Read ADC - one at a time. update stubs from Mati

52 files changed, 4062 insertions, 0 deletions

diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_3WValve.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_3WValve.cs
new file mode 100644
index 000000000..8ee635cb3
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_3WValve.cs
@@ -0,0 +1,80 @@
+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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_3WValve.cs"                       	
+//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_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)
+{
+   const Int32 Delay = 2000;
+   int DispenserNo = 0;
+
+	//Set Valve pre-scaler value to 50ms
+	Fpga_Write_Reg(FPGA2, F2_Prescaler1_reg12, 0x120, 0);
+	
+		
+	//Invoke the response window with custom message and default response.
+    var response = stubManager.ShowResponseWindow("Enter dispenser number to test (1-8):", "");
+    //stubManager.WriteLine(response);
+	stubManager.Write("\n");
+	DispenserNo = int.Parse(response);
+	ThreeWayValve_Dispenser (DispenserNo);
+	Thread.Sleep(Delay);
+	ThreeWayValve_Dispenser (DispenserNo);
+	Thread.Sleep(Delay);
+
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_LimitSwitch.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_LimitSwitch.cs
new file mode 100644
index 000000000..90ad540f9
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_LimitSwitch.cs"
+
+//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_LimitSwitch.cs"
+
+int LimitSW_Dispenser(Int32 Fpga, Int32 Adr, int DispenserNo) 
+{
+	uint Temp = 0;
+	int counter = 0;
+	stubManager.Write("\n\nTesting limit switches dispensers no. ");  stubManager.Write(DispenserNo);
+	stubManager.Write("\nReading register "); stubManager.Write(Adr); stubManager.Write(", Value: ");
+	var RetVal = Fpga_Read_Reg(Fpga, Adr, 0);
+	stubManager.WriteHex(RetVal.Value,4); 
+	Temp = RetVal.Value;
+	stubManager.Write("\nActivate limit switches one-by-one");
+	
+	while ( counter != 100)
+	{
+		RetVal = Fpga_Read_Reg(Fpga, Adr, 0);
+		if (RetVal.Value != Temp)
+		{
+			stubManager.Write("\nRegister new value: ");
+			stubManager.WriteHex(RetVal.Value,4);	
+			counter = counter + 1;
+		}
+		Thread.Sleep(100);
+	}
+	
+	
+	return 1;
+}
+
+
+public void OnExecute(StubManager stubManager)
+{
+ 
+
+	int DispenserNo = 0;    
+	stubManager.Write("\n\n***   Dispenser Limit Switch Test   ***\n");
+    
+    //Invoke the response window with custom message and default response.
+    var response = stubManager.ShowResponseWindow("Enter dispenser number to test (1-8):", "");
+	stubManager.Write("\n");
+	DispenserNo = int.Parse(response);
+	
+	switch (DispenserNo)
+		{
+			case 1:
+				LimitSW_Dispenser(FPGA2, F2_LS_01_Direct, 1);
+				break;
+			case 2:
+				LimitSW_Dispenser(FPGA2, F2_LS_01_Direct, 2); 
+				break;
+			case 3:
+				LimitSW_Dispenser(FPGA2, F2_LS_02_Direct, 3);
+				break;
+			case 4:
+				LimitSW_Dispenser(FPGA2, F2_LS_02_Direct, 4); 
+				break;
+			case 5:
+				LimitSW_Dispenser(FPGA2, F2_LS_03_Direct, 5);
+				break;
+			case 6:
+				LimitSW_Dispenser(FPGA2, F2_LS_03_Direct, 6);
+				break;
+			case 7:
+				LimitSW_Dispenser(FPGA2, F2_LS_04_Direct, 7);
+				break;
+			case 8:
+				LimitSW_Dispenser(FPGA2, F2_LS_04_Direct, 8);
+				break;
+	}
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_Motors.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_Motors.cs
new file mode 100644
index 000000000..fe05505a7
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_Motors.cs
@@ -0,0 +1,87 @@
+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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_Motors.cs"
+//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_Motors.cs"
+	
+
+int Motor_Dispenser(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 DispenserNo) 
+{
+	
+	stubManager.Write("\n***   Pulling dispenser no. "); stubManager.Write(DispenserNo); stubManager.Write(" motor driver out of reset");
+	SetBit(Fpga, F2_Moto_Driver_NSTBYRST1, (8-DispenserNo), 1);
+	
+	//Place in high-Z state
+	stubManager.Write("\n***   Place in high-Z state");
+	Motor_HighZ(Fpga, HighAdr, LowAdr);
+	
+	//Motor_ReadCfg(Fpga, HighAdr, LowAdr);
+	
+	stubManager.Write("\n***   Moving dispenser motor no. "); stubManager.Write(DispenserNo); stubManager.Write(" back and for for 2 times...");
+	//Motor_Move_Loop(Fpga, HighAdr, LowAdr, 0x39000, 0x0, 2);
+		Motor_Run(Fpga, HighAdr, LowAdr, 0xffff, 0x1);
+		Thread.Sleep(2000);
+		Motor_HighZ(Fpga, HighAdr, LowAdr);
+		Motor_Run(Fpga, HighAdr, LowAdr, 0xffff, 0x0);
+		Thread.Sleep(2000);
+	Motor_HighZ(Fpga, HighAdr, LowAdr);	
+	stubManager.Write("\n***   Stopped dispenser motor no. "); stubManager.Write(DispenserNo); //stubManager.Write(" ");
+
+	return 1;
+}
+
+                   
+
+public void OnExecute(StubManager stubManager)
+{
+	int DispenserNo = 0;    
+	stubManager.Write("\n\n***   Dispenser Motor Test   ***\n");
+    
+    //Invoke the response window with custom message and default response.
+    var response = stubManager.ShowResponseWindow("Enter dispenser number to test (1-8):", "");
+    //stubManager.WriteLine(response);
+	stubManager.Write("\n");
+	DispenserNo = int.Parse(response);
+	
+	switch (DispenserNo)
+		{
+			case 1:
+				Motor_Dispenser(FPGA2, F2_MOTO_DISPENSER_A1_1_TX_01, F2_MOTO_DISPENSER_A1_1_TX_00, 1);
+				break;
+			case 2:
+				Motor_Dispenser(FPGA2, F2_MOTO_DISPENSER_A1_2_TX_01, F2_MOTO_DISPENSER_A1_2_TX_00, 2); 
+				break;
+			case 3:
+				Motor_Dispenser(FPGA2, F2_MOTO_DISPENSER_A1_3_TX_01, F2_MOTO_DISPENSER_A1_3_TX_00, 3); 
+				break;
+			case 4:
+				Motor_Dispenser(FPGA2, F2_MOTO_DISPENSER_A1_4_TX_01, F2_MOTO_DISPENSER_A1_4_TX_00, 4); 
+				break;
+			case 5:
+				Motor_Dispenser(FPGA2, F2_MOTO_DISPENSER_A1_5_TX_01, F2_MOTO_DISPENSER_A1_5_TX_00, 5);
+				break;
+			case 6:
+				Motor_Dispenser(FPGA2, F2_MOTO_DISPENSER_A1_6_TX_01, F2_MOTO_DISPENSER_A1_6_TX_00, 6); 
+				break;
+			case 7:
+				Motor_Dispenser(FPGA2, F2_MOTO_DISPENSER_A1_7_TX_01, F2_MOTO_DISPENSER_A1_7_TX_00, 7);
+				break;
+			case 8:
+				Motor_Dispenser(FPGA2, F2_MOTO_DISPENSER_A1_8_TX_01, F2_MOTO_DISPENSER_A1_8_TX_00, 8); 
+				break;
+	}
+	
+	stubManager.Write("\n\n***   Dispenser Motor Test Ended  ***");
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_PressureSensor.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_PressureSensor.cs
new file mode 100644
index 000000000..11a419576
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_PressureSensor.cs
@@ -0,0 +1,36 @@
+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;
+
+/*
+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/Scripts/Assemblies/Dispenser/Dispenser_SSI.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_SSI.cs
new file mode 100644
index 000000000..692f9d32c
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_SSI.cs
@@ -0,0 +1,93 @@
+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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_SSI.cs"
+//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, F2_Prescaler1_reg1, 0);
+	Fpga_Read_Reg(FPGA1, F2_Prescaler1_reg2, 0);	
+	
+	//Set output clock frequency to about 200 kHz
+	Fpga_Write_Reg(FPGA1, F2_Prescaler1_reg1, 0x0024, 0);
+	Fpga_Write_Reg(FPGA1, F2_Prescaler1_reg2, 0x0024, 0);
+	
+	Fpga_Read_Reg(FPGA1, F2_Prescaler1_reg1, 0);
+	Fpga_Read_Reg(FPGA1, F2_Prescaler1_reg2, 0);
+
+	for (int i = 0; i < 100000; i++)
+	{
+	
+		
+		
+		
+		
+		SSI_Read_Write(FPGA2, F2_DISPENSER_ROTENC_1_MSB, F2_DISPENSER_ROTENC_1_LSB, F2_DISPENSER_ROTENC_1_TX);
+		SSI_Read_Write(FPGA2, F2_DISPENSER_ROTENC_2_MSB, F2_DISPENSER_ROTENC_2_LSB, F2_DISPENSER_ROTENC_2_TX);
+		SSI_Read_Write(FPGA2, F2_DISPENSER_ROTENC_3_MSB, F2_DISPENSER_ROTENC_3_LSB, F2_DISPENSER_ROTENC_3_TX);
+		SSI_Read_Write(FPGA2, F2_DISPENSER_ROTENC_4_MSB, F2_DISPENSER_ROTENC_4_LSB, F2_DISPENSER_ROTENC_4_TX);
+		stubManager.Write("\n");
+		Thread.Sleep(400);
+		SSI_Read_Write(FPGA2, F2_DISPENSER_ROTENC_5_MSB, F2_DISPENSER_ROTENC_5_LSB, F2_DISPENSER_ROTENC_5_TX);
+		SSI_Read_Write(FPGA2, F2_DISPENSER_ROTENC_6_MSB, F2_DISPENSER_ROTENC_6_LSB, F2_DISPENSER_ROTENC_6_TX);
+		SSI_Read_Write(FPGA2, F2_DISPENSER_ROTENC_7_MSB, F2_DISPENSER_ROTENC_7_LSB, F2_DISPENSER_ROTENC_7_TX);
+		SSI_Read_Write(FPGA2, F2_DISPENSER_ROTENC_8_MSB, F2_DISPENSER_ROTENC_8_LSB, F2_DISPENSER_ROTENC_8_TX);
+		stubManager.Write("\n");
+		Thread.Sleep(400);
+		
+		
+		
+		Thread.Sleep(400);
+		stubManager.Write("\n");
+		k++;
+		if  ( (k & 0x8) == 0x08 ) {
+			k = 0;			
+			stubManager.Write("	DISPENSER1	DISPENSER2  DISPENSER3	DISPENSER4   \n");
+			stubManager.Write("	DISPENSER5  DISPENSER6	DISPENSER7	DISPENSER8   \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/Scripts/Assemblies/Dispenser/prescalar2.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/prescalar2.cs
new file mode 100644
index 000000000..305cc6c5f
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/prescalar2.cs
@@ -0,0 +1,26 @@
+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;
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_SSI.cs"
+
+const Int32 FPGA2 =  0x60000400;
+const Int32 F1_Prescaler1_reg1	= 0x122; 
+
+public void OnExecute(StubManager stubManager)
+{
+	Fpga_Read_Reg(FPGA2, F1_Prescaler1_reg1, 0);	
+	
+	//Set output clock frequency to about 200 kHz
+	Fpga_Write_Reg(FPGA2, F1_Prescaler1_reg1, 0x0250, 0);
+	
+	Fpga_Read_Reg(FPGA2, F1_Prescaler1_reg1, 0);
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_LimitSwitch.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_LimitSwitch.cs
new file mode 100644
index 000000000..1700600be
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_LimitSwitch.cs
@@ -0,0 +1,46 @@
+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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "..\Defines\Tango_Defines_LimitSwitch.cs"
+//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_LimitSwitch.cs"
+
+
+public void OnExecute(StubManager stubManager)
+{
+ 	
+ 	uint Temp = 0;
+	int counter = 0;
+	stubManager.Write("\nReading register F1_LS_02_Direct: ");
+	var RetVal = Fpga_Read_Reg(FPGA1, F1_LS_02_Direct, 0);
+	stubManager.WriteHex(RetVal.Value,4); 
+	Temp = RetVal.Value;
+	stubManager.Write("\nActivate limit switches one-by-one");
+	
+	while ( counter != 100)
+	{
+		RetVal = Fpga_Read_Reg(FPGA1, F1_LS_02_Direct, 0);
+		if (RetVal.Value != Temp)
+		{
+			stubManager.Write("\nRegister F1_LS_02_Direct new value: ");
+			stubManager.WriteHex(RetVal.Value,4);	
+			counter = counter + 1;
+		}
+			Temp = RetVal.Value;
+
+		Thread.Sleep(100);
+	}
+	
+
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_Motors.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_Motors.cs
new file mode 100644
index 000000000..35f463ce9
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_Motors.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.Stubs;
+using Tango.Stubs;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_Motors.cs"
+//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_Motors.cs"
+	
+
+public void OnExecute(StubManager stubManager)
+{
+    	
+	stubManager.Write("\n\n***   Dryer Motor Test   ***\n");
+	
+	stubManager.Write("\n***   Pulling motor drivers out of reset\n");
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST1, 5, 1);
+	//SetBit(FPGA1, F1_Moto_Driver_NSTBYRST1, 6, 1);
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST1, 7, 1);
+
+	
+
+	//Place in high-Z state
+	stubManager.Write("\n***   Place in high-Z state\n");
+	Motor_HighZ(FPGA1, F1_MOTO_DRYER_DRIVING_A1_TX_01, F1_MOTO_DRYER_DRIVING_A1_TX_00);
+	Motor_HighZ(FPGA1, F1_MOTO_DRYER_LOADARM_A1_TX_01, F1_MOTO_DRYER_LOADARM_A1_TX_00);
+	//Motor_HighZ(FPGA1, F1_MOTO_DRYER_LID_A1_TX_01, F1_MOTO_DRYER_LID_A1_TX_00);
+
+	//Motor_ReadCfg(FPGA1, F1_MOTO_DRYER_DRIVING_A1_TX_01, F1_MOTO_DRYER_DRIVING_A1_TX_00);
+	//Motor_ReadCfg(FPGA1, F1_MOTO_DRYER_LOADARM_A1_TX_01, F1_MOTO_DRYER_LOADARM_A1_TX_00);
+	//Motor_ReadCfg(FPGA1, F1_MOTO_DRYER_LID_A1_TX_01, F1_MOTO_DRYER_LID_A1_TX_00);
+	
+	stubManager.Write("\n***   Running motor F1_MOTO_DRYER_DRIVING for 8 seconds...  ");
+	Motor_Run(FPGA1, F1_MOTO_DRYER_DRIVING_A1_TX_01, F1_MOTO_DRYER_DRIVING_A1_TX_00, 0xffff, 0x1);
+	Thread.Sleep(8000);	
+	Motor_HighZ(FPGA1, F1_MOTO_DRYER_DRIVING_A1_TX_01, F1_MOTO_DRYER_DRIVING_A1_TX_00);
+	stubManager.Write("\n***   Stopped motor F1_MOTO_DRYER_DRIVING");
+	
+	stubManager.Write("\n\n***   Moving motor F1_MOTO_DRYER_LOADARM back and for for 4 times...");
+	Motor_Move_Loop(FPGA1, F1_MOTO_DRYER_LOADARM_A1_TX_01, F1_MOTO_DRYER_LOADARM_A1_TX_00, 0x0800, 0x1, 4);
+	Motor_HighZ(FPGA1, F1_MOTO_DRYER_LOADARM_A1_TX_01, F1_MOTO_DRYER_LOADARM_A1_TX_00);	
+	stubManager.Write("\n***   Stopped motor F1_MOTO_DRYER_LOADARM");
+
+	/*
+	stubManager.Write("\n\n***   Moving motor F1_MOTO_DRYER_LID back and for for 4 times...");
+	Motor_Move_Loop(FPGA1, F1_MOTO_DRYER_LID_A1_TX_01, F1_MOTO_DRYER_LID_A1_TX_00, 0x0800, 0x1, 4);
+	Motor_HighZ(FPGA1, F1_MOTO_DRYER_LID_A1_TX_01, F1_MOTO_DRYER_LID_A1_TX_00);	
+	stubManager.Write("\n***   Stopped motor F1_MOTO_DRYER_LID");
+	*/
+
+	
+	stubManager.Write("\n\n***   Dryer Motor Test Ended  ***");
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_QEI.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_QEI.cs
new file mode 100644
index 000000000..076a0fbdb
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_QEI.cs""
+//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/Scripts/Assemblies/Dryer/Dryer_SSR.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_SSR.cs
new file mode 100644
index 000000000..da391cfb2
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_SSR.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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_SSR.cs"                          	
+//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/Scripts/Assemblies/Dryer/Dryer_ssi.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_ssi.cs
new file mode 100644
index 000000000..c48802dbe
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_ssi.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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_SSI.cs"
+//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_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 < 1000; i++)
+	{
+	
+		SSI_Read_Write(FPGA1, F1_LSPARE_ROTENC_MSB, F1_LSPARE_ROTENC_LSB, F1_LSPARE_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");
+		}
+
+		Thread.Sleep(40);
+	}
+	
+	
+}
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/GPO_BLOWER_PWM_Precent_.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/GPO_BLOWER_PWM_Precent_.cs
new file mode 100644
index 000000000..f17802815
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/GPO_BLOWER_PWM_Precent_.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;
+
+public void OnExecute(StubManager stubManager)
+{
+	const int LOW = 0;//0 - 100%
+	var response  = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000400 | 0x112, 0xFF);//Freq 8 bit
+	var response1 = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000400 | 0x3EC, LOW+1);//Low 8 bit
+	var response2 = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000400 | 0x3EE, 101 - LOW);//High 8 bit 
+	
+	// low + high = 100 % in order use the same freq 
+	// there is option to change only the high (low + freq constasnt) this will chnga the freq
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/GPO_Blower_PWM.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/GPO_Blower_PWM.cs
new file mode 100644
index 000000000..d7c4894c6
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/GPO_Blower_PWM.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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_SSR.cs"                          	
+
+
+
+
+public void OnExecute(StubManager stubManager)
+{
+	SetBit(FPGA1,0x3d2,5,0);		//turn on Blower
+	SetBit(FPGA1,0x3d2,4,0);		//Dir
+	SetBit(FPGA1,0x3d2,3,1);		//Torqer High
+
+	
+
+	const int LOW = 50;//0 - 100%
+	var response  = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000400 | 0x112, 0xFF);//Freq 8 bit
+	var response1 = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000400 | 0x3EC, LOW+1);//Low 8 bit
+	var response2 = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000400 | 0x3EE, 101 - LOW);//High 8 bit 
+	 
+	Thread.Sleep(4000);
+	SetBit(FPGA1,0x3d2,5,1);		//turn off Blower
+
+	// low + high = 100 % in order use the same freq 
+	// there is option to change only the high (low + freq constasnt) this will chnga the freq
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/ElectricalEnclosure/ElectricalEnclosure_Fans.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/ElectricalEnclosure/ElectricalEnclosure_Fans.cs
new file mode 100644
index 000000000..f28b38582
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/ElectricalEnclosure/ElectricalEnclosure_Fans.cs
@@ -0,0 +1,96 @@
+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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_Tacho.cs"                          	
+//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_reg1, 1); stubManager.Write("\n");
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg2, 1); stubManager.Write("\n");
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg3, 1); stubManager.Write("\n");
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg4, 1); stubManager.Write("\n");
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg5, 1); stubManager.Write("\n");
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg6, 1); stubManager.Write("\n");
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg7, 1); stubManager.Write("\n");
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg8, 1); stubManager.Write("\n");
+	
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg5, 1); stubManager.Write("\n");
+	Fpga_Read_Reg(FPGA2, F2_Prescaler1_reg10, 1); stubManager.Write("\n");
+	Fpga_Read_Reg(FPGA2, F2_Prescaler1_reg11, 1); stubManager.Write("\n");
+	Fpga_Read_Reg(FPGA2, F2_Prescaler1_reg12, 1); stubManager.Write("\n");
+	Fpga_Read_Reg(FPGA2, F2_Prescaler1_reg13, 1); stubManager.Write("\n");
+	Fpga_Read_Reg(FPGA3, F3_Prescaler1_reg9, 1); stubManager.Write("\n");
+	
+	Fpga_Write_Reg(FPGA1, F1_Prescaler1_reg5, 0x00fa, 1);stubManager.Write("\n");
+	Fpga_Write_Reg(FPGA2, F2_Prescaler1_reg10, 0x00fa, 1);stubManager.Write("\n");
+	Fpga_Write_Reg(FPGA2, F2_Prescaler1_reg11, 0x00fa, 1);stubManager.Write("\n");
+	Fpga_Write_Reg(FPGA2, F2_Prescaler1_reg12, 0x00fa, 1);stubManager.Write("\n");
+	Fpga_Write_Reg(FPGA2, F2_Prescaler1_reg13, 0x00fa, 1);stubManager.Write("\n");
+	Fpga_Write_Reg(FPGA3, F3_Prescaler1_reg9, 0x00fa, 1);stubManager.Write("\n");
+	
+	Fpga_Write_Reg(FPGA1, F1_Prescaler1_reg1, 0x00fa, 1);stubManager.Write("\n");
+	Fpga_Write_Reg(FPGA1, F1_Prescaler1_reg2, 0x00fa, 1);stubManager.Write("\n");
+	Fpga_Write_Reg(FPGA1, F1_Prescaler1_reg3, 0x00fa, 1);stubManager.Write("\n");
+	Fpga_Write_Reg(FPGA1, F1_Prescaler1_reg4, 0x00fa, 1);stubManager.Write("\n");
+	Fpga_Write_Reg(FPGA1, F1_Prescaler1_reg6, 0x00fa, 1);stubManager.Write("\n");
+	Fpga_Write_Reg(FPGA1, F1_Prescaler1_reg7, 0x00fa, 1);stubManager.Write("\n");
+	Fpga_Write_Reg(FPGA1, F1_Prescaler1_reg8, 0x00fa, 1);stubManager.Write("\n");
+	
+	
+	
+	
+	
+	
+	
+	
+	
+	
+	
+	
+	
+	
+	
+
+	Fpga_Read_Reg(FPGA1, F1_Prescaler1_reg5, 1); stubManager.Write("\n");
+	Fpga_Read_Reg(FPGA2, F2_Prescaler1_reg10, 1); stubManager.Write("\n");
+	Fpga_Read_Reg(FPGA2, F2_Prescaler1_reg11, 1); stubManager.Write("\n");
+	Fpga_Read_Reg(FPGA2, F2_Prescaler1_reg12, 1); stubManager.Write("\n");
+	Fpga_Read_Reg(FPGA2, F2_Prescaler1_reg13, 1); stubManager.Write("\n");
+	
+	
+	
+	
+	
+	
+	for (int i = 0; i<1000; i++)
+	{
+		stubManager.Write("----------------------------------------\n");
+		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/Scripts/Assemblies/Header/header_LimitSwitch.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Header/header_LimitSwitch.cs
new file mode 100644
index 000000000..4454e9c63
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Header/header_LimitSwitch.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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_LimitSwitch.cs"
+//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_LimitSwitch.cs"
+
+
+
+
+public void OnExecute(StubManager stubManager)
+{
+ 	
+ 	uint Temp = 0;
+	int counter = 0;
+	stubManager.Write("\nReading register F1_LS_01_Direct: ");
+	var RetVal = Fpga_Read_Reg(FPGA1, F1_LS_01_Direct, 0);
+	stubManager.WriteHex(RetVal.Value,4); 
+	Temp = RetVal.Value;
+	stubManager.Write("\nActivate limit switches one-by-one");
+	
+	while ( counter != 10000)
+	{
+		RetVal = Fpga_Read_Reg(FPGA1, F1_LS_01_Direct, 0);
+		if (RetVal.Value != Temp)
+		{
+			stubManager.Write("\nRegister F1_LS_01_Direct new value: ");
+			stubManager.WriteHex(RetVal.Value,4);	
+			counter = counter + 1;
+		}
+		Thread.Sleep(100);
+			Temp = RetVal.Value;
+
+	}
+	
+
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Header/magner_ssr.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Header/magner_ssr.cs
new file mode 100644
index 000000000..56e8ee848
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Header/magner_ssr.cs
@@ -0,0 +1,67 @@
+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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_SSR.cs"                          	
+//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)
+{  
+Int32 Bit = 1;	
+	
+   //Write GPO_DRYER_SSR1_CTRL SSR/SSR no. 1
+   SetBit (FPGA2, F2_CTRL, 0, 1);
+   stubManager.Write("\nTesting SSR no. 13 of magnet");
+   Thread.Sleep(4000);
+
+var response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,2, true, 50);
+
+
+	stubManager.Write("\n***   Open Lid Head ");
+			Bit = 1;
+
+	while (Bit != 0x0)		//wait until LTFU LOADRAM Down
+			{	
+					Bit = GetBit(FPGA1, F1_LS_01_Direct,7);	
+					Thread.Sleep(10);
+			}
+		Thread.Sleep(100);
+					stubManager.Write("\n--------1--------");
+
+					
+	stubManager.Write("\n***   Close Lid Head ");
+			Bit = 1;
+ response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,2, false, 50);
+
+	while (Bit != 0x0)		//wait until LTFU LOADRAM Down
+			{	
+					Bit = GetBit(FPGA1, F1_LS_01_Direct,8);	
+					Thread.Sleep(10);
+			}
+		Thread.Sleep(100);
+					stubManager.Write("\n--------2--------");
+
+  response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,2, true, 0);
+
+     SetBit (FPGA2, F2_CTRL, 0, 0);
+     
+     
+//    var response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,0, true, 50); motor clean
+	
+//response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,1, true, 50); motor clean
+
+     
+     
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_LimitSwitch.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_LimitSwitch.cs
new file mode 100644
index 000000000..e637e7a6a
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_LimitSwitch.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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_LimitSwitch.cs"
+//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_LimitSwitch.cs"
+
+
+
+
+public void OnExecute(StubManager stubManager)
+{
+ 	
+ 	uint Temp = 0;
+	int counter = 0;
+	stubManager.Write("\nReading register F1_LS_02_Direct: ");
+	var RetVal = Fpga_Read_Reg(FPGA1, F1_LS_02_Direct, 0);
+	stubManager.WriteHex(RetVal.Value,4); 
+	Temp = RetVal.Value;
+	stubManager.Write("\nActivate limit switches one-by-one");
+	
+	while ( counter != 100)
+	{
+		RetVal = Fpga_Read_Reg(FPGA1, F1_LS_02_Direct, 0);
+		if (RetVal.Value != Temp)
+		{
+			stubManager.Write("\nRegister F1_LS_02_Direct new value: ");
+			stubManager.WriteHex(RetVal.Value,4);	
+			counter = counter + 1;
+		}
+		Thread.Sleep(100);
+			Temp = RetVal.Value;
+
+	}
+	
+
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_Motors.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_Motors.cs
new file mode 100644
index 000000000..35e733a82
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_Motors.cs
@@ -0,0 +1,79 @@
+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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_Motors.cs"
+//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_Motors.cs"
+	
+
+public void OnExecute(StubManager stubManager)
+{
+	
+	stubManager.Write("\n\n***   LTFU Motor Test   ***\n");
+	
+	stubManager.Write("\n***   Pulling motor drivers out of reset\n");
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST1, 0, 1);
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST1, 1, 1);
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST1, 2, 1);
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST1, 4, 1);
+	
+
+	//Place in high-Z state
+	stubManager.Write("\n***   Place in high-Z state\n");
+	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)
+	*/
+	
+	stubManager.Write("\n***   Running motor F1_MOTO_LDRIVING for 4 seconds...  ");
+	Motor_Run(FPGA1, F1_MOTO_LDRIVING_TX1, F1_MOTO_LDRIVING_TX0, 0xffff, 0x1);
+	Thread.Sleep(4000);	
+	Motor_HighZ(FPGA1, F1_MOTO_LDRIVING_TX1, F1_MOTO_LDRIVING_TX0);
+	stubManager.Write("\n***   Stopped motor F1_MOTO_LDRIVING");
+	
+	
+	stubManager.Write("\n\n***   Moving motor F1_MOTO_LLOADING back and for for 4 times...");
+	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);		
+	stubManager.Write("\n***   Stopped motor F1_MOTO_LLOADING");
+
+	stubManager.Write("\n\n***   Moving motor F1_MOTO_LDANCER1 back and for for 4 times...");
+	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);	
+	stubManager.Write("\n***   Stopped motor F1_MOTO_LDANCER1");
+	
+	/*
+	stubManager.Write("\n\n***   Moving motor F1_MOTO_LDANCER2 back and for for 4 times...");
+	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);	
+	stubManager.Write("\n***   Stopped motor F1_MOTO_LDANCER2");
+	*/
+	
+	stubManager.Write("\n\n***   Moving motor F1_MOTO_LPIVOT1 back and for for 4 times...");
+	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);	
+	stubManager.Write("\n***   Stopped motor F1_MOTO_LPIVOT1");
+	
+	stubManager.Write("\n\n***   RTFU Motor Test Ended  ***");
+	
+
+}
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_Motors_Switch.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_Motors_Switch.cs
new file mode 100644
index 000000000..7578e825d
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_Motors_Switch.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.Diagnostics;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_Motors.cs"
+//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_Motors.cs"
+	
+
+
+public void OnExecute(StubManager stubManager)
+{
+	
+	stubManager.Write("\n***   LTFU Motor + limit switch Test   ***");
+//	stubManager.Write("\n***   Pulling motor drivers out of reset");
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST1, 0, 1);
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST1, 1, 1);
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST1, 2, 1);
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST1, 4, 1);
+	
+	stubManager.Write("\n***   F1_MOTO_LPIVOT1 is moving back and forth  ");
+
+	
+
+	//mov LLOAD - up
+	stubManager.Write("\n***   Moving motor F1_MOTO_LLOADING back and for");
+	MotorHomingRequest motorHomingRequest = new MotorHomingRequest();
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 19;
+	motorHomingRequest.Speed = 500;
+	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Forward;		//Forward
+	stubManager.Run(motorHomingRequest);
+	Thread.Sleep(6000);
+	//mov lLOAD - dn
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 19;
+	motorHomingRequest.Speed = 500;
+	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Backward;		//Forward
+  	stubManager.Run(motorHomingRequest);
+    Thread.Sleep(5000);
+     var response = stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,19, false, 1000);
+    Thread.Sleep(1000);
+
+    
+	//mov ldriving - 
+	stubManager.Write("\n***   Running motor F1_MOTO_LDRIVING for 4 seconds...  ");
+	Motor_Run(FPGA1, F1_MOTO_LDRIVING_TX1, F1_MOTO_LDRIVING_TX0, 0xffff, 0x1);
+//	Thread.Sleep(4000);	
+	Motor_HighZ(FPGA1, F1_MOTO_LDRIVING_TX1, F1_MOTO_LDRIVING_TX0);
+
+   
+	//mov Ldancer - 
+	stubManager.Write("\n***   F1_MOTO_LDANCER1 is moving back and forth  ");
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 16;
+	motorHomingRequest.Speed = 500;
+	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Forward;		//Forward
+	stubManager.Run(motorHomingRequest);
+	Thread.Sleep(20000);
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 16;
+	motorHomingRequest.Speed = 500;
+	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Backward;		//Backard
+	stubManager.Run(motorHomingRequest);
+	Thread.Sleep(20000);
+ 
+    
+    
+	//mov Lpivot - 
+	stubManager.Write("\n***   F1_MOTO_LPIVOT1 is moving back and forth  ");
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 20;
+	motorHomingRequest.Speed = 500;
+	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Forward;		//Forward
+	stubManager.Run(motorHomingRequest);
+	Thread.Sleep(20000);
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 20;
+	motorHomingRequest.Speed = 500;
+	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Backward;		//Backard
+	stubManager.Run(motorHomingRequest);
+	Thread.Sleep(20000);
+ 
+     
+    
+    
+    
+    
+    
+    
+	
+	stubManager.Write("\n***   F1_MOTO_RDANCER is moving back and forth  ");
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 21;
+	motorHomingRequest.Speed = 10;
+//	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Forward;		//Forward
+//	stubManager.Run(motorHomingRequest);
+//	Thread.Sleep(5000);
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 21;
+	motorHomingRequest.Speed = 10;
+//	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Backward;		//Backard
+//	stubManager.Run(motorHomingRequest);
+//	Thread.Sleep(4000);
+
+	stubManager.Write("\n\n***   RTFU Motor Test Ended  ***");
+	
+
+	
+}
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_Motors_Switch1.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_Motors_Switch1.cs
new file mode 100644
index 000000000..9955e0e5d
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_Motors_Switch1.cs
@@ -0,0 +1,208 @@
+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.Diagnostics;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_Motors.cs"
+include "Tango_Defines_LimitSwitch.cs"
+
+//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_Motors.cs"
+	
+
+
+public void OnExecute(StubManager stubManager)
+{
+Int32 Bit = 1;	
+	stubManager.Write("\n***   LTFU Motor + limit switch Test   ***");
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST1, 0, 1);
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST1, 1, 1);
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST1, 2, 1);
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST1, 4, 1);
+	
+	stubManager.Write("\n***   Moving motor F1_MOTO_LLOADING back and for");
+			Bit = 1;
+
+	var response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,19,true , 500);
+	while (Bit != 0x0)		//wait until LTFU LOADRAM Down
+			{	
+					Bit = GetBit(FPGA1, F1_LS_02_Direct,8);	
+					Thread.Sleep(10);
+			}
+		Thread.Sleep(100);
+					stubManager.Write("\n--------1--------");
+
+
+response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,19, false, 500);
+		Bit = 1;
+	while (Bit != 0x0)		//wait until LTFU LOADRAM Down
+			{	
+			Bit = GetBit(FPGA1, F1_LS_02_Direct,9);	
+			Thread.Sleep(10);
+			}
+			stubManager.Write("\n--------2--------");
+	response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,19, false, 0);
+
+				Thread.Sleep(100);
+   var response1 = stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,19, false, 5000);
+	Thread.Sleep(1000);
+	Motor_HighZ(FPGA1, F1_MOTO_LLOADING_TX1, F1_MOTO_LLOADING_TX0);		
+	stubManager.Write("\n***   Stopped motor F1_MOTO_LLOADING");
+
+
+		//mov ldriving - 
+	stubManager.Write("\n***   Running motor F1_MOTO_LDRIVING for 4 seconds...  ");
+	Motor_Run(FPGA1, F1_MOTO_LDRIVING_TX1, F1_MOTO_LDRIVING_TX0, 0xffff, 0x1);
+	Thread.Sleep(4000);	
+	Motor_HighZ(FPGA1, F1_MOTO_LDRIVING_TX1, F1_MOTO_LDRIVING_TX0);
+
+
+
+
+
+
+
+
+	stubManager.Write("\n\n***   Moving motor F1_MOTO_LDANCER1 back and for ...");
+	
+	Bit = 1;
+	response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,16,false ,500);
+	while (Bit != 0x0)		//wait until LTFU LOADRAM Down
+			{	
+					Bit = GetBit(FPGA1, F1_LS_02_Direct,12);	
+					Thread.Sleep(10);
+			}
+		Thread.Sleep(100);
+					stubManager.Write("\n--------1--------");
+
+
+response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,16, true, 500);
+		Bit = 1;
+	while (Bit != 0x0)		//wait until LTFU LOADRAM Down
+			{	
+			Bit = GetBit(FPGA1, F1_LS_02_Direct,13);	
+			Thread.Sleep(10);
+			}
+
+ 	Thread.Sleep(1000);
+	Motor_HighZ(FPGA1, F1_MOTO_LDANCER1_TX1, F1_MOTO_LDANCER1_TX0);	
+
+	
+	
+	
+
+/*
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+	
+
+	//mov LLOAD - up
+	stubManager.Write("\n***   Moving motor F1_MOTO_LLOADING back and for");
+	MotorHomingRequest motorHomingRequest = new MotorHomingRequest();
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 19;
+	motorHomingRequest.Speed = 500;
+	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Forward;		//Forward
+	stubManager.Run(motorHomingRequest);
+	Thread.Sleep(6000);
+	//mov lLOAD - dn
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 19;
+	motorHomingRequest.Speed = 500;
+	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Backward;		//Forward
+  	stubManager.Run(motorHomingRequest);
+    Thread.Sleep(5000);
+     var response = stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,19, false, 1000);
+    Thread.Sleep(1000);
+
+    
+	//mov ldriving - 
+	stubManager.Write("\n***   Running motor F1_MOTO_LDRIVING for 4 seconds...  ");
+	Motor_Run(FPGA1, F1_MOTO_LDRIVING_TX1, F1_MOTO_LDRIVING_TX0, 0xffff, 0x1);
+//	Thread.Sleep(4000);	
+	Motor_HighZ(FPGA1, F1_MOTO_LDRIVING_TX1, F1_MOTO_LDRIVING_TX0);
+
+   
+	//mov Ldancer - 
+	stubManager.Write("\n***   F1_MOTO_LDANCER1 is moving back and forth  ");
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 16;
+	motorHomingRequest.Speed = 500;
+	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Forward;		//Forward
+	stubManager.Run(motorHomingRequest);
+	Thread.Sleep(20000);
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 16;
+	motorHomingRequest.Speed = 500;
+	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Backward;		//Backard
+	stubManager.Run(motorHomingRequest);
+	Thread.Sleep(20000);
+ 
+    
+    
+	//mov Lpivot - 
+	stubManager.Write("\n***   F1_MOTO_LPIVOT1 is moving back and forth  ");
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 20;
+	motorHomingRequest.Speed = 500;
+	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Forward;		//Forward
+	stubManager.Run(motorHomingRequest);
+	Thread.Sleep(20000);
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 20;
+	motorHomingRequest.Speed = 500;
+	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Backward;		//Backard
+	stubManager.Run(motorHomingRequest);
+	Thread.Sleep(20000);
+ 
+     
+    
+    
+    
+    
+    
+    
+	
+	stubManager.Write("\n***   F1_MOTO_RDANCER is moving back and forth  ");
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 21;
+	motorHomingRequest.Speed = 10;
+//	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Forward;		//Forward
+//	stubManager.Run(motorHomingRequest);
+//	Thread.Sleep(5000);
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 21;
+	motorHomingRequest.Speed = 10;
+//	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Backward;		//Backard
+//	stubManager.Run(motorHomingRequest);
+//	Thread.Sleep(4000);
+
+	stubManager.Write("\n\n***   RTFU Motor Test Ended  ***");
+	*/
+
+	
+}
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_SSI.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_SSI.cs
new file mode 100644
index 000000000..3218dbd83
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_SSI.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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_SSI.cs"
+//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_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 < 100; 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");
+		}
+
+		Thread.Sleep(400);
+	}
+	
+	
+}
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/test.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/test.cs
new file mode 100644
index 000000000..397c6fbd4
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/test.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;
+
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_LimitSwitch.cs"
+
+public void OnExecute(StubManager stubManager)
+{
+	Int32 Bit = 1;	
+	
+   //Write GPO_DRYER_SSR1_CTRL SSR/SSR no. 1
+   SetBit (FPGA2, F2_CTRL, 0, 1);
+   stubManager.Write("\nTesting SSR no. 13 of magnet");
+   Thread.Sleep(4000);
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/Midtank_Valves.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/Midtank_Valves.cs
new file mode 100644
index 000000000..d809e0a6a
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/Midtank_Valves.cs
@@ -0,0 +1,80 @@
+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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "..\Defines\Tango_Defines_GPO.cs"
+//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_GPO.cs"
+
+
+public void OnExecute(StubManager stubManager)
+{
+ 	int loop =1;
+	int midtankno = 0;
+while(loop!=0)
+	{
+    var response = stubManager.ShowResponseWindow("Enter Midtank number to test (1-8): press 9 to quit ", "");
+    //stubManager.WriteLine(response);
+	stubManager.Write("\n");
+	midtankno = int.Parse(response);
+
+switch (midtankno)
+        {
+            case 1:
+                midtankno=1;
+                break;
+             case 2:
+                midtankno=3;
+                break;
+             case 3:
+                midtankno=5;
+                break;
+             case 4:
+                midtankno=7;
+                break;
+             case 5:
+                midtankno=2;
+                break;
+             case 6:
+                midtankno=4;
+                break;
+             case 7:
+                midtankno=6;
+                break;
+             case 8:
+                midtankno=8;
+                break;
+              case 9:
+                loop=8;
+                break;
+ 
+
+       }	
+	
+	
+	
+		SetBit (FPGA3, F3_VALVE_OUT,8- midtankno, 1);
+		stubManager.Write("\n\nSetting GPO F3_VALVE_OUT, bit "); stubManager.Write(8-midtankno); stubManager.Write(", "); stubManager.Write(F3_VALVE_Bits[8-midtankno]);
+		Thread.Sleep(1000);
+		SetBit (FPGA3, F3_VALVE_OUT,8- midtankno, 0);
+		stubManager.Write("\nClearing GPO F3_VALVE_OUT, bit "); stubManager.Write(8-midtankno); stubManager.Write(", "); stubManager.Write(F3_VALVE_Bits[8-midtankno]);			
+		Thread.Sleep(1000);
+		
+		SetBit (FPGA3, F3_VALVE_OUT, 16-midtankno, 1);
+		stubManager.Write("\n\nSetting GPO F3_VALVE_OUT, bit "); stubManager.Write(16-midtankno); stubManager.Write(", "); stubManager.Write(F3_VALVE_Bits[16-midtankno]);
+		Thread.Sleep(1000);
+		SetBit (FPGA3, F3_VALVE_OUT, 16-midtankno, 0);
+		stubManager.Write("\nClearing GPO F3_VALVE_OUT, bit "); stubManager.Write(16-midtankno); stubManager.Write(", "); stubManager.Write(F3_VALVE_Bits[16-midtankno]);			
+		Thread.Sleep(1000);
+}		
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/Midtank_pressure_sensors.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/Midtank_pressure_sensors.cs
new file mode 100644
index 000000000..682ef322d
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/Midtank_pressure_sensors.cs
@@ -0,0 +1,172 @@
+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;
+
+//----------------------
+
+//----------------------
+const Int32 I2C_ID =  2;
+//const Int32 I2C_Slave_Add = 0x46; //must be 0x40, 0x44 or 0x46
+//----------------------
+
+int adc_configuration(uint I2C_Slave_Add,uint channel ) 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x00);//Byte 0 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(channel);//Byte 1 to Write, must be 0x80, 0x40, 0x20, 0x10, 0x08, 0x04, 0x02 or 0x01 for different channels
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x80);//Byte 2 to Write
+	
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+	}
+
+
+
+
+int adc_set_for_read_temp(uint I2C_Slave_Add) 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x02);//Byte 0 to write
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+	}
+
+
+
+
+int adc_read_temp(uint I2C_Slave_Add) 
+	{
+
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID;
+	stubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add;
+	stubI2CReadBytesRequest.NumberOfBytesToRead = 2; // Number of bytes to read
+
+	var response1 = stubManager.Run<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+	
+	for(int i=0; i<stubI2CReadBytesRequest.NumberOfBytesToRead;i++)
+			{
+				stubManager.WriteLineHex(response1.ReadBytes[i],2);
+			}
+	
+	
+	return 1;
+	}
+
+
+
+
+int adc_set_for_read_ch(uint I2C_Slave_Add) 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x01);//Byte 0 to write
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+	}
+
+
+int adc_read_ch(uint I2C_Slave_Add) 
+	{
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID;
+	stubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add;
+	stubI2CReadBytesRequest.NumberOfBytesToRead = 2; // Number of bytes to read
+
+	var response1 = stubManager.Run<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+	uint temph=0;
+	uint templ=0;
+	uint temp;
+	for(int i=0; i<stubI2CReadBytesRequest.NumberOfBytesToRead;i=i+2)
+			{
+			temph=response1.ReadBytes[i];
+			templ=response1.ReadBytes[i+1];
+			temp = (temph << 8) | templ;
+			temp=temp & 0x0fff;
+			stubManager.WriteHex(temp,4);
+
+			}
+	
+	return 1;
+	}
+
+
+public void OnExecute(StubManager stubManager)
+{
+		for (int i = 0; i<100; i++)
+	{
+	
+
+		stubManager.Write("\n-----------MIDTANK_PRESSESENS----------- ");
+
+		stubManager.Write("\n1_1= "); 
+		adc_configuration(0x44,0x20);		//a2d_address 0x44 channel channel 2
+//		adc_set_for_read_temp(0x44);
+//		adc_read_temp(0x44);
+		adc_set_for_read_ch(0x44);
+		adc_read_ch(0x44);
+	
+		stubManager.Write("\n1_2= "); 
+		adc_configuration(0x44,0x10);		//a2d_address 0x44 channel channel 3
+		adc_set_for_read_ch(0x44);
+		adc_read_ch(0x44);
+
+		stubManager.Write("\n2_1= "); 
+		adc_configuration(0x44,0x08);		//a2d_address 0x44 channel channel 4
+		adc_set_for_read_ch(0x44);
+		adc_read_ch(0x44);
+
+		stubManager.Write("\n2_2= "); 
+		adc_configuration(0x44,0x04);		//a2d_address 0x44 channel channel 5
+		adc_set_for_read_ch(0x44);
+		adc_read_ch(0x44);
+
+		stubManager.Write("\n3_1= "); 
+		adc_configuration(0x46,0x80);		//a2d_address 0x46 channel channel 0
+		adc_set_for_read_ch(0x46);
+		adc_read_ch(0x46);
+
+		stubManager.Write("\n3_2= "); 
+		adc_configuration(0x46,0x40);		//a2d_address 0x46 channel channel 1
+		adc_set_for_read_ch(0x46);
+		adc_read_ch(0x46);
+
+		stubManager.Write("\n4_1= "); 
+		adc_configuration(0x46,0x20);		//a2d_address 0x46 channel channel 2
+		adc_set_for_read_ch(0x46);
+		adc_read_ch(0x46);
+
+
+		stubManager.Write("\n4_2= "); 
+		adc_configuration(0x46,0x10);		//a2d_address 0x46 channel channel 3
+		adc_set_for_read_ch(0x46);
+		adc_read_ch(0x46);
+		
+		Thread.Sleep(1000);		
+
+	}
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Other/All_PT100.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Other/All_PT100.cs
new file mode 100644
index 000000000..bc338adb2
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Other/All_PT100.cs
@@ -0,0 +1,99 @@
+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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_PT100.cs"
+//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_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);	//Continuous 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");
+
+	for (int i=0; i < 1000; 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");
+		}
+		
+	}
+	
+	
+}
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Other/I2C_DAC_MultiBytes.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Other/I2C_DAC_MultiBytes.cs
new file mode 100644
index 000000000..009f5450c
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Other/I2C_DAC_MultiBytes.cs
@@ -0,0 +1,64 @@
+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;
+
+//----------------------
+//I2C4:
+//	Switches address: 0xE0, 0xE4, 0xE3
+//I2C3
+//	Switches address: 0xE0, 0xE4, 0xE3
+//  ADC address: 0x40, 0x44, 0x46
+//I2C2
+//  DAC address: 0x98
+//  EEPROM address: 0xA0
+
+//----------------------
+const Int32 I2C_ID =  2;
+const Int32 I2C_Slave_Add = 0x98;
+//----------------------
+
+public void OnExecute(StubManager stubManager)
+{
+
+	// --------------------- I2C write multibyte --------------------- 	
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x30);//Byte 0 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0xff);//Byte 1 to Write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x00);//Byte 2 to Write
+
+	
+	//and so on,add lines in order to add Bytes - max : 256
+	
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+/*
+	// --------------------- I2C Read multibyte --------------------- 
+	
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID;
+	stubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add;
+	stubI2CReadBytesRequest.NumberOfBytesToRead = 3; // Number of bytes to read
+
+	var response1 = stubManager.Run<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+	
+	for(int i=0; i<stubI2CReadBytesRequest.NumberOfBytesToRead;i++)
+	{
+		stubManager.WriteLineHex(response1.ReadBytes[i],2);
+	}
+
+*/	
+	
+	
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Other/PT100__Horizontal_Printing.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Other/PT100__Horizontal_Printing.cs
new file mode 100644
index 000000000..5eefde9e8
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Other/PT100__Horizontal_Printing.cs
@@ -0,0 +1,58 @@
+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;
+using Tango.Stubs;//
+using Tango.PMR.Printing;
+using Tango.PMR.Hardware;
+
+
+public void OnExecute(StubManager stubManager)
+{
+ProcessParameters processParameters = new ProcessParameters();
+processParameters.DyeingSpeed = 30;
+processParameters.DryerBufferLength = 0;
+processParameters.MinInkUptake = 0;
+processParameters.DryerZone1Temp = 120;
+processParameters.DryerZone2Temp = 0;
+processParameters.DryerZone3Temp = 0;
+processParameters.HeadZone1Temp = 120;
+processParameters.HeadZone2Temp = 150;
+processParameters.HeadZone3Temp = 150;
+processParameters.HeadZone4Temp = 150;
+processParameters.HeadZone5Temp = 0;
+
+UploadProcessParametersRequest uploadProcessParametersRequest = new UploadProcessParametersRequest();
+
+uploadProcessParametersRequest.ProcessParameters = processParameters;
+var response1 = stubManager.Run<UploadProcessParametersResponse>(uploadProcessParametersRequest);
+
+
+	stubManager.Write("\n");	
+	stubManager.Write("MIXCHIP  \tDYEINGH_1\tDYEINGH_2\tDYEINGH_3\tDYEINGH_4\tDYEINGH_5\tDRYER_1  \tDRYER_2  \tDRYER_3  \tENCLOSURE_1\tENCLOSURE_2\tENCLOSURE_3\n");
+	stubManager.Write("-------  \t---------\t---------\t---------\t---------\t---------\t-------  \t-------  \t-------  \t-----------\t-----------\t-----------\n"); 
+	
+	for (int j = 0; j < 1000; j++)
+	{
+		for (int i = 0; i < 12; i++)//12
+	    {
+	
+			var response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,i); //
+			float ftemp = (float)response.TemperatureCMultBy100;
+			ftemp = ftemp / 100;
+
+			stubManager.Write(ftemp.ToString("F2")); 
+			stubManager.Write("°C  \t");	
+	
+	    }
+		stubManager.Write("\n");
+        Thread.Sleep(1000);
+	}
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Other/Tiva_Analogs.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Other/Tiva_Analogs.cs
new file mode 100644
index 000000000..c6d5ea2c7
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Other/Tiva_Analogs.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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+//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/Scripts/Assemblies/Other/i2c_mcp9600.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Other/i2c_mcp9600.cs
new file mode 100644
index 000000000..5ee9ce4ee
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Other/i2c_mcp9600.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.Stubs;
+using Tango.Stubs;
+
+//----------------------
+
+//----------------------
+const Int32 I2C_ID =  3;			//MCU_I2C2 
+const Int32 TCA9548A_address =	 0xe2;	 	//or 0xE0 or 0xE4
+const Int32 I2C_Slave_Add = 	0xc0;			//	/MPC9600 address 
+//const Int32 I2C_Slave_Add = 0x46; //must be 0x40, 0x44 or 0x46
+//----------------------
+
+int enable_all_channel() 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = TCA9548A_address;
+	
+//	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0xff);//enable all 8 i2c channel
+	
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+	}
+
+
+
+
+int adc_set_for_read_ch(uint I2C_Slave_Add) 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x00);//Byte 0 to write
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+	}
+
+
+int adc_read_ch(uint I2C_Slave_Add) 
+	{
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID;
+	stubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add;
+	stubI2CReadBytesRequest.NumberOfBytesToRead = 2; // Number of bytes to read
+
+	var response1 = stubManager.Run<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+	uint temph=0;
+	uint templ=0;
+	uint temp;
+	for(int i=0; i<stubI2CReadBytesRequest.NumberOfBytesToRead;i=i+2)
+			{
+			temph=response1.ReadBytes[i];
+			templ=response1.ReadBytes[i+1];
+			temp = (temph << 8) | templ;
+			temp=temp & 0x0fff;
+			stubManager.WriteHex(temp,4);
+
+			}
+	
+	return 1;
+	}
+
+
+public void OnExecute(StubManager stubManager)
+{
+	
+	enable_all_channel();
+	
+	for (int i = 0; i<100; i++)
+	{
+	
+
+//		stubManager.Write("\n-----------te----------- ");
+
+		stubManager.Write("\n1= "); 
+		adc_set_for_read_ch(I2C_Slave_Add);
+		adc_read_ch(I2C_Slave_Add);
+		
+		Thread.Sleep(1000);		
+
+	}
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_GPO.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_GPO.cs
new file mode 100644
index 000000000..966316f11
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_GPO.cs
@@ -0,0 +1,36 @@
+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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_GPO.cs"
+include "Tango_Defines_Motors.cs"
+//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 //GPO_TFEED_BREAK_1 Mat10.7.2018
+		
+		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/Scripts/Assemblies/RTFU/RTFU_LimitSwitch.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_LimitSwitch.cs
new file mode 100644
index 000000000..fa1566a8c
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_LimitSwitch.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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_LimitSwitch.cs"
+//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_LimitSwitch.cs"
+                             	
+                            
+
+public void OnExecute(StubManager stubManager)
+{
+ 	uint Temp = 0;
+	int counter = 0;
+	stubManager.Write("\nReading register F1_LS_03_Direct: ");
+	var RetVal = Fpga_Read_Reg(FPGA1, F1_LS_03_Direct, 0);
+	stubManager.WriteHex(RetVal.Value,4); 
+	Temp = RetVal.Value;
+	stubManager.Write("\nActivate limit switches one-by-one");
+	
+	while ( counter != 100)
+	{
+		RetVal = Fpga_Read_Reg(FPGA1, F1_LS_03_Direct, 0);
+		if (RetVal.Value != Temp)
+		{
+			stubManager.Write("\nRegister F1_LS_03_Direct new value: ");
+			stubManager.WriteHex(RetVal.Value, 4);	
+			counter = counter + 1;
+		}
+		Thread.Sleep(100);
+			Temp = RetVal.Value;
+
+	}
+				
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_LimitSwitch1.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_LimitSwitch1.cs
new file mode 100644
index 000000000..ad3342d2a
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_LimitSwitch1.cs
@@ -0,0 +1,71 @@
+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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_LimitSwitch.cs"
+//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_LimitSwitch.cs"
+                             	
+                            
+
+public void OnExecute(StubManager stubManager)
+{
+ 	uint Temp = 0;
+ 	uint Temp1 = 0;
+	int counter = 0;
+	stubManager.Write("\nReading register F1_LS_03_Direct: ");
+	var RetVal = Fpga_Read_Reg(FPGA1, F1_LS_03_Direct, 0);
+	stubManager.WriteHex(RetVal.Value,4); 
+	Temp = RetVal.Value;
+	stubManager.Write("\nActivate limit switches one-by-one");
+	
+	while ( counter != 100)
+	{
+		RetVal = Fpga_Read_Reg(FPGA1, F1_LS_03_Direct, 0);
+		if (RetVal.Value != Temp)
+		{
+		//	stubManager.Write("\nRegister F1_LS_03_Direct new value: ");
+		//	stubManager.WriteHex(RetVal.Value, 4);	
+				
+		//	Temp1=RetVal.Value & 0x0010;
+		//if (Temp1 !=0x0010)
+		//	stubManager.Write("\nRTFU LOADRAM Up");
+				
+			Temp1=RetVal.Value & 0x0020;
+		if (Temp1 !=0x0020)
+			stubManager.Write("\nRTFU LOADRAM Down");
+				
+			Temp1=RetVal.Value & 0x0040;
+		if (Temp1 !=0x0040)
+			stubManager.Write("\nRTFU LOADMOTOR Up");
+		
+			Temp1=RetVal.Value & 0x0080;
+		if (Temp1 !=0x0080)
+			stubManager.Write("\nRTFU LOADMOTOR Down");
+		
+			Temp1=RetVal.Value & 0x0100;
+		if (Temp1 !=0x0100)
+			stubManager.Write("\nRTFU DANCER Up");
+
+			Temp1=RetVal.Value & 0x0200;
+		if (Temp1 !=0x0200)
+			stubManager.Write("\nRTFU DANCER Down");
+
+		
+			counter = counter + 1;
+		}
+		Thread.Sleep(100);
+			Temp = RetVal.Value;
+
+	}
+				
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_Motors.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_Motors.cs
new file mode 100644
index 000000000..e2eaacabb
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_Motors.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.Stubs;
+using Tango.Stubs;
+
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_Motors.cs"
+//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_Motors.cs"
+	
+
+
+public void OnExecute(StubManager stubManager)
+{
+	
+	stubManager.Write("\n\n***   RTFU Motor Test   ***\n");
+	
+	stubManager.Write("\n***   Pulling motor drivers out of reset\n");
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST2, 2, 1);
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST2, 4, 1);
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST2, 5, 1);
+	
+
+	//Place in high-Z state
+	stubManager.Write("\n***   Place in high-Z state\n");
+	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_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_RDANCER_TX1, F1_MOTO_RDANCER_TX0);
+	
+	stubManager.Write("\n\n***   Moving motor F1_MOTO_RLOADING back and for 1 times...");
+	Motor_Move_Loop(FPGA1, F1_MOTO_RLOADING_TX1, F1_MOTO_RLOADING_TX0, 0x2400, 0x0, 1);
+	Thread.Sleep(1000);
+	Motor_Move_Loop(FPGA1, F1_MOTO_RLOADING_TX1, F1_MOTO_RLOADING_TX0, 0x6000, 0x1, 1);
+	Thread.Sleep(1000);
+	Motor_HighZ(FPGA1, F1_MOTO_RLOADING_TX1, F1_MOTO_RLOADING_TX0);
+	stubManager.Write("\n***   Stopped motor F1_MOTO_RLOADING");
+	
+	
+	stubManager.Write("\n***   Running motor F1_MOTO_RDRIVING for 4 seconds...  ");
+	Motor_Run(FPGA1, F1_MOTO_RDRIVING_TX1, F1_MOTO_RDRIVING_TX0, 0xffff, 0x1);
+	Thread.Sleep(4000);	
+	Motor_HighZ(FPGA1, F1_MOTO_RDRIVING_TX1, F1_MOTO_RDRIVING_TX0);
+	stubManager.Write("\n***   Stopped motor F1_MOTO_RDRIVING");
+
+	stubManager.Write("\n\n***   Moving motor F1_MOTO_RDANCER back and for for 1 times...");
+	Motor_Move_Loop(FPGA1, F1_MOTO_RDANCER_TX1, F1_MOTO_RDANCER_TX0, 0x200, 0x1, 1);
+		Thread.Sleep(1000);
+
+	Motor_Move_Loop(FPGA1, F1_MOTO_RDANCER_TX1, F1_MOTO_RDANCER_TX0, 0x200, 0x0, 1);
+	Motor_HighZ(FPGA1, F1_MOTO_RDANCER_TX1, F1_MOTO_RDANCER_TX0);
+	stubManager.Write("\n***   Stopped motor F1_MOTO_RDANCER");
+	
+	stubManager.Write("\n\n***   RTFU Motor Test Ended  ***");
+	
+
+
+}
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_Motors_Switch.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_Motors_Switch.cs
new file mode 100644
index 000000000..dfcebb6f4
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_Motors_Switch.cs
@@ -0,0 +1,71 @@
+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.Diagnostics;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_Motors.cs"
+//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_Motors.cs"
+	
+
+
+public void OnExecute(StubManager stubManager)
+{
+	
+	stubManager.Write("\n***   RTFU Motor + limit switch Test   ***");
+	stubManager.Write("\n***   Pulling motor drivers out of reset\n");
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST2, 2, 1);
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST2, 4, 1);
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST2, 5, 1);
+
+
+	//mov RLOAD - up
+	stubManager.Write("\n***   Moving motor F1_MOTO_RLOADING back and for 1 times...");
+	MotorHomingRequest motorHomingRequest = new MotorHomingRequest();
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 24;
+	motorHomingRequest.Speed = 500;
+	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Forward;		//Forward
+	stubManager.Run(motorHomingRequest);
+	Thread.Sleep(5000);
+	//mov RLOAD - dn
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 24;
+	motorHomingRequest.Speed = 500;
+	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Backward;		//Forward
+  	stubManager.Run(motorHomingRequest);
+    Thread.Sleep(4000);
+	//mov RLOAD - to zero
+    var response = stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,24, true, 5000);
+	Thread.Sleep(4000);
+	//mov rdriving - 
+	stubManager.Write("\n***   Running motor F1_MOTO_RDRIVING for 4 seconds...  ");
+	Motor_Run(FPGA1, F1_MOTO_RDRIVING_TX1, F1_MOTO_RDRIVING_TX0, 0xffff, 0x1);
+	Thread.Sleep(4000);	
+	Motor_HighZ(FPGA1, F1_MOTO_RDRIVING_TX1, F1_MOTO_RDRIVING_TX0);
+	
+	stubManager.Write("\n***   F1_MOTO_RDANCER is moving back and forth  ");
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 21;
+	motorHomingRequest.Speed = 10;
+	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Forward;		//Forward
+	stubManager.Run(motorHomingRequest);
+	Thread.Sleep(5000);
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 21;
+	motorHomingRequest.Speed = 10;
+	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Backward;		//Backard
+	stubManager.Run(motorHomingRequest);
+	Thread.Sleep(4000);
+
+	stubManager.Write("\n\n***   RTFU Motor Test Ended  ***");
+	
+
+
+}
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_Motors_Switch1.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_Motors_Switch1.cs
new file mode 100644
index 000000000..9a8c4eba6
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_Motors_Switch1.cs
@@ -0,0 +1,174 @@
+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.Diagnostics;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_Motors.cs"
+include "Tango_Defines_LimitSwitch.cs"
+
+//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_Motors.cs"
+//include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\LAB_Tests\Main_PCB\ATP_Test\Scripts\Defines\Tango_Defines_LimitSwitch.cs"
+	
+
+
+public void OnExecute(StubManager stubManager)
+{
+	Int32 Bit = 1;	
+	stubManager.Write("\n***   RTFU Motor + limit switch Test   ***");
+//	stubManager.Write("\n***   Pulling motor drivers out of reset\n");
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST2, 2, 1);
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST2, 4, 1);
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST2, 5, 1);
+	Thread.Sleep(4000);
+	
+	stubManager.Write("\nReading register F1_LS_03_Direct: ");
+	var RetVal = Fpga_Read_Reg(FPGA1, F1_LS_03_Direct, 0);
+	stubManager.WriteHex(RetVal.Value,4); 
+
+var response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,21, true, 10);
+	while (Bit != 0x0)		//wait until RTFU LOADRAM Down
+			{	
+					Bit = GetBit(FPGA1, F1_LS_03_Direct,5);	
+					Thread.Sleep(10);
+			}
+		Thread.Sleep(100);
+					stubManager.Write("\n--------1-LOADRAM--------");
+
+
+response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,21, false, 10);
+		Bit = 1;
+	while (Bit != 0x0)		//wait until RTFU LOADRAM Down
+			{	
+			Bit = GetBit(FPGA1, F1_LS_03_Direct,9);	
+			Thread.Sleep(10);
+			}
+			Thread.Sleep(100);
+			stubManager.Write("\n--------2-LOADRAM-------");
+
+	
+response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,21, true,10);
+			Bit = 1;
+			while (Bit != 0x0)		//wait until RTFU LOADRAM Down
+			{	
+			Bit = GetBit(FPGA1, F1_LS_03_Direct,8);	
+			Thread.Sleep(10);
+			}
+			Thread.Sleep(100);
+			stubManager.Write("\n--------3-LOADRAM-------");
+
+	Motor_HighZ(FPGA1, F1_MOTO_RDANCER_TX1, F1_MOTO_RDANCER_TX0);
+
+//response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,21, false, 0);
+
+
+			Bit = 1;
+
+	response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,24, false, 500);
+	while (Bit != 0x0)		//wait until RTFU LOADRAM Down
+			{	
+					Bit = GetBit(FPGA1, F1_LS_03_Direct,6);	
+					Thread.Sleep(10);
+			}
+		Thread.Sleep(100);
+					stubManager.Write("\n--------1--------");
+
+
+response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,24, true, 500);
+		Bit = 1;
+	while (Bit != 0x0)		//wait until RTFU LOADRAM Down
+			{	
+			Bit = GetBit(FPGA1, F1_LS_03_Direct,7);	
+			Thread.Sleep(10);
+			}
+			stubManager.Write("\n--------2--------");
+	response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,24, true, 0);
+
+				Thread.Sleep(100);
+   var response1 = stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,24, true, 5000);
+	Thread.Sleep(1000);
+	Motor_HighZ(FPGA1, F1_MOTO_RLOADING_TX1, F1_MOTO_RLOADING_TX0);
+
+	
+	//mov rdriving -
+	stubManager.Write("\n***   Running motor F1_MOTO_RDRIVING for 4 seconds...  ");
+	Motor_Run(FPGA1, F1_MOTO_RDRIVING_TX1, F1_MOTO_RDRIVING_TX0, 0xffff, 0x1);
+	Thread.Sleep(4000);	
+	Motor_HighZ(FPGA1, F1_MOTO_RDRIVING_TX1, F1_MOTO_RDRIVING_TX0);
+
+	
+	
+	
+	
+/*	
+	
+	stubManager.Write("\n***   F1_MOTO_RDANCER is moving back and forth  ");
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 21;
+	motorHomingRequest.Speed = 10;
+	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Forward;		//Forward
+	stubManager.Run(motorHomingRequest);
+	Thread.Sleep(5000);
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 21;
+	motorHomingRequest.Speed = 10;
+	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Backward;		//Backard
+	stubManager.Run(motorHomingRequest);
+	Thread.Sleep(4000);
+
+*/	
+	
+	
+	
+	
+	
+/*	
+
+	//mov RLOAD - up
+	stubManager.Write("\n***   Moving motor F1_MOTO_RLOADING back and for 1 times...");
+	MotorHomingRequest motorHomingRequest = new MotorHomingRequest();
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 24;
+	motorHomingRequest.Speed = 500;
+	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Forward;		//Forward
+	stubManager.Run(motorHomingRequest);
+	Thread.Sleep(5000);
+	//mov RLOAD - dn
+	motorHomingRequest.MotorType = (Tango.PMR.Hardware.HardwareMotorType) 24;
+	motorHomingRequest.Speed = 500;
+	motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Backward;		//Forward
+  	stubManager.Run(motorHomingRequest);
+    Thread.Sleep(4000);
+	//mov RLOAD - to zero
+    var response = stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,24, true, 5000);
+	Thread.Sleep(4000);
+*/
+
+
+
+
+	//mov rdriving -
+//	stubManager.Write("\n***   Running motor F1_MOTO_RDRIVING for 4 seconds...  ");
+//	Motor_Run(FPGA1, F1_MOTO_RDRIVING_TX1, F1_MOTO_RDRIVING_TX0, 0xffff, 0x1);
+//	Thread.Sleep(4000);	
+//	Motor_HighZ(FPGA1, F1_MOTO_RDRIVING_TX1, F1_MOTO_RDRIVING_TX0);
+
+
+
+	stubManager.Write("\n\n***   RTFU Motor Test Ended  ***");
+	
+
+
+}
+
+
+
+
+
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_SSI.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_SSI.cs
new file mode 100644
index 000000000..c62140767
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_SSI.cs
@@ -0,0 +1,49 @@
+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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_SSI.cs"
+//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_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 < 100; 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    					RSpeed      \n");
+		}
+		Thread.Sleep(400);
+	}
+	
+	
+}
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Winder/Winder_LimitSwitch.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Winder/Winder_LimitSwitch.cs
new file mode 100644
index 000000000..78aed1afc
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Winder/Winder_LimitSwitch.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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_LimitSwitch.cs"
+//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_LimitSwitch.cs"
+
+public void OnExecute(StubManager stubManager)
+{
+ 	
+ 	uint Temp = 0;
+	int counter = 0;
+	stubManager.Write("\nReading register F1_LS_03_Direct: ");
+	var RetVal = Fpga_Read_Reg(FPGA1, F1_LS_03_Direct, 0);
+	stubManager.WriteHex(RetVal.Value,4); 
+	Temp = RetVal.Value;
+	stubManager.Write("\nActivate limit switches one-by-one");
+	
+	while ( counter != 100)
+	{
+		RetVal = Fpga_Read_Reg(FPGA1, F1_LS_03_Direct, 0);
+		if (RetVal.Value != Temp)
+		{
+			stubManager.Write("\nRegister F1_LS_03_Direct new value: ");
+			stubManager.WriteHex(RetVal.Value,4);	
+			counter = counter + 1;
+		}
+		Thread.Sleep(100);
+		 	Temp=RetVal.Value;
+	}
+	
+
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Winder/Winder_Motors.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Winder/Winder_Motors.cs
new file mode 100644
index 000000000..27c1a7d0d
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Winder/Winder_Motors.cs
@@ -0,0 +1,130 @@
+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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_Motors.cs"
+//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_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, 0xf0000000);  //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,   0x0395, 0x1); //17.5 rps, 3500 full steps/second
+	//Motor_HighZ(Fpga, HighAdr, LowAdr);
+	return 1;
+ }
+ int Winder_Motor_Go_Ccr(Int32 Fpga, Int32 HighAdr, Int32 LowAdr)
+ {
+	Motor_Run(Fpga, HighAdr, LowAdr, 0x016f00, 0x0); // 7   rps, 1400 full steps/second
+	//Motor_Run(Fpga, HighAdr, LowAdr, 0x02de00, 0x1); //14   rps, 2800 full steps/second
+	//Motor_Run(Fpga, HighAdr, LowAdr,   0x0395, 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, 0x1, 4); //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);
+	Thread.Sleep(1000);
+
+//	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);
+	Thread.Sleep(1000);
+	Winder_Motor_Go_Ccr(FPGA1, F1_MOTO_WINDER_A1_TX_01, F1_MOTO_WINDER_A1_TX_00); 
+
+	Thread.Sleep(1000);
+	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/Scripts/Assemblies/Winder/Winder_Screw_Motors.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Winder/Winder_Screw_Motors.cs
new file mode 100644
index 000000000..b5425e70b
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Winder/Winder_Screw_Motors.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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_Motors.cs"
+//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_Params(Int32 Fpga, Int32 HighAdr, Int32 LowAdr) 
+{
+	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, 0x2d080000); //Disable shutdown by over current detect and set slew rate to 75 us
+	return 1;
+}
+
+                   
+
+public void OnExecute(StubManager stubManager)
+{
+    
+	
+	stubManager.Write("\n\n***   Winder Motor Test   ***\n");
+	
+	stubManager.Write("\n***   Pulling motor drivers out of reset\n");
+//	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST2, 0, 1);		//winder
+	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST2, 1, 1);		//screw
+	
+
+	//Place in high-Z state
+	stubManager.Write("\n***   Place in high-Z state\n");
+	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);
+
+	/*
+	Motor_ReadCfg(FPGA1, F1_MOTO_SCREW_A1_TX_01, F1_MOTO_SCREW_A1_TX_00);
+	Motor_ReadCfg(FPGA1, F1_MOTO_WINDER_A1_TX_01, F1_MOTO_WINDER_A1_TX_00);
+	*/
+	
+	//stubManager.Write("\n***   Running motor F1_MOTO_SCREW for 8 seconds...  ");
+	stubManager.Write("\n\n***   Moving motor F1_MOTO_SCREW back and for for 4 times...");
+	//Motor_Params( FPGA1,  F1_MOTO_SCREW_A1_TX_01,  F1_MOTO_SCREW_A1_TX_00); //Set KVAL_RUN to 0x01
+	//Motor_Run(FPGA1, F1_MOTO_SCREW_A1_TX_01, F1_MOTO_SCREW_A1_TX_00, 0xffff, 0x0);
+	Motor_Move_Loop(FPGA1, F1_MOTO_SCREW_A1_TX_01, F1_MOTO_SCREW_A1_TX_00, 0x6400, 0x1, 4);
+	//Thread.Sleep(1000);	
+	Motor_HighZ(FPGA1, F1_MOTO_SCREW_A1_TX_01, F1_MOTO_SCREW_A1_TX_00);
+	stubManager.Write("\n***   Stopped motor F1_MOTO_SCREW");
+
+	stubManager.Write("\n***   Running motor F1_MOTO_WINDER for 8 seconds...  ");
+	//Motor_Params( FPGA1,  F1_MOTO_WINDER_A1_TX_01,  F1_MOTO_WINDER_A1_TX_00); //Set KVAL_RUN to 0x01
+	Motor_Run(FPGA1, F1_MOTO_WINDER_A1_TX_01, F1_MOTO_WINDER_A1_TX_00, 0xffff, 0x1);
+	Thread.Sleep(8000);	
+	Motor_HighZ(FPGA1, F1_MOTO_WINDER_A1_TX_01, F1_MOTO_WINDER_A1_TX_00);
+	stubManager.Write("\n***   Stopped motor F1_MOTO_WINDER");
+	
+	stubManager.Write("\n\n***   RTFU Motor Test Ended  ***");
+
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Winder/Winder_Screw_Motors1.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Winder/Winder_Screw_Motors1.cs
new file mode 100644
index 000000000..170072a28
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Winder/Winder_Screw_Motors1.cs
@@ -0,0 +1,91 @@
+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;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_Motors.cs"
+include "Tango_Defines_LimitSwitch.cs"
+
+//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_Params(Int32 Fpga, Int32 HighAdr, Int32 LowAdr) 
+{
+//	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, 0x2d080000); //Disable shutdown by over current detect and set slew rate to 75 us
+	return 1;
+}
+
+                   
+
+public void OnExecute(StubManager stubManager)
+{
+    Int32 Bit=1;
+		Motor_HighZ(FPGA1, F1_MOTO_SCREW_A1_TX_01, F1_MOTO_SCREW_A1_TX_00);
+			Thread.Sleep(4000);
+
+	stubManager.Write("\n***   Moving motor F1_MOTO_screw back and for");
+
+	var response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,14,true , 1000);
+	while (Bit != 0x0)		//wait until LTFU LOADRAM Down
+			{	
+					Bit = GetBit(FPGA1, F1_LS_03_Direct,0);	
+					Thread.Sleep(10);
+			}
+		Thread.Sleep(100);
+					stubManager.Write("\n--------1--------");
+
+
+response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,14, false, 1000);
+		Bit = 1;
+	while (Bit != 0x0)		//wait until LTFU LOADRAM Down
+			{	
+			Bit = GetBit(FPGA1, F1_LS_03_Direct,1);	
+			Thread.Sleep(10);
+			}
+			stubManager.Write("\n--------2--------");
+
+				Thread.Sleep(100);
+		Motor_HighZ(FPGA1, F1_MOTO_SCREW_A1_TX_01, F1_MOTO_SCREW_A1_TX_00);
+
+   var response1 = stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,14, true, 250);
+	Thread.Sleep(1000);
+	stubManager.Write("\n***   Stopped motor F1_MOTO_SCREW");
+	
+	
+		Motor_HighZ(FPGA1, F1_MOTO_SCREW_A1_TX_01, F1_MOTO_SCREW_A1_TX_00);
+
+		stubManager.Write("\n***   Running motor F1_MOTO_WINDER for 8 seconds...  ");
+	//Motor_Params( FPGA1,  F1_MOTO_WINDER_A1_TX_01,  F1_MOTO_WINDER_A1_TX_00); //Set KVAL_RUN to 0x01
+	Motor_Run(FPGA1, F1_MOTO_WINDER_A1_TX_01, F1_MOTO_WINDER_A1_TX_00, 0xffff, 0x1);
+	Thread.Sleep(5000);	
+	Motor_HighZ(FPGA1, F1_MOTO_WINDER_A1_TX_01, F1_MOTO_WINDER_A1_TX_00);
+	stubManager.Write("\n***   Stopped motor F1_MOTO_WINDER");
+
+	
+	}
+	
+	
+	
+	
+	
+	
+	
+	
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Defines/Tango_Defines_3WValve.cs b/Software/Stubs Collection/stubs/Scripts/Defines/Tango_Defines_3WValve.cs
new file mode 100644
index 000000000..ccbeea02a
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Defines/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;
+
+			//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/Scripts/Defines/Tango_Defines_Basic.cs b/Software/Stubs Collection/stubs/Scripts/Defines/Tango_Defines_Basic.cs
new file mode 100644
index 000000000..7dade8459
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Defines/Tango_Defines_Basic.cs
@@ -0,0 +1,96 @@
+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;
+using Tango.Stubs;
+
+
+const Int32 FPGA1 =  0x60000000;
+const Int32 FPGA2 =  0x60000400;
+const Int32 FPGA3 =  0x60000800;
+
+
+const Int32 VER1_REG = 0x000;
+const Int32 VER2_REG = 0x010;
+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("FPGA 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("FPGA 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/Scripts/Defines/Tango_Defines_GPO.cs b/Software/Stubs Collection/stubs/Scripts/Defines/Tango_Defines_GPO.cs
new file mode 100644
index 000000000..8af98acbc
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Defines/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;
+
+
+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/Scripts/Defines/Tango_Defines_LimitSwitch.cs b/Software/Stubs Collection/stubs/Scripts/Defines/Tango_Defines_LimitSwitch.cs
new file mode 100644
index 000000000..eff91f70a
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Defines/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;
+
+
+
+//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/Scripts/Defines/Tango_Defines_Motors.cs b/Software/Stubs Collection/stubs/Scripts/Defines/Tango_Defines_Motors.cs
new file mode 100644
index 000000000..164d573c5
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Defines/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;
+
+//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/Scripts/Defines/Tango_Defines_PT100.cs b/Software/Stubs Collection/stubs/Scripts/Defines/Tango_Defines_PT100.cs
new file mode 100644
index 000000000..c1a5511f9
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Defines/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;
+
+
+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/Scripts/Defines/Tango_Defines_QEI.cs b/Software/Stubs Collection/stubs/Scripts/Defines/Tango_Defines_QEI.cs
new file mode 100644
index 000000000..aedf9526d
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Defines/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;
+
+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/Scripts/Defines/Tango_Defines_SSI.cs b/Software/Stubs Collection/stubs/Scripts/Defines/Tango_Defines_SSI.cs
new file mode 100644
index 000000000..8cc9f511c
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Defines/Tango_Defines_SSI.cs
@@ -0,0 +1,131 @@
+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;
+
+
+/*** 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, LTFU and DISPENSER SSI Prescalers ***/
+const Int32 F1_Prescaler1_reg1 = 0x03e0;
+const Int32 F1_Prescaler1_reg2 = 0x03e2;
+const Int32 F1_SPI_Busy1_Direct = 0x0090;
+
+const Int32 F2_Prescaler1_reg1 = 0x03e0;
+const Int32 F2_Prescaler1_reg2 = 0x03e2;
+
+const Int32 F3_Prescaler1_reg1 = 0x03e0;
+const Int32 F3_Prescaler1_reg2 = 0x03e2;
+
+/*** DISPENSER SSI Encoders ***/
+const Int32 F2_DISPENSER_ROTENC_1_MSB = 0x0182;
+const Int32 F2_DISPENSER_ROTENC_1_LSB = 0x0180;
+const Int32 F2_DISPENSER_ROTENC_1_TX = 0x018e;
+
+const Int32 F2_DISPENSER_ROTENC_2_MSB = 0x0192;
+const Int32 F2_DISPENSER_ROTENC_2_LSB = 0x0190;
+const Int32 F2_DISPENSER_ROTENC_2_TX = 0x019e;
+
+const Int32 F2_DISPENSER_ROTENC_3_MSB = 0x01a2;
+const Int32 F2_DISPENSER_ROTENC_3_LSB = 0x01a0;
+const Int32 F2_DISPENSER_ROTENC_3_TX = 0x01ae;
+
+const Int32 F2_DISPENSER_ROTENC_4_MSB = 0x01b2;
+const Int32 F2_DISPENSER_ROTENC_4_LSB = 0x01b0;
+const Int32 F2_DISPENSER_ROTENC_4_TX = 0x01be;
+
+const Int32 F2_DISPENSER_ROTENC_5_MSB = 0x01c2;
+const Int32 F2_DISPENSER_ROTENC_5_LSB = 0x01c0;
+const Int32 F2_DISPENSER_ROTENC_5_TX = 0x01ce;
+
+const Int32 F2_DISPENSER_ROTENC_6_MSB = 0x01d2;
+const Int32 F2_DISPENSER_ROTENC_6_LSB = 0x01d0;
+const Int32 F2_DISPENSER_ROTENC_6_TX = 0x01de;
+
+const Int32 F2_DISPENSER_ROTENC_7_MSB = 0x01e2;
+const Int32 F2_DISPENSER_ROTENC_7_LSB = 0x01e0;
+const Int32 F2_DISPENSER_ROTENC_7_TX = 0x01ee;
+
+const Int32 F2_DISPENSER_ROTENC_8_MSB = 0x01f2;
+const Int32 F2_DISPENSER_ROTENC_8_LSB = 0x01f0;
+const Int32 F2_DISPENSER_ROTENC_8_TX = 0x01fe;
+
+
+
+
+
+const Int32 F3_SPARE1_ROTENC_MSB = 0x02c0;
+const Int32 F3_SPARE1_ROTENC_LSB = 0x02c2;
+const Int32 F3_SPARE1_ROTENC_TX = 0x02ce;
+
+const Int32 F3_SPARE2_ROTENC_MSB = 0x02d0;
+const Int32 F3_SPARE2_ROTENC_LSB = 0x02d2;
+const Int32 F3_SPARE2_ROTENC_TX = 0x02de;
+
+
+
+
+
+
+
+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/Scripts/Defines/Tango_Defines_SSR.cs b/Software/Stubs Collection/stubs/Scripts/Defines/Tango_Defines_SSR.cs
new file mode 100644
index 000000000..4dbbc8eb4
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Defines/Tango_Defines_SSR.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;
+
+
+
+//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
+
+const Int32 F2_Watchdog_reg	= 0x140; 
diff --git a/Software/Stubs Collection/stubs/Scripts/Defines/Tango_Defines_Tacho.cs b/Software/Stubs Collection/stubs/Scripts/Defines/Tango_Defines_Tacho.cs
new file mode 100644
index 000000000..1cd0008eb
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Defines/Tango_Defines_Tacho.cs
@@ -0,0 +1,45 @@
+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;
+
+
+
+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
+
+const Int32	F2_Prescaler1_reg7		=	0x3EC	;	//	Parameter for prescaler divisions - 16bit BLOWER low duty cycle value for pmw, 	parambit15 ... parambit0
+const Int32	F2_Prescaler1_reg8		=	0x3EE	;	//	Parameter for prescaler divisions - 16bit BLOWER high duty cycle value for pmw.	parambit15 ... parambit0
+const Int32	F2_Prescaler1_reg11		=	0x112	;	//	Variable for prescaler divisions -amount of prescaled clocks clk input of pwm of signal F2_GPO_BLOWER_PWM. 16bits.	parambit15 ... parambit0
+const Int32	F2_Prescaler1_reg12		=	0x122	;
+const Int32	F2_Prescaler1_reg13		=	0x132	;
+
+
+const Int32	F3_Prescaler1_reg9		=	0x3c2	;
+
+const Int32	F1_Prescaler1_reg1		=	0x3E0	;
+const Int32	F1_Prescaler1_reg2		=	0x3E2	;
+const Int32	F1_Prescaler1_reg3		=	0x3E4	;
+const Int32	F1_Prescaler1_reg4		=	0x3E6	;
+const Int32	F1_Prescaler1_reg6		=	0x3EA	;
+const Int32	F1_Prescaler1_reg7		=	0x3EC	;
+const Int32	F1_Prescaler1_reg8		=	0x3EE	;
+
+
diff --git a/Software/Stubs Collection/stubs/Scripts/Read_Version.cs b/Software/Stubs Collection/stubs/Scripts/Read_Version.cs
new file mode 100644
index 000000000..b3e3e2c1f
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Read_Version.cs
@@ -0,0 +1,110 @@
+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;
+
+
+include "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_Basic.cs"
+
+int ReadFPGATestReg (Int32 Fpga)
+{
+	stubManager.Write("\nTest register, write 0xCAFE, expects 0x3501: ");	
+	Fpga_Write_Reg(Fpga, TEST_REG, 0xcafe, 0);
+	var rv = Fpga_Read_Reg(Fpga, TEST_REG, 0);
+	stubManager.WriteHex(rv.Value,4);
+	return 1;
+}
+
+int ReadFPGAVer(Int32 Fpga)
+{
+	
+	var response = Fpga_Read_Reg(Fpga, VER1_REG, 0);
+	stubManager.Write("\nVersion #ddmm: ");
+	
+	stubManager.WriteHex(response.Value,4);
+	response.Value = 0;
+	
+	response = Fpga_Read_Reg(Fpga, VER2_REG, 0);
+	stubManager.Write("\nVersion #yyvv: ");
+	stubManager.WriteHex(response.Value,4);
+	response.Value = 0;
+	
+	return 1;
+	
+}
+
+//private const string FILE_PATH = "D:\\logFile.txt";
+
+public void OnExecute(StubManager stubManager)
+{
+
+	
+	//Invoke the response window with custom message and default response.
+    var response = stubManager.ShowResponseWindow("Enter Card serial number:", "UM187000xy");
+    stubManager.WriteLine(response);
+	stubManager.Write("\n");
+	
+	
+	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
+	stubManager.Write("\nFPGA_1");
+	ReadFPGAVer(FPGA1);
+	//ReadFPGATestReg(FPGA1);
+	stubManager.Write("\n");
+	
+	//F2 Version and test register
+	stubManager.Write("\nFPGA_2");
+	ReadFPGAVer(FPGA2);
+	//ReadFPGATestReg(FPGA2);	
+	stubManager.Write("\n");
+	
+	//F3 Version and test register
+	stubManager.Write("\nFPGA_3");
+	ReadFPGAVer(FPGA3);
+	//ReadFPGATestReg(FPGA3);		
+	stubManager.Write("\n");
+
+	
+}
+
+/* Example Script Output
+TIVA MCU SW Version (Major, Minor, Patch, Build, Version String): (#0001, #0000, #0000, #0001, Tango01 May 16 2018 10:47:13)
+
+FPGA_1
+Version #ddmm: #0905
+Version #yyvv: #1801
+Test register, write 0xCAFE, expects 0x3501: #3501
+
+FPGA_2
+Version #ddmm: #1305
+Version #yyvv: #1801
+Test register, write 0xCAFE, expects 0x3501: #3501
+
+FPGA_3
+Version #ddmm: #0805
+Version #yyvv: #1802
+Test register, write 0xCAFE, expects 0x3501: #3501
+
+
+*/
diff --git a/Software/Stubs Collection/stubs/Scripts/read embedded version.cs b/Software/Stubs Collection/stubs/Scripts/read embedded version.cs
new file mode 100644
index 000000000..8990fc2cd
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/read embedded version.cs
@@ -0,0 +1,23 @@
+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)
+{
+// Request ----
+// UInt32 : AnyNumber
+
+// Response ----
+// UInt32 : AnyNumberBack
+// String : Version
+	stubManager.Run<StubReadEmbeddedVersionResponse>("StubReadEmbeddedVersionRequest");
+}
+