculate", 10, 5);
+        
+        if (response.Sum == 15)
+        {
+            stubManager.WriteLine("OK!");
+        }
+    }
+    */
+   
+// Request ----
+// Double : DryerZone1Temp
+// Double : DryerZone2Temp
+// RepeatedField`1 : HardwarePidControl
+// RepeatedField`1 : ProcessParameters
+
+// Response ----
+// UInt32 : HeaterGroupId
+// UInt32 : Zone1Temp
+// UInt32 : Zone2Temp
+// Boolean : Heater1Active
+// Boolean : Heater2Active
+// UInt32 : Heater1Percentage
+// UInt32 : Heater2Percentage
+  HardwarePidControl Pid1 = new HardwarePidControl();
+  HardwarePidControl Pid2 = new HardwarePidControl();
+//Pid1.has_hardwarepidcontroltype = true;
+Pid1.HardwarePidControlType = (HardwarePidControlType)0;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid1.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid1.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid1.Kp = 2.0;
+  //Pid1.has_ki = true;
+  Pid1.Ki = 0.01;
+  
+  //Pid2.has_hardwarepidcontroltype = true;
+Pid2.HardwarePidControlType = (HardwarePidControlType)1;
+  // Pid2.has_outputproportionalpowerlimit = true;
+   Pid2.OutputProportionalPowerLimit = 40;
+  // Pid2.has_outputproportionalband = true;
+   Pid2.OutputProportionalBand = 3;
+  // Pid2.has_kp = true;
+  Pid2.Kp = 0.5;
+  //Pid2.has_ki = true;
+  Pid2.Ki = 0.1;
+
+var response = stubManager.Run<StubHeatingTestResponse>("StubHeatingTestRequest" ,200.0, 200.0, Pid1, Pid2);	
+while (true)
+	{
+		// Request ----
+
+// Response ----
+// UInt32 : HeaterGroupId
+// UInt32 : Zone1Temp
+// UInt32 : Zone2Temp
+// Boolean : Heater1Active
+// Boolean : Heater2Active
+// UInt32 : Heater1Percentage
+// UInt32 : Heater2Percentage
+		var response1 = stubManager.Run<StubHeatingTestPollResponse>("StubHeatingTestPollRequest" ,0);
+		Thread.Sleep(100);
+	}
+}
+
diff --git a/Software/Stubs Collection/stubs/HeaterTest2.cs b/Software/Stubs Collection/stubs/HeaterTest2.cs
new file mode 100644
index 000000000..92ee0cd89
--- /dev/null
+++ b/Software/Stubs Collection/stubs/HeaterTest2.cs
@@ -0,0 +1,86 @@
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.PMR.Hardware;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+/*    for (int i = 0; i < 10; i++)
+    {
+        var response = stubManager.Run<CalculateResponse>("calculate", 10, 5);
+        
+        if (response.Sum == 15)
+        {
+            stubManager.WriteLine("OK!");
+        }
+    }
+    */
+   
+// Request ----
+// Double : DryerZone1Temp
+// Double : DryerZone2Temp
+// RepeatedField`1 : HardwarePidControl
+// RepeatedField`1 : ProcessParameters
+
+// Response ----
+// UInt32 : HeaterGroupId
+// UInt32 : Zone1Temp
+// UInt32 : Zone2Temp
+// Boolean : Heater1Active
+// Boolean : Heater2Active
+// UInt32 : Heater1Percentage
+// UInt32 : Heater2Percentage
+  HardwarePidControl Pid1 = new HardwarePidControl();
+  HardwarePidControl Pid2 = new HardwarePidControl();
+//Pid1.has_hardwarepidcontroltype = true;
+Pid1.HardwarePidControlType = (HardwarePidControlType)0;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid1.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid1.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid1.Kp = 2.0;
+  //Pid1.has_ki = true;
+  Pid1.Ki = 0.01;
+  
+  //Pid2.has_hardwarepidcontroltype = true;
+Pid2.HardwarePidControlType = (HardwarePidControlType)1;
+  // Pid2.has_outputproportionalpowerlimit = true;
+   Pid2.OutputProportionalPowerLimit = 40;
+  // Pid2.has_outputproportionalband = true;
+   Pid2.OutputProportionalBand = 3;
+  // Pid2.has_kp = true;
+  Pid2.Kp = 0.5;
+  //Pid2.has_ki = true;
+  Pid2.Ki = 0.1;
+int i=0;
+var response = stubManager.Run<StubHeatingTestResponse>("StubHeatingTestRequest" ,200.0, 200.0, Pid1, Pid2);	
+while (true)
+	{
+		// Request ----
+
+// Response ----
+// UInt32 : HeaterGroupId
+// UInt32 : Zone1Temp
+// UInt32 : Zone2Temp
+// Boolean : Heater1Active
+// Boolean : Heater2Active
+// UInt32 : Heater1Percentage
+// UInt32 : Heater2Percentage
+		var response1 = stubManager.Run<StubHeatingTestPollResponse>("StubHeatingTestPollRequest" ,0);
+		stubManager.WriteLine ("{0}, {1}, {2}, {3}, {4}, {5}, {6}",++1,response1.Zone1Temp,response1.Zone2Temp,response1.Heater1Active,response1.Heater2Active,response1.Heater1Percentage,response1.Heater2Percentage);
+		
+		Thread.Sleep(100);
+	}
+	
+//var debugresponse = stubManager.RunContinuous<debugLogRequest>(response)();
+	
+}
+
diff --git a/Software/Stubs Collection/stubs/HeaterTest3.cs b/Software/Stubs Collection/stubs/HeaterTest3.cs
new file mode 100644
index 000000000..fdd653d68
--- /dev/null
+++ b/Software/Stubs Collection/stubs/HeaterTest3.cs
@@ -0,0 +1,81 @@
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.PMR.Hardware;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+/*    for (int i = 0; i < 10; i++)
+    {
+        var response = stubManager.Run<CalculateResponse>("calculate", 10, 5);
+        
+        if (response.Sum == 15)
+        {
+            stubManager.WriteLine("OK!");
+        }
+    }
+    */
+   
+// Request ----
+// Double : DryerZone1Temp
+// Double : DryerZone2Temp
+// RepeatedField`1 : HardwarePidControl
+// RepeatedField`1 : ProcessParameters
+
+// Response ----
+// UInt32 : HeaterGroupId
+// UInt32 : Zone1Temp
+// UInt32 : Zone2Temp
+// Boolean : Heater1Active
+// Boolean : Heater2Active
+// UInt32 : Heater1Percentage
+// UInt32 : Heater2Percentage
+  HardwarePidControl Pid1 = new HardwarePidControl();
+  HardwarePidControl Pid2 = new HardwarePidControl();
+//Pid1.has_hardwarepidcontroltype = true;
+Pid1.HardwarePidControlType = (HardwarePidControlType)0;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid1.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid1.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid1.Kp = 2.0;
+  //Pid1.has_ki = true;
+  Pid1.Ki = 0.01;
+  
+  //Pid2.has_hardwarepidcontroltype = true;
+Pid2.HardwarePidControlType = (HardwarePidControlType)1;
+  // Pid2.has_outputproportionalpowerlimit = true;
+   Pid2.OutputProportionalPowerLimit = 40;
+  // Pid2.has_outputproportionalband = true;
+   Pid2.OutputProportionalBand = 3;
+  // Pid2.has_kp = true;
+  Pid2.Kp = 0.5;
+  //Pid2.has_ki = true;
+  Pid2.Ki = 0.1;
+
+var response = stubManager.Run<StubHeatingTestResponse>("StubHeatingTestRequest" ,200.0, 200.0, Pid1, Pid2);	
+int i=0;
+		// Request ----
+
+// Response ----
+// UInt32 : HeaterGroupId
+// UInt32 : Zone1Temp
+// UInt32 : Zone2Temp
+// Boolean : Heater1Active
+// Boolean : Heater2Active
+// UInt32 : Heater1Percentage
+// UInt32 : Heater2Percentage
+		var response1 = stubManager.RunContinuous<StubHeatingTestPollResponse>(response1){
+		stubManager.WriteLine ("{0}, {1}, {2}, {3}, {4}, {5}, {6}",++1,response1.Zone1Temp,response1.Zone2Temp,response1.Heater1Active,response1.Heater2Active,response1.Heater1Percentage,response1.Heater2Percentage);
+		};
+		
+}
+
diff --git a/Software/Stubs Collection/stubs/HeaterTest4.cs b/Software/Stubs Collection/stubs/HeaterTest4.cs
new file mode 100644
index 000000000..697fde3a3
--- /dev/null
+++ b/Software/Stubs Collection/stubs/HeaterTest4.cs
@@ -0,0 +1,93 @@
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Debugging;
+using Tango.PMR.Stubs;
+using Tango.PMR.Hardware;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+/*    for (int i = 0; i < 10; i++)
+    {
+        var response = stubManager.Run<CalculateResponse>("calculate", 10, 5);
+        
+        if (response.Sum == 15)
+        {
+            stubManager.WriteLine("OK!");
+        }
+    }
+    */
+   
+// Request ----
+// Double : DryerZone1Temp
+// Double : DryerZone2Temp
+// RepeatedField`1 : HardwarePidControl
+// RepeatedField`1 : ProcessParameters
+
+// Response ----
+// UInt32 : HeaterGroupId
+// UInt32 : Zone1Temp
+// UInt32 : Zone2Temp
+// Boolean : Heater1Active
+// Boolean : Heater2Active
+// UInt32 : Heater1Percentage
+// UInt32 : Heater2Percentage
+  HardwarePidControl Pid1 = new HardwarePidControl();
+  HardwarePidControl Pid2 = new HardwarePidControl();
+//Pid1.has_hardwarepidcontroltype = true;
+Pid1.HardwarePidControlType = (HardwarePidControlType)0;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid1.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid1.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid1.SensorCorrectionAdjustment = 2.0;
+  //Pid1.has_ki = true;
+  Pid1.IntegralTime = 0.01;
+  
+  //Pid2.has_hardwarepidcontroltype = true;
+Pid2.HardwarePidControlType = (HardwarePidControlType)1;
+  // Pid2.has_outputproportionalpowerlimit = true;
+   Pid2.OutputProportionalPowerLimit = 40;
+  // Pid2.has_outputproportionalband = true;
+   Pid2.OutputProportionalBand = 3;
+  // Pid2.has_kp = true;
+  Pid2.SensorCorrectionAdjustment = 0.5;
+  //Pid2.has_ki = true;
+  Pid2.IntegralTime = 0.1;
+
+var response = stubManager.Run<StubHeatingTestResponse>("StubHeatingTestRequest" ,200.0, 0.0, Pid1, Pid2);	
+int i=0;
+		// Request ----
+
+// Response ----
+// UInt32 : HeaterGroupId
+// UInt32 : Zone1Temp
+// UInt32 : Zone2Temp
+// Boolean : Heater1Active
+// Boolean : Heater2Active
+// UInt32 : Heater1Percentage
+// UInt32 : Heater2Percentage
+//StubHeatingTestPollResponse response1;
+stubManager.RunContinuous<StubHeatingTestPollResponse>("StubHeatingTestPollRequest",(response1) => 
+                                                   {                                                   	
+				stubManager.WriteLine (String.Format("Data, {0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}",++i,response1.Zone1Temp,response1.Zone2Temp,response1.Heater1Active,response1.Heater2Active,response1.Heater1Percentage,response1.Heater2Percentage,response1.InfoMessage));
+                                                   	
+                                                   },0);
+/*stubManager.RunContinuous<DebugLogResponse>("DebugLogRequest",(response2) => 
+                                                   {                                                   	
+				stubManager.WriteLine (String.Format("Report, {0}, {1}, {2}",response2.FileName,response2.LineNumber,response2.Message));
+                                                   	
+                                                   },0);
+                                                   
+ */                                                  
+		
+		
+}
+
diff --git a/Software/Stubs Collection/stubs/HeaterTest5.cs b/Software/Stubs Collection/stubs/HeaterTest5.cs
new file mode 100644
index 000000000..5f9fe5284
--- /dev/null
+++ b/Software/Stubs Collection/stubs/HeaterTest5.cs
@@ -0,0 +1,98 @@
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Debugging;
+using Tango.PMR.Stubs;
+using Tango.PMR.Hardware;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+/*    for (int i = 0; i < 10; i++)
+    {
+        var response = stubManager.Run<CalculateResponse>("calculate", 10, 5);
+        
+        if (response.Sum == 15)
+        {
+            stubManager.WriteLine("OK!");
+        }
+    }
+    */
+   
+// Request ----
+// Double : DryerZone1Temp
+// Double : DryerZone2Temp
+// RepeatedField`1 : HardwarePidControl
+// RepeatedField`1 : ProcessParameters
+
+// Response ----
+// UInt32 : HeaterGroupId
+// UInt32 : Zone1Temp
+// UInt32 : Zone2Temp
+// Boolean : Heater1Active
+// Boolean : Heater2Active
+// UInt32 : Heater1Percentage
+// UInt32 : Heater2Percentage
+  HardwarePidControl Pid1 = new HardwarePidControl();
+  HardwarePidControl Pid2 = new HardwarePidControl();
+//Pid1.has_hardwarepidcontroltype = true;
+Pid1.HardwarePidControlType = (HardwarePidControlType)3;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid1.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid1.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid1.SensorCorrectionAdjustment = 2.0;
+  //Pid1.has_ki = true;
+  Pid1.IntegralTime = 0.01;
+  
+  //Pid2.has_hardwarepidcontroltype = true;
+Pid2.HardwarePidControlType = (HardwarePidControlType)4;
+  // Pid2.has_outputproportionalpowerlimit = true;
+   Pid2.OutputProportionalPowerLimit = 40;
+  // Pid2.has_outputproportionalband = true;
+   Pid2.OutputProportionalBand = 2;
+  // Pid2.has_kp = true;
+  Pid2.SensorCorrectionAdjustment = 0.5;
+  //Pid2.has_ki = true;
+  Pid2.IntegralTime = 0.1;
+
+var response = stubManager.Run<StubHeatingTestResponse>("StubHeatingTestRequest" ,100.0, 100.0, Pid1, Pid2);	
+Pid1.HardwarePidControlType = (HardwarePidControlType)5;
+Pid2.HardwarePidControlType = (HardwarePidControlType)6;
+
+ response = stubManager.Run<StubHeatingTestResponse>("StubHeatingTestRequest" ,100.0, 100.0, Pid1, Pid2);	
+
+int i=0;
+		// Request ----
+
+// Response ----
+// UInt32 : HeaterGroupId
+// UInt32 : Zone1Temp
+// UInt32 : Zone2Temp
+// Boolean : Heater1Active
+// Boolean : Heater2Active
+// UInt32 : Heater1Percentage
+// UInt32 : Heater2Percentage
+//StubHeatingTestPollResponse response1;
+stubManager.RunContinuous<StubHeatingTestPollResponse>("StubHeatingTestPollRequest",(response1) => 
+                                                   {                                                   	
+				stubManager.WriteLine (String.Format("Temperature, {0}, State {1}, Init {2}, Id {3}, Actual {4}, Alloc {5}, Err {6} {7}",++i,response1.Heater1Active,response1.Heater2Active,response1.Zone1Temp,response1.Zone2Temp,response1.Heater1Percentage,response1.Heater2Percentage, response1.InfoMessage));
+                                                   	
+                                                   },0);
+/*stubManager.RunContinuous<DebugLogResponse>("DebugLogRequest",(response2) => 
+                                                   {                                                   	
+				stubManager.WriteLine (String.Format("Report, {0}, {1}, {2}",response2.FileName,response2.LineNumber,response2.Message));
+                                                   	
+                                                   },0);
+                                                   
+ */                                                  
+		
+		
+}
+
diff --git a/Software/Stubs Collection/stubs/JobRequest 2 segments 2 dispensers no intersegment.cs b/Software/Stubs Collection/stubs/JobRequest 2 segments 2 dispensers no intersegment.cs
new file mode 100644
index 000000000..b9ab3339b
--- /dev/null
+++ b/Software/Stubs Collection/stubs/JobRequest 2 segments 2 dispensers no intersegment.cs
@@ -0,0 +1,193 @@
+// Request ----
+// UInt32 : MotorID
+
+// Response ----
+// UInt32 : MotorID
+// UInt32 : Position
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Printing;
+using Tango.PMR.Diagnostics;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+public void OnExecute(StubManager stubManager)
+{
+	
+	
+// Request ----
+// Double : A
+// Double : B
+
+// Response ----
+// Double : Sum
+//var response1 = stubManager.Run<CalculateResponse>("CalculateRequest" ,6, 7);
+
+JobRequest jobRequest = new JobRequest();
+
+JobTicket jobTicket = new JobTicket();
+jobTicket.Name = "Stubs Job";
+jobTicket.EnableInterSegment = false;
+jobTicket.InterSegmentLength = 50;
+jobTicket.Length = 1000;
+
+ProcessParameters processParameters = new ProcessParameters();
+//        SPEEED
+processParameters.DyeingSpeed = 30;
+//        HEAT
+processParameters.DryerZone1Temp = 100;
+
+
+processParameters.MixerTemp = 0;
+processParameters.DryerBufferLength = 20;
+processParameters.MinInkUptake = 0;
+processParameters.HeadZone1Temp = 50;
+processParameters.HeadZone2Temp = 150;
+processParameters.HeadZone3Temp = 150;
+processParameters.DryerZone2Temp = 0;
+processParameters.DryerZone3Temp = 0;
+processParameters.FeederTension = 0;
+processParameters.PullerTension = 0;
+processParameters.WinderTension = 0;
+processParameters.HeadAirFlow = 0;
+processParameters.DryerAirFlow = 0;
+processParameters.TableIndex = 0;
+
+jobTicket.ProcessParameters = processParameters;
+jobTicket.WindingMethod = Tango.PMR.Printing.JobWindingMethod.Embroidery;
+
+JobSpool jobSpool = new JobSpool();
+jobSpool.JobSpoolType = Tango.PMR.Printing.JobSpoolType.StandardSpool;
+jobSpool.Length = 800;
+jobSpool.Weight = 0;
+jobSpool.Diameter = 3.0;
+jobSpool.StartOffsetPulses = 300;
+jobSpool.BackingRate = 10;
+jobSpool.SegmentOffsetPulses = 700;
+jobSpool.BottomBackingRate = 70;
+jobSpool.RotationsPerPassage = 3;
+
+jobTicket.Spool = jobSpool;
+
+JobSegment jobSegment1 = new JobSegment();
+jobSegment1.Name = "Segment1";
+//         LENGTH
+jobSegment1.Length = 5.0;
+
+JobBrushStop jobBrushStop1 = new JobBrushStop();
+jobBrushStop1.Index = 0;
+jobBrushStop1.OffsetPercent = 0;
+jobBrushStop1.OffsetMeters = 0;
+
+JobDispenser jobDispenser1 = new JobDispenser();
+jobDispenser1.Index = 6;
+jobDispenser1.Volume = 10;
+jobDispenser1.DispenserStepDivision = Tango.PMR.Printing.DispenserStepDivision.Auto;
+jobDispenser1.NanolitterPerSecond = 1000;
+jobDispenser1.NanoliterPerCentimeter = 10;
+jobDispenser1.PulsePerSecond = 0;
+jobDispenser1.DispenserLiquidType = Tango.PMR.Printing.DispenserLiquidType.Cyan;
+jobDispenser1.LiquidMaxNanoliterPerCentimeter = 40;
+jobDispenser1.NanoliterPerPulse = 2.4;
+jobBrushStop1.Dispensers.Add(jobDispenser1);
+
+JobDispenser jobDispenser3 = new JobDispenser();
+jobDispenser3.Index = 7;
+jobDispenser3.Volume = 10;
+jobDispenser3.DispenserStepDivision = Tango.PMR.Printing.DispenserStepDivision.Auto;
+jobDispenser3.NanolitterPerSecond = 100;
+jobDispenser3.NanoliterPerCentimeter = 10;
+jobDispenser3.PulsePerSecond = 0;
+jobDispenser3.DispenserLiquidType = Tango.PMR.Printing.DispenserLiquidType.Cyan;
+jobDispenser3.LiquidMaxNanoliterPerCentimeter = 40;
+jobDispenser3.NanoliterPerPulse = 2.4;
+jobBrushStop1.Dispensers.Add(jobDispenser3);
+
+jobSegment1.BrushStops.Add(jobBrushStop1);
+jobTicket.Segments.Add(jobSegment1);
+
+JobSegment jobSegment2 = new JobSegment();
+jobSegment1.Name = "Segment2";
+//         LENGTH
+jobSegment2.Length = 5.0;
+
+JobBrushStop jobBrushStop2 = new JobBrushStop();
+jobBrushStop2.Index = 0;
+jobBrushStop2.OffsetPercent = 0;
+jobBrushStop2.OffsetMeters = 0;
+
+JobDispenser jobDispenser2 = new JobDispenser();
+jobDispenser2.Index = 6;
+jobDispenser2.Volume = 10;
+jobDispenser2.DispenserStepDivision = Tango.PMR.Printing.DispenserStepDivision.Auto;
+jobDispenser2.NanolitterPerSecond = 100;
+jobDispenser2.NanoliterPerCentimeter = 10;
+jobDispenser2.PulsePerSecond = 0;
+jobDispenser2.DispenserLiquidType = Tango.PMR.Printing.DispenserLiquidType.Cyan;
+jobDispenser2.LiquidMaxNanoliterPerCentimeter = 40;
+jobDispenser2.NanoliterPerPulse = 2.4;
+jobBrushStop2.Dispensers.Add(jobDispenser2);
+
+JobDispenser jobDispenser4 = new JobDispenser();
+jobDispenser4.Index = 7;
+jobDispenser4.Volume = 10;
+jobDispenser4.DispenserStepDivision = Tango.PMR.Printing.DispenserStepDivision.Auto;
+jobDispenser4.NanolitterPerSecond = 1000;
+jobDispenser4.NanoliterPerCentimeter = 10;
+jobDispenser4.PulsePerSecond = 0;
+jobDispenser4.DispenserLiquidType = Tango.PMR.Printing.DispenserLiquidType.Cyan;
+jobDispenser4.LiquidMaxNanoliterPerCentimeter = 40;
+jobDispenser4.NanoliterPerPulse = 2.4;
+jobBrushStop2.Dispensers.Add(jobDispenser4);
+
+jobSegment2.BrushStops.Add(jobBrushStop2);
+jobTicket.Segments.Add(jobSegment2);
+
+jobRequest.JobTicket = jobTicket;
+
+
+	var response = stubManager.Run<JobResponse>(jobRequest);
+	int i=0;
+/*stubManager.WriteLine("data.data length = " + jobRequest.CalculateSize());
+*/	
+stubManager.RunContinuous<JobResponse>(jobRequest,(response1) =>
+                                                   {                                                   	
+				stubManager.WriteLine (String.Format("Data, {0},  {1} meters, {2}",++i,response1.Status.Progress*jobSegment1.Length,response1.Status.Message));
+                                                   	
+                                                   });
+/*	    stubManager.RunContinuous<ProgressResponse>(request, (response) =>
+    {
+
+        stubManager.WriteLine(response.Progress);
+
+    });
+*/
+	
+	//int i=0;
+/*stubManager.RunContinuous<StubHeatingTestPollResponse>("StubHeatingTestPollRequest",(response1) => 
+                                                   {                                                   	
+//				stubManager.WriteLine (String.Format("Data, {0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}",++i,response1.Zone1Temp,response1.Zone2Temp,response1.Heater1Active,response1.Heater2Active,response1.Heater1Percentage,response1.Heater2Percentage,response1.InfoMessage));
+				stubManager.WriteLine (String.Format("Data, Id {0}, Id {1}, Temp {2}, % {3}, Active {4}, {5}",++i,response1.Zone1Temp,response1.Zone2Temp,response1.Heater1Percentage,response1.Heater1Active,response1.InfoMessage));
+                                                   	
+                                                   },0);
+
+
+/*StartDiagnosticsRequest startDiagnosticsRequest = new StartDiagnosticsRequest();
+//stubManager.RunContinuous<StartDiagnosticsResponse>(startDiagnosticsRequest,(response1) =>
+stubManager.RunContinuous<StartDiagnosticsResponse>(startDiagnosticsRequest,(response1)    =>
+                                                   {                                                   	
+				stubManager.WriteLine (String.Format("Data, {0}, H1 {1}, H2{2}, H3 {3}, D1 {4}, D2 {5}",++i,response1.Monitors.HeadZone1Temperature[0],response1.Monitors.HeadZone2Temperature[0],response1.Monitors.HeadZone3Temperature[0],response1.Monitors.DryerZone1Temperature[0],response1.Monitors.DryerZone2Temperature[0]));
+				stubManager.WriteLine (String.Format("Data, {0}, DR {1}, DM{2}, DL {3}, Feeder {4}",++i,response1.Monitors.Dancer1Angle[0],response1.Monitors.Dancer2Angle[0],response1.Monitors.Dancer3Angle[0],response1.Monitors.FeederMotorFrequency[0]));
+                                                   	
+                                                   },0);
+
+*/
+}
+
diff --git a/Software/Stubs Collection/stubs/JobRequest 2 segments.cs b/Software/Stubs Collection/stubs/JobRequest 2 segments.cs
new file mode 100644
index 000000000..55eaad8f0
--- /dev/null
+++ b/Software/Stubs Collection/stubs/JobRequest 2 segments.cs
@@ -0,0 +1,167 @@
+// Request ----
+// UInt32 : MotorID
+
+// Response ----
+// UInt32 : MotorID
+// UInt32 : Position
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Printing;
+using Tango.PMR.Diagnostics;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+	
+	
+// Request ----
+// Double : A
+// Double : B
+
+// Response ----
+// Double : Sum
+//var response1 = stubManager.Run<CalculateResponse>("CalculateRequest" ,6, 7);
+
+JobRequest jobRequest = new JobRequest();
+
+JobTicket jobTicket = new JobTicket();
+jobTicket.Name = "Stubs Job";
+jobTicket.EnableInterSegment = false;
+jobTicket.InterSegmentLength = 50;
+jobTicket.Length = 1000;
+
+ProcessParameters processParameters = new ProcessParameters();
+//        SPEEED
+processParameters.DyeingSpeed = 30;
+//        HEAT
+processParameters.DryerZone1Temp = 100;
+
+
+processParameters.MixerTemp = 0;
+processParameters.DryerBufferLength = 20;
+processParameters.MinInkUptake = 0;
+processParameters.HeadZone1Temp = 50;
+processParameters.HeadZone2Temp = 150;
+processParameters.HeadZone3Temp = 150;
+processParameters.DryerZone2Temp = 0;
+processParameters.DryerZone3Temp = 0;
+processParameters.FeederTension = 0;
+processParameters.PullerTension = 0;
+processParameters.WinderTension = 0;
+processParameters.HeadAirFlow = 0;
+processParameters.DryerAirFlow = 0;
+processParameters.TableIndex = 0;
+
+jobTicket.ProcessParameters = processParameters;
+jobTicket.WindingMethod = Tango.PMR.Printing.JobWindingMethod.Embroidery;
+
+JobSpool jobSpool = new JobSpool();
+jobSpool.JobSpoolType = Tango.PMR.Printing.JobSpoolType.StandardSpool;
+jobSpool.Length = 800;
+jobSpool.Weight = 0;
+jobSpool.Diameter = 3.0;
+jobSpool.StartOffsetPulses = 300;
+jobSpool.BackingRate = 10;
+jobSpool.SegmentOffsetPulses = 700;
+jobSpool.BottomBackingRate = 70;
+jobSpool.RotationsPerPassage = 3;
+
+jobTicket.Spool = jobSpool;
+
+JobSegment jobSegment1 = new JobSegment();
+jobSegment1.Name = "Segment1";
+//         LENGTH
+jobSegment1.Length = 5.0;
+
+JobBrushStop jobBrushStop1 = new JobBrushStop();
+jobBrushStop1.Index = 0;
+jobBrushStop1.OffsetPercent = 0;
+jobBrushStop1.OffsetMeters = 0;
+
+JobDispenser jobDispenser1 = new JobDispenser();
+jobDispenser1.Index = 6;
+jobDispenser1.Volume = 10;
+jobDispenser1.DispenserStepDivision = Tango.PMR.Printing.DispenserStepDivision.Auto;
+jobDispenser1.NanolitterPerSecond = 1000;
+jobDispenser1.NanoliterPerCentimeter = 10;
+jobDispenser1.PulsePerSecond = 0;
+jobDispenser1.DispenserLiquidType = Tango.PMR.Printing.DispenserLiquidType.Cyan;
+jobDispenser1.LiquidMaxNanoliterPerCentimeter = 40;
+jobDispenser1.NanoliterPerPulse = 2.4;
+jobBrushStop1.Dispensers.Add(jobDispenser1);
+jobSegment1.BrushStops.Add(jobBrushStop1);
+jobTicket.Segments.Add(jobSegment1);
+
+JobSegment jobSegment2 = new JobSegment();
+jobSegment1.Name = "Segment2";
+//         LENGTH
+jobSegment2.Length = 5.0;
+
+JobBrushStop jobBrushStop2 = new JobBrushStop();
+jobBrushStop2.Index = 0;
+jobBrushStop2.OffsetPercent = 0;
+jobBrushStop2.OffsetMeters = 0;
+
+JobDispenser jobDispenser2 = new JobDispenser();
+jobDispenser2.Index = 6;
+jobDispenser2.Volume = 10;
+jobDispenser2.DispenserStepDivision = Tango.PMR.Printing.DispenserStepDivision.Auto;
+jobDispenser2.NanolitterPerSecond = 300;
+jobDispenser2.NanoliterPerCentimeter = 10;
+jobDispenser2.PulsePerSecond = 0;
+jobDispenser2.DispenserLiquidType = Tango.PMR.Printing.DispenserLiquidType.Cyan;
+jobDispenser2.LiquidMaxNanoliterPerCentimeter = 40;
+jobDispenser2.NanoliterPerPulse = 2.4;
+jobBrushStop2.Dispensers.Add(jobDispenser2);
+jobSegment2.BrushStops.Add(jobBrushStop2);
+jobTicket.Segments.Add(jobSegment2);
+
+jobRequest.JobTicket = jobTicket;
+
+
+	var response = stubManager.Run<JobResponse>(jobRequest);
+	int i=0;
+/*stubManager.WriteLine("data.data length = " + jobRequest.CalculateSize());
+*/	
+stubManager.RunContinuous<JobResponse>(jobRequest,(response1) =>
+                                                   {                                                   	
+				stubManager.WriteLine (String.Format("Data, {0},  {1} meters, {2}",++i,response1.Status.Progress*jobSegment1.Length,response1.Status.Message));
+                                                   	
+                                                   });
+/*	    stubManager.RunContinuous<ProgressResponse>(request, (response) =>
+    {
+
+        stubManager.WriteLine(response.Progress);
+
+    });
+*/
+	
+	//int i=0;
+/*stubManager.RunContinuous<StubHeatingTestPollResponse>("StubHeatingTestPollRequest",(response1) => 
+                                                   {                                                   	
+//				stubManager.WriteLine (String.Format("Data, {0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}",++i,response1.Zone1Temp,response1.Zone2Temp,response1.Heater1Active,response1.Heater2Active,response1.Heater1Percentage,response1.Heater2Percentage,response1.InfoMessage));
+				stubManager.WriteLine (String.Format("Data, Id {0}, Id {1}, Temp {2}, % {3}, Active {4}, {5}",++i,response1.Zone1Temp,response1.Zone2Temp,response1.Heater1Percentage,response1.Heater1Active,response1.InfoMessage));
+                                                   	
+                                                   },0);
+
+
+/*StartDiagnosticsRequest startDiagnosticsRequest = new StartDiagnosticsRequest();
+//stubManager.RunContinuous<StartDiagnosticsResponse>(startDiagnosticsRequest,(response1) =>
+stubManager.RunContinuous<StartDiagnosticsResponse>(startDiagnosticsRequest,(response1)    =>
+                                                   {                                                   	
+				stubManager.WriteLine (String.Format("Data, {0}, H1 {1}, H2{2}, H3 {3}, D1 {4}, D2 {5}",++i,response1.Monitors.HeadZone1Temperature[0],response1.Monitors.HeadZone2Temperature[0],response1.Monitors.HeadZone3Temperature[0],response1.Monitors.DryerZone1Temperature[0],response1.Monitors.DryerZone2Temperature[0]));
+				stubManager.WriteLine (String.Format("Data, {0}, DR {1}, DM{2}, DL {3}, Feeder {4}",++i,response1.Monitors.Dancer1Angle[0],response1.Monitors.Dancer2Angle[0],response1.Monitors.Dancer3Angle[0],response1.Monitors.FeederMotorFrequency[0]));
+                                                   	
+                                                   },0);
+
+*/
+}
+
diff --git a/Software/Stubs Collection/stubs/JobRequest.cs b/Software/Stubs Collection/stubs/JobRequest.cs
new file mode 100644
index 000000000..9a7e8bc31
--- /dev/null
+++ b/Software/Stubs Collection/stubs/JobRequest.cs
@@ -0,0 +1,143 @@
+// Request ----
+// UInt32 : MotorID
+
+// Response ----
+// UInt32 : MotorID
+// UInt32 : Position
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Printing;
+using Tango.PMR.Diagnostics;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+public void OnExecute(StubManager stubManager)
+{
+	
+	
+// Request ----
+// Double : A
+// Double : B
+
+// Response ----
+// Double : Sum
+//var response1 = stubManager.Run<CalculateResponse>("CalculateRequest" ,6, 7);
+
+JobRequest jobRequest = new JobRequest();
+
+JobTicket jobTicket = new JobTicket();
+jobTicket.Name = "Stubs Job";
+jobTicket.EnableInterSegment = false;
+jobTicket.InterSegmentLength = 50;
+jobTicket.Length = 1000;
+
+ProcessParameters processParameters = new ProcessParameters();
+//        SPEEED
+processParameters.DyeingSpeed = 30;
+//        HEAT
+processParameters.DryerZone1Temp = 100;
+
+
+processParameters.MixerTemp = 0;
+processParameters.DryerBufferLength = 20;
+processParameters.MinInkUptake = 0;
+processParameters.HeadZone1Temp = 50;
+processParameters.HeadZone2Temp = 150;
+processParameters.HeadZone3Temp = 150;
+processParameters.DryerZone2Temp = 0;
+processParameters.DryerZone3Temp = 0;
+processParameters.FeederTension = 0;
+processParameters.PullerTension = 0;
+processParameters.WinderTension = 0;
+processParameters.HeadAirFlow = 0;
+processParameters.DryerAirFlow = 0;
+processParameters.TableIndex = 0;
+
+jobTicket.ProcessParameters = processParameters;
+jobTicket.WindingMethod = Tango.PMR.Printing.JobWindingMethod.Embroidery;
+
+JobSpool jobSpool = new JobSpool();
+jobSpool.JobSpoolType = Tango.PMR.Printing.JobSpoolType.StandardSpool;
+jobSpool.Length = 800;
+jobSpool.Weight = 0;
+jobSpool.Diameter = 3.0;
+jobSpool.StartOffsetPulses = 250;
+jobSpool.BackingRate = 10;
+jobSpool.SegmentOffsetPulses = 750;
+jobSpool.BottomBackingRate = 70;
+jobSpool.RotationsPerPassage = 3;
+
+jobTicket.Spool = jobSpool;
+
+JobSegment jobSegment = new JobSegment();
+jobSegment.Name = "Segment1";
+//         LENGTH
+jobSegment.Length = 30.0;
+
+JobBrushStop jobBrushStop = new JobBrushStop();
+jobBrushStop.Index = 0;
+jobBrushStop.OffsetPercent = 0;
+jobBrushStop.OffsetMeters = 0;
+
+JobDispenser jobDispenser = new JobDispenser();
+jobDispenser.Index = 6;
+jobDispenser.Volume = 10;
+jobDispenser.DispenserStepDivision = Tango.PMR.Printing.DispenserStepDivision.Auto;
+jobDispenser.NanolitterPerSecond = 500;
+jobDispenser.NanoliterPerCentimeter = 10;
+jobDispenser.PulsePerSecond = 0;
+jobDispenser.DispenserLiquidType = Tango.PMR.Printing.DispenserLiquidType.Cyan;
+jobDispenser.LiquidMaxNanoliterPerCentimeter = 40;
+jobDispenser.NanoliterPerPulse = 2.4;
+jobBrushStop.Dispensers.Add(jobDispenser);
+jobSegment.BrushStops.Add(jobBrushStop);
+jobTicket.Segments.Add(jobSegment);
+
+jobRequest.JobTicket = jobTicket;
+
+
+	var response = stubManager.Run<JobResponse>(jobRequest);
+	int i=0;
+/*stubManager.WriteLine("data.data length = " + jobRequest.CalculateSize());
+*/	
+stubManager.RunContinuous<JobResponse>(jobRequest,(response1) =>
+                                                   {                                                   	
+				stubManager.WriteLine (String.Format("Data, {0},  {1} meters, {2}",++i,response1.Status.Progress*jobSegment.Length,response1.Status.Message));
+                                                   	
+                                                   });
+/*	    stubManager.RunContinuous<ProgressResponse>(request, (response) =>
+    {
+
+        stubManager.WriteLine(response.Progress);
+
+    });
+*/
+	
+	//int i=0;
+/*stubManager.RunContinuous<StubHeatingTestPollResponse>("StubHeatingTestPollRequest",(response1) => 
+                                                   {                                                   	
+//				stubManager.WriteLine (String.Format("Data, {0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}",++i,response1.Zone1Temp,response1.Zone2Temp,response1.Heater1Active,response1.Heater2Active,response1.Heater1Percentage,response1.Heater2Percentage,response1.InfoMessage));
+				stubManager.WriteLine (String.Format("Data, Id {0}, Id {1}, Temp {2}, % {3}, Active {4}, {5}",++i,response1.Zone1Temp,response1.Zone2Temp,response1.Heater1Percentage,response1.Heater1Active,response1.InfoMessage));
+                                                   	
+                                                   },0);
+
+
+/*StartDiagnosticsRequest startDiagnosticsRequest = new StartDiagnosticsRequest();
+//stubManager.RunContinuous<StartDiagnosticsResponse>(startDiagnosticsRequest,(response1) =>
+stubManager.RunContinuous<StartDiagnosticsResponse>(startDiagnosticsRequest,(response1)    =>
+                                                   {                                                   	
+				stubManager.WriteLine (String.Format("Data, {0}, H1 {1}, H2{2}, H3 {3}, D1 {4}, D2 {5}",++i,response1.Monitors.HeadZone1Temperature[0],response1.Monitors.HeadZone2Temperature[0],response1.Monitors.HeadZone3Temperature[0],response1.Monitors.DryerZone1Temperature[0],response1.Monitors.DryerZone2Temperature[0]));
+				stubManager.WriteLine (String.Format("Data, {0}, DR {1}, DM{2}, DL {3}, Feeder {4}",++i,response1.Monitors.Dancer1Angle[0],response1.Monitors.Dancer2Angle[0],response1.Monitors.Dancer3Angle[0],response1.Monitors.FeederMotorFrequency[0]));
+                                                   	
+                                                   },0);
+
+*/
+}
+
diff --git a/Software/Stubs Collection/stubs/MidTankControl.cs b/Software/Stubs Collection/stubs/MidTankControl.cs
new file mode 100644
index 000000000..69517d99b
--- /dev/null
+++ b/Software/Stubs Collection/stubs/MidTankControl.cs
@@ -0,0 +1,17 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.MachineStudio.Stubs;
+
+public void OnExecute(StubManager stubManager)
+{
+stubManager.Run("StubFpgaWriteRegRequest" ,0x600008e2, 0); 
+stubManager.Run("StubFpgaReadRegRequest" ,0x600008e2);
+}
+
diff --git a/Software/Stubs Collection/stubs/MotorInit.cs b/Software/Stubs Collection/stubs/MotorInit.cs
new file mode 100644
index 000000000..3a9ee4a90
--- /dev/null
+++ b/Software/Stubs Collection/stubs/MotorInit.cs
@@ -0,0 +1,38 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+	
+StubMotorInitRequest stubMotorInitRequest = new StubMotorInitRequest();
+stubMotorInitRequest.MotorID = 3;
+stubMotorInitRequest.MicroSteps = 8;
+stubMotorInitRequest.SetMicroSteps = false;
+stubMotorInitRequest.ACC = 0;
+stubMotorInitRequest.SetACC = false;
+stubMotorInitRequest.DEC = 0;
+stubMotorInitRequest.SetDec = false;
+stubMotorInitRequest.MaxSpeed = 8000;
+stubMotorInitRequest.SetMaxSpeed = false;
+
+
+
+
+        var response = stubManager.Run<StubMotorInitResponse>(stubMotorInitRequest);
+        
+        if (response.MotorID == 3)
+        {
+            stubManager.WriteLine("OK!");
+        }
+    
+}
+
diff --git a/Software/Stubs Collection/stubs/MotorSpeedSet.cs b/Software/Stubs Collection/stubs/MotorSpeedSet.cs
new file mode 100644
index 000000000..adbd0b2b5
--- /dev/null
+++ b/Software/Stubs Collection/stubs/MotorSpeedSet.cs
@@ -0,0 +1,29 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+//    for (int i = 0; i < 10; i++)
+    {
+        //var response = stubManager.Run<CalculateResponse>("calculate", 1, i);
+// Request ----
+// UInt32 : MotorID
+// UInt32 : DataToSend
+// UInt32 : NBytesToSet
+// UInt32 : NBytesToGet
+
+// Response ----
+// UInt32 : MotorID
+// UInt32 : RecivedData
+var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,3, 0x510f81b8, 4, 0);
+    }
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Motor_Get_Param_Horizontal_Printing.cs b/Software/Stubs Collection/stubs/Motor_Get_Param_Horizontal_Printing.cs
new file mode 100644
index 000000000..696bb8456
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Motor_Get_Param_Horizontal_Printing.cs
@@ -0,0 +1,114 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+//unmark Auto logging !
+
+const Int32 x_ABS_POS    = 0x01;
+const Int32 x_EL_POS     = 0x02;
+const Int32 x_MARK       = 0x03;
+const Int32 x_SPEED      = 0x04;
+const Int32 x_ACC        = 0x05;
+const Int32 x_DEC        = 0x06;
+const Int32 x_MAX_SPEED  = 0x07;
+const Int32 x_MIN_SPEED  = 0x08;
+const Int32 x_FS_SPD     = 0x15;
+const Int32 x_KVAL_HOLD  = 0x09;
+const Int32 x_KVAL_RUN   = 0x0A;
+const Int32 x_KVAL_ACC   = 0x0B;
+const Int32 x_KVAL_DEC   = 0x0C;
+const Int32 x_INT_SPD    = 0x0D;
+const Int32 x_ST_SLP     = 0x0E;
+const Int32 x_FN_SLP_ACC = 0x0F;
+const Int32 x_FN_SLP_DEC = 0x10;
+const Int32 x_K_THERM    = 0x11;
+const Int32 x_ADC_OUT    = 0x12;
+const Int32 x_OCD_TH     = 0x13;
+const Int32 x_STALL_TH   = 0x14;
+const Int32 x_STEP_MODE  = 0x16;
+const Int32 x_ALARM_EN   = 0x17;
+const Int32 x_CONFIG     = 0x18;
+const Int32 x_STATUS     = 0x19;
+//-------------------------------
+const Int32 x_GET_PARAM  = 0x20;
+//-------------------------------
+const Int32 Max_Motor_ID  = 25;
+
+Int32 i  = 12; // to run only for specific motor 
+
+public void OnExecute(StubManager stubManager)
+{
+	for (i = 0; i < Max_Motor_ID; i++)
+	{
+		
+		if((i%8 ==0) )
+		{
+			stubManager.Write("MoTor\tMIN_SPEED\tMAX_SPEED\tSTEP_MODE\tACC\t\tDEC\t\tKVAL_HOLD\tKVAL_RUN\tKVAL_ACC\tKVAL_DEC\tOCD_TH\t\tSTALL_TH\tCONFIG\t\tFS_SPD\n");
+			stubManager.Write("------\t--------\t--------\t----------\t---\t\t---\t\t---------\t--------\t--------\t--------\t------\t\t--------\t------\t\t------\n");
+		}
+		stubManager.Write(i);
+		stubManager.Write("\t");
+	
+		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MIN_SPEED)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t");			
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MAX_SPEED)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); stubManager.Write("\t");		
+		stubManager.Write("\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STEP_MODE)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ACC)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_DEC)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_HOLD)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_RUN)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_ACC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_DEC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_OCD_TH)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STALL_TH)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_CONFIG)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FS_SPD)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\n\n");
+		
+	}
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/PT100.cs b/Software/Stubs Collection/stubs/PT100.cs
new file mode 100644
index 000000000..a1bb51131
--- /dev/null
+++ b/Software/Stubs Collection/stubs/PT100.cs
@@ -0,0 +1,25 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+    for (int i = 0; i < 12; i++)
+    {
+	// Request ----
+	// UInt32 : STempSensorID
+	
+	// Response ----
+	// UInt32 : TempSensorID
+	// UInt32 : TemperatureCMultBy100
+	var response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,i);	
+	}
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Read Dancer.cs b/Software/Stubs Collection/stubs/Read Dancer.cs
new file mode 100644
index 000000000..73d30ad75
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Read Dancer.cs
@@ -0,0 +1,38 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+	stubManager.RequestTimeout = 2000;
+    //for (int i = 0; i < 100; i++)
+    {
+// Request ----
+// UInt32 : DancerID
+
+// Response ----
+// UInt32 : DancerID
+// UInt32 : Position
+// UInt32 : GeneralStatus
+// UInt32 : DetailedStatus
+		//var response = stubManager.Run<StubDancerPositionResponse>("StubDancerPositionRequest" ,1);
+		
+//var response = stubManager.Run<StubMotorSpeedResponse>("StubMotorSpeedRequest" ,22);
+//var response;
+//var response = stubManager.Run<StubMotorStatusResponse>("StubMotorStatusRequest" ,18, true);
+		var response = stubManager.Run<StubDancerPositionResponse>("StubDancerPositionRequest" ,0);
+		Thread.Sleep(1000);
+		 response = stubManager.Run<StubDancerPositionResponse>("StubDancerPositionRequest" ,1);
+		Thread.Sleep(1000);
+		 response = stubManager.Run<StubDancerPositionResponse>("StubDancerPositionRequest" ,2);
+		Thread.Sleep(1000);
+    }
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/RealTimeUsage.cs b/Software/Stubs Collection/stubs/RealTimeUsage.cs
new file mode 100644
index 000000000..c66125972
--- /dev/null
+++ b/Software/Stubs Collection/stubs/RealTimeUsage.cs
@@ -0,0 +1,41 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+// Request ----
+
+// Response ----
+// RepeatedField`1 : Percentile
+
+var response = stubManager.Run<StubRealTimeUsageResponse>("StubRealTimeUsageRequest" );
+	
+	stubManager.RequestTimeout = 2000;
+	for (int i = 0; i < 89; i+=10)
+		{
+			stubManager.WriteLine (String.Format("i: {0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, {9}, {10}",i,response.Percentile[i],response.Percentile[i+1],response.Percentile[i+2],response.Percentile[i+3],response.Percentile[i+4],response.Percentile[i+5],response.Percentile[i+6],response.Percentile[i+7],response.Percentile[i+8],response.Percentile[i+9]));
+
+		}
+	/*for (int i = 0; i < 99; i++)
+		{
+			stubManager.WriteLine (response.Percentile[i]);
+
+		}*/
+/*int i = 0;	
+	stubManager.Run<StubRealTimeUsageResponse>("StubRealTimeUsageRequest",(response) => 
+                                                   {                                                   	
+			stubManager.WriteLine (String.Format("i: {0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, {9}, {10}",i,response.Percentile[i],response.Percentile[i+1],response.Percentile[i+2],response.Percentile[i+3],response.Percentile[i+4],response.Percentile[i+5],response.Percentile[i+6],response.Percentile[i+7],response.Percentile[i+8],response.Percentile[i+9]));
+                                                   	
+                                                   },0);
+
+*/	
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/ScrewMotorMov.cs b/Software/Stubs Collection/stubs/ScrewMotorMov.cs
new file mode 100644
index 000000000..6b3ffe626
--- /dev/null
+++ b/Software/Stubs Collection/stubs/ScrewMotorMov.cs
@@ -0,0 +1,84 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+public void OnExecute(StubManager stubManager)
+{
+	// FALSE - to the body
+	//TRUE out
+	// Request ----
+// UInt32 : ValveId
+// UInt32 : Inkflow
+// Boolean : ValveOn
+// Request ----
+// UInt32 : ADCDevice
+
+// Response ----
+// UInt32 : ADCDevice
+// Int32 : SamplingInBits
+// Int32 : VoltageSamplingMv
+// String : Status
+// UInt32 : StatusWord
+//var response = stubManager.Run<StubIntADCReadResponse>("StubIntADCReadRequest" ,UInt32);
+
+// Response ----
+// String : Status
+// UInt32 : StatusWord
+		//open valve toward the mixer, run dispenser 7
+		//var response3 = stubManager.Run<StubValveResponse>("StubValveRequest" ,6, 10, true);
+		//var response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,3, true, 800);
+		//Thread.Sleep(3000);
+		//open valve toward the midtank, stop dispenser 7
+		//var response3 = stubManager.Run<StubValveResponse>("StubValveRequest" ,6, 10, false);
+		var response2 = stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,3,0);
+		//Thread.Sleep(10);
+		//var response1 = stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,12, false, 150);
+		// Request ----
+// UInt32 : Address
+
+// Response ----
+// UInt32 : Address
+// UInt32 : Value
+// String : Status
+// UInt32 : StatusWord
+    /*{
+
+		var response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,14, false, 20);
+		Thread.Sleep(600);
+		var response1 = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,14, true, 20);
+		Thread.Sleep(600);
+	}
+	
+//var response1 = stubManager.Run<StubMotorStatusResponse>("StubMotorStatusRequest" ,14, true);
+//Thread.Sleep(1000);
+//		var response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,24, false, 20);
+//		Thread.Sleep(700);
+
+var response2 = stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,15, 0);
+var response4 = stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,14, 0);*/
+// Request ----
+// UInt32 : Address
+// UInt32 : Value
+
+// Response ---- 
+// String : Status
+// UInt32 : StatusWord
+//var response = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x600008e2, 0);
+// Request ----
+// UInt32 : Address
+
+// Response ----
+// UInt32 : Address
+// UInt32 : Value
+// String : Status
+// UInt32 : StatusWord
+//var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x600008e2);
+}
diff --git a/Software/Stubs Collection/stubs/StubHeatingTestPollResponse.cs b/Software/Stubs Collection/stubs/StubHeatingTestPollResponse.cs
new file mode 100644
index 000000000..64595ea91
--- /dev/null
+++ b/Software/Stubs Collection/stubs/StubHeatingTestPollResponse.cs
@@ -0,0 +1,22 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+	int i=0;
+		stubManager.RunContinuous<StubHeatingTestPollResponse>("StubHeatingTestPollRequest",(response1) => 
+                                                   {                                                   	
+//				stubManager.WriteLine (String.Format("Data, {0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}",++i,response1.Zone1Temp,response1.Zone2Temp,response1.Heater1Active,response1.Heater2Active,response1.Heater1Percentage,response1.Heater2Percentage,response1.InfoMessage));
+				stubManager.WriteLine (String.Format("Data, {0}, {1}, {2}, {3}, {4}, {5}",++i,response1.Zone1Temp,response1.Zone2Temp,response1.Heater1Percentage,response1.Heater2Percentage,response1.InfoMessage));
+                                                   	
+                                                   },0);
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Stub_scripts.rar b/Software/Stubs Collection/stubs/Stub_scripts.rar
new file mode 100644
index 000000000..8b8dd1d4d
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Stub_scripts.rar
diff --git a/Software/Stubs Collection/stubs/SystemHeatingTest.cs b/Software/Stubs Collection/stubs/SystemHeatingTest.cs
new file mode 100644
index 000000000..80a60ae79
--- /dev/null
+++ b/Software/Stubs Collection/stubs/SystemHeatingTest.cs
@@ -0,0 +1,442 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+//SystemResetRequest systemResetRequest = new SystemResetRequest();
+//var response1 = stubManager.Run<SystemResetResponse>(systemResetRequest);
+//    	stubManager.Run("StubGPIOWriteBitRequest" ,"P", 4, true);//ON
+        Thread.Sleep(10);
+//        stubManager.Run("StubGPIOWriteBitRequest" ,"P", 4, false);//OFF
+        Thread.Sleep(10);
+//    	stubManager.Run("StubGPIOWriteBitRequest" ,"P", 4, true);//ON
+/*UploadProcessParametersRequest uploadProcessParametersRequest = new UploadProcessParametersRequest();
+
+ProcessParameters processParameters = new ProcessParameters();
+processParameters.DyeingSpeed = 10;
+processParameters.MixerTemp = 0;
+processParameters.DryerBufferLength = 0;
+processParameters.MinInkUptake = 0;
+processParameters.HeadZone1Temp = 0;
+processParameters.DryerZone1Temp = 100;
+processParameters.FeederTension = 0;
+processParameters.DryerZone2Temp = 100;
+processParameters.HeadZone2Temp = 0;
+processParameters.PullerTension = 0;
+processParameters.HeadZone3Temp = 0;
+processParameters.DryerZone3Temp = 0;
+processParameters.WinderTension = 0;
+processParameters.HeadAirFlow = 0;
+processParameters.DryerAirFlow = 0;
+processParameters.TableIndex = 0;
+
+uploadProcessParametersRequest.ProcessParameters = processParameters;
+var response1 = stubManager.Run<UploadProcessParametersResponse>(uploadProcessParametersRequest);
+*/
+
+UploadHardwareConfigurationRequest uploadHardwareConfigurationRequest = new UploadHardwareConfigurationRequest();
+
+HardwareConfiguration hardwareConfiguration = new HardwareConfiguration();
+
+
+/*HardwarePidControl hardwarePidControl1 = new HardwarePidControl();
+hardwarePidControl1.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorFeeder;
+hardwarePidControl1.OutputProportionalPowerLimit = 80;
+hardwarePidControl1.OutputProportionalBand = 5;
+hardwarePidControl1.IntegralTime = 5;
+hardwarePidControl1.DerivativeTime = 0;
+hardwarePidControl1.SensorCorrectionAdjustment = 0;
+hardwarePidControl1.SensorMinValue = 0;
+hardwarePidControl1.SensorMaxValue = 0;
+hardwarePidControl1.SetPointRampRateorSoftStartRamp = 0;
+hardwarePidControl1.SetPointControlOutputRate = 4;
+hardwarePidControl1.ControlOutputType = 0;
+hardwarePidControl1.SsrControlOutputType = 0;
+hardwarePidControl1.OutputOnOffHysteresisValue = 0;
+hardwarePidControl1.ProcessVariableSamplingRate = 1000;
+hardwarePidControl1.PvInputFilterFactorMode = 4;
+hardwarePidControl1.OutputProportionalCycleTime = 0;
+hardwarePidControl1.AcHeatersHalfCycleTime = 0;
+hardwarePidControl1.ProportionalGain = 500.0;
+hardwareConfiguration.PidControls.Add(hardwarePidControl1);
+
+
+HardwarePidControl hardwarePidControl2 = new HardwarePidControl();
+hardwarePidControl2.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorPooler;
+hardwarePidControl2.OutputProportionalPowerLimit = 80;
+hardwarePidControl2.OutputProportionalBand = 5;
+hardwarePidControl2.IntegralTime = 5;
+hardwarePidControl2.DerivativeTime = 0;
+hardwarePidControl2.SensorCorrectionAdjustment = 0;
+hardwarePidControl2.SensorMinValue = 0;
+hardwarePidControl2.SensorMaxValue = 0;
+hardwarePidControl2.SetPointRampRateorSoftStartRamp = 0;
+hardwarePidControl2.SetPointControlOutputRate = 4;
+hardwarePidControl2.ControlOutputType = 0;
+hardwarePidControl2.SsrControlOutputType = 0;
+hardwarePidControl2.OutputOnOffHysteresisValue = 0;
+hardwarePidControl2.ProcessVariableSamplingRate = 1000;
+hardwarePidControl2.PvInputFilterFactorMode = 4;
+hardwarePidControl2.OutputProportionalCycleTime = 0;
+hardwarePidControl2.AcHeatersHalfCycleTime = 0;
+hardwarePidControl2.ProportionalGain = 500.0;
+hardwareConfiguration.PidControls.Add(hardwarePidControl2);
+
+
+HardwarePidControl hardwarePidControl3 = new HardwarePidControl();
+hardwarePidControl3.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorWinder;
+hardwarePidControl3.OutputProportionalPowerLimit = 80;
+hardwarePidControl3.OutputProportionalBand = 5;
+hardwarePidControl3.IntegralTime = 5;
+hardwarePidControl3.DerivativeTime = 0;
+hardwarePidControl3.SensorCorrectionAdjustment = 0;
+hardwarePidControl3.SensorMinValue = 0;
+hardwarePidControl3.SensorMaxValue = 0;
+hardwarePidControl3.SetPointRampRateorSoftStartRamp = 0;
+hardwarePidControl3.SetPointControlOutputRate = 4;
+hardwarePidControl3.ControlOutputType = 0;
+hardwarePidControl3.SsrControlOutputType = 0;
+hardwarePidControl3.OutputOnOffHysteresisValue = 0;
+hardwarePidControl3.ProcessVariableSamplingRate = 1000;
+hardwarePidControl3.PvInputFilterFactorMode = 4;
+hardwarePidControl3.OutputProportionalCycleTime = 0;
+hardwarePidControl3.AcHeatersHalfCycleTime = 0;
+hardwarePidControl3.ProportionalGain = 500.0;
+hardwareConfiguration.PidControls.Add(hardwarePidControl3);
+ HardwarePidControl Pid1 = new HardwarePidControl();
+  HardwarePidControl Pid2 = new HardwarePidControl();
+//Pid1.has_hardwarepidcontroltype = true;
+Pid1.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.DryerHeater1000W;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid1.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid1.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid1.SensorCorrectionAdjustment = 2.0;
+  //Pid1.has_ki = true;
+  Pid1.IntegralTime = 0.01;
+Pid1.OutputProportionalPowerLimit = 80;
+Pid1.OutputProportionalBand = 5;
+Pid1.IntegralTime = 5;
+Pid1.DerivativeTime = 0;
+Pid1.SensorCorrectionAdjustment = 0;
+Pid1.SensorMinValue = 0;
+Pid1.SensorMaxValue = 0;
+Pid1.SetPointRampRateorSoftStartRamp = 0;
+Pid1.SetPointControlOutputRate = 4;
+Pid1.ControlOutputType = 0;
+Pid1.SsrControlOutputType = 0;
+Pid1.OutputOnOffHysteresisValue = 0;
+Pid1.ProcessVariableSamplingRate = 1000;
+Pid1.PvInputFilterFactorMode = 4;
+Pid1.OutputProportionalCycleTime = 0;
+Pid1.AcHeatersHalfCycleTime = 0;
+Pid1.ProportionalGain = 500.0;
+hardwareConfiguration.PidControls.Add(Pid1);
+  
+  //Pid2.has_hardwarepidcontroltype = true;
+Pid2.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.DryerHeater200W1;
+  // Pid2.has_outputproportionalpowerlimit = true;
+   Pid2.OutputProportionalPowerLimit = 40;
+  // Pid2.has_outputproportionalband = true;
+   Pid2.OutputProportionalBand = 3;
+  // Pid2.has_kp = true;
+  Pid2.SensorCorrectionAdjustment = 0.5;
+  //Pid2.has_ki = true;
+  Pid2.IntegralTime = 0.1;
+Pid2.OutputProportionalPowerLimit = 80;
+Pid2.OutputProportionalBand = 5;
+Pid2.IntegralTime = 5;
+Pid2.DerivativeTime = 0;
+Pid2.SensorCorrectionAdjustment = 0;
+Pid2.SensorMinValue = 0;
+Pid2.SensorMaxValue = 0;
+Pid2.SetPointRampRateorSoftStartRamp = 0;
+Pid2.SetPointControlOutputRate = 4;
+Pid2.ControlOutputType = 0;
+Pid2.SsrControlOutputType = 0;
+Pid2.OutputOnOffHysteresisValue = 0;
+Pid2.ProcessVariableSamplingRate = 1000;
+Pid2.PvInputFilterFactorMode = 4;
+Pid2.OutputProportionalCycleTime = 0;
+Pid2.AcHeatersHalfCycleTime = 0;
+Pid2.ProportionalGain = 500.0;
+hardwareConfiguration.PidControls.Add(Pid2);
+
+*/
+ HardwarePidControl Pid3 = new HardwarePidControl();
+  HardwarePidControl Pid4 = new HardwarePidControl();
+//Pid3.has_hardwarepidcontroltype = true;
+Pid3.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ1;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid3.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid3.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid3.SensorCorrectionAdjustment = 2.0;
+  //Pid1.has_ki = true;
+  Pid3.IntegralTime = 0.01;
+Pid3.OutputProportionalPowerLimit = 80;
+Pid3.OutputProportionalBand = 5;
+Pid3.IntegralTime = 5;
+Pid3.DerivativeTime = 0;
+Pid3.SensorCorrectionAdjustment = 0;
+Pid3.SensorMinValue = 0;
+Pid3.SensorMaxValue = 0;
+Pid3.SetPointRampRateorSoftStartRamp = 0;
+Pid3.SetPointControlOutputRate = 4;
+Pid3.ControlOutputType = 0;
+Pid3.SsrControlOutputType = 0;
+Pid3.OutputOnOffHysteresisValue = 0;
+Pid3.ProcessVariableSamplingRate = 1000;
+Pid3.PvInputFilterFactorMode = 4;
+Pid3.OutputProportionalCycleTime = 0;
+Pid3.AcHeatersHalfCycleTime = 0;
+Pid3.ProportionalGain = 500.0;
+hardwareConfiguration.PidControls.Add(Pid3);
+  
+  //Pid2.has_hardwarepidcontroltype = true;
+  
+Pid4.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ2;
+  // Pid2.has_outputproportionalpowerlimit = true;
+   Pid4.OutputProportionalPowerLimit = 40;
+  // Pid2.has_outputproportionalband = true;
+   Pid4.OutputProportionalBand = 3;
+  // Pid2.has_kp = true;
+  Pid4.SensorCorrectionAdjustment = 0.5;
+  //Pid2.has_ki = true;
+  Pid4.IntegralTime = 0.1;
+
+Pid4.OutputProportionalPowerLimit = 80;
+Pid4.OutputProportionalBand = 5;
+Pid4.IntegralTime = 5;
+Pid4.DerivativeTime = 0;
+Pid4.SensorCorrectionAdjustment = 0;
+Pid4.SensorMinValue = 0;
+Pid4.SensorMaxValue = 0;
+Pid4.SetPointRampRateorSoftStartRamp = 0;
+Pid4.SetPointControlOutputRate = 4;
+Pid4.ControlOutputType = 0;
+Pid4.SsrControlOutputType = 0;
+Pid4.OutputOnOffHysteresisValue = 0;
+Pid4.ProcessVariableSamplingRate = 1000;
+Pid4.PvInputFilterFactorMode = 4;
+Pid4.OutputProportionalCycleTime = 0;
+Pid4.AcHeatersHalfCycleTime = 0;
+Pid4.ProportionalGain = 500.0;
+hardwareConfiguration.PidControls.Add(Pid4);
+ /*
+HardwarePidControl Pid5 = new HardwarePidControl();
+  HardwarePidControl Pid6 = new HardwarePidControl();
+//Pid1.has_hardwarepidcontroltype = true;
+Pid5.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ3;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid5.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid5.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid5.SensorCorrectionAdjustment = 2.0;
+  //Pid1.has_ki = true;
+  Pid5.IntegralTime = 0.01;
+hardwareConfiguration.PidControls.Add(Pid5);
+  
+  //Pid2.has_hardwarepidcontroltype = true;
+Pid6.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ4;
+  // Pid2.has_outputproportionalpowerlimit = true;
+   Pid6.OutputProportionalPowerLimit = 40;
+  // Pid2.has_outputproportionalband = true;
+   Pid6.OutputProportionalBand = 3;
+  // Pid2.has_kp = true;
+  Pid6.SensorCorrectionAdjustment = 0.5;
+  //Pid2.has_ki = true;
+  Pid6.IntegralTime = 0.1;
+hardwareConfiguration.PidControls.Add(Pid6);
+
+HardwarePidControl Pid7 = new HardwarePidControl();
+//Pid1.has_hardwarepidcontroltype = true;
+Pid7.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MixerHeater;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid7.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid7.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid7.SensorCorrectionAdjustment = 2.0;
+  //Pid1.has_ki = true;
+  Pid7.IntegralTime = 0.01;
+hardwareConfiguration.PidControls.Add(Pid7);
+
+
+HardwareDancer hardwareDancer1 = new HardwareDancer();
+hardwareDancer1.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.RightDancer;
+hardwareDancer1.Gradual = false;
+hardwareDancer1.K = 0;
+hardwareDancer1.X = 0;
+hardwareDancer1.PulsePerMmSpring = 0;
+hardwareDancer1.MaximalMovementMm = 15;
+hardwareDancer1.ZeroPoint = 10100;
+hardwareDancer1.ResolutionBits = 14;
+hardwareDancer1.ArmLength = 126;
+hardwareConfiguration.Dancers.Add(hardwareDancer1);
+
+        HardwareDancer hardwareDancer2 = new HardwareDancer();
+        hardwareDancer2.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.MiddleDancer;
+        hardwareDancer2.Gradual = false;
+        hardwareDancer2.K = 0;
+        hardwareDancer2.X = 0;
+        hardwareDancer2.PulsePerMmSpring = 0;
+        hardwareDancer2.MaximalMovementMm = 15;
+        hardwareDancer2.ZeroPoint = 6300;
+        hardwareDancer2.ResolutionBits = 14;
+        hardwareDancer2.ArmLength = 126;
+hardwareConfiguration.Dancers.Add(hardwareDancer2);
+
+        HardwareDancer hardwareDancer3 = new HardwareDancer();
+        hardwareDancer3.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.LeftDancer;
+        hardwareDancer3.Gradual = false;
+        hardwareDancer3.K = 0;
+        hardwareDancer3.X = 0;
+        hardwareDancer3.PulsePerMmSpring = 0;
+        hardwareDancer3.MaximalMovementMm = 15;
+        hardwareDancer3.ZeroPoint = 9100;
+        hardwareDancer3.ResolutionBits = 14;
+        hardwareDancer3.ArmLength = 126;
+hardwareConfiguration.Dancers.Add(hardwareDancer3);
+
+HardwareMotor hardwareMotor1 = new HardwareMotor();
+hardwareMotor1.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
+hardwareMotor1.MinFrequency = 0;
+hardwareMotor1.MaxFrequency = 30000;
+hardwareMotor1.SetMicroStep = 1;
+hardwareMotor1.MicroStep = 2;
+hardwareMotor1.MaxChangeSlope = 500;
+hardwareMotor1.HighLengthMicroSecond = 0;
+hardwareMotor1.SpeedMaster = false;
+hardwareMotor1.PulsePerRound = 200;
+hardwareMotor1.PulleyRadius = 1.3;
+hardwareMotor1.ConfigWord = 0;
+hardwareMotor1.DirectionThreadWize = true;
+hardwareMotor1.KvalHold = 0x28;
+hardwareMotor1.KvalRun = 0x5f;
+hardwareMotor1.KvalAcc = 0x5f;
+hardwareMotor1.KvalDec = 0x5f;
+hardwareMotor1.OverCurrentThreshold = 7;
+hardwareMotor1.StallThreshold = 0;
+hardwareMotor1.ThermalCompensationFactor = 0;
+hardwareMotor1.LowSpeedOptimization = false;
+hardwareMotor1.StSlp = 6;
+hardwareMotor1.IntSpd = 0x44B8;
+hardwareMotor1.FnSlpAcc = 0x14;
+hardwareMotor1.FnSlpDec = 0x14;
+hardwareConfiguration.Motors.Add(hardwareMotor1);
+
+HardwareMotor hardwareMotor2 = new HardwareMotor();
+hardwareMotor2.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoWinder;
+hardwareMotor2.MinFrequency = 0;
+hardwareMotor2.MaxFrequency = 30000;
+hardwareMotor2.SetMicroStep = 1;
+hardwareMotor2.MicroStep = 2;
+hardwareMotor2.MaxChangeSlope = 500;
+hardwareMotor2.HighLengthMicroSecond = 0;
+hardwareMotor2.SpeedMaster = false;
+hardwareMotor2.PulsePerRound = 200;
+hardwareMotor2.PulleyRadius = 1.3;
+hardwareMotor2.ConfigWord = 0;
+hardwareMotor2.DirectionThreadWize = true;
+hardwareMotor2.KvalHold = 0x28;
+hardwareMotor2.KvalRun = 0x5f;
+hardwareMotor2.KvalAcc = 0x5f;
+hardwareMotor2.KvalDec = 0x5f;
+hardwareMotor2.OverCurrentThreshold = 7;
+hardwareMotor2.StallThreshold = 0;
+hardwareMotor2.ThermalCompensationFactor = 0;
+hardwareMotor2.LowSpeedOptimization = false;
+hardwareMotor2.StSlp = 6;
+hardwareMotor2.IntSpd = 0x44B8;
+hardwareMotor2.FnSlpAcc = 0x14;
+hardwareMotor2.FnSlpDec = 0x14;
+hardwareConfiguration.Motors.Add(hardwareMotor2);
+
+/*HardwareMotor hardwareMotor3 = new HardwareMotor();
+hardwareMotor3.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryer;
+hardwareMotor3.MinFrequency = 0;
+hardwareMotor3.MaxFrequency = 6000;
+hardwareMotor3.SetMicroStep = 1;
+hardwareMotor3.MicroStep = 2;
+hardwareMotor3.MaxChangeSlope = 500;
+hardwareMotor3.HighLengthMicroSecond = 0;
+hardwareMotor3.SpeedMaster = false;
+hardwareMotor3.PulsePerRound = 200;
+hardwareMotor3.PulleyRadius = 1.3;
+hardwareMotor3.ConfigWord = 0;
+hardwareMotor3.DirectionThreadWize = true;
+hardwareMotor3.KvalHold = 0x28;
+hardwareMotor3.KvalRun = 0x5f;
+hardwareMotor3.KvalAcc = 0x5f;
+hardwareMotor3.KvalDec = 0x5f;
+hardwareMotor3.OverCurrentThreshold = 7;
+hardwareMotor3.StallThreshold = 0;
+hardwareMotor3.ThermalCompensationFactor = 0;
+hardwareMotor3.LowSpeedOptimization = false;
+hardwareMotor3.StSlp = 6;
+hardwareMotor3.IntSpd = 0x44B8;
+hardwareMotor3.FnSlpAcc = 0x14;
+hardwareMotor3.FnSlpDec = 0x14;
+hardwareConfiguration.Motors.Add(hardwareMotor3);*/
+/*
+HardwareMotor hardwareMotor4 = new HardwareMotor();
+hardwareMotor4.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLdriving;
+hardwareMotor4.MinFrequency = 0;
+hardwareMotor4.MaxFrequency = 30000;
+hardwareMotor4.SetMicroStep = 1;
+hardwareMotor4.MicroStep = 2;
+hardwareMotor4.MaxChangeSlope = 500;
+hardwareMotor4.HighLengthMicroSecond = 0;
+hardwareMotor4.SpeedMaster = false;
+hardwareMotor4.PulsePerRound = 200;
+hardwareMotor4.PulleyRadius = 1.3;
+hardwareMotor4.ConfigWord = 0;
+hardwareMotor4.DirectionThreadWize = true;
+hardwareMotor4.KvalHold = 0x28;
+hardwareMotor4.KvalRun = 0x5f;
+hardwareMotor4.KvalAcc = 0x5f;
+hardwareMotor4.KvalDec = 0x5f;
+hardwareMotor4.OverCurrentThreshold = 7;
+hardwareMotor4.StallThreshold = 0;
+hardwareMotor4.ThermalCompensationFactor = 0;
+hardwareMotor4.LowSpeedOptimization = false;
+hardwareMotor4.StSlp = 6;
+hardwareMotor4.IntSpd = 0x44B8;
+hardwareMotor4.FnSlpAcc = 0x14;
+hardwareMotor4.FnSlpDec = 0x14;
+hardwareConfiguration.Motors.Add(hardwareMotor4);
+*/
+stubManager.WriteLine("data.data length = " + hardwareConfiguration.CalculateSize());
+
+
+uploadHardwareConfigurationRequest.HardwareConfiguration = hardwareConfiguration;
+var response = stubManager.Run<UploadHardwareConfigurationResponse>(uploadHardwareConfigurationRequest);
+        Thread.Sleep(5000);
+/*
+        stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 7, false);//OFF
+        Thread.Sleep(10);
+    	stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 4, true);//ON
+        Thread.Sleep(10);
+        stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 4, false);//OFF
+        Thread.Sleep(10);
+    	stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 4, true);//ON
+
+*/
+
+}
+
diff --git a/Software/Stubs Collection/stubs/SystemTest.cs b/Software/Stubs Collection/stubs/SystemTest.cs
new file mode 100644
index 000000000..e69de29bb
--- /dev/null
+++ b/Software/Stubs Collection/stubs/SystemTest.cs
diff --git a/Software/Stubs Collection/stubs/SystemTestAdvanced.cs b/Software/Stubs Collection/stubs/SystemTestAdvanced.cs
new file mode 100644
index 000000000..cd73df65a
--- /dev/null
+++ b/Software/Stubs Collection/stubs/SystemTestAdvanced.cs
@@ -0,0 +1,525 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+//SystemResetRequest systemResetRequest = new SystemResetRequest();
+//var response1 = stubManager.Run<SystemResetResponse>(systemResetRequest);
+//    	stubManager.Run("StubGPIOWriteBitRequest" ,"P", 4, true);//ON
+        Thread.Sleep(10);
+//        stubManager.Run("StubGPIOWriteBitRequest" ,"P", 4, false);//OFF
+        Thread.Sleep(10);
+//    	stubManager.Run("StubGPIOWriteBitRequest" ,"P", 4, true);//ON
+/*UploadProcessParametersRequest uploadProcessParametersRequest = new UploadProcessParametersRequest();
+
+ProcessParameters processParameters = new ProcessParameters();
+processParameters.DyeingSpeed = 10;
+processParameters.MixerTemp = 0;
+processParameters.DryerBufferLength = 0;
+processParameters.MinInkUptake = 0;
+processParameters.HeadZone1Temp = 0;
+processParameters.DryerZone1Temp = 100;
+processParameters.FeederTension = 0;
+processParameters.DryerZone2Temp = 100;
+processParameters.HeadZone2Temp = 0;
+processParameters.PullerTension = 0;
+processParameters.HeadZone3Temp = 0;
+processParameters.DryerZone3Temp = 0;
+processParameters.WinderTension = 0;
+processParameters.HeadAirFlow = 0;
+processParameters.DryerAirFlow = 0;
+processParameters.TableIndex = 0;
+
+uploadProcessParametersRequest.ProcessParameters = processParameters;
+var response1 = stubManager.Run<UploadProcessParametersResponse>(uploadProcessParametersRequest);
+*/
+
+UploadHardwareConfigurationRequest uploadHardwareConfigurationRequest = new UploadHardwareConfigurationRequest();
+
+HardwareConfiguration hardwareConfiguration = new HardwareConfiguration();
+
+
+HardwarePidControl hardwarePidControl1 = new HardwarePidControl();
+hardwarePidControl1.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorFeeder;
+hardwarePidControl1.OutputProportionalPowerLimit = 80;
+hardwarePidControl1.OutputProportionalBand = 5;
+hardwarePidControl1.IntegralTime = 5;
+hardwarePidControl1.DerivativeTime = 0;
+hardwarePidControl1.SensorCorrectionAdjustment = 0;
+hardwarePidControl1.SensorMinValue = 0;
+hardwarePidControl1.SensorMaxValue = 0;
+hardwarePidControl1.SetPointRampRateorSoftStartRamp = 0;
+hardwarePidControl1.SetPointControlOutputRate = 4;
+hardwarePidControl1.ControlOutputType = 0;
+hardwarePidControl1.SsrControlOutputType = 0;
+hardwarePidControl1.OutputOnOffHysteresisValue = 0;
+hardwarePidControl1.ProcessVariableSamplingRate = 1000;
+hardwarePidControl1.PvInputFilterFactorMode = 4;
+hardwarePidControl1.OutputProportionalCycleTime = 0;
+hardwarePidControl1.AcHeatersHalfCycleTime = 0;
+hardwarePidControl1.ProportionalGain = 80.0;
+hardwareConfiguration.PidControls.Add(hardwarePidControl1);
+
+
+HardwarePidControl hardwarePidControl2 = new HardwarePidControl();
+hardwarePidControl2.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorPooler;
+hardwarePidControl2.OutputProportionalPowerLimit = 80;
+hardwarePidControl2.OutputProportionalBand = 5;
+hardwarePidControl2.IntegralTime = 5;
+hardwarePidControl2.DerivativeTime = 0;
+hardwarePidControl2.SensorCorrectionAdjustment = 0;
+hardwarePidControl2.SensorMinValue = 0;
+hardwarePidControl2.SensorMaxValue = 0;
+hardwarePidControl2.SetPointRampRateorSoftStartRamp = 0;
+hardwarePidControl2.SetPointControlOutputRate = 4;
+hardwarePidControl2.ControlOutputType = 0;
+hardwarePidControl2.SsrControlOutputType = 0;
+hardwarePidControl2.OutputOnOffHysteresisValue = 0;
+hardwarePidControl2.ProcessVariableSamplingRate = 1000;
+hardwarePidControl2.PvInputFilterFactorMode = 4;
+hardwarePidControl2.OutputProportionalCycleTime = 0;
+hardwarePidControl2.AcHeatersHalfCycleTime = 0;
+hardwarePidControl2.ProportionalGain = 80.0;
+hardwareConfiguration.PidControls.Add(hardwarePidControl2);
+
+
+HardwarePidControl hardwarePidControl3 = new HardwarePidControl();
+hardwarePidControl3.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorWinder;
+hardwarePidControl3.OutputProportionalPowerLimit = 80;
+hardwarePidControl3.OutputProportionalBand = 5;
+hardwarePidControl3.IntegralTime = 5;
+hardwarePidControl3.DerivativeTime = 0;
+hardwarePidControl3.SensorCorrectionAdjustment = 0;
+hardwarePidControl3.SensorMinValue = 0;
+hardwarePidControl3.SensorMaxValue = 0;
+hardwarePidControl3.SetPointRampRateorSoftStartRamp = 0;
+hardwarePidControl3.SetPointControlOutputRate = 4;
+hardwarePidControl3.ControlOutputType = 0;
+hardwarePidControl3.SsrControlOutputType = 0;
+hardwarePidControl3.OutputOnOffHysteresisValue = 0;
+hardwarePidControl3.ProcessVariableSamplingRate = 1000;
+hardwarePidControl3.PvInputFilterFactorMode = 4;
+hardwarePidControl3.OutputProportionalCycleTime = 0;
+hardwarePidControl3.AcHeatersHalfCycleTime = 0;
+hardwarePidControl3.ProportionalGain = 80.0;
+hardwareConfiguration.PidControls.Add(hardwarePidControl3);
+ HardwarePidControl Pid1 = new HardwarePidControl();
+  HardwarePidControl Pid2 = new HardwarePidControl();
+//Pid1.has_hardwarepidcontroltype = true;
+Pid1.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.DryerHeater1000W;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid1.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid1.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid1.SensorCorrectionAdjustment = 2.0;
+  //Pid1.has_ki = true;
+  Pid1.IntegralTime = 0.01;
+Pid1.OutputProportionalPowerLimit = 80;
+Pid1.OutputProportionalBand = 5;
+Pid1.IntegralTime = 5;
+Pid1.DerivativeTime = 0;
+Pid1.SensorCorrectionAdjustment = 0;
+Pid1.SensorMinValue = 0;
+Pid1.SensorMaxValue = 0;
+Pid1.SetPointRampRateorSoftStartRamp = 0;
+Pid1.SetPointControlOutputRate = 4;
+Pid1.ControlOutputType = 0;
+Pid1.SsrControlOutputType = 0;
+Pid1.OutputOnOffHysteresisValue = 0;
+Pid1.ProcessVariableSamplingRate = 1000;
+Pid1.PvInputFilterFactorMode = 4;
+Pid1.OutputProportionalCycleTime = 0;
+Pid1.AcHeatersHalfCycleTime = 0;
+Pid1.ProportionalGain = 500.0;
+//hardwareConfiguration.PidControls.Add(Pid1);
+  
+  //Pid2.has_hardwarepidcontroltype = true;
+Pid2.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.DryerHeater200W1;
+  // Pid2.has_outputproportionalpowerlimit = true;
+   Pid2.OutputProportionalPowerLimit = 40;
+  // Pid2.has_outputproportionalband = true;
+   Pid2.OutputProportionalBand = 3;
+  // Pid2.has_kp = true;
+  Pid2.SensorCorrectionAdjustment = 0.5;
+  //Pid2.has_ki = true;
+  Pid2.IntegralTime = 0.1;
+Pid2.OutputProportionalPowerLimit = 80;
+Pid2.OutputProportionalBand = 5;
+Pid2.IntegralTime = 5;
+Pid2.DerivativeTime = 0;
+Pid2.SensorCorrectionAdjustment = 0;
+Pid2.SensorMinValue = 0;
+Pid2.SensorMaxValue = 0;
+Pid2.SetPointRampRateorSoftStartRamp = 0;
+Pid2.SetPointControlOutputRate = 4;
+Pid2.ControlOutputType = 0;
+Pid2.SsrControlOutputType = 0;
+Pid2.OutputOnOffHysteresisValue = 0;
+Pid2.ProcessVariableSamplingRate = 1000;
+Pid2.PvInputFilterFactorMode = 4;
+Pid2.OutputProportionalCycleTime = 0;
+Pid2.AcHeatersHalfCycleTime = 0;
+Pid2.ProportionalGain = 500.0;
+//hardwareConfiguration.PidControls.Add(Pid2);
+
+
+ HardwarePidControl Pid3 = new HardwarePidControl();
+  HardwarePidControl Pid4 = new HardwarePidControl();
+//Pid3.has_hardwarepidcontroltype = true;
+//Pid3.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ1;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid3.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid3.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid3.SensorCorrectionAdjustment = 2.0;
+  //Pid1.has_ki = true;
+  Pid3.IntegralTime = 0.01;
+Pid3.OutputProportionalPowerLimit = 80;
+Pid3.OutputProportionalBand = 5;
+Pid3.IntegralTime = 5;
+Pid3.DerivativeTime = 0;
+Pid3.SensorCorrectionAdjustment = 0;
+Pid3.SensorMinValue = 0;
+Pid3.SensorMaxValue = 0;
+Pid3.SetPointRampRateorSoftStartRamp = 0;
+Pid3.SetPointControlOutputRate = 4;
+Pid3.ControlOutputType = 0;
+Pid3.SsrControlOutputType = 0;
+Pid3.OutputOnOffHysteresisValue = 0;
+Pid3.ProcessVariableSamplingRate = 1000;
+Pid3.PvInputFilterFactorMode = 4;
+Pid3.OutputProportionalCycleTime = 0;
+Pid3.AcHeatersHalfCycleTime = 0;
+Pid3.ProportionalGain = 500.0;
+//hardwareConfiguration.PidControls.Add(Pid3);
+  
+  //Pid2.has_hardwarepidcontroltype = true;
+  
+Pid4.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ2;
+  // Pid2.has_outputproportionalpowerlimit = true;
+   Pid4.OutputProportionalPowerLimit = 40;
+  // Pid2.has_outputproportionalband = true;
+   Pid4.OutputProportionalBand = 3;
+  // Pid2.has_kp = true;
+  Pid4.SensorCorrectionAdjustment = 0.5;
+  //Pid2.has_ki = true;
+  Pid4.IntegralTime = 0.1;
+
+Pid4.OutputProportionalPowerLimit = 80;
+Pid4.OutputProportionalBand = 5;
+Pid4.IntegralTime = 5;
+Pid4.DerivativeTime = 0;
+Pid4.SensorCorrectionAdjustment = 0;
+Pid4.SensorMinValue = 0;
+Pid4.SensorMaxValue = 0;
+Pid4.SetPointRampRateorSoftStartRamp = 0;
+Pid4.SetPointControlOutputRate = 4;
+Pid4.ControlOutputType = 0;
+Pid4.SsrControlOutputType = 0;
+Pid4.OutputOnOffHysteresisValue = 0;
+Pid4.ProcessVariableSamplingRate = 1000;
+Pid4.PvInputFilterFactorMode = 4;
+Pid4.OutputProportionalCycleTime = 0;
+Pid4.AcHeatersHalfCycleTime = 0;
+Pid4.ProportionalGain = 500.0;
+//hardwareConfiguration.PidControls.Add(Pid4);
+ 
+HardwarePidControl Pid5 = new HardwarePidControl();
+  HardwarePidControl Pid6 = new HardwarePidControl();
+//Pid1.has_hardwarepidcontroltype = true;
+Pid5.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ3;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid5.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid5.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid5.SensorCorrectionAdjustment = 2.0;
+  //Pid1.has_ki = true;
+  Pid5.IntegralTime = 0.01;
+//hardwareConfiguration.PidControls.Add(Pid5);
+  
+  //Pid2.has_hardwarepidcontroltype = true;
+Pid6.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ4;
+  // Pid2.has_outputproportionalpowerlimit = true;
+   Pid6.OutputProportionalPowerLimit = 40;
+  // Pid2.has_outputproportionalband = true;
+   Pid6.OutputProportionalBand = 3;
+  // Pid2.has_kp = true;
+  Pid6.SensorCorrectionAdjustment = 0.5;
+  //Pid2.has_ki = true;
+  Pid6.IntegralTime = 0.1;
+//hardwareConfiguration.PidControls.Add(Pid6);
+
+HardwarePidControl Pid7 = new HardwarePidControl();
+//Pid1.has_hardwarepidcontroltype = true;
+Pid7.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MixerHeater;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid7.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid7.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid7.SensorCorrectionAdjustment = 2.0;
+  //Pid1.has_ki = true;
+  Pid7.IntegralTime = 0.01;
+//hardwareConfiguration.PidControls.Add(Pid7);
+
+
+HardwareDancer hardwareDancer1 = new HardwareDancer();
+hardwareDancer1.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.RightDancer;
+hardwareDancer1.Gradual = false;
+hardwareDancer1.K = 0;
+hardwareDancer1.X = 0;
+hardwareDancer1.PulsePerMmSpring = 0;
+hardwareDancer1.MaximalMovementMm = 15;
+hardwareDancer1.ZeroPoint = 11156;
+hardwareDancer1.ResolutionBits = 14;
+hardwareDancer1.ArmLength = 126;
+hardwareConfiguration.Dancers.Add(hardwareDancer1);
+
+        HardwareDancer hardwareDancer2 = new HardwareDancer();
+        hardwareDancer2.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.MiddleDancer;
+        hardwareDancer2.Gradual = false;
+        hardwareDancer2.K = 0;
+        hardwareDancer2.X = 0;
+        hardwareDancer2.PulsePerMmSpring = 0;
+        hardwareDancer2.MaximalMovementMm = 15;
+        hardwareDancer2.ZeroPoint = 13200;
+        hardwareDancer2.ResolutionBits = 14;
+        hardwareDancer2.ArmLength = 126;
+hardwareConfiguration.Dancers.Add(hardwareDancer2);
+
+        HardwareDancer hardwareDancer3 = new HardwareDancer();
+        hardwareDancer3.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.LeftDancer;
+        hardwareDancer3.Gradual = false;
+        hardwareDancer3.K = 0;
+        hardwareDancer3.X = 0;
+        hardwareDancer3.PulsePerMmSpring = 0;
+        hardwareDancer3.MaximalMovementMm = 15;
+        hardwareDancer3.ZeroPoint = 14307;
+        hardwareDancer3.ResolutionBits = 14;
+        hardwareDancer3.ArmLength = 126;
+hardwareConfiguration.Dancers.Add(hardwareDancer3);
+
+HardwareMotor hardwareMotor1 = new HardwareMotor();
+hardwareMotor1.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
+hardwareMotor1.MinFrequency = 0;
+hardwareMotor1.MaxFrequency = 1000000;
+hardwareMotor1.SetMicroStep = 1;
+hardwareMotor1.MicroStep = 1;
+hardwareMotor1.MaxChangeSlope = 10000;
+hardwareMotor1.HighLengthMicroSecond = 0;
+hardwareMotor1.SpeedMaster = false;
+hardwareMotor1.PulsePerRound = 200;
+hardwareMotor1.PulleyRadius = 1.3;
+hardwareMotor1.ConfigWord = 0;
+hardwareMotor1.DirectionThreadWize = true;
+hardwareMotor1.KvalHold = 0x35;
+hardwareMotor1.KvalRun = 0x7f;
+hardwareMotor1.KvalAcc = 0x7f;
+hardwareMotor1.KvalDec = 0x7f;
+hardwareMotor1.OverCurrentThreshold = 7;
+hardwareMotor1.StallThreshold = 0x1F;
+hardwareMotor1.ThermalCompensationFactor = 0;
+hardwareMotor1.LowSpeedOptimization = false;
+hardwareMotor1.StSlp = 0x20;
+hardwareMotor1.IntSpd = 0x1A13;
+hardwareMotor1.FnSlpAcc = 0x50;
+hardwareMotor1.FnSlpDec = 0x50;
+hardwareConfiguration.Motors.Add(hardwareMotor1);
+
+HardwareMotor hardwareMotor2 = new HardwareMotor();
+hardwareMotor2.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoWinder;
+hardwareMotor2.MinFrequency = 0;
+hardwareMotor2.MaxFrequency = 1000000;
+hardwareMotor2.SetMicroStep = 1;
+hardwareMotor2.MicroStep = 16;
+hardwareMotor2.MaxChangeSlope = 10000;
+hardwareMotor2.HighLengthMicroSecond = 0;
+hardwareMotor2.SpeedMaster = false;
+hardwareMotor2.PulsePerRound = 200;
+hardwareMotor2.PulleyRadius = 1.68;
+hardwareMotor2.ConfigWord = 0x1c80;
+hardwareMotor2.DirectionThreadWize = false;
+hardwareMotor2.KvalHold = 0x35;
+hardwareMotor2.KvalRun = 0x7f;
+hardwareMotor2.KvalAcc = 0x7f;
+hardwareMotor2.KvalDec = 0x7f;
+hardwareMotor2.OverCurrentThreshold = 7;
+hardwareMotor2.StallThreshold = 0x1F;
+hardwareMotor2.ThermalCompensationFactor = 0;
+hardwareMotor2.LowSpeedOptimization = false;
+hardwareMotor2.StSlp = 0x20;
+hardwareMotor2.IntSpd = 0x1A13;
+hardwareMotor2.FnSlpAcc = 0x50;
+hardwareMotor2.FnSlpDec = 0x50;
+hardwareConfiguration.Motors.Add(hardwareMotor2);
+
+HardwareMotor hardwareMotor3 = new HardwareMotor();
+hardwareMotor3.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
+hardwareMotor3.MinFrequency = 0;
+hardwareMotor3.MaxFrequency = 1000000;
+hardwareMotor3.SetMicroStep = 1;
+hardwareMotor3.MicroStep = 1;
+hardwareMotor3.MaxChangeSlope = 1000;
+hardwareMotor3.HighLengthMicroSecond = 0;
+hardwareMotor3.SpeedMaster = true;
+hardwareMotor3.PulsePerRound = 200;
+hardwareMotor3.PulleyRadius = 1.3;
+hardwareMotor3.ConfigWord = 0x1c80;
+hardwareMotor3.DirectionThreadWize = true;
+hardwareMotor3.KvalHold = 0x35;
+hardwareMotor3.KvalRun = 0x7f;
+hardwareMotor3.KvalAcc = 0x7f;
+hardwareMotor3.KvalDec = 0x7f;
+hardwareMotor3.OverCurrentThreshold = 7;
+hardwareMotor3.StallThreshold = 0x1F;
+hardwareMotor3.ThermalCompensationFactor = 0;
+hardwareMotor3.LowSpeedOptimization = false;
+hardwareMotor3.StSlp = 0x20;
+hardwareMotor3.IntSpd = 0x1A13;
+hardwareMotor3.FnSlpAcc = 0x50;
+hardwareMotor3.FnSlpDec = 0x50;
+hardwareConfiguration.Motors.Add(hardwareMotor3);
+
+HardwareMotor hardwareMotor4 = new HardwareMotor();
+hardwareMotor4.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLdriving;
+hardwareMotor4.MinFrequency = 0;
+hardwareMotor4.MaxFrequency = 1000000;
+hardwareMotor4.SetMicroStep = 1;
+hardwareMotor4.MicroStep = 8;
+hardwareMotor4.MaxChangeSlope = 10000;
+hardwareMotor4.HighLengthMicroSecond = 0;
+hardwareMotor4.SpeedMaster = false;
+hardwareMotor4.PulsePerRound = 200;
+hardwareMotor4.PulleyRadius = 1.3;
+hardwareMotor4.ConfigWord = 0x1C80;
+hardwareMotor4.DirectionThreadWize = true;
+hardwareMotor4.KvalHold = 0x35;
+hardwareMotor4.KvalRun = 0x7f;
+hardwareMotor4.KvalAcc = 0x7f;
+hardwareMotor4.KvalDec = 0x7f;
+hardwareMotor4.OverCurrentThreshold = 7;
+hardwareMotor4.StallThreshold = 0x1F;
+hardwareMotor4.ThermalCompensationFactor = 0;
+hardwareMotor4.LowSpeedOptimization = false;
+hardwareMotor4.StSlp = 20;
+hardwareMotor4.IntSpd = 0x1A13;
+hardwareMotor4.FnSlpAcc = 0x50;
+hardwareMotor4.FnSlpDec = 0x50;
+hardwareConfiguration.Motors.Add(hardwareMotor4);
+
+
+HardwareMotor hardwareMotor5 = new HardwareMotor();
+hardwareMotor5.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoScrew;
+hardwareMotor5.MinFrequency = 0;
+hardwareMotor5.MaxFrequency = 1000000;
+hardwareMotor5.SetMicroStep = 1;
+hardwareMotor5.MicroStep = 8;
+hardwareMotor5.MaxChangeSlope = 10000;
+hardwareMotor5.HighLengthMicroSecond = 0;
+hardwareMotor5.SpeedMaster = false;
+hardwareMotor5.PulsePerRound = 200;
+hardwareMotor5.PulleyRadius = 1.3;
+hardwareMotor5.ConfigWord = 0x1C80;
+hardwareMotor5.DirectionThreadWize = true;
+hardwareMotor5.KvalHold = 0x35;
+hardwareMotor5.KvalRun = 0x7f;
+hardwareMotor5.KvalAcc = 0x7f;
+hardwareMotor5.KvalDec = 0x7f;
+hardwareMotor5.OverCurrentThreshold = 7;
+hardwareMotor5.StallThreshold = 0x1F;
+hardwareMotor5.ThermalCompensationFactor = 0;
+hardwareMotor5.LowSpeedOptimization = false;
+hardwareMotor5.StSlp = 0x20;
+hardwareMotor5.IntSpd = 0x1A13;
+hardwareMotor5.FnSlpAcc = 0x50;
+hardwareMotor5.FnSlpDec = 0x50;
+hardwareConfiguration.Motors.Add(hardwareMotor5);
+
+HardwareMotor hardwareMotor6 = new HardwareMotor();
+hardwareMotor6.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLloading;
+hardwareMotor6.MinFrequency = 0;
+hardwareMotor6.MaxFrequency = 1000000;
+hardwareMotor6.SetMicroStep = 1;
+hardwareMotor6.MicroStep = 4;
+hardwareMotor6.MaxChangeSlope = 10000;
+hardwareMotor6.HighLengthMicroSecond = 0;
+hardwareMotor6.SpeedMaster = false;
+hardwareMotor6.PulsePerRound = 200;
+hardwareMotor6.PulleyRadius = 1.3;
+hardwareMotor6.ConfigWord = 0xC80;
+hardwareMotor6.DirectionThreadWize = true;
+hardwareMotor6.KvalHold = 0x28;
+hardwareMotor6.KvalRun = 0x5f;
+hardwareMotor6.KvalAcc = 0x5f;
+hardwareMotor6.KvalDec = 0x5f;
+hardwareMotor6.OverCurrentThreshold = 7;
+hardwareMotor6.StallThreshold = 0x1F;
+hardwareMotor6.ThermalCompensationFactor = 0;
+hardwareMotor6.LowSpeedOptimization = false;
+hardwareMotor6.StSlp = 6;
+hardwareMotor6.IntSpd = 0x44B8;
+hardwareMotor6.FnSlpAcc = 0x14;
+hardwareMotor6.FnSlpDec = 0x14;
+hardwareConfiguration.Motors.Add(hardwareMotor6);
+
+HardwareMotor hardwareMotor7 = new HardwareMotor();
+hardwareMotor7.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRloading;
+hardwareMotor7.MinFrequency = 0;
+hardwareMotor7.MaxFrequency = 1000000;
+hardwareMotor7.SetMicroStep = 1;
+hardwareMotor7.MicroStep = 4;
+hardwareMotor7.MaxChangeSlope = 10000;
+hardwareMotor7.HighLengthMicroSecond = 0;
+hardwareMotor7.SpeedMaster = false;
+hardwareMotor7.PulsePerRound = 200;
+hardwareMotor7.PulleyRadius = 1.3;
+hardwareMotor7.ConfigWord = 0xC80;
+hardwareMotor7.DirectionThreadWize = true;
+hardwareMotor7.KvalHold = 0x28;
+hardwareMotor7.KvalRun = 0x5f;
+hardwareMotor7.KvalAcc = 0x5f;
+hardwareMotor7.KvalDec = 0x5f;
+hardwareMotor7.OverCurrentThreshold = 7;
+hardwareMotor7.StallThreshold = 0x1F;
+hardwareMotor7.ThermalCompensationFactor = 0;
+hardwareMotor7.LowSpeedOptimization = false;
+hardwareMotor7.StSlp = 6;
+hardwareMotor7.IntSpd = 0x44B8;
+hardwareMotor7.FnSlpAcc = 0x14;
+hardwareMotor7.FnSlpDec = 0x14;
+hardwareConfiguration.Motors.Add(hardwareMotor7);
+
+stubManager.WriteLine("data.data length = " + hardwareConfiguration.CalculateSize());
+
+
+uploadHardwareConfigurationRequest.HardwareConfiguration = hardwareConfiguration;
+var response = stubManager.Run<UploadHardwareConfigurationResponse>(uploadHardwareConfigurationRequest);
+        /*Thread.Sleep(5000);
+
+        stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 7, false);//OFF
+        Thread.Sleep(10);
+    	stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 4, true);//ON
+        Thread.Sleep(10);
+        stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 4, false);//OFF
+        Thread.Sleep(10);
+    	stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 4, true);//ON
+
+*/
+
+
+}
+
diff --git a/Software/Stubs Collection/stubs/SystemTestAdvanced1.cs b/Software/Stubs Collection/stubs/SystemTestAdvanced1.cs
new file mode 100644
index 000000000..adf20472e
--- /dev/null
+++ b/Software/Stubs Collection/stubs/SystemTestAdvanced1.cs
@@ -0,0 +1,559 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+//SystemResetRequest systemResetRequest = new SystemResetRequest();
+//var response1 = stubManager.Run<SystemResetResponse>(systemResetRequest);
+//    	stubManager.Run("StubGPIOWriteBitRequest" ,"P", 4, true);//ON
+        Thread.Sleep(10);
+//        stubManager.Run("StubGPIOWriteBitRequest" ,"P", 4, false);//OFF
+        Thread.Sleep(10);
+//    	stubManager.Run("StubGPIOWriteBitRequest" ,"P", 4, true);//ON
+/*UploadProcessParametersRequest uploadProcessParametersRequest = new UploadProcessParametersRequest();
+
+ProcessParameters processParameters = new ProcessParameters();
+processParameters.DyeingSpeed = 10;
+processParameters.MixerTemp = 0;
+processParameters.DryerBufferLength = 0;
+processParameters.MinInkUptake = 0;
+processParameters.HeadZone1Temp = 0;
+processParameters.DryerZone1Temp = 100;
+processParameters.FeederTension = 0;
+processParameters.DryerZone2Temp = 100;
+processParameters.HeadZone2Temp = 0;
+processParameters.PullerTension = 0;
+processParameters.HeadZone3Temp = 0;
+processParameters.DryerZone3Temp = 0;
+processParameters.WinderTension = 0;
+processParameters.HeadAirFlow = 0;
+processParameters.DryerAirFlow = 0;
+processParameters.TableIndex = 0;
+
+uploadProcessParametersRequest.ProcessParameters = processParameters;
+var response1 = stubManager.Run<UploadProcessParametersResponse>(uploadProcessParametersRequest);
+*/
+
+UploadHardwareConfigurationRequest uploadHardwareConfigurationRequest = new UploadHardwareConfigurationRequest();
+
+HardwareConfiguration hardwareConfiguration = new HardwareConfiguration();
+
+
+HardwarePidControl hardwarePidControl1 = new HardwarePidControl();
+hardwarePidControl1.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorFeeder;
+hardwarePidControl1.OutputProportionalPowerLimit = 80;
+hardwarePidControl1.OutputProportionalBand = 5;
+hardwarePidControl1.IntegralTime = 5;
+hardwarePidControl1.DerivativeTime = 0;
+hardwarePidControl1.SensorCorrectionAdjustment = 0;
+hardwarePidControl1.SensorMinValue = 0;
+hardwarePidControl1.SensorMaxValue = 0;
+hardwarePidControl1.SetPointRampRateorSoftStartRamp = 0;
+hardwarePidControl1.SetPointControlOutputRate = 4;
+hardwarePidControl1.ControlOutputType = 0;
+hardwarePidControl1.SsrControlOutputType = 0;
+hardwarePidControl1.OutputOnOffHysteresisValue = 0;
+hardwarePidControl1.ProcessVariableSamplingRate = 1000;
+hardwarePidControl1.PvInputFilterFactorMode = 4;
+hardwarePidControl1.OutputProportionalCycleTime = 0;
+hardwarePidControl1.AcHeatersHalfCycleTime = 0;
+hardwarePidControl1.ProportionalGain = 11.0;
+hardwareConfiguration.PidControls.Add(hardwarePidControl1);
+
+
+HardwarePidControl hardwarePidControl2 = new HardwarePidControl();
+hardwarePidControl2.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorPooler;
+hardwarePidControl2.OutputProportionalPowerLimit = 80;
+hardwarePidControl2.OutputProportionalBand = 5;
+hardwarePidControl2.IntegralTime = 5;
+hardwarePidControl2.DerivativeTime = 0;
+hardwarePidControl2.SensorCorrectionAdjustment = 0;
+hardwarePidControl2.SensorMinValue = 0;
+hardwarePidControl2.SensorMaxValue = 0;
+hardwarePidControl2.SetPointRampRateorSoftStartRamp = 0;
+hardwarePidControl2.SetPointControlOutputRate = 4;
+hardwarePidControl2.ControlOutputType = 0;
+hardwarePidControl2.SsrControlOutputType = 0;
+hardwarePidControl2.OutputOnOffHysteresisValue = 0;
+hardwarePidControl2.ProcessVariableSamplingRate = 1000;
+hardwarePidControl2.PvInputFilterFactorMode = 4;
+hardwarePidControl2.OutputProportionalCycleTime = 0;
+hardwarePidControl2.AcHeatersHalfCycleTime = 0;
+hardwarePidControl2.ProportionalGain = 11.0;
+hardwareConfiguration.PidControls.Add(hardwarePidControl2);
+
+
+HardwarePidControl hardwarePidControl3 = new HardwarePidControl();
+hardwarePidControl3.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorWinder;
+hardwarePidControl3.OutputProportionalPowerLimit = 80;
+hardwarePidControl3.OutputProportionalBand = 5;
+hardwarePidControl3.IntegralTime = 5;
+hardwarePidControl3.DerivativeTime = 0;
+hardwarePidControl3.SensorCorrectionAdjustment = 0;
+hardwarePidControl3.SensorMinValue = 0;
+hardwarePidControl3.SensorMaxValue = 0;
+hardwarePidControl3.SetPointRampRateorSoftStartRamp = 0;
+hardwarePidControl3.SetPointControlOutputRate = 4;
+hardwarePidControl3.ControlOutputType = 0;
+hardwarePidControl3.SsrControlOutputType = 0;
+hardwarePidControl3.OutputOnOffHysteresisValue = 0;
+hardwarePidControl3.ProcessVariableSamplingRate = 1000;
+hardwarePidControl3.PvInputFilterFactorMode = 4;
+hardwarePidControl3.OutputProportionalCycleTime = 0;
+hardwarePidControl3.AcHeatersHalfCycleTime = 0;
+hardwarePidControl3.ProportionalGain = 11.0;
+hardwareConfiguration.PidControls.Add(hardwarePidControl3);
+ HardwarePidControl Pid1 = new HardwarePidControl();
+  HardwarePidControl Pid2 = new HardwarePidControl();
+//Pid1.has_hardwarepidcontroltype = true;
+/*Pid1.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.DryerHeater1000W;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid1.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid1.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid1.SensorCorrectionAdjustment = 2.0;
+  //Pid1.has_ki = true;
+  Pid1.IntegralTime = 0.01;
+Pid1.OutputProportionalPowerLimit = 80;
+Pid1.OutputProportionalBand = 5;
+Pid1.IntegralTime = 5;
+Pid1.DerivativeTime = 0;
+Pid1.SensorCorrectionAdjustment = 0;
+Pid1.SensorMinValue = 0;
+Pid1.SensorMaxValue = 0;
+Pid1.SetPointRampRateorSoftStartRamp = 0;
+Pid1.SetPointControlOutputRate = 4;
+Pid1.ControlOutputType = 0;
+Pid1.SsrControlOutputType = 0;
+Pid1.OutputOnOffHysteresisValue = 0;
+Pid1.ProcessVariableSamplingRate = 1000;
+Pid1.PvInputFilterFactorMode = 4;
+Pid1.OutputProportionalCycleTime = 0;
+Pid1.AcHeatersHalfCycleTime = 0;
+Pid1.ProportionalGain = 500.0;
+//hardwareConfiguration.PidControls.Add(Pid1);
+  
+  //Pid2.has_hardwarepidcontroltype = true;
+Pid2.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.DryerHeater200W1;
+  // Pid2.has_outputproportionalpowerlimit = true;
+   Pid2.OutputProportionalPowerLimit = 40;
+  // Pid2.has_outputproportionalband = true;
+   Pid2.OutputProportionalBand = 3;
+  // Pid2.has_kp = true;
+  Pid2.SensorCorrectionAdjustment = 0.5;
+  //Pid2.has_ki = true;
+  Pid2.IntegralTime = 0.1;
+Pid2.OutputProportionalPowerLimit = 80;
+Pid2.OutputProportionalBand = 5;
+Pid2.IntegralTime = 5;
+Pid2.DerivativeTime = 0;
+Pid2.SensorCorrectionAdjustment = 0;
+Pid2.SensorMinValue = 0;
+Pid2.SensorMaxValue = 0;
+Pid2.SetPointRampRateorSoftStartRamp = 0;
+Pid2.SetPointControlOutputRate = 4;
+Pid2.ControlOutputType = 0;
+Pid2.SsrControlOutputType = 0;
+Pid2.OutputOnOffHysteresisValue = 0;
+Pid2.ProcessVariableSamplingRate = 1000;
+Pid2.PvInputFilterFactorMode = 4;
+Pid2.OutputProportionalCycleTime = 0;
+Pid2.AcHeatersHalfCycleTime = 0;
+Pid2.ProportionalGain = 500.0;
+//hardwareConfiguration.PidControls.Add(Pid2);
+*/
+/*
+ HardwarePidControl Pid3 = new HardwarePidControl();
+  HardwarePidControl Pid4 = new HardwarePidControl();
+//Pid3.has_hardwarepidcontroltype = true;
+Pid3.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ1;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid3.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid3.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid3.SensorCorrectionAdjustment = 2.0;
+  //Pid1.has_ki = true;
+  Pid3.IntegralTime = 0.01;
+Pid3.OutputProportionalPowerLimit = 80;
+Pid3.OutputProportionalBand = 5;
+Pid3.IntegralTime = 5;
+Pid3.DerivativeTime = 0;
+Pid3.SensorCorrectionAdjustment = 0;
+Pid3.SensorMinValue = 0;
+Pid3.SensorMaxValue = 0;
+Pid3.SetPointRampRateorSoftStartRamp = 0;
+Pid3.SetPointControlOutputRate = 4;
+Pid3.ControlOutputType = 0;
+Pid3.SsrControlOutputType = 0;
+Pid3.OutputOnOffHysteresisValue = 0;
+Pid3.ProcessVariableSamplingRate = 1000;
+Pid3.PvInputFilterFactorMode = 4;
+Pid3.OutputProportionalCycleTime = 0;
+Pid3.AcHeatersHalfCycleTime = 0;
+Pid3.ProportionalGain = 500.0;
+hardwareConfiguration.PidControls.Add(Pid3);
+  
+  //Pid2.has_hardwarepidcontroltype = true;
+  
+Pid4.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ2;
+  // Pid2.has_outputproportionalpowerlimit = true;
+   Pid4.OutputProportionalPowerLimit = 40;
+  // Pid2.has_outputproportionalband = true;
+   Pid4.OutputProportionalBand = 3;
+  // Pid2.has_kp = true;
+  Pid4.SensorCorrectionAdjustment = 0.5;
+  //Pid2.has_ki = true;
+  Pid4.IntegralTime = 0.1;
+
+Pid4.OutputProportionalPowerLimit = 80;
+Pid4.OutputProportionalBand = 5;
+Pid4.IntegralTime = 5;
+Pid4.DerivativeTime = 0;
+Pid4.SensorCorrectionAdjustment = 0;
+Pid4.SensorMinValue = 0;
+Pid4.SensorMaxValue = 0;
+Pid4.SetPointRampRateorSoftStartRamp = 0;
+Pid4.SetPointControlOutputRate = 4;
+Pid4.ControlOutputType = 0;
+Pid4.SsrControlOutputType = 0;
+Pid4.OutputOnOffHysteresisValue = 0;
+Pid4.ProcessVariableSamplingRate = 1000;
+Pid4.PvInputFilterFactorMode = 4;
+Pid4.OutputProportionalCycleTime = 0;
+Pid4.AcHeatersHalfCycleTime = 0;
+Pid4.ProportionalGain = 500.0;
+hardwareConfiguration.PidControls.Add(Pid4);
+ 
+HardwarePidControl Pid5 = new HardwarePidControl();
+  HardwarePidControl Pid6 = new HardwarePidControl();
+//Pid1.has_hardwarepidcontroltype = true;
+Pid5.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ3;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid5.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid5.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid5.SensorCorrectionAdjustment = 2.0;
+  //Pid1.has_ki = true;
+  Pid5.IntegralTime = 0.01;
+Pid5.OutputProportionalPowerLimit = 80;
+Pid5.OutputProportionalBand = 5;
+Pid5.IntegralTime = 5;
+Pid5.DerivativeTime = 0;
+Pid5.SensorCorrectionAdjustment = 0;
+Pid5.SensorMinValue = 0;
+Pid5.SensorMaxValue = 0;
+Pid5.SetPointRampRateorSoftStartRamp = 0;
+Pid5.SetPointControlOutputRate = 4;
+Pid5.ControlOutputType = 0;
+Pid5.SsrControlOutputType = 0;
+Pid5.OutputOnOffHysteresisValue = 0;
+Pid5.ProcessVariableSamplingRate = 1000;
+Pid5.PvInputFilterFactorMode = 4;
+Pid5.OutputProportionalCycleTime = 0;
+Pid5.AcHeatersHalfCycleTime = 0;
+Pid5.ProportionalGain = 500.0;
+hardwareConfiguration.PidControls.Add(Pid5);
+  
+  //Pid2.has_hardwarepidcontroltype = true;
+Pid6.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ4;
+  // Pid2.has_outputproportionalpowerlimit = true;
+   Pid6.OutputProportionalPowerLimit = 40;
+  // Pid2.has_outputproportionalband = true;
+   Pid6.OutputProportionalBand = 3;
+  // Pid2.has_kp = true;
+  Pid6.SensorCorrectionAdjustment = 0.5;
+  //Pid2.has_ki = true;
+  Pid6.IntegralTime = 0.1;
+Pid6.OutputProportionalPowerLimit = 80;
+Pid6.OutputProportionalBand = 5;
+Pid6.IntegralTime = 5;
+Pid6.DerivativeTime = 0;
+Pid6.SensorCorrectionAdjustment = 0;
+Pid6.SensorMinValue = 0;
+Pid6.SensorMaxValue = 0;
+Pid6.SetPointRampRateorSoftStartRamp = 0;
+Pid6.SetPointControlOutputRate = 4;
+Pid6.ControlOutputType = 0;
+Pid6.SsrControlOutputType = 0;
+Pid6.OutputOnOffHysteresisValue = 0;
+Pid6.ProcessVariableSamplingRate = 1000;
+Pid6.PvInputFilterFactorMode = 4;
+Pid6.OutputProportionalCycleTime = 0;
+Pid6.AcHeatersHalfCycleTime = 0;
+Pid6.ProportionalGain = 500.0;
+hardwareConfiguration.PidControls.Add(Pid6);
+/*
+HardwarePidControl Pid7 = new HardwarePidControl();
+//Pid1.has_hardwarepidcontroltype = true;
+Pid7.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MixerHeater;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid7.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid7.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid7.SensorCorrectionAdjustment = 2.0;
+  //Pid1.has_ki = true;
+  Pid7.IntegralTime = 0.01;
+//hardwareConfiguration.PidControls.Add(Pid7);
+*/
+
+HardwareDancer hardwareDancer1 = new HardwareDancer();
+hardwareDancer1.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.RightDancer;
+hardwareDancer1.Gradual = false;
+hardwareDancer1.K = 0;
+hardwareDancer1.X = 0;
+hardwareDancer1.PulsePerMmSpring = 0;
+hardwareDancer1.MaximalMovementMm = 15;
+hardwareDancer1.ZeroPoint = 13626;
+hardwareDancer1.ResolutionBits = 14;
+hardwareDancer1.ArmLength = 126;
+hardwareConfiguration.Dancers.Add(hardwareDancer1);
+
+        HardwareDancer hardwareDancer2 = new HardwareDancer();
+        hardwareDancer2.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.MiddleDancer;
+        hardwareDancer2.Gradual = false;
+        hardwareDancer2.K = 0;
+        hardwareDancer2.X = 0;
+        hardwareDancer2.PulsePerMmSpring = 0;
+        hardwareDancer2.MaximalMovementMm = 15;
+        hardwareDancer2.ZeroPoint = 13200;
+        hardwareDancer2.ResolutionBits = 14;
+        hardwareDancer2.ArmLength = 126;
+hardwareConfiguration.Dancers.Add(hardwareDancer2);
+
+        HardwareDancer hardwareDancer3 = new HardwareDancer();
+        hardwareDancer3.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.LeftDancer;
+        hardwareDancer3.Gradual = false;
+        hardwareDancer3.K = 0;
+        hardwareDancer3.X = 0;
+        hardwareDancer3.PulsePerMmSpring = 0;
+        hardwareDancer3.MaximalMovementMm = 15;
+        hardwareDancer3.ZeroPoint = 11097;
+        hardwareDancer3.ResolutionBits = 14;
+        hardwareDancer3.ArmLength = 126;
+hardwareConfiguration.Dancers.Add(hardwareDancer3);
+
+HardwareMotor hardwareMotor1 = new HardwareMotor();
+hardwareMotor1.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
+hardwareMotor1.MinFrequency = 0;
+hardwareMotor1.MaxFrequency = 1000000;
+hardwareMotor1.SetMicroStep = 1;
+hardwareMotor1.MicroStep = 1;
+hardwareMotor1.MaxChangeSlope = 10000;
+hardwareMotor1.HighLengthMicroSecond = 0;
+hardwareMotor1.SpeedMaster = false;
+hardwareMotor1.PulsePerRound = 200;
+hardwareMotor1.PulleyRadius = 1.25;
+hardwareMotor1.ConfigWord = 0x1C80;
+hardwareMotor1.DirectionThreadWize = true;
+hardwareMotor1.KvalHold = 0x35;
+hardwareMotor1.KvalRun = 0x7f;
+hardwareMotor1.KvalAcc = 0x7f;
+hardwareMotor1.KvalDec = 0x7f;
+hardwareMotor1.OverCurrentThreshold = 7;
+hardwareMotor1.StallThreshold = 0x1F;
+hardwareMotor1.ThermalCompensationFactor = 0;
+hardwareMotor1.LowSpeedOptimization = false;
+hardwareMotor1.StSlp = 0x20;
+hardwareMotor1.IntSpd = 0x1A13;
+hardwareMotor1.FnSlpAcc = 0x50;
+hardwareMotor1.FnSlpDec = 0x50;
+hardwareConfiguration.Motors.Add(hardwareMotor1);
+
+HardwareMotor hardwareMotor2 = new HardwareMotor();
+hardwareMotor2.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoWinder;
+hardwareMotor2.MinFrequency = 0;
+hardwareMotor2.MaxFrequency = 1000000;
+hardwareMotor2.SetMicroStep = 1;
+hardwareMotor2.MicroStep = 16;
+hardwareMotor2.MaxChangeSlope = 10000;
+hardwareMotor2.HighLengthMicroSecond = 0;
+hardwareMotor2.SpeedMaster = false;
+hardwareMotor2.PulsePerRound = 200;
+hardwareMotor2.PulleyRadius = 1.68;
+hardwareMotor2.ConfigWord = 0x1c80;
+hardwareMotor2.DirectionThreadWize = false;
+hardwareMotor2.KvalHold = 0x35;
+hardwareMotor2.KvalRun = 0x7f;
+hardwareMotor2.KvalAcc = 0x7f;
+hardwareMotor2.KvalDec = 0x7f;
+hardwareMotor2.OverCurrentThreshold = 7;
+hardwareMotor2.StallThreshold = 0x1F;
+hardwareMotor2.ThermalCompensationFactor = 0;
+hardwareMotor2.LowSpeedOptimization = false;
+hardwareMotor2.StSlp = 0x20;
+hardwareMotor2.IntSpd = 0x1A13;
+hardwareMotor2.FnSlpAcc = 0x50;
+hardwareMotor2.FnSlpDec = 0x50;
+hardwareConfiguration.Motors.Add(hardwareMotor2);
+
+HardwareMotor hardwareMotor3 = new HardwareMotor();
+hardwareMotor3.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
+hardwareMotor3.MinFrequency = 0;
+hardwareMotor3.MaxFrequency = 1000000;
+hardwareMotor3.SetMicroStep = 1;
+hardwareMotor3.MicroStep = 1;
+hardwareMotor3.MaxChangeSlope = 1000;
+hardwareMotor3.HighLengthMicroSecond = 0;
+hardwareMotor3.SpeedMaster = true;
+hardwareMotor3.PulsePerRound = 200;
+hardwareMotor3.PulleyRadius = 1.05;
+hardwareMotor3.ConfigWord = 0x1c80;
+hardwareMotor3.DirectionThreadWize = true;
+hardwareMotor3.KvalHold = 0x35;
+hardwareMotor3.KvalRun = 0x7f;
+hardwareMotor3.KvalAcc = 0x7f;
+hardwareMotor3.KvalDec = 0x7f;
+hardwareMotor3.OverCurrentThreshold = 7;
+hardwareMotor3.StallThreshold = 0x1F;
+hardwareMotor3.ThermalCompensationFactor = 0;
+hardwareMotor3.LowSpeedOptimization = false;
+hardwareMotor3.StSlp = 0x20;
+hardwareMotor3.IntSpd = 0x1A13;
+hardwareMotor3.FnSlpAcc = 0x50;
+hardwareMotor3.FnSlpDec = 0x50;
+hardwareConfiguration.Motors.Add(hardwareMotor3);
+
+HardwareMotor hardwareMotor4 = new HardwareMotor();
+hardwareMotor4.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLdriving;
+hardwareMotor4.MinFrequency = 0;
+hardwareMotor4.MaxFrequency = 1000000;
+hardwareMotor4.SetMicroStep = 1;
+hardwareMotor4.MicroStep = 8;
+hardwareMotor4.MaxChangeSlope = 10000;
+hardwareMotor4.HighLengthMicroSecond = 0;
+hardwareMotor4.SpeedMaster = false;
+hardwareMotor4.PulsePerRound = 200;
+hardwareMotor4.PulleyRadius = 1.25;
+hardwareMotor4.ConfigWord = 0x1C80;
+hardwareMotor4.DirectionThreadWize = true;
+hardwareMotor4.KvalHold = 0x35;
+hardwareMotor4.KvalRun = 0x7f;
+hardwareMotor4.KvalAcc = 0x7f;
+hardwareMotor4.KvalDec = 0x7f;
+hardwareMotor4.OverCurrentThreshold = 7;
+hardwareMotor4.StallThreshold = 0x1F;
+hardwareMotor4.ThermalCompensationFactor = 0;
+hardwareMotor4.LowSpeedOptimization = false;
+hardwareMotor4.StSlp = 20;
+hardwareMotor4.IntSpd = 0x1A13;
+hardwareMotor4.FnSlpAcc = 0x50;
+hardwareMotor4.FnSlpDec = 0x50;
+hardwareConfiguration.Motors.Add(hardwareMotor4);
+
+
+HardwareMotor hardwareMotor5 = new HardwareMotor();
+hardwareMotor5.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoScrew;
+hardwareMotor5.MinFrequency = 0;
+hardwareMotor5.MaxFrequency = 1000000;
+hardwareMotor5.SetMicroStep = 1;
+hardwareMotor5.MicroStep = 8;
+hardwareMotor5.MaxChangeSlope = 10000;
+hardwareMotor5.HighLengthMicroSecond = 0;
+hardwareMotor5.SpeedMaster = false;
+hardwareMotor5.PulsePerRound = 200;
+hardwareMotor5.PulleyRadius = 1.3;
+hardwareMotor5.ConfigWord = 0x1C80;
+hardwareMotor5.DirectionThreadWize = true;
+hardwareMotor5.KvalHold = 0x35;
+hardwareMotor5.KvalRun = 0x7f;
+hardwareMotor5.KvalAcc = 0x7f;
+hardwareMotor5.KvalDec = 0x7f;
+hardwareMotor5.OverCurrentThreshold = 7;
+hardwareMotor5.StallThreshold = 0x1F;
+hardwareMotor5.ThermalCompensationFactor = 0;
+hardwareMotor5.LowSpeedOptimization = false;
+hardwareMotor5.StSlp = 0x20;
+hardwareMotor5.IntSpd = 0x1A13;
+hardwareMotor5.FnSlpAcc = 0x50;
+hardwareMotor5.FnSlpDec = 0x50;
+hardwareConfiguration.Motors.Add(hardwareMotor5);
+
+HardwareMotor hardwareMotor6 = new HardwareMotor();
+hardwareMotor6.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLloading;
+hardwareMotor6.MinFrequency = 0;
+hardwareMotor6.MaxFrequency = 1000000;
+hardwareMotor6.SetMicroStep = 1;
+hardwareMotor6.MicroStep = 4;
+hardwareMotor6.MaxChangeSlope = 10000;
+hardwareMotor6.HighLengthMicroSecond = 0;
+hardwareMotor6.SpeedMaster = false;
+hardwareMotor6.PulsePerRound = 200;
+hardwareMotor6.PulleyRadius = 1.3;
+hardwareMotor6.ConfigWord = 0xC80;
+hardwareMotor6.DirectionThreadWize = true;
+hardwareMotor6.KvalHold = 0x28;
+hardwareMotor6.KvalRun = 0x5f;
+hardwareMotor6.KvalAcc = 0x5f;
+hardwareMotor6.KvalDec = 0x5f;
+hardwareMotor6.OverCurrentThreshold = 7;
+hardwareMotor6.StallThreshold = 0x1F;
+hardwareMotor6.ThermalCompensationFactor = 0;
+hardwareMotor6.LowSpeedOptimization = false;
+hardwareMotor6.StSlp = 6;
+hardwareMotor6.IntSpd = 0x44B8;
+hardwareMotor6.FnSlpAcc = 0x14;
+hardwareMotor6.FnSlpDec = 0x14;
+hardwareConfiguration.Motors.Add(hardwareMotor6);
+
+HardwareMotor hardwareMotor7 = new HardwareMotor();
+hardwareMotor7.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRloading;
+hardwareMotor7.MinFrequency = 0;
+hardwareMotor7.MaxFrequency = 1000000;
+hardwareMotor7.SetMicroStep = 1;
+hardwareMotor7.MicroStep = 4;
+hardwareMotor7.MaxChangeSlope = 10000;
+hardwareMotor7.HighLengthMicroSecond = 0;
+hardwareMotor7.SpeedMaster = false;
+hardwareMotor7.PulsePerRound = 200;
+hardwareMotor7.PulleyRadius = 1.3;
+hardwareMotor7.ConfigWord = 0xC80;
+hardwareMotor7.DirectionThreadWize = false;
+hardwareMotor7.KvalHold = 0x28;
+hardwareMotor7.KvalRun = 0x5f;
+hardwareMotor7.KvalAcc = 0x5f;
+hardwareMotor7.KvalDec = 0x5f;
+hardwareMotor7.OverCurrentThreshold = 7;
+hardwareMotor7.StallThreshold = 0x1F;
+hardwareMotor7.ThermalCompensationFactor = 0;
+hardwareMotor7.LowSpeedOptimization = false;
+hardwareMotor7.StSlp = 6;
+hardwareMotor7.IntSpd = 0x44B8;
+hardwareMotor7.FnSlpAcc = 0x14;
+hardwareMotor7.FnSlpDec = 0x14;
+hardwareConfiguration.Motors.Add(hardwareMotor7);
+
+stubManager.WriteLine("data.data length = " + hardwareConfiguration.CalculateSize());
+
+
+uploadHardwareConfigurationRequest.HardwareConfiguration = hardwareConfiguration;
+var response = stubManager.Run<UploadHardwareConfigurationResponse>(uploadHardwareConfigurationRequest);
+        /*Thread.Sleep(5000);
+
+        stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 7, false);//OFF
+        Thread.Sleep(10);
+    	stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 4, true);//ON
+        Thread.Sleep(10);
+        stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 4, false);//OFF
+        Thread.Sleep(10);
+    	stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 4, true);//ON
+
+*/
+
+
+}
+
diff --git a/Software/Stubs Collection/stubs/SystemTestWithHeaters.cs b/Software/Stubs Collection/stubs/SystemTestWithHeaters.cs
new file mode 100644
index 000000000..b53a72801
--- /dev/null
+++ b/Software/Stubs Collection/stubs/SystemTestWithHeaters.cs
@@ -0,0 +1,559 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+//SystemResetRequest systemResetRequest = new SystemResetRequest();
+//var response1 = stubManager.Run<SystemResetResponse>(systemResetRequest);
+//    	stubManager.Run("StubGPIOWriteBitRequest" ,"P", 4, true);//ON
+        Thread.Sleep(10);
+//        stubManager.Run("StubGPIOWriteBitRequest" ,"P", 4, false);//OFF
+        Thread.Sleep(10);
+//    	stubManager.Run("StubGPIOWriteBitRequest" ,"P", 4, true);//ON
+/*UploadProcessParametersRequest uploadProcessParametersRequest = new UploadProcessParametersRequest();
+
+ProcessParameters processParameters = new ProcessParameters();
+processParameters.DyeingSpeed = 10;
+processParameters.MixerTemp = 0;
+processParameters.DryerBufferLength = 0;
+processParameters.MinInkUptake = 0;
+processParameters.HeadZone1Temp = 0;
+processParameters.DryerZone1Temp = 100;
+processParameters.FeederTension = 0;
+processParameters.DryerZone2Temp = 100;
+processParameters.HeadZone2Temp = 0;
+processParameters.PullerTension = 0;
+processParameters.HeadZone3Temp = 0;
+processParameters.DryerZone3Temp = 0;
+processParameters.WinderTension = 0;
+processParameters.HeadAirFlow = 0;
+processParameters.DryerAirFlow = 0;
+processParameters.TableIndex = 0;
+
+uploadProcessParametersRequest.ProcessParameters = processParameters;
+var response1 = stubManager.Run<UploadProcessParametersResponse>(uploadProcessParametersRequest);
+*/
+
+UploadHardwareConfigurationRequest uploadHardwareConfigurationRequest = new UploadHardwareConfigurationRequest();
+
+HardwareConfiguration hardwareConfiguration = new HardwareConfiguration();
+
+
+HardwarePidControl hardwarePidControl1 = new HardwarePidControl();
+hardwarePidControl1.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorFeeder;
+hardwarePidControl1.OutputProportionalPowerLimit = 80;
+hardwarePidControl1.OutputProportionalBand = 5;
+hardwarePidControl1.IntegralTime = 5;
+hardwarePidControl1.DerivativeTime = 0;
+hardwarePidControl1.SensorCorrectionAdjustment = 0;
+hardwarePidControl1.SensorMinValue = 0;
+hardwarePidControl1.SensorMaxValue = 0;
+hardwarePidControl1.SetPointRampRateorSoftStartRamp = 0;
+hardwarePidControl1.SetPointControlOutputRate = 4;
+hardwarePidControl1.ControlOutputType = 0;
+hardwarePidControl1.SsrControlOutputType = 0;
+hardwarePidControl1.OutputOnOffHysteresisValue = 0;
+hardwarePidControl1.ProcessVariableSamplingRate = 1000;
+hardwarePidControl1.PvInputFilterFactorMode = 4;
+hardwarePidControl1.OutputProportionalCycleTime = 0;
+hardwarePidControl1.AcHeatersHalfCycleTime = 0;
+hardwarePidControl1.ProportionalGain = 11.0;
+hardwareConfiguration.PidControls.Add(hardwarePidControl1);
+
+
+HardwarePidControl hardwarePidControl2 = new HardwarePidControl();
+hardwarePidControl2.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorPooler;
+hardwarePidControl2.OutputProportionalPowerLimit = 80;
+hardwarePidControl2.OutputProportionalBand = 5;
+hardwarePidControl2.IntegralTime = 5;
+hardwarePidControl2.DerivativeTime = 0;
+hardwarePidControl2.SensorCorrectionAdjustment = 0;
+hardwarePidControl2.SensorMinValue = 0;
+hardwarePidControl2.SensorMaxValue = 0;
+hardwarePidControl2.SetPointRampRateorSoftStartRamp = 0;
+hardwarePidControl2.SetPointControlOutputRate = 4;
+hardwarePidControl2.ControlOutputType = 0;
+hardwarePidControl2.SsrControlOutputType = 0;
+hardwarePidControl2.OutputOnOffHysteresisValue = 0;
+hardwarePidControl2.ProcessVariableSamplingRate = 1000;
+hardwarePidControl2.PvInputFilterFactorMode = 4;
+hardwarePidControl2.OutputProportionalCycleTime = 0;
+hardwarePidControl2.AcHeatersHalfCycleTime = 0;
+hardwarePidControl2.ProportionalGain = 11.0;
+hardwareConfiguration.PidControls.Add(hardwarePidControl2);
+
+
+HardwarePidControl hardwarePidControl3 = new HardwarePidControl();
+hardwarePidControl3.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorWinder;
+hardwarePidControl3.OutputProportionalPowerLimit = 80;
+hardwarePidControl3.OutputProportionalBand = 5;
+hardwarePidControl3.IntegralTime = 5;
+hardwarePidControl3.DerivativeTime = 0;
+hardwarePidControl3.SensorCorrectionAdjustment = 0;
+hardwarePidControl3.SensorMinValue = 0;
+hardwarePidControl3.SensorMaxValue = 0;
+hardwarePidControl3.SetPointRampRateorSoftStartRamp = 0;
+hardwarePidControl3.SetPointControlOutputRate = 4;
+hardwarePidControl3.ControlOutputType = 0;
+hardwarePidControl3.SsrControlOutputType = 0;
+hardwarePidControl3.OutputOnOffHysteresisValue = 0;
+hardwarePidControl3.ProcessVariableSamplingRate = 1000;
+hardwarePidControl3.PvInputFilterFactorMode = 4;
+hardwarePidControl3.OutputProportionalCycleTime = 0;
+hardwarePidControl3.AcHeatersHalfCycleTime = 0;
+hardwarePidControl3.ProportionalGain = 11.0;
+hardwareConfiguration.PidControls.Add(hardwarePidControl3);
+ HardwarePidControl Pid1 = new HardwarePidControl();
+  HardwarePidControl Pid2 = new HardwarePidControl();
+//Pid1.has_hardwarepidcontroltype = true;
+/*Pid1.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.DryerHeater1000W;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid1.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid1.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid1.SensorCorrectionAdjustment = 2.0;
+  //Pid1.has_ki = true;
+  Pid1.IntegralTime = 0.01;
+Pid1.OutputProportionalPowerLimit = 80;
+Pid1.OutputProportionalBand = 5;
+Pid1.IntegralTime = 5;
+Pid1.DerivativeTime = 0;
+Pid1.SensorCorrectionAdjustment = 0;
+Pid1.SensorMinValue = 0;
+Pid1.SensorMaxValue = 0;
+Pid1.SetPointRampRateorSoftStartRamp = 0;
+Pid1.SetPointControlOutputRate = 4;
+Pid1.ControlOutputType = 0;
+Pid1.SsrControlOutputType = 0;
+Pid1.OutputOnOffHysteresisValue = 0;
+Pid1.ProcessVariableSamplingRate = 1000;
+Pid1.PvInputFilterFactorMode = 4;
+Pid1.OutputProportionalCycleTime = 0;
+Pid1.AcHeatersHalfCycleTime = 0;
+Pid1.ProportionalGain = 500.0;
+//hardwareConfiguration.PidControls.Add(Pid1);
+  
+  //Pid2.has_hardwarepidcontroltype = true;
+Pid2.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.DryerHeater200W1;
+  // Pid2.has_outputproportionalpowerlimit = true;
+   Pid2.OutputProportionalPowerLimit = 40;
+  // Pid2.has_outputproportionalband = true;
+   Pid2.OutputProportionalBand = 3;
+  // Pid2.has_kp = true;
+  Pid2.SensorCorrectionAdjustment = 0.5;
+  //Pid2.has_ki = true;
+  Pid2.IntegralTime = 0.1;
+Pid2.OutputProportionalPowerLimit = 80;
+Pid2.OutputProportionalBand = 5;
+Pid2.IntegralTime = 5;
+Pid2.DerivativeTime = 0;
+Pid2.SensorCorrectionAdjustment = 0;
+Pid2.SensorMinValue = 0;
+Pid2.SensorMaxValue = 0;
+Pid2.SetPointRampRateorSoftStartRamp = 0;
+Pid2.SetPointControlOutputRate = 4;
+Pid2.ControlOutputType = 0;
+Pid2.SsrControlOutputType = 0;
+Pid2.OutputOnOffHysteresisValue = 0;
+Pid2.ProcessVariableSamplingRate = 1000;
+Pid2.PvInputFilterFactorMode = 4;
+Pid2.OutputProportionalCycleTime = 0;
+Pid2.AcHeatersHalfCycleTime = 0;
+Pid2.ProportionalGain = 500.0;
+//hardwareConfiguration.PidControls.Add(Pid2);
+*/
+
+ HardwarePidControl Pid3 = new HardwarePidControl();
+  HardwarePidControl Pid4 = new HardwarePidControl();
+//Pid3.has_hardwarepidcontroltype = true;
+Pid3.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ1;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid3.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid3.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid3.SensorCorrectionAdjustment = 2.0;
+  //Pid1.has_ki = true;
+  Pid3.IntegralTime = 0.01;
+Pid3.OutputProportionalPowerLimit = 80;
+Pid3.OutputProportionalBand = 5;
+Pid3.IntegralTime = 5;
+Pid3.DerivativeTime = 0;
+Pid3.SensorCorrectionAdjustment = 0;
+Pid3.SensorMinValue = 0;
+Pid3.SensorMaxValue = 0;
+Pid3.SetPointRampRateorSoftStartRamp = 0;
+Pid3.SetPointControlOutputRate = 4;
+Pid3.ControlOutputType = 0;
+Pid3.SsrControlOutputType = 0;
+Pid3.OutputOnOffHysteresisValue = 0;
+Pid3.ProcessVariableSamplingRate = 1000;
+Pid3.PvInputFilterFactorMode = 4;
+Pid3.OutputProportionalCycleTime = 0;
+Pid3.AcHeatersHalfCycleTime = 0;
+Pid3.ProportionalGain = 500.0;
+hardwareConfiguration.PidControls.Add(Pid3);
+  
+  //Pid2.has_hardwarepidcontroltype = true;
+  
+Pid4.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ2;
+  // Pid2.has_outputproportionalpowerlimit = true;
+   Pid4.OutputProportionalPowerLimit = 40;
+  // Pid2.has_outputproportionalband = true;
+   Pid4.OutputProportionalBand = 3;
+  // Pid2.has_kp = true;
+  Pid4.SensorCorrectionAdjustment = 0.5;
+  //Pid2.has_ki = true;
+  Pid4.IntegralTime = 0.1;
+
+Pid4.OutputProportionalPowerLimit = 80;
+Pid4.OutputProportionalBand = 5;
+Pid4.IntegralTime = 5;
+Pid4.DerivativeTime = 0;
+Pid4.SensorCorrectionAdjustment = 0;
+Pid4.SensorMinValue = 0;
+Pid4.SensorMaxValue = 0;
+Pid4.SetPointRampRateorSoftStartRamp = 0;
+Pid4.SetPointControlOutputRate = 4;
+Pid4.ControlOutputType = 0;
+Pid4.SsrControlOutputType = 0;
+Pid4.OutputOnOffHysteresisValue = 0;
+Pid4.ProcessVariableSamplingRate = 1000;
+Pid4.PvInputFilterFactorMode = 4;
+Pid4.OutputProportionalCycleTime = 0;
+Pid4.AcHeatersHalfCycleTime = 0;
+Pid4.ProportionalGain = 500.0;
+hardwareConfiguration.PidControls.Add(Pid4);
+ 
+HardwarePidControl Pid5 = new HardwarePidControl();
+  HardwarePidControl Pid6 = new HardwarePidControl();
+//Pid1.has_hardwarepidcontroltype = true;
+Pid5.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ3;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid5.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid5.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid5.SensorCorrectionAdjustment = 2.0;
+  //Pid1.has_ki = true;
+  Pid5.IntegralTime = 0.01;
+Pid5.OutputProportionalPowerLimit = 80;
+Pid5.OutputProportionalBand = 5;
+Pid5.IntegralTime = 5;
+Pid5.DerivativeTime = 0;
+Pid5.SensorCorrectionAdjustment = 0;
+Pid5.SensorMinValue = 0;
+Pid5.SensorMaxValue = 0;
+Pid5.SetPointRampRateorSoftStartRamp = 0;
+Pid5.SetPointControlOutputRate = 4;
+Pid5.ControlOutputType = 0;
+Pid5.SsrControlOutputType = 0;
+Pid5.OutputOnOffHysteresisValue = 0;
+Pid5.ProcessVariableSamplingRate = 1000;
+Pid5.PvInputFilterFactorMode = 4;
+Pid5.OutputProportionalCycleTime = 0;
+Pid5.AcHeatersHalfCycleTime = 0;
+Pid5.ProportionalGain = 500.0;
+hardwareConfiguration.PidControls.Add(Pid5);
+  
+  //Pid2.has_hardwarepidcontroltype = true;
+Pid6.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ4;
+  // Pid2.has_outputproportionalpowerlimit = true;
+   Pid6.OutputProportionalPowerLimit = 40;
+  // Pid2.has_outputproportionalband = true;
+   Pid6.OutputProportionalBand = 3;
+  // Pid2.has_kp = true;
+  Pid6.SensorCorrectionAdjustment = 0.5;
+  //Pid2.has_ki = true;
+  Pid6.IntegralTime = 0.1;
+Pid6.OutputProportionalPowerLimit = 80;
+Pid6.OutputProportionalBand = 5;
+Pid6.IntegralTime = 5;
+Pid6.DerivativeTime = 0;
+Pid6.SensorCorrectionAdjustment = 0;
+Pid6.SensorMinValue = 0;
+Pid6.SensorMaxValue = 0;
+Pid6.SetPointRampRateorSoftStartRamp = 0;
+Pid6.SetPointControlOutputRate = 4;
+Pid6.ControlOutputType = 0;
+Pid6.SsrControlOutputType = 0;
+Pid6.OutputOnOffHysteresisValue = 0;
+Pid6.ProcessVariableSamplingRate = 1000;
+Pid6.PvInputFilterFactorMode = 4;
+Pid6.OutputProportionalCycleTime = 0;
+Pid6.AcHeatersHalfCycleTime = 0;
+Pid6.ProportionalGain = 500.0;
+hardwareConfiguration.PidControls.Add(Pid6);
+/*
+HardwarePidControl Pid7 = new HardwarePidControl();
+//Pid1.has_hardwarepidcontroltype = true;
+Pid7.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MixerHeater;
+  // Pid1.has_outputproportionalpowerlimit = true;
+   Pid7.OutputProportionalPowerLimit = 50;
+  // Pid1.has_outputproportionalband = true;
+   Pid7.OutputProportionalBand = 3;
+  // Pid1.has_kp = true;
+  Pid7.SensorCorrectionAdjustment = 2.0;
+  //Pid1.has_ki = true;
+  Pid7.IntegralTime = 0.01;
+//hardwareConfiguration.PidControls.Add(Pid7);
+*/
+
+HardwareDancer hardwareDancer1 = new HardwareDancer();
+hardwareDancer1.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.RightDancer;
+hardwareDancer1.Gradual = false;
+hardwareDancer1.K = 0;
+hardwareDancer1.X = 0;
+hardwareDancer1.PulsePerMmSpring = 0;
+hardwareDancer1.MaximalMovementMm = 15;
+hardwareDancer1.ZeroPoint = 13626;
+hardwareDancer1.ResolutionBits = 14;
+hardwareDancer1.ArmLength = 126;
+hardwareConfiguration.Dancers.Add(hardwareDancer1);
+
+        HardwareDancer hardwareDancer2 = new HardwareDancer();
+        hardwareDancer2.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.MiddleDancer;
+        hardwareDancer2.Gradual = false;
+        hardwareDancer2.K = 0;
+        hardwareDancer2.X = 0;
+        hardwareDancer2.PulsePerMmSpring = 0;
+        hardwareDancer2.MaximalMovementMm = 15;
+        hardwareDancer2.ZeroPoint = 13200;
+        hardwareDancer2.ResolutionBits = 14;
+        hardwareDancer2.ArmLength = 126;
+hardwareConfiguration.Dancers.Add(hardwareDancer2);
+
+        HardwareDancer hardwareDancer3 = new HardwareDancer();
+        hardwareDancer3.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.LeftDancer;
+        hardwareDancer3.Gradual = false;
+        hardwareDancer3.K = 0;
+        hardwareDancer3.X = 0;
+        hardwareDancer3.PulsePerMmSpring = 0;
+        hardwareDancer3.MaximalMovementMm = 15;
+        hardwareDancer3.ZeroPoint = 11097;
+        hardwareDancer3.ResolutionBits = 14;
+        hardwareDancer3.ArmLength = 126;
+hardwareConfiguration.Dancers.Add(hardwareDancer3);
+
+HardwareMotor hardwareMotor1 = new HardwareMotor();
+hardwareMotor1.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
+hardwareMotor1.MinFrequency = 0;
+hardwareMotor1.MaxFrequency = 1000000;
+hardwareMotor1.SetMicroStep = 1;
+hardwareMotor1.MicroStep = 1;
+hardwareMotor1.MaxChangeSlope = 10000;
+hardwareMotor1.HighLengthMicroSecond = 0;
+hardwareMotor1.SpeedMaster = false;
+hardwareMotor1.PulsePerRound = 200;
+hardwareMotor1.PulleyRadius = 1.25;
+hardwareMotor1.ConfigWord = 0x1C80;
+hardwareMotor1.DirectionThreadWize = true;
+hardwareMotor1.KvalHold = 0x35;
+hardwareMotor1.KvalRun = 0x7f;
+hardwareMotor1.KvalAcc = 0x7f;
+hardwareMotor1.KvalDec = 0x7f;
+hardwareMotor1.OverCurrentThreshold = 7;
+hardwareMotor1.StallThreshold = 0x1F;
+hardwareMotor1.ThermalCompensationFactor = 0;
+hardwareMotor1.LowSpeedOptimization = false;
+hardwareMotor1.StSlp = 0x20;
+hardwareMotor1.IntSpd = 0x1A13;
+hardwareMotor1.FnSlpAcc = 0x50;
+hardwareMotor1.FnSlpDec = 0x50;
+hardwareConfiguration.Motors.Add(hardwareMotor1);
+
+HardwareMotor hardwareMotor2 = new HardwareMotor();
+hardwareMotor2.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoWinder;
+hardwareMotor2.MinFrequency = 0;
+hardwareMotor2.MaxFrequency = 1000000;
+hardwareMotor2.SetMicroStep = 1;
+hardwareMotor2.MicroStep = 16;
+hardwareMotor2.MaxChangeSlope = 10000;
+hardwareMotor2.HighLengthMicroSecond = 0;
+hardwareMotor2.SpeedMaster = false;
+hardwareMotor2.PulsePerRound = 200;
+hardwareMotor2.PulleyRadius = 1.68;
+hardwareMotor2.ConfigWord = 0x1c80;
+hardwareMotor2.DirectionThreadWize = false;
+hardwareMotor2.KvalHold = 0x35;
+hardwareMotor2.KvalRun = 0x7f;
+hardwareMotor2.KvalAcc = 0x7f;
+hardwareMotor2.KvalDec = 0x7f;
+hardwareMotor2.OverCurrentThreshold = 7;
+hardwareMotor2.StallThreshold = 0x1F;
+hardwareMotor2.ThermalCompensationFactor = 0;
+hardwareMotor2.LowSpeedOptimization = false;
+hardwareMotor2.StSlp = 0x20;
+hardwareMotor2.IntSpd = 0x1A13;
+hardwareMotor2.FnSlpAcc = 0x50;
+hardwareMotor2.FnSlpDec = 0x50;
+hardwareConfiguration.Motors.Add(hardwareMotor2);
+
+HardwareMotor hardwareMotor3 = new HardwareMotor();
+hardwareMotor3.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
+hardwareMotor3.MinFrequency = 0;
+hardwareMotor3.MaxFrequency = 1000000;
+hardwareMotor3.SetMicroStep = 1;
+hardwareMotor3.MicroStep = 1;
+hardwareMotor3.MaxChangeSlope = 1000;
+hardwareMotor3.HighLengthMicroSecond = 0;
+hardwareMotor3.SpeedMaster = true;
+hardwareMotor3.PulsePerRound = 200;
+hardwareMotor3.PulleyRadius = 1.05;
+hardwareMotor3.ConfigWord = 0x1c80;
+hardwareMotor3.DirectionThreadWize = true;
+hardwareMotor3.KvalHold = 0x35;
+hardwareMotor3.KvalRun = 0x7f;
+hardwareMotor3.KvalAcc = 0x7f;
+hardwareMotor3.KvalDec = 0x7f;
+hardwareMotor3.OverCurrentThreshold = 7;
+hardwareMotor3.StallThreshold = 0x1F;
+hardwareMotor3.ThermalCompensationFactor = 0;
+hardwareMotor3.LowSpeedOptimization = false;
+hardwareMotor3.StSlp = 0x20;
+hardwareMotor3.IntSpd = 0x1A13;
+hardwareMotor3.FnSlpAcc = 0x50;
+hardwareMotor3.FnSlpDec = 0x50;
+hardwareConfiguration.Motors.Add(hardwareMotor3);
+
+HardwareMotor hardwareMotor4 = new HardwareMotor();
+hardwareMotor4.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLdriving;
+hardwareMotor4.MinFrequency = 0;
+hardwareMotor4.MaxFrequency = 1000000;
+hardwareMotor4.SetMicroStep = 1;
+hardwareMotor4.MicroStep = 8;
+hardwareMotor4.MaxChangeSlope = 10000;
+hardwareMotor4.HighLengthMicroSecond = 0;
+hardwareMotor4.SpeedMaster = false;
+hardwareMotor4.PulsePerRound = 200;
+hardwareMotor4.PulleyRadius = 1.25;
+hardwareMotor4.ConfigWord = 0x1C80;
+hardwareMotor4.DirectionThreadWize = true;
+hardwareMotor4.KvalHold = 0x35;
+hardwareMotor4.KvalRun = 0x7f;
+hardwareMotor4.KvalAcc = 0x7f;
+hardwareMotor4.KvalDec = 0x7f;
+hardwareMotor4.OverCurrentThreshold = 7;
+hardwareMotor4.StallThreshold = 0x1F;
+hardwareMotor4.ThermalCompensationFactor = 0;
+hardwareMotor4.LowSpeedOptimization = false;
+hardwareMotor4.StSlp = 20;
+hardwareMotor4.IntSpd = 0x1A13;
+hardwareMotor4.FnSlpAcc = 0x50;
+hardwareMotor4.FnSlpDec = 0x50;
+hardwareConfiguration.Motors.Add(hardwareMotor4);
+
+
+HardwareMotor hardwareMotor5 = new HardwareMotor();
+hardwareMotor5.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoScrew;
+hardwareMotor5.MinFrequency = 0;
+hardwareMotor5.MaxFrequency = 1000000;
+hardwareMotor5.SetMicroStep = 1;
+hardwareMotor5.MicroStep = 8;
+hardwareMotor5.MaxChangeSlope = 10000;
+hardwareMotor5.HighLengthMicroSecond = 0;
+hardwareMotor5.SpeedMaster = false;
+hardwareMotor5.PulsePerRound = 200;
+hardwareMotor5.PulleyRadius = 1.3;
+hardwareMotor5.ConfigWord = 0x1C80;
+hardwareMotor5.DirectionThreadWize = true;
+hardwareMotor5.KvalHold = 0x35;
+hardwareMotor5.KvalRun = 0x7f;
+hardwareMotor5.KvalAcc = 0x7f;
+hardwareMotor5.KvalDec = 0x7f;
+hardwareMotor5.OverCurrentThreshold = 7;
+hardwareMotor5.StallThreshold = 0x1F;
+hardwareMotor5.ThermalCompensationFactor = 0;
+hardwareMotor5.LowSpeedOptimization = false;
+hardwareMotor5.StSlp = 0x20;
+hardwareMotor5.IntSpd = 0x1A13;
+hardwareMotor5.FnSlpAcc = 0x50;
+hardwareMotor5.FnSlpDec = 0x50;
+hardwareConfiguration.Motors.Add(hardwareMotor5);
+
+HardwareMotor hardwareMotor6 = new HardwareMotor();
+hardwareMotor6.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLloading;
+hardwareMotor6.MinFrequency = 0;
+hardwareMotor6.MaxFrequency = 1000000;
+hardwareMotor6.SetMicroStep = 1;
+hardwareMotor6.MicroStep = 4;
+hardwareMotor6.MaxChangeSlope = 10000;
+hardwareMotor6.HighLengthMicroSecond = 0;
+hardwareMotor6.SpeedMaster = false;
+hardwareMotor6.PulsePerRound = 200;
+hardwareMotor6.PulleyRadius = 1.3;
+hardwareMotor6.ConfigWord = 0xC80;
+hardwareMotor6.DirectionThreadWize = true;
+hardwareMotor6.KvalHold = 0x28;
+hardwareMotor6.KvalRun = 0x5f;
+hardwareMotor6.KvalAcc = 0x5f;
+hardwareMotor6.KvalDec = 0x5f;
+hardwareMotor6.OverCurrentThreshold = 7;
+hardwareMotor6.StallThreshold = 0x1F;
+hardwareMotor6.ThermalCompensationFactor = 0;
+hardwareMotor6.LowSpeedOptimization = false;
+hardwareMotor6.StSlp = 6;
+hardwareMotor6.IntSpd = 0x44B8;
+hardwareMotor6.FnSlpAcc = 0x14;
+hardwareMotor6.FnSlpDec = 0x14;
+hardwareConfiguration.Motors.Add(hardwareMotor6);
+
+HardwareMotor hardwareMotor7 = new HardwareMotor();
+hardwareMotor7.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRloading;
+hardwareMotor7.MinFrequency = 0;
+hardwareMotor7.MaxFrequency = 1000000;
+hardwareMotor7.SetMicroStep = 1;
+hardwareMotor7.MicroStep = 4;
+hardwareMotor7.MaxChangeSlope = 10000;
+hardwareMotor7.HighLengthMicroSecond = 0;
+hardwareMotor7.SpeedMaster = false;
+hardwareMotor7.PulsePerRound = 200;
+hardwareMotor7.PulleyRadius = 1.3;
+hardwareMotor7.ConfigWord = 0xC80;
+hardwareMotor7.DirectionThreadWize = false;
+hardwareMotor7.KvalHold = 0x28;
+hardwareMotor7.KvalRun = 0x5f;
+hardwareMotor7.KvalAcc = 0x5f;
+hardwareMotor7.KvalDec = 0x5f;
+hardwareMotor7.OverCurrentThreshold = 7;
+hardwareMotor7.StallThreshold = 0x1F;
+hardwareMotor7.ThermalCompensationFactor = 0;
+hardwareMotor7.LowSpeedOptimization = false;
+hardwareMotor7.StSlp = 6;
+hardwareMotor7.IntSpd = 0x44B8;
+hardwareMotor7.FnSlpAcc = 0x14;
+hardwareMotor7.FnSlpDec = 0x14;
+hardwareConfiguration.Motors.Add(hardwareMotor7);
+
+stubManager.WriteLine("data.data length = " + hardwareConfiguration.CalculateSize());
+
+
+uploadHardwareConfigurationRequest.HardwareConfiguration = hardwareConfiguration;
+var response = stubManager.Run<UploadHardwareConfigurationResponse>(uploadHardwareConfigurationRequest);
+        /*Thread.Sleep(5000);
+
+        stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 7, false);//OFF
+        Thread.Sleep(10);
+    	stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 4, true);//ON
+        Thread.Sleep(10);
+        stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 4, false);//OFF
+        Thread.Sleep(10);
+    	stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 4, true);//ON
+
+*/
+
+
+}
+
diff --git a/Software/Stubs Collection/stubs/SystemTestWithHeatersIncludes.cs b/Software/Stubs Collection/stubs/SystemTestWithHeatersIncludes.cs
new file mode 100644
index 000000000..8944bdb5f
--- /dev/null
+++ b/Software/Stubs Collection/stubs/SystemTestWithHeatersIncludes.cs
@@ -0,0 +1,94 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\Twine Code\stubs\addedfiles\ACHeatersDefinition.cs"
+include "C:\Twine Code\stubs\addedfiles\DCHeatersDefinition.cs"
+include "C:\Twine Code\stubs\addedfiles\MotorsConfiguration.cs"
+include "C:\Twine Code\stubs\addedfiles\DancersConfiguration.cs"
+include "C:\Twine Code\stubs\addedfiles\PID_Configuration.cs"
+include "C:\Twine Code\stubs\addedfiles\DispensersConfiguration.cs"
+
+public void OnExecute(StubManager stubManager)
+{
+        Thread.Sleep(10);
+
+/*ProcessParameters processParameters = new ProcessParameters();
+processParameters.DyeingSpeed = 10;
+processParameters.MixerTemp = 0;
+processParameters.DryerBufferLength = 0;
+processParameters.MinInkUptake = 0;
+processParameters.HeadZone1Temp = 0;
+processParameters.DryerZone1Temp = 100;
+processParameters.FeederTension = 0;
+processParameters.DryerZone2Temp = 100;
+processParameters.HeadZone2Temp = 0;
+processParameters.PullerTension = 0;
+processParameters.HeadZone3Temp = 0;
+processParameters.DryerZone3Temp = 0;
+processParameters.WinderTension = 0;
+processParameters.HeadAirFlow = 0;
+processParameters.DryerAirFlow = 0;
+processParameters.TableIndex = 0;
+
+uploadProcessParametersRequest.ProcessParameters = processParameters;
+var response1 = stubManager.Run<UploadProcessParametersResponse>(uploadProcessParametersRequest);
+*/
+
+UploadHardwareConfigurationRequest uploadHardwareConfigurationRequest = new UploadHardwareConfigurationRequest();
+
+HardwareConfiguration hardwareConfiguration = new HardwareConfiguration();
+
+//hardwareConfiguration.PidControls.Add(HeadZ1Heater);
+//hardwareConfiguration.PidControls.Add(HeadZ2Heater);
+//hardwareConfiguration.PidControls.Add(HeadZ3Heater);
+//hardwareConfiguration.PidControls.Add(HeadZ4Heater);
+//hardwareConfiguration.PidControls.Add(MixerHeater);
+
+//hardwareConfiguration.PidControls.Add(DryerHeater1000);
+//hardwareConfiguration.PidControls.Add(DryerHeater200w1);
+
+
+hardwareConfiguration.Motors.Add(FeederMotor);
+hardwareConfiguration.Motors.Add(WinderMotor);
+hardwareConfiguration.Motors.Add(DryerMotor);
+hardwareConfiguration.Motors.Add(PoolerMotor);
+hardwareConfiguration.Motors.Add(ScrewMotor);
+//hardwareConfiguration.Motors.Add(LeftRockerMotor);
+//hardwareConfiguration.Motors.Add(RightRockerMotor);
+hardwareConfiguration.Motors.Add(Dispenser4Motor);
+
+//hardwareConfiguration.Dispensers.Add(hardwareDispenser);
+
+hardwareConfiguration.PidControls.Add(FeederPidControl);
+hardwareConfiguration.PidControls.Add(PoolerPidControl);
+hardwareConfiguration.PidControls.Add(WinderPidControl);
+
+hardwareConfiguration.Dancers.Add(FeederDancer);
+hardwareConfiguration.Dancers.Add(PoolerDancer);
+hardwareConfiguration.Dancers.Add(WinderDancer);
+
+hardwareConfiguration.Winders.Add(Winder);
+
+
+
+stubManager.WriteLine("data.data length = " + hardwareConfiguration.CalculateSize());
+
+
+uploadHardwareConfigurationRequest.HardwareConfiguration = hardwareConfiguration;
+var response = stubManager.Run<UploadHardwareConfigurationResponse>(uploadHardwareConfigurationRequest);
+        /*Thread.Sleep(5000);*/
+
+
+}
+
diff --git a/Software/Stubs Collection/stubs/TEST_GPIO_USER_LED.CS b/Software/Stubs Collection/stubs/TEST_GPIO_USER_LED.CS
new file mode 100644
index 000000000..f7a563e36
--- /dev/null
+++ b/Software/Stubs Collection/stubs/TEST_GPIO_USER_LED.CS
@@ -0,0 +1,38 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+	//stubManager.RequestTimeout = 20;
+    for (int i = 0; i < 100; i++)
+    {
+		//TEST GPIO USER LED:
+		
+    	//GREEN
+    	stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 7, true);//ON
+        Thread.Sleep(1000);
+        stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 7, false);//OFF
+        Thread.Sleep(1000);
+        
+        //BLUE
+        stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 4, true);//ON
+        Thread.Sleep(1000);
+        stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 4, false);//OFF
+        Thread.Sleep(1000);
+        
+        //RED
+        stubManager.Run("StubGPIOWriteBitRequest" ,"N", 5, true);//ON
+        Thread.Sleep(1000);
+        stubManager.Run("StubGPIOWriteBitRequest" ,"N", 5, false);//OFF  
+        Thread.Sleep(1000);
+    }
+}
+
diff --git a/Software/Stubs Collection/stubs/TestDispenser7.cs b/Software/Stubs Collection/stubs/TestDispenser7.cs
new file mode 100644
index 000000000..892e74385
--- /dev/null
+++ b/Software/Stubs Collection/stubs/TestDispenser7.cs
@@ -0,0 +1,69 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+
+public void OnExecute(StubManager stubManager)
+{
+        Thread.Sleep(10);
+HardwareMotor Dispenser7Motor = new HardwareMotor();
+Dispenser7Motor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDispenser7;
+Dispenser7Motor.MinFrequency = 0;
+Dispenser7Motor.MaxFrequency = 100000;
+Dispenser7Motor.SetMicroStep = 1;
+Dispenser7Motor.MicroStep = 16;
+Dispenser7Motor.MaxChangeSlope = 0x7ff;
+Dispenser7Motor.HighLengthMicroSecond = 0;
+Dispenser7Motor.SpeedMaster = false;
+Dispenser7Motor.PulsePerRound = 200;
+Dispenser7Motor.PulleyRadius = 0.8;
+Dispenser7Motor.ConfigWord = 0x1CA0;
+Dispenser7Motor.DirectionThreadWize = false;
+Dispenser7Motor.KvalHold = 0x08;
+Dispenser7Motor.KvalRun = 0x20;
+Dispenser7Motor.KvalAcc = 0x20;
+Dispenser7Motor.KvalDec = 0x3ff;
+Dispenser7Motor.OverCurrentThreshold = 0xF;
+Dispenser7Motor.StallThreshold = 0x7F;
+Dispenser7Motor.ThermalCompensationFactor = 0;
+Dispenser7Motor.LowSpeedOptimization = false;
+Dispenser7Motor.StSlp = 0x7;
+Dispenser7Motor.IntSpd = 0x22C5;
+Dispenser7Motor.FnSlpAcc = 0x15;
+Dispenser7Motor.FnSlpDec = 0x15;
+Dispenser7Motor.FsSpd = 0x3ff;
+
+
+UploadHardwareConfigurationRequest uploadHardwareConfigurationRequest = new UploadHardwareConfigurationRequest();
+
+HardwareConfiguration hardwareConfiguration = new HardwareConfiguration();
+
+hardwareConfiguration.Motors.Add(Dispenser7Motor);
+
+stubManager.WriteLine("data.data length = " + hardwareConfiguration.CalculateSize());
+
+
+uploadHardwareConfigurationRequest.HardwareConfiguration = hardwareConfiguration;
+var response = stubManager.Run<UploadHardwareConfigurationResponse>(uploadHardwareConfigurationRequest);
+        /*Thread.Sleep(5000);*/
+var response3 = stubManager.Run<StubValveResponse>("StubValveRequest" ,6, 10, false);
+var response4 = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,12, false, 1200);
+Thread.Sleep(1000);
+//open valve toward the midtank, stop dispenser 7
+//var response3 = stubManager.Run<StubValveResponse>("StubValveRequest" ,6, 10, false);
+//var response2 = stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,12,2);
+
+        
+
+}
+
diff --git a/Software/Stubs Collection/stubs/ThreadLoading.cs b/Software/Stubs Collection/stubs/ThreadLoading.cs
new file mode 100644
index 000000000..375237184
--- /dev/null
+++ b/Software/Stubs Collection/stubs/ThreadLoading.cs
@@ -0,0 +1,119 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "D:\stubs\addedfiles\ACHeatersDefinition.cs"
+include "D:\stubs\addedfiles\DCHeatersDefinition.cs"
+include "D:\stubs\addedfiles\DeskSystemThreadMotorsDefinition.cs"
+//include "D:\stubs\addedfiles\ThreadMotorsDefinition2.cs"
+
+public void OnExecute(StubManager stubManager)
+{
+        Thread.Sleep(10);
+
+
+UploadHardwareConfigurationRequest uploadHardwareConfigurationRequest = new UploadHardwareConfigurationRequest();
+
+HardwareConfiguration hardwareConfiguration = new HardwareConfiguration();
+
+hardwareConfiguration.Motors.Add(FeederMotor);
+hardwareConfiguration.Motors.Add(WinderMotor);
+hardwareConfiguration.Motors.Add(DryerMotor);
+hardwareConfiguration.Motors.Add(PoolerMotor);
+hardwareConfiguration.Motors.Add(ScrewMotor);
+hardwareConfiguration.Motors.Add(DryerLoadarm);
+
+
+//hardwareConfiguration.Dispensers.Add(hardwareDispenser);
+
+hardwareConfiguration.PidControls.Add(FeederPidControl);
+hardwareConfiguration.PidControls.Add(PoolerPidControl);
+hardwareConfiguration.PidControls.Add(WinderPidControl);
+
+hardwareConfiguration.Dancers.Add(FeederDancer);
+hardwareConfiguration.Dancers.Add(PoolerDancer);
+hardwareConfiguration.Dancers.Add(WinderDancer);
+
+hardwareConfiguration.Winders.Add(Winder);
+
+
+
+stubManager.WriteLine("data.data length = " + hardwareConfiguration.CalculateSize());
+
+
+uploadHardwareConfigurationRequest.HardwareConfiguration = hardwareConfiguration;
+var response = stubManager.Run<UploadHardwareConfigurationResponse>(uploadHardwareConfigurationRequest);
+        /*Thread.Sleep(5000);*/
+
+JobRequest jobRequest = new JobRequest();
+
+JobTicket jobTicket = new JobTicket();
+jobTicket.Name = "Stubs Job";
+jobTicket.EnableInterSegment = false;
+jobTicket.InterSegmentLength = 50;
+jobTicket.Length = 1000;
+
+ProcessParameters processParameters = new ProcessParameters();
+processParameters.DyeingSpeed = 20;
+
+jobTicket.ProcessParameters = processParameters;
+jobTicket.WindingMethod = Tango.PMR.Printing.JobWindingMethod.Embroidery;
+
+JobSpool jobSpool = new JobSpool();
+jobSpool.JobSpoolType = Tango.PMR.Printing.JobSpoolType.StandardSpool;
+jobSpool.Length = 800;
+jobSpool.Weight = 0;
+jobSpool.Diameter = 3.0;
+jobSpool.StartOffsetPulses = 300;
+jobSpool.BackingRate = 10;
+jobSpool.SegmentOffsetPulses = 600;
+jobSpool.BottomBackingRate = 70;
+jobSpool.RotationsPerPassage = 7;
+
+jobTicket.Spool = jobSpool;
+
+JobSegment jobSegment = new JobSegment();
+jobSegment.Name = "Segment1";
+jobSegment.Length = 400.0;
+
+JobBrushStop jobBrushStop = new JobBrushStop();
+jobBrushStop.Index = 0;
+jobBrushStop.OffsetPercent = 0;
+jobBrushStop.OffsetMeters = 0;
+
+JobDispenser jobDispenser = new JobDispenser();
+jobDispenser.Index = 6;
+jobDispenser.Volume = 10;
+jobDispenser.DispenserStepDivision = Tango.PMR.Printing.DispenserStepDivision.Auto;
+jobDispenser.NanolitterPerSecond = 0;
+jobDispenser.NanoliterPerCentimeter = 10;
+jobDispenser.PulsePerSecond = 500;
+jobDispenser.DispenserLiquidType = Tango.PMR.Printing.DispenserLiquidType.Cyan;
+jobDispenser.LiquidMaxNanoliterPerCentimeter = 40;
+jobDispenser.NanoliterPerPulse = 0;
+jobBrushStop.Dispensers.Add(jobDispenser);
+jobSegment.BrushStops.Add(jobBrushStop);
+jobTicket.Segments.Add(jobSegment);
+
+jobRequest.JobTicket = jobTicket;
+
+
+int i=0;
+stubManager.RunContinuous<JobResponse>(jobRequest,(response1) =>
+                                                   {                                                   	
+				stubManager.WriteLine (String.Format("Data, {0},  {1} meters, {2}",++i,response1.Status.Progress*jobSegment.Length,response1.Status.Message));
+                                                   	
+                                                   });
+
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Turn_the_user_led_off.cs b/Software/Stubs Collection/stubs/Turn_the_user_led_off.cs
new file mode 100644
index 000000000..7db0bd165
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Turn_the_user_led_off.cs
@@ -0,0 +1,17 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+	//stubManager.Run("StubGPIOWriteByteRequest" ,"Q", 0);
+	stubManager.Run("StubGPIOWriteByteRequest" ,"N", 0);
+}
+
diff --git a/Software/Stubs Collection/stubs/addedfiles/ACHeatersDefinition.cs b/Software/Stubs Collection/stubs/addedfiles/ACHeatersDefinition.cs
new file mode 100644
index 000000000..f815c1cd4
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/ACHeatersDefinition.cs
@@ -0,0 +1,62 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+HardwarePidControl DryerHeater1000 = new HardwarePidControl();
+DryerHeater1000.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.DryerHeater1000W;
+DryerHeater1000.OutputProportionalBand = 1;
+DryerHeater1000.SensorCorrectionAdjustment = 2.0;
+DryerHeater1000.IntegralTime = 0.01;
+DryerHeater1000.OutputProportionalPowerLimit = 100;
+DryerHeater1000.IntegralTime = 5;
+DryerHeater1000.DerivativeTime = 0;
+DryerHeater1000.SensorCorrectionAdjustment = 0;
+DryerHeater1000.SensorMinValue = 2;
+DryerHeater1000.SensorMaxValue = 250;
+DryerHeater1000.SetPointRampRateorSoftStartRamp = 0;
+DryerHeater1000.SetPointControlOutputRate = 4;
+DryerHeater1000.ControlOutputType = 0;
+DryerHeater1000.SsrControlOutputType = 0;
+DryerHeater1000.OutputOnOffHysteresisValue = 0;
+DryerHeater1000.ProcessVariableSamplingRate = 1000;
+DryerHeater1000.PvInputFilterFactorMode = 4;
+DryerHeater1000.OutputProportionalCycleTime = 0;
+DryerHeater1000.AcHeatersHalfCycleTime = 0;
+DryerHeater1000.ProportionalGain = 20.0;
+  
+HardwarePidControl DryerHeater200w1 = new HardwarePidControl();
+DryerHeater200w1.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.DryerHeater200W1;
+DryerHeater200w1.OutputProportionalPowerLimit = 0;//small heater is OFF after initial heating
+DryerHeater200w1.OutputProportionalBand = 1;
+DryerHeater200w1.SensorCorrectionAdjustment = 0.5;
+DryerHeater200w1.IntegralTime = 0.1;
+DryerHeater200w1.OutputProportionalPowerLimit = 0;
+DryerHeater200w1.OutputProportionalBand = 5;
+DryerHeater200w1.IntegralTime = 5;
+DryerHeater200w1.DerivativeTime = 0;
+DryerHeater200w1.SensorCorrectionAdjustment = 0;
+DryerHeater200w1.SensorMinValue = 0;
+DryerHeater200w1.SensorMaxValue = 0;
+DryerHeater200w1.SetPointRampRateorSoftStartRamp = 0;
+DryerHeater200w1.SetPointControlOutputRate = 4;
+DryerHeater200w1.ControlOutputType = 0;
+DryerHeater200w1.SsrControlOutputType = 0;
+DryerHeater200w1.OutputOnOffHysteresisValue = 0;
+DryerHeater200w1.ProcessVariableSamplingRate = 1000;
+DryerHeater200w1.PvInputFilterFactorMode = 4;
+DryerHeater200w1.OutputProportionalCycleTime = 0;
+DryerHeater200w1.AcHeatersHalfCycleTime = 0;
+DryerHeater200w1.ProportionalGain = 20.0;
+
+//hardwareConfiguration.PidControls.Add(DryerHeater1000);
+//hardwareConfiguration.PidControls.Add(DryerHeater200w1);
diff --git a/Software/Stubs Collection/stubs/addedfiles/DCHeatersDefinition.cs b/Software/Stubs Collection/stubs/addedfiles/DCHeatersDefinition.cs
new file mode 100644
index 000000000..015dc7be6
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/DCHeatersDefinition.cs
@@ -0,0 +1,134 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+HardwarePidControl HeadZ1Heater = new HardwarePidControl();
+HeadZ1Heater.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ1;
+HeadZ1Heater.OutputProportionalBand = 1;
+HeadZ1Heater.SensorCorrectionAdjustment = 2.0;
+HeadZ1Heater.IntegralTime = 0.01;
+HeadZ1Heater.OutputProportionalPowerLimit = 80;
+HeadZ1Heater.IntegralTime = 5;
+HeadZ1Heater.DerivativeTime = 0;
+HeadZ1Heater.SensorCorrectionAdjustment = 0;
+HeadZ1Heater.SensorMinValue = 0;
+HeadZ1Heater.SensorMaxValue = 1.0;
+HeadZ1Heater.SetPointRampRateorSoftStartRamp = 0;
+HeadZ1Heater.SetPointControlOutputRate = 4;
+HeadZ1Heater.ControlOutputType = 0;
+HeadZ1Heater.SsrControlOutputType = 0;
+HeadZ1Heater.OutputOnOffHysteresisValue = 0;
+HeadZ1Heater.ProcessVariableSamplingRate = 1000;
+HeadZ1Heater.PvInputFilterFactorMode = 4;
+HeadZ1Heater.OutputProportionalCycleTime = 0;
+HeadZ1Heater.AcHeatersHalfCycleTime = 0;
+HeadZ1Heater.ProportionalGain = 20;
+  
+  
+HardwarePidControl HeadZ2Heater = new HardwarePidControl();
+HeadZ2Heater.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ2;
+HeadZ2Heater.OutputProportionalBand = 1;
+HeadZ2Heater.SensorCorrectionAdjustment = 0.5;
+HeadZ2Heater.IntegralTime = 0.1;
+HeadZ2Heater.OutputProportionalPowerLimit = 80;
+HeadZ2Heater.IntegralTime = 5;
+HeadZ2Heater.DerivativeTime = 0;
+HeadZ2Heater.SensorCorrectionAdjustment = 0;
+HeadZ2Heater.SensorMinValue = 0.0;
+HeadZ2Heater.SensorMaxValue = 1.0;
+HeadZ2Heater.SetPointRampRateorSoftStartRamp = 0;
+HeadZ2Heater.SetPointControlOutputRate = 4;
+HeadZ2Heater.ControlOutputType = 0;
+HeadZ2Heater.SsrControlOutputType = 0;
+HeadZ2Heater.OutputOnOffHysteresisValue = 0;
+HeadZ2Heater.ProcessVariableSamplingRate = 1000;
+HeadZ2Heater.PvInputFilterFactorMode = 4;
+HeadZ2Heater.OutputProportionalCycleTime = 0;
+HeadZ2Heater.AcHeatersHalfCycleTime = 0;
+HeadZ2Heater.ProportionalGain = 20;
+ 
+HardwarePidControl HeadZ3Heater = new HardwarePidControl();
+HeadZ3Heater.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ3;
+HeadZ3Heater.OutputProportionalBand = 1;
+HeadZ3Heater.SensorCorrectionAdjustment = 2.0;
+HeadZ3Heater.IntegralTime = 0.01;
+HeadZ3Heater.OutputProportionalPowerLimit = 80;
+HeadZ3Heater.IntegralTime = 5;
+HeadZ3Heater.DerivativeTime = 0;
+HeadZ3Heater.SensorCorrectionAdjustment = 0;
+HeadZ3Heater.SensorMinValue = 0;
+HeadZ3Heater.SensorMaxValue = 1.0;
+HeadZ3Heater.SetPointRampRateorSoftStartRamp = 0;
+HeadZ3Heater.SetPointControlOutputRate = 4;
+HeadZ3Heater.ControlOutputType = 0;
+HeadZ3Heater.SsrControlOutputType = 0;
+HeadZ3Heater.OutputOnOffHysteresisValue = 0;
+HeadZ3Heater.ProcessVariableSamplingRate = 1000;
+HeadZ3Heater.PvInputFilterFactorMode = 4;
+HeadZ3Heater.OutputProportionalCycleTime = 0;
+HeadZ3Heater.AcHeatersHalfCycleTime = 0;
+HeadZ3Heater.ProportionalGain = 20;
+  
+HardwarePidControl HeadZ4Heater = new HardwarePidControl();
+HeadZ4Heater.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ4;
+HeadZ4Heater.OutputProportionalBand = 2;
+HeadZ4Heater.SensorCorrectionAdjustment = 0.5;
+HeadZ4Heater.IntegralTime = 0.1;
+HeadZ4Heater.OutputProportionalPowerLimit = 80;
+HeadZ4Heater.IntegralTime = 5;
+HeadZ4Heater.DerivativeTime = 0;
+HeadZ4Heater.SensorCorrectionAdjustment = 0;
+HeadZ4Heater.SensorMinValue = 0;
+HeadZ4Heater.SensorMaxValue = 1.0;
+HeadZ4Heater.SetPointRampRateorSoftStartRamp = 0;
+HeadZ4Heater.SetPointControlOutputRate = 4;
+HeadZ4Heater.ControlOutputType = 0;
+HeadZ4Heater.SsrControlOutputType = 0;
+HeadZ4Heater.OutputOnOffHysteresisValue = 0;
+HeadZ4Heater.ProcessVariableSamplingRate = 1000;
+HeadZ4Heater.PvInputFilterFactorMode = 4;
+HeadZ4Heater.OutputProportionalCycleTime = 0;
+HeadZ4Heater.AcHeatersHalfCycleTime = 0;
+HeadZ4Heater.ProportionalGain = 20;
+
+HardwarePidControl MixerHeater = new HardwarePidControl();
+MixerHeater.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MixerHeater;
+MixerHeater.OutputProportionalBand = 2;
+MixerHeater.SensorCorrectionAdjustment = 2.0;
+MixerHeater.IntegralTime = 0.01;
+HeadZ4Heater.OutputProportionalPowerLimit = 80;
+HeadZ4Heater.IntegralTime = 5;
+HeadZ4Heater.DerivativeTime = 0;
+HeadZ4Heater.SensorCorrectionAdjustment = 0;
+HeadZ4Heater.SensorMinValue = 0;
+HeadZ4Heater.SensorMaxValue = 1.0;
+HeadZ4Heater.SetPointRampRateorSoftStartRamp = 0;
+HeadZ4Heater.SetPointControlOutputRate = 4;
+HeadZ4Heater.ControlOutputType = 0;
+HeadZ4Heater.SsrControlOutputType = 0;
+HeadZ4Heater.OutputOnOffHysteresisValue = 0;
+HeadZ4Heater.ProcessVariableSamplingRate = 1000;
+HeadZ4Heater.PvInputFilterFactorMode = 4;
+HeadZ4Heater.OutputProportionalCycleTime = 0;
+HeadZ4Heater.AcHeatersHalfCycleTime = 0;
+HeadZ4Heater.ProportionalGain = 20;
+
+
+//hardwareConfiguration.PidControls.Add(HeadZ1Heater);
+//hardwareConfiguration.PidControls.Add(HeadZ2Heater);
+//rdwareConfiguration.PidControls.Add(HeadZ3Heater);
+//hardwareConfiguration.PidControls.Add(HeadZ4Heater);
+//hardwareConfiguration.PidControls.Add(MixerHeater);
+
+
+
diff --git a/Software/Stubs Collection/stubs/addedfiles/DancersConfiguration.cs b/Software/Stubs Collection/stubs/addedfiles/DancersConfiguration.cs
new file mode 100644
index 000000000..0f4e5023f
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/DancersConfiguration.cs
@@ -0,0 +1,48 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+
+HardwareDancer FeederDancer = new HardwareDancer();
+FeederDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.RightDancer;
+FeederDancer.Gradual = false;
+FeederDancer.K = 0;
+FeederDancer.X = 0;
+FeederDancer.PulsePerMmSpring = 0;
+FeederDancer.MaximalMovementMm = 20;
+FeederDancer.ZeroPoint = 14182;
+FeederDancer.ResolutionBits = 14;
+FeederDancer.ArmLength = 126;
+
+HardwareDancer PoolerDancer = new HardwareDancer();
+PoolerDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.MiddleDancer;
+PoolerDancer.Gradual = false;
+PoolerDancer.K = 0;
+PoolerDancer.X = 0;
+PoolerDancer.PulsePerMmSpring = 0;
+PoolerDancer.MaximalMovementMm = 20;
+PoolerDancer.ZeroPoint = 13247;
+PoolerDancer.ResolutionBits = 14;
+PoolerDancer.ArmLength = 126;
+
+HardwareDancer WinderDancer = new HardwareDancer();
+WinderDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.LeftDancer;
+WinderDancer.Gradual = false;
+WinderDancer.K = 0;
+WinderDancer.X = 0;
+WinderDancer.PulsePerMmSpring = 0;
+WinderDancer.MaximalMovementMm = 20;
+WinderDancer.ZeroPoint = 11193;
+WinderDancer.ResolutionBits = 14;
+WinderDancer.ArmLength = 126;
+
diff --git a/Software/Stubs Collection/stubs/addedfiles/DeskSystemThreadMotorsDefinition.cs b/Software/Stubs Collection/stubs/addedfiles/DeskSystemThreadMotorsDefinition.cs
new file mode 100644
index 000000000..6eda1d60c
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/DeskSystemThreadMotorsDefinition.cs
@@ -0,0 +1,382 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+HardwarePidControl FeederPidControl = new HardwarePidControl();
+FeederPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorFeeder;
+FeederPidControl.OutputProportionalPowerLimit = 1.0;
+FeederPidControl.OutputProportionalBand = 5;
+FeederPidControl.IntegralTime = 5;
+FeederPidControl.DerivativeTime = 0;
+FeederPidControl.SensorCorrectionAdjustment = 0;
+FeederPidControl.SensorMinValue = 0;
+FeederPidControl.SensorMaxValue = 0;
+FeederPidControl.SetPointRampRateorSoftStartRamp = 0;
+FeederPidControl.SetPointControlOutputRate = 4;
+FeederPidControl.ControlOutputType = 0;
+FeederPidControl.SsrControlOutputType = 0;
+FeederPidControl.OutputOnOffHysteresisValue = 0;
+FeederPidControl.ProcessVariableSamplingRate = 1000;
+FeederPidControl.PvInputFilterFactorMode = 4;
+FeederPidControl.OutputProportionalCycleTime = 0;
+FeederPidControl.AcHeatersHalfCycleTime = 0;
+FeederPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl PoolerPidControl = new HardwarePidControl();
+PoolerPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorPooler;
+PoolerPidControl.OutputProportionalPowerLimit = 1.0;
+PoolerPidControl.OutputProportionalBand = 5;
+PoolerPidControl.IntegralTime = 5;
+PoolerPidControl.DerivativeTime = 0;
+PoolerPidControl.SensorCorrectionAdjustment = 0;
+PoolerPidControl.SensorMinValue = 0;
+PoolerPidControl.SensorMaxValue = 0;
+PoolerPidControl.SetPointRampRateorSoftStartRamp = 0;
+PoolerPidControl.SetPointControlOutputRate = 4;
+PoolerPidControl.ControlOutputType = 0;
+PoolerPidControl.SsrControlOutputType = 0;
+PoolerPidControl.OutputOnOffHysteresisValue = 0;
+PoolerPidControl.ProcessVariableSamplingRate = 1000;
+PoolerPidControl.PvInputFilterFactorMode = 4;
+PoolerPidControl.OutputProportionalCycleTime = 0;
+PoolerPidControl.AcHeatersHalfCycleTime = 0;
+PoolerPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl WinderPidControl = new HardwarePidControl();
+WinderPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorWinder;
+WinderPidControl.OutputProportionalPowerLimit = 1.0;
+WinderPidControl.OutputProportionalBand = 5;
+WinderPidControl.IntegralTime = 5;
+WinderPidControl.DerivativeTime = 0;
+WinderPidControl.SensorCorrectionAdjustment = 0;
+WinderPidControl.SensorMinValue = 0;
+WinderPidControl.SensorMaxValue = 0;
+WinderPidControl.SetPointRampRateorSoftStartRamp = 0;
+WinderPidControl.SetPointControlOutputRate = 4;
+WinderPidControl.ControlOutputType = 0;
+WinderPidControl.SsrControlOutputType = 0;
+WinderPidControl.OutputOnOffHysteresisValue = 0;
+WinderPidControl.ProcessVariableSamplingRate = 1000;
+WinderPidControl.PvInputFilterFactorMode = 4;
+WinderPidControl.OutputProportionalCycleTime = 0;
+WinderPidControl.AcHeatersHalfCycleTime = 0;
+WinderPidControl.ProportionalGain = 11.0;
+
+
+HardwareDancer FeederDancer = new HardwareDancer();
+FeederDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.RightDancer;
+FeederDancer.Gradual = false;
+FeederDancer.K = 0;
+FeederDancer.X = 0;
+FeederDancer.PulsePerMmSpring = 0;
+FeederDancer.MaximalMovementMm = 20;
+FeederDancer.ZeroPoint = 14182;
+FeederDancer.ResolutionBits = 14;
+FeederDancer.ArmLength = 126;
+
+HardwareDancer PoolerDancer = new HardwareDancer();
+PoolerDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.MiddleDancer;
+PoolerDancer.Gradual = false;
+PoolerDancer.K = 0;
+PoolerDancer.X = 0;
+PoolerDancer.PulsePerMmSpring = 0;
+PoolerDancer.MaximalMovementMm = 20;
+PoolerDancer.ZeroPoint = 13247;
+PoolerDancer.ResolutionBits = 14;
+PoolerDancer.ArmLength = 126;
+
+HardwareDancer WinderDancer = new HardwareDancer();
+WinderDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.LeftDancer;
+WinderDancer.Gradual = false;
+WinderDancer.K = 0;
+WinderDancer.X = 0;
+WinderDancer.PulsePerMmSpring = 0;
+WinderDancer.MaximalMovementMm = 20;
+WinderDancer.ZeroPoint = 11193;
+WinderDancer.ResolutionBits = 14;
+WinderDancer.ArmLength = 126;
+
+HardwareMotor FeederMotor = new HardwareMotor();
+FeederMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
+FeederMotor.MinFrequency = 0;
+FeederMotor.MaxFrequency = 1000000;
+FeederMotor.SetMicroStep = 1;
+FeederMotor.MicroStep = 8;
+FeederMotor.MaxChangeSlope = 4095;
+FeederMotor.HighLengthMicroSecond = 0;
+FeederMotor.SpeedMaster = false;
+FeederMotor.PulsePerRound = 200;
+FeederMotor.PulleyRadius = 1.25;
+FeederMotor.ConfigWord = 0x1C80;
+FeederMotor.DirectionThreadWize = true;
+FeederMotor.KvalHold = 0x35;
+FeederMotor.KvalRun = 0x7f;
+FeederMotor.KvalAcc = 0x7f;
+FeederMotor.KvalDec = 0x7f;
+FeederMotor.OverCurrentThreshold = 7;
+FeederMotor.StallThreshold = 0x1F;
+FeederMotor.ThermalCompensationFactor = 0;
+FeederMotor.LowSpeedOptimization = false;
+FeederMotor.StSlp = 0x20;
+FeederMotor.IntSpd = 0x1A13;
+FeederMotor.FnSlpAcc = 0x50;
+FeederMotor.FnSlpDec = 0x50;
+
+HardwareMotor DryerMotor = new HardwareMotor();
+DryerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
+DryerMotor.MinFrequency = 0;
+DryerMotor.MaxFrequency = 1000000;
+DryerMotor.SetMicroStep = 1;
+DryerMotor.MicroStep = 8;
+DryerMotor.MaxChangeSlope = 4095;
+DryerMotor.HighLengthMicroSecond = 0;
+DryerMotor.SpeedMaster = true;
+DryerMotor.PulsePerRound = 200;
+DryerMotor.PulleyRadius = 1.05;
+DryerMotor.ConfigWord = 0x1c80;
+DryerMotor.DirectionThreadWize = false;
+DryerMotor.KvalHold = 0x35;
+DryerMotor.KvalRun = 0x7f;
+DryerMotor.KvalAcc = 0x7f;
+DryerMotor.KvalDec = 0x7f;
+DryerMotor.OverCurrentThreshold = 7;
+DryerMotor.StallThreshold = 0x1F;
+DryerMotor.ThermalCompensationFactor = 0;
+DryerMotor.LowSpeedOptimization = false;
+DryerMotor.StSlp = 0x20;
+DryerMotor.IntSpd = 0x1A13;
+DryerMotor.FnSlpAcc = 0x50;
+DryerMotor.FnSlpDec = 0x50;
+
+HardwareMotor PoolerMotor = new HardwareMotor();
+PoolerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLdriving;
+PoolerMotor.MinFrequency = 0;
+PoolerMotor.MaxFrequency = 1000000;
+PoolerMotor.SetMicroStep = 1;
+PoolerMotor.MicroStep = 8;
+PoolerMotor.MaxChangeSlope = 10000;
+PoolerMotor.HighLengthMicroSecond = 0;
+PoolerMotor.SpeedMaster = false;
+PoolerMotor.PulsePerRound = 200;
+PoolerMotor.PulleyRadius = 1.25;
+PoolerMotor.ConfigWord = 0x1C80;
+PoolerMotor.DirectionThreadWize = true;
+PoolerMotor.KvalHold = 0x35;
+PoolerMotor.KvalRun = 0x7f;
+PoolerMotor.KvalAcc = 0x7f;
+PoolerMotor.KvalDec = 0x7f;
+PoolerMotor.OverCurrentThreshold = 7;
+PoolerMotor.StallThreshold = 0x1F;
+PoolerMotor.ThermalCompensationFactor = 0;
+PoolerMotor.LowSpeedOptimization = false;
+PoolerMotor.StSlp = 20;
+PoolerMotor.IntSpd = 0x1A13;
+PoolerMotor.FnSlpAcc = 0x50;
+PoolerMotor.FnSlpDec = 0x50;
+ 
+HardwareMotor WinderMotor = new HardwareMotor();
+WinderMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoWinder;
+WinderMotor.MinFrequency = 0;
+WinderMotor.MaxFrequency = 100000;
+WinderMotor.SetMicroStep = 1;
+WinderMotor.MicroStep = 16;
+WinderMotor.MaxChangeSlope = 0x7ff;
+WinderMotor.HighLengthMicroSecond = 0;
+WinderMotor.SpeedMaster = false;
+WinderMotor.PulsePerRound = 200;
+WinderMotor.PulleyRadius = 0.8;
+WinderMotor.ConfigWord = 0x1CA0;
+WinderMotor.DirectionThreadWize = false;
+WinderMotor.KvalHold = 0x08;
+WinderMotor.KvalRun = 0x20;
+WinderMotor.KvalAcc = 0x20;
+WinderMotor.KvalDec = 0x20;
+WinderMotor.OverCurrentThreshold = 0xF;
+WinderMotor.StallThreshold = 0x7F;
+WinderMotor.ThermalCompensationFactor = 0;
+WinderMotor.LowSpeedOptimization = false;
+WinderMotor.StSlp = 0x7;
+WinderMotor.IntSpd = 0x22C5;
+WinderMotor.FnSlpAcc = 0x15;
+WinderMotor.FnSlpDec = 0x15;
+
+HardwareMotor ScrewMotor = new HardwareMotor();
+ScrewMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoScrew;
+ScrewMotor.MinFrequency = 0;
+ScrewMotor.MaxFrequency = 100000;
+ScrewMotor.SetMicroStep = 1;
+ScrewMotor.MicroStep = 8;
+ScrewMotor.MaxChangeSlope = 0x7FF;
+ScrewMotor.HighLengthMicroSecond = 0;
+ScrewMotor.SpeedMaster = false;
+ScrewMotor.PulsePerRound = 200;
+ScrewMotor.PulleyRadius = 1.68;
+ScrewMotor.ConfigWord = 0x1CA0;
+ScrewMotor.DirectionThreadWize = true;
+ScrewMotor.KvalHold = 0x1;
+ScrewMotor.KvalRun = 0x20;
+ScrewMotor.KvalAcc = 0x20;
+ScrewMotor.KvalDec = 0x20;
+ScrewMotor.OverCurrentThreshold = 0xF;
+ScrewMotor.StallThreshold = 0x7F;
+ScrewMotor.ThermalCompensationFactor = 0;
+ScrewMotor.LowSpeedOptimization = false;
+ScrewMotor.StSlp = 0x7;
+ScrewMotor.IntSpd = 0x22C5;
+ScrewMotor.FnSlpAcc = 0x15;
+ScrewMotor.FnSlpDec = 0x15;
+
+
+HardwareMotor LeftRockerMotor = new HardwareMotor();
+LeftRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLloading;
+LeftRockerMotor.MinFrequency = 0;
+LeftRockerMotor.MaxFrequency = 1000000;
+LeftRockerMotor.SetMicroStep = 1;
+LeftRockerMotor.MicroStep = 4;
+LeftRockerMotor.MaxChangeSlope = 10000;
+LeftRockerMotor.HighLengthMicroSecond = 0;
+LeftRockerMotor.SpeedMaster = false;
+LeftRockerMotor.PulsePerRound = 200;
+LeftRockerMotor.PulleyRadius = 1.3;
+LeftRockerMotor.ConfigWord = 0xC80;
+LeftRockerMotor.DirectionThreadWize = false;
+LeftRockerMotor.KvalHold = 0x28;
+LeftRockerMotor.KvalRun = 0x5f;
+LeftRockerMotor.KvalAcc = 0x5f;
+LeftRockerMotor.KvalDec = 0x5f;
+LeftRockerMotor.OverCurrentThreshold = 7;
+LeftRockerMotor.StallThreshold = 0x1F;
+LeftRockerMotor.ThermalCompensationFactor = 0;
+LeftRockerMotor.LowSpeedOptimization = false;
+LeftRockerMotor.StSlp = 6;
+LeftRockerMotor.IntSpd = 0x44B8;
+LeftRockerMotor.FnSlpAcc = 0x14;
+LeftRockerMotor.FnSlpDec = 0x14;
+
+
+HardwareMotor RightRockerMotor = new HardwareMotor();
+RightRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRloading;
+RightRockerMotor.MinFrequency = 0;
+RightRockerMotor.MaxFrequency = 1000000;
+RightRockerMotor.SetMicroStep = 1;
+RightRockerMotor.MicroStep = 4;
+RightRockerMotor.MaxChangeSlope = 4095;
+RightRockerMotor.HighLengthMicroSecond = 0;
+RightRockerMotor.SpeedMaster = false;
+RightRockerMotor.PulsePerRound = 200;
+RightRockerMotor.PulleyRadius = 1.3;
+RightRockerMotor.ConfigWord = 0xC80;
+RightRockerMotor.DirectionThreadWize = true;
+RightRockerMotor.KvalHold = 0x28;
+RightRockerMotor.KvalRun = 0x5f;
+RightRockerMotor.KvalAcc = 0x5f;
+RightRockerMotor.KvalDec = 0x5f;
+RightRockerMotor.OverCurrentThreshold = 7;
+RightRockerMotor.StallThreshold = 0x1F;
+RightRockerMotor.ThermalCompensationFactor = 0;
+RightRockerMotor.LowSpeedOptimization = false;
+RightRockerMotor.StSlp = 6;
+RightRockerMotor.IntSpd = 0x44B8;
+RightRockerMotor.FnSlpAcc = 0x14;
+RightRockerMotor.FnSlpDec = 0x14;
+
+HardwareMotor Dispenser4Motor = new HardwareMotor();
+Dispenser4Motor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDispenser7;
+/*Dispenser4Motor.MinFrequency = 0;
+Dispenser4Motor.MaxFrequency = 1000000;
+Dispenser4Motor.SetMicroStep = 1;
+Dispenser4Motor.MicroStep = 8;
+Dispenser4Motor.MaxChangeSlope = 0x7FF;
+Dispenser4Motor.HighLengthMicroSecond = 0;
+Dispenser4Motor.SpeedMaster = false;
+Dispenser4Motor.PulsePerRound = 200;
+Dispenser4Motor.PulleyRadius = 1.68;
+Dispenser4Motor.ConfigWord = 0x1CA0;
+Dispenser4Motor.DirectionThreadWize = true;
+Dispenser4Motor.KvalHold = 0x35;
+Dispenser4Motor.KvalRun = 0x7f;
+Dispenser4Motor.KvalAcc = 0x7f;
+Dispenser4Motor.KvalDec = 0x7f;
+Dispenser4Motor.OverCurrentThreshold = 0xF;
+Dispenser4Motor.StallThreshold = 0x7F;
+Dispenser4Motor.ThermalCompensationFactor = 0;
+Dispenser4Motor.LowSpeedOptimization = false;
+Dispenser4Motor.StSlp = 0x20;
+Dispenser4Motor.IntSpd = 0x1A13;
+Dispenser4Motor.FnSlpAcc = 0x50;
+Dispenser4Motor.FnSlpDec = 0x50;
+*/
+Dispenser4Motor.MinFrequency = 0;
+Dispenser4Motor.MaxFrequency = 1000000;
+Dispenser4Motor.SetMicroStep = 1;
+Dispenser4Motor.MicroStep = 1;
+Dispenser4Motor.MaxChangeSlope = 10000;
+Dispenser4Motor.HighLengthMicroSecond = 0;
+Dispenser4Motor.SpeedMaster = false;
+Dispenser4Motor.PulsePerRound = 200;
+Dispenser4Motor.PulleyRadius = 1.25;
+Dispenser4Motor.ConfigWord = 0x1C80;
+Dispenser4Motor.DirectionThreadWize = true;
+Dispenser4Motor.KvalHold = 0x35;
+Dispenser4Motor.KvalRun = 0x7f;
+Dispenser4Motor.KvalAcc = 0x7f;
+Dispenser4Motor.KvalDec = 0x7f;
+Dispenser4Motor.OverCurrentThreshold = 7;
+Dispenser4Motor.StallThreshold = 0x1F;
+Dispenser4Motor.ThermalCompensationFactor = 0;
+Dispenser4Motor.LowSpeedOptimization = false;
+Dispenser4Motor.StSlp = 0x20;
+Dispenser4Motor.IntSpd = 0x1A13;
+Dispenser4Motor.FnSlpAcc = 0x50;
+Dispenser4Motor.FnSlpDec = 0x50;
+
+
+
+HardwareDispenser hardwareDispenser = new HardwareDispenser();
+hardwareDispenser.HardwareDispenserType = Tango.PMR.Hardware.HardwareDispenserType.StandardDispenser;
+hardwareDispenser.Index = 6;
+hardwareDispenser.NlPerPulse = 2.4;
+hardwareDispenser.Capacity = 500;
+
+JobDispenser jobDispenser = new JobDispenser();
+jobDispenser.Index = 0;
+jobDispenser.Volume = 0;
+jobDispenser.DispenserStepDivision = Tango.PMR.Printing.DispenserStepDivision.Auto;
+jobDispenser.NanolitterPerSecond = 0;
+jobDispenser.NanoliterPerCentimeter = 0;
+jobDispenser.PulsePerSecond = 0;
+jobDispenser.DispenserLiquidType = Tango.PMR.Printing.DispenserLiquidType.Cyan;
+jobDispenser.LiquidMaxNanoliterPerCentimeter = 0;
+jobDispenser.NanoliterPerPulse = 0;
+
+HardwareWinder Winder = new HardwareWinder();
+Winder.HardwareWinderType = Tango.PMR.Hardware.HardwareWinderType.InternalWinder;
+Winder.MillimeterPerRotation = 20;
+
+//hardwareConfiguration.Motors.Add(FeederMotor);
+//hardwareConfiguration.Motors.Add(WinderMotor);
+//hardwareConfiguration.Motors.Add(DryerMotor);
+//hardwareConfiguration.Motors.Add(PoolerMotor);
+//hardwareConfiguration.Motors.Add(ScrewMotor);
+//hardwareConfiguration.Motors.Add(LeftRockerMotor);
+//hardwareConfiguration.Motors.Add(RightRockerMotor);
+
+//hardwareConfiguration.PidControls.Add(FeederPidControl);
+//hardwareConfiguration.PidControls.Add(PoolerPidControl);
+//hardwareConfiguration.PidControls.Add(WinderPidControl);
+
+//hardwareConfiguration.Dancers.Add(FeederDancer);
+//hardwareConfiguration.Dancers.Add(PoolerDancer);
+//hardwareConfiguration.Dancers.Add(WinderDancer);
diff --git a/Software/Stubs Collection/stubs/addedfiles/DispensersConfiguration.cs b/Software/Stubs Collection/stubs/addedfiles/DispensersConfiguration.cs
new file mode 100644
index 000000000..09289b348
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/DispensersConfiguration.cs
@@ -0,0 +1,62 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+
+HardwareDispenser hardware1Dispenser = new HardwareDispenser();
+hardware1Dispenser.HardwareDispenserType = Tango.PMR.Hardware.HardwareDispenserType.StandardDispenser;
+hardware1Dispenser.Index = 0;
+hardware1Dispenser.NlPerPulse = 2.4;
+hardware1Dispenser.Capacity = 500;
+
+HardwareDispenser hardware2Dispenser = new HardwareDispenser();
+hardware2Dispenser.HardwareDispenserType = Tango.PMR.Hardware.HardwareDispenserType.StandardDispenser;
+hardware2Dispenser.Index = 1;
+hardware2Dispenser.NlPerPulse = 2.4;
+hardware2Dispenser.Capacity = 500;
+
+HardwareDispenser hardware3Dispenser = new HardwareDispenser();
+hardware3Dispenser.HardwareDispenserType = Tango.PMR.Hardware.HardwareDispenserType.StandardDispenser;
+hardware3Dispenser.Index = 2;
+hardware3Dispenser.NlPerPulse = 2.4;
+hardware3Dispenser.Capacity = 500;
+
+HardwareDispenser hardware4Dispenser = new HardwareDispenser();
+hardware4Dispenser.HardwareDispenserType = Tango.PMR.Hardware.HardwareDispenserType.StandardDispenser;
+hardware4Dispenser.Index = 3;
+hardware4Dispenser.NlPerPulse = 2.4;
+hardware4Dispenser.Capacity = 500;
+
+HardwareDispenser hardware5Dispenser = new HardwareDispenser();
+hardware5Dispenser.HardwareDispenserType = Tango.PMR.Hardware.HardwareDispenserType.StandardDispenser;
+hardware5Dispenser.Index = 4;
+hardware5Dispenser.NlPerPulse = 2.4;
+hardware5Dispenser.Capacity = 500;
+
+HardwareDispenser hardware6Dispenser = new HardwareDispenser();
+hardware6Dispenser.HardwareDispenserType = Tango.PMR.Hardware.HardwareDispenserType.StandardDispenser;
+hardware6Dispenser.Index = 5;
+hardware6Dispenser.NlPerPulse = 2.4;
+hardware6Dispenser.Capacity = 500;
+
+HardwareDispenser hardware7Dispenser = new HardwareDispenser();
+hardware7Dispenser.HardwareDispenserType = Tango.PMR.Hardware.HardwareDispenserType.StandardDispenser;
+hardware7Dispenser.Index = 6;
+hardware7Dispenser.NlPerPulse = 2.4;
+hardware7Dispenser.Capacity = 500;
+
+HardwareDispenser hardware8Dispenser = new HardwareDispenser();
+hardware8Dispenser.HardwareDispenserType = Tango.PMR.Hardware.HardwareDispenserType.StandardDispenser;
+hardware8Dispenser.Index = 7;
+hardware8Dispenser.NlPerPulse = 2.4;
+hardware8Dispenser.Capacity = 500;
diff --git a/Software/Stubs Collection/stubs/addedfiles/MotorsConfiguration.cs b/Software/Stubs Collection/stubs/addedfiles/MotorsConfiguration.cs
new file mode 100644
index 000000000..3ebf70b29
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/MotorsConfiguration.cs
@@ -0,0 +1,317 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+HardwareMotor FeederMotor = new HardwareMotor();
+FeederMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
+FeederMotor.MinFrequency = 0;
+FeederMotor.MaxFrequency = 1000000;
+FeederMotor.SetMicroStep = 1;
+FeederMotor.MicroStep = 8;
+FeederMotor.MaxChangeSlope = 4095;
+FeederMotor.HighLengthMicroSecond = 0;
+FeederMotor.SpeedMaster = false;
+FeederMotor.PulsePerRound = 200;
+FeederMotor.PulleyRadius = 1.25;
+FeederMotor.ConfigWord = 0x1C80;
+FeederMotor.DirectionThreadWize = true;
+FeederMotor.KvalHold = 0x8;
+FeederMotor.KvalRun = 0x35;
+FeederMotor.KvalAcc = 0x7f;
+FeederMotor.KvalDec = 0x27;
+FeederMotor.OverCurrentThreshold = 7;
+FeederMotor.StallThreshold = 0x1F;
+FeederMotor.ThermalCompensationFactor = 0;
+FeederMotor.LowSpeedOptimization = false;
+FeederMotor.StSlp = 0x20;
+FeederMotor.IntSpd = 0x1A13;
+FeederMotor.FnSlpAcc = 0x50;
+FeederMotor.FnSlpDec = 0x50;
+FeederMotor.FsSpd = 0x27;
+
+HardwareMotor DryerMotor = new HardwareMotor();
+DryerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
+DryerMotor.MinFrequency = 0;
+DryerMotor.MaxFrequency = 1000000;
+DryerMotor.SetMicroStep = 1;
+DryerMotor.MicroStep = 8;
+DryerMotor.MaxChangeSlope = 4095;
+DryerMotor.HighLengthMicroSecond = 0;
+DryerMotor.SpeedMaster = true;
+DryerMotor.PulsePerRound = 200;
+DryerMotor.PulleyRadius = 1.05;
+DryerMotor.ConfigWord = 0x1c80;
+DryerMotor.DirectionThreadWize = false;
+DryerMotor.KvalHold = 0x8;
+DryerMotor.KvalRun = 0x35;
+DryerMotor.KvalAcc = 0x7f;
+DryerMotor.KvalDec = 0x27;
+DryerMotor.OverCurrentThreshold = 7;
+DryerMotor.StallThreshold = 0x1F;
+DryerMotor.ThermalCompensationFactor = 0;
+DryerMotor.LowSpeedOptimization = false;
+DryerMotor.StSlp = 0x20;
+DryerMotor.IntSpd = 0x1A13;
+DryerMotor.FnSlpAcc = 0x50;
+DryerMotor.FnSlpDec = 0x50;
+DryerMotor.FsSpd = 0x27;
+
+HardwareMotor PoolerMotor = new HardwareMotor();
+PoolerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLdriving;
+PoolerMotor.MinFrequency = 0;
+PoolerMotor.MaxFrequency = 1000000;
+PoolerMotor.SetMicroStep = 1;
+PoolerMotor.MicroStep = 8;
+PoolerMotor.MaxChangeSlope = 10000;
+PoolerMotor.HighLengthMicroSecond = 0;
+PoolerMotor.SpeedMaster = false;
+PoolerMotor.PulsePerRound = 200;
+PoolerMotor.PulleyRadius = 1.25;
+PoolerMotor.ConfigWord = 0x1C80;
+PoolerMotor.DirectionThreadWize = true;
+PoolerMotor.KvalHold = 0x8;
+PoolerMotor.KvalRun = 0x35;
+PoolerMotor.KvalAcc = 0x7f;
+PoolerMotor.KvalDec = 0x27;
+PoolerMotor.OverCurrentThreshold = 7;
+PoolerMotor.StallThreshold = 0x1F;
+PoolerMotor.ThermalCompensationFactor = 0;
+PoolerMotor.LowSpeedOptimization = false;
+PoolerMotor.StSlp = 20;
+PoolerMotor.IntSpd = 0x1A13;
+PoolerMotor.FnSlpAcc = 0x50;
+PoolerMotor.FnSlpDec = 0x50;
+PoolerMotor.FsSpd = 0x27;
+ 
+HardwareMotor WinderMotor = new HardwareMotor();
+WinderMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoWinder;
+WinderMotor.MinFrequency = 0;
+WinderMotor.MaxFrequency = 100000;
+WinderMotor.SetMicroStep = 1;
+WinderMotor.MicroStep = 16;
+WinderMotor.MaxChangeSlope = 0x7ff;
+WinderMotor.HighLengthMicroSecond = 0;
+WinderMotor.SpeedMaster = false;
+WinderMotor.PulsePerRound = 200;
+WinderMotor.PulleyRadius = 0.8;
+WinderMotor.ConfigWord = 0x1CA0;
+WinderMotor.DirectionThreadWize = false;
+WinderMotor.KvalHold = 0x08;
+WinderMotor.KvalRun = 0x20;
+WinderMotor.KvalAcc = 0x20;
+WinderMotor.KvalDec = 0x3ff;
+WinderMotor.OverCurrentThreshold = 0xF;
+WinderMotor.StallThreshold = 0x7F;
+WinderMotor.ThermalCompensationFactor = 0;
+WinderMotor.LowSpeedOptimization = false;
+WinderMotor.StSlp = 0x7;
+WinderMotor.IntSpd = 0x22C5;
+WinderMotor.FnSlpAcc = 0x15;
+WinderMotor.FnSlpDec = 0x15;
+WinderMotor.FsSpd = 0x3ff;
+
+HardwareMotor ScrewMotor = new HardwareMotor();
+ScrewMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoScrew;
+ScrewMotor.MinFrequency = 0;
+ScrewMotor.MaxFrequency = 100000;
+ScrewMotor.SetMicroStep = 1;
+ScrewMotor.MicroStep = 8;
+ScrewMotor.MaxChangeSlope = 0x7FF;
+ScrewMotor.HighLengthMicroSecond = 0;
+ScrewMotor.SpeedMaster = false;
+ScrewMotor.PulsePerRound = 200;
+ScrewMotor.PulleyRadius = 1.68;
+ScrewMotor.ConfigWord = 0x1CA0;
+ScrewMotor.DirectionThreadWize = true;
+ScrewMotor.KvalHold = 0x1;
+ScrewMotor.KvalRun = 0x20;
+ScrewMotor.KvalAcc = 0x20;
+ScrewMotor.KvalDec = 0x27;
+ScrewMotor.OverCurrentThreshold = 0xF;
+ScrewMotor.StallThreshold = 0x7F;
+ScrewMotor.ThermalCompensationFactor = 0;
+ScrewMotor.LowSpeedOptimization = false;
+ScrewMotor.StSlp = 0x7;
+ScrewMotor.IntSpd = 0x22C5;
+ScrewMotor.FnSlpAcc = 0x15;
+ScrewMotor.FnSlpDec = 0x15;
+ScrewMotor.FsSpd = 0x27;
+
+
+HardwareMotor LeftRockerMotor = new HardwareMotor();
+LeftRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLloading;
+LeftRockerMotor.MinFrequency = 0;
+LeftRockerMotor.MaxFrequency = 1000000;
+LeftRockerMotor.SetMicroStep = 1;
+LeftRockerMotor.MicroStep = 4;
+LeftRockerMotor.MaxChangeSlope = 10000;
+LeftRockerMotor.HighLengthMicroSecond = 0;
+LeftRockerMotor.SpeedMaster = false;
+LeftRockerMotor.PulsePerRound = 200;
+LeftRockerMotor.PulleyRadius = 1.3;
+LeftRockerMotor.ConfigWord = 0xC80;
+LeftRockerMotor.DirectionThreadWize = false;
+LeftRockerMotor.KvalHold = 0x28;
+LeftRockerMotor.KvalRun = 0x5f;
+LeftRockerMotor.KvalAcc = 0x5f;
+LeftRockerMotor.KvalDec = 0x27;
+LeftRockerMotor.OverCurrentThreshold = 7;
+LeftRockerMotor.StallThreshold = 0x1F;
+LeftRockerMotor.ThermalCompensationFactor = 0;
+LeftRockerMotor.LowSpeedOptimization = false;
+LeftRockerMotor.StSlp = 6;
+LeftRockerMotor.IntSpd = 0x44B8;
+LeftRockerMotor.FnSlpAcc = 0x14;
+LeftRockerMotor.FnSlpDec = 0x14;
+LeftRockerMotor.FsSpd = 0x27;
+
+
+HardwareMotor RightRockerMotor = new HardwareMotor();
+RightRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRloading;
+RightRockerMotor.MinFrequency = 0;
+RightRockerMotor.MaxFrequency = 1000000;
+RightRockerMotor.SetMicroStep = 1;
+RightRockerMotor.MicroStep = 4;
+RightRockerMotor.MaxChangeSlope = 4095;
+RightRockerMotor.HighLengthMicroSecond = 0;
+RightRockerMotor.SpeedMaster = false;
+RightRockerMotor.PulsePerRound = 200;
+RightRockerMotor.PulleyRadius = 1.3;
+RightRockerMotor.ConfigWord = 0xC80;
+RightRockerMotor.DirectionThreadWize = true;
+RightRockerMotor.KvalHold = 0x28;
+RightRockerMotor.KvalRun = 0x5f;
+RightRockerMotor.KvalAcc = 0x5f;
+RightRockerMotor.KvalDec = 0x27;
+RightRockerMotor.OverCurrentThreshold = 7;
+RightRockerMotor.StallThreshold = 0x1F;
+RightRockerMotor.ThermalCompensationFactor = 0;
+RightRockerMotor.LowSpeedOptimization = false;
+RightRockerMotor.StSlp = 6;
+RightRockerMotor.IntSpd = 0x44B8;
+RightRockerMotor.FnSlpAcc = 0x14;
+RightRockerMotor.FnSlpDec = 0x14;
+RightRockerMotor.FsSpd = 0x27;
+
+HardwareMotor Dispenser4Motor = new HardwareMotor();
+Dispenser4Motor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDispenser4;
+Dispenser4Motor.MinFrequency = 0;
+Dispenser4Motor.MaxFrequency = 100000;
+Dispenser4Motor.SetMicroStep = 1;
+Dispenser4Motor.MicroStep = 16;
+Dispenser4Motor.MaxChangeSlope = 0x7FF;
+Dispenser4Motor.HighLengthMicroSecond = 0;
+Dispenser4Motor.SpeedMaster = false;
+Dispenser4Motor.PulsePerRound = 400;
+Dispenser4Motor.PulleyRadius = 1.68;
+Dispenser4Motor.ConfigWord = 0x1CA0;
+Dispenser4Motor.DirectionThreadWize = true;
+Dispenser4Motor.KvalHold = 0x21;
+Dispenser4Motor.KvalRun = 0xc0;
+Dispenser4Motor.KvalAcc = 0x2e;
+Dispenser4Motor.KvalDec = 0x3ff;
+Dispenser4Motor.OverCurrentThreshold = 0xF;
+Dispenser4Motor.StallThreshold = 0x1F;
+Dispenser4Motor.ThermalCompensationFactor = 0;
+Dispenser4Motor.LowSpeedOptimization = false;
+Dispenser4Motor.StSlp = 0x9;
+Dispenser4Motor.IntSpd = 0x1AD2;
+Dispenser4Motor.FnSlpAcc = 0x26;
+Dispenser4Motor.FnSlpDec = 0x26;
+Dispenser4Motor.FsSpd = 0x3ff;
+
+HardwareMotor Dispenser7Motor = new HardwareMotor();
+Dispenser7Motor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDispenser7;
+Dispenser7Motor.MinFrequency = 0;
+Dispenser7Motor.MaxFrequency = 100000;
+Dispenser7Motor.SetMicroStep = 1;
+Dispenser7Motor.MicroStep = 16;
+Dispenser7Motor.MaxChangeSlope = 0x7FF;
+Dispenser7Motor.HighLengthMicroSecond = 0;
+Dispenser7Motor.SpeedMaster = false;
+Dispenser7Motor.PulsePerRound = 400;
+Dispenser7Motor.PulleyRadius = 1.68;
+Dispenser7Motor.ConfigWord = 0x1CA0;
+Dispenser7Motor.DirectionThreadWize = true;
+Dispenser7Motor.KvalHold = 0x21;
+Dispenser7Motor.KvalRun = 0xc0;
+Dispenser7Motor.KvalAcc = 0x2e;
+Dispenser7Motor.KvalDec = 0x3ff;
+Dispenser7Motor.OverCurrentThreshold = 0xF;
+Dispenser7Motor.StallThreshold = 0x1F;
+Dispenser7Motor.ThermalCompensationFactor = 0;
+Dispenser7Motor.LowSpeedOptimization = false;
+Dispenser7Motor.StSlp = 0x9;
+Dispenser7Motor.IntSpd = 0x1AD2;
+Dispenser7Motor.FnSlpAcc = 0x26;
+Dispenser7Motor.FnSlpDec = 0x26;
+Dispenser7Motor.FsSpd = 0x3ff;
+
+HardwareMotor Dispenser8Motor = new HardwareMotor();
+Dispenser8Motor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDispenser8;
+Dispenser8Motor.MinFrequency = 0;
+Dispenser8Motor.MaxFrequency = 100000;
+Dispenser8Motor.SetMicroStep = 1;
+Dispenser8Motor.MicroStep = 16;
+Dispenser8Motor.MaxChangeSlope = 0x7FF;
+Dispenser8Motor.HighLengthMicroSecond = 0;
+Dispenser8Motor.SpeedMaster = false;
+Dispenser8Motor.PulsePerRound = 400;
+Dispenser8Motor.PulleyRadius = 1.68;
+Dispenser8Motor.ConfigWord = 0x1CA0;
+Dispenser8Motor.DirectionThreadWize = true;
+Dispenser8Motor.KvalHold = 0x21;
+Dispenser8Motor.KvalRun = 0xc0;
+Dispenser8Motor.KvalAcc = 0x2e;
+Dispenser8Motor.KvalDec = 0x3ff;
+Dispenser8Motor.OverCurrentThreshold = 0xF;
+Dispenser8Motor.StallThreshold = 0x1F;
+Dispenser8Motor.ThermalCompensationFactor = 0;
+Dispenser8Motor.LowSpeedOptimization = false;
+Dispenser8Motor.StSlp = 0x9;
+Dispenser8Motor.IntSpd = 0x1AD2;
+Dispenser8Motor.FnSlpAcc = 0x26;
+Dispenser8Motor.FnSlpDec = 0x26;
+Dispenser8Motor.FsSpd = 0x3ff;
+
+HardwareMotor DryerLoadarm = new HardwareMotor();
+DryerLoadarm.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerLoadarm;
+DryerLoadarm.MinFrequency = 0;
+DryerLoadarm.MaxFrequency = 1000000;
+DryerLoadarm.SetMicroStep = 1;
+DryerLoadarm.MicroStep = 1;
+DryerLoadarm.MaxChangeSlope = 10000;
+DryerLoadarm.HighLengthMicroSecond = 0;
+DryerLoadarm.SpeedMaster = false;
+DryerLoadarm.PulsePerRound = 200;
+DryerLoadarm.PulleyRadius = 1.25;
+DryerLoadarm.ConfigWord = 0x1C80;
+DryerLoadarm.DirectionThreadWize = false;
+DryerLoadarm.KvalHold = 0x35;
+DryerLoadarm.KvalRun = 0x7f;
+DryerLoadarm.KvalAcc = 0x7f;
+DryerLoadarm.KvalDec = 0x27;
+DryerLoadarm.OverCurrentThreshold = 7;
+DryerLoadarm.StallThreshold = 0x1F;
+DryerLoadarm.ThermalCompensationFactor = 0;
+DryerLoadarm.LowSpeedOptimization = false;
+DryerLoadarm.StSlp = 0x20;
+DryerLoadarm.IntSpd = 0x1A13;
+DryerLoadarm.FnSlpAcc = 0x50;
+DryerLoadarm.FnSlpDec = 0x50;
+DryerLoadarm.FsSpd = 0x27;
+
+HardwareWinder Winder = new HardwareWinder();
+Winder.HardwareWinderType = Tango.PMR.Hardware.HardwareWinderType.InternalWinder;
+Winder.MillimeterPerRotation = 20;
+
diff --git a/Software/Stubs Collection/stubs/addedfiles/PID_Configuration.cs b/Software/Stubs Collection/stubs/addedfiles/PID_Configuration.cs
new file mode 100644
index 000000000..984ed00e2
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/PID_Configuration.cs
@@ -0,0 +1,76 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+HardwarePidControl FeederPidControl = new HardwarePidControl();
+FeederPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorFeeder;
+FeederPidControl.OutputProportionalPowerLimit = 1.0;
+FeederPidControl.OutputProportionalBand = 5;
+FeederPidControl.IntegralTime = 5;
+FeederPidControl.DerivativeTime = 0;
+FeederPidControl.SensorCorrectionAdjustment = 0;
+FeederPidControl.SensorMinValue = 0;
+FeederPidControl.SensorMaxValue = 0;
+FeederPidControl.SetPointRampRateorSoftStartRamp = 0;
+FeederPidControl.SetPointControlOutputRate = 4;
+FeederPidControl.ControlOutputType = 0;
+FeederPidControl.SsrControlOutputType = 0;
+FeederPidControl.OutputOnOffHysteresisValue = 0;
+FeederPidControl.ProcessVariableSamplingRate = 1000;
+FeederPidControl.PvInputFilterFactorMode = 4;
+FeederPidControl.OutputProportionalCycleTime = 0;
+FeederPidControl.AcHeatersHalfCycleTime = 0;
+FeederPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl PoolerPidControl = new HardwarePidControl();
+PoolerPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorPooler;
+PoolerPidControl.OutputProportionalPowerLimit = 1.0;
+PoolerPidControl.OutputProportionalBand = 5;
+PoolerPidControl.IntegralTime = 5;
+PoolerPidControl.DerivativeTime = 0;
+PoolerPidControl.SensorCorrectionAdjustment = 0;
+PoolerPidControl.SensorMinValue = 0;
+PoolerPidControl.SensorMaxValue = 0;
+PoolerPidControl.SetPointRampRateorSoftStartRamp = 0;
+PoolerPidControl.SetPointControlOutputRate = 4;
+PoolerPidControl.ControlOutputType = 0;
+PoolerPidControl.SsrControlOutputType = 0;
+PoolerPidControl.OutputOnOffHysteresisValue = 0;
+PoolerPidControl.ProcessVariableSamplingRate = 1000;
+PoolerPidControl.PvInputFilterFactorMode = 4;
+PoolerPidControl.OutputProportionalCycleTime = 0;
+PoolerPidControl.AcHeatersHalfCycleTime = 0;
+PoolerPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl WinderPidControl = new HardwarePidControl();
+WinderPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorWinder;
+WinderPidControl.OutputProportionalPowerLimit = 1.0;
+WinderPidControl.OutputProportionalBand = 5;
+WinderPidControl.IntegralTime = 7;
+WinderPidControl.DerivativeTime = 0;
+WinderPidControl.SensorCorrectionAdjustment = 0;
+WinderPidControl.SensorMinValue = 0;
+WinderPidControl.SensorMaxValue = 0;
+WinderPidControl.SetPointRampRateorSoftStartRamp = 0;
+WinderPidControl.SetPointControlOutputRate = 4;
+WinderPidControl.ControlOutputType = 0;
+WinderPidControl.SsrControlOutputType = 0;
+WinderPidControl.OutputOnOffHysteresisValue = 0;
+WinderPidControl.ProcessVariableSamplingRate = 1000;
+WinderPidControl.PvInputFilterFactorMode = 4;
+WinderPidControl.OutputProportionalCycleTime = 0;
+WinderPidControl.AcHeatersHalfCycleTime = 0;
+WinderPidControl.ProportionalGain = 12.0;
+
diff --git a/Software/Stubs Collection/stubs/addedfiles/ThreadMotorsDefinition.cs b/Software/Stubs Collection/stubs/addedfiles/ThreadMotorsDefinition.cs
new file mode 100644
index 000000000..84a29bc3d
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/ThreadMotorsDefinition.cs
@@ -0,0 +1,314 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+HardwarePidControl FeederPidControl = new HardwarePidControl();
+FeederPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorFeeder;
+FeederPidControl.OutputProportionalPowerLimit = 1.0;
+FeederPidControl.OutputProportionalBand = 5;
+FeederPidControl.IntegralTime = 5;
+FeederPidControl.DerivativeTime = 0;
+FeederPidControl.SensorCorrectionAdjustment = 0;
+FeederPidControl.SensorMinValue = 0;
+FeederPidControl.SensorMaxValue = 0;
+FeederPidControl.SetPointRampRateorSoftStartRamp = 0;
+FeederPidControl.SetPointControlOutputRate = 4;
+FeederPidControl.ControlOutputType = 0;
+FeederPidControl.SsrControlOutputType = 0;
+FeederPidControl.OutputOnOffHysteresisValue = 0;
+FeederPidControl.ProcessVariableSamplingRate = 1000;
+FeederPidControl.PvInputFilterFactorMode = 4;
+FeederPidControl.OutputProportionalCycleTime = 0;
+FeederPidControl.AcHeatersHalfCycleTime = 0;
+FeederPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl PoolerPidControl = new HardwarePidControl();
+PoolerPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorPooler;
+PoolerPidControl.OutputProportionalPowerLimit = 1.0;
+PoolerPidControl.OutputProportionalBand = 5;
+PoolerPidControl.IntegralTime = 5;
+PoolerPidControl.DerivativeTime = 0;
+PoolerPidControl.SensorCorrectionAdjustment = 0;
+PoolerPidControl.SensorMinValue = 0;
+PoolerPidControl.SensorMaxValue = 0;
+PoolerPidControl.SetPointRampRateorSoftStartRamp = 0;
+PoolerPidControl.SetPointControlOutputRate = 4;
+PoolerPidControl.ControlOutputType = 0;
+PoolerPidControl.SsrControlOutputType = 0;
+PoolerPidControl.OutputOnOffHysteresisValue = 0;
+PoolerPidControl.ProcessVariableSamplingRate = 1000;
+PoolerPidControl.PvInputFilterFactorMode = 4;
+PoolerPidControl.OutputProportionalCycleTime = 0;
+PoolerPidControl.AcHeatersHalfCycleTime = 0;
+PoolerPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl WinderPidControl = new HardwarePidControl();
+WinderPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorWinder;
+WinderPidControl.OutputProportionalPowerLimit = 1.0;
+WinderPidControl.OutputProportionalBand = 5;
+WinderPidControl.IntegralTime = 5;
+WinderPidControl.DerivativeTime = 0;
+WinderPidControl.SensorCorrectionAdjustment = 0;
+WinderPidControl.SensorMinValue = 0;
+WinderPidControl.SensorMaxValue = 0;
+WinderPidControl.SetPointRampRateorSoftStartRamp = 0;
+WinderPidControl.SetPointControlOutputRate = 4;
+WinderPidControl.ControlOutputType = 0;
+WinderPidControl.SsrControlOutputType = 0;
+WinderPidControl.OutputOnOffHysteresisValue = 0;
+WinderPidControl.ProcessVariableSamplingRate = 1000;
+WinderPidControl.PvInputFilterFactorMode = 4;
+WinderPidControl.OutputProportionalCycleTime = 0;
+WinderPidControl.AcHeatersHalfCycleTime = 0;
+WinderPidControl.ProportionalGain = 11.0;
+
+
+HardwareDancer FeederDancer = new HardwareDancer();
+FeederDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.RightDancer;
+FeederDancer.Gradual = false;
+FeederDancer.K = 0;
+FeederDancer.X = 0;
+FeederDancer.PulsePerMmSpring = 0;
+FeederDancer.MaximalMovementMm = 15;
+FeederDancer.ZeroPoint = 14170;
+FeederDancer.ResolutionBits = 14;
+FeederDancer.ArmLength = 126;
+
+HardwareDancer PoolerDancer = new HardwareDancer();
+PoolerDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.MiddleDancer;
+PoolerDancer.Gradual = false;
+PoolerDancer.K = 0;
+PoolerDancer.X = 0;
+PoolerDancer.PulsePerMmSpring = 0;
+PoolerDancer.MaximalMovementMm = 15;
+PoolerDancer.ZeroPoint = 13347;
+PoolerDancer.ResolutionBits = 14;
+PoolerDancer.ArmLength = 126;
+
+HardwareDancer WinderDancer = new HardwareDancer();
+WinderDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.LeftDancer;
+WinderDancer.Gradual = false;
+WinderDancer.K = 0;
+WinderDancer.X = 0;
+WinderDancer.PulsePerMmSpring = 0;
+WinderDancer.MaximalMovementMm = 15;
+WinderDancer.ZeroPoint = 11320;
+WinderDancer.ResolutionBits = 14;
+WinderDancer.ArmLength = 126;
+
+HardwareMotor FeederMotor = new HardwareMotor();
+FeederMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
+FeederMotor.MinFrequency = 0;
+FeederMotor.MaxFrequency = 1000000;
+FeederMotor.SetMicroStep = 1;
+FeederMotor.MicroStep = 1;
+FeederMotor.MaxChangeSlope = 10000;
+FeederMotor.HighLengthMicroSecond = 0;
+FeederMotor.SpeedMaster = false;
+FeederMotor.PulsePerRound = 200;
+FeederMotor.PulleyRadius = 1.25;
+FeederMotor.ConfigWord = 0x1C80;
+FeederMotor.DirectionThreadWize = true;
+FeederMotor.KvalHold = 0x35;
+FeederMotor.KvalRun = 0x7f;
+FeederMotor.KvalAcc = 0x7f;
+FeederMotor.KvalDec = 0x7f;
+FeederMotor.OverCurrentThreshold = 7;
+FeederMotor.StallThreshold = 0x1F;
+FeederMotor.ThermalCompensationFactor = 0;
+FeederMotor.LowSpeedOptimization = false;
+FeederMotor.StSlp = 0x20;
+FeederMotor.IntSpd = 0x1A13;
+FeederMotor.FnSlpAcc = 0x50;
+FeederMotor.FnSlpDec = 0x50;
+
+HardwareMotor DryerMotor = new HardwareMotor();
+DryerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
+DryerMotor.MinFrequency = 0;
+DryerMotor.MaxFrequency = 1000000;
+DryerMotor.SetMicroStep = 1;
+DryerMotor.MicroStep = 1;
+DryerMotor.MaxChangeSlope = 1000;
+DryerMotor.HighLengthMicroSecond = 0;
+DryerMotor.SpeedMaster = true;
+DryerMotor.PulsePerRound = 200;
+DryerMotor.PulleyRadius = 1.05;
+DryerMotor.ConfigWord = 0x1c80;
+DryerMotor.DirectionThreadWize = false;
+DryerMotor.KvalHold = 0x35;
+DryerMotor.KvalRun = 0x7f;
+DryerMotor.KvalAcc = 0x7f;
+DryerMotor.KvalDec = 0x7f;
+DryerMotor.OverCurrentThreshold = 7;
+DryerMotor.StallThreshold = 0x1F;
+DryerMotor.ThermalCompensationFactor = 0;
+DryerMotor.LowSpeedOptimization = false;
+DryerMotor.StSlp = 0x20;
+DryerMotor.IntSpd = 0x1A13;
+DryerMotor.FnSlpAcc = 0x50;
+DryerMotor.FnSlpDec = 0x50;
+
+HardwareMotor PoolerMotor = new HardwareMotor();
+PoolerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLdriving;
+PoolerMotor.MinFrequency = 0;
+PoolerMotor.MaxFrequency = 1000000;
+PoolerMotor.SetMicroStep = 1;
+PoolerMotor.MicroStep = 8;
+PoolerMotor.MaxChangeSlope = 10000;
+PoolerMotor.HighLengthMicroSecond = 0;
+PoolerMotor.SpeedMaster = false;
+PoolerMotor.PulsePerRound = 200;
+PoolerMotor.PulleyRadius = 1.25;
+PoolerMotor.ConfigWord = 0x1C80;
+PoolerMotor.DirectionThreadWize = true;
+PoolerMotor.KvalHold = 0x35;
+PoolerMotor.KvalRun = 0x7f;
+PoolerMotor.KvalAcc = 0x7f;
+PoolerMotor.KvalDec = 0x7f;
+PoolerMotor.OverCurrentThreshold = 7;
+PoolerMotor.StallThreshold = 0x1F;
+PoolerMotor.ThermalCompensationFactor = 0;
+PoolerMotor.LowSpeedOptimization = false;
+PoolerMotor.StSlp = 20;
+PoolerMotor.IntSpd = 0x1A13;
+PoolerMotor.FnSlpAcc = 0x50;
+PoolerMotor.FnSlpDec = 0x50;
+
+HardwareMotor WinderMotor = new HardwareMotor();
+WinderMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoWinder;
+WinderMotor.MinFrequency = 0;
+WinderMotor.MaxFrequency = 1000000;
+WinderMotor.SetMicroStep = 1;
+WinderMotor.MicroStep = 16;
+WinderMotor.MaxChangeSlope = 10000;
+WinderMotor.HighLengthMicroSecond = 0;
+WinderMotor.SpeedMaster = false;
+WinderMotor.PulsePerRound = 200;
+WinderMotor.PulleyRadius = 1.68;
+WinderMotor.ConfigWord = 0x1c80;
+WinderMotor.DirectionThreadWize = false;
+WinderMotor.KvalHold = 0x0F;
+WinderMotor.KvalRun = 0x15;
+WinderMotor.KvalAcc = 0x15;
+WinderMotor.KvalDec = 0x15;
+WinderMotor.OverCurrentThreshold = 7;
+WinderMotor.StallThreshold = 0x1F;
+WinderMotor.ThermalCompensationFactor = 0;
+WinderMotor.LowSpeedOptimization = false;
+WinderMotor.StSlp = 0x18;
+WinderMotor.IntSpd = 0x22C5;
+WinderMotor.FnSlpAcc = 0x22;
+WinderMotor.FnSlpDec = 0x22;
+
+HardwareMotor ScrewMotor = new HardwareMotor();
+ScrewMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoScrew;
+ScrewMotor.MinFrequency = 0;
+ScrewMotor.MaxFrequency = 1000000;
+ScrewMotor.SetMicroStep = 1;
+ScrewMotor.MicroStep = 8;
+ScrewMotor.MaxChangeSlope = 100;
+ScrewMotor.HighLengthMicroSecond = 0;
+ScrewMotor.SpeedMaster = false;
+ScrewMotor.PulsePerRound = 200;
+ScrewMotor.PulleyRadius = 1.25;
+ScrewMotor.ConfigWord = 0x1C80;
+ScrewMotor.DirectionThreadWize = false;
+ScrewMotor.KvalHold = 0x0F;
+ScrewMotor.KvalRun = 0x15;
+ScrewMotor.KvalAcc = 0x15;
+ScrewMotor.KvalDec = 0x15;
+ScrewMotor.OverCurrentThreshold = 7;
+ScrewMotor.StallThreshold = 0x1F;
+ScrewMotor.ThermalCompensationFactor = 0;
+ScrewMotor.LowSpeedOptimization = false;
+ScrewMotor.StSlp = 0x18;
+ScrewMotor.IntSpd = 0x22C5;
+ScrewMotor.FnSlpAcc = 0x22;
+ScrewMotor.FnSlpDec = 0x22;
+
+HardwareMotor LeftRockerMotor = new HardwareMotor();
+LeftRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLloading;
+LeftRockerMotor.MinFrequency = 0;
+LeftRockerMotor.MaxFrequency = 1000000;
+LeftRockerMotor.SetMicroStep = 1;
+LeftRockerMotor.MicroStep = 4;
+LeftRockerMotor.MaxChangeSlope = 10000;
+LeftRockerMotor.HighLengthMicroSecond = 0;
+LeftRockerMotor.SpeedMaster = false;
+LeftRockerMotor.PulsePerRound = 200;
+LeftRockerMotor.PulleyRadius = 1.3;
+LeftRockerMotor.ConfigWord = 0xC80;
+LeftRockerMotor.DirectionThreadWize = false;
+LeftRockerMotor.KvalHold = 0x28;
+LeftRockerMotor.KvalRun = 0x5f;
+LeftRockerMotor.KvalAcc = 0x5f;
+LeftRockerMotor.KvalDec = 0x5f;
+LeftRockerMotor.OverCurrentThreshold = 7;
+LeftRockerMotor.StallThreshold = 0x1F;
+LeftRockerMotor.ThermalCompensationFactor = 0;
+LeftRockerMotor.LowSpeedOptimization = false;
+LeftRockerMotor.StSlp = 6;
+LeftRockerMotor.IntSpd = 0x44B8;
+LeftRockerMotor.FnSlpAcc = 0x14;
+LeftRockerMotor.FnSlpDec = 0x14;
+
+
+HardwareMotor RightRockerMotor = new HardwareMotor();
+RightRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRloading;
+RightRockerMotor.MinFrequency = 0;
+RightRockerMotor.MaxFrequency = 1000000;
+RightRockerMotor.SetMicroStep = 1;
+RightRockerMotor.MicroStep = 4;
+RightRockerMotor.MaxChangeSlope = 10000;
+RightRockerMotor.HighLengthMicroSecond = 0;
+RightRockerMotor.SpeedMaster = false;
+RightRockerMotor.PulsePerRound = 200;
+RightRockerMotor.PulleyRadius = 1.3;
+RightRockerMotor.ConfigWord = 0xC80;
+RightRockerMotor.DirectionThreadWize = true;
+RightRockerMotor.KvalHold = 0x28;
+RightRockerMotor.KvalRun = 0x5f;
+RightRockerMotor.KvalAcc = 0x5f;
+RightRockerMotor.KvalDec = 0x5f;
+RightRockerMotor.OverCurrentThreshold = 7;
+RightRockerMotor.StallThreshold = 0x1F;
+RightRockerMotor.ThermalCompensationFactor = 0;
+RightRockerMotor.LowSpeedOptimization = false;
+RightRockerMotor.StSlp = 6;
+RightRockerMotor.IntSpd = 0x44B8;
+RightRockerMotor.FnSlpAcc = 0x14;
+RightRockerMotor.FnSlpDec = 0x14;
+
+
+
+HardwareWinder Winder = new HardwareWinder();
+Winder.HardwareWinderType = Tango.PMR.Hardware.HardwareWinderType.InternalWinder;
+Winder.MillimeterPerRotation = 20;
+
+//hardwareConfiguration.Motors.Add(FeederMotor);
+//hardwareConfiguration.Motors.Add(WinderMotor);
+//hardwareConfiguration.Motors.Add(DryerMotor);
+//hardwareConfiguration.Motors.Add(PoolerMotor);
+//hardwareConfiguration.Motors.Add(ScrewMotor);
+//hardwareConfiguration.Motors.Add(LeftRockerMotor);
+//hardwareConfiguration.Motors.Add(RightRockerMotor);
+
+//hardwareConfiguration.PidControls.Add(FeederPidControl);
+//hardwareConfiguration.PidControls.Add(PoolerPidControl);
+//hardwareConfiguration.PidControls.Add(WinderPidControl);
+
+//hardwareConfiguration.Dancers.Add(FeederDancer);
+//hardwareConfiguration.Dancers.Add(PoolerDancer);
+//hardwareConfiguration.Dancers.Add(WinderDancer);
diff --git a/Software/Stubs Collection/stubs/addedfiles/ThreadMotorsDefinition1.cs b/Software/Stubs Collection/stubs/addedfiles/ThreadMotorsDefinition1.cs
new file mode 100644
index 000000000..22e662930
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/ThreadMotorsDefinition1.cs
@@ -0,0 +1,316 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+HardwarePidControl FeederPidControl = new HardwarePidControl();
+FeederPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorFeeder;
+FeederPidControl.OutputProportionalPowerLimit = 1.0;
+FeederPidControl.OutputProportionalBand = 5;
+FeederPidControl.IntegralTime = 5;
+FeederPidControl.DerivativeTime = 0;
+FeederPidControl.SensorCorrectionAdjustment = 0;
+FeederPidControl.SensorMinValue = 0;
+FeederPidControl.SensorMaxValue = 0;
+FeederPidControl.SetPointRampRateorSoftStartRamp = 0;
+FeederPidControl.SetPointControlOutputRate = 4;
+FeederPidControl.ControlOutputType = 0;
+FeederPidControl.SsrControlOutputType = 0;
+FeederPidControl.OutputOnOffHysteresisValue = 0;
+FeederPidControl.ProcessVariableSamplingRate = 1000;
+FeederPidControl.PvInputFilterFactorMode = 4;
+FeederPidControl.OutputProportionalCycleTime = 0;
+FeederPidControl.AcHeatersHalfCycleTime = 0;
+FeederPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl PoolerPidControl = new HardwarePidControl();
+PoolerPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorPooler;
+PoolerPidControl.OutputProportionalPowerLimit = 1.0;
+PoolerPidControl.OutputProportionalBand = 5;
+PoolerPidControl.IntegralTime = 5;
+PoolerPidControl.DerivativeTime = 0;
+PoolerPidControl.SensorCorrectionAdjustment = 0;
+PoolerPidControl.SensorMinValue = 0;
+PoolerPidControl.SensorMaxValue = 0;
+PoolerPidControl.SetPointRampRateorSoftStartRamp = 0;
+PoolerPidControl.SetPointControlOutputRate = 4;
+PoolerPidControl.ControlOutputType = 0;
+PoolerPidControl.SsrControlOutputType = 0;
+PoolerPidControl.OutputOnOffHysteresisValue = 0;
+PoolerPidControl.ProcessVariableSamplingRate = 1000;
+PoolerPidControl.PvInputFilterFactorMode = 4;
+PoolerPidControl.OutputProportionalCycleTime = 0;
+PoolerPidControl.AcHeatersHalfCycleTime = 0;
+PoolerPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl WinderPidControl = new HardwarePidControl();
+WinderPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorWinder;
+WinderPidControl.OutputProportionalPowerLimit = 1.0;
+WinderPidControl.OutputProportionalBand = 5;
+WinderPidControl.IntegralTime = 7;
+WinderPidControl.DerivativeTime = 0;
+WinderPidControl.SensorCorrectionAdjustment = 0;
+WinderPidControl.SensorMinValue = 0;
+WinderPidControl.SensorMaxValue = 0;
+WinderPidControl.SetPointRampRateorSoftStartRamp = 0;
+WinderPidControl.SetPointControlOutputRate = 4;
+WinderPidControl.ControlOutputType = 0;
+WinderPidControl.SsrControlOutputType = 0;
+WinderPidControl.OutputOnOffHysteresisValue = 0;
+WinderPidControl.ProcessVariableSamplingRate = 1000;
+WinderPidControl.PvInputFilterFactorMode = 4;
+WinderPidControl.OutputProportionalCycleTime = 0;
+WinderPidControl.AcHeatersHalfCycleTime = 0;
+WinderPidControl.ProportionalGain = 12.0;
+
+
+HardwareDancer FeederDancer = new HardwareDancer();
+FeederDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.RightDancer;
+FeederDancer.Gradual = false;
+FeederDancer.K = 0;
+FeederDancer.X = 0;
+FeederDancer.PulsePerMmSpring = 0;
+FeederDancer.MaximalMovementMm = 15;
+FeederDancer.ZeroPoint = 14170;
+FeederDancer.ResolutionBits = 14;
+FeederDancer.ArmLength = 126;
+
+HardwareDancer PoolerDancer = new HardwareDancer();
+PoolerDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.MiddleDancer;
+PoolerDancer.Gradual = false;
+PoolerDancer.K = 0;
+PoolerDancer.X = 0;
+PoolerDancer.PulsePerMmSpring = 0;
+PoolerDancer.MaximalMovementMm = 15;
+PoolerDancer.ZeroPoint = 13347;
+PoolerDancer.ResolutionBits = 14;
+PoolerDancer.ArmLength = 126;
+
+HardwareDancer WinderDancer = new HardwareDancer();
+WinderDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.LeftDancer;
+WinderDancer.Gradual = false;
+WinderDancer.K = 0;
+WinderDancer.X = 0;
+WinderDancer.PulsePerMmSpring = 0;
+WinderDancer.MaximalMovementMm = 15;
+WinderDancer.ZeroPoint = 10900;
+WinderDancer.ResolutionBits = 14;
+WinderDancer.ArmLength = 126;
+
+HardwareMotor FeederMotor = new HardwareMotor();
+FeederMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
+FeederMotor.MinFrequency = 0;
+FeederMotor.MaxFrequency = 1000000;
+FeederMotor.SetMicroStep = 1;
+FeederMotor.MicroStep = 1;
+FeederMotor.MaxChangeSlope = 10000;
+FeederMotor.HighLengthMicroSecond = 0;
+FeederMotor.SpeedMaster = false;
+FeederMotor.PulsePerRound = 200;
+FeederMotor.PulleyRadius = 1.25;
+FeederMotor.ConfigWord = 0x1C80;
+FeederMotor.DirectionThreadWize = true;
+FeederMotor.KvalHold = 0x35;
+FeederMotor.KvalRun = 0x7f;
+FeederMotor.KvalAcc = 0x7f;
+FeederMotor.KvalDec = 0x7f;
+FeederMotor.OverCurrentThreshold = 7;
+FeederMotor.StallThreshold = 0x1F;
+FeederMotor.ThermalCompensationFactor = 0;
+FeederMotor.LowSpeedOptimization = false;
+FeederMotor.StSlp = 0x20;
+FeederMotor.IntSpd = 0x1A13;
+FeederMotor.FnSlpAcc = 0x50;
+FeederMotor.FnSlpDec = 0x50;
+
+HardwareMotor DryerMotor = new HardwareMotor();
+DryerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
+DryerMotor.MinFrequency = 0;
+DryerMotor.MaxFrequency = 1000000;
+DryerMotor.SetMicroStep = 1;
+DryerMotor.MicroStep = 1;
+DryerMotor.MaxChangeSlope = 1000;
+DryerMotor.HighLengthMicroSecond = 0;
+DryerMotor.SpeedMaster = true;
+DryerMotor.PulsePerRound = 200;
+DryerMotor.PulleyRadius = 1.05;
+DryerMotor.ConfigWord = 0x1c80;
+DryerMotor.DirectionThreadWize = false;
+DryerMotor.KvalHold = 0x35;
+DryerMotor.KvalRun = 0x7f;
+DryerMotor.KvalAcc = 0x7f;
+DryerMotor.KvalDec = 0x7f;
+DryerMotor.OverCurrentThreshold = 7;
+DryerMotor.StallThreshold = 0x1F;
+DryerMotor.ThermalCompensationFactor = 0;
+DryerMotor.LowSpeedOptimization = false;
+DryerMotor.StSlp = 0x20;
+DryerMotor.IntSpd = 0x1A13;
+DryerMotor.FnSlpAcc = 0x50;
+DryerMotor.FnSlpDec = 0x50;
+
+HardwareMotor PoolerMotor = new HardwareMotor();
+PoolerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLdriving;
+PoolerMotor.MinFrequency = 0;
+PoolerMotor.MaxFrequency = 1000000;
+PoolerMotor.SetMicroStep = 1;
+PoolerMotor.MicroStep = 8;
+PoolerMotor.MaxChangeSlope = 10000;
+PoolerMotor.HighLengthMicroSecond = 0;
+PoolerMotor.SpeedMaster = false;
+PoolerMotor.PulsePerRound = 200;
+PoolerMotor.PulleyRadius = 1.25;
+PoolerMotor.ConfigWord = 0x1C80;
+PoolerMotor.DirectionThreadWize = true;
+PoolerMotor.KvalHold = 0x35;
+PoolerMotor.KvalRun = 0x7f;
+PoolerMotor.KvalAcc = 0x7f;
+PoolerMotor.KvalDec = 0x7f;
+PoolerMotor.OverCurrentThreshold = 7;
+PoolerMotor.StallThreshold = 0x1F;
+PoolerMotor.ThermalCompensationFactor = 0;
+PoolerMotor.LowSpeedOptimization = false;
+PoolerMotor.StSlp = 20;
+PoolerMotor.IntSpd = 0x1A13;
+PoolerMotor.FnSlpAcc = 0x50;
+PoolerMotor.FnSlpDec = 0x50;
+
+HardwareMotor WinderMotor = new HardwareMotor();
+WinderMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoWinder;
+WinderMotor.MinFrequency = 0;
+WinderMotor.MaxFrequency = 1000000;
+WinderMotor.SetMicroStep = 1;
+WinderMotor.MicroStep = 16;
+WinderMotor.MaxChangeSlope = 10000;
+WinderMotor.HighLengthMicroSecond = 0;
+WinderMotor.SpeedMaster = false;
+WinderMotor.PulsePerRound = 200;
+WinderMotor.PulleyRadius = 1.68;
+WinderMotor.ConfigWord = 0x1c80;
+WinderMotor.DirectionThreadWize = false;
+WinderMotor.KvalHold = 0x0F;
+WinderMotor.KvalRun = 0x15;
+WinderMotor.KvalAcc = 0x15;
+WinderMotor.KvalDec = 0x15;
+WinderMotor.OverCurrentThreshold = 7;
+WinderMotor.StallThreshold = 0x1F;
+WinderMotor.ThermalCompensationFactor = 0;
+WinderMotor.LowSpeedOptimization = false;
+WinderMotor.StSlp = 0x18;
+WinderMotor.IntSpd = 0x22C5;
+WinderMotor.FnSlpAcc = 0x22;
+WinderMotor.FnSlpDec = 0x22;
+
+HardwareMotor ScrewMotor = new HardwareMotor();
+ScrewMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoScrew;
+ScrewMotor.MinFrequency = 0;
+ScrewMotor.MaxFrequency = 1000000;
+ScrewMotor.SetMicroStep = 1;
+ScrewMotor.MicroStep = 8;
+ScrewMotor.MaxChangeSlope = 100;
+ScrewMotor.HighLengthMicroSecond = 0;
+ScrewMotor.SpeedMaster = false;
+ScrewMotor.PulsePerRound = 200;
+ScrewMotor.PulleyRadius = 1.25;
+ScrewMotor.ConfigWord = 0x1C80;
+ScrewMotor.DirectionThreadWize = false;
+ScrewMotor.KvalHold = 0x0F;
+ScrewMotor.KvalRun = 0x15;
+ScrewMotor.KvalAcc = 0x15;
+ScrewMotor.KvalDec = 0x15;
+ScrewMotor.OverCurrentThreshold = 7;
+ScrewMotor.StallThreshold = 0x1F;
+ScrewMotor.ThermalCompensationFactor = 0;
+ScrewMotor.LowSpeedOptimization = false;
+ScrewMotor.StSlp = 0x18;
+ScrewMotor.IntSpd = 0x22C5;
+ScrewMotor.FnSlpAcc = 0x22;
+ScrewMotor.FnSlpDec = 0x22;
+
+HardwareMotor LeftRockerMotor = new HardwareMotor();
+LeftRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLloading;
+LeftRockerMotor.MinFrequency = 20;
+LeftRockerMotor.LowSpeedOptimization = true;
+LeftRockerMotor.MaxFrequency = 1000000;
+LeftRockerMotor.SetMicroStep = 1;
+LeftRockerMotor.MicroStep = 4;
+LeftRockerMotor.MaxChangeSlope = 10000;
+LeftRockerMotor.HighLengthMicroSecond = 0;
+LeftRockerMotor.SpeedMaster = false;
+LeftRockerMotor.PulsePerRound = 200;
+LeftRockerMotor.PulleyRadius = 1.3;
+LeftRockerMotor.ConfigWord = 0xC80;
+LeftRockerMotor.DirectionThreadWize = false;
+LeftRockerMotor.KvalHold = 0x28;
+LeftRockerMotor.KvalRun = 0x5f;
+LeftRockerMotor.KvalAcc = 0x5f;
+LeftRockerMotor.KvalDec = 0x5f;
+LeftRockerMotor.OverCurrentThreshold = 7;
+LeftRockerMotor.StallThreshold = 0x1F;
+LeftRockerMotor.ThermalCompensationFactor = 0;
+LeftRockerMotor.LowSpeedOptimization = false;
+LeftRockerMotor.StSlp = 6;
+LeftRockerMotor.IntSpd = 0x44B8;
+LeftRockerMotor.FnSlpAcc = 0x14;
+LeftRockerMotor.FnSlpDec = 0x14;
+
+
+HardwareMotor RightRockerMotor = new HardwareMotor();
+RightRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRloading;
+RightRockerMotor.MinFrequency = 20;
+RightRockerMotor.LowSpeedOptimization = true;
+RightRockerMotor.MaxFrequency = 1000000;
+RightRockerMotor.SetMicroStep = 1;
+RightRockerMotor.MicroStep = 4;
+RightRockerMotor.MaxChangeSlope = 10000;
+RightRockerMotor.HighLengthMicroSecond = 0;
+RightRockerMotor.SpeedMaster = false;
+RightRockerMotor.PulsePerRound = 200;
+RightRockerMotor.PulleyRadius = 1.3;
+RightRockerMotor.ConfigWord = 0xC80;
+RightRockerMotor.DirectionThreadWize = true;
+RightRockerMotor.KvalHold = 0x28;
+RightRockerMotor.KvalRun = 0x5f;
+RightRockerMotor.KvalAcc = 0x5f;
+RightRockerMotor.KvalDec = 0x5f;
+RightRockerMotor.OverCurrentThreshold = 7;
+RightRockerMotor.StallThreshold = 0x1F;
+RightRockerMotor.ThermalCompensationFactor = 0;
+RightRockerMotor.LowSpeedOptimization = false;
+RightRockerMotor.StSlp = 6;
+RightRockerMotor.IntSpd = 0x44B8;
+RightRockerMotor.FnSlpAcc = 0x14;
+RightRockerMotor.FnSlpDec = 0x14;
+
+
+
+HardwareWinder Winder = new HardwareWinder();
+Winder.HardwareWinderType = Tango.PMR.Hardware.HardwareWinderType.InternalWinder;
+Winder.MillimeterPerRotation = 20;
+
+//hardwareConfiguration.Motors.Add(FeederMotor);
+//hardwareConfiguration.Motors.Add(WinderMotor);
+//hardwareConfiguration.Motors.Add(DryerMotor);
+//hardwareConfiguration.Motors.Add(PoolerMotor);
+//hardwareConfiguration.Motors.Add(ScrewMotor);
+//hardwareConfiguration.Motors.Add(LeftRockerMotor);
+//hardwareConfiguration.Motors.Add(RightRockerMotor);
+
+//hardwareConfiguration.PidControls.Add(FeederPidControl);
+//hardwareConfiguration.PidControls.Add(PoolerPidControl);
+//hardwareConfiguration.PidControls.Add(WinderPidControl);
+
+//hardwareConfiguration.Dancers.Add(FeederDancer);
+//hardwareConfiguration.Dancers.Add(PoolerDancer);
+//hardwareConfiguration.Dancers.Add(WinderDancer);
diff --git a/Software/Stubs Collection/stubs/addedfiles/ThreadMotorsDefinition2.cs b/Software/Stubs Collection/stubs/addedfiles/ThreadMotorsDefinition2.cs
new file mode 100644
index 000000000..a13aa92cf
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/ThreadMotorsDefinition2.cs
@@ -0,0 +1,316 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+HardwarePidControl FeederPidControl = new HardwarePidControl();
+FeederPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorFeeder;
+FeederPidControl.OutputProportionalPowerLimit = 1.0;
+FeederPidControl.OutputProportionalBand = 5;
+FeederPidControl.IntegralTime = 5;
+FeederPidControl.DerivativeTime = 0;
+FeederPidControl.SensorCorrectionAdjustment = 0;
+FeederPidControl.SensorMinValue = 0;
+FeederPidControl.SensorMaxValue = 0;
+FeederPidControl.SetPointRampRateorSoftStartRamp = 0;
+FeederPidControl.SetPointControlOutputRate = 4;
+FeederPidControl.ControlOutputType = 0;
+FeederPidControl.SsrControlOutputType = 0;
+FeederPidControl.OutputOnOffHysteresisValue = 0;
+FeederPidControl.ProcessVariableSamplingRate = 1000;
+FeederPidControl.PvInputFilterFactorMode = 4;
+FeederPidControl.OutputProportionalCycleTime = 0;
+FeederPidControl.AcHeatersHalfCycleTime = 0;
+FeederPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl PoolerPidControl = new HardwarePidControl();
+PoolerPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorPooler;
+PoolerPidControl.OutputProportionalPowerLimit = 1.0;
+PoolerPidControl.OutputProportionalBand = 5;
+PoolerPidControl.IntegralTime = 5;
+PoolerPidControl.DerivativeTime = 0;
+PoolerPidControl.SensorCorrectionAdjustment = 0;
+PoolerPidControl.SensorMinValue = 0;
+PoolerPidControl.SensorMaxValue = 0;
+PoolerPidControl.SetPointRampRateorSoftStartRamp = 0;
+PoolerPidControl.SetPointControlOutputRate = 4;
+PoolerPidControl.ControlOutputType = 0;
+PoolerPidControl.SsrControlOutputType = 0;
+PoolerPidControl.OutputOnOffHysteresisValue = 0;
+PoolerPidControl.ProcessVariableSamplingRate = 1000;
+PoolerPidControl.PvInputFilterFactorMode = 4;
+PoolerPidControl.OutputProportionalCycleTime = 0;
+PoolerPidControl.AcHeatersHalfCycleTime = 0;
+PoolerPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl WinderPidControl = new HardwarePidControl();
+WinderPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorWinder;
+WinderPidControl.OutputProportionalPowerLimit = 1.0;
+WinderPidControl.OutputProportionalBand = 5;
+WinderPidControl.IntegralTime = 7;
+WinderPidControl.DerivativeTime = 0;
+WinderPidControl.SensorCorrectionAdjustment = 0;
+WinderPidControl.SensorMinValue = 0;
+WinderPidControl.SensorMaxValue = 0;
+WinderPidControl.SetPointRampRateorSoftStartRamp = 0;
+WinderPidControl.SetPointControlOutputRate = 4;
+WinderPidControl.ControlOutputType = 0;
+WinderPidControl.SsrControlOutputType = 0;
+WinderPidControl.OutputOnOffHysteresisValue = 0;
+WinderPidControl.ProcessVariableSamplingRate = 1000;
+WinderPidControl.PvInputFilterFactorMode = 4;
+WinderPidControl.OutputProportionalCycleTime = 0;
+WinderPidControl.AcHeatersHalfCycleTime = 0;
+WinderPidControl.ProportionalGain = 12.0;
+
+
+HardwareDancer FeederDancer = new HardwareDancer();
+FeederDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.RightDancer;
+FeederDancer.Gradual = false;
+FeederDancer.K = 0;
+FeederDancer.X = 0;
+FeederDancer.PulsePerMmSpring = 0;
+FeederDancer.MaximalMovementMm = 15;
+FeederDancer.ZeroPoint = 14170;
+FeederDancer.ResolutionBits = 14;
+FeederDancer.ArmLength = 126;
+
+HardwareDancer PoolerDancer = new HardwareDancer();
+PoolerDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.MiddleDancer;
+PoolerDancer.Gradual = false;
+PoolerDancer.K = 0;
+PoolerDancer.X = 0;
+PoolerDancer.PulsePerMmSpring = 0;
+PoolerDancer.MaximalMovementMm = 15;
+PoolerDancer.ZeroPoint = 13347;
+PoolerDancer.ResolutionBits = 14;
+PoolerDancer.ArmLength = 126;
+
+HardwareDancer WinderDancer = new HardwareDancer();
+WinderDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.LeftDancer;
+WinderDancer.Gradual = false;
+WinderDancer.K = 0;
+WinderDancer.X = 0;
+WinderDancer.PulsePerMmSpring = 0;
+WinderDancer.MaximalMovementMm = 15;
+WinderDancer.ZeroPoint = 10900;
+WinderDancer.ResolutionBits = 14;
+WinderDancer.ArmLength = 126;
+
+HardwareMotor FeederMotor = new HardwareMotor();
+FeederMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
+FeederMotor.MinFrequency = 0;
+FeederMotor.MaxFrequency = 1000000;
+FeederMotor.SetMicroStep = 1;
+FeederMotor.MicroStep = 4;
+FeederMotor.MaxChangeSlope = 10000;
+FeederMotor.HighLengthMicroSecond = 0;
+FeederMotor.SpeedMaster = false;
+FeederMotor.PulsePerRound = 200;
+FeederMotor.PulleyRadius = 1.25;
+FeederMotor.ConfigWord = 0x1C80;
+FeederMotor.DirectionThreadWize = true;
+FeederMotor.KvalHold = 0x35;
+FeederMotor.KvalRun = 0x7f;
+FeederMotor.KvalAcc = 0x7f;
+FeederMotor.KvalDec = 0x7f;
+FeederMotor.OverCurrentThreshold = 7;
+FeederMotor.StallThreshold = 0x1F;
+FeederMotor.ThermalCompensationFactor = 0;
+FeederMotor.LowSpeedOptimization = false;
+FeederMotor.StSlp = 0x20;
+FeederMotor.IntSpd = 0x1A13;
+FeederMotor.FnSlpAcc = 0x50;
+FeederMotor.FnSlpDec = 0x50;
+
+HardwareMotor DryerMotor = new HardwareMotor();
+DryerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
+DryerMotor.MinFrequency = 0;
+DryerMotor.MaxFrequency = 1000000;
+DryerMotor.SetMicroStep = 1;
+DryerMotor.MicroStep = 4;
+DryerMotor.MaxChangeSlope = 1000;
+DryerMotor.HighLengthMicroSecond = 0;
+DryerMotor.SpeedMaster = true;
+DryerMotor.PulsePerRound = 200;
+DryerMotor.PulleyRadius = 1.05;
+DryerMotor.ConfigWord = 0x1c80;
+DryerMotor.DirectionThreadWize = false;
+DryerMotor.KvalHold = 0x35;
+DryerMotor.KvalRun = 0x7f;
+DryerMotor.KvalAcc = 0x7f;
+DryerMotor.KvalDec = 0x7f;
+DryerMotor.OverCurrentThreshold = 7;
+DryerMotor.StallThreshold = 0x1F;
+DryerMotor.ThermalCompensationFactor = 0;
+DryerMotor.LowSpeedOptimization = false;
+DryerMotor.StSlp = 0x20;
+DryerMotor.IntSpd = 0x1A13;
+DryerMotor.FnSlpAcc = 0x50;
+DryerMotor.FnSlpDec = 0x50;
+
+HardwareMotor PoolerMotor = new HardwareMotor();
+PoolerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLdriving;
+PoolerMotor.MinFrequency = 0;
+PoolerMotor.MaxFrequency = 1000000;
+PoolerMotor.SetMicroStep = 1;
+PoolerMotor.MicroStep = 3;
+PoolerMotor.MaxChangeSlope = 10000;
+PoolerMotor.HighLengthMicroSecond = 0;
+PoolerMotor.SpeedMaster = false;
+PoolerMotor.PulsePerRound = 200;
+PoolerMotor.PulleyRadius = 1.25;
+PoolerMotor.ConfigWord = 0x1C80;
+PoolerMotor.DirectionThreadWize = true;
+PoolerMotor.KvalHold = 0x35;
+PoolerMotor.KvalRun = 0x7f;
+PoolerMotor.KvalAcc = 0x7f;
+PoolerMotor.KvalDec = 0x7f;
+PoolerMotor.OverCurrentThreshold = 7;
+PoolerMotor.StallThreshold = 0x1F;
+PoolerMotor.ThermalCompensationFactor = 0;
+PoolerMotor.LowSpeedOptimization = false;
+PoolerMotor.StSlp = 20;
+PoolerMotor.IntSpd = 0x1A13;
+PoolerMotor.FnSlpAcc = 0x50;
+PoolerMotor.FnSlpDec = 0x50;
+
+HardwareMotor WinderMotor = new HardwareMotor();
+WinderMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoWinder;
+WinderMotor.MinFrequency = 0;
+WinderMotor.MaxFrequency = 1000000;
+WinderMotor.SetMicroStep = 1;
+WinderMotor.MicroStep = 16;
+WinderMotor.MaxChangeSlope = 0x7ff;
+WinderMotor.HighLengthMicroSecond = 0;
+WinderMotor.SpeedMaster = false;
+WinderMotor.PulsePerRound = 200;
+WinderMotor.PulleyRadius = 1.68;
+WinderMotor.ConfigWord = 0x1CA0;
+WinderMotor.DirectionThreadWize = false;
+WinderMotor.KvalHold = 0x0F;
+WinderMotor.KvalRun = 0x15;
+WinderMotor.KvalAcc = 0x15;
+WinderMotor.KvalDec = 0x15;
+WinderMotor.OverCurrentThreshold = 0xF0;
+WinderMotor.StallThreshold = 0x7F;
+WinderMotor.ThermalCompensationFactor = 0;
+WinderMotor.LowSpeedOptimization = false;
+WinderMotor.StSlp = 0x18;
+WinderMotor.IntSpd = 0x22C5;
+WinderMotor.FnSlpAcc = 0x22;
+WinderMotor.FnSlpDec = 0x22;
+
+HardwareMotor ScrewMotor = new HardwareMotor();
+ScrewMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoScrew;
+ScrewMotor.MinFrequency = 0;
+ScrewMotor.MaxFrequency = 1000;
+ScrewMotor.SetMicroStep = 1;
+ScrewMotor.MicroStep = 4;
+ScrewMotor.MaxChangeSlope = 10000;
+ScrewMotor.HighLengthMicroSecond = 0;
+ScrewMotor.SpeedMaster = false;
+ScrewMotor.PulsePerRound = 200;
+ScrewMotor.PulleyRadius = 1.25;
+ScrewMotor.ConfigWord = 0x1C80;
+ScrewMotor.DirectionThreadWize = false;
+ScrewMotor.KvalHold = 0x0F;
+ScrewMotor.KvalRun = 0x15;
+ScrewMotor.KvalAcc = 0x15;
+ScrewMotor.KvalDec = 0x15;
+ScrewMotor.OverCurrentThreshold = 7;
+ScrewMotor.StallThreshold = 0x1F;
+ScrewMotor.ThermalCompensationFactor = 0;
+ScrewMotor.LowSpeedOptimization = false;
+ScrewMotor.StSlp = 0x18;
+ScrewMotor.IntSpd = 0x22C5;
+ScrewMotor.FnSlpAcc = 0x22;
+ScrewMotor.FnSlpDec = 0x22;// Request ----
+
+HardwareMotor LeftRockerMotor = new HardwareMotor();
+LeftRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLloading;
+LeftRockerMotor.MinFrequency = 20;
+LeftRockerMotor.LowSpeedOptimization = true;
+LeftRockerMotor.MaxFrequency = 1000000;
+LeftRockerMotor.SetMicroStep = 1;
+LeftRockerMotor.MicroStep = 2;
+LeftRockerMotor.MaxChangeSlope = 10000;
+LeftRockerMotor.HighLengthMicroSecond = 0;
+LeftRockerMotor.SpeedMaster = false;
+LeftRockerMotor.PulsePerRound = 200;
+LeftRockerMotor.PulleyRadius = 1.3;
+LeftRockerMotor.ConfigWord = 0xC80;
+LeftRockerMotor.DirectionThreadWize = false;
+LeftRockerMotor.KvalHold = 0x28;
+LeftRockerMotor.KvalRun = 0x5f;
+LeftRockerMotor.KvalAcc = 0x5f;
+LeftRockerMotor.KvalDec = 0x5f;
+LeftRockerMotor.OverCurrentThreshold = 7;
+LeftRockerMotor.StallThreshold = 0x1F;
+LeftRockerMotor.ThermalCompensationFactor = 0;
+LeftRockerMotor.LowSpeedOptimization = false;
+LeftRockerMotor.StSlp = 6;
+LeftRockerMotor.IntSpd = 0x44B8;
+LeftRockerMotor.FnSlpAcc = 0x14;
+LeftRockerMotor.FnSlpDec = 0x14;
+
+
+HardwareMotor RightRockerMotor = new HardwareMotor();
+RightRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRloading;
+RightRockerMotor.MinFrequency = 20;
+RightRockerMotor.LowSpeedOptimization = true;
+RightRockerMotor.MaxFrequency = 1000000;
+RightRockerMotor.SetMicroStep = 1;
+RightRockerMotor.MicroStep = 4;
+RightRockerMotor.MaxChangeSlope = 10000;
+RightRockerMotor.HighLengthMicroSecond = 0;
+RightRockerMotor.SpeedMaster = false;
+RightRockerMotor.PulsePerRound = 200;
+RightRockerMotor.PulleyRadius = 1.3;
+RightRockerMotor.ConfigWord = 0xC80;
+RightRockerMotor.DirectionThreadWize = true;
+RightRockerMotor.KvalHold = 0x28;
+RightRockerMotor.KvalRun = 0x5f;
+RightRockerMotor.KvalAcc = 0x5f;
+RightRockerMotor.KvalDec = 0x5f;
+RightRockerMotor.OverCurrentThreshold = 7;
+RightRockerMotor.StallThreshold = 0x1F;
+RightRockerMotor.ThermalCompensationFactor = 0;
+RightRockerMotor.LowSpeedOptimization = false;
+RightRockerMotor.StSlp = 6;
+RightRockerMotor.IntSpd = 0x44B8;
+RightRockerMotor.FnSlpAcc = 0x14;
+RightRockerMotor.FnSlpDec = 0x14;
+
+
+
+HardwareWinder Winder = new HardwareWinder();
+Winder.HardwareWinderType = Tango.PMR.Hardware.HardwareWinderType.InternalWinder;
+Winder.MillimeterPerRotation = 20;
+
+//hardwareConfiguration.Motors.Add(FeederMotor);
+//hardwareConfiguration.Motors.Add(WinderMotor);
+//hardwareConfiguration.Motors.Add(DryerMotor);
+//hardwareConfiguration.Motors.Add(PoolerMotor);
+//hardwareConfiguration.Motors.Add(ScrewMotor);
+//hardwareConfiguration.Motors.Add(LeftRockerMotor);
+//hardwareConfiguration.Motors.Add(RightRockerMotor);
+
+//hardwareConfiguration.PidControls.Add(FeederPidControl);
+//hardwareConfiguration.PidControls.Add(PoolerPidControl);
+//hardwareConfiguration.PidControls.Add(WinderPidControl);
+
+//hardwareConfiguration.Dancers.Add(FeederDancer);
+//hardwareConfiguration.Dancers.Add(PoolerDancer);
+//hardwareConfiguration.Dancers.Add(WinderDancer);
diff --git a/Software/Stubs Collection/stubs/addedfiles/newDeskSystemThreadMotorsDefinition.cs b/Software/Stubs Collection/stubs/addedfiles/newDeskSystemThreadMotorsDefinition.cs
new file mode 100644
index 000000000..34008fd61
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/newDeskSystemThreadMotorsDefinition.cs
@@ -0,0 +1,434 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+HardwarePidControl FeederPidControl = new HardwarePidControl();
+FeederPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorFeeder;
+FeederPidControl.OutputProportionalPowerLimit = 1.0;
+FeederPidControl.OutputProportionalBand = 5;
+FeederPidControl.IntegralTime = 5;
+FeederPidControl.DerivativeTime = 0;
+FeederPidControl.SensorCorrectionAdjustment = 0;
+FeederPidControl.SensorMinValue = 0;
+FeederPidControl.SensorMaxValue = 0;
+FeederPidControl.SetPointRampRateorSoftStartRamp = 0;
+FeederPidControl.SetPointControlOutputRate = 4;
+FeederPidControl.ControlOutputType = 0;
+FeederPidControl.SsrControlOutputType = 0;
+FeederPidControl.OutputOnOffHysteresisValue = 0;
+FeederPidControl.ProcessVariableSamplingRate = 1000;
+FeederPidControl.PvInputFilterFactorMode = 4;
+FeederPidControl.OutputProportionalCycleTime = 0;
+FeederPidControl.AcHeatersHalfCycleTime = 0;
+FeederPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl PoolerPidControl = new HardwarePidControl();
+PoolerPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorPooler;
+PoolerPidControl.OutputProportionalPowerLimit = 1.0;
+PoolerPidControl.OutputProportionalBand = 5;
+PoolerPidControl.IntegralTime = 5;
+PoolerPidControl.DerivativeTime = 0;
+PoolerPidControl.SensorCorrectionAdjustment = 0;
+PoolerPidControl.SensorMinValue = 0;
+PoolerPidControl.SensorMaxValue = 0;
+PoolerPidControl.SetPointRampRateorSoftStartRamp = 0;
+PoolerPidControl.SetPointControlOutputRate = 4;
+PoolerPidControl.ControlOutputType = 0;
+PoolerPidControl.SsrControlOutputType = 0;
+PoolerPidControl.OutputOnOffHysteresisValue = 0;
+PoolerPidControl.ProcessVariableSamplingRate = 1000;
+PoolerPidControl.PvInputFilterFactorMode = 4;
+PoolerPidControl.OutputProportionalCycleTime = 0;
+PoolerPidControl.AcHeatersHalfCycleTime = 0;
+PoolerPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl WinderPidControl = new HardwarePidControl();
+WinderPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorWinder;
+WinderPidControl.OutputProportionalPowerLimit = 1.0;
+WinderPidControl.OutputProportionalBand = 5;
+WinderPidControl.IntegralTime = 5;
+WinderPidControl.DerivativeTime = 0;
+WinderPidControl.SensorCorrectionAdjustment = 0;
+WinderPidControl.SensorMinValue = 0;
+WinderPidControl.SensorMaxValue = 0;
+WinderPidControl.SetPointRampRateorSoftStartRamp = 0;
+WinderPidControl.SetPointControlOutputRate = 4;
+WinderPidControl.ControlOutputType = 0;
+WinderPidControl.SsrControlOutputType = 0;
+WinderPidControl.OutputOnOffHysteresisValue = 0;
+WinderPidControl.ProcessVariableSamplingRate = 1000;
+WinderPidControl.PvInputFilterFactorMode = 4;
+WinderPidControl.OutputProportionalCycleTime = 0;
+WinderPidControl.AcHeatersHalfCycleTime = 0;
+WinderPidControl.ProportionalGain = 11.0;
+
+
+HardwareDancer FeederDancer = new HardwareDancer();
+FeederDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.RightDancer;
+FeederDancer.Gradual = false;
+FeederDancer.K = 0;
+FeederDancer.X = 0;
+FeederDancer.PulsePerMmSpring = 0;
+FeederDancer.MaximalMovementMm = 20;
+FeederDancer.ZeroPoint = 14182;
+FeederDancer.ResolutionBits = 14;
+FeederDancer.ArmLength = 126;
+
+HardwareDancer PoolerDancer = new HardwareDancer();
+PoolerDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.MiddleDancer;
+PoolerDancer.Gradual = false;
+PoolerDancer.K = 0;
+PoolerDancer.X = 0;
+PoolerDancer.PulsePerMmSpring = 0;
+PoolerDancer.MaximalMovementMm = 20;
+PoolerDancer.ZeroPoint = 13247;
+PoolerDancer.ResolutionBits = 14;
+PoolerDancer.ArmLength = 126;
+
+HardwareDancer WinderDancer = new HardwareDancer();
+WinderDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.LeftDancer;
+WinderDancer.Gradual = false;
+WinderDancer.K = 0;
+WinderDancer.X = 0;
+WinderDancer.PulsePerMmSpring = 0;
+WinderDancer.MaximalMovementMm = 20;
+WinderDancer.ZeroPoint = 11193;
+WinderDancer.ResolutionBits = 14;
+WinderDancer.ArmLength = 126;
+
+HardwareMotor FeederMotor = new HardwareMotor();
+FeederMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
+FeederMotor.MinFrequency = 0;
+FeederMotor.MaxFrequency = 1000000;
+FeederMotor.SetMicroStep = 1;
+FeederMotor.MicroStep = 1;
+FeederMotor.MaxChangeSlope = 10000;
+FeederMotor.HighLengthMicroSecond = 0;
+FeederMotor.SpeedMaster = false;
+FeederMotor.PulsePerRound = 200;
+FeederMotor.PulleyRadius = 1.25;
+FeederMotor.ConfigWord = 0x1C80;
+FeederMotor.DirectionThreadWize = true;
+FeederMotor.KvalHold = 0x35;
+FeederMotor.KvalRun = 0x7f;
+FeederMotor.KvalAcc = 0x7f;
+FeederMotor.KvalDec = 0x3Ff;
+FeederMotor.OverCurrentThreshold = 7;
+FeederMotor.StallThreshold = 0x1F;
+FeederMotor.ThermalCompensationFactor = 0;
+FeederMotor.LowSpeedOptimization = false;
+FeederMotor.StSlp = 0x20;
+FeederMotor.IntSpd = 0x1A13;
+FeederMotor.FnSlpAcc = 0x50;
+FeederMotor.FnSlpDec = 0x50;
+
+HardwareMotor DryerMotor = new HardwareMotor();
+DryerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
+DryerMotor.MinFrequency = 0;
+DryerMotor.MaxFrequency = 1000000;
+DryerMotor.SetMicroStep = 1;
+DryerMotor.MicroStep = 1;
+DryerMotor.MaxChangeSlope = 1000;
+DryerMotor.HighLengthMicroSecond = 0;
+DryerMotor.SpeedMaster = true;
+DryerMotor.PulsePerRound = 200;
+DryerMotor.PulleyRadius = 1.05;
+DryerMotor.ConfigWord = 0x1c80;
+DryerMotor.DirectionThreadWize = false;
+DryerMotor.KvalHold = 0x35;
+DryerMotor.KvalRun = 0x7f;
+DryerMotor.KvalAcc = 0x7f;
+DryerMotor.KvalDec = 0x3Ff;
+DryerMotor.OverCurrentThreshold = 7;
+DryerMotor.StallThreshold = 0x1F;
+DryerMotor.ThermalCompensationFactor = 0;
+DryerMotor.LowSpeedOptimization = false;
+DryerMotor.StSlp = 0x20;
+DryerMotor.IntSpd = 0x1A13;
+DryerMotor.FnSlpAcc = 0x50;
+DryerMotor.FnSlpDec = 0x50;
+
+HardwareMotor PoolerMotor = new HardwareMotor();
+PoolerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLdriving;
+PoolerMotor.MinFrequency = 0;
+PoolerMotor.MaxFrequency = 1000000;
+PoolerMotor.SetMicroStep = 1;
+PoolerMotor.MicroStep = 8;
+PoolerMotor.MaxChangeSlope = 10000;
+PoolerMotor.HighLengthMicroSecond = 0;
+PoolerMotor.SpeedMaster = false;
+PoolerMotor.PulsePerRound = 200;
+PoolerMotor.PulleyRadius = 1.25;
+PoolerMotor.ConfigWord = 0x1C80;
+PoolerMotor.DirectionThreadWize = true;
+PoolerMotor.KvalHold = 0x35;
+PoolerMotor.KvalRun = 0x7f;
+PoolerMotor.KvalAcc = 0x7f;
+PoolerMotor.KvalDec = 0x3ff;
+PoolerMotor.OverCurrentThreshold = 7;
+PoolerMotor.StallThreshold = 0x1F;
+PoolerMotor.ThermalCompensationFactor = 0;
+PoolerMotor.LowSpeedOptimization = false;
+PoolerMotor.StSlp = 20;
+PoolerMotor.IntSpd = 0x1A13;
+PoolerMotor.FnSlpAcc = 0x50;
+PoolerMotor.FnSlpDec = 0x50;
+ 
+HardwareMotor WinderMotor = new HardwareMotor();
+WinderMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoWinder;
+WinderMotor.MinFrequency = 0;
+WinderMotor.MaxFrequency = 100000;
+WinderMotor.SetMicroStep = 1;
+WinderMotor.MicroStep = 16;
+WinderMotor.MaxChangeSlope = 0x7ff;
+WinderMotor.HighLengthMicroSecond = 0;
+WinderMotor.SpeedMaster = false;
+WinderMotor.PulsePerRound = 200;
+WinderMotor.PulleyRadius = 0.8;
+WinderMotor.ConfigWord = 0x1CA0;
+WinderMotor.DirectionThreadWize = false;
+WinderMotor.KvalHold = 0x08;
+WinderMotor.KvalRun = 0x20;
+WinderMotor.KvalAcc = 0x20;
+WinderMotor.KvalDec = 0x3ff;
+WinderMotor.OverCurrentThreshold = 0xF;
+WinderMotor.StallThreshold = 0x7F;
+WinderMotor.ThermalCompensationFactor = 0;
+WinderMotor.LowSpeedOptimization = false;
+WinderMotor.StSlp = 0x7;
+WinderMotor.IntSpd = 0x22C5;
+WinderMotor.FnSlpAcc = 0x15;
+WinderMotor.FnSlpDec = 0x15;
+
+HardwareMotor ScrewMotor = new HardwareMotor();
+ScrewMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoScrew;
+ScrewMotor.MinFrequency = 0;
+ScrewMotor.MaxFrequency = 100000;
+ScrewMotor.SetMicroStep = 1;
+ScrewMotor.MicroStep = 8;
+ScrewMotor.MaxChangeSlope = 0x7FF;
+ScrewMotor.HighLengthMicroSecond = 0;
+ScrewMotor.SpeedMaster = false;
+ScrewMotor.PulsePerRound = 200;
+ScrewMotor.PulleyRadius = 1.68;
+ScrewMotor.ConfigWord = 0x1CA0;
+ScrewMotor.DirectionThreadWize = true;
+ScrewMotor.KvalHold = 0x1;
+ScrewMotor.KvalRun = 0x20;
+ScrewMotor.KvalAcc = 0x20;
+ScrewMotor.KvalDec = 0x3ff;
+ScrewMotor.OverCurrentThreshold = 0xF;
+ScrewMotor.StallThreshold = 0x7F;
+ScrewMotor.ThermalCompensationFactor = 0;
+ScrewMotor.LowSpeedOptimization = false;
+ScrewMotor.StSlp = 0x7;
+ScrewMotor.IntSpd = 0x22C5;
+ScrewMotor.FnSlpAcc = 0x15;
+ScrewMotor.FnSlpDec = 0x15;
+
+
+HardwareMotor LeftRockerMotor = new HardwareMotor();
+LeftRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLloading;
+LeftRockerMotor.MinFrequency = 0;
+LeftRockerMotor.MaxFrequency = 1000000;
+LeftRockerMotor.SetMicroStep = 1;
+LeftRockerMotor.MicroStep = 4;
+LeftRockerMotor.MaxChangeSlope = 10000;
+LeftRockerMotor.HighLengthMicroSecond = 0;
+LeftRockerMotor.SpeedMaster = false;
+LeftRockerMotor.PulsePerRound = 200;
+LeftRockerMotor.PulleyRadius = 1.3;
+LeftRockerMotor.ConfigWord = 0xC80;
+LeftRockerMotor.DirectionThreadWize = false;
+LeftRockerMotor.KvalHold = 0x28;
+LeftRockerMotor.KvalRun = 0x5f;
+LeftRockerMotor.KvalAcc = 0x5f;
+LeftRockerMotor.KvalDec = 0x3ff;
+LeftRockerMotor.OverCurrentThreshold = 7;
+LeftRockerMotor.StallThreshold = 0x1F;
+LeftRockerMotor.ThermalCompensationFactor = 0;
+LeftRockerMotor.LowSpeedOptimization = false;
+LeftRockerMotor.StSlp = 6;
+LeftRockerMotor.IntSpd = 0x44B8;
+LeftRockerMotor.FnSlpAcc = 0x14;
+LeftRockerMotor.FnSlpDec = 0x14;
+
+
+HardwareMotor RightRockerMotor = new HardwareMotor();
+RightRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRloading;
+RightRockerMotor.MinFrequency = 0;
+RightRockerMotor.MaxFrequency = 1000000;
+RightRockerMotor.SetMicroStep = 1;
+RightRockerMotor.MicroStep = 4;
+RightRockerMotor.MaxChangeSlope = 10000;
+RightRockerMotor.HighLengthMicroSecond = 0;
+RightRockerMotor.SpeedMaster = false;
+RightRockerMotor.PulsePerRound = 200;
+RightRockerMotor.PulleyRadius = 1.3;
+RightRockerMotor.ConfigWord = 0xC80;
+RightRockerMotor.DirectionThreadWize = true;
+RightRockerMotor.KvalHold = 0x28;
+RightRockerMotor.KvalRun = 0x5f;
+RightRockerMotor.KvalAcc = 0x5f;
+RightRockerMotor.KvalDec = 0x3ff;
+RightRockerMotor.OverCurrentThreshold = 7;
+RightRockerMotor.StallThreshold = 0x1F;
+RightRockerMotor.ThermalCompensationFactor = 0;
+RightRockerMotor.LowSpeedOptimization = false;
+RightRockerMotor.StSlp = 6;
+RightRockerMotor.IntSpd = 0x44B8;
+RightRockerMotor.FnSlpAcc = 0x14;
+RightRockerMotor.FnSlpDec = 0x14;
+
+HardwareMotor Dispenser4Motor = new HardwareMotor();
+Dispenser4Motor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDispenser4;
+Dispenser4Motor.MinFrequency = 0;
+Dispenser4Motor.MaxFrequency = 100000;
+Dispenser4Motor.SetMicroStep = 1;
+Dispenser4Motor.MicroStep = 16;
+Dispenser4Motor.MaxChangeSlope = 0x7FF;
+Dispenser4Motor.HighLengthMicroSecond = 0;
+Dispenser4Motor.SpeedMaster = false;
+Dispenser4Motor.PulsePerRound = 200;
+Dispenser4Motor.PulleyRadius = 1.68;
+Dispenser4Motor.ConfigWord = 0x1CA0;
+Dispenser4Motor.DirectionThreadWize = true;
+Dispenser4Motor.KvalHold = 0x21;
+Dispenser4Motor.KvalRun = 0xc0;
+Dispenser4Motor.KvalAcc = 0x2e;
+Dispenser4Motor.KvalDec = 0x3ff;
+Dispenser4Motor.OverCurrentThreshold = 0xF;
+Dispenser4Motor.StallThreshold = 0x1F;
+Dispenser4Motor.ThermalCompensationFactor = 0;
+Dispenser4Motor.LowSpeedOptimization = false;
+Dispenser4Motor.StSlp = 0x9;
+Dispenser4Motor.IntSpd = 0x1AD2;
+Dispenser4Motor.FnSlpAcc = 0x26;
+Dispenser4Motor.FnSlpDec = 0x26;
+
+HardwareMotor Dispenser7Motor = new HardwareMotor();
+Dispenser7Motor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDispenser7;
+Dispenser7Motor.MinFrequency = 0;
+Dispenser7Motor.MaxFrequency = 100000;
+Dispenser7Motor.SetMicroStep = 1;
+Dispenser7Motor.MicroStep = 16;
+Dispenser7Motor.MaxChangeSlope = 0x7FF;
+Dispenser7Motor.HighLengthMicroSecond = 0;
+Dispenser7Motor.SpeedMaster = false;
+Dispenser7Motor.PulsePerRound = 200;
+Dispenser7Motor.PulleyRadius = 1.68;
+Dispenser7Motor.ConfigWord = 0x1CA0;
+Dispenser7Motor.DirectionThreadWize = true;
+Dispenser7Motor.KvalHold = 0x21;
+Dispenser7Motor.KvalRun = 0xc0;
+Dispenser7Motor.KvalAcc = 0x2e;
+Dispenser7Motor.KvalDec = 0x3ff;
+Dispenser7Motor.OverCurrentThreshold = 0xF;
+Dispenser7Motor.StallThreshold = 0x1F;
+Dispenser7Motor.ThermalCompensationFactor = 0;
+Dispenser7Motor.LowSpeedOptimization = false;
+Dispenser7Motor.StSlp = 0x9;
+Dispenser7Motor.IntSpd = 0x1AD2;
+Dispenser7Motor.FnSlpAcc = 0x26;
+Dispenser7Motor.FnSlpDec = 0x26;
+
+HardwareMotor Dispenser8Motor = new HardwareMotor();
+Dispenser8Motor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDispenser8;
+Dispenser8Motor.MinFrequency = 0;
+Dispenser8Motor.MaxFrequency = 100000;
+Dispenser8Motor.SetMicroStep = 1;
+Dispenser8Motor.MicroStep = 16;
+Dispenser8Motor.MaxChangeSlope = 0x7FF;
+Dispenser8Motor.HighLengthMicroSecond = 0;
+Dispenser8Motor.SpeedMaster = false;
+Dispenser8Motor.PulsePerRound = 200;
+Dispenser8Motor.PulleyRadius = 1.68;
+Dispenser8Motor.ConfigWord = 0x1CA0;
+Dispenser8Motor.DirectionThreadWize = true;
+Dispenser8Motor.KvalHold = 0x21;
+Dispenser8Motor.KvalRun = 0xc0;
+Dispenser8Motor.KvalAcc = 0x2e;
+Dispenser8Motor.KvalDec = 0x3ff;
+Dispenser8Motor.OverCurrentThreshold = 0xF;
+Dispenser8Motor.StallThreshold = 0x1F;
+Dispenser8Motor.ThermalCompensationFactor = 0;
+Dispenser8Motor.LowSpeedOptimization = false;
+Dispenser8Motor.StSlp = 0x9;
+Dispenser8Motor.IntSpd = 0x1AD2;
+Dispenser8Motor.FnSlpAcc = 0x26;
+Dispenser8Motor.FnSlpDec = 0x26;
+HardwareMotor DryerLoadarm = new HardwareMotor();
+DryerLoadarm.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerLoadarm;
+DryerLoadarm.MinFrequency = 0;
+DryerLoadarm.MaxFrequency = 1000000;
+DryerLoadarm.SetMicroStep = 1;
+DryerLoadarm.MicroStep = 1;
+DryerLoadarm.MaxChangeSlope = 10000;
+DryerLoadarm.HighLengthMicroSecond = 0;
+DryerLoadarm.SpeedMaster = false;
+DryerLoadarm.PulsePerRound = 200;
+DryerLoadarm.PulleyRadius = 1.25;
+DryerLoadarm.ConfigWord = 0x1C80;
+DryerLoadarm.DirectionThreadWize = false;
+DryerLoadarm.KvalHold = 0x35;
+DryerLoadarm.KvalRun = 0x7f;
+DryerLoadarm.KvalAcc = 0x7f;
+DryerLoadarm.KvalDec = 0x7f;
+DryerLoadarm.OverCurrentThreshold = 7;
+DryerLoadarm.StallThreshold = 0x1F;
+DryerLoadarm.ThermalCompensationFactor = 0;
+DryerLoadarm.LowSpeedOptimization = false;
+DryerLoadarm.StSlp = 0x20;
+DryerLoadarm.IntSpd = 0x1A13;
+DryerLoadarm.FnSlpAcc = 0x50;
+DryerLoadarm.FnSlpDec = 0x50;
+
+
+HardwareDispenser hardwareDispenser = new HardwareDispenser();
+hardwareDispenser.HardwareDispenserType = Tango.PMR.Hardware.HardwareDispenserType.StandardDispenser;
+hardwareDispenser.Index = 7;
+hardwareDispenser.NlPerPulse = 2.4;
+hardwareDispenser.Capacity = 500;
+
+JobDispenser jobDispenser = new JobDispenser();
+jobDispenser.Index = 0;
+jobDispenser.Volume = 0;
+jobDispenser.DispenserStepDivision = Tango.PMR.Printing.DispenserStepDivision.Auto;
+jobDispenser.NanolitterPerSecond = 0;
+jobDispenser.NanoliterPerCentimeter = 0;
+jobDispenser.PulsePerSecond = 0;
+jobDispenser.DispenserLiquidType = Tango.PMR.Printing.DispenserLiquidType.Cyan;
+jobDispenser.LiquidMaxNanoliterPerCentimeter = 0;
+jobDispenser.NanoliterPerPulse = 0;
+
+HardwareWinder Winder = new HardwareWinder();
+Winder.HardwareWinderType = Tango.PMR.Hardware.HardwareWinderType.InternalWinder;
+Winder.MillimeterPerRotation = 20;
+
+//hardwareConfiguration.Motors.Add(FeederMotor);
+//hardwareConfiguration.Motors.Add(WinderMotor);
+//hardwareConfiguration.Motors.Add(DryerMotor);
+//hardwareConfiguration.Motors.Add(PoolerMotor);
+//hardwareConfiguration.Motors.Add(ScrewMotor);
+//hardwareConfiguration.Motors.Add(LeftRockerMotor);
+//hardwareConfiguration.Motors.Add(RightRockerMotor);
+
+//hardwareConfiguration.PidControls.Add(FeederPidControl);
+//hardwareConfiguration.PidControls.Add(PoolerPidControl);
+//hardwareConfiguration.PidControls.Add(WinderPidControl);
+
+//hardwareConfiguration.Dancers.Add(FeederDancer);
+//hardwareConfiguration.Dancers.Add(PoolerDancer);
+//hardwareConfiguration.Dancers.Add(WinderDancer);
diff --git a/Software/Stubs Collection/stubs/fpgaTest.cs b/Software/Stubs Collection/stubs/fpgaTest.cs
new file mode 100644
index 000000000..605c40dc0
--- /dev/null
+++ b/Software/Stubs Collection/stubs/fpgaTest.cs
@@ -0,0 +1,29 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+
+
+//for (int i = 0; i< 1; i++)
+	//{
+//		stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest",0x600003f8,0x00AA);
+		stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest",0x60000000);
+//		stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest",0x60000010);
+		Thread.Sleep(10);
+//		stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest",0x600007f8,0x00AA);
+		//stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest",0x60000410);
+
+//}
+//Thread.Sleep(1000);
+}
+
diff --git a/Software/Stubs Collection/stubs/fpgaversionandtest.cs b/Software/Stubs Collection/stubs/fpgaversionandtest.cs
new file mode 100644
index 000000000..f51c48c5e
--- /dev/null
+++ b/Software/Stubs Collection/stubs/fpgaversionandtest.cs
@@ -0,0 +1,61 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+// Request ----
+// UInt32 : FPGAId
+
+// Response ----
+// UInt32 : FPGAId
+// UInt32 : Day
+// UInt32 : Month
+// UInt32 : Year
+// UInt32 : VerNum
+// String : Status
+// UInt32 : StatusWord
+
+
+StubFPGAReadBackRegRequest stubFPGAReadBackRegRequest = new StubFPGAReadBackRegRequest();
+stubFPGAReadBackRegRequest.FPGAId = 2;
+stubFPGAReadBackRegRequest.Value = 0x1231;
+
+
+StubFpgaWriteRegRequest stubFpgaWriteRegRequest = new StubFpgaWriteRegRequest();
+stubFpgaWriteRegRequest.Address = 0x60000220;
+stubFpgaWriteRegRequest.Value = 0x28;
+
+
+StubFpgaReadRegRequest stubFpgaReadRegRequest = new StubFpgaReadRegRequest();
+stubFpgaReadRegRequest.Address = 0x60000224;
+
+
+//for (int i = 0; i< 1; i++)
+	//{
+		//stubManager.Run<StubFPGAReadVersionResponse>("StubFPGAReadVersionRequest" ,2);
+		Thread.Sleep(10);
+		stubManager.Run<StubFpgaWriteRegResponse>(stubFpgaWriteRegRequest);
+		Thread.Sleep(10);
+		stubManager.Run<StubFpgaReadRegResponse>(stubFpgaReadRegRequest);
+		Thread.Sleep(10);
+		//stubManager.Run<StubFPGAReadBackRegResponse>(stubFPGAReadBackRegRequest);
+		Thread.Sleep(10);
+
+//}
+//Thread.Sleep(1000);
+
+
+//var response1= stubManager.Run<StubFpgaReadRegResponse>(stubFpgaReadRegRequest);
+
+
+}
+
diff --git a/Software/Stubs Collection/stubs/heatercommand.cs b/Software/Stubs Collection/stubs/heatercommand.cs
new file mode 100644
index 000000000..ed1435317
--- /dev/null
+++ b/Software/Stubs Collection/stubs/heatercommand.cs
@@ -0,0 +1,38 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+    {
+        /*var response = stubManager.Run<CalculateResponse>("calculate", 1, i);
+
+        if (response.Sum == 10)
+        {
+            stubManager.WriteLine("OK!");
+        }
+        else
+        {
+            stubManager.WriteLine(response.Sum);
+        }*/
+    }
+// Request ----
+// UInt32 : HeaterGroupId
+// Boolean : HeaterGroupOn
+// UInt32 : HeaterTemperatureReq
+
+// Response ----
+// UInt32 : HeaterGroupId
+// UInt32 : HeaterTemperatureSensor
+// String : Status
+// UInt32 : StatusWord
+ var response = stubManager.Run<StubHeaterResponse>("StubHeaterRequest" ,4, true, 300);
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/Catridge_GPIs.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Catridge_GPIs.cs
new file mode 100644
index 000000000..96ba637a3
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Catridge_GPIs.cs
@@ -0,0 +1,52 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_GPI.cs"
+
+
+int CartridgePresentBit(Int32 Fpga, Int32 Addr)
+{
+
+	var RetVal = Fpga_Read_Reg(Fpga, Addr, 0);
+	for (int i=0; i<8; i++)
+	{
+		if ( ( RetVal.Value & (0x1<<i)) == (0x1<<i))
+		{
+			stubManager.Write("\n\t\t\tGPI activated: ");
+			stubManager.Write(F3_CARTx_PRES_02_Bits[i]);
+			stubManager.Write("\t\t\tBit no.: ");
+			stubManager.Write(i);
+		}
+		
+	}
+	return 1;
+}	
+                             	
+                            
+
+public void OnExecute(StubManager stubManager)
+{
+ 	
+	for (int i=0; i<1000; i++)
+		{
+			
+			Thread.Sleep(1000);
+			
+			stubManager.Write("\nScanning: F3_CARTx_PRES_02_Direct");
+			CartridgePresentBit(FPGA3, F3_CARTx_PRES_02_Direct);
+			stubManager.Write("\n\n");
+
+			
+		}
+	
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/Diagnosticsrequest.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Diagnosticsrequest.cs
new file mode 100644
index 000000000..b085cc8de
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Diagnosticsrequest.cs
@@ -0,0 +1,173 @@
+
+StopDiagnosticsRequest stopDiagnosticsRequest = new StopDiagnosticsRequest();
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.PMR.Diagnostics;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+  	int i = 0;
+	StartDiagnosticsRequest startDiagnosticsRequest = new StartDiagnosticsRequest();
+/*   	stubManager.RunContinuous<StartDiagnosticsResponse>(startDiagnosticsRequest, (response1) =>
+    {
+
+    	stubManager.WriteLine (String.Format("Data, Id {0}, Id {1}, Temp {2}, % {3}",++i,response1.Monitors.Dancer1Angle[0],response1.Monitors.Dancer2Angle[0],response1.Monitors.Dancer3Angle[0]));
+
+    });
+*/
+StopDiagnosticsRequest stopDiagnosticsRequest = new StopDiagnosticsRequest();
+        var response = stubManager.Run<StopDiagnosticsResponse>(stopDiagnosticsRequest);
+
+      
+}
+/*
+StartDiagnosticsResponse startDiagnosticsResponse = new StartDiagnosticsResponse();
+
+DiagnosticsMonitors diagnosticsMonitors = new DiagnosticsMonitors();
+
+Double double = new Double();
+diagnosticsMonitors.Dancer1Angle.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.Dancer2Angle.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.Dancer3Angle.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.FeederMotorFrequency.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.DryerMotor.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.PollerMotor.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.WinderMotor.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.ScrewMotor.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.ThreadSpeed.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.MixerTemperature.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.HeadZone1Temperature.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.HeadZone2Temperature.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.HeadZone3Temperature.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.HeadAirFlow.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.FeederTension.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.PullerTension.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.DryerZone1Temperature.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.DryerZone2Temperature.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.DryerZone3Temperature.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.DryerAirFlow.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.WinderTension.Add(double);
+
+DoubleArray doubleArray = new DoubleArray();
+
+Double double = new Double();
+doubleArray.Data.Add(double);
+diagnosticsMonitors.DispensersMotorsFrequency.Add(doubleArray);
+
+DoubleArray doubleArray = new DoubleArray();
+
+Double double = new Double();
+doubleArray.Data.Add(double);
+diagnosticsMonitors.DispensersAngularEncoders.Add(doubleArray);
+
+DoubleArray doubleArray = new DoubleArray();
+
+Double double = new Double();
+doubleArray.Data.Add(double);
+diagnosticsMonitors.DispensersLinearPositions.Add(doubleArray);
+
+DoubleArray doubleArray = new DoubleArray();
+
+Double double = new Double();
+doubleArray.Data.Add(double);
+diagnosticsMonitors.DispensersPressure.Add(doubleArray);
+
+Double double = new Double();
+diagnosticsMonitors.MidTankPressure.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.FilterDeltaPressure.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.ChillerTemperature.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.Dispenser1MotorFrequency.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.Dispenser2MotorFrequency.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.Dispenser3MotorFrequency.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.Dispenser4MotorFrequency.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.Dispenser5MotorFrequency.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.Dispenser6MotorFrequency.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.Dispenser7MotorFrequency.Add(double);
+
+Double double = new Double();
+diagnosticsMonitors.Dispenser8MotorFrequency.Add(double);
+
+startDiagnosticsResponse.Monitors = monitors;
+
+DigitalPin digitalPin = new DigitalPin();
+digitalPin.Port = 0;
+digitalPin.Value = false;
+startDiagnosticsResponse.DigitalPins.Add(digitalPin);
+
+ValueComponentState valueComponentState = new ValueComponentState();
+valueComponentState.Component = Tango.PMR.Diagnostics.ValueComponent.Heater1Temp;
+valueComponentState.Value = 0;
+startDiagnosticsResponse.ComponentsStates.Add(valueComponentState);
+
+Event event = new Event();
+event.Type = Tango.PMR.Diagnostics.EventType.ThreadBreak;
+event.Message = null;
+startDiagnosticsResponse.Events.Add(event);
+*/
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dispenser_3WValve.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dispenser_3WValve.cs
new file mode 100644
index 000000000..9dc04c57f
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dispenser_3WValve.cs
@@ -0,0 +1,73 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_3WValve.cs"
+
+
+int ThreeWayValve_Dispenser (Int32 DispNo)
+{
+	Int32 Valve = 0;
+	Int32 Bit;
+
+	//Enable Valve chip	
+	SetBit(FPGA2, F2_DISPENSER_VALVE_OUT, (DispNo-1) + 8, 0x1);
+	stubManager.Write("\nEnabling Valve no. ");
+	stubManager.Write(DispNo);
+		
+	//Flip direction
+	Bit = GetBit(FPGA2, F2_DISPENSER_VALVE_OUT, (DispNo-1));
+	Bit = Bit ^ 0x1;
+	SetBit(FPGA2, F2_DISPENSER_VALVE_OUT, (DispNo-1), (Bit & 0x1));	
+	stubManager.Write("\nFlipping Valve no. ");
+	stubManager.Write(DispNo);
+
+	//Check if valve is BUSY
+	Bit = GetBit(FPGA2, F2_DISPENSER_VALVE_IN_Direct, 15-(DispNo-1));
+	
+	while (Bit == 0x1)
+	{
+			
+		Bit = GetBit(FPGA2, F2_DISPENSER_VALVE_IN_Direct, 15-(DispNo-1));	
+		stubManager.Write("\nBUSY Valve no. ");
+		stubManager.Write(DispNo);
+
+	} 
+
+	//Disable Valve chip
+	SetBit(FPGA2, F2_DISPENSER_VALVE_OUT, (DispNo-1)+8, (Bit & 0x1));
+	stubManager.Write("\nDisabling Valve no. ");
+	stubManager.Write(DispNo);	
+	
+	return 1;
+
+}
+
+                             	
+                            
+
+public void OnExecute(StubManager stubManager)
+{
+   
+	//Set Valve pre-scaler value so that pulse to valve is 50ms
+	Fpga_Write_Reg(FPGA2, F2_Prescaler1_reg12, 0x128, 0);
+	
+	ThreeWayValve_Dispenser (1);
+	//ThreeWayValve_Dispenser (2);
+	//ThreeWayValve_Dispenser (3);
+	//ThreeWayValve_Dispenser (4);
+	//ThreeWayValve_Dispenser (5);
+	//ThreeWayValve_Dispenser (6);
+	//ThreeWayValve_Dispenser (7);
+	//ThreeWayValve_Dispenser (8);
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dispenser_EncoderGPIO.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dispenser_EncoderGPIO.cs
new file mode 100644
index 000000000..a23fbaf52
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dispenser_EncoderGPIO.cs
@@ -0,0 +1,48 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_GPIO.cs"                          	
+                            
+
+public void OnExecute(StubManager stubManager)
+{
+	//8..15 : F3_DISPENSER_ROTENC_C 
+	//0...7 : F3_DISPENSER_ROTENC_Z
+	//Input   F3_DISPENSER_ROTENC_IN_Direct
+	//Output  F3_DISPENSER_ROTENC_OUT
+	 
+   	Int32 i = 0;
+	int rv = 0;
+	
+	
+	rv = GetBit(FPGA3, F3_DISPENSER_ROTENC_IN_Direct, i);
+	stubManager.Write("\n\nRead GPI F3_DISPENSER_ROTENC_IN_Direct, bit "); stubManager.Write(i); stubManager.Write(", "); stubManager.Write(F3_DISPENSER_ROTENC_IN_Bits[i]);stubManager.Write(",  = ");stubManager.Write(rv);
+	Thread.Sleep(50);
+	
+	SetBit (FPGA3, F3_DISPENSER_ROTENC_OUT, i, 1);
+	stubManager.Write("\n\nSetting GPO F3_DISPENSER_ROTENC_OUT, bit "); stubManager.Write(i); stubManager.Write(", "); stubManager.Write(F3_DISPENSER_ROTENC_Bits[i]);
+	Thread.Sleep(50);
+	
+	rv = GetBit(FPGA3, F3_DISPENSER_ROTENC_IN_Direct, i);
+	stubManager.Write("\n\nRead GPI F3_DISPENSER_ROTENC_IN_Direct, bit "); stubManager.Write(i); stubManager.Write(", "); stubManager.Write(F3_DISPENSER_ROTENC_IN_Bits[i]);stubManager.Write(",  = ");stubManager.Write(rv);
+	Thread.Sleep(50);
+	
+	SetBit (FPGA3, F3_DISPENSER_ROTENC_OUT, i, 0);
+	stubManager.Write("\n\nClearing GPO F3_DISPENSER_ROTENC_OUT, bit "); stubManager.Write(i); stubManager.Write(", "); stubManager.Write(F3_DISPENSER_ROTENC_Bits[i]);			
+	Thread.Sleep(50);
+	
+	rv = GetBit(FPGA3, F3_DISPENSER_ROTENC_IN_Direct, i);
+	stubManager.Write("\n\nRead GPI F3_DISPENSER_ROTENC_IN_Direct, bit "); stubManager.Write(i); stubManager.Write(", "); stubManager.Write(F3_DISPENSER_ROTENC_IN_Bits[i]);stubManager.Write(",  = ");stubManager.Write(rv);
+	Thread.Sleep(50);
+  
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dispenser_LimitSwitch.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dispenser_LimitSwitch.cs
new file mode 100644
index 000000000..5f3e26210
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dispenser_LimitSwitch.cs
@@ -0,0 +1,98 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_LimitSwitch.cs"
+
+
+int LimitSW_Dispenser(Int32 Fpga, Int32 Adr, Int32 DispNo)
+{
+
+	var RetVal = Fpga_Read_Reg(Fpga, Adr, 0);
+	
+	//RetVal.Value = RetVal.Value & F2_LS_0X_Up_Down_Pattern;
+	
+	if ( (DispNo & 0x1) == 0x1) 
+	{
+		if ( (RetVal.Value & 0x0020) == 0x0)
+		{
+			stubManager.Write("\nF2_LS_DISPENSER_UP_");
+			stubManager.Write(DispNo);
+			
+		}
+		if ( (RetVal.Value & 0x0004) == 0x0)
+		{
+			stubManager.Write("\nF2_LS_DISPENSER_DOWN_");
+			stubManager.Write(DispNo);
+		}
+		if ( (RetVal.Value & 0x0002) == 0x0)
+		{
+			stubManager.Write("\nF2_LS_DISPENSER_50%_");
+			stubManager.Write(DispNo);
+		}
+		if ( (RetVal.Value & 0x0010) == 0x0)
+		{
+			stubManager.Write("\nF2_LS_DISPENSER_25%_");
+			stubManager.Write(DispNo);
+		}
+	}
+	else
+	{
+		if ( (RetVal.Value & 0x800) == 0x0)
+		{
+			stubManager.Write("\nF2_LS_DISPENSER_UP_");
+			stubManager.Write(DispNo);
+		}
+		if ( (RetVal.Value & 0x100) == 0x0)
+		{
+			stubManager.Write("\nF2_LS_DISPENSER_DOWN_");
+			stubManager.Write(DispNo);
+		}
+		if ( (RetVal.Value & 0x80) == 0x0)
+		{
+			stubManager.Write("\nF2_LS_DISPENSER_50%_");
+			stubManager.Write(DispNo);
+		}
+		if ( (RetVal.Value & 0x400) == 0x0)
+		{
+			stubManager.Write("\nF2_LS_DISPENSER_25%_");
+			stubManager.Write(DispNo);
+		}
+	}
+	
+	return 1;
+}	
+                             	
+                            
+
+public void OnExecute(StubManager stubManager)
+{
+ 	
+	for (int i=0; i<10000; i++)
+		{
+			LimitSW_Dispenser(FPGA2, F2_LS_01_Direct, 1);
+			//LimitSW_Dispenser(FPGA2, F2_LS_01_Direct, 2);
+			//LimitSW_Dispenser(FPGA2, F2_LS_02_Direct, 3);
+			//LimitSW_Dispenser(FPGA2, F2_LS_02_Direct, 4);
+			//LimitSW_Dispenser(FPGA2, F2_LS_03_Direct, 5);
+			//LimitSW_Dispenser(FPGA2, F2_LS_03_Direct, 6);
+			//LimitSW_Dispenser(FPGA2, F2_LS_04_Direct, 7);
+			//LimitSW_Dispenser(FPGA2, F2_LS_04_Direct, 8);
+			
+			stubManager.Write("\nIndex =");
+			stubManager.Write(i);
+			Thread.Sleep(200);	
+		}
+	
+
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dispenser_Motors.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dispenser_Motors.cs
new file mode 100644
index 000000000..9f54b0cc2
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dispenser_Motors.cs
@@ -0,0 +1,51 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "D:\stubs\michael stubs\Tango_Defines_Basic.cs"
+include "D:\stubs\michael stubs\Interfaces\Tango_Defines_Motors.cs"
+	
+
+int Motor_Dispenser(Int32 Fpga, Int32 HighAdr, Int32 LowAdr) 
+{
+	Motor_OutOfReset();
+
+	Motor_HighZ(Fpga, HighAdr, LowAdr);
+
+	Motor_ReadCfg(Fpga, HighAdr, LowAdr);
+	
+	
+	Motor_Run(Fpga, HighAdr, LowAdr, 0x3fffff, 0x1);
+	Thread.Sleep(6000);
+	Motor_Run(Fpga, HighAdr, LowAdr, 0x3fffff, 0x0);	
+	Thread.Sleep(6000);
+	Motor_HighZ(Fpga, HighAdr, LowAdr);
+	
+	return 1;
+}
+
+                   
+
+public void OnExecute(StubManager stubManager)
+{
+    
+//	Motor_Dispenser(FPGA2, F2_MOTO_DISPENSER_A1_1_TX_01, F2_MOTO_DISPENSER_A1_1_TX_00); 
+	//Motor_Dispenser(FPGA2, F2_MOTO_DISPENSER_A1_2_TX_01, F2_MOTO_DISPENSER_A1_2_TX_00); 
+	//Motor_Dispenser(FPGA2, F2_MOTO_DISPENSER_A1_3_TX_01, F2_MOTO_DISPENSER_A1_3_TX_00); 
+	Motor_Dispenser(FPGA2, F2_MOTO_DISPENSER_A1_4_TX_01, F2_MOTO_DISPENSER_A1_4_TX_00); 
+	//Motor_Dispenser(FPGA2, F2_MOTO_DISPENSER_A1_5_TX_01, F2_MOTO_DISPENSER_A1_5_TX_00); 
+	//Motor_Dispenser(FPGA2, F2_MOTO_DISPENSER_A1_6_TX_01, F2_MOTO_DISPENSER_A1_6_TX_00); 
+	//Motor_Dispenser(FPGA2, F2_MOTO_DISPENSER_A1_7_TX_01, F2_MOTO_DISPENSER_A1_7_TX_00); 
+	//Motor_Dispenser(FPGA2, F2_MOTO_DISPENSER_A1_8_TX_01, F2_MOTO_DISPENSER_A1_8_TX_00); 
+	
+	
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dispenser_PressureSensor.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dispenser_PressureSensor.cs
new file mode 100644
index 000000000..041f6e1ba
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dispenser_PressureSensor.cs
@@ -0,0 +1,40 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+
+                             	
+/*
+
+Name						Input channel	Input parameter in the stub
+CHAN_DISPENSE_PRESSURE_1	ADC_CTL_CH2		2
+CHAN_DISPENSE_PRESSURE_2	ADC_CTL_CH3		3
+CHAN_DISPENSE_PRESSURE_3	ADC_CTL_CH4		4
+CHAN_DISPENSE_PRESSURE_4	ADC_CTL_CH5		5
+CHAN_DISPENSE_PRESSURE_5	ADC_CTL_CH6		6
+CHAN_DISPENSE_PRESSURE_6	ADC_CTL_CH7		7
+CHAN_DISPENSE_PRESSURE_7	ADC_CTL_CH8		8
+CHAN_DISPENSE_PRESSURE_8	ADC_CTL_CH9		9
+*/                     
+
+public void OnExecute(StubManager stubManager)
+{
+ 	
+	for (int i=2; i<10; i++)
+	{	
+		Thread.Sleep(1000);
+		var response = stubManager.Run<StubIntADCReadResponse>("StubIntADCReadRequest" ,i);
+		stubManager.Write("\nADC VALUE, DISPENSER "); stubManager.Write(i-1); stubManager.Write("\t"); stubManager.WriteHex(response.SamplingInBits, 4); stubManager.Write("\t"); stubManager.Write(response.VoltageSamplingMv); stubManager.Write(" mV");
+	}
+
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dispenser_SSI.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dispenser_SSI.cs
new file mode 100644
index 000000000..8c6f3a2b0
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dispenser_SSI.cs
@@ -0,0 +1,82 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_SSI.cs"
+
+public void OnExecute(StubManager stubManager)
+{
+	
+		int k = 0;
+	
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg1,0 );
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg2,0 );	
+	
+	//Set output clock frequency to about 200 kHz
+	Fpga_Write_Reg(FPGA1, F1_Prescaler1_reg1, 0x0024, 0);
+	Fpga_Write_Reg(FPGA1, F1_Prescaler1_reg2, 0x0024, 0);
+	
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg1, 0);
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg2, 0);
+
+	for (int i = 0; i < 100000; i++)
+	{
+	
+
+		SSI_Read_Write(FPGA1, F1_RDANCER_ROTENC_MSB, F1_RDANCER_ROTENC_LSB, F1_RDANCER_ROTENC_TX);
+		SSI_Read_Write(FPGA1, F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB, F1_RSPARE_ROTENC_TX);
+		stubManager.Write("\n");
+		k++;
+		if  ( (k & 0x8) == 0x08 ) {
+			k = 0;			
+			stubManager.Write("	RDANCER    					RSPARE     \n");
+		}
+
+	/*		
+		stubManager.Write("\n\nF1_LDANCER1_ROTENC_TX");
+		ssi_loop(F1_LDANCER1_ROTENC_TX);
+		Thread.Sleep(1000);		
+		
+		stubManager.Write("\n\nF1_LDANCER2_ROTENC_TX");
+		ssi_loop(F1_LDANCER2_ROTENC_TX);
+		Thread.Sleep(1000);		
+		
+		stubManager.Write("\n\nF1_LSPARE_ROTENC_TX");
+		ssi_loop(F1_LSPARE_ROTENC_TX);
+		Thread.Sleep(1000);		
+		
+		stubManager.Write("\n\nF1_RDANCER_ROTENC_TX");
+		ssi_loop(F1_RDANCER_ROTENC_TX);
+		Thread.Sleep(1000);		
+		
+		stubManager.Write("\n\nF1_RSPARE_ROTENC_TX");
+		ssi_loop(F1_RSPARE_ROTENC_TX);
+		Thread.Sleep(1000);		
+		
+	*/
+	}
+	
+	
+}
+
+/* Sample output when turning F1_RSPARE_ROTENC - output is 12 bits
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #0A6F)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #0A71)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #0A68)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #09BA)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #0859)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #06C6)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #05EA)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #05CE)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #05B3)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #0599)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #0580)*/
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dryer_Motors.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dryer_Motors.cs
new file mode 100644
index 000000000..405957a74
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dryer_Motors.cs
@@ -0,0 +1,44 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_Motors.cs"
+	
+
+int Motor_Dispenser(Int32 Fpga, Int32 HighAdr, Int32 LowAdr) 
+{
+	Motor_OutOfReset();
+
+	Motor_HighZ(Fpga, HighAdr, LowAdr);
+
+	Motor_ReadCfg(Fpga, HighAdr, LowAdr);
+	
+	
+	Motor_Run(Fpga, HighAdr, LowAdr, 0x3fffff, 0x1);
+	Thread.Sleep(6000);
+	Motor_Run(Fpga, HighAdr, LowAdr, 0x3fffff, 0x0);	
+	Thread.Sleep(6000);
+	Motor_HighZ(Fpga, HighAdr, LowAdr);
+	
+	return 1;
+}
+
+                   
+
+public void OnExecute(StubManager stubManager)
+{
+    
+	Motor_Dispenser(FPGA1, F1_MOTO_DRYER_LOADARM_A1_TX_01, F1_MOTO_DRYER_LOADARM_A1_TX_00); 
+	//Motor_Dispenser(FPGA1, F1_MOTO_DRYER_DRIVING_A1_TX_01, F1_MOTO_DRYER_DRIVING_A1_TX_00); 
+	//Motor_Dispenser(FPGA1, F1_MOTO_DRYER_LID_A1_TX_01, F1_MOTO_DRYER_LID_A1_TX_00); 	
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dryer_QEI.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dryer_QEI.cs
new file mode 100644
index 000000000..eb3be1200
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Dryer_QEI.cs
@@ -0,0 +1,35 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\LAB_Tests\Main_PCB\ATP_Test\Scripts\Defines\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\LAB_Tests\Main_PCB\ATP_Test\Scripts\Defines\Tango_Defines_QEI.cs""
+	
+
+public void OnExecute(StubManager stubManager)
+{
+    
+	for (int i = 0; i < 100; i++)
+	{
+		stubManager.Write("\n");
+		var rv1 = Fpga_Read_Reg(FPGA1, F1_DRYER_LOADARM_ROTENC_lsb, 0);
+		var rv2 = Fpga_Read_Reg(FPGA1, F1_DRYER_LOADARM_ROTENC_msb, 0);
+		
+		stubManager.WriteHex(rv2.Value, 4); 
+		stubManager.Write("\t");
+		stubManager.WriteHex(rv1.Value, 4);
+		
+		stubManager.Write("\n");
+
+		Thread.Sleep(400);
+	}
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/DyeingHead_Motors.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/DyeingHead_Motors.cs
new file mode 100644
index 000000000..b1e061612
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/DyeingHead_Motors.cs
@@ -0,0 +1,44 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_Motors.cs"
+	
+
+int Motor_Dispenser(Int32 Fpga, Int32 HighAdr, Int32 LowAdr) 
+{
+	Motor_OutOfReset();
+
+	Motor_HighZ(Fpga, HighAdr, LowAdr);
+
+	Motor_ReadCfg(Fpga, HighAdr, LowAdr);
+	
+	
+	Motor_Run(Fpga, HighAdr, LowAdr, 0x3fffff, 0x1);
+	Thread.Sleep(6000);
+	Motor_Run(Fpga, HighAdr, LowAdr, 0x3fffff, 0x0);	
+	Thread.Sleep(6000);
+	Motor_HighZ(Fpga, HighAdr, LowAdr);
+	
+	return 1;
+}
+
+                   
+
+public void OnExecute(StubManager stubManager)
+{
+    
+	Motor_Dispenser(FPGA1, F1_MOTO_DH_CLEANHEAD_A1_TX_01, F1_MOTO_DH_CLEANHEAD_A1_TX_00); 
+	//Motor_Dispenser(FPGA1, F1_MOTO_DH_CLEANMECH_A1_TX_01, F1_MOTO_DH_CLEANMECH_A1_TX_00); 
+	//Motor_Dispenser(FPGA1, F1_MOTO_DH_LID_A1_TX_01, F1_MOTO_DH_LID_A1_TX_00); 	
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/DyeingHead_PT100.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/DyeingHead_PT100.cs
new file mode 100644
index 000000000..6fd0c8237
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/DyeingHead_PT100.cs
@@ -0,0 +1,155 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "D:\stubs\michael stubs\Tango_Defines_Basic.cs"
+include "D:\stubs\michael stubs\Interfaces\Tango_Defines_PT100.cs"
+
+
+Int32 ADS1220_Setup(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 BusyBitNo)
+{
+	ADS1220_Reset(Fpga, HighAdr, LowAdr);
+	ADS1220_WriteReg(Fpga, HighAdr, LowAdr, 0x0, 0x08);
+	//ADS1220_WriteReg(Fpga, HighAdr, LowAdr, 0x1, 0x04);	//Continious mode
+	ADS1220_WriteReg(Fpga, HighAdr, LowAdr, 0x1, 0x00);	//Single shot mode
+	ADS1220_WriteReg(Fpga, HighAdr, LowAdr, 0x2, 0x55);
+	ADS1220_WriteReg(Fpga, HighAdr, LowAdr, 0x3, 0x70);
+	//ADS1220_StartSync(Fpga, HighAdr, LowAdr);
+	return 1;
+}
+
+	
+Int32 ADS1220_ConvertionProcess(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 BusyBitNo)
+{
+	Int32 rv; 
+	
+	ADS1220_StartSync(Fpga, HighAdr, LowAdr);
+	Thread.Sleep(100);
+	//rv = ADS1220_GetConvertion(Fpga, HighAdr, LowAdr, BusyBitNo);
+	rv = ADS1220_LoadOutReg(Fpga, HighAdr, LowAdr, BusyBitNo);
+	stubManager.WriteHex( rv ,8); stubManager.Write("\t");	
+	return rv;
+}
+ 
+ 
+public void OnExecute(StubManager stubManager)
+{
+	int rv = 0;
+	int k = 0;
+
+	
+	ADS1220_Setup(FPGA2, F2_ANALOG_DRYER_TEMP1_1_TX_01, F2_ANALOG_DRYER_TEMP1_1_TX_00, 0);
+	ADS1220_Setup(FPGA2, F2_ANALOG_DRYER_TEMP2_1_TX_01, F2_ANALOG_DRYER_TEMP2_1_TX_00, 1);
+	ADS1220_Setup(FPGA2, F2_ANALOG_DRYER_TEMP3_1_TX_01, F2_ANALOG_DRYER_TEMP3_1_TX_00, 2);
+
+	ADS1220_Setup(FPGA2, F2_ANALOG_DYEINGH_TEMP1_1_TX_01, F2_ANALOG_DYEINGH_TEMP1_1_TX_00, 3);
+	ADS1220_Setup(FPGA2, F2_ANALOG_DYEINGH_TEMP2_1_TX_01, F2_ANALOG_DYEINGH_TEMP2_1_TX_00, 4);
+	ADS1220_Setup(FPGA2, F2_ANALOG_DYEINGH_TEMP3_1_TX_01, F2_ANALOG_DYEINGH_TEMP3_1_TX_00, 5);
+	
+	ADS1220_Setup(FPGA2, F2_ANALOG_DYEINGH_TEMP4_1_TX_01, F2_ANALOG_DYEINGH_TEMP4_1_TX_00, 6);
+	ADS1220_Setup(FPGA2, F2_ANALOG_DYEINGH_TEMP5_1_TX_01, F2_ANALOG_DYEINGH_TEMP5_1_TX_00, 7);
+	ADS1220_Setup(FPGA2, F2_ANALOG_MIXCHIP_TEMP_1_TX_01, F2_ANALOG_MIXCHIP_TEMP_1_TX_00, 8);
+
+	ADS1220_Setup(FPGA2, F2_AN_ENCLOSURETEMP1_1_TX_01, F2_AN_ENCLOSURETEMP1_1_TX_00, 9);
+	ADS1220_Setup(FPGA2, F2_AN_ENCLOSURETEMP2_1_TX_01, F2_AN_ENCLOSURETEMP2_1_TX_00, 10);
+	ADS1220_Setup(FPGA2, F2_AN_ENCLOSURETEMP3_1_TX_01, F2_AN_ENCLOSURETEMP3_1_TX_00, 11);
+	stubManager.Write("DRYER_TEMP1\tDRYER_TEMP2\tDRYER_TEMP3\tDYH_TEMP1\tDYH_TEMP2\tDYH_TEMP3\tDYH_TEMP4\tDYH_TEMP5\tMIX_TEMP\tENCTEMP1\tENCTEMP2\tENCTEMP3\n");
+
+	/*
+	rv = ADS1220_Process(FPGA2, F2_ANALOG_DYEINGH_TEMP1_1_TX_01, F2_ANALOG_DYEINGH_TEMP1_1_TX_00, 3);
+	stubManager.Write("\nF2_ANALOG_DYEINGH_TEMP1_1_TX_01: ");
+	stubManager.WriteHex( rv ,8);
+*/
+	for (int i=0; i < 100; i++)
+	{
+		
+		rv = ADS1220_ConvertionProcess(FPGA2, F2_ANALOG_DRYER_TEMP1_1_TX_01, F2_ANALOG_DRYER_TEMP1_1_TX_00, 0);
+		rv = ADS1220_ConvertionProcess(FPGA2, F2_ANALOG_DRYER_TEMP2_1_TX_01, F2_ANALOG_DRYER_TEMP2_1_TX_00, 1);
+		rv = ADS1220_ConvertionProcess(FPGA2, F2_ANALOG_DRYER_TEMP3_1_TX_01, F2_ANALOG_DRYER_TEMP3_1_TX_00, 2);
+		
+		rv = ADS1220_ConvertionProcess(FPGA2, F2_ANALOG_DYEINGH_TEMP1_1_TX_01, F2_ANALOG_DYEINGH_TEMP1_1_TX_00, 3);
+		rv = ADS1220_ConvertionProcess(FPGA2, F2_ANALOG_DYEINGH_TEMP2_1_TX_01, F2_ANALOG_DYEINGH_TEMP2_1_TX_00, 4);
+		rv = ADS1220_ConvertionProcess(FPGA2, F2_ANALOG_DYEINGH_TEMP3_1_TX_01, F2_ANALOG_DYEINGH_TEMP3_1_TX_00, 5);
+		
+		rv = ADS1220_ConvertionProcess(FPGA2, F2_ANALOG_DYEINGH_TEMP4_1_TX_01, F2_ANALOG_DYEINGH_TEMP4_1_TX_00, 6);
+		rv = ADS1220_ConvertionProcess(FPGA2, F2_ANALOG_DYEINGH_TEMP5_1_TX_01, F2_ANALOG_DYEINGH_TEMP5_1_TX_00, 7);
+		rv = ADS1220_ConvertionProcess(FPGA2, F2_ANALOG_MIXCHIP_TEMP_1_TX_01, F2_ANALOG_MIXCHIP_TEMP_1_TX_00, 8);
+		
+		rv = ADS1220_ConvertionProcess(FPGA2, F2_AN_ENCLOSURETEMP1_1_TX_01, F2_AN_ENCLOSURETEMP1_1_TX_00, 9);
+		rv = ADS1220_ConvertionProcess(FPGA2, F2_AN_ENCLOSURETEMP2_1_TX_01, F2_AN_ENCLOSURETEMP2_1_TX_00, 10);
+		rv = ADS1220_ConvertionProcess(FPGA2, F2_AN_ENCLOSURETEMP3_1_TX_01, F2_AN_ENCLOSURETEMP3_1_TX_00, 11);
+		
+		stubManager.Write("\n");
+	
+		k++;
+		if  ( (k & 0x10) == 0x10 ) 
+		{
+			k = 0;			
+			stubManager.Write("\nDRYER_TEMP1\tDRYER_TEMP2\tDRYER_TEMP3\tDYH_TEMP1\tDYH_TEMP2\tDYH_TEMP3\tDYH_TEMP4\tDYH_TEMP5\tMIX_TEMP\tENCTEMP1\tENCTEMP2\tENCTEMP3\n");
+		}
+		
+	}
+	
+	
+}
+
+		/*
+		ADS1220_LoadOutReg(FPGA2, F2_ANALOG_DYEINGH_TEMP1_1_TX_01, F2_ANALOG_DYEINGH_TEMP1_1_TX_00);
+		rv = ADS1220_GetConvertion(FPGA2, F2_ANALOG_DYEINGH_TEMP1_1_TX_01, F2_ANALOG_DYEINGH_TEMP1_1_TX_00, 3);
+		stubManager.WriteHex( rv ,8); stubManager.Write("\t\t\t");	
+		ADS1220_LoadOutReg(FPGA2, F2_ANALOG_DYEINGH_TEMP2_1_TX_01, F2_ANALOG_DYEINGH_TEMP2_1_TX_00);
+		rv = ADS1220_GetConvertion(FPGA2, F2_ANALOG_DYEINGH_TEMP2_1_TX_01, F2_ANALOG_DYEINGH_TEMP2_1_TX_00, 4);
+		stubManager.WriteHex( rv ,8); stubManager.Write("\t\t\t");
+		ADS1220_LoadOutReg(FPGA2, F2_ANALOG_DYEINGH_TEMP3_1_TX_01, F2_ANALOG_DYEINGH_TEMP3_1_TX_00);
+		rv = ADS1220_GetConvertion(FPGA2, F2_ANALOG_DYEINGH_TEMP3_1_TX_01, F2_ANALOG_DYEINGH_TEMP3_1_TX_00, 5);
+		stubManager.WriteHex( rv ,8);
+		*/
+
+
+	/*
+	rv = ADS1220_ReadReg(FPGA2, F2_ANALOG_DYEINGH_TEMP1_1_TX_01, F2_ANALOG_DYEINGH_TEMP1_1_TX_00, 0x0, 3) ;
+	stubManager.WriteHex( rv ,8);
+
+	rv = ADS1220_ReadReg(FPGA2, F2_ANALOG_DYEINGH_TEMP1_1_TX_01, F2_ANALOG_DYEINGH_TEMP1_1_TX_00, 0x1, 3) ;
+	stubManager.WriteHex( rv ,8);
+
+	rv = ADS1220_ReadReg(FPGA2, F2_ANALOG_DYEINGH_TEMP1_1_TX_01, F2_ANALOG_DYEINGH_TEMP1_1_TX_00, 0x2, 3) ;
+	stubManager.WriteHex( rv ,8);
+
+	rv = ADS1220_ReadReg(FPGA2, F2_ANALOG_DYEINGH_TEMP1_1_TX_01, F2_ANALOG_DYEINGH_TEMP1_1_TX_00, 0x3, 3) ;
+	stubManager.WriteHex( rv ,8);
+	*/
+	
+	
+	//F2_ANALOG_DYEINGH_TEMP1
+	/*
+	ADS1220_Reset(FPGA2, F2_ANALOG_DYEINGH_TEMP1_1_TX_01, F2_ANALOG_DYEINGH_TEMP2_1_TX_00);
+	ADS1220_WriteReg(FPGA2, F2_ANALOG_DYEINGH_TEMP1_1_TX_01, F2_ANALOG_DYEINGH_TEMP1_1_TX_00, 0x0, 0x08);
+	ADS1220_WriteReg(FPGA2, F2_ANALOG_DYEINGH_TEMP1_1_TX_01, F2_ANALOG_DYEINGH_TEMP1_1_TX_00, 0x1, 0x04);
+	ADS1220_WriteReg(FPGA2, F2_ANALOG_DYEINGH_TEMP1_1_TX_01, F2_ANALOG_DYEINGH_TEMP1_1_TX_00, 0x2, 0x55);
+	ADS1220_WriteReg(FPGA2, F2_ANALOG_DYEINGH_TEMP1_1_TX_01, F2_ANALOG_DYEINGH_TEMP1_1_TX_00, 0x3, 0x70);
+	ADS1220_StartSync(FPGA2, F2_ANALOG_DYEINGH_TEMP1_1_TX_01, F2_ANALOG_DYEINGH_TEMP1_1_TX_00);
+	
+	//F2_ANALOG_DYEINGH_TEMP2
+	ADS1220_Reset(FPGA2, F2_ANALOG_DYEINGH_TEMP2_1_TX_01, F2_ANALOG_DYEINGH_TEMP2_1_TX_00);
+	ADS1220_WriteReg(FPGA2, F2_ANALOG_DYEINGH_TEMP2_1_TX_01, F2_ANALOG_DYEINGH_TEMP2_1_TX_00, 0x0, 0x08);
+	ADS1220_WriteReg(FPGA2, F2_ANALOG_DYEINGH_TEMP2_1_TX_01, F2_ANALOG_DYEINGH_TEMP2_1_TX_00, 0x1, 0x04);
+	ADS1220_WriteReg(FPGA2, F2_ANALOG_DYEINGH_TEMP2_1_TX_01, F2_ANALOG_DYEINGH_TEMP2_1_TX_00, 0x2, 0x55);
+	ADS1220_WriteReg(FPGA2, F2_ANALOG_DYEINGH_TEMP2_1_TX_01, F2_ANALOG_DYEINGH_TEMP2_1_TX_00, 0x3, 0x70);
+	ADS1220_StartSync(FPGA2, F2_ANALOG_DYEINGH_TEMP2_1_TX_01, F2_ANALOG_DYEINGH_TEMP2_1_TX_00);
+	
+	//F2_ANALOG_DYEINGH_TEMP3
+	ADS1220_Reset(FPGA2, F2_ANALOG_DYEINGH_TEMP3_1_TX_01, F2_ANALOG_DYEINGH_TEMP3_1_TX_00);
+	ADS1220_WriteReg(FPGA2, F2_ANALOG_DYEINGH_TEMP3_1_TX_01, F2_ANALOG_DYEINGH_TEMP3_1_TX_00, 0x0, 0x08);
+	ADS1220_WriteReg(FPGA2, F2_ANALOG_DYEINGH_TEMP3_1_TX_01, F2_ANALOG_DYEINGH_TEMP3_1_TX_00, 0x1, 0x04);
+	ADS1220_WriteReg(FPGA2, F2_ANALOG_DYEINGH_TEMP3_1_TX_01, F2_ANALOG_DYEINGH_TEMP3_1_TX_00, 0x2, 0x55);
+	ADS1220_WriteReg(FPGA2, F2_ANALOG_DYEINGH_TEMP3_1_TX_01, F2_ANALOG_DYEINGH_TEMP3_1_TX_00, 0x3, 0x70);
+	*/
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/DyeingHead_Valve.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/DyeingHead_Valve.cs
new file mode 100644
index 000000000..34088924b
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/DyeingHead_Valve.cs
@@ -0,0 +1,32 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_GPO.cs"
+
+
+public void OnExecute(StubManager stubManager)
+{
+ 	
+	//for (int i=0; i<16; i++)
+	//{
+		
+		Int32 i = 7;  //VALVE_MIXCHIP_WASTECH
+		
+		SetBit (FPGA1, F1_gpo_01, i, 1);
+		stubManager.Write("\n\nSetting GPO F1_gpo_01, bit "); stubManager.Write(i); stubManager.Write(", "); stubManager.Write(F1_gpo_01_Bits[i]);
+		Thread.Sleep(1000);
+		SetBit (FPGA1, F1_gpo_01, i, 0);
+		stubManager.Write("\nClearing GPO F1_gpo_01, bit "); stubManager.Write(i); stubManager.Write(", "); stubManager.Write(F1_gpo_01_Bits[i]);			
+		Thread.Sleep(1000);
+	//}
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/ElectricalEnclosure_Fans.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/ElectricalEnclosure_Fans.cs
new file mode 100644
index 000000000..1b42d7b67
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/ElectricalEnclosure_Fans.cs
@@ -0,0 +1,42 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_Tacho.cs"                          	
+                            
+
+public void OnExecute(StubManager stubManager)
+{
+
+
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg5, 1); stubManager.Write("\n");
+	Fpga_Read_Reg(FPGA2, F2_Prescaler1_reg10, 1); stubManager.Write("\n");
+	
+	//Fpga_Write_Reg(FPGA1, F1_Prescaler1_reg5, 0x0f, 0);
+	//Fpga_Write_Reg(FPGA2, F2_Prescaler1_reg1, 0x0f, 0);
+	
+	for (int i = 0; i<1000; i++)
+	{
+		Fpga_Read_Reg(FPGA1, F1_Tacho_reg0, 1); stubManager.Write("\n");
+		Fpga_Read_Reg(FPGA1, F1_Tacho_reg1, 1); stubManager.Write("\n");
+		Fpga_Read_Reg(FPGA1, F1_Tacho_reg2, 1); stubManager.Write("\n");
+		Fpga_Read_Reg(FPGA1, F1_Tacho_reg3, 1); stubManager.Write("\n");
+		Fpga_Read_Reg(FPGA1, F1_Tacho_reg4, 1); stubManager.Write("\n");
+		Fpga_Read_Reg(FPGA1, F1_Tacho_reg5, 1); stubManager.Write("\n");
+		Fpga_Read_Reg(FPGA1, F1_Tacho_reg6, 1); stubManager.Write("\n");
+		Fpga_Read_Reg(FPGA1, F1_Tacho_reg7, 1); stubManager.Write("\n");
+		Fpga_Read_Reg(FPGA2, F2_Tacho_reg0, 1); stubManager.Write("\n");
+		
+		stubManager.Write("\n\n");
+		Thread.Sleep(1000);		
+	}
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/ElectricalEnclosure_SSR_DH.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/ElectricalEnclosure_SSR_DH.cs
new file mode 100644
index 000000000..61380e1a0
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/ElectricalEnclosure_SSR_DH.cs
@@ -0,0 +1,53 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_SSR.cs"                          	
+                            
+
+public void OnExecute(StubManager stubManager)
+{
+   //Read Dyeing head SSR register
+   Fpga_Read_Reg(FPGA2, F2_CTRL, 1);
+   
+   //Write Mixing chip SSR/SSR no. 4
+   SetBit (FPGA2, F2_CTRL, 7, 1);
+   stubManager.Write("\nSetting SSR no. 4");
+   Thread.Sleep(4000);
+   SetBit (FPGA2, F2_CTRL, 7, 0);
+
+/*   
+   //Write Dyeing head SSR/SSR no. 5
+   SetBit (FPGA2, F2_CTRL, 6, 1);
+   stubManager.Write("\nSetting SSR no. 5");
+   Thread.Sleep(4000);
+   SetBit (FPGA2, F2_CTRL, 6, 0);
+   
+   //Write Dyeing head SSR/SSR no. 6
+   SetBit (FPGA2, F2_CTRL, 5, 1);
+   stubManager.Write("\nSetting SSR no. 6");
+   Thread.Sleep(4000);
+   SetBit (FPGA2, F2_CTRL, 5, 0);
+   
+   //Write Dyeing head SSR/SSR no. 7
+   SetBit (FPGA2, F2_CTRL, 4, 1);
+   stubManager.Write("\nSetting SSR no. 7");
+   Thread.Sleep(4000);
+   SetBit (FPGA2, F2_CTRL, 4, 0);
+   
+   //Write Dyeing head SSR/SSR no. 8
+   SetBit (FPGA2, F2_CTRL, 3, 1);
+   stubManager.Write("\nSetting SSR no. 8");
+   Thread.Sleep(4000);
+   SetBit (FPGA2, F2_CTRL, 3, 0);
+*/
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/ElectricalEnclosure_SSR_Dryer.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/ElectricalEnclosure_SSR_Dryer.cs
new file mode 100644
index 000000000..47fc0954f
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/ElectricalEnclosure_SSR_Dryer.cs
@@ -0,0 +1,37 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_SSR.cs"                          	
+                            
+
+public void OnExecute(StubManager stubManager)
+{  
+   //Write GPO_DRYER_SSR1_CTRL SSR/SSR no. 1
+   SetBit (FPGA2, F2_CTRL, 10, 1);
+   stubManager.Write("\nTesting SSR no. 1");
+   Thread.Sleep(4000);
+   SetBit (FPGA2, F2_CTRL, 10, 0);
+  
+   //Write GPO_DRYER_SSR2_CTRL SSR/SSR no. 2
+   SetBit (FPGA2, F2_CTRL, 9, 1);
+   stubManager.Write("\nTesting SSR no. 2");
+   Thread.Sleep(4000);
+   SetBit (FPGA2, F2_CTRL, 9, 0);
+   
+   //Write GPO_DRYER_SSR3_CTRL SSR/SSR no. 3
+   SetBit (FPGA2, F2_CTRL, 8, 1);
+   stubManager.Write("\nTesting SSR no. 3");
+   Thread.Sleep(4000);
+   SetBit (FPGA2, F2_CTRL, 8, 0);
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/ElectricalEnclosure_SSR_Misc.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/ElectricalEnclosure_SSR_Misc.cs
new file mode 100644
index 000000000..01dfd2f51
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/ElectricalEnclosure_SSR_Misc.cs
@@ -0,0 +1,51 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_SSR.cs"                          	
+                            
+
+public void OnExecute(StubManager stubManager)
+{
+   //Read Dyeing head SSR register
+   //Fpga_Read_Reg(FPGA2, F2_CTRL, 1);
+/*   
+   //Write GPO_DILUTORPUMP_SSR10_CTRL SSR/SSR no. 10
+   SetBit (FPGA1, F1_gpo_01, 2, 1);
+   stubManager.Write("\nSetting SSR no. 10");
+   Thread.Sleep(4000);
+   SetBit (FPGA1, F1_gpo_01, 2, 0);
+  
+   //Write GPO_EXTWINDER_SSR11_CTRL SSR/SSR no. 11
+   SetBit (FPGA3, F3_GPO_01_bus, 4, 1);
+   stubManager.Write("\nSetting SSR no. 11");
+   Thread.Sleep(4000);
+   SetBit (FPGA3, F3_GPO_01_bus, 4, 0);
+   
+   //Write GPO_SPARE_SSR12_CTRL SSR/SSR no. 12
+   SetBit (FPGA2, F2_CTRL, 1, 1);
+   stubManager.Write("\nSetting SSR no. 12");
+   Thread.Sleep(4000);
+   SetBit (FPGA2, F2_CTRL, 1, 0);
+*/  
+     //GPO_CHILLER_SSR9_CTRL = bit2 = 2
+	 //F2_GPO_SPARE_SSR13_CTRL = bit0 = 0
+	 
+   	Int32 i = 2;
+	SetBit (FPGA2, F2_CTRL, i, 1);
+	stubManager.Write("\n\nSetting GPO F2_CTRL, bit "); stubManager.Write(i); stubManager.Write(", "); stubManager.Write(F2_CTRL_Bits[i]);
+	Thread.Sleep(1000);
+	SetBit (FPGA1, F2_CTRL, i, 0);
+	stubManager.Write("\nClearing GPO F2_CTRL, bit "); stubManager.Write(i); stubManager.Write(", "); stubManager.Write(F2_CTRL_Bits[i]);			
+	Thread.Sleep(1000);
+  
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/LTFU_LimitSwitch.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/LTFU_LimitSwitch.cs
new file mode 100644
index 000000000..cc9d945ab
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/LTFU_LimitSwitch.cs
@@ -0,0 +1,103 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_LimitSwitch.cs"
+	
+public void OnExecute(StubManager stubManager)
+{
+
+	int k = 0;
+	
+	for (int i = 0; i < 10000; i++)
+	{
+		
+		stubManager.Write("\n\nIndex =");
+		stubManager.WriteHex(k,2);
+		k++;
+		
+		var RetVal_02 = Fpga_Read_Reg(FPGA1, F1_LS_02_Direct, 0);
+		var RetVal_03 = Fpga_Read_Reg(FPGA1, F1_LS_03_Direct, 0);
+		
+		stubManager.Write("\nF1_LS_02_Direct =");
+		stubManager.WriteHex(RetVal_02.Value,4);
+		stubManager.Write("\nF1_LS_03_Direct =");
+		stubManager.WriteHex(RetVal_03.Value,4);
+		
+		if ( (RetVal_02.Value & 0x10) == 0x0)
+			{
+				stubManager.Write("\n		F1_LS_LPIVOT_UP");
+			}
+		if ( (RetVal_02.Value & 0x20) == 0x0)
+			{
+				stubManager.Write("\n		F1_LS_LPIVOT_DOWN");
+			}
+		/*
+		if ( (RetVal_02.Value & 0x40) == 0x0)
+			{
+				stubManager.Write("\n		F1_LS_LOADARM_RIGHT");
+			}
+		if ( (RetVal_02.Value & 0x80) == 0x0)
+			{
+				stubManager.Write("\n		F1_LS_LOADARM_LEFT");
+			}*/
+		if ( (RetVal_02.Value & 0x100) == 0x0)
+			{
+				stubManager.Write("\n		F1_LS_LLOADMOTOR_UP");
+			}
+		if ( (RetVal_02.Value & 0x200) == 0x0)
+			{
+		//Not working - fault in assembly
+		//		stubManager.Write("\n		F1_LS_LLOADMOTOR_DOWN");
+			}
+/*		
+		if ( (RetVal_02.Value & 0x400) == 0x0)
+			{
+				stubManager.Write("\n		F1_LS_LDANCER2_UP");
+			}
+		if ( (RetVal_02.Value & 0x800) == 0x0)
+			{
+				stubManager.Write("\n		F1_LS_LDANCER2_DOWN");
+			}
+			*/
+		if ( (RetVal_02.Value & 0x1000) == 0x0)
+			{
+				stubManager.Write("\n		F1_LS_LDANCER1_UP");
+			}
+		if ( (RetVal_02.Value & 0x2000) == 0x0)
+			{
+				stubManager.Write("\n		F1_LS_LDANCER1_DOWN");
+			}
+
+		
+		
+		Thread.Sleep(1000);
+	}
+	
+	
+}
+
+/* Sample output - no limit switches are activated
+
+Index =#00
+F1_LS_02_Direct =#3130
+F1_LS_03_Direct =#0BE0
+
+Index =#01
+F1_LS_02_Direct =#3130
+F1_LS_03_Direct =#0BE0
+
+Index =#02
+F1_LS_02_Direct =#3130
+F1_LS_03_Direct =#0BE0
+
+*/
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/LTFU_Motors.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/LTFU_Motors.cs
new file mode 100644
index 000000000..58f86f0d1
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/LTFU_Motors.cs
@@ -0,0 +1,74 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_Motors.cs"
+
+public void OnExecute(StubManager stubManager)
+{
+	Motor_OutOfReset();
+	
+	Motor_HighZ(FPGA1, F1_MOTO_LDRIVING_TX1, F1_MOTO_LDRIVING_TX0);
+	Motor_HighZ(FPGA1, F1_MOTO_LLOADING_TX1, F1_MOTO_LLOADING_TX0);
+	Motor_HighZ(FPGA1, F1_MOTO_LDANCER1_TX1, F1_MOTO_LDANCER1_TX0);
+	Motor_HighZ(FPGA1, F1_MOTO_LDANCER2_TX1, F1_MOTO_LDANCER2_TX0);
+	Motor_HighZ(FPGA1, F1_MOTO_LPIVOT1_TX1, F1_MOTO_LPIVOT1_TX0);
+	
+	Motor_ReadCfg(FPGA1, F1_MOTO_LDRIVING_TX1, F1_MOTO_LDRIVING_TX0);
+	Motor_ReadCfg(FPGA1, F1_MOTO_LLOADING_TX1, F1_MOTO_LLOADING_TX0);
+	Motor_ReadCfg(FPGA1, F1_MOTO_LDANCER1_TX1, F1_MOTO_LDANCER1_TX0);
+	Motor_ReadCfg(FPGA1, F1_MOTO_LDANCER2_TX1, F1_MOTO_LDANCER2_TX0);
+	Motor_ReadCfg(FPGA1, F1_MOTO_LPIVOT1_TX1, F1_MOTO_LPIVOT1_TX0);
+	
+	
+	Motor_Run(FPGA1, F1_MOTO_LDRIVING_TX1, F1_MOTO_LDRIVING_TX0, 0xffff, 0x1);
+	Thread.Sleep(6000);	
+	Motor_HighZ(FPGA1, F1_MOTO_LDRIVING_TX1, F1_MOTO_LDRIVING_TX0);
+
+
+	Motor_Move_Loop(FPGA1, F1_MOTO_LLOADING_TX1, F1_MOTO_LLOADING_TX0, 0x3200, 0x1, 4);
+	Motor_HighZ(FPGA1, F1_MOTO_LLOADING_TX1, F1_MOTO_LLOADING_TX0);	
+
+	Motor_Move_Loop(FPGA1, F1_MOTO_LDANCER1_TX1, F1_MOTO_LDANCER1_TX0, 0x3200, 0x1, 4);
+	Motor_HighZ(FPGA1, F1_MOTO_LDANCER1_TX1, F1_MOTO_LDANCER1_TX0);	
+	
+//	Motor_Move_Loop(FPGA1, F1_MOTO_LDANCER2_TX1, F1_MOTO_LDANCER2_TX0, 0x3200, 0x1, 4);
+//	Motor_HighZ(FPGA1, F1_MOTO_LDANCER2_TX1, F1_MOTO_LDANCER2_TX0);
+
+	Motor_Move_Loop(FPGA1, F1_MOTO_LPIVOT1_TX1, F1_MOTO_LPIVOT1_TX0, 0x3200, 0x1, 4);
+	Motor_HighZ(FPGA1, F1_MOTO_LPIVOT1_TX1, F1_MOTO_LPIVOT1_TX0);	
+
+	
+}
+
+/* Script outputs motor driver chip config register
+FPGA Reg. Read (FPGA Base, Addr, Data): (#60000000, #0226, #002E)
+
+FPGA Reg. Read (FPGA Base, Addr, Data): (#60000000, #0224, #8800)
+
+FPGA Reg. Read (FPGA Base, Addr, Data): (#60000000, #0236, #002E)
+
+FPGA Reg. Read (FPGA Base, Addr, Data): (#60000000, #0234, #8800)
+
+FPGA Reg. Read (FPGA Base, Addr, Data): (#60000000, #02C6, #002E)
+
+FPGA Reg. Read (FPGA Base, Addr, Data): (#60000000, #02C4, #8800)
+
+FPGA Reg. Read (FPGA Base, Addr, Data): (#60000000, #02D6, #002E)
+
+FPGA Reg. Read (FPGA Base, Addr, Data): (#60000000, #02D4, #8800)
+
+FPGA Reg. Read (FPGA Base, Addr, Data): (#60000000, #0306, #002E)
+
+FPGA Reg. Read (FPGA Base, Addr, Data): (#60000000, #0304, #8800)
+
+*/
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/LTFU_SSI.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/LTFU_SSI.cs
new file mode 100644
index 000000000..851054706
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/LTFU_SSI.cs
@@ -0,0 +1,76 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_SSI.cs"
+
+
+public void OnExecute(StubManager stubManager)
+{
+	int k = 0;
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg1, 0);
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg2, 0);	
+	
+	//Set output clock frequency to about 200 kHz
+	Fpga_Write_Reg(FPGA1, F1_Prescaler1_reg1, 0x0024, 0);
+	Fpga_Write_Reg(FPGA1, F1_Prescaler1_reg2, 0x0024, 0);
+	
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg1, 0);
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg2, 0);
+
+	for (int i = 0; i < 100000; i++)
+	{
+	
+		
+		
+		
+		
+		SSI_Read_Write(FPGA1, F1_LDANCER1_ROTENC_MSB, F1_LDANCER1_ROTENC_LSB, F1_LDANCER1_ROTENC_TX);
+		SSI_Read_Write(FPGA1, F1_LDANCER2_ROTENC_MSB, F1_LDANCER2_ROTENC_LSB, F1_LDANCER2_ROTENC_TX);
+		stubManager.Write("\n");
+		k++;
+		if  ( (k & 0x8) == 0x08 ) {
+			k = 0;			
+			stubManager.Write("	LDANCER1    				LDANCER2     \n");
+		}
+
+	/*		
+		stubManager.Write("\n\nF1_LDANCER1_ROTENC_TX");
+		ssi_loop(F1_LDANCER1_ROTENC_TX);
+		Thread.Sleep(1000);		
+		
+		stubManager.Write("\n\nF1_LDANCER2_ROTENC_TX");
+		ssi_loop(F1_LDANCER2_ROTENC_TX);
+		Thread.Sleep(1000);		
+		
+		stubManager.Write("\n\nF1_LSPARE_ROTENC_TX");
+		ssi_loop(F1_LSPARE_ROTENC_TX);
+		Thread.Sleep(1000);		
+		
+	*/
+	}
+	
+	
+}
+
+/* Sample output when turning F1_RSPARE_ROTENC - output is 12 bits
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #0A6F)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #0A71)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #0A68)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #09BA)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #0859)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #06C6)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #05EA)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #05CE)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #05B3)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #0599)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #0580)*/
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/Midtank_Float.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Midtank_Float.cs
new file mode 100644
index 000000000..a51017019
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Midtank_Float.cs
@@ -0,0 +1,72 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_GPI.cs"
+
+
+int MidtankFloat(Int32 Fpga, Int32 Addr)
+{
+
+	string[] BitsToCheck = { "rsvd",	"rsvd",	"rsvd",	"rsvd",	"rsvd",	"rsvd",	"rsvd",	"rsvd",	"rsvd",	"rsvd",	"rsvd",	"rsvd",	"rsvd",	"rsvd",	"rsvd",	"rsvd"};
+	var RetVal = Fpga_Read_Reg(Fpga, Addr, 0);
+	
+	if ( (Fpga == FPGA3) && (Addr == F3_MIDTANK_01_Direct))
+	{
+		BitsToCheck = F3_MIDTANK_01_Bits;
+		
+	}
+	else if ( (Fpga == FPGA3) && (Addr == F3_MIDTANK_02_Direct))
+	{
+		BitsToCheck = F3_MIDTANK_02_Bits;
+	}	
+		
+	for (int i=0; i<16; i++)
+	{
+		
+		if ( ( RetVal.Value & (0x1<<i)) == (0x1<<i))
+		{
+			stubManager.Write("\n\t\t\tGPI activated: ");
+			stubManager.Write(BitsToCheck[i]);
+			stubManager.Write("\t\t\tBit no.: ");
+			stubManager.Write(i);
+			//stubManager.Write("\n");
+		}
+		
+	}
+	
+	return 1;
+}	
+                             	
+                            
+
+public void OnExecute(StubManager stubManager)
+{
+ 	
+	for (int i=0; i<10000; i++)
+		{
+			
+			//stubManager.Write("\nIndex =");
+			//stubManager.Write(i);
+			Thread.Sleep(1000);
+			
+			stubManager.Write("\nScanning: F3_MIDTANK_01_Direct");
+			MidtankFloat(FPGA3, F3_MIDTANK_01_Direct);
+			stubManager.Write("\n\n");
+			
+			
+			stubManager.Write("\nScanning: F3_MIDTANK_02_Direct");
+			MidtankFloat(FPGA3, F3_MIDTANK_02_Direct);
+			stubManager.Write("\n\n");
+				
+		}
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/Midtank_Valves.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Midtank_Valves.cs
new file mode 100644
index 000000000..84ef7021a
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Midtank_Valves.cs
@@ -0,0 +1,32 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_GPO.cs"
+
+
+public void OnExecute(StubManager stubManager)
+{
+ 	
+	//for (int i=0; i<16; i++)
+	//{
+		
+		Int32 i = 0;  //Midtank Valve index
+		
+		SetBit (FPGA3, F3_VALVE_OUT, i, 1);
+		stubManager.Write("\n\nSetting GPO F3_VALVE_OUT, bit "); stubManager.Write(i); stubManager.Write(", "); stubManager.Write(F3_VALVE_Bits[i]);
+		Thread.Sleep(1000);
+		SetBit (FPGA3, F3_VALVE_OUT, i, 0);
+		stubManager.Write("\nClearing GPO F3_VALVE_OUT, bit "); stubManager.Write(i); stubManager.Write(", "); stubManager.Write(F3_VALVE_Bits[i]);			
+		Thread.Sleep(1000);
+	//}
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/RTFU_GPO.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/RTFU_GPO.cs
new file mode 100644
index 000000000..a319b1525
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/RTFU_GPO.cs
@@ -0,0 +1,33 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_GPO.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_Motors.cs"
+
+
+
+public void OnExecute(StubManager stubManager)
+{
+	
+		Int32 i = 11;  //Midtank Valve index
+		
+		SetBit (FPGA1, F1_Moto_Driver_SW1, i, 1);
+		stubManager.Write("\n\nSetting GPO F1_Moto_Driver_SW1, bit "); stubManager.Write(i); stubManager.Write(", "); stubManager.Write(F1_Moto_Driver_SW1_Bits[i]);
+		Thread.Sleep(1000);
+		SetBit (FPGA1, F1_Moto_Driver_SW1, i, 0);
+		stubManager.Write("\nClearing GPO F1_Moto_Driver_SW1, bit "); stubManager.Write(i); stubManager.Write(", "); stubManager.Write(F1_Moto_Driver_SW1_Bits[i]);			
+		Thread.Sleep(1000);
+	
+	
+}
+
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/RTFU_LimitSwitch.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/RTFU_LimitSwitch.cs
new file mode 100644
index 000000000..e25bc99ee
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/RTFU_LimitSwitch.cs
@@ -0,0 +1,86 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_LimitSwitch.cs"
+
+	
+public void OnExecute(StubManager stubManager)
+{
+
+	int k = 0;
+	
+	for (int i = 0; i < 10000; i++)
+	{
+		
+		stubManager.Write("\n\nIndex =");
+		stubManager.WriteHex(k,2);
+		k++;
+		
+		var RetVal_02 = Fpga_Read_Reg(FPGA1, F1_LS_02_Direct, 0);
+		var RetVal_03 = Fpga_Read_Reg(FPGA1, F1_LS_03_Direct, 0);
+		
+		stubManager.Write("\nF1_LS_02_Direct =");
+		stubManager.WriteHex(RetVal_02.Value,4);
+		stubManager.Write("\nF1_LS_03_Direct =");
+		stubManager.WriteHex(RetVal_03.Value,4);
+		
+		
+		if ( (RetVal_03.Value & 0x40) == 0x0)
+			{
+				stubManager.Write("\nF1_LS_RLOADMOTOR_UP");
+			}
+		if ( (RetVal_03.Value & 0x80) == 0x0)
+			{
+				stubManager.Write("\nF1_LS_RLOADMOTOR_DOWN");
+			}
+		
+		
+		if ( (RetVal_03.Value & 0x100) == 0x0)
+			{
+				stubManager.Write("\nF1_LS_RDANCER_UP");
+				
+			}
+		if ( (RetVal_03.Value & 0x200) == 0x0)
+			{
+				stubManager.Write("\nF1_LS_RDANCER_DOWN");
+			}
+		if ( (RetVal_03.Value & 0x20) == 0x0)
+			{
+				stubManager.Write("\nF1_LS_RDANCER_LONG");
+			}
+		
+		// F1_LS_RDANCER_UP and F1_LS_RDANCER_DOWN are swapped
+		// LS_RDANCER_LONG = LS_RLOADARMUP
+		
+		
+		Thread.Sleep(1000);
+	}
+	
+	
+}
+
+/* Sample output - no limit switches are activated
+
+Index =#00
+F1_LS_02_Direct =#3130
+F1_LS_03_Direct =#0BE0
+
+Index =#01
+F1_LS_02_Direct =#3130
+F1_LS_03_Direct =#0BE0
+
+Index =#02
+F1_LS_02_Direct =#3130
+F1_LS_03_Direct =#0BE0
+
+*/
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/RTFU_Motors.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/RTFU_Motors.cs
new file mode 100644
index 000000000..5df179475
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/RTFU_Motors.cs
@@ -0,0 +1,66 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_Motors.cs"
+
+
+public void OnExecute(StubManager stubManager)
+{
+	Motor_OutOfReset();
+
+	Motor_HighZ(FPGA1, F1_MOTO_RLOADING_TX1, F1_MOTO_RLOADING_TX0);
+	Motor_HighZ(FPGA1, F1_MOTO_RDRIVING_TX1, F1_MOTO_RDRIVING_TX0);
+	Motor_HighZ(FPGA1, F1_MOTO_RLOADARM_TX1, F1_MOTO_RLOADARM_TX0);
+	Motor_HighZ(FPGA1, F1_MOTO_RDANCER_TX1, F1_MOTO_RDANCER_TX0);
+
+	Motor_ReadCfg(FPGA1, F1_MOTO_RLOADING_TX1, F1_MOTO_RLOADING_TX0);
+	Motor_ReadCfg(FPGA1, F1_MOTO_RDRIVING_TX1, F1_MOTO_RDRIVING_TX0);
+	Motor_ReadCfg(FPGA1, F1_MOTO_RLOADARM_TX1, F1_MOTO_RLOADARM_TX0);
+	Motor_ReadCfg(FPGA1, F1_MOTO_RDANCER_TX1, F1_MOTO_RDANCER_TX0);
+	
+	
+	Motor_Run(FPGA1, F1_MOTO_RDRIVING_TX1, F1_MOTO_RDRIVING_TX0, 0xffff, 0x1);
+	Thread.Sleep(6000);	
+	Motor_HighZ(FPGA1, F1_MOTO_RDRIVING_TX1, F1_MOTO_RDRIVING_TX0);
+
+	Motor_Move_Loop(FPGA1, F1_MOTO_RLOADING_TX1, F1_MOTO_RLOADING_TX0, 0x3200, 0x1, 8);
+	Motor_HighZ(FPGA1, F1_MOTO_RLOADING_TX1, F1_MOTO_RLOADING_TX0);	
+
+	//Motor_Move_Loop(FPGA1, F1_MOTO_RLOADARM_TX1, F1_MOTO_RLOADARM_TX0, 0x3200, 0x1, 8);
+	//Motor_HighZ(FPGA1, F1_MOTO_RLOADARM_TX1, F1_MOTO_RLOADARM_TX0);	
+
+	Motor_Move_Loop(FPGA1, F1_MOTO_RDANCER_TX1, F1_MOTO_RDANCER_TX0, 0x1200, 0x1, 8);
+	Motor_HighZ(FPGA1, F1_MOTO_RDANCER_TX1, F1_MOTO_RDANCER_TX0);	
+	
+	
+}
+
+/* Script outputs motor driver chip config register
+FPGA Reg. Read* (FPGA Base, Addr, Data): (#60000000, #0206, #002E)
+
+FPGA Reg. Read* (FPGA Base, Addr, Data): (#60000000, #0204, #8800)
+
+FPGA Reg. Read* (FPGA Base, Addr, Data): (#60000000, #0216, #002E)
+
+FPGA Reg. Read* (FPGA Base, Addr, Data): (#60000000, #0214, #8800)
+
+FPGA Reg. Read* (FPGA Base, Addr, Data): (#60000000, #02A6, #002E)
+
+FPGA Reg. Read* (FPGA Base, Addr, Data): (#60000000, #02A4, #8800)
+
+FPGA Reg. Read* (FPGA Base, Addr, Data): (#60000000, #02B6, #002E)
+
+FPGA Reg. Read* (FPGA Base, Addr, Data): (#60000000, #02B4, #8800)
+
+*/
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/RTFU_SSI.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/RTFU_SSI.cs
new file mode 100644
index 000000000..8c6f3a2b0
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/RTFU_SSI.cs
@@ -0,0 +1,82 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_SSI.cs"
+
+public void OnExecute(StubManager stubManager)
+{
+	
+		int k = 0;
+	
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg1,0 );
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg2,0 );	
+	
+	//Set output clock frequency to about 200 kHz
+	Fpga_Write_Reg(FPGA1, F1_Prescaler1_reg1, 0x0024, 0);
+	Fpga_Write_Reg(FPGA1, F1_Prescaler1_reg2, 0x0024, 0);
+	
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg1, 0);
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg2, 0);
+
+	for (int i = 0; i < 100000; i++)
+	{
+	
+
+		SSI_Read_Write(FPGA1, F1_RDANCER_ROTENC_MSB, F1_RDANCER_ROTENC_LSB, F1_RDANCER_ROTENC_TX);
+		SSI_Read_Write(FPGA1, F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB, F1_RSPARE_ROTENC_TX);
+		stubManager.Write("\n");
+		k++;
+		if  ( (k & 0x8) == 0x08 ) {
+			k = 0;			
+			stubManager.Write("	RDANCER    					RSPARE     \n");
+		}
+
+	/*		
+		stubManager.Write("\n\nF1_LDANCER1_ROTENC_TX");
+		ssi_loop(F1_LDANCER1_ROTENC_TX);
+		Thread.Sleep(1000);		
+		
+		stubManager.Write("\n\nF1_LDANCER2_ROTENC_TX");
+		ssi_loop(F1_LDANCER2_ROTENC_TX);
+		Thread.Sleep(1000);		
+		
+		stubManager.Write("\n\nF1_LSPARE_ROTENC_TX");
+		ssi_loop(F1_LSPARE_ROTENC_TX);
+		Thread.Sleep(1000);		
+		
+		stubManager.Write("\n\nF1_RDANCER_ROTENC_TX");
+		ssi_loop(F1_RDANCER_ROTENC_TX);
+		Thread.Sleep(1000);		
+		
+		stubManager.Write("\n\nF1_RSPARE_ROTENC_TX");
+		ssi_loop(F1_RSPARE_ROTENC_TX);
+		Thread.Sleep(1000);		
+		
+	*/
+	}
+	
+	
+}
+
+/* Sample output when turning F1_RSPARE_ROTENC - output is 12 bits
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #0A6F)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #0A71)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #0A68)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #09BA)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #0859)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #06C6)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #05EA)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #05CE)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #05B3)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #0599)
+(F1_RSPARE_ROTENC_MSB, F1_RSPARE_ROTENC_LSB) = (#0000, #0580)*/
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/Spare_Motors.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Spare_Motors.cs
new file mode 100644
index 000000000..9e08fcf2e
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Spare_Motors.cs
@@ -0,0 +1,53 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_Motors.cs"
+
+
+public void OnExecute(StubManager stubManager)
+{
+	Motor_OutOfReset();	
+
+	Motor_Move_Loop(FPGA3, F3_MOTO_SPARE1_1_A1_TX_01, F3_MOTO_SPARE1_1_A1_TX_00, 0x3200, 0x1, 8);
+	Motor_HighZ(FPGA3, F3_MOTO_SPARE1_1_A1_TX_01, F3_MOTO_SPARE1_1_A1_TX_00);	
+
+	Motor_Move_Loop(FPGA3, F3_MOTO_SPARE1_2_A1_TX_01, F3_MOTO_SPARE1_2_A1_TX_00, 0x3200, 0x1, 8);
+	Motor_HighZ(FPGA3, F3_MOTO_SPARE1_2_A1_TX_01, F3_MOTO_SPARE1_2_A1_TX_00);	
+	
+	Motor_Move_Loop(FPGA3, F3_MOTO_SPARE2_1_A1_TX_01, F3_MOTO_SPARE2_1_A1_TX_00, 0x3200, 0x1, 8);
+	Motor_HighZ(FPGA3, F3_MOTO_SPARE2_1_A1_TX_01, F3_MOTO_SPARE2_1_A1_TX_00);	
+
+	Motor_Move_Loop(FPGA3, F3_MOTO_SPARE2_2_A1_TX_01, F3_MOTO_SPARE2_2_A1_TX_00, 0x3200, 0x1, 8);
+	Motor_HighZ(FPGA3, F3_MOTO_SPARE2_2_A1_TX_01, F3_MOTO_SPARE2_2_A1_TX_00);	
+	
+}
+
+/* Script outputs motor driver chip config register
+FPGA Reg. Read* (FPGA Base, Addr, Data): (#60000000, #0206, #002E)
+
+FPGA Reg. Read* (FPGA Base, Addr, Data): (#60000000, #0204, #8800)
+
+FPGA Reg. Read* (FPGA Base, Addr, Data): (#60000000, #0216, #002E)
+
+FPGA Reg. Read* (FPGA Base, Addr, Data): (#60000000, #0214, #8800)
+
+FPGA Reg. Read* (FPGA Base, Addr, Data): (#60000000, #02A6, #002E)
+
+FPGA Reg. Read* (FPGA Base, Addr, Data): (#60000000, #02A4, #8800)
+
+FPGA Reg. Read* (FPGA Base, Addr, Data): (#60000000, #02B6, #002E)
+
+FPGA Reg. Read* (FPGA Base, Addr, Data): (#60000000, #02B4, #8800)
+
+*/
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/WHS_Analog.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/WHS_Analog.cs
new file mode 100644
index 000000000..725287d84
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/WHS_Analog.cs
@@ -0,0 +1,33 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+
+                             	
+/*
+
+Name						Input channel	Input parameter in the stub
+CHAN_AIR_PRESSURE_1    		ADC_CTL_CH0		0
+CHAN_AIR_PRESSURE_2    		ADC_CTL_CH1		1
+CHAN_VOCSENS				ADC_CTL_CH10	10
+*/                     
+
+public void OnExecute(StubManager stubManager)
+{
+ 	
+	for (int i=0; i<22; i++)
+		{
+			var response = stubManager.Run<StubIntADCReadResponse>("StubIntADCReadRequest" ,i);
+			stubManager.Write("\nADC VALUE, "); stubManager.Write(i); stubManager.Write("\t\t"); stubManager.WriteHex(response.SamplingInBits, 4); stubManager.Write("\t\t"); stubManager.Write(response.VoltageSamplingMv); stubManager.Write(" mV");
+		}
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/Winder_Motors.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Winder_Motors.cs
new file mode 100644
index 000000000..553e9a5d0
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Winder_Motors.cs
@@ -0,0 +1,55 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_Motors.cs"
+	
+
+int Motor_Dispenser(Int32 Fpga, Int32 HighAdr, Int32 LowAdr) 
+{
+	
+
+	Motor_OutOfReset();
+	Motor_GetStatus( Fpga,  HighAdr,  LowAdr);
+	//Motor_GetStatus( Fpga,  HighAdr,  LowAdr);
+	Motor_HighZ(Fpga, HighAdr, LowAdr);
+	Motor_ReadCfg( Fpga,  HighAdr,  LowAdr);
+	//Motor_GetParam( Fpga,  HighAdr,  LowAdr, 0x0a);
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0a, 0x08000000);
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x13, 0x0f000000);
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x18, 0x2e080000);
+	Motor_ReadCfg( Fpga,  HighAdr,  LowAdr);
+	//Motor_GetParam( Fpga,  HighAdr,  LowAdr, 0x0a);	
+	
+	Motor_Run(Fpga, HighAdr, LowAdr, 0x0fffff, 0x1);
+	Thread.Sleep(8000);
+	Motor_GetStatus( Fpga,  HighAdr,  LowAdr);
+	//Motor_ReadCfg( Fpga,  HighAdr,  LowAdr);
+
+	
+
+	Motor_HighZ(Fpga, HighAdr, LowAdr);
+	
+
+	
+	return 1;
+}
+
+                   
+
+public void OnExecute(StubManager stubManager)
+{
+    
+	Motor_Dispenser(FPGA1, F1_MOTO_SCREW_A1_TX_01, F1_MOTO_SCREW_A1_TX_00); 
+	//Motor_Dispenser(FPGA1, F1_MOTO_WINDER_A1_TX_01, F1_MOTO_WINDER_A1_TX_00); 
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/Winder_QEI_Test.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Winder_QEI_Test.cs
new file mode 100644
index 000000000..a3a8cd9cc
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Winder_QEI_Test.cs
@@ -0,0 +1,77 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_Motors.cs"
+	
+const Int32	F1_SCREW_ROTENC_lsb	=	0x100	; //	Value of the lsb of the QEI register
+const Int32	F1_SCREW_ROTENC_msb	=	0x102	; //	10bits Value of the Msb of the QEI register, 1bit Direction of movement, 5bits Reserved
+const Int32	F1_SCREW_ROTENC_index	=	0x104	; //	value of index counter
+
+	
+
+int Motor_Dispenser(Int32 Fpga, Int32 HighAdr, Int32 LowAdr) 
+{
+	Motor_HighZ(Fpga, HighAdr, LowAdr);
+	Thread.Sleep(1000);
+	
+	Motor_OutOfReset();
+	//Motor_GetStatus( Fpga,  HighAdr,  LowAdr);
+	Motor_GetStatus( Fpga,  HighAdr,  LowAdr);
+	Motor_GetStatus( Fpga,  HighAdr,  LowAdr);
+	Motor_HighZ(Fpga, HighAdr, LowAdr);
+	//Motor_GetParam( Fpga,  HighAdr,  LowAdr, 0x0a);
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0a, 0x01000000); //Set KVAL_RUN to 0x01
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0b, 0x04000000); //Set KVAL_ACC to 0x04
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x05, 0x00200000); //Set Acceleration to 0x002
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x13, 0x0f000000); //Set over current detect to 6 A
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x18, 0x2e080000); //Disable shutdown by over current detect
+	//Motor_ReadCfg( Fpga,  HighAdr,  LowAdr);
+	//Motor_GetParam( Fpga,  HighAdr,  LowAdr, 0x0a);	
+	
+	Motor_Run(Fpga, HighAdr, LowAdr, 0x2fffff, 0x1);
+	
+	for (int i = 0; i<2000; i++)
+	{
+		stubManager.Write("\n");
+		var rv1 = Fpga_Read_Reg(FPGA1, F1_SCREW_ROTENC_lsb, 0);
+		var rv2 = Fpga_Read_Reg(FPGA1, F1_SCREW_ROTENC_msb, 0);
+		stubManager.WriteHex(rv2.Value, 4); 
+		stubManager.WriteHex(rv1.Value, 4);
+		//Motor_GetStatus( Fpga,  HighAdr,  LowAdr);
+		
+		
+		//Thread.Sleep(100);
+	}
+
+	Motor_GetStatus( Fpga,  HighAdr,  LowAdr);
+	//Motor_ReadCfg( Fpga,  HighAdr,  LowAdr);
+
+	
+
+	Motor_HighZ(Fpga, HighAdr, LowAdr);
+	
+
+	
+	return 1;
+}
+
+                   
+
+public void OnExecute(StubManager stubManager)
+{
+    
+	Motor_Dispenser(FPGA1, F1_MOTO_SCREW_A1_TX_01, F1_MOTO_SCREW_A1_TX_00); 
+	//Motor_Dispenser(FPGA1, F1_MOTO_WINDER_A1_TX_01, F1_MOTO_WINDER_A1_TX_00); 
+
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/Winder_Screw_Motors.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Winder_Screw_Motors.cs
new file mode 100644
index 000000000..3337b0ca7
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/Winder_Screw_Motors.cs
@@ -0,0 +1,113 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\Twine Code\stubs\michael stubs\Tango_Defines_Basic.cs"
+include "C:\Twine Code\stubs\michael stubs\Interfaces\Tango_Defines_Motors.cs"
+	
+
+int Winder_Motor_CFG(Int32 Fpga, Int32 HighAdr, Int32 LowAdr) 
+{
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x05, 0x00400000);  //Acceleration
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x06, 0x00400000);  //Deceleration
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x07, 0x00ff0000);  //Maximum speed
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x08, 0x00000000);  //Minimum speed and low speed optimization
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x09, 0x01000000);  //Holding Kval
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0a, 0x20000000);  //Constant speed Kval
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0b, 0x20000000);  //Acceleration starting Kval
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0c, 0x20000000);  //Deceleration starting Kval
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0d, 0x22c50000);  //BEMF comp. curve intersect speed
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0e, 0x07000000);  //BEMF comp. curve starting slope
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0f, 0x15000000);  //BEMF comp. curve final slope (acceleration)
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x10, 0x15000000);  //BEMF comp. curve final slope (deceleration)
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x11, 0x00000000);  //Thermal compensation factor
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x13, 0x0f000000);  //OCD threshold - Needs to be optimized. For now set to maximum
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x14, 0x7f000000);  //STALL threshold - Needs to be optimized. For now set to maximum
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x15, 0x00ff0000);  //Full step speed
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x16, 0x04000000);  //Step mode and sync signal setup: Step mode: 1/16 step, Sync signal: Disabled
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x17, 0xff000000);  //Alarms enables
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x18, 0x1ca00000);  //IC configuration: Int. osc @16MHz (no clock output),
+																 //SW input: HardStop interrupt, Motor supply voltage compensation: Enabled,
+																 //Overcurrent shutdown: Enabled, Output slew-rate: Fastest, fPWM = fosc x 2 / 512	
+	return 1;
+}
+
+int Screw_Motor_CFG(Int32 Fpga, Int32 HighAdr, Int32 LowAdr) 
+{
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x05, 0x07ff0000);  //Acceleration
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x06, 0x0fff0000);  //Deceleration
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x07, 0x03ff0000);  //Maximum speed - used for testing screw arm max speed	
+	//Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x07, 0x000f0000);  //Maximum speed - used for testing screw arm movent at low speed -> max. current
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x08, 0x00000000);  //Minimum speed and low speed optimization
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x09, 0x01000000);  //Holding Kval
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0a, 0x20000000);  //Constant speed Kval
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0b, 0x20000000);  //Acceleration starting Kval
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0c, 0x20000000);  //Deceleration starting Kval
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0d, 0x22c50000);  //BEMF comp. curve intersect speed
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0e, 0x07000000);  //BEMF comp. curve starting slope
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0f, 0x15000000);  //BEMF comp. curve final slope (acceleration)
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x10, 0x15000000);  //BEMF comp. curve final slope (deceleration)
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x11, 0x00000000);  //Thermal compensation factor
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x13, 0x0f000000);  //OCD threshold
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x14, 0x7f000000);  //STALL threshold - Needs to be optimized. For now set to maximum
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x15, 0x03ff0000);  //Full step speed - Needs to be optimized. For now set to maximum
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x16, 0x05000000);  //Step mode and sync signal setup: Step mode: 1/32 step, Sync signal: Disabled
+//	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x17, 0xff000000);  //Alarms enables. Commented out since register can only be written during "stop". Trying to write during "High-Z" caused busy-bit to be stuck low
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x18, 0x1ca00000);  //IC configuration: Int. osc @16MHz (no clock output),
+																 //SW input: HardStop interrupt, Motor supply voltage compensation: Enabled,
+																 //Overcurrent shutdown: Enabled, Output slew-rate: Fastest, fPWM = fosc x 2 / 512
+	return 1;
+}
+
+
+int Winder_Motor_Go(Int32 Fpga, Int32 HighAdr, Int32 LowAdr)
+ {
+	//Motor_Run(Fpga, HighAdr, LowAdr, 0x016f00, 0x1); // 7   rps, 1400 full steps/second
+	//Motor_Run(Fpga, HighAdr, LowAdr, 0x02de00, 0x1); //14   rps, 2800 full steps/second
+	Motor_Run(Fpga, HighAdr, LowAdr,   0x039580, 0x1); //17.5 rps, 3500 full steps/second
+	//Motor_HighZ(Fpga, HighAdr, LowAdr);
+	return 1;
+ }
+ 
+ 
+int Screw_Motor_Go(Int32 Fpga, Int32 HighAdr, Int32 LowAdr)
+ {
+	Motor_Move_Loop_Screw(Fpga, HighAdr, LowAdr, 0x4200<<1, 0x1, 100); //0x4200 x 2 1/32 steps, 100 times back and forth
+	Motor_HighZ(Fpga, HighAdr, LowAdr);
+	return 1;
+ }
+                   
+
+public void OnExecute(StubManager stubManager)
+{
+
+	Int32 Bit = 0 ;
+	Motor_OutOfReset();
+	Thread.Sleep(50);
+	Motor_DriverReset();
+	Thread.Sleep(50);
+	Motor_OutOfReset();
+		
+	Motor_HighZ(FPGA1, F1_MOTO_SCREW_A1_TX_01, F1_MOTO_SCREW_A1_TX_00);
+	Motor_HighZ(FPGA1, F1_MOTO_WINDER_A1_TX_01, F1_MOTO_WINDER_A1_TX_00);
+	
+	//Configure motor drivers
+	Winder_Motor_CFG(FPGA1, F1_MOTO_WINDER_A1_TX_01, F1_MOTO_WINDER_A1_TX_00); 	
+	Screw_Motor_CFG(FPGA1, F1_MOTO_SCREW_A1_TX_01, F1_MOTO_SCREW_A1_TX_00); 
+	
+	//Run/move motors
+	Winder_Motor_Go(FPGA1, F1_MOTO_WINDER_A1_TX_01, F1_MOTO_WINDER_A1_TX_00); 
+	Screw_Motor_Go(FPGA1, F1_MOTO_SCREW_A1_TX_01, F1_MOTO_SCREW_A1_TX_00);
+
+	Motor_HighZ(FPGA1, F1_MOTO_SCREW_A1_TX_01, F1_MOTO_SCREW_A1_TX_00);
+	Motor_HighZ(FPGA1, F1_MOTO_WINDER_A1_TX_01, F1_MOTO_WINDER_A1_TX_00);
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Assemblies/screw_motor.cs b/Software/Stubs Collection/stubs/michael stubs/Assemblies/screw_motor.cs
new file mode 100644
index 000000000..3337b0ca7
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Assemblies/screw_motor.cs
@@ -0,0 +1,113 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+include "C:\Twine Code\stubs\michael stubs\Tango_Defines_Basic.cs"
+include "C:\Twine Code\stubs\michael stubs\Interfaces\Tango_Defines_Motors.cs"
+	
+
+int Winder_Motor_CFG(Int32 Fpga, Int32 HighAdr, Int32 LowAdr) 
+{
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x05, 0x00400000);  //Acceleration
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x06, 0x00400000);  //Deceleration
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x07, 0x00ff0000);  //Maximum speed
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x08, 0x00000000);  //Minimum speed and low speed optimization
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x09, 0x01000000);  //Holding Kval
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0a, 0x20000000);  //Constant speed Kval
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0b, 0x20000000);  //Acceleration starting Kval
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0c, 0x20000000);  //Deceleration starting Kval
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0d, 0x22c50000);  //BEMF comp. curve intersect speed
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0e, 0x07000000);  //BEMF comp. curve starting slope
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0f, 0x15000000);  //BEMF comp. curve final slope (acceleration)
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x10, 0x15000000);  //BEMF comp. curve final slope (deceleration)
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x11, 0x00000000);  //Thermal compensation factor
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x13, 0x0f000000);  //OCD threshold - Needs to be optimized. For now set to maximum
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x14, 0x7f000000);  //STALL threshold - Needs to be optimized. For now set to maximum
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x15, 0x00ff0000);  //Full step speed
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x16, 0x04000000);  //Step mode and sync signal setup: Step mode: 1/16 step, Sync signal: Disabled
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x17, 0xff000000);  //Alarms enables
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x18, 0x1ca00000);  //IC configuration: Int. osc @16MHz (no clock output),
+																 //SW input: HardStop interrupt, Motor supply voltage compensation: Enabled,
+																 //Overcurrent shutdown: Enabled, Output slew-rate: Fastest, fPWM = fosc x 2 / 512	
+	return 1;
+}
+
+int Screw_Motor_CFG(Int32 Fpga, Int32 HighAdr, Int32 LowAdr) 
+{
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x05, 0x07ff0000);  //Acceleration
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x06, 0x0fff0000);  //Deceleration
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x07, 0x03ff0000);  //Maximum speed - used for testing screw arm max speed	
+	//Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x07, 0x000f0000);  //Maximum speed - used for testing screw arm movent at low speed -> max. current
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x08, 0x00000000);  //Minimum speed and low speed optimization
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x09, 0x01000000);  //Holding Kval
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0a, 0x20000000);  //Constant speed Kval
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0b, 0x20000000);  //Acceleration starting Kval
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0c, 0x20000000);  //Deceleration starting Kval
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0d, 0x22c50000);  //BEMF comp. curve intersect speed
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0e, 0x07000000);  //BEMF comp. curve starting slope
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x0f, 0x15000000);  //BEMF comp. curve final slope (acceleration)
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x10, 0x15000000);  //BEMF comp. curve final slope (deceleration)
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x11, 0x00000000);  //Thermal compensation factor
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x13, 0x0f000000);  //OCD threshold
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x14, 0x7f000000);  //STALL threshold - Needs to be optimized. For now set to maximum
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x15, 0x03ff0000);  //Full step speed - Needs to be optimized. For now set to maximum
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x16, 0x05000000);  //Step mode and sync signal setup: Step mode: 1/32 step, Sync signal: Disabled
+//	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x17, 0xff000000);  //Alarms enables. Commented out since register can only be written during "stop". Trying to write during "High-Z" caused busy-bit to be stuck low
+	Motor_SetParam( Fpga,  HighAdr,  LowAdr, 0x18, 0x1ca00000);  //IC configuration: Int. osc @16MHz (no clock output),
+																 //SW input: HardStop interrupt, Motor supply voltage compensation: Enabled,
+																 //Overcurrent shutdown: Enabled, Output slew-rate: Fastest, fPWM = fosc x 2 / 512
+	return 1;
+}
+
+
+int Winder_Motor_Go(Int32 Fpga, Int32 HighAdr, Int32 LowAdr)
+ {
+	//Motor_Run(Fpga, HighAdr, LowAdr, 0x016f00, 0x1); // 7   rps, 1400 full steps/second
+	//Motor_Run(Fpga, HighAdr, LowAdr, 0x02de00, 0x1); //14   rps, 2800 full steps/second
+	Motor_Run(Fpga, HighAdr, LowAdr,   0x039580, 0x1); //17.5 rps, 3500 full steps/second
+	//Motor_HighZ(Fpga, HighAdr, LowAdr);
+	return 1;
+ }
+ 
+ 
+int Screw_Motor_Go(Int32 Fpga, Int32 HighAdr, Int32 LowAdr)
+ {
+	Motor_Move_Loop_Screw(Fpga, HighAdr, LowAdr, 0x4200<<1, 0x1, 100); //0x4200 x 2 1/32 steps, 100 times back and forth
+	Motor_HighZ(Fpga, HighAdr, LowAdr);
+	return 1;
+ }
+                   
+
+public void OnExecute(StubManager stubManager)
+{
+
+	Int32 Bit = 0 ;
+	Motor_OutOfReset();
+	Thread.Sleep(50);
+	Motor_DriverReset();
+	Thread.Sleep(50);
+	Motor_OutOfReset();
+		
+	Motor_HighZ(FPGA1, F1_MOTO_SCREW_A1_TX_01, F1_MOTO_SCREW_A1_TX_00);
+	Motor_HighZ(FPGA1, F1_MOTO_WINDER_A1_TX_01, F1_MOTO_WINDER_A1_TX_00);
+	
+	//Configure motor drivers
+	Winder_Motor_CFG(FPGA1, F1_MOTO_WINDER_A1_TX_01, F1_MOTO_WINDER_A1_TX_00); 	
+	Screw_Motor_CFG(FPGA1, F1_MOTO_SCREW_A1_TX_01, F1_MOTO_SCREW_A1_TX_00); 
+	
+	//Run/move motors
+	Winder_Motor_Go(FPGA1, F1_MOTO_WINDER_A1_TX_01, F1_MOTO_WINDER_A1_TX_00); 
+	Screw_Motor_Go(FPGA1, F1_MOTO_SCREW_A1_TX_01, F1_MOTO_SCREW_A1_TX_00);
+
+	Motor_HighZ(FPGA1, F1_MOTO_SCREW_A1_TX_01, F1_MOTO_SCREW_A1_TX_00);
+	Motor_HighZ(FPGA1, F1_MOTO_WINDER_A1_TX_01, F1_MOTO_WINDER_A1_TX_00);
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_3WValve.cs b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_3WValve.cs
new file mode 100644
index 000000000..f7dd95a1e
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_3WValve.cs
@@ -0,0 +1,16 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+			//Reg Name									Functionlity/Contents															D15						D14						D13						D12						D11						D10						D9						D8						D7												D6												D5												D4												D3												D2												D1												D0
+const Int32 F2_Prescaler1_reg12 = 0x122;			// Variable for prescaler divisions 												parambit15				parambit14				parambit13				parambit12				parambit11				parambit10				parambit9				parambit8				parambit7										parambit6										parambit5										parambit4										parambit3										parambit2										parambit1										parambit0
+const Int32	F2_DISPENSER_VALVE_OUT = 0x0C2;			// 	Writes to values. Readback the values that are currently in the GPO register	F2_DISPENSER_VALVE_EN_8	F2_DISPENSER_VALVE_EN_7	F2_DISPENSER_VALVE_EN_6	F2_DISPENSER_VALVE_EN_5	F2_DISPENSER_VALVE_EN_4	F2_DISPENSER_VALVE_EN_3	F2_DISPENSER_VALVE_EN_2	F2_DISPENSER_VALVE_EN_1	F2_DISPENSER_VALVE_C1_8/F2_DISPENSER_VALVE_C2_8	F2_DISPENSER_VALVE_C1_7/F2_DISPENSER_VALVE_C2_7	F2_DISPENSER_VALVE_C1_6/F2_DISPENSER_VALVE_C2_6	F2_DISPENSER_VALVE_C1_5/F2_DISPENSER_VALVE_C2_5	F2_DISPENSER_VALVE_C1_4/F2_DISPENSER_VALVE_C2_4	F2_DISPENSER_VALVE_C1_3/F2_DISPENSER_VALVE_C2_3	F2_DISPENSER_VALVE_C1_2/F2_DISPENSER_VALVE_C2_2	F2_DISPENSER_VALVE_C1_1/F2_DISPENSER_VALVE_C2_1
+const Int32 F2_DISPENSER_VALVE_IN_Direct = 0x060;	//	Reads the direct values that are currently being sent to the fpga.				Valve_busy_0			Valve_busy_1			Valve_busy_2			Valve_busy_3			Valve_busy_4			Valve_busy_5			Valve_busy_6			Valve_busy_7			F2_DISPENSER_VALVE_OCD_1						F2_DISPENSER_VALVE_OCD_2						F2_DISPENSER_VALVE_OCD_3						F2_DISPENSER_VALVE_OCD_4						F2_DISPENSER_VALVE_OCD_5						F2_DISPENSER_VALVE_OCD_6						F2_DISPENSER_VALVE_OCD_7						F2_DISPENSER_VALVE_OCD_8
diff --git a/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_GPI.cs b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_GPI.cs
new file mode 100644
index 000000000..23aa257d0
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_GPI.cs
@@ -0,0 +1,33 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+
+const Int32	F1_GPI_EXTWINDER_Direct	=	0x070	; //	"F1_GPI_EXTWINDER_3",	"F1_GPI_EXTWINDER_2",	"F1_GPI_EXTWINDER_1",	"F1_GPI_TFEED_BREAK_2",	"F1_GPI_TFEED_BREAK_1",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"
+const Int32	F2_GPI_REGISTER1_Direct	=	0x070	; //	"F2_GPI_CHILLER_STAT1",	"F2_GPI_CHILLER_FAULT",	"F2_GPI_AIRFLOW_FLAP",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"
+const Int32	F3_GPI_01_Direct	=	0x020	; //	"F3_GPI_WCONTAINER_WARN",	"F3_GPI_WCONTAINER_FULL",	"GPI_SW_FILTER_PRES",	"F3_GPI_PANSW6",	"F3_GPI_PANSW5",	"F3_GPI_PANSW4",	"F3_GPI_PANSW3",	"F3_GPI_PANSW2",	"F3_GPI_PANSW1",	"F3_MON_5V_IF  ",	"F3_MON_5V_RS  ",	"F3_MON_3V3_IF ",	"F3_MON_3V3_IF ",	"F3_MON_5V_BP",	"rsv",	"rsv"
+const Int32	F3_GPI_02_Direct	=	0x090	; //	"F3_GPI_TACTSW4",	"F3_GPI_TACTSW3",	"F3_GPI_TACTSW2",	"F3_GPI_TACTSW1",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"
+
+const Int32	F3_MIDTANK_01_Direct	=	0x030	; //	"F3_MIDTANK2_LVL4_FLOAT_2",	"F3_MIDTANK2_LVL4_FLOAT_1",	"F3_MIDTANK2_LVL3_FLOAT_2",	"F3_MIDTANK2_LVL3_FLOAT_1",	"F3_MIDTANK2_LVL2_FLOAT_2",	"F3_MIDTANK2_LVL2_FLOAT_1",	"F3_MIDTANK2_LVL1_FLOAT_2",	"F3_MIDTANK2_LVL1_FLOAT_1",	"F3_MIDTANK1_LVL4_FLOAT_2",	"F3_MIDTANK1_LVL4_FLOAT_1",	"F3_MIDTANK1_LVL3_FLOAT_2",	"F3_MIDTANK1_LVL3_FLOAT_1",	"F3_MIDTANK1_LVL2_FLOAT_2",	"F3_MIDTANK1_LVL2_FLOAT_1",	"F3_MIDTANK1_LVL1_FLOAT_2",	"F3_MIDTANK1_LVL1_FLOAT_1"
+const Int32	F3_MIDTANK_02_Direct	=	0x040	; //	"F3_MIDTANK4_LVL4_FLOAT_2",	"F3_MIDTANK4_LVL4_FLOAT_1",	"F3_MIDTANK4_LVL3_FLOAT_2",	"F3_MIDTANK4_LVL3_FLOAT_1",	"F3_MIDTANK4_LVL2_FLOAT_2",	"F3_MIDTANK4_LVL2_FLOAT_1",	"F3_MIDTANK4_LVL1_FLOAT_2",	"F3_MIDTANK4_LVL1_FLOAT_1",	"F3_MIDTANK3_LVL4_FLOAT_2",	"F3_MIDTANK3_LVL4_FLOAT_1",	"F3_MIDTANK3_LVL3_FLOAT_2",	"F3_MIDTANK3_LVL3_FLOAT_1",	"F3_MIDTANK3_LVL2_FLOAT_2",	"F3_MIDTANK3_LVL2_FLOAT_1",	"F3_MIDTANK3_LVL1_FLOAT_2",	"F3_MIDTANK3_LVL1_FLOAT_1"
+
+const Int32	F3_CARTx_PRES_02_Direct	=	0x070	; //	"F3_CART8_PRES",	"F3_CART7_PRES",	"F3_CART6_PRES",	"F3_CART5_PRES",	"F3_CART4_PRES",	"F3_CART3_PRES",	"F3_CART2_PRES",	"F3_CART1_PRES",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"
+
+
+string[] F1_GPI_EXTWINDER_Bits = { "F1_GPI_EXTWINDER_3",	"F1_GPI_EXTWINDER_2",	"F1_GPI_EXTWINDER_1",	"F1_GPI_TFEED_BREAK_2",	"F1_GPI_TFEED_BREAK_1",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"};
+string[] F2_GPI_REGISTER1_Bits = { "F2_GPI_CHILLER_STAT1",	"F2_GPI_CHILLER_FAULT",	"F2_GPI_AIRFLOW_FLAP",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"};
+string[] F3_GPI_01_Bits = { "F3_GPI_WCONTAINER_WARN",	"F3_GPI_WCONTAINER_FULL",	"GPI_SW_FILTER_PRES",	"F3_GPI_PANSW6",	"F3_GPI_PANSW5",	"F3_GPI_PANSW4",	"F3_GPI_PANSW3",	"F3_GPI_PANSW2",	"F3_GPI_PANSW1",	"F3_MON_5V_IF  ",	"F3_MON_5V_RS  ",	"F3_MON_3V3_IF ",	"F3_MON_3V3_IF ",	"F3_MON_5V_BP",	"rsv",	"rsv"};
+string[] F3_GPI_02_Bits = { "F3_GPI_TACTSW4",	"F3_GPI_TACTSW3",	"F3_GPI_TACTSW2",	"F3_GPI_TACTSW1",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"};
+
+string[] F3_MIDTANK_01_Bits = {"F3_MIDTANK2_LVL4_FLOAT_2",	"F3_MIDTANK2_LVL4_FLOAT_1",	"F3_MIDTANK2_LVL3_FLOAT_2",	"F3_MIDTANK2_LVL3_FLOAT_1",	"F3_MIDTANK2_LVL2_FLOAT_2",	"F3_MIDTANK2_LVL2_FLOAT_1",	"F3_MIDTANK2_LVL1_FLOAT_2",	"F3_MIDTANK2_LVL1_FLOAT_1",	"F3_MIDTANK1_LVL4_FLOAT_2",	"F3_MIDTANK1_LVL4_FLOAT_1",	"F3_MIDTANK1_LVL3_FLOAT_2",	"F3_MIDTANK1_LVL3_FLOAT_1",	"F3_MIDTANK1_LVL2_FLOAT_2",	"F3_MIDTANK1_LVL2_FLOAT_1",	"F3_MIDTANK1_LVL1_FLOAT_2",	"F3_MIDTANK1_LVL1_FLOAT_1"};
+string[] F3_MIDTANK_02_Bits = {"F3_MIDTANK4_LVL4_FLOAT_2",	"F3_MIDTANK4_LVL4_FLOAT_1",	"F3_MIDTANK4_LVL3_FLOAT_2",	"F3_MIDTANK4_LVL3_FLOAT_1",	"F3_MIDTANK4_LVL2_FLOAT_2",	"F3_MIDTANK4_LVL2_FLOAT_1",	"F3_MIDTANK4_LVL1_FLOAT_2",	"F3_MIDTANK4_LVL1_FLOAT_1",	"F3_MIDTANK3_LVL4_FLOAT_2",	"F3_MIDTANK3_LVL4_FLOAT_1",	"F3_MIDTANK3_LVL3_FLOAT_2",	"F3_MIDTANK3_LVL3_FLOAT_1",	"F3_MIDTANK3_LVL2_FLOAT_2",	"F3_MIDTANK3_LVL2_FLOAT_1",	"F3_MIDTANK3_LVL1_FLOAT_2",	"F3_MIDTANK3_LVL1_FLOAT_1"};
+string[] F3_CARTx_PRES_02_Bits	=	{"F3_CART8_PRES",	"F3_CART7_PRES",	"F3_CART6_PRES",	"F3_CART5_PRES",	"F3_CART4_PRES",	"F3_CART3_PRES",	"F3_CART2_PRES",	"F3_CART1_PRES",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"};
+	
diff --git a/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_GPIO.cs b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_GPIO.cs
new file mode 100644
index 000000000..e330a9fc1
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_GPIO.cs
@@ -0,0 +1,17 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+const Int32	F3_DISPENSER_ROTENC_IN_Direct	=	0x050	; //	"F3_DISPENSER_ROTENC_Z_INP_8",	"F3_DISPENSER_ROTENC_Z_INP_7",	"F3_DISPENSER_ROTENC_Z_INP_6",	"F3_DISPENSER_ROTENC_Z_INP_5",	"F3_DISPENSER_ROTENC_Z_INP_4",	"F3_DISPENSER_ROTENC_Z_INP_3",	"F3_DISPENSER_ROTENC_Z_INP_2",	"F3_DISPENSER_ROTENC_Z_INP_1",	"F3_DISPENSER_ROTENC_C_INP_8",	"F3_DISPENSER_ROTENC_C_INP_7",	"F3_DISPENSER_ROTENC_C_INP_6",	"F3_DISPENSER_ROTENC_C_INP_5",	"F3_DISPENSER_ROTENC_C_INP_4",	"F3_DISPENSER_ROTENC_C_INP_3",	"F3_DISPENSER_ROTENC_C_INP_2",	"F3_DISPENSER_ROTENC_C_INP_1"
+const Int32	F3_DISPENSER_ROTENC_OUT	=	0x0F2	; //	"F3_DISPENSER_ROTENC_Z_OUT_8",	"F3_DISPENSER_ROTENC_Z_OUT_7",	"F3_DISPENSER_ROTENC_Z_OUT_6",	"F3_DISPENSER_ROTENC_Z_OUT_5",	"F3_DISPENSER_ROTENC_Z_OUT_4",	"F3_DISPENSER_ROTENC_Z_OUT_3",	"F3_DISPENSER_ROTENC_Z_OUT_2",	"F3_DISPENSER_ROTENC_Z_OUT_1",	"F3_DISPENSER_ROTENC_C_OUT_8",	"F3_DISPENSER_ROTENC_C_OUT_7",	"F3_DISPENSER_ROTENC_C_OUT_6",	"F3_DISPENSER_ROTENC_C_OUT_5",	"F3_DISPENSER_ROTENC_C_OUT_4",	"F3_DISPENSER_ROTENC_C_OUT_3",	"F3_DISPENSER_ROTENC_C_OUT_2",	"F3_DISPENSER_ROTENC_C_OUT_1"
+
+string[] F3_DISPENSER_ROTENC_IN_Bits = {"F3_DISPENSER_ROTENC_Z_INP_8",	"F3_DISPENSER_ROTENC_Z_INP_7",	"F3_DISPENSER_ROTENC_Z_INP_6",	"F3_DISPENSER_ROTENC_Z_INP_5",	"F3_DISPENSER_ROTENC_Z_INP_4",	"F3_DISPENSER_ROTENC_Z_INP_3",	"F3_DISPENSER_ROTENC_Z_INP_2",	"F3_DISPENSER_ROTENC_Z_INP_1",	"F3_DISPENSER_ROTENC_C_INP_8",	"F3_DISPENSER_ROTENC_C_INP_7",	"F3_DISPENSER_ROTENC_C_INP_6",	"F3_DISPENSER_ROTENC_C_INP_5",	"F3_DISPENSER_ROTENC_C_INP_4",	"F3_DISPENSER_ROTENC_C_INP_3",	"F3_DISPENSER_ROTENC_C_INP_2",	"F3_DISPENSER_ROTENC_C_INP_1"};
+string[] F3_DISPENSER_ROTENC_Bits = {"F3_DISPENSER_ROTENC_Z_OUT_8",	"F3_DISPENSER_ROTENC_Z_OUT_7",	"F3_DISPENSER_ROTENC_Z_OUT_6",	"F3_DISPENSER_ROTENC_Z_OUT_5",	"F3_DISPENSER_ROTENC_Z_OUT_4",	"F3_DISPENSER_ROTENC_Z_OUT_3",	"F3_DISPENSER_ROTENC_Z_OUT_2",	"F3_DISPENSER_ROTENC_Z_OUT_1",	"F3_DISPENSER_ROTENC_C_OUT_8",	"F3_DISPENSER_ROTENC_C_OUT_7",	"F3_DISPENSER_ROTENC_C_OUT_6",	"F3_DISPENSER_ROTENC_C_OUT_5",	"F3_DISPENSER_ROTENC_C_OUT_4",	"F3_DISPENSER_ROTENC_C_OUT_3",	"F3_DISPENSER_ROTENC_C_OUT_2",	"F3_DISPENSER_ROTENC_C_OUT_1"};
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_GPO.cs b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_GPO.cs
new file mode 100644
index 000000000..6694722d2
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_GPO.cs
@@ -0,0 +1,21 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+
+const Int32	F3_VALVE_OUT	=	0x0E2	; //	"F3_MIDTANK2MANIF4_VALVE_2",	"F3_MIDTANK2MANIF4_VALVE_1",	"F3_MIDTANK2MANIF3_VALVE_2",	"F3_MIDTANK2MANIF3_VALVE_1",	"F3_MIDTANK2MANIF2_VALVE_2",	"F3_MIDTANK2MANIF2_VALVE_1",	"F3_MIDTANK2MANIF1_VALVE_2",	"F3_MIDTANK2MANIF1_VALVE_1",	"F3_CART2MIDTANK4_VALVE_2",	"F3_CART2MIDTANK4_VALVE_1",	"F3_CART2MIDTANK3_VALVE_2",	"F3_CART2MIDTANK3_VALVE_1",	"F3_CART2MIDTANK2_VALVE_2",	"F3_CART2MIDTANK2_VALVE_1",	"F3_CART2MIDTANK1_VALVE_2",	"F3_CART2MIDTANK1_VALVE_1"
+string[] F3_VALVE_Bits = {"F3_MIDTANK2MANIF4_VALVE_2",	"F3_MIDTANK2MANIF4_VALVE_1",	"F3_MIDTANK2MANIF3_VALVE_2",	"F3_MIDTANK2MANIF3_VALVE_1",	"F3_MIDTANK2MANIF2_VALVE_2",	"F3_MIDTANK2MANIF2_VALVE_1",	"F3_MIDTANK2MANIF1_VALVE_2",	"F3_MIDTANK2MANIF1_VALVE_1",	"F3_CART2MIDTANK4_VALVE_2",	"F3_CART2MIDTANK4_VALVE_1",	"F3_CART2MIDTANK3_VALVE_2",	"F3_CART2MIDTANK3_VALVE_1",	"F3_CART2MIDTANK2_VALVE_2",	"F3_CART2MIDTANK2_VALVE_1",	"F3_CART2MIDTANK1_VALVE_2",	"F3_CART2MIDTANK1_VALVE_1"};
+
+const Int32	F1_gpo_01	=	0x3D2	; //	"F1_GPO_WASTECH_PUMP2",	"F1_GPO_WHS_WTANKPUMP2",	"F1_GPO_DILUTORPUMP_SSR10_CTRL  ",	"F1_GPO_EXTWINDER_3             ",	"F1_GPO_EXTWINDER_2             ",	"F1_GPO_EXTWINDER_1             ",	"F1_VALVE_WASTE_TANK            ",	"F1_VALVE_MIXCHIP_WASTECH",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"
+string[] F1_gpo_01_Bits = { "F1_GPO_WASTECH_PUMP2",	"F1_GPO_WHS_WTANKPUMP2",	"F1_GPO_DILUTORPUMP_SSR10_CTRL  ",	"F1_GPO_EXTWINDER_3             ",	"F1_GPO_EXTWINDER_2             ",	"F1_GPO_EXTWINDER_1             ",	"F1_VALVE_WASTE_TANK            ",	"F1_VALVE_MIXCHIP_WASTECH",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"};
+
+const Int32	F3_GPO_01_bus	=	0x0C2	; //	"F3_GPO_LED4",	"F3_GPO_LED3",	"F3_GPO_LED2",	"F3_GPO_LED1",	"F3_GPO_EXTWINDER_SSR11_CTRL ",	"F3_GPO_BUZZER",	"F3_SPARE2_ROTENC_CLK",	"F3_SPARE1_ROTENC_CLK",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"
+string[] F3_GPO_01_bus_Bits = { "F3_GPO_LED4",	"F3_GPO_LED3",	"F3_GPO_LED2",	"F3_GPO_LED1",	"F3_GPO_EXTWINDER_SSR11_CTRL ",	"F3_GPO_BUZZER",	"F3_SPARE2_ROTENC_CLK",	"F3_SPARE1_ROTENC_CLK",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"};
diff --git a/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_LimitSwitch.cs b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_LimitSwitch.cs
new file mode 100644
index 000000000..343ba7555
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_LimitSwitch.cs
@@ -0,0 +1,39 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+
+
+//Reg Name						Functionlity/Contents																D15		D14		D13						D12						D11						D10						D9						D8						D7						D6						D5						D4						D3						D2						D1						D0
+
+/*** LTFU and RTFU Limit switches ***/
+const Int32	F1_LS_01_Direct	=	0x020	; //	Reads the direct values that are currently being sent to the fpga.	rsv		rsv		F1_LS_DH_CLEAN_DOWN		F1_LS_DH_CLEAN_LEFT		F1_LS_DH_CLEAN_RIGHT	F1_LS_DH_CLEAN_UP		F1_LS_DH_LID_CLEANING	F1_LS_DH_LID_CLOSED		F1_LS_DH_LID_OPEN		F1_LS_DH_SPARE2			F1_LS_DRYER_LID_CLOSED	F1_LS_DRYER_LID_OPEN	F1_LS_DRYER_SPARE1		F1_LS_DRYER_SPARE2		F1_LS_DRYER_SPARE3		F1_LS_DRYER_SPARE4
+const Int32	F1_LS_02_Direct	=	0x030	; //	Reads the direct values that are currently being sent to the fpga.	rsv		rsv		F1_LS_LDANCER1_DOWN		F1_LS_LDANCER1_UP		F1_LS_LDANCER2_DOWN		F1_LS_LDANCER2_UP		F1_LS_LLOADMOTOR_DOWN	F1_LS_LLOADMOTOR_UP		F1_LS_LOADARM_LEFT		F1_LS_LOADARM_RIGHT		F1_LS_LPIVOT_DOWN		F1_LS_LPIVOT_UP			F1_LS_LSPARE1			F1_LS_LSPARE2			F1_LS_PIVOT_SPARE1		F1_LS_PIVOT_SPARE2
+const Int32	F1_LS_03_Direct	=	0x040	; //	Reads the direct values that are currently being sent to the fpga.	rsv		rsv		rsv						rsv						F1_SW_SPOOL_EXISTS		F1_SW_SPARE				F1_LS_RDANCER_DOWN		F1_LS_RDANCER_UP		F1_LS_RLOADMOTOR_DOWN	F1_LS_RLOADMOTOR_UP		F1_LS_RLOADRAM_DOWN		F1_LS_RLOADRAM_UP		F1_LS_RSPARE1			F1_LS_RSPARE2			F1_LS_SCREW_LEFT		F1_LS_SCREW_RIGHT
+		
+/*** Dispenser switches ***/		
+const Int32	F2_LS_01_Direct	=	0x020	;	//	Reads the direct values that are currently being sent to the fpga.	rsv		rsv		rsv						rsv						F2_LS_DISPENSER_UP_2	F2_LS_DISPENSER_25_2	F2_LS_DISPENSER_75_2	F2_LS_DISPENSER_DOWN_2 	F2_LS_DISPENSER_50_2	F2_LS_DISPENSER_SPARE_2	F2_LS_DISPENSER_UP_1	F2_LS_DISPENSER_25_1 	F2_LS_DISPENSER_75_1	F2_LS_DISPENSER_DOWN_1	F2_LS_DISPENSER_50_1	F2_LS_DISPENSER_SPARE_1			
+const Int32	F2_LS_02_Direct	=	0x030	;	//	Reads the direct values that are currently being sent to the fpga.	rsv		rsv		rsv						rsv						F2_LS_DISPENSER_UP_4	F2_LS_DISPENSER_25_4	F2_LS_DISPENSER_75_4	F2_LS_DISPENSER_DOWN_4	F2_LS_DISPENSER_50_4	F2_LS_DISPENSER_SPARE_4	F2_LS_DISPENSER_UP_3	F2_LS_DISPENSER_25_3 	F2_LS_DISPENSER_75_3	F2_LS_DISPENSER_DOWN_3	F2_LS_DISPENSER_50_3	F2_LS_DISPENSER_SPARE_3			
+const Int32	F2_LS_03_Direct	=	0x040	;	//	Reads the direct values that are currently being sent to the fpga.	rsv		rsv		rsv						rsv						F2_LS_DISPENSER_UP_6  	F2_LS_DISPENSER_25_6  	F2_LS_DISPENSER_75_6  	F2_LS_DISPENSER_DOWN_6	F2_LS_DISPENSER_50_6	F2_LS_DISPENSER_SPARE_6	F2_LS_DISPENSER_UP_5	F2_LS_DISPENSER_25_5 	F2_LS_DISPENSER_75_5	F2_LS_DISPENSER_DOWN_5	F2_LS_DISPENSER_50_5	F2_LS_DISPENSER_SPARE_5			
+const Int32	F2_LS_04_Direct =	0x080	;	//	Reads the direct values that are currently being sent to the fpga.	rsv		rsv		rsv						rsv						F2_LS_DISPENSER_UP_8	F2_LS_DISPENSER_25_8	F2_LS_DISPENSER_75_8	F2_LS_DISPENSER_DOWN_8	F2_LS_DISPENSER_50_8	F2_LS_DISPENSER_SPARE_8	F2_LS_DISPENSER_UP_7	F2_LS_DISPENSER_25_7 	F2_LS_DISPENSER_75_7	F2_LS_DISPENSER_DOWN_7	F2_LS_DISPENSER_50_7	F2_LS_DISPENSER_SPARE_7			
+								
+const Int32	F3_LS_01_Direct	=	0x080	; //	Reads the direct values that are currently being sent to the fpga.	rsv		rsv		rsv						rsv						rsv						rsv						rsv						rsv						F3_LS_SPARE1_1			F3_LS_SPARE1_2			F3_LS_SPARE1_3			F3_LS_SPARE1_4			F3_LS_SPARE2_1			F3_LS_SPARE2_2			F3_LS_SPARE2_3			F3_LS_SPARE2_4
+
+string[] F1_LS_01_Bits = { "F1_LS_DRYER_SPARE4",	"F1_LS_DRYER_SPARE3",	"F1_LS_DRYER_SPARE2",	"F1_LS_DRYER_SPARE1",	"F1_LS_DRYER_LID_OPEN",	"F1_LS_DRYER_LID_CLOSED",	"F1_LS_DH_SPARE2",	"F1_LS_DH_LID_OPEN",	"F1_LS_DH_LID_CLOSED",	"F1_LS_DH_LID_CLEANING",	"F1_LS_DH_CLEAN_UP",	"F1_LS_DH_CLEAN_RIGHT",	"F1_LS_DH_CLEAN_LEFT",	"F1_LS_DH_CLEAN_DOWN",	"rsv",	"rsv"};
+string[] F1_LS_02_Bits = { "F1_LS_PIVOT_SPARE2",	"F1_LS_PIVOT_SPARE1",	"F1_LS_LSPARE2",	"F1_LS_LSPARE1",	"F1_LS_LPIVOT_UP",	"F1_LS_LPIVOT_DOWN",	"F1_LS_LOADARM_RIGHT",	"F1_LS_LOADARM_LEFT",	"F1_LS_LLOADMOTOR_UP",	"F1_LS_LLOADMOTOR_DOWN",	"F1_LS_LDANCER2_UP",	"F1_LS_LDANCER2_DOWN",	"F1_LS_LDANCER1_UP",	"F1_LS_LDANCER1_DOWN",	"rsv",	"rsv"};
+string[] F1_LS_03_Bits = { "F1_LS_SCREW_RIGHT",	"F1_LS_SCREW_LEFT",	"F1_LS_RSPARE2",	"F1_LS_RSPARE1",	"F1_LS_RLOADRAM_UP",	"F1_LS_RLOADRAM_DOWN",	"F1_LS_RLOADMOTOR_UP",	"F1_LS_RLOADMOTOR_DOWN",	"F1_LS_RDANCER_UP",	"F1_LS_RDANCER_DOWN",	"F1_SW_SPARE",	"F1_SW_SPOOL_EXISTS",	"rsv",	"rsv",	"rsv",	"rsv"};
+string[] F2_LS_01_Bits = { "F2_LS_DISPENSER_SPARE_1",	"F2_LS_DISPENSER_50_1",	"F2_LS_DISPENSER_DOWN_1",	"F2_LS_DISPENSER_75_1",	"F2_LS_DISPENSER_25_1",	"F2_LS_DISPENSER_UP_1",	"F2_LS_DISPENSER_SPARE_2",	"F2_LS_DISPENSER_50_2",	"F2_LS_DISPENSER_DOWN_2",	"F2_LS_DISPENSER_75_2",	"F2_LS_DISPENSER_25_2",	"F2_LS_DISPENSER_UP_2",	"rsv",	"rsv",	"rsv",	"rsv"};
+string[] F2_LS_02_Bits = { "F2_LS_DISPENSER_SPARE_3",	"F2_LS_DISPENSER_50_3",	"F2_LS_DISPENSER_DOWN_3",	"F2_LS_DISPENSER_75_3",	"F2_LS_DISPENSER_25_3",	"F2_LS_DISPENSER_UP_3",	"F2_LS_DISPENSER_SPARE_4",	"F2_LS_DISPENSER_50_4",	"F2_LS_DISPENSER_DOWN_4",	"F2_LS_DISPENSER_75_4",	"F2_LS_DISPENSER_25_4",	"F2_LS_DISPENSER_UP_4",	"rsv",	"rsv",	"rsv",	"rsv"};
+string[] F2_LS_03_Bits = { "F2_LS_DISPENSER_SPARE_5",	"F2_LS_DISPENSER_50_5",	"F2_LS_DISPENSER_DOWN_5",	"F2_LS_DISPENSER_75_5",	"F2_LS_DISPENSER_25_5",	"F2_LS_DISPENSER_UP_5",	"F2_LS_DISPENSER_SPARE_6",	"F2_LS_DISPENSER_50_6",	"F2_LS_DISPENSER_DOWN_6",	"F2_LS_DISPENSER_75_6  ",	"F2_LS_DISPENSER_25_6  ",	"F2_LS_DISPENSER_UP_6  ",	"rsv",	"rsv",	"rsv",	"rsv"};
+string[] F2_LS_04_Bits = { "F2_LS_DISPENSER_SPARE_7",	"F2_LS_DISPENSER_50_7",	"F2_LS_DISPENSER_DOWN_7",	"F2_LS_DISPENSER_75_7",	"F2_LS_DISPENSER_25_7",	"F2_LS_DISPENSER_UP_7",	"F2_LS_DISPENSER_SPARE_8",	"F2_LS_DISPENSER_50_8",	"F2_LS_DISPENSER_DOWN_8",	"F2_LS_DISPENSER_75_8",	"F2_LS_DISPENSER_25_8",	"F2_LS_DISPENSER_UP_8",	"rsv",	"rsv",	"rsv",	"rsv"};
+string[] F3_LS_01_Bits = { "F3_LS_SPARE2_4",	"F3_LS_SPARE2_3",	"F3_LS_SPARE2_2",	"F3_LS_SPARE2_1",	"F3_LS_SPARE1_4",	"F3_LS_SPARE1_3",	"F3_LS_SPARE1_2",	"F3_LS_SPARE1_1",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"};
+
+
diff --git a/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_Motors.cs b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_Motors.cs
new file mode 100644
index 000000000..a2bd85fbe
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_Motors.cs
@@ -0,0 +1,413 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+//Reg Name											Functionlity/Contents												D15	D14	D13	D12	D11	D10								D9								D8								D7								D6								D5								D4								D3								D2								D1								D0
+const Int32 F1_Moto_Driver_NBUSY1_Direct = 0x050;//	Reads the direct values that are currently being sent to the fpga.	rsv	rsv	rsv	rsv	rsv	F1_MOTO_DH_CLEANHEAD_A1_NBUSY	F1_MOTO_DH_CLEANMECH_A1_NBUSY	F1_MOTO_DH_LID_A1_NBUSY			F1_MOTO_DRYER_DRIVING_A1_NBUSY	F1_MOTO_DRYER_LID_A1_NBUSY		F1_MOTO_DRYER_LOADARM_A1_NBUSY	F1_MOTO_LDANCER1_A1_NBUSY		F1_MOTO_LDANCER2_A1_NBUSY		F1_MOTO_LDRIVING_A1_NBUSY      	F1_MOTO_LLOADING_A1_NBUSY		F1_MOTO_LPIVOT1_A1_NBUSY
+const Int32 F1_Moto_Driver_NBUSY2_Direct = 0x060;//	Reads the direct values that are currently being sent to the fpga.	rsv	rsv	rsv	rsv	rsv	rsv								rsv								rsv								rsv								rsv								F1_MOTO_RDANCER_A1_NBUSY		F1_MOTO_RDRIVING_A1_NBUSY  		F1_MOTO_RLOADARM_A1_NBUSY		F1_MOTO_RLOADING_A1_NBUSY		F1_MOTO_SCREW_A1_NBUSY			F1_MOTO_WINDER_A1_NBUSY
+const Int32 F2_Moto_Driver_NBUSY1_Direct = 0x050;//	Reads the direct values that are currently being sent to the fpga.	rsv	rsv	rsv	rsv	rsv	rsv								rsv								rsv								F2_MOTO_DISPENSER_A1_1_NBUSY	F2_MOTO_DISPENSER_A1_2_NBUSY	F2_MOTO_DISPENSER_A1_3_NBUSY	F2_MOTO_DISPENSER_A1_4_NBUSY	F2_MOTO_DISPENSER_A1_5_NBUSY	F2_MOTO_DISPENSER_A1_6_NBUSY	F2_MOTO_DISPENSER_A1_7_NBUSY	F2_MOTO_DISPENSER_A1_8_NBUSY
+const Int32 F3_Moto_Driver_NBUSY1_Direct = 0x060;//	Reads the direct values that are currently being sent to the fpga.	rsv	rsv	rsv	rsv	rsv	rsv								rsv								rsv								rsv								rsv								rsv								F3_MOTO_SPARE3_1_A1_NBUSY		F3_MOTO_SPARE2_2_A1_NBUSY		F3_MOTO_SPARE2_1_A1_NBUSY		F3_MOTO_SPARE1_2_A1_NBUSY		F3_MOTO_SPARE1_1_A1_NBUSY
+
+/*** Motor Driver Reset Signals ***/
+//Reg Name						Functionlity/Contents															D15		D14		D13		D12		D11						D10						D9						D8						D7							D6							D5							D4							D3							D2							D1							D0
+
+const Int32	F1_Moto_Driver_NSTBYRST1	=	0x0B2	; //	"F1_MOTO_LPIVOT1_A1_NSTBYRST",	"F1_MOTO_LLOADING_A1_NSTBYRST",	"F1_MOTO_LDRIVING_A1_NSTBYRST",	"F1_MOTO_LDANCER2_A1_NSTBYRST",	"F1_MOTO_LDANCER1_A1_NSTBYRST",	"F1_MOTO_DRYER_LOADARM_A1_NSTBYRST",	"F1_MOTO_DRYER_LID_A1_NSTBYRST",	"F1_MOTO_DRYER_DRIVING_A1_NSTBYRST",	"F1_MOTO_DH_LID_A1_NSTBYRST",	"F1_MOTO_DH_CLEANMECH_A1_NSTBYRST",	"F1_MOTO_DH_CLEANHEAD_A1_NSTBYRST",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"
+string[] F1_Moto_Driver_NSTBYRST1_Bits = {"F1_MOTO_LPIVOT1_A1_NSTBYRST",	"F1_MOTO_LLOADING_A1_NSTBYRST",	"F1_MOTO_LDRIVING_A1_NSTBYRST",	"F1_MOTO_LDANCER2_A1_NSTBYRST",	"F1_MOTO_LDANCER1_A1_NSTBYRST",	"F1_MOTO_DRYER_LOADARM_A1_NSTBYRST",	"F1_MOTO_DRYER_LID_A1_NSTBYRST",	"F1_MOTO_DRYER_DRIVING_A1_NSTBYRST",	"F1_MOTO_DH_LID_A1_NSTBYRST",	"F1_MOTO_DH_CLEANMECH_A1_NSTBYRST",	"F1_MOTO_DH_CLEANHEAD_A1_NSTBYRST",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"};
+
+const Int32	F1_Moto_Driver_NSTBYRST2	=	0x0C2	; //	"F1_MOTO_WINDER_A1_NSTBYRST",	"F1_MOTO_SCREW_A1_NSTBYRST",	"F1_MOTO_RLOADING_A1_NSTBYRST",	"F1_MOTO_RLOADARM_A1_NSTBYRST",	"F1_MOTO_RDRIVING_A1_NSTBYRST",	"F1_MOTO_RDANCER_A1_NSTBYRST",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"
+string[] F1_Moto_Driver_NSTBYRST2_Bits = {"F1_MOTO_WINDER_A1_NSTBYRST",	"F1_MOTO_SCREW_A1_NSTBYRST",	"F1_MOTO_RLOADING_A1_NSTBYRST",	"F1_MOTO_RLOADARM_A1_NSTBYRST",	"F1_MOTO_RDRIVING_A1_NSTBYRST",	"F1_MOTO_RDANCER_A1_NSTBYRST",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"};
+
+const Int32	F2_Moto_Driver_NSTBYRST1	=	0x0B2	; //	"F2_MOTO_DISPENSER_A1_8_NSTBYRST",	"F2_MOTO_DISPENSER_A1_7_NSTBYRST",	"F2_MOTO_DISPENSER_A1_6_NSTBYRST",	"F2_MOTO_DISPENSER_A1_5_NSTBYRST",	"F2_MOTO_DISPENSER_A1_4_NSTBYRST",	"F2_MOTO_DISPENSER_A1_3_NSTBYRST",	"F2_MOTO_DISPENSER_A1_2_NSTBYRST",	"F2_MOTO_DISPENSER_A1_1_NSTBYRST",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"
+string[] F2_Moto_Driver_NSTBYRST1_Bits = {"F2_MOTO_DISPENSER_A1_8_NSTBYRST",	"F2_MOTO_DISPENSER_A1_7_NSTBYRST",	"F2_MOTO_DISPENSER_A1_6_NSTBYRST",	"F2_MOTO_DISPENSER_A1_5_NSTBYRST",	"F2_MOTO_DISPENSER_A1_4_NSTBYRST",	"F2_MOTO_DISPENSER_A1_3_NSTBYRST",	"F2_MOTO_DISPENSER_A1_2_NSTBYRST",	"F2_MOTO_DISPENSER_A1_1_NSTBYRST",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"};
+
+const Int32	F3_Moto_Driver_NSTBYRST1	=	0x0B2	; //	"F3_MOTO_SPARE3_1_A1_NSTBYRST",	"F3_MOTO_SPARE2_2_A1_NSTBYRST",	"F3_MOTO_SPARE2_1_A1_NSTBYRST",	"F3_MOTO_SPARE1_2_A1_NSTBYRST",	"F3_MOTO_SPARE1_1_A1_NSTBYRST",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"
+string[] F3_Moto_Driver_NSTBYRST1_Bits = {"F3_MOTO_SPARE3_1_A1_NSTBYRST",	"F3_MOTO_SPARE2_2_A1_NSTBYRST",	"F3_MOTO_SPARE2_1_A1_NSTBYRST",	"F3_MOTO_SPARE1_2_A1_NSTBYRST",	"F3_MOTO_SPARE1_1_A1_NSTBYRST",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"};
+
+/*** SW signals ***/
+const Int32	F1_Moto_Driver_SW1	=	0x0D2	; //	"F1_MOTO_LPIVOT1_A1_SW       ",	"F1_MOTO_LLOADING_A1_SW      ",	"F1_MOTO_LDRIVING_A1_SW      ",	"F1_MOTO_LDANCER2_A1_SW      ",	"F1_MOTO_LDANCER1_A1_SW      ",	"F1_MOTO_DRYER_LOADARM_A1_SW ",	"F1_MOTO_DRYER_LID_A1_SW     ",	"F1_MOTO_DRYER_DRIVING_A1_SW ",	"F1_MOTO_DH_LID_A1_SW        ",	"F1_MOTO_DH_CLEANMECH_A1_SW  ",	"F1_MOTO_DH_CLEANHEAD_A1_SW",	"F1_GPO_TFEED_BREAK_1",	"F1_GPO_TFEED_BREAK_2",	"rsv",	"rsv",	"rsv"
+string[] F1_Moto_Driver_SW1_Bits	=	{"F1_MOTO_LPIVOT1_A1_SW       ",	"F1_MOTO_LLOADING_A1_SW      ",	"F1_MOTO_LDRIVING_A1_SW      ",	"F1_MOTO_LDANCER2_A1_SW      ",	"F1_MOTO_LDANCER1_A1_SW      ",	"F1_MOTO_DRYER_LOADARM_A1_SW ",	"F1_MOTO_DRYER_LID_A1_SW     ",	"F1_MOTO_DRYER_DRIVING_A1_SW ",	"F1_MOTO_DH_LID_A1_SW        ",	"F1_MOTO_DH_CLEANMECH_A1_SW  ",	"F1_MOTO_DH_CLEANHEAD_A1_SW",	"F1_GPO_TFEED_BREAK_1",	"F1_GPO_TFEED_BREAK_2",	"rsv",	"rsv",	"rsv"};
+const Int32	F1_Moto_Driver_SW2	=	0x0E2	; //	"F1_MOTO_WINDER_A1_SW",	"F1_MOTO_SCREW_A1_SW    ",	"F1_MOTO_RLOADING_A1_SW ",	"F1_MOTO_RLOADARM_A1_SW ",	"F1_MOTO_RDRIVING_A1_SW ",	"F1_MOTO_RDANCER_A1_SW  ",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"
+//const Int32	F2_Moto_Driver_SW1	=	0x0D2	; //	"F1_MOTO_LPIVOT1_A1_SW       ",	"F1_MOTO_LLOADING_A1_SW      ",	"F1_MOTO_LDRIVING_A1_SW      ",	"F1_MOTO_LDANCER2_A1_SW      ",	"F1_MOTO_LDANCER1_A1_SW      ",	"F1_MOTO_DRYER_LOADARM_A1_SW ",	"F1_MOTO_DRYER_LID_A1_SW     ",	"F1_MOTO_DRYER_DRIVING_A1_SW ",	"F1_MOTO_DH_LID_A1_SW        ",	"F1_MOTO_DH_CLEANMECH_A1_SW  ",	"F1_MOTO_DH_CLEANHEAD_A1_SW",	"F1_GPO_TFEED_BREAK_1",	"F1_GPO_TFEED_BREAK_2",	"rsv",	"rsv",	"rsv"
+const Int32	F3_Moto_Driver_SW1	=	0x0D2	; //	"F3_MOTO_SPARE1_1_A1_SW",	"F3_MOTO_SPARE1_2_A1_SW",	"F3_MOTO_SPARE2_1_A1_SW",	"F3_MOTO_SPARE2_2_A1_SW",	"F3_MOTO_SPARE3_1_A1_SW",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv",	"rsv"
+
+
+/*** RTFU Motors ***/
+const Int32 F1_MOTO_RLOADING_TX1 = 0x0202;
+const Int32 F1_MOTO_RLOADING_TX0 = 0x0200;
+const Int32 F1_MOTO_RLOADING_RX1 = 0x0206;
+const Int32 F1_MOTO_RLOADING_RX0 = 0x0204;
+const Int32 F1_MOTO_RDRIVING_TX1 = 0x0212;
+const Int32 F1_MOTO_RDRIVING_TX0 = 0x0210;
+const Int32 F1_MOTO_RDRIVING_RX1 = 0x0216;
+const Int32 F1_MOTO_RDRIVING_RX0 = 0x0214;
+const Int32 F1_MOTO_RLOADARM_TX1 = 0x02a2;
+const Int32 F1_MOTO_RLOADARM_TX0 = 0x02a0;
+const Int32 F1_MOTO_RDANCER_TX1 = 0x02b2;
+const Int32 F1_MOTO_RDANCER_TX0 = 0x02b0;
+
+/*** LTFU Motors ***/
+const Int32 F1_MOTO_LDRIVING_TX1 = 0x0222;
+const Int32 F1_MOTO_LDRIVING_TX0 = 0x0220;
+const Int32 F1_MOTO_LDRIVING_RX1 = 0x0226;
+const Int32 F1_MOTO_LDRIVING_RX0 = 0x0224;
+const Int32 F1_MOTO_LLOADING_TX1 = 0x0232;
+const Int32 F1_MOTO_LLOADING_TX0 = 0x0230;
+const Int32 F1_MOTO_LDANCER1_TX1 = 0x02c2;
+const Int32 F1_MOTO_LDANCER1_TX0 = 0x02c0;
+const Int32 F1_MOTO_LDANCER2_TX1 = 0x02d2;
+const Int32 F1_MOTO_LDANCER2_TX0 = 0x02d0;
+const Int32 F1_MOTO_LDANCER2_A1_AMT_OF_WORDS = 0x02d8;
+const Int32 F1_MOTO_LPIVOT1_TX1 = 0x0302;
+const Int32 F1_MOTO_LPIVOT1_TX0 = 0x0300;
+const Int32 F1_MOTO_LPIVOT1_A1_AMT_OF_WORDS = 0x0308;
+
+/*** Dryer Motors ***/				
+const Int32	F1_MOTO_DRYER_LOADARM_A1_TX_00	=	0x240	;
+const Int32	F1_MOTO_DRYER_LOADARM_A1_TX_01	=	0x242	;
+const Int32	F1_MOTO_DRYER_LOADARM_A1_RX_00	=	0x244	;
+const Int32	F1_MOTO_DRYER_LOADARM_A1_RX_01	=	0x246	;
+const Int32	F1_MOTO_DRYER_DRIVING_A1_TX_00	=	0x250	;
+const Int32	F1_MOTO_DRYER_DRIVING_A1_TX_01	=	0x252	;
+const Int32	F1_MOTO_DRYER_DRIVING_A1_RX_00	=	0x254	;
+const Int32	F1_MOTO_DRYER_DRIVING_A1_RX_01	=	0x256	;
+const Int32	F1_MOTO_DRYER_LID_A1_TX_00	=	0x2E0	;
+const Int32	F1_MOTO_DRYER_LID_A1_TX_01	=	0x2E2	;
+const Int32	F1_MOTO_DRYER_LID_A1_RX_00	=	0x2E4	;
+const Int32	F1_MOTO_DRYER_LID_A1_RX_01	=	0x2E6	;
+				
+/*** Dyeing Head Motors ***/				
+const Int32	F1_MOTO_DH_CLEANHEAD_A1_TX_00	=	0x260	;
+const Int32	F1_MOTO_DH_CLEANHEAD_A1_TX_01	=	0x262	;
+const Int32	F1_MOTO_DH_CLEANHEAD_A1_RX_00	=	0x264	;
+const Int32	F1_MOTO_DH_CLEANHEAD_A1_RX_01	=	0x266	;
+const Int32	F1_MOTO_DH_CLEANMECH_A1_TX_00	=	0x270	;
+const Int32	F1_MOTO_DH_CLEANMECH_A1_TX_01	=	0x272	;
+const Int32	F1_MOTO_DH_CLEANMECH_A1_RX_00	=	0x274	;
+const Int32	F1_MOTO_DH_CLEANMECH_A1_RX_01	=	0x276	;
+const Int32	F1_MOTO_DH_LID_A1_TX_00	=	0x2F0	;
+const Int32	F1_MOTO_DH_LID_A1_TX_01	=	0x2F2	;
+const Int32	F1_MOTO_DH_LID_A1_RX_00	=	0x2F4	;
+const Int32	F1_MOTO_DH_LID_A1_RX_01	=	0x2F6	;
+				
+/*** Winder Motors ***/				
+const Int32	F1_MOTO_SCREW_A1_TX_00	=	0x280	;
+const Int32	F1_MOTO_SCREW_A1_TX_01	=	0x282	;
+const Int32	F1_MOTO_SCREW_A1_RX_00	=	0x284	;
+const Int32	F1_MOTO_SCREW_A1_RX_01	=	0x286	;
+const Int32	F1_MOTO_WINDER_A1_TX_00	=	0x290	;
+const Int32	F1_MOTO_WINDER_A1_TX_01	=	0x292	;
+const Int32	F1_MOTO_WINDER_A1_RX_00	=	0x294	;
+const Int32	F1_MOTO_WINDER_A1_RX_01	=	0x296	;
+
+/*** Dispenser Motors ***/
+const Int32	F2_MOTO_DISPENSER_A1_1_TX_00	=	0x320	;	//	The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+const Int32	F2_MOTO_DISPENSER_A1_1_TX_01	=	0x322	;	//	The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+const Int32	F2_MOTO_DISPENSER_A1_1_RX_00	=	0x324	;	//	The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+const Int32	F2_MOTO_DISPENSER_A1_1_RX_01	=	0x326	;	//	The 16 Lsb bits of the shifted in data.
+const Int32	F2_MOTO_DISPENSER_A1_1_AMT_OF_WORDS	=	0x328	;	//	The amount of spi words (usually byte sized) per transmission.
+const Int32	F2_MOTO_DISPENSER_A1_2_TX_00	=	0x330	;	//	The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+const Int32	F2_MOTO_DISPENSER_A1_2_TX_01	=	0x332	;	//	The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+const Int32	F2_MOTO_DISPENSER_A1_2_RX_00	=	0x334	;	//	The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+const Int32	F2_MOTO_DISPENSER_A1_2_RX_01	=	0x336	;	//	The 16 Lsb bits of the shifted in data.
+const Int32	F2_MOTO_DISPENSER_A1_2AMT_OF_WORDS	=	0x338	;	//	The amount of spi words (usually byte sized) per transmission.
+const Int32	F2_MOTO_DISPENSER_A1_3_TX_00	=	0x340	;	//	The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+const Int32	F2_MOTO_DISPENSER_A1_3_TX_01	=	0x342	;	//	The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+const Int32	F2_MOTO_DISPENSER_A1_3_RX_00	=	0x344	;	//	The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+const Int32	F2_MOTO_DISPENSER_A1_3_RX_01	=	0x346	;	//	The 16 Lsb bits of the shifted in data.
+const Int32	F2_MOTO_DISPENSER_A1_3_AMT_OF_WORDS	=	0x348	;	//	The amount of spi words (usually byte sized) per transmission.
+const Int32	F2_MOTO_DISPENSER_A1_4_TX_00	=	0x350	;	//	The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+const Int32	F2_MOTO_DISPENSER_A1_4_TX_01	=	0x352	;	//	The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+const Int32	F2_MOTO_DISPENSER_A1_4_RX_00	=	0x354	;	//	The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+const Int32	F2_MOTO_DISPENSER_A1_4_RX_01	=	0x356	;	//	The 16 Lsb bits of the shifted in data.
+const Int32	F2_MOTO_DISPENSER_A1_4_AMT_OF_WORDS	=	0x358	;	//	The amount of spi words (usually byte sized) per transmission.
+const Int32	F2_MOTO_DISPENSER_A1_5_TX_00	=	0x360	;	//	The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+const Int32	F2_MOTO_DISPENSER_A1_5_TX_01	=	0x362	;	//	The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+const Int32	F2_MOTO_DISPENSER_A1_5_RX_00	=	0x364	;	//	The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+const Int32	F2_MOTO_DISPENSER_A1_5_RX_01	=	0x366	;	//	The 16 Lsb bits of the shifted in data.
+const Int32	F2_MOTO_DISPENSER_A1_5_AMT_OF_WORDS	=	0x368	;	//	The amount of spi words (usually byte sized) per transmission.
+const Int32	F2_MOTO_DISPENSER_A1_6_TX_00	=	0x370	;	//	The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+const Int32	F2_MOTO_DISPENSER_A1_6_TX_01	=	0x372	;	//	The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+const Int32	F2_MOTO_DISPENSER_A1_6_RX_00	=	0x374	;	//	The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+const Int32	F2_MOTO_DISPENSER_A1_6_RX_01	=	0x376	;	//	The 16 Lsb bits of the shifted in data.
+const Int32	F2_MOTO_DISPENSER_A1_6_AMT_OF_WORDS	=	0x378	;	//	The amount of spi words (usually byte sized) per transmission.
+const Int32	F2_MOTO_DISPENSER_A1_7_TX_00	=	0x380	;	//	The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+const Int32	F2_MOTO_DISPENSER_A1_7_TX_01	=	0x382	;	//	The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+const Int32	F2_MOTO_DISPENSER_A1_7_RX_00	=	0x384	;	//	The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+const Int32	F2_MOTO_DISPENSER_A1_7_RX_01	=	0x386	;	//	The 16 Lsb bits of the shifted in data.
+const Int32	F2_MOTO_DISPENSER_A1_7_AMT_OF_WORDS	=	0x388	;	//	The amount of spi words (usually byte sized) per transmission.
+const Int32	F2_MOTO_DISPENSER_A1_8_TX_00	=	0x390	;	//	The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+const Int32	F2_MOTO_DISPENSER_A1_8_TX_01	=	0x392	;	//	The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+const Int32	F2_MOTO_DISPENSER_A1_8_RX_00	=	0x394	;	//	The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+const Int32	F2_MOTO_DISPENSER_A1_8_RX_01	=	0x396	;	//	The 16 Lsb bits of the shifted in data.
+const Int32	F2_MOTO_DISPENSER_A1_8_AMT_OF_WORDS	=	0x398	;	//	The amount of spi words (usually byte sized) per transmission.
+
+
+
+const Int32	F3_MOTO_SPARE1_1_A1_TX_00	=	0x200	;
+const Int32	F3_MOTO_SPARE1_1_A1_TX_01	=	0x202	;
+const Int32	F3_MOTO_SPARE1_1_A1_RX_00	=	0x204	;
+const Int32	F3_MOTO_SPARE1_1_A1_RX_01	=	0x206	;
+const Int32	F3_MOTO_SPARE1_1_A1_AMT_OF_WORDS	=	0x208	;
+const Int32	F3_MOTO_SPARE1_2_A1_TX_00	=	0x210	;
+const Int32	F3_MOTO_SPARE1_2_A1_TX_01	=	0x212	;
+const Int32	F3_MOTO_SPARE1_2_A1_RX_00	=	0x214	;
+const Int32	F3_MOTO_SPARE1_2_A1_RX_01	=	0x216	;
+const Int32	F3_MOTO_SPARE1_2_A1_AMT_OF_WORDS	=	0x218	;
+const Int32	F3_MOTO_SPARE2_1_A1_TX_00	=	0x220	;
+const Int32	F3_MOTO_SPARE2_1_A1_TX_01	=	0x222	;
+const Int32	F3_MOTO_SPARE2_1_A1_RX_00	=	0x224	;
+const Int32	F3_MOTO_SPARE2_1_A1_RX_01	=	0x226	;
+const Int32	F3_MOTO_SPARE2_1_A1_AMT_OF_WORDS	=	0x228	;
+const Int32	F3_MOTO_SPARE2_2_A1_TX_00	=	0x230	;
+const Int32	F3_MOTO_SPARE2_2_A1_TX_01	=	0x232	;
+const Int32	F3_MOTO_SPARE2_2_A1_RX_00	=	0x234	;
+const Int32	F3_MOTO_SPARE2_2_A1_RX_01	=	0x236	;
+const Int32	F3_MOTO_SPARE2_2_A1_AMT_OF_WORDS	=	0x238	;
+
+
+/*** Spare Motor ***/
+const Int32 F3_MOTO_SPARE3_1_A1_TX_00 = 0x240;
+const Int32 F3_MOTO_SPARE3_1_A1_TX_01 = 0x242;
+const Int32 F3_MOTO_SPARE3_1_A1_RX_00 = 0x244;
+const Int32 F3_MOTO_SPARE3_1_A1_RX_01 = 0x246;
+const Int32 F3_MOTO_SPARE3_1_A1_AMT_OF_WORDS = 0x248;
+
+/*** Motor Driver Commands ***/
+const Int32 MOTORDRIVER_HIGHZ_COMMAND_MSB = 0xa800;
+const Int32 MOTORDRIVER_HIGHZ_COMMAND_LSB = 0x0000;	
+
+const Int32 MOTORDRIVER_RUN_COMMAND_MSB = 0x5000;
+const Int32 MOTORDRIVER_RUN_COMMAND_LSB = 0x0000;	
+
+const Int32 MOTORDRIVER_MOVE_COMMAND_MSB = 0x4000;
+const Int32 MOTORDRIVER_MOVE_COMMAND_LSB = 0x0000;	
+
+const Int32 MOTORDRIVER_RDCFG_COMMAND_MSB = 0x3800;
+const Int32 MOTORDRIVER_RDCFG_COMMAND_LSB = 0x0000;	
+
+const Int32 MOTORDRIVER_RDSTATUS_COMMAND_MSB = 0x3900;
+const Int32 MOTORDRIVER_RDSTATUS_COMMAND_LSB = 0x0000;	
+
+const Int32 MOTORDRIVER_RDSTEPREG_COMMAND_MSB = 0x3600;	
+const Int32 MOTORDRIVER_RDSTEPREG_COMMAND_LSB = 0x0000;	
+
+const Int32 MOTORDRIVER_WRSTEPREG_COMMAND_MSB = 0x1600;	
+const Int32 MOTORDRIVER_WRSTEPREG_COMMAND_LSB = 0x0000;	
+
+const Int32 MOTORDRIVER_GETSTATUS_COMMAND_MSB = 0xd000;
+const Int32 MOTORDRIVER_GETSTATUS_COMMAND_LSB = 0x0000;
+
+int Motor_OutOfReset()
+{
+	
+	//Pull all L6470 motor drivers out of reset
+	Fpga_Write_Reg(FPGA1, F1_Moto_Driver_NSTBYRST1, 0x07ff,0);
+	Fpga_Write_Reg(FPGA1, F1_Moto_Driver_NSTBYRST2, 0x003f,0);
+	Fpga_Write_Reg(FPGA2, F2_Moto_Driver_NSTBYRST1, 0x00ff,0);
+	Fpga_Write_Reg(FPGA3, F3_Moto_Driver_NSTBYRST1, 0x001f,0);
+
+	/*
+	Fpga_Read_Reg(FPGA1, F1_Moto_Driver_NSTBYRST1,0);
+	Fpga_Read_Reg(FPGA1, F1_Moto_Driver_NSTBYRST2,0);
+	Fpga_Read_Reg(FPGA2, F2_Moto_Driver_NSTBYRST1,0);
+	Fpga_Read_Reg(FPGA3, F3_Moto_Driver_NSTBYRST1,0);
+	*/
+	return 1;
+	
+} 
+
+int Motor_DriverReset()
+{
+	Fpga_Write_Reg(FPGA1, F1_Moto_Driver_NSTBYRST1, 0x0000,0);
+	Fpga_Write_Reg(FPGA1, F1_Moto_Driver_NSTBYRST2, 0x0000,0);
+	Fpga_Write_Reg(FPGA2, F2_Moto_Driver_NSTBYRST1, 0x0000,0);
+	Fpga_Write_Reg(FPGA3, F3_Moto_Driver_NSTBYRST1, 0x0000,0);
+	
+	return 1;
+}
+
+int Motor_HighZ(Int32 Fpga, Int32 HighAdr, Int32 LowAdr)
+{
+       
+	Fpga_Write_Reg(Fpga, HighAdr, MOTORDRIVER_HIGHZ_COMMAND_MSB,0);
+	Fpga_Write_Reg(Fpga, LowAdr, MOTORDRIVER_HIGHZ_COMMAND_LSB,0);
+	
+	return 1;
+}
+
+int Motor_Run(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 Speed, Int32 Direction)
+{
+	
+	var RunCmdHigh = ( ((MOTORDRIVER_RUN_COMMAND_MSB >> 8) + (Direction & 0x1)) << 8 ) + ( (Speed & 0x0fffff) >> 16);
+	var RunCmdLow = (Speed & 0xffff);
+	
+	Fpga_Write_Reg(Fpga, HighAdr, RunCmdHigh, 0);
+	Fpga_Write_Reg(Fpga, LowAdr, RunCmdLow, 0);
+
+	return 1;
+}
+
+int Motor_Move(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 NumOfSteps, Int32 Direction)
+{
+	
+	var MoveCmdHigh = ( ((MOTORDRIVER_MOVE_COMMAND_MSB >> 8) + (Direction & 0x1)) << 8 ) + ( (NumOfSteps & 0x3fffff) >> 16);
+	var MoveCmdLow = (NumOfSteps & 0xffff);
+	
+	Fpga_Write_Reg(Fpga, HighAdr, MoveCmdHigh, 0);
+	Fpga_Write_Reg(Fpga, LowAdr, MoveCmdLow, 0);
+	
+	return 1;
+}
+
+int Motor_Move_Loop(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 NumOfSteps, Int32 Direction, Int32 NumOfLoops)
+{
+
+	for (int i = 0; i < NumOfLoops; i++)
+	{
+		Motor_Move(Fpga, HighAdr, LowAdr, NumOfSteps, Direction);
+		Thread.Sleep(1000);
+		Motor_Move(Fpga, HighAdr, LowAdr, NumOfSteps, Direction^0x1);
+		Thread.Sleep(1000);
+	}
+	return 1;
+
+}
+
+int Motor_Move_Loop_Screw(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 NumOfSteps, Int32 Direction, Int32 NumOfLoops)
+{
+	Int32 Bit = 0;
+	for (int i = 0; i < NumOfLoops; i++)
+	{
+		Motor_Move(Fpga, HighAdr, LowAdr, NumOfSteps, Direction);
+		Bit = GetBit(FPGA1, F1_Moto_Driver_NBUSY2_Direct, 1);
+		while (Bit == 0x0)
+		{	
+			Bit = GetBit(FPGA1, F1_Moto_Driver_NBUSY2_Direct, 1);			
+		}
+		
+		Motor_Move(Fpga, HighAdr, LowAdr, NumOfSteps, Direction^0x1);
+		Bit = GetBit(FPGA1, F1_Moto_Driver_NBUSY2_Direct, 1);
+		while (Bit == 0x0)
+		{	
+			Bit = GetBit(FPGA1, F1_Moto_Driver_NBUSY2_Direct, 1);
+		}
+
+	}
+	return 1;
+
+}
+
+
+
+int Motor_ReadCfg(Int32 Fpga, Int32 HighAdr, Int32 LowAdr)
+{
+	
+	Fpga_Write_Reg(Fpga, HighAdr, MOTORDRIVER_RDCFG_COMMAND_MSB, 0);
+	Fpga_Write_Reg(Fpga, LowAdr, MOTORDRIVER_RDCFG_COMMAND_LSB, 0);
+	Fpga_Read_Reg(Fpga, HighAdr+4, 1);
+	Fpga_Read_Reg(Fpga, LowAdr+4, 1);
+		
+	return 1;
+}
+
+int Motor_ReadStatus(Int32 Fpga, Int32 HighAdr, Int32 LowAdr)
+{
+	
+	Fpga_Write_Reg(Fpga, HighAdr, MOTORDRIVER_RDSTATUS_COMMAND_MSB, 0);
+	Fpga_Write_Reg(Fpga, LowAdr, MOTORDRIVER_RDSTATUS_COMMAND_LSB, 0);
+	Fpga_Read_Reg(Fpga, HighAdr+4, 1);
+	Fpga_Read_Reg(Fpga, LowAdr+4, 1);
+		
+	return 1;
+}
+
+int Motor_GetStatus(Int32 Fpga, Int32 HighAdr, Int32 LowAdr)
+{
+	
+	Fpga_Write_Reg(Fpga, HighAdr, MOTORDRIVER_GETSTATUS_COMMAND_MSB, 0);
+	Fpga_Write_Reg(Fpga, LowAdr, MOTORDRIVER_GETSTATUS_COMMAND_LSB, 0);
+	Fpga_Read_Reg(Fpga, HighAdr+4, 1);
+	Fpga_Read_Reg(Fpga, LowAdr+4, 1);
+		
+	return 1;
+}
+
+
+// ParaData1 shall be left justified i.e. <Byte1><Byte0><0x00><0x00>
+int Motor_SetParam(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 ParaAddr, uint ParaData1)
+{
+	
+	Int32 Temp = 0;
+	Temp = (ParaAddr << 8 ) + ( (Int32) ParaData1 >> 24);
+	Fpga_Write_Reg(Fpga, HighAdr, Temp, 0);
+	Temp = ((Int32)ParaData1 >> 8) & 0xffff;
+	Fpga_Write_Reg(Fpga, LowAdr, Temp, 0);
+	Thread.Sleep(50);
+	//Fpga_Read_Reg(Fpga, HighAdr+4, 1);
+	//Fpga_Read_Reg(Fpga, LowAdr+4, 1);
+		
+	return 1;
+}
+
+int Motor_GetParam(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 ParaAddr)
+{
+	
+	Int32 Temp = 0;
+	Temp = (ParaAddr + 0x20) << 8 ;
+	Fpga_Write_Reg(Fpga, HighAdr, Temp, 0);
+	Temp = 0x0;
+	Fpga_Write_Reg(Fpga, LowAdr, Temp, 0);
+	Fpga_Read_Reg(Fpga, HighAdr+4, 1);
+	Fpga_Read_Reg(Fpga, LowAdr+4, 1);
+		
+	return 1;
+}
+
+/*
+int Motor_IsBusy(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 BusyRegister, Int32 BusyBitNo)
+{
+	int temp1 = 0;
+	int tmp3 = 0;
+	
+	tmp3 = (int) GetBit(Fpga, F2_SPI_Busy1_Direct, BusyBitNo);
+
+	while ( tmp3 == 1)
+		{
+			tmp3 = (int) GetBit(Fpga, F2_SPI_Busy1_Direct, BusyBitNo);			
+			stubManager.Write("\n\nBUSY");
+		}
+	
+	var RV_High = Fpga_Read_Reg(Fpga, HighAdr+4, 0);
+	var RV_Low = Fpga_Read_Reg(Fpga, LowAdr+4, 0);
+
+	temp = ( (int) RV_High.Value << 16) + (int) RV_Low.Value;
+	
+	return temp;
+	
+}
+*/
+
+/*
+int Motor_SetStep(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 StepVal)
+{
+
+	var RetVal = Fpga_Read_Reg(Fpga, HighAdr+4, 1);
+	Fpga_Read_Reg(Fpga, LowAdr+4, 1);	
+	Fpga_Write_Reg(Fpga, HighAdr, MOTORDRIVER_RDCFG_COMMAND_MSB, 1);
+	Fpga_Write_Reg(Fpga, LowAdr, MOTORDRIVER_RDCFG_COMMAND_LSB, 1);
+	
+}
+const Int32 MOTORDRIVER_RDSTEPREG_COMMAND_MSB = 0x3600;	
+const Int32 MOTORDRIVER_RDSTEPREG_COMMAND_LSB = 0x0000;	
+
+const Int32 MOTORDRIVER_WRSTEPREG_COMMAND_MSB = 0x1600;	
+const Int32 MOTORDRIVER_WRSTEPREG_COMMAND_LSB = 0x0000;	
+*/
diff --git a/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_PT100.cs b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_PT100.cs
new file mode 100644
index 000000000..efa5a061d
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_PT100.cs
@@ -0,0 +1,219 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+
+const Int32	F2_ANALOG_DYEINGH_TEMP1_1_TX_00	=	0x200	;
+const Int32	F2_ANALOG_DYEINGH_TEMP1_1_TX_01	=	0x202	;
+const Int32	F2_ANALOG_DYEINGH_TEMP1_1_RX_00	=	0x204	;
+const Int32	F2_ANALOG_DYEINGH_TEMP1_1_RX_01	=	0x206	;
+const Int32	F2_ANALOG_DYEINGH_TEMP1_1_AMT_OF_WORDS	=	0x208	;
+const Int32	F2_AN_ENCLOSURETEMP1_1_TX_00	=	0x210	;
+const Int32	F2_AN_ENCLOSURETEMP1_1_TX_01	=	0x212	;
+const Int32	F2_AN_ENCLOSURETEMP1_1_RX_00	=	0x214	;
+const Int32	F2_AN_ENCLOSURETEMP1_1_RX_01	=	0x216	;
+const Int32	F2_AN_ENCLOSURETEMP1_1_AMT_OF_WORDS	=	0x218	;
+const Int32	F2_ANALOG_DYEINGH_TEMP2_1_TX_00	=	0x220	;
+const Int32	F2_ANALOG_DYEINGH_TEMP2_1_TX_01	=	0x222	;
+const Int32	F2_ANALOG_DYEINGH_TEMP2_1_RX_00	=	0x224	;
+const Int32	F2_ANALOG_DYEINGH_TEMP2_1_RX_01	=	0x226	;
+const Int32	F2_ANALOG_DYEINGH_TEMP2_1_AMT_OF_WORDS	=	0x228	;
+const Int32	F2_AN_ENCLOSURETEMP2_1_TX_00	=	0x230	;
+const Int32	F2_AN_ENCLOSURETEMP2_1_TX_01	=	0x232	;
+const Int32	F2_AN_ENCLOSURETEMP2_1_RX_00	=	0x234	;
+const Int32	F2_AN_ENCLOSURETEMP2_1_RX_01	=	0x236	;
+const Int32	F2_AN_ENCLOSURETEMP2_1_AMT_OF_WORDS	=	0x238	;
+const Int32	F2_ANALOG_DYEINGH_TEMP3_1_TX_00	=	0x240	;
+const Int32	F2_ANALOG_DYEINGH_TEMP3_1_TX_01	=	0x242	;
+const Int32	F2_ANALOG_DYEINGH_TEMP3_1_RX_00	=	0x244	;
+const Int32	F2_ANALOG_DYEINGH_TEMP3_1_RX_01	=	0x246	;
+const Int32	F2_ANALOG_DYEINGH_TEMP3_1_AMT_OF_WORDS	=	0x248	;
+const Int32	F2_AN_ENCLOSURETEMP3_1_TX_00	=	0x250	;
+const Int32	F2_AN_ENCLOSURETEMP3_1_TX_01	=	0x252	;
+const Int32	F2_AN_ENCLOSURETEMP3_1_RX_00	=	0x254	;
+const Int32	F2_AN_ENCLOSURETEMP3_1_RX_01	=	0x256	;
+const Int32	F2_AN_ENCLOSURETEMP3_1_AMT_OF_WORDS	=	0x258	;
+const Int32	F2_ANALOG_DYEINGH_TEMP4_1_TX_00	=	0x260	;
+const Int32	F2_ANALOG_DYEINGH_TEMP4_1_TX_01	=	0x262	;
+const Int32	F2_ANALOG_DYEINGH_TEMP4_1_RX_00	=	0x264	;
+const Int32	F2_ANALOG_DYEINGH_TEMP4_1_RX_01	=	0x266	;
+const Int32	F2_ANALOG_DYEINGH_TEMP4_1_AMT_OF_WORDS	=	0x268	;
+const Int32	F2_ANALOG_DRYER_TEMP1_1_TX_00	=	0x270	;
+const Int32	F2_ANALOG_DRYER_TEMP1_1_TX_01	=	0x272	;
+const Int32	F2_ANALOG_DRYER_TEMP1_1_RX_00	=	0x274	;
+const Int32	F2_ANALOG_DRYER_TEMP1_1_RX_01	=	0x276	;
+const Int32	F2_ANALOG_DRYER_TEMP1_1_AMT_OF_WORDS	=	0x278	;
+const Int32	F2_ANALOG_DYEINGH_TEMP5_1_TX_00	=	0x280	;
+const Int32	F2_ANALOG_DYEINGH_TEMP5_1_TX_01	=	0x282	;
+const Int32	F2_ANALOG_DYEINGH_TEMP5_1_RX_00	=	0x284	;
+const Int32	F2_ANALOG_DYEINGH_TEMP5_1_RX_01	=	0x286	;
+const Int32	F2_ANALOG_DYEINGH_TEMP5_1_AMT_OF_WORDS	=	0x288	;
+const Int32	F2_ANALOG_DRYER_TEMP2_1_TX_00	=	0x290	;
+const Int32	F2_ANALOG_DRYER_TEMP2_1_TX_01	=	0x292	;
+const Int32	F2_ANALOG_DRYER_TEMP2_1_RX_00	=	0x294	;
+const Int32	F2_ANALOG_DRYER_TEMP2_1_RX_01	=	0x296	;
+const Int32	F2_ANALOG_DRYER_TEMP2_1_AMT_OF_WORDS	=	0x298	;
+const Int32	F2_ANALOG_MIXCHIP_TEMP_1_TX_00	=	0x2A0	;
+const Int32	F2_ANALOG_MIXCHIP_TEMP_1_TX_01	=	0x2A2	;
+const Int32	F2_ANALOG_MIXCHIP_TEMP_1_RX_00	=	0x2A4	;
+const Int32	F2_ANALOG_MIXCHIP_TEMP_1_RX_01	=	0x2A6	;
+const Int32	F2_ANALOG_MIXCHIP_TEMP_1_AMT_OF_WORDS	=	0x2A8	;
+const Int32	F2_ANALOG_DRYER_TEMP3_1_TX_00	=	0x2B0	;
+const Int32	F2_ANALOG_DRYER_TEMP3_1_TX_01	=	0x2B2	;
+const Int32	F2_ANALOG_DRYER_TEMP3_1_RX_00	=	0x2B4	;
+const Int32	F2_ANALOG_DRYER_TEMP3_1_RX_01	=	0x2B6	;
+const Int32	F2_ANALOG_DRYER_TEMP3_1_AMT_OF_WORDS	=	0x2B8	;
+
+
+
+const Int32 F2_SPI_Busy1_Direct = 0x090;		// Reads the direct values that are currently being sent to the fpga.	spi_busy15	spi_busy14	spi_busy13	spi_busy12	F2_AN_ENCLOSURETEMP3_1_BUSY	F2_AN_ENCLOSURETEMP2_1_BUSY	F2_AN_ENCLOSURETEMP1_1_BUSY	F2_ANALOG_MIXCHIP_TEMP_1_BUSY 	F2_ANALOG_DYEINGH_TEMP5_1_BUSY	F2_ANALOG_DYEINGH_TEMP4_1_BUSY	F2_ANALOG_DYEINGH_TEMP3_1_BUSY	F2_ANALOG_DYEINGH_TEMP2_1_BUSY	F2_ANALOG_DYEINGH_TEMP1_1_BUSY	F2_ANALOG_DRYER_TEMP3_1_BUSY	F2_ANALOG_DRYER_TEMP2_1_BUSY	F2_ANALOG_DRYER_TEMP1_1_BUSY
+
+const Int32 F2_Prescaler1_reg3	= 0x3e4;		// Parameter for prescaler divisions - 3bit spi temp low duty cycle value for pmw	rsv	rsv	rsv	rsv	rsv	rsv	rsv	rsv	rsv	rsv	rsv	rsv	rsv	parambit2	parambit1	parambit0
+const Int32 F2_Prescaler1_reg4	= 0x3e6;		// Parameter for prescaler divisions - 3bit spi temp high duty cycle value for pmw	rsv	rsv	rsv	rsv	rsv	rsv	rsv	rsv	rsv	rsv	rsv	rsv	rsv	parambit2	parambit1	parambit0
+
+const Int32	ADS1220_RESET		=	0x06	;	//	RESET Reset the device 0000 011x
+const Int32	ADS1220_START_SYNC	=	0x08	;	//	START/SYNC Start or restart conversions 0000 100x
+const Int32	ADS1220_POWERDOWN	=	0x02	;	//	POWERDOWN Enter power-down mode 0000 001x
+const Int32	ADS1220_RDATA		=	0x10	;	//	RDATA Read data by command 0001 xxxx
+const Int32	ADS1220_RREG		=	0x20	;	//	RREG Read nn registers starting at address rr 0010 rrnn
+const Int32	ADS1220_WREG		=	0x40	;	//	WREG Write nn registers starting at address rr 0010 rrnn
+
+int ADS1220_Reset(Int32 Fpga, Int32 HighAdr, Int32 LowAdr)
+{
+	//Amount of words = 1
+	Fpga_Write_Reg(Fpga, HighAdr+6, 0x1, 0);
+	Fpga_Write_Reg(Fpga, HighAdr, (ADS1220_RESET ) << 8, 0);
+	Fpga_Write_Reg(Fpga, LowAdr, 0x0000, 0);
+	
+	return 1;
+}
+
+
+Int32 ADS1220_LoadOutReg(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 BusyBitNo)
+{
+	
+	int tmp3 = 0;
+	Int32 temp = 0;
+	
+	//Amount of words = 4
+	Fpga_Write_Reg(Fpga, HighAdr+6, 0x4, 0);
+	Fpga_Write_Reg(Fpga, HighAdr, (ADS1220_RDATA ) << 8, 0);
+	Fpga_Write_Reg(Fpga, LowAdr, 0x0000, 0);
+	
+	tmp3 = (int) GetBit(Fpga, F2_SPI_Busy1_Direct, BusyBitNo);
+
+	while ( tmp3 == 1)
+		{
+			tmp3 = (int) GetBit(Fpga, F2_SPI_Busy1_Direct, BusyBitNo);			
+			stubManager.Write("\n\nBUSY");
+		}
+		
+	var RV_High = Fpga_Read_Reg(Fpga, HighAdr+4, 0);
+	var RV_Low = Fpga_Read_Reg(Fpga, LowAdr+4, 0);
+
+	temp = ( (Int32) RV_High.Value << 16) + (Int32) RV_Low.Value;
+	
+	return temp;
+	
+}
+int ADS1220_ReadReg(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 RegAddr, Int32 BusyBitNo) 
+{
+	
+	int temp = 0;
+	int tmp3 = 0;
+	
+	
+	//Amount of words = 2
+	Fpga_Write_Reg(Fpga, HighAdr+6, 0x2, 0);
+	
+	Fpga_Write_Reg(Fpga, HighAdr, (ADS1220_RREG + (RegAddr << 2 )) << 8, 0);
+	Fpga_Write_Reg(Fpga, LowAdr, 0x0000, 0);
+	
+	
+	tmp3 = (int) GetBit(Fpga, F2_SPI_Busy1_Direct, BusyBitNo);
+
+	while ( tmp3 == 1)
+		{
+			tmp3 = (int) GetBit(Fpga, F2_SPI_Busy1_Direct, BusyBitNo);			
+			stubManager.Write("\n\nBUSY");
+		}
+	
+	var RV_High = Fpga_Read_Reg(Fpga, HighAdr+4, 0);
+	var RV_Low = Fpga_Read_Reg(Fpga, LowAdr+4, 0);
+
+	temp = ( (int) RV_High.Value << 16) + (int) RV_Low.Value;
+	
+	return temp;
+	
+}
+
+int ADS1220_WriteReg(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 RegAddr, Int32 Data) 
+{
+	
+	int temp = 0;
+	int tmp3 = 0;
+	
+	//Amount of words = 2
+	Fpga_Write_Reg(Fpga, HighAdr+6, 0x2, 0);
+	
+	Fpga_Write_Reg(Fpga, HighAdr, ((ADS1220_WREG + (RegAddr << 2) ) << 8) + (Data & 0xff), 0);
+	Fpga_Write_Reg(Fpga, LowAdr, 0x0000, 0);
+	
+	return 1;
+	
+}
+
+int ADS1220_StartSync(Int32 Fpga, Int32 HighAdr, Int32 LowAdr)
+{
+	//Amount of words = 1
+	Fpga_Write_Reg(Fpga, HighAdr+6, 0x1, 0);
+	Fpga_Write_Reg(Fpga, HighAdr, (ADS1220_START_SYNC ) << 8, 0);
+	Fpga_Write_Reg(Fpga, LowAdr, 0x0000, 0);
+	
+	return 1;
+}
+
+/*
+int ADS1220_GetContiniuosConvertion(Int32 Fpga, Int32 HighAdr, Int32 LowAdr)
+{
+	//Amount of words = 1
+	Fpga_Write_Reg(Fpga, HighAdr+6, 0x1, 0);
+	Fpga_Write_Reg(Fpga, HighAdr, (ADS1220_START_SYNC ) << 8, 0);
+	Fpga_Write_Reg(Fpga, LowAdr, 0x0000, 0);
+}
+
+*/
+Int32 ADS1220_GetConvertion(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 BusyBitNo)
+{
+	int tmp3 = 0;
+	Int32 temp = 0;
+	
+	//Amount of words = 3
+	Fpga_Write_Reg(Fpga, HighAdr+6, 0x3, 0);
+	
+	Fpga_Write_Reg(Fpga, HighAdr,  0x0000, 0);
+	Fpga_Write_Reg(Fpga, LowAdr, 0x0000, 0);
+	
+	tmp3 = (int) GetBit(Fpga, F2_SPI_Busy1_Direct, BusyBitNo);
+
+	while ( tmp3 == 1)
+		{
+			tmp3 = (int) GetBit(Fpga, F2_SPI_Busy1_Direct, BusyBitNo);			
+			stubManager.Write("\n\nBUSY");
+		}
+		
+	var RV_High = Fpga_Read_Reg(Fpga, HighAdr+4, 0);
+	var RV_Low = Fpga_Read_Reg(Fpga, LowAdr+4, 0);
+
+	temp = ( (Int32) RV_High.Value << 16) + (Int32) RV_Low.Value;
+	
+	return temp;
+}
diff --git a/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_QEI.cs b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_QEI.cs
new file mode 100644
index 000000000..b3b676baf
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_QEI.cs
@@ -0,0 +1,37 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+Int32	F1_SCREW_ROTENC_lsb	=	0x100	; //	Value of the lsb of the QEI register	
+Int32	F1_SCREW_ROTENC_msb	=	0x102	; //	10bits Value of the Msb of the QEI register, 1bit Direction of movement, 5bits Reserved	
+Int32	F1_SCREW_ROTENC_index	=	0x104	; //	value of index counter	
+Int32	F1_RSPARE_ROTENC_lsb	=	0x110	; //	Value of the lsb of the QEI register	
+Int32	F1_RSPARE_ROTENC_msb	=	0x112	; //	10bits Value of the Msb of the QEI register, 1bit Direction of movement, 5bits Reserved	
+Int32	F1_RSPARE_ROTENC_index	=	0x114	; //	value of index counter	
+Int32	F1_LSPARE1_ROTENC_lsb	=	0x120	; //	Value of the lsb of the QEI register	
+Int32	F1_LSPARE1_ROTENC_msb	=	0x122	; //	10bits Value of the Msb of the QEI register, 1bit Direction of movement, 5bits Reserved	
+Int32	F1_LSPARE1_ROTENC_index	=	0x124	; //	value of index counter	
+Int32	F1_RSPEEDSENS_ROTENC_lsb	=	0x130	; //	Value of the lsb of the QEI register	
+Int32	F1_RSPEEDSENS_ROTENC_msb	=	0x132	; //	10bits Value of the Msb of the QEI register, 1bit Direction of movement, 5bits Reserved	
+Int32	F1_RSPEEDSENS_ROTENC_index	=	0x134	; //	value of index counter	
+Int32	F1_LSPARE2_ROTENC_lsb	=	0x140	; //	Value of the lsb of the QEI register	
+Int32	F1_LSPARE2_ROTENC_msb	=	0x142	; //	10bits Value of the Msb of the QEI register, 1bit Direction of movement, 5bits Reserved	
+Int32	F1_LSPARE2_ROTENC_index	=	0x144	; //	value of index counter	
+Int32	F1_DRYER_LOADARM_ROTENC_lsb	=	0x150	; //	Value of the lsb of the QEI register	
+Int32	F1_DRYER_LOADARM_ROTENC_msb	=	0x152	; //	10bits Value of the Msb of the QEI register, 1bit Direction of movement, 5bits Reserved	
+Int32	F1_DRYER_LOADARM_ROTENC_index	=	0x154	; //	value of index counter	
+Int32	F3_SPARE1_ROTENC_lsb	=	0x100	; //	Value of the lsb of the QEI register	
+Int32	F3_SPARE1_ROTENC_msb	=	0x102	; //	10bits Value of the Msb of the QEI register, 1bit Direction of movement, 5bits Reserved	
+Int32	F3_SPARE1_ROTENC_index	=	0x104	; //	value of index counter	
+Int32	F3_RSPARE_ROTENC_lsb	=	0x110	; //	Value of the lsb of the QEI register	
+Int32	F3_RSPARE_ROTENC_msb	=	0x112	; //	10bits Value of the Msb of the QEI register, 1bit Direction of movement, 5bits Reserved	
+Int32	F3_RSPARE_ROTENC_index	=	0x114	; //	value of index counter	
+
diff --git a/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_SSI.cs b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_SSI.cs
new file mode 100644
index 000000000..1b69ad4a4
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_SSI.cs
@@ -0,0 +1,76 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+
+/*** LTFU SSI Encoders ***/
+const Int32 F1_LDANCER1_ROTENC_MSB = 0x01c2;
+const Int32 F1_LDANCER1_ROTENC_LSB = 0x01c0;
+const Int32 F1_LDANCER1_ROTENC_TX = 0x01ce;
+
+const Int32 F1_LDANCER2_ROTENC_MSB = 0x01b2;
+const Int32 F1_LDANCER2_ROTENC_LSB = 0x01b0;
+const Int32 F1_LDANCER2_ROTENC_TX = 0x01be;
+
+const Int32 F1_LSPARE_ROTENC_MSB = 0x0192;
+const Int32 F1_LSPARE_ROTENC_LSB = 0x0190;
+const Int32 F1_LSPARE_ROTENC_TX = 0x019e;
+
+/*** RTFU SSI Encoders ***/
+const Int32 F1_RDANCER_ROTENC_MSB = 0x01a2;
+const Int32 F1_RDANCER_ROTENC_LSB = 0x01a0;
+const Int32 F1_RDANCER_ROTENC_TX = 0x01ae;
+
+const Int32 F1_RSPARE_ROTENC_MSB = 0x0182;
+const Int32 F1_RSPARE_ROTENC_LSB = 0x0180;
+const Int32 F1_RSPARE_ROTENC_TX = 0x018e;
+
+/*** RTFU and LTFU SSI Prescalers ***/
+const Int32 F1_Prescaler1_reg1 = 0x03e0;
+const Int32 F1_Prescaler1_reg2 = 0x03e2;
+const Int32 F1_SPI_Busy1_Direct = 0x0090;
+
+
+
+int ssi_loop(Int32 Addr) 
+	{
+		var RetValue = Fpga_Read_Reg(FPGA1, F1_SPI_Busy1_Direct,10);
+		if ( (RetValue.Value&0x1f) == 0)
+		{
+			
+			//stubManager.Write("\nWriting to F1 DANCER TX");
+			//Trigger SSI Tx
+			Fpga_Write_Reg(FPGA1, Addr, 0xffff, 0);
+			
+			//Wait for SSI sequence to finish
+			Thread.Sleep(800);		
+		}
+		RetValue.Value = 1;
+		
+		return 1;
+	
+	}
+
+int SSI_Read_Write(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 TxAdr)
+	{
+		var rv1 = Fpga_Read_Reg(Fpga, HighAdr, 0);
+		var rv2 = Fpga_Read_Reg(Fpga, LowAdr, 0);
+		stubManager.Write("     Adr = ");
+		stubManager.WriteHex(TxAdr,4);
+		stubManager.Write(" (");
+		stubManager.WriteHex(rv1.Value,4); stubManager.Write(", ");
+		stubManager.WriteHex(rv2.Value,4); stubManager.Write(")");		
+		//if ( (rv2.Value&0x200) == 0x200) stubManager.Write(" Error");
+		Fpga_Write_Reg(Fpga, TxAdr, 0xffff, 0);
+		Thread.Sleep(100);
+		
+		return 1;
+	}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_SSR.cs b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_SSR.cs
new file mode 100644
index 000000000..8eae235ea
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_SSR.cs
@@ -0,0 +1,20 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+
+
+//Reg Name						Functionlity/Contents															D15		D14		D13		D12		D11						D10						D9						D8						D7							D6							D5							D4							D3							D2							D1							D0
+const Int32 F2_CTRL	= 0x0E2; //	Writes to values. Readback the values that are currently in the GPO register	rsv		rsv		rsv		rsv		F2_GPO_PDOWN_RL1_CTRL	F2_GPO_DRYER_SSR1_CTRL	F2_GPO_DRYER_SSR2_CTRL	F2_GPO_DRYER_SSR3_CTRL	F2_GPO_MIXCHIP_SSR4_CTRL	F2_GPO_DYEINGH_SSR5_CTRL	F2_GPO_DYEINGH_SSR6_CTRL	F2_GPO_DYEINGH_SSR7_CTRL	F2_GPO_DYEINGH_SSR8_CTRL	F2_GPO_CHILLER_SSR9_CTRL	F2_GPO_SPARE_SSR12_CTRL		F2_GPO_SPARE_SSR13_CTRL
+string[] F2_CTRL_Bits	=	{"F2_GPO_SPARE_SSR13_CTRL",	"F2_GPO_SPARE_SSR12_CTRL",	"F2_GPO_CHILLER_SSR9_CTRL",	"F2_GPO_DYEINGH_SSR8_CTRL",	"F2_GPO_DYEINGH_SSR7_CTRL",	"F2_GPO_DYEINGH_SSR6_CTRL",	"F2_GPO_DYEINGH_SSR5_CTRL",	"F2_GPO_MIXCHIP_SSR4_CTRL",	"F2_GPO_DRYER_SSR3_CTRL",	"F2_GPO_DRYER_SSR2_CTRL",	"F2_GPO_DRYER_SSR1_CTRL",	"F2_GPO_PDOWN_RL1_CTRL",	"rsv",	"rsv",	"rsv",	"rsv"};
+
+const Int32	F1_gpo_01 = 0x3D2;//Miscellaneous output register, 16bits											rsv		rsv		rsv		rsv		rsv						rsv						rsv						rsv						F1_VALVE_MIXCHIP_WASTECH	F1_VALVE_WASTE_TANK         F1_GPO_EXTWINDER_1          F1_GPO_EXTWINDER_2          F1_GPO_EXTWINDER_3          F1_GPO_DILUTORPUMP_SSR10_CTRL  	F1_GPO_WHS_WTANKPUMP2	F1_GPO_WASTECH_PUMP2
+const Int32 F3_GPO_01_bus = 0x0C2; //Writes to values. Readback thevaluessthat are currently in the GPO registerrsv		rsv		rsv		rsv		rsv						rsv						rsv						rsv						F3_SPARE1_ROTENC_CLK		F3_SPARE2_ROTENC_CLK		F3_GPO_BUZZER				F3_GPO_EXTWINDER_SSR11_CTRL F3_GPO_LED1					F3_GPO_LED2					F3_GPO_LED3					F3_GPO_LED4
diff --git a/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_Tacho.cs b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_Tacho.cs
new file mode 100644
index 000000000..8b6ece7ce
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Interfaces/Tango_Defines_Tacho.cs
@@ -0,0 +1,27 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+
+
+const Int32	F1_Tacho_reg0	=	0x3C0	;
+const Int32	F1_Tacho_reg1	=	0x3C2	;
+const Int32	F1_Tacho_reg2	=	0x3C4	;
+const Int32	F1_Tacho_reg3	=	0x3C6	;
+const Int32	F1_Tacho_reg4	=	0x3C8	;
+const Int32	F1_Tacho_reg5	=	0x3CA	;
+const Int32	F1_Tacho_reg6	=	0x3CC	;
+const Int32	F1_Tacho_reg7	=	0x3CE	;
+const Int32	F2_Tacho_reg0	=	0x3C0	;
+
+const Int32	F1_Prescaler1_reg5		=	0x3E8	;	//	Parameter for prescaler divisions -amount of prescaled clocks for counter of signal All Tachos.	rsv	rsv	rsv	rsv	rsv	rsv	rsv	rsv	parambit7	parambit6	parambit5	parambit4	parambit3	parambit2	parambit1	parambit0
+const Int32	F2_Prescaler1_reg10 	=	0x102	;	//	Variable for prescaler divisions -amount of prescaled clocks for counter of signal Blower Tacho. 8 bits	parambit15	parambit14	parambit13	parambit12	parambit11	parambit10	parambit9	parambit8	parambit7	parambit6	parambit5	parambit4	parambit3	parambit2	parambit1	parambit0
+
diff --git a/Software/Stubs Collection/stubs/michael stubs/Read_SW_FPGA_Version.cs b/Software/Stubs Collection/stubs/michael stubs/Read_SW_FPGA_Version.cs
new file mode 100644
index 000000000..21b98e46a
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Read_SW_FPGA_Version.cs
@@ -0,0 +1,115 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+
+include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+
+public void OnExecute(StubManager stubManager)
+{
+	
+//var response10 = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000222, 0x3800);
+//Thread.Sleep(10000);
+//var response11 = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000220, 0x0000);
+
+
+	var response_swid = stubManager.Run<StubReadEmbeddedVersionResponse>("StubReadEmbeddedVersionRequest" , true);
+	stubManager.Write("\nTIVA MCU SW Version (Major, Minor, Patch, Build, Version String): (");
+	stubManager.WriteHex(response_swid.VerMajor,4);
+	stubManager.Write(", ");
+	stubManager.WriteHex(response_swid.VerMinor,4);
+	stubManager.Write(", ");
+	stubManager.WriteHex(response_swid.VerPatch,4);
+	stubManager.Write(", ");
+	stubManager.WriteHex(response_swid.VerBuild,4);
+	stubManager.Write(", ");
+	stubManager.Write(response_swid.Version);
+	stubManager.Write(")\n");
+	
+	
+	//F1 Version and test register
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,FPGA1);
+	stubManager.Write("\nFPGA_1 Version #ddmm: ");
+	stubManager.WriteHex(response.Value,4);
+	response.Value = 0;
+	
+	response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,FPGA1 + 0x10);
+	stubManager.Write("\nFPGA_1 Version #yyvv: ");
+	stubManager.WriteHex(response.Value,4);
+	response.Value = 0;
+	
+	stubManager.Write("\nFPGA_1 Test register, write 0xCAFE, expects 0x3501: ");	
+	var response_tmp = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x600003f0, 0xCAFE);
+	response_tmp = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x600003f0, 0xCAFE);
+	response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x600003f0);
+	response.Value = response.Value & 0xffff;
+	stubManager.WriteHex(response.Value,4);
+	response.Value = 0;
+	
+	//F2 Version and test register
+	response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000400);
+	stubManager.Write("\n\nFPGA_2 Version #ddmm: ");
+	stubManager.WriteHex(response.Value,4);
+	response.Value = 0;
+	
+	response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000410);
+	stubManager.Write("\nFPGA_2 Version #yyvv: ");
+	stubManager.WriteHex(response.Value,4);
+	response.Value = 0;
+	
+	stubManager.Write("\nFPGA_2 Test register, write 0xCAFE, expects 0x3501: ");	
+	response_tmp = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x600007f0, 0xCAFE);
+	response_tmp = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x600007f0, 0xCAFE);
+	response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x600007f0);
+	response.Value = response.Value & 0xffff;
+	stubManager.WriteHex(response.Value,4);
+	response.Value = 0;	
+
+	//F3 Version and test register
+	response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000800);
+	stubManager.Write("\n\nFPGA_3 Version #ddmm: ");
+	stubManager.WriteHex(response.Value,4);
+	response.Value = 0;
+	
+	response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000810);
+	stubManager.Write("\nFPGA_3 Version #yyvv: ");
+	stubManager.WriteHex(response.Value,4);
+	response.Value = 0;
+	
+	stubManager.Write("\nFPGA_3 Test register, write 0xCAFE, expects 0x3501: ");	
+	response_tmp = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000bf0, 0xCAFE);
+	response_tmp = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000bf0, 0xCAFE);
+	response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000bf0);
+	response.Value = response.Value & 0xffff;
+	stubManager.WriteHex(response.Value,4);
+	response.Value = 0;		
+	
+	
+}
+
+/* Example Script Output
+18:49:16.20: Executing script 'Read_SW_FPGA_Version.cs'...
+
+TIVA MCU SW Version (Major, Minor, Patch, Build, Version String): (#0001, #0000, #0000, #0001, Tango01 May  7 2018 16:38:08)
+
+FPGA_1 Version #ddmm: #0905
+FPGA_1 Version #yyvv: #1801
+FPGA_1 Test register, write 0x1234, expects 0xEDCB: #EDCB
+
+FPGA_2 Version #ddmm: #0905
+FPGA_2 Version #yyvv: #1801
+FPGA_2 Test register, write 0x1234, expects 0xEDCB: #EDCB
+
+FPGA_3 Version #ddmm: #0805
+FPGA_3 Version #yyvv: #1802
+FPGA_3 Test register, write 0x1234, expects 0xEDCB: #0000
+
+*/
diff --git a/Software/Stubs Collection/stubs/michael stubs/Stub_scripts.rar b/Software/Stubs Collection/stubs/michael stubs/Stub_scripts.rar
new file mode 100644
index 000000000..8b8dd1d4d
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Stub_scripts.rar
diff --git a/Software/Stubs Collection/stubs/michael stubs/Tango_Defines_Basic.cs b/Software/Stubs Collection/stubs/michael stubs/Tango_Defines_Basic.cs
new file mode 100644
index 000000000..b692583b2
--- /dev/null
+++ b/Software/Stubs Collection/stubs/michael stubs/Tango_Defines_Basic.cs
@@ -0,0 +1,92 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+
+const Int32 FPGA1 =  0x60000000;
+const Int32 FPGA2 =  0x60000400;
+const Int32 FPGA3 =  0x60000800;
+
+const Int32 TEST_REG = 0x3f0;
+
+
+StubFpgaReadRegResponse Fpga_Read_Reg(Int32 Fpga, Int32 Addr, Int32 Verbose)
+{
+    var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" , Fpga + Addr);
+	response.Value = response.Value & 0xffff;
+	
+	if (Verbose == 1) {
+	stubManager.Write("\n\nFPGA Reg. Read (FPGA Base, Addr, Data): (");
+	stubManager.WriteHex(Fpga,4);
+	stubManager.Write(", ");
+	stubManager.WriteHex(Addr,4);
+	stubManager.Write(", ");
+	stubManager.WriteHex(response.Value,4);
+	stubManager.Write(")");
+	}
+	
+	return response;
+}
+
+int Fpga_Write_Reg(Int32 Fpga, Int32 Addr, Int32 Data, Int32 Verbose)
+{
+	if (Verbose == 1) {
+	stubManager.Write("\n\nFPGA Reg. Write (FPGA Base, Addr, Data): (");
+	stubManager.WriteHex(Fpga,4);
+	stubManager.Write(", ");
+	stubManager.WriteHex(Addr,4);
+	stubManager.Write(", ");
+	stubManager.WriteHex(Data,4);
+	stubManager.Write(")");
+	}
+	var response = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,Fpga + Addr, Data);
+	
+	return 1;
+}
+
+Int32 GetBit(Int32 Fpga, Int32 Adr, Int32 BitNo) 
+{
+	Int32 BitMask;
+	var RetVal = Fpga_Read_Reg(Fpga, Adr, 0);
+	BitMask = 0x1 << BitNo;
+	if ( ( (Int32) RetVal.Value & BitMask) == BitMask ) 
+	{ 
+		return 1;
+	}
+	else 
+	{
+		return 0;
+	}
+	
+}
+
+Int32 SetBit (Int32 Fpga, Int32 Adr, Int32 BitNo, Int32 Bit)
+{
+	Int32 BitMask;
+	var RetVal = Fpga_Read_Reg(Fpga, Adr, 0);
+	Int32 RV = (Int32) RetVal.Value;
+	
+	if (Bit == 0x1) 
+	{
+		BitMask = 0x1 << BitNo;
+		RV = RV | BitMask;
+		Fpga_Write_Reg(Fpga, Adr, RV , 0);
+	}
+	else if (Bit == 0x0)
+	{
+		BitMask = ~(0x1 << BitNo);
+		RV = RV & BitMask;
+		Fpga_Write_Reg(Fpga, Adr, RV , 0);	
+	}
+	return 1;
+}
+
+
diff --git a/Software/Stubs Collection/stubs/motorInitForMichael.cs b/Software/Stubs Collection/stubs/motorInitForMichael.cs
new file mode 100644
index 000000000..f6e30ae51
--- /dev/null
+++ b/Software/Stubs Collection/stubs/motorInitForMichael.cs
@@ -0,0 +1,75 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+//SystemResetRequest systemResetRequest = new SystemResetRequest();
+//var response1 = stubManager.Run<SystemResetResponse>(systemResetRequest);
+//    	stubManager.Run("StubGPIOWriteBitRequest" ,"P", 4, true);//ON
+        Thread.Sleep(10);
+//        stubManager.Run("StubGPIOWriteBitRequest" ,"P", 4, false);//OFF
+//    	stubManager.Run("StubGPIOWriteBitRequest" ,"P", 4, true);//ON
+
+UploadHardwareConfigurationRequest uploadHardwareConfigurationRequest = new UploadHardwareConfigurationRequest();
+
+HardwareConfiguration hardwareConfiguration = new HardwareConfiguration();
+
+
+HardwareMotor hardwareMotor1 = new HardwareMotor();
+hardwareMotor1.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
+hardwareMotor1.MinFrequency = 0;
+hardwareMotor1.MaxFrequency = 30000;
+hardwareMotor1.SetMicroStep = 1;
+hardwareMotor1.MicroStep = 2;
+hardwareMotor1.MaxChangeSlope = 500;
+hardwareMotor1.HighLengthMicroSecond = 0;
+hardwareMotor1.SpeedMaster = false;
+hardwareMotor1.PulsePerRound = 200;
+hardwareMotor1.PulleyRadius = 1.3;
+hardwareMotor1.ConfigWord = 0;
+hardwareMotor1.DirectionThreadWize = true;
+hardwareMotor1.KvalHold = 0x28;
+hardwareMotor1.KvalRun = 0x5f;
+hardwareMotor1.KvalAcc = 0x5f;
+hardwareMotor1.KvalDec = 0x5f;
+hardwareMotor1.OverCurrentThreshold = 7;
+hardwareMotor1.StallThreshold = 0;
+hardwareMotor1.ThermalCompensationFactor = 0;
+hardwareMotor1.LowSpeedOptimization = false;
+hardwareMotor1.StSlp = 6;
+hardwareMotor1.IntSpd = 0x44B8;
+hardwareMotor1.FnSlpAcc = 0x14;
+hardwareMotor1.FnSlpDec = 0x14;
+hardwareConfiguration.Motors.Add(hardwareMotor1);
+
+stubManager.WriteLine("data.data length = " + hardwareConfiguration.CalculateSize());
+
+
+uploadHardwareConfigurationRequest.HardwareConfiguration = hardwareConfiguration;
+var response = stubManager.Run<UploadHardwareConfigurationResponse>(uploadHardwareConfigurationRequest);
+        /*Thread.Sleep(5000);
+
+        stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 7, false);//OFF
+        Thread.Sleep(10);
+    	stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 4, true);//ON
+        Thread.Sleep(10);
+        stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 4, false);//OFF
+        Thread.Sleep(10);
+    	stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 4, true);//ON
+
+*/
+
+
+}
+
diff --git a/Software/Stubs Collection/stubs/motorrun.cs b/Software/Stubs Collection/stubs/motorrun.cs
new file mode 100644
index 000000000..b735f217c
--- /dev/null
+++ b/Software/Stubs Collection/stubs/motorrun.cs
@@ -0,0 +1,35 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+	// FALSE - to the body
+	//TRUE out
+		var response3 = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,15, false, 50);
+		Thread.Sleep(600);
+	for (int i = 0; i < 100; i++)
+    {
+
+		var response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,14, false, 20);
+		Thread.Sleep(600);
+		var response1 = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,14, true, 20);
+		Thread.Sleep(600);
+	}
+	
+//var response1 = stubManager.Run<StubMotorStatusResponse>("StubMotorStatusRequest" ,14, true);
+//Thread.Sleep(1000);
+//		var response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,24, false, 20);
+//		Thread.Sleep(700);
+
+var response2 = stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,15, 0);
+var response4 = stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,14, 0);
+}
diff --git a/Software/Stubs Collection/stubs/readPosition.cs b/Software/Stubs Collection/stubs/readPosition.cs
new file mode 100644
index 000000000..acf04f8c1
--- /dev/null
+++ b/Software/Stubs Collection/stubs/readPosition.cs
@@ -0,0 +1,30 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.Stubs.UI;
+using Tango.PMR.Stubs;
+
+public void OnExecute(StubManager stubManager)
+{
+
+StubDancerPositionRequest stubDancerPositionRequest = new StubDancerPositionRequest();
+stubDancerPositionRequest.DancerID = 0;
+StubMotorSpeedRequest stubMotorSpeedRequest = new StubMotorSpeedRequest();
+stubMotorSpeedRequest.MotorID = 18;
+
+for (int i = 0;i<100;i++)
+	{
+		stubManager.Run<StubDancerPositionResponse>(stubDancerPositionRequest);
+//		stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest",0x60000010);
+		Thread.Sleep(100);
+		stubManager.Run<StubMotorSpeedResponse>(stubMotorSpeedRequest);
+		Thread.Sleep(1000);
+}
+}
+
diff --git a/Software/Stubs Collection/stubs/rightdancercontrol.cs b/Software/Stubs Collection/stubs/rightdancercontrol.cs
new file mode 100644
index 000000000..5be748d1c
--- /dev/null
+++ b/Software/Stubs Collection/stubs/rightdancercontrol.cs
@@ -0,0 +1,191 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+
+stubManager.RequestTimeout = 2000;
+
+UploadHardwareConfigurationRequest uploadHardwareConfigurationRequest = new UploadHardwareConfigurationRequest();
+
+HardwareConfiguration hardwareConfiguration = new HardwareConfiguration();
+
+
+HardwarePidControl hardwarePidControl1 = new HardwarePidControl();
+hardwarePidControl1.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorFeeder;
+hardwarePidControl1.OutputProportionalPowerLimit = 80;
+hardwarePidControl1.OutputProportionalBand = 5;
+hardwarePidControl1.IntegralTime = 5;
+hardwarePidControl1.DerivativeTime = 0;
+hardwarePidControl1.SensorCorrectionAdjustment = 0;
+hardwarePidControl1.SensorMinValue = 0;
+hardwarePidControl1.SensorMaxValue = 0;
+hardwarePidControl1.SetPointRampRateorSoftStartRamp = 0;
+hardwarePidControl1.SetPointControlOutputRate = 4;
+hardwarePidControl1.ControlOutputType = 0;
+hardwarePidControl1.SsrControlOutputType = 0;
+hardwarePidControl1.OutputOnOffHysteresisValue = 0;
+hardwarePidControl1.ProcessVariableSamplingRate = 1000;
+hardwarePidControl1.PvInputFilterFactorMode = 4;
+hardwarePidControl1.OutputProportionalCycleTime = 0;
+hardwarePidControl1.AcHeatersHalfCycleTime = 0;
+hardwarePidControl1.ProportionalGain = 11.0;
+hardwareConfiguration.PidControls.Add(hardwarePidControl1);
+
+HardwareDancer hardwareDancer1 = new HardwareDancer();
+hardwareDancer1.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.RightDancer;
+hardwareDancer1.Gradual = false;
+hardwareDancer1.K = 0;
+hardwareDancer1.X = 0;
+hardwareDancer1.PulsePerMmSpring = 0;
+hardwareDancer1.MaximalMovementMm = 15;
+hardwareDancer1.ZeroPoint = 9784;
+hardwareDancer1.ResolutionBits = 14;
+hardwareDancer1.ArmLength = 126;
+hardwareConfiguration.Dancers.Add(hardwareDancer1);
+
+
+HardwareMotor hardwareMotor1 = new HardwareMotor();
+hardwareMotor1.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
+hardwareMotor1.MinFrequency = 0;
+hardwareMotor1.MaxFrequency = 50000;
+hardwareMotor1.SetMicroStep = 1;
+hardwareMotor1.MicroStep = 32;
+hardwareMotor1.MaxChangeSlope = 10000;
+hardwareMotor1.HighLengthMicroSecond = 0;
+hardwareMotor1.SpeedMaster = false;
+hardwareMotor1.PulsePerRound = 200;
+hardwareMotor1.PulleyRadius = 1.25;
+hardwareMotor1.ConfigWord = 0x1c80;
+hardwareMotor1.DirectionThreadWize = true;
+hardwareMotor1.KvalHold = 0x35;
+hardwareMotor1.KvalRun = 0x7f;
+hardwareMotor1.KvalAcc = 0x7f;
+hardwareMotor1.KvalDec = 0x7f;
+hardwareMotor1.OverCurrentThreshold = 7;
+hardwareMotor1.StallThreshold = 0x1F;
+hardwareMotor1.ThermalCompensationFactor = 0;
+hardwareMotor1.LowSpeedOptimization = false;
+hardwareMotor1.StSlp = 0x20;
+hardwareMotor1.IntSpd = 0x1A13;
+hardwareMotor1.FnSlpAcc = 0x50;
+hardwareMotor1.FnSlpDec = 0x50;
+hardwareConfiguration.Motors.Add(hardwareMotor1);
+
+
+HardwareMotor hardwareMotor7 = new HardwareMotor();
+hardwareMotor7.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRloading;
+hardwareMotor7.MinFrequency = 0;
+hardwareMotor7.MaxFrequency = 15000;
+hardwareMotor7.SetMicroStep = 1;
+hardwareMotor7.MicroStep = 64;
+hardwareMotor7.MaxChangeSlope = 1000;
+hardwareMotor7.HighLengthMicroSecond = 0;
+hardwareMotor7.SpeedMaster = false;
+hardwareMotor7.PulsePerRound = 200;
+hardwareMotor7.PulleyRadius = 1.25;
+hardwareMotor7.ConfigWord = 0xC80;
+hardwareMotor7.DirectionThreadWize = true;
+hardwareMotor7.KvalHold = 0x28;
+hardwareMotor7.KvalRun = 0x5f;
+hardwareMotor7.KvalAcc = 0x5f;
+hardwareMotor7.KvalDec = 0x5f;
+hardwareMotor7.OverCurrentThreshold = 7;
+hardwareMotor7.StallThreshold = 0x1F;
+hardwareMotor7.ThermalCompensationFactor = 0;
+hardwareMotor7.LowSpeedOptimization = false;
+hardwareMotor7.StSlp = 6;
+hardwareMotor7.IntSpd = 0x44B8;
+hardwareMotor7.FnSlpAcc = 0x14;
+hardwareMotor7.FnSlpDec = 0x14;
+hardwareConfiguration.Motors.Add(hardwareMotor7);
+
+stubManager.WriteLine("data.data length = " + hardwareConfiguration.CalculateSize());
+
+
+uploadHardwareConfigurationRequest.HardwareConfiguration = hardwareConfiguration;
+var response = stubManager.Run<UploadHardwareConfigurationResponse>(uploadHardwareConfigurationRequest);
+        Thread.Sleep(10000);
+
+JobRequest jobRequest = new JobRequest();
+
+JobTicket jobTicket = new JobTicket();
+jobTicket.Name = "Stubs Job";
+jobTicket.EnableInterSegment = false;
+jobTicket.InterSegmentLength = 50;
+jobTicket.Length = 1000;
+
+ProcessParameters processParameters = new ProcessParameters();
+processParameters.DyeingSpeed = 40;
+processParameters.TableIndex = 0;
+
+jobTicket.ProcessParameters = processParameters;
+jobTicket.WindingMethod = Tango.PMR.Printing.JobWindingMethod.Embroidery;
+
+JobSpool jobSpool = new JobSpool();
+jobSpool.JobSpoolType = Tango.PMR.Printing.JobSpoolType.StandardSpool;
+jobSpool.Length = 1000;
+jobSpool.Weight = 0;
+jobSpool.Diameter = 0;
+jobSpool.StartOffsetPulses = 50;
+jobSpool.BackingRate = 10;
+jobSpool.SegmentOffsetPulses = 4000;
+jobSpool.BottomBackingRate = 70;
+jobSpool.RotationsPerPassage = 7;
+
+jobTicket.Spool = jobSpool;
+
+JobSegment jobSegment = new JobSegment();
+jobSegment.Name = "Segment1";
+jobSegment.Length = 8;
+
+JobBrushStop jobBrushStop = new JobBrushStop();
+jobBrushStop.Index = 0;
+jobBrushStop.OffsetPercent = 0;
+jobBrushStop.OffsetMeters = 0;
+
+JobDispenser jobDispenser = new JobDispenser();
+jobDispenser.Index = 2;
+jobDispenser.Volume = 10;
+jobDispenser.DispenserStepDivision = Tango.PMR.Printing.DispenserStepDivision.Auto;
+jobDispenser.NanolitterPerSecond = 10;
+jobDispenser.NanoliterPerCentimeter = 10;
+jobDispenser.PulsePerSecond = 500;
+jobDispenser.DispenserLiquidType = Tango.PMR.Printing.DispenserLiquidType.Cyan;
+jobDispenser.LiquidMaxNanoliterPerCentimeter = 40;
+jobDispenser.NanoliterPerPulse = 10;
+jobBrushStop.Dispensers.Add(jobDispenser);
+jobSegment.BrushStops.Add(jobBrushStop);
+jobTicket.Segments.Add(jobSegment);
+
+jobRequest.JobTicket = jobTicket;
+
+        Thread.Sleep(50);
+
+stubManager.WriteLine("data.data length = " + jobRequest.CalculateSize());
+	var response2 = stubManager.Run<JobResponse>(jobRequest);
+        Thread.Sleep(100);
+	
+	int i=0;
+stubManager.RunContinuous<StubHeatingTestPollResponse>("StubHeatingTestPollRequest",(response1) => 
+                                                   {                                                   	
+//				stubManager.WriteLine (String.Format("Data, {0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}",++i,response1.Zone1Temp,response1.Zone2Temp,response1.Heater1Active,response1.Heater2Active,response1.Heater1Percentage,response1.Heater2Percentage,response1.InfoMessage));
+				stubManager.WriteLine (String.Format("Feeder, {0},  Orig {1}, Err {2}, Calc {3}, read {4}, {5}",++i,response1.Zone1Temp,response1.Zone2Temp,response1.Heater1Percentage,response1.Heater2Percentage, response1.InfoMessage));
+                                                   	
+                                                   },0);
+
+
+
+}
+
diff --git a/Software/Stubs Collection/stubs/shutdownheaters.cs b/Software/Stubs Collection/stubs/shutdownheaters.cs
new file mode 100644
index 000000000..e4dff8cdb
--- /dev/null
+++ b/Software/Stubs Collection/stubs/shutdownheaters.cs
@@ -0,0 +1,25 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+//        var response = stubManager.Run<CalculateResponse>("calculate", 1, i);
+
+// Request ----
+// UInt32 : Address
+// UInt32 : Value
+
+// Response ----
+// String : Status
+// UInt32 : StatusWord
+var response = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x600004e2, 0);
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/simple job request.cs b/Software/Stubs Collection/stubs/simple job request.cs
new file mode 100644
index 000000000..8057173b6
--- /dev/null
+++ b/Software/Stubs Collection/stubs/simple job request.cs
@@ -0,0 +1,143 @@
+// Request ----
+// UInt32 : MotorID
+
+// Response ----
+// UInt32 : MotorID
+// UInt32 : Position
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Printing;
+using Tango.PMR.Diagnostics;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+public void OnExecute(StubManager stubManager)
+{
+	
+	
+// Request ----
+// Double : A
+// Double : B
+
+// Response ----
+// Double : Sum
+//var response1 = stubManager.Run<CalculateResponse>("CalculateRequest" ,6, 7);
+
+JobRequest jobRequest = new JobRequest();
+
+JobTicket jobTicket = new JobTicket();
+jobTicket.Name = "Stubs Job";
+jobTicket.EnableInterSegment = false;
+jobTicket.InterSegmentLength = 50;
+jobTicket.Length = 1000;
+
+ProcessParameters processParameters = new ProcessParameters();
+//        SPEEED
+processParameters.DyeingSpeed = 5;
+//        HEAT
+processParameters.DryerZone1Temp = 100;
+
+
+processParameters.MixerTemp = 0;
+processParameters.DryerBufferLength = 20;
+processParameters.MinInkUptake = 0;
+processParameters.HeadZone1Temp = 50;
+processParameters.HeadZone2Temp = 150;
+processParameters.HeadZone3Temp = 150;
+processParameters.DryerZone2Temp = 0;
+processParameters.DryerZone3Temp = 0;
+processParameters.FeederTension = 0;
+processParameters.PullerTension = 0;
+processParameters.WinderTension = 0;
+processParameters.HeadAirFlow = 0;
+processParameters.DryerAirFlow = 0;
+processParameters.TableIndex = 0;
+
+jobTicket.ProcessParameters = processParameters;
+jobTicket.WindingMethod = Tango.PMR.Printing.JobWindingMethod.Embroidery;
+
+JobSpool jobSpool = new JobSpool();
+jobSpool.JobSpoolType = Tango.PMR.Printing.JobSpoolType.StandardSpool;
+jobSpool.Length = 800;
+jobSpool.Weight = 0;
+jobSpool.Diameter = 3.0;
+jobSpool.StartOffsetPulses = 250;
+jobSpool.BackingRate = 10;
+jobSpool.SegmentOffsetPulses = 750;
+jobSpool.BottomBackingRate = 70;
+jobSpool.RotationsPerPassage = 3;
+
+jobTicket.Spool = jobSpool;
+
+JobSegment jobSegment = new JobSegment();
+jobSegment.Name = "Segment1";
+//         LENGTH
+jobSegment.Length = 30.0;
+
+JobBrushStop jobBrushStop = new JobBrushStop();
+jobBrushStop.Index = 0;
+jobBrushStop.OffsetPercent = 0;
+jobBrushStop.OffsetMeters = 0;
+
+JobDispenser jobDispenser = new JobDispenser();
+jobDispenser.Index = 6;
+jobDispenser.Volume = 10;
+jobDispenser.DispenserStepDivision = Tango.PMR.Printing.DispenserStepDivision.Auto;
+jobDispenser.NanolitterPerSecond = 500;
+jobDispenser.NanoliterPerCentimeter = 10;
+jobDispenser.PulsePerSecond = 0;
+jobDispenser.DispenserLiquidType = Tango.PMR.Printing.DispenserLiquidType.Cyan;
+jobDispenser.LiquidMaxNanoliterPerCentimeter = 40;
+jobDispenser.NanoliterPerPulse = 2.4;
+jobBrushStop.Dispensers.Add(jobDispenser);
+jobSegment.BrushStops.Add(jobBrushStop);
+jobTicket.Segments.Add(jobSegment);
+
+jobRequest.JobTicket = jobTicket;
+
+
+	var response = stubManager.Run<JobResponse>(jobRequest);
+	int i=0;
+/*stubManager.WriteLine("data.data length = " + jobRequest.CalculateSize());
+*/	
+stubManager.RunContinuous<JobResponse>(jobRequest,(response1) =>
+                                                   {                                                   	
+				stubManager.WriteLine (String.Format("Data, {0},  {1} meters, {2}",++i,response1.Status.Progress*jobSegment.Length,response1.Status.Message));
+                                                   	
+                                                   });
+/*	    stubManager.RunContinuous<ProgressResponse>(request, (response) =>
+    {
+
+        stubManager.WriteLine(response.Progress);
+
+    });
+*/
+	
+	//int i=0;
+/*stubManager.RunContinuous<StubHeatingTestPollResponse>("StubHeatingTestPollRequest",(response1) => 
+                                                   {                                                   	
+//				stubManager.WriteLine (String.Format("Data, {0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}",++i,response1.Zone1Temp,response1.Zone2Temp,response1.Heater1Active,response1.Heater2Active,response1.Heater1Percentage,response1.Heater2Percentage,response1.InfoMessage));
+				stubManager.WriteLine (String.Format("Data, Id {0}, Id {1}, Temp {2}, % {3}, Active {4}, {5}",++i,response1.Zone1Temp,response1.Zone2Temp,response1.Heater1Percentage,response1.Heater1Active,response1.InfoMessage));
+                                                   	
+                                                   },0);
+
+
+/*StartDiagnosticsRequest startDiagnosticsRequest = new StartDiagnosticsRequest();
+//stubManager.RunContinuous<StartDiagnosticsResponse>(startDiagnosticsRequest,(response1) =>
+stubManager.RunContinuous<StartDiagnosticsResponse>(startDiagnosticsRequest,(response1)    =>
+                                                   {                                                   	
+				stubManager.WriteLine (String.Format("Data, {0}, H1 {1}, H2{2}, H3 {3}, D1 {4}, D2 {5}",++i,response1.Monitors.HeadZone1Temperature[0],response1.Monitors.HeadZone2Temperature[0],response1.Monitors.HeadZone3Temperature[0],response1.Monitors.DryerZone1Temperature[0],response1.Monitors.DryerZone2Temperature[0]));
+				stubManager.WriteLine (String.Format("Data, {0}, DR {1}, DM{2}, DL {3}, Feeder {4}",++i,response1.Monitors.Dancer1Angle[0],response1.Monitors.Dancer2Angle[0],response1.Monitors.Dancer3Angle[0],response1.Monitors.FeederMotorFrequency[0]));
+                                                   	
+                                                   },0);
+
+*/
+}
+
diff --git a/Software/Stubs Collection/stubs/systemreset.cs b/Software/Stubs Collection/stubs/systemreset.cs
new file mode 100644
index 000000000..37f60a955
--- /dev/null
+++ b/Software/Stubs Collection/stubs/systemreset.cs
@@ -0,0 +1,21 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+
+public void OnExecute(StubManager stubManager)
+{
+SystemResetRequest systemResetRequest = new SystemResetRequest();
+
+var response1 = stubManager.Run<SystemResetResponse>(systemResetRequest);
+}
+
diff --git a/Software/Stubs Collection/stubs/test dryer.cs b/Software/Stubs Collection/stubs/test dryer.cs
new file mode 100644
index 000000000..103885b47
--- /dev/null
+++ b/Software/Stubs Collection/stubs/test dryer.cs
@@ -0,0 +1,69 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+
+public void OnExecute(StubManager stubManager)
+{
+        Thread.Sleep(10);
+HardwareMotor DryerMotor = new HardwareMotor();
+DryerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
+DryerMotor.MinFrequency = 0;
+DryerMotor.MaxFrequency = 100000;
+DryerMotor.SetMicroStep = 1;
+DryerMotor.MicroStep = 16;
+DryerMotor.MaxChangeSlope = 0x7ff;
+DryerMotor.HighLengthMicroSecond = 0;
+DryerMotor.SpeedMaster = false;
+DryerMotor.PulsePerRound = 200;
+DryerMotor.PulleyRadius = 0.8;
+DryerMotor.ConfigWord = 0x1C80;
+DryerMotor.DirectionThreadWize = false;
+DryerMotor.KvalHold = 0x08;
+DryerMotor.KvalRun = 0x35;
+DryerMotor.KvalAcc = 0x7f;
+DryerMotor.KvalDec = 0x27;
+DryerMotor.OverCurrentThreshold = 0x7;
+DryerMotor.StallThreshold = 0x1F;
+DryerMotor.ThermalCompensationFactor = 0;
+DryerMotor.LowSpeedOptimization = false;
+DryerMotor.StSlp = 0x20;
+DryerMotor.IntSpd = 0x1A13;
+DryerMotor.FnSlpAcc = 0x50;
+DryerMotor.FnSlpDec = 0x50;
+DryerMotor.FsSpd = 0x27;
+
+
+UploadHardwareConfigurationRequest uploadHardwareConfigurationRequest = new UploadHardwareConfigurationRequest();
+
+HardwareConfiguration hardwareConfiguration = new HardwareConfiguration();
+
+hardwareConfiguration.Motors.Add(DryerMotor);
+
+stubManager.WriteLine("data.data length = " + hardwareConfiguration.CalculateSize());
+
+
+uploadHardwareConfigurationRequest.HardwareConfiguration = hardwareConfiguration;
+//var response = stubManager.Run<UploadHardwareConfigurationResponse>(uploadHardwareConfigurationRequest);
+        /*Thread.Sleep(5000);*/
+//var response3 = stubManager.Run<StubValveResponse>("StubValveRequest" ,6, 10, false);
+var response4 = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,3, false, 1600);
+Thread.Sleep(1000);
+//open valve toward the midtank, stop dispenser 
+//var response3 = stubManager.Run<StubValveResponse>("StubValveRequest" ,6, 10, false);
+//var response2 = stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,3,2);
+
+        
+
+}
+
diff --git a/Software/Stubs Collection/stubs/testinterface.cs b/Software/Stubs Collection/stubs/testinterface.cs
new file mode 100644
index 000000000..46eb0a12c
--- /dev/null
+++ b/Software/Stubs Collection/stubs/testinterface.cs
@@ -0,0 +1,34 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+public void OnExecute(StubManager stubManager)
+{
+    for (int i = 0; i < 200; i++)
+    {
+		//TEST GPIO USER LED:
+	//stubManager.RequestTimeout = 200;
+   	stubManager.Run("StubGPIOWriteBitRequest" ,"P", 4, true);//ON
+    Thread.Sleep(1000);
+   	stubManager.Run("StubGPIOWriteBitRequest" ,"P", 4, false);//ON
+    Thread.Sleep(1000);
+//    stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 7, false);//OFF
+//    Thread.Sleep(1000);
+	
+CalculateRequest calculateRequest = new CalculateRequest();
+calculateRequest.A = i;
+calculateRequest.B = i+1;
+   	stubManager.Run<CalculateResponse>(calculateRequest);//ON
+    Thread.Sleep(1000);
+	
+    }
+}
+