Stubs collection

11 files changed, 2461 insertions, 0 deletions

diff --git a/Software/Stubs Collection/stubs/addedfiles/ACHeatersDefinition.cs b/Software/Stubs Collection/stubs/addedfiles/ACHeatersDefinition.cs
new file mode 100644
index 000000000..f815c1cd4
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/ACHeatersDefinition.cs
@@ -0,0 +1,62 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+HardwarePidControl DryerHeater1000 = new HardwarePidControl();
+DryerHeater1000.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.DryerHeater1000W;
+DryerHeater1000.OutputProportionalBand = 1;
+DryerHeater1000.SensorCorrectionAdjustment = 2.0;
+DryerHeater1000.IntegralTime = 0.01;
+DryerHeater1000.OutputProportionalPowerLimit = 100;
+DryerHeater1000.IntegralTime = 5;
+DryerHeater1000.DerivativeTime = 0;
+DryerHeater1000.SensorCorrectionAdjustment = 0;
+DryerHeater1000.SensorMinValue = 2;
+DryerHeater1000.SensorMaxValue = 250;
+DryerHeater1000.SetPointRampRateorSoftStartRamp = 0;
+DryerHeater1000.SetPointControlOutputRate = 4;
+DryerHeater1000.ControlOutputType = 0;
+DryerHeater1000.SsrControlOutputType = 0;
+DryerHeater1000.OutputOnOffHysteresisValue = 0;
+DryerHeater1000.ProcessVariableSamplingRate = 1000;
+DryerHeater1000.PvInputFilterFactorMode = 4;
+DryerHeater1000.OutputProportionalCycleTime = 0;
+DryerHeater1000.AcHeatersHalfCycleTime = 0;
+DryerHeater1000.ProportionalGain = 20.0;
+  
+HardwarePidControl DryerHeater200w1 = new HardwarePidControl();
+DryerHeater200w1.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.DryerHeater200W1;
+DryerHeater200w1.OutputProportionalPowerLimit = 0;//small heater is OFF after initial heating
+DryerHeater200w1.OutputProportionalBand = 1;
+DryerHeater200w1.SensorCorrectionAdjustment = 0.5;
+DryerHeater200w1.IntegralTime = 0.1;
+DryerHeater200w1.OutputProportionalPowerLimit = 0;
+DryerHeater200w1.OutputProportionalBand = 5;
+DryerHeater200w1.IntegralTime = 5;
+DryerHeater200w1.DerivativeTime = 0;
+DryerHeater200w1.SensorCorrectionAdjustment = 0;
+DryerHeater200w1.SensorMinValue = 0;
+DryerHeater200w1.SensorMaxValue = 0;
+DryerHeater200w1.SetPointRampRateorSoftStartRamp = 0;
+DryerHeater200w1.SetPointControlOutputRate = 4;
+DryerHeater200w1.ControlOutputType = 0;
+DryerHeater200w1.SsrControlOutputType = 0;
+DryerHeater200w1.OutputOnOffHysteresisValue = 0;
+DryerHeater200w1.ProcessVariableSamplingRate = 1000;
+DryerHeater200w1.PvInputFilterFactorMode = 4;
+DryerHeater200w1.OutputProportionalCycleTime = 0;
+DryerHeater200w1.AcHeatersHalfCycleTime = 0;
+DryerHeater200w1.ProportionalGain = 20.0;
+
+//hardwareConfiguration.PidControls.Add(DryerHeater1000);
+//hardwareConfiguration.PidControls.Add(DryerHeater200w1);
diff --git a/Software/Stubs Collection/stubs/addedfiles/DCHeatersDefinition.cs b/Software/Stubs Collection/stubs/addedfiles/DCHeatersDefinition.cs
new file mode 100644
index 000000000..015dc7be6
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/DCHeatersDefinition.cs
@@ -0,0 +1,134 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+HardwarePidControl HeadZ1Heater = new HardwarePidControl();
+HeadZ1Heater.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ1;
+HeadZ1Heater.OutputProportionalBand = 1;
+HeadZ1Heater.SensorCorrectionAdjustment = 2.0;
+HeadZ1Heater.IntegralTime = 0.01;
+HeadZ1Heater.OutputProportionalPowerLimit = 80;
+HeadZ1Heater.IntegralTime = 5;
+HeadZ1Heater.DerivativeTime = 0;
+HeadZ1Heater.SensorCorrectionAdjustment = 0;
+HeadZ1Heater.SensorMinValue = 0;
+HeadZ1Heater.SensorMaxValue = 1.0;
+HeadZ1Heater.SetPointRampRateorSoftStartRamp = 0;
+HeadZ1Heater.SetPointControlOutputRate = 4;
+HeadZ1Heater.ControlOutputType = 0;
+HeadZ1Heater.SsrControlOutputType = 0;
+HeadZ1Heater.OutputOnOffHysteresisValue = 0;
+HeadZ1Heater.ProcessVariableSamplingRate = 1000;
+HeadZ1Heater.PvInputFilterFactorMode = 4;
+HeadZ1Heater.OutputProportionalCycleTime = 0;
+HeadZ1Heater.AcHeatersHalfCycleTime = 0;
+HeadZ1Heater.ProportionalGain = 20;
+  
+  
+HardwarePidControl HeadZ2Heater = new HardwarePidControl();
+HeadZ2Heater.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ2;
+HeadZ2Heater.OutputProportionalBand = 1;
+HeadZ2Heater.SensorCorrectionAdjustment = 0.5;
+HeadZ2Heater.IntegralTime = 0.1;
+HeadZ2Heater.OutputProportionalPowerLimit = 80;
+HeadZ2Heater.IntegralTime = 5;
+HeadZ2Heater.DerivativeTime = 0;
+HeadZ2Heater.SensorCorrectionAdjustment = 0;
+HeadZ2Heater.SensorMinValue = 0.0;
+HeadZ2Heater.SensorMaxValue = 1.0;
+HeadZ2Heater.SetPointRampRateorSoftStartRamp = 0;
+HeadZ2Heater.SetPointControlOutputRate = 4;
+HeadZ2Heater.ControlOutputType = 0;
+HeadZ2Heater.SsrControlOutputType = 0;
+HeadZ2Heater.OutputOnOffHysteresisValue = 0;
+HeadZ2Heater.ProcessVariableSamplingRate = 1000;
+HeadZ2Heater.PvInputFilterFactorMode = 4;
+HeadZ2Heater.OutputProportionalCycleTime = 0;
+HeadZ2Heater.AcHeatersHalfCycleTime = 0;
+HeadZ2Heater.ProportionalGain = 20;
+ 
+HardwarePidControl HeadZ3Heater = new HardwarePidControl();
+HeadZ3Heater.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ3;
+HeadZ3Heater.OutputProportionalBand = 1;
+HeadZ3Heater.SensorCorrectionAdjustment = 2.0;
+HeadZ3Heater.IntegralTime = 0.01;
+HeadZ3Heater.OutputProportionalPowerLimit = 80;
+HeadZ3Heater.IntegralTime = 5;
+HeadZ3Heater.DerivativeTime = 0;
+HeadZ3Heater.SensorCorrectionAdjustment = 0;
+HeadZ3Heater.SensorMinValue = 0;
+HeadZ3Heater.SensorMaxValue = 1.0;
+HeadZ3Heater.SetPointRampRateorSoftStartRamp = 0;
+HeadZ3Heater.SetPointControlOutputRate = 4;
+HeadZ3Heater.ControlOutputType = 0;
+HeadZ3Heater.SsrControlOutputType = 0;
+HeadZ3Heater.OutputOnOffHysteresisValue = 0;
+HeadZ3Heater.ProcessVariableSamplingRate = 1000;
+HeadZ3Heater.PvInputFilterFactorMode = 4;
+HeadZ3Heater.OutputProportionalCycleTime = 0;
+HeadZ3Heater.AcHeatersHalfCycleTime = 0;
+HeadZ3Heater.ProportionalGain = 20;
+  
+HardwarePidControl HeadZ4Heater = new HardwarePidControl();
+HeadZ4Heater.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ4;
+HeadZ4Heater.OutputProportionalBand = 2;
+HeadZ4Heater.SensorCorrectionAdjustment = 0.5;
+HeadZ4Heater.IntegralTime = 0.1;
+HeadZ4Heater.OutputProportionalPowerLimit = 80;
+HeadZ4Heater.IntegralTime = 5;
+HeadZ4Heater.DerivativeTime = 0;
+HeadZ4Heater.SensorCorrectionAdjustment = 0;
+HeadZ4Heater.SensorMinValue = 0;
+HeadZ4Heater.SensorMaxValue = 1.0;
+HeadZ4Heater.SetPointRampRateorSoftStartRamp = 0;
+HeadZ4Heater.SetPointControlOutputRate = 4;
+HeadZ4Heater.ControlOutputType = 0;
+HeadZ4Heater.SsrControlOutputType = 0;
+HeadZ4Heater.OutputOnOffHysteresisValue = 0;
+HeadZ4Heater.ProcessVariableSamplingRate = 1000;
+HeadZ4Heater.PvInputFilterFactorMode = 4;
+HeadZ4Heater.OutputProportionalCycleTime = 0;
+HeadZ4Heater.AcHeatersHalfCycleTime = 0;
+HeadZ4Heater.ProportionalGain = 20;
+
+HardwarePidControl MixerHeater = new HardwarePidControl();
+MixerHeater.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MixerHeater;
+MixerHeater.OutputProportionalBand = 2;
+MixerHeater.SensorCorrectionAdjustment = 2.0;
+MixerHeater.IntegralTime = 0.01;
+HeadZ4Heater.OutputProportionalPowerLimit = 80;
+HeadZ4Heater.IntegralTime = 5;
+HeadZ4Heater.DerivativeTime = 0;
+HeadZ4Heater.SensorCorrectionAdjustment = 0;
+HeadZ4Heater.SensorMinValue = 0;
+HeadZ4Heater.SensorMaxValue = 1.0;
+HeadZ4Heater.SetPointRampRateorSoftStartRamp = 0;
+HeadZ4Heater.SetPointControlOutputRate = 4;
+HeadZ4Heater.ControlOutputType = 0;
+HeadZ4Heater.SsrControlOutputType = 0;
+HeadZ4Heater.OutputOnOffHysteresisValue = 0;
+HeadZ4Heater.ProcessVariableSamplingRate = 1000;
+HeadZ4Heater.PvInputFilterFactorMode = 4;
+HeadZ4Heater.OutputProportionalCycleTime = 0;
+HeadZ4Heater.AcHeatersHalfCycleTime = 0;
+HeadZ4Heater.ProportionalGain = 20;
+
+
+//hardwareConfiguration.PidControls.Add(HeadZ1Heater);
+//hardwareConfiguration.PidControls.Add(HeadZ2Heater);
+//rdwareConfiguration.PidControls.Add(HeadZ3Heater);
+//hardwareConfiguration.PidControls.Add(HeadZ4Heater);
+//hardwareConfiguration.PidControls.Add(MixerHeater);
+
+
+
diff --git a/Software/Stubs Collection/stubs/addedfiles/DancersConfiguration.cs b/Software/Stubs Collection/stubs/addedfiles/DancersConfiguration.cs
new file mode 100644
index 000000000..0f4e5023f
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/DancersConfiguration.cs
@@ -0,0 +1,48 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+
+HardwareDancer FeederDancer = new HardwareDancer();
+FeederDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.RightDancer;
+FeederDancer.Gradual = false;
+FeederDancer.K = 0;
+FeederDancer.X = 0;
+FeederDancer.PulsePerMmSpring = 0;
+FeederDancer.MaximalMovementMm = 20;
+FeederDancer.ZeroPoint = 14182;
+FeederDancer.ResolutionBits = 14;
+FeederDancer.ArmLength = 126;
+
+HardwareDancer PoolerDancer = new HardwareDancer();
+PoolerDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.MiddleDancer;
+PoolerDancer.Gradual = false;
+PoolerDancer.K = 0;
+PoolerDancer.X = 0;
+PoolerDancer.PulsePerMmSpring = 0;
+PoolerDancer.MaximalMovementMm = 20;
+PoolerDancer.ZeroPoint = 13247;
+PoolerDancer.ResolutionBits = 14;
+PoolerDancer.ArmLength = 126;
+
+HardwareDancer WinderDancer = new HardwareDancer();
+WinderDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.LeftDancer;
+WinderDancer.Gradual = false;
+WinderDancer.K = 0;
+WinderDancer.X = 0;
+WinderDancer.PulsePerMmSpring = 0;
+WinderDancer.MaximalMovementMm = 20;
+WinderDancer.ZeroPoint = 11193;
+WinderDancer.ResolutionBits = 14;
+WinderDancer.ArmLength = 126;
+
diff --git a/Software/Stubs Collection/stubs/addedfiles/DeskSystemThreadMotorsDefinition.cs b/Software/Stubs Collection/stubs/addedfiles/DeskSystemThreadMotorsDefinition.cs
new file mode 100644
index 000000000..6eda1d60c
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/DeskSystemThreadMotorsDefinition.cs
@@ -0,0 +1,382 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+HardwarePidControl FeederPidControl = new HardwarePidControl();
+FeederPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorFeeder;
+FeederPidControl.OutputProportionalPowerLimit = 1.0;
+FeederPidControl.OutputProportionalBand = 5;
+FeederPidControl.IntegralTime = 5;
+FeederPidControl.DerivativeTime = 0;
+FeederPidControl.SensorCorrectionAdjustment = 0;
+FeederPidControl.SensorMinValue = 0;
+FeederPidControl.SensorMaxValue = 0;
+FeederPidControl.SetPointRampRateorSoftStartRamp = 0;
+FeederPidControl.SetPointControlOutputRate = 4;
+FeederPidControl.ControlOutputType = 0;
+FeederPidControl.SsrControlOutputType = 0;
+FeederPidControl.OutputOnOffHysteresisValue = 0;
+FeederPidControl.ProcessVariableSamplingRate = 1000;
+FeederPidControl.PvInputFilterFactorMode = 4;
+FeederPidControl.OutputProportionalCycleTime = 0;
+FeederPidControl.AcHeatersHalfCycleTime = 0;
+FeederPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl PoolerPidControl = new HardwarePidControl();
+PoolerPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorPooler;
+PoolerPidControl.OutputProportionalPowerLimit = 1.0;
+PoolerPidControl.OutputProportionalBand = 5;
+PoolerPidControl.IntegralTime = 5;
+PoolerPidControl.DerivativeTime = 0;
+PoolerPidControl.SensorCorrectionAdjustment = 0;
+PoolerPidControl.SensorMinValue = 0;
+PoolerPidControl.SensorMaxValue = 0;
+PoolerPidControl.SetPointRampRateorSoftStartRamp = 0;
+PoolerPidControl.SetPointControlOutputRate = 4;
+PoolerPidControl.ControlOutputType = 0;
+PoolerPidControl.SsrControlOutputType = 0;
+PoolerPidControl.OutputOnOffHysteresisValue = 0;
+PoolerPidControl.ProcessVariableSamplingRate = 1000;
+PoolerPidControl.PvInputFilterFactorMode = 4;
+PoolerPidControl.OutputProportionalCycleTime = 0;
+PoolerPidControl.AcHeatersHalfCycleTime = 0;
+PoolerPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl WinderPidControl = new HardwarePidControl();
+WinderPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorWinder;
+WinderPidControl.OutputProportionalPowerLimit = 1.0;
+WinderPidControl.OutputProportionalBand = 5;
+WinderPidControl.IntegralTime = 5;
+WinderPidControl.DerivativeTime = 0;
+WinderPidControl.SensorCorrectionAdjustment = 0;
+WinderPidControl.SensorMinValue = 0;
+WinderPidControl.SensorMaxValue = 0;
+WinderPidControl.SetPointRampRateorSoftStartRamp = 0;
+WinderPidControl.SetPointControlOutputRate = 4;
+WinderPidControl.ControlOutputType = 0;
+WinderPidControl.SsrControlOutputType = 0;
+WinderPidControl.OutputOnOffHysteresisValue = 0;
+WinderPidControl.ProcessVariableSamplingRate = 1000;
+WinderPidControl.PvInputFilterFactorMode = 4;
+WinderPidControl.OutputProportionalCycleTime = 0;
+WinderPidControl.AcHeatersHalfCycleTime = 0;
+WinderPidControl.ProportionalGain = 11.0;
+
+
+HardwareDancer FeederDancer = new HardwareDancer();
+FeederDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.RightDancer;
+FeederDancer.Gradual = false;
+FeederDancer.K = 0;
+FeederDancer.X = 0;
+FeederDancer.PulsePerMmSpring = 0;
+FeederDancer.MaximalMovementMm = 20;
+FeederDancer.ZeroPoint = 14182;
+FeederDancer.ResolutionBits = 14;
+FeederDancer.ArmLength = 126;
+
+HardwareDancer PoolerDancer = new HardwareDancer();
+PoolerDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.MiddleDancer;
+PoolerDancer.Gradual = false;
+PoolerDancer.K = 0;
+PoolerDancer.X = 0;
+PoolerDancer.PulsePerMmSpring = 0;
+PoolerDancer.MaximalMovementMm = 20;
+PoolerDancer.ZeroPoint = 13247;
+PoolerDancer.ResolutionBits = 14;
+PoolerDancer.ArmLength = 126;
+
+HardwareDancer WinderDancer = new HardwareDancer();
+WinderDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.LeftDancer;
+WinderDancer.Gradual = false;
+WinderDancer.K = 0;
+WinderDancer.X = 0;
+WinderDancer.PulsePerMmSpring = 0;
+WinderDancer.MaximalMovementMm = 20;
+WinderDancer.ZeroPoint = 11193;
+WinderDancer.ResolutionBits = 14;
+WinderDancer.ArmLength = 126;
+
+HardwareMotor FeederMotor = new HardwareMotor();
+FeederMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
+FeederMotor.MinFrequency = 0;
+FeederMotor.MaxFrequency = 1000000;
+FeederMotor.SetMicroStep = 1;
+FeederMotor.MicroStep = 8;
+FeederMotor.MaxChangeSlope = 4095;
+FeederMotor.HighLengthMicroSecond = 0;
+FeederMotor.SpeedMaster = false;
+FeederMotor.PulsePerRound = 200;
+FeederMotor.PulleyRadius = 1.25;
+FeederMotor.ConfigWord = 0x1C80;
+FeederMotor.DirectionThreadWize = true;
+FeederMotor.KvalHold = 0x35;
+FeederMotor.KvalRun = 0x7f;
+FeederMotor.KvalAcc = 0x7f;
+FeederMotor.KvalDec = 0x7f;
+FeederMotor.OverCurrentThreshold = 7;
+FeederMotor.StallThreshold = 0x1F;
+FeederMotor.ThermalCompensationFactor = 0;
+FeederMotor.LowSpeedOptimization = false;
+FeederMotor.StSlp = 0x20;
+FeederMotor.IntSpd = 0x1A13;
+FeederMotor.FnSlpAcc = 0x50;
+FeederMotor.FnSlpDec = 0x50;
+
+HardwareMotor DryerMotor = new HardwareMotor();
+DryerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
+DryerMotor.MinFrequency = 0;
+DryerMotor.MaxFrequency = 1000000;
+DryerMotor.SetMicroStep = 1;
+DryerMotor.MicroStep = 8;
+DryerMotor.MaxChangeSlope = 4095;
+DryerMotor.HighLengthMicroSecond = 0;
+DryerMotor.SpeedMaster = true;
+DryerMotor.PulsePerRound = 200;
+DryerMotor.PulleyRadius = 1.05;
+DryerMotor.ConfigWord = 0x1c80;
+DryerMotor.DirectionThreadWize = false;
+DryerMotor.KvalHold = 0x35;
+DryerMotor.KvalRun = 0x7f;
+DryerMotor.KvalAcc = 0x7f;
+DryerMotor.KvalDec = 0x7f;
+DryerMotor.OverCurrentThreshold = 7;
+DryerMotor.StallThreshold = 0x1F;
+DryerMotor.ThermalCompensationFactor = 0;
+DryerMotor.LowSpeedOptimization = false;
+DryerMotor.StSlp = 0x20;
+DryerMotor.IntSpd = 0x1A13;
+DryerMotor.FnSlpAcc = 0x50;
+DryerMotor.FnSlpDec = 0x50;
+
+HardwareMotor PoolerMotor = new HardwareMotor();
+PoolerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLdriving;
+PoolerMotor.MinFrequency = 0;
+PoolerMotor.MaxFrequency = 1000000;
+PoolerMotor.SetMicroStep = 1;
+PoolerMotor.MicroStep = 8;
+PoolerMotor.MaxChangeSlope = 10000;
+PoolerMotor.HighLengthMicroSecond = 0;
+PoolerMotor.SpeedMaster = false;
+PoolerMotor.PulsePerRound = 200;
+PoolerMotor.PulleyRadius = 1.25;
+PoolerMotor.ConfigWord = 0x1C80;
+PoolerMotor.DirectionThreadWize = true;
+PoolerMotor.KvalHold = 0x35;
+PoolerMotor.KvalRun = 0x7f;
+PoolerMotor.KvalAcc = 0x7f;
+PoolerMotor.KvalDec = 0x7f;
+PoolerMotor.OverCurrentThreshold = 7;
+PoolerMotor.StallThreshold = 0x1F;
+PoolerMotor.ThermalCompensationFactor = 0;
+PoolerMotor.LowSpeedOptimization = false;
+PoolerMotor.StSlp = 20;
+PoolerMotor.IntSpd = 0x1A13;
+PoolerMotor.FnSlpAcc = 0x50;
+PoolerMotor.FnSlpDec = 0x50;
+ 
+HardwareMotor WinderMotor = new HardwareMotor();
+WinderMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoWinder;
+WinderMotor.MinFrequency = 0;
+WinderMotor.MaxFrequency = 100000;
+WinderMotor.SetMicroStep = 1;
+WinderMotor.MicroStep = 16;
+WinderMotor.MaxChangeSlope = 0x7ff;
+WinderMotor.HighLengthMicroSecond = 0;
+WinderMotor.SpeedMaster = false;
+WinderMotor.PulsePerRound = 200;
+WinderMotor.PulleyRadius = 0.8;
+WinderMotor.ConfigWord = 0x1CA0;
+WinderMotor.DirectionThreadWize = false;
+WinderMotor.KvalHold = 0x08;
+WinderMotor.KvalRun = 0x20;
+WinderMotor.KvalAcc = 0x20;
+WinderMotor.KvalDec = 0x20;
+WinderMotor.OverCurrentThreshold = 0xF;
+WinderMotor.StallThreshold = 0x7F;
+WinderMotor.ThermalCompensationFactor = 0;
+WinderMotor.LowSpeedOptimization = false;
+WinderMotor.StSlp = 0x7;
+WinderMotor.IntSpd = 0x22C5;
+WinderMotor.FnSlpAcc = 0x15;
+WinderMotor.FnSlpDec = 0x15;
+
+HardwareMotor ScrewMotor = new HardwareMotor();
+ScrewMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoScrew;
+ScrewMotor.MinFrequency = 0;
+ScrewMotor.MaxFrequency = 100000;
+ScrewMotor.SetMicroStep = 1;
+ScrewMotor.MicroStep = 8;
+ScrewMotor.MaxChangeSlope = 0x7FF;
+ScrewMotor.HighLengthMicroSecond = 0;
+ScrewMotor.SpeedMaster = false;
+ScrewMotor.PulsePerRound = 200;
+ScrewMotor.PulleyRadius = 1.68;
+ScrewMotor.ConfigWord = 0x1CA0;
+ScrewMotor.DirectionThreadWize = true;
+ScrewMotor.KvalHold = 0x1;
+ScrewMotor.KvalRun = 0x20;
+ScrewMotor.KvalAcc = 0x20;
+ScrewMotor.KvalDec = 0x20;
+ScrewMotor.OverCurrentThreshold = 0xF;
+ScrewMotor.StallThreshold = 0x7F;
+ScrewMotor.ThermalCompensationFactor = 0;
+ScrewMotor.LowSpeedOptimization = false;
+ScrewMotor.StSlp = 0x7;
+ScrewMotor.IntSpd = 0x22C5;
+ScrewMotor.FnSlpAcc = 0x15;
+ScrewMotor.FnSlpDec = 0x15;
+
+
+HardwareMotor LeftRockerMotor = new HardwareMotor();
+LeftRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLloading;
+LeftRockerMotor.MinFrequency = 0;
+LeftRockerMotor.MaxFrequency = 1000000;
+LeftRockerMotor.SetMicroStep = 1;
+LeftRockerMotor.MicroStep = 4;
+LeftRockerMotor.MaxChangeSlope = 10000;
+LeftRockerMotor.HighLengthMicroSecond = 0;
+LeftRockerMotor.SpeedMaster = false;
+LeftRockerMotor.PulsePerRound = 200;
+LeftRockerMotor.PulleyRadius = 1.3;
+LeftRockerMotor.ConfigWord = 0xC80;
+LeftRockerMotor.DirectionThreadWize = false;
+LeftRockerMotor.KvalHold = 0x28;
+LeftRockerMotor.KvalRun = 0x5f;
+LeftRockerMotor.KvalAcc = 0x5f;
+LeftRockerMotor.KvalDec = 0x5f;
+LeftRockerMotor.OverCurrentThreshold = 7;
+LeftRockerMotor.StallThreshold = 0x1F;
+LeftRockerMotor.ThermalCompensationFactor = 0;
+LeftRockerMotor.LowSpeedOptimization = false;
+LeftRockerMotor.StSlp = 6;
+LeftRockerMotor.IntSpd = 0x44B8;
+LeftRockerMotor.FnSlpAcc = 0x14;
+LeftRockerMotor.FnSlpDec = 0x14;
+
+
+HardwareMotor RightRockerMotor = new HardwareMotor();
+RightRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRloading;
+RightRockerMotor.MinFrequency = 0;
+RightRockerMotor.MaxFrequency = 1000000;
+RightRockerMotor.SetMicroStep = 1;
+RightRockerMotor.MicroStep = 4;
+RightRockerMotor.MaxChangeSlope = 4095;
+RightRockerMotor.HighLengthMicroSecond = 0;
+RightRockerMotor.SpeedMaster = false;
+RightRockerMotor.PulsePerRound = 200;
+RightRockerMotor.PulleyRadius = 1.3;
+RightRockerMotor.ConfigWord = 0xC80;
+RightRockerMotor.DirectionThreadWize = true;
+RightRockerMotor.KvalHold = 0x28;
+RightRockerMotor.KvalRun = 0x5f;
+RightRockerMotor.KvalAcc = 0x5f;
+RightRockerMotor.KvalDec = 0x5f;
+RightRockerMotor.OverCurrentThreshold = 7;
+RightRockerMotor.StallThreshold = 0x1F;
+RightRockerMotor.ThermalCompensationFactor = 0;
+RightRockerMotor.LowSpeedOptimization = false;
+RightRockerMotor.StSlp = 6;
+RightRockerMotor.IntSpd = 0x44B8;
+RightRockerMotor.FnSlpAcc = 0x14;
+RightRockerMotor.FnSlpDec = 0x14;
+
+HardwareMotor Dispenser4Motor = new HardwareMotor();
+Dispenser4Motor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDispenser7;
+/*Dispenser4Motor.MinFrequency = 0;
+Dispenser4Motor.MaxFrequency = 1000000;
+Dispenser4Motor.SetMicroStep = 1;
+Dispenser4Motor.MicroStep = 8;
+Dispenser4Motor.MaxChangeSlope = 0x7FF;
+Dispenser4Motor.HighLengthMicroSecond = 0;
+Dispenser4Motor.SpeedMaster = false;
+Dispenser4Motor.PulsePerRound = 200;
+Dispenser4Motor.PulleyRadius = 1.68;
+Dispenser4Motor.ConfigWord = 0x1CA0;
+Dispenser4Motor.DirectionThreadWize = true;
+Dispenser4Motor.KvalHold = 0x35;
+Dispenser4Motor.KvalRun = 0x7f;
+Dispenser4Motor.KvalAcc = 0x7f;
+Dispenser4Motor.KvalDec = 0x7f;
+Dispenser4Motor.OverCurrentThreshold = 0xF;
+Dispenser4Motor.StallThreshold = 0x7F;
+Dispenser4Motor.ThermalCompensationFactor = 0;
+Dispenser4Motor.LowSpeedOptimization = false;
+Dispenser4Motor.StSlp = 0x20;
+Dispenser4Motor.IntSpd = 0x1A13;
+Dispenser4Motor.FnSlpAcc = 0x50;
+Dispenser4Motor.FnSlpDec = 0x50;
+*/
+Dispenser4Motor.MinFrequency = 0;
+Dispenser4Motor.MaxFrequency = 1000000;
+Dispenser4Motor.SetMicroStep = 1;
+Dispenser4Motor.MicroStep = 1;
+Dispenser4Motor.MaxChangeSlope = 10000;
+Dispenser4Motor.HighLengthMicroSecond = 0;
+Dispenser4Motor.SpeedMaster = false;
+Dispenser4Motor.PulsePerRound = 200;
+Dispenser4Motor.PulleyRadius = 1.25;
+Dispenser4Motor.ConfigWord = 0x1C80;
+Dispenser4Motor.DirectionThreadWize = true;
+Dispenser4Motor.KvalHold = 0x35;
+Dispenser4Motor.KvalRun = 0x7f;
+Dispenser4Motor.KvalAcc = 0x7f;
+Dispenser4Motor.KvalDec = 0x7f;
+Dispenser4Motor.OverCurrentThreshold = 7;
+Dispenser4Motor.StallThreshold = 0x1F;
+Dispenser4Motor.ThermalCompensationFactor = 0;
+Dispenser4Motor.LowSpeedOptimization = false;
+Dispenser4Motor.StSlp = 0x20;
+Dispenser4Motor.IntSpd = 0x1A13;
+Dispenser4Motor.FnSlpAcc = 0x50;
+Dispenser4Motor.FnSlpDec = 0x50;
+
+
+
+HardwareDispenser hardwareDispenser = new HardwareDispenser();
+hardwareDispenser.HardwareDispenserType = Tango.PMR.Hardware.HardwareDispenserType.StandardDispenser;
+hardwareDispenser.Index = 6;
+hardwareDispenser.NlPerPulse = 2.4;
+hardwareDispenser.Capacity = 500;
+
+JobDispenser jobDispenser = new JobDispenser();
+jobDispenser.Index = 0;
+jobDispenser.Volume = 0;
+jobDispenser.DispenserStepDivision = Tango.PMR.Printing.DispenserStepDivision.Auto;
+jobDispenser.NanolitterPerSecond = 0;
+jobDispenser.NanoliterPerCentimeter = 0;
+jobDispenser.PulsePerSecond = 0;
+jobDispenser.DispenserLiquidType = Tango.PMR.Printing.DispenserLiquidType.Cyan;
+jobDispenser.LiquidMaxNanoliterPerCentimeter = 0;
+jobDispenser.NanoliterPerPulse = 0;
+
+HardwareWinder Winder = new HardwareWinder();
+Winder.HardwareWinderType = Tango.PMR.Hardware.HardwareWinderType.InternalWinder;
+Winder.MillimeterPerRotation = 20;
+
+//hardwareConfiguration.Motors.Add(FeederMotor);
+//hardwareConfiguration.Motors.Add(WinderMotor);
+//hardwareConfiguration.Motors.Add(DryerMotor);
+//hardwareConfiguration.Motors.Add(PoolerMotor);
+//hardwareConfiguration.Motors.Add(ScrewMotor);
+//hardwareConfiguration.Motors.Add(LeftRockerMotor);
+//hardwareConfiguration.Motors.Add(RightRockerMotor);
+
+//hardwareConfiguration.PidControls.Add(FeederPidControl);
+//hardwareConfiguration.PidControls.Add(PoolerPidControl);
+//hardwareConfiguration.PidControls.Add(WinderPidControl);
+
+//hardwareConfiguration.Dancers.Add(FeederDancer);
+//hardwareConfiguration.Dancers.Add(PoolerDancer);
+//hardwareConfiguration.Dancers.Add(WinderDancer);
diff --git a/Software/Stubs Collection/stubs/addedfiles/DispensersConfiguration.cs b/Software/Stubs Collection/stubs/addedfiles/DispensersConfiguration.cs
new file mode 100644
index 000000000..09289b348
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/DispensersConfiguration.cs
@@ -0,0 +1,62 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+
+HardwareDispenser hardware1Dispenser = new HardwareDispenser();
+hardware1Dispenser.HardwareDispenserType = Tango.PMR.Hardware.HardwareDispenserType.StandardDispenser;
+hardware1Dispenser.Index = 0;
+hardware1Dispenser.NlPerPulse = 2.4;
+hardware1Dispenser.Capacity = 500;
+
+HardwareDispenser hardware2Dispenser = new HardwareDispenser();
+hardware2Dispenser.HardwareDispenserType = Tango.PMR.Hardware.HardwareDispenserType.StandardDispenser;
+hardware2Dispenser.Index = 1;
+hardware2Dispenser.NlPerPulse = 2.4;
+hardware2Dispenser.Capacity = 500;
+
+HardwareDispenser hardware3Dispenser = new HardwareDispenser();
+hardware3Dispenser.HardwareDispenserType = Tango.PMR.Hardware.HardwareDispenserType.StandardDispenser;
+hardware3Dispenser.Index = 2;
+hardware3Dispenser.NlPerPulse = 2.4;
+hardware3Dispenser.Capacity = 500;
+
+HardwareDispenser hardware4Dispenser = new HardwareDispenser();
+hardware4Dispenser.HardwareDispenserType = Tango.PMR.Hardware.HardwareDispenserType.StandardDispenser;
+hardware4Dispenser.Index = 3;
+hardware4Dispenser.NlPerPulse = 2.4;
+hardware4Dispenser.Capacity = 500;
+
+HardwareDispenser hardware5Dispenser = new HardwareDispenser();
+hardware5Dispenser.HardwareDispenserType = Tango.PMR.Hardware.HardwareDispenserType.StandardDispenser;
+hardware5Dispenser.Index = 4;
+hardware5Dispenser.NlPerPulse = 2.4;
+hardware5Dispenser.Capacity = 500;
+
+HardwareDispenser hardware6Dispenser = new HardwareDispenser();
+hardware6Dispenser.HardwareDispenserType = Tango.PMR.Hardware.HardwareDispenserType.StandardDispenser;
+hardware6Dispenser.Index = 5;
+hardware6Dispenser.NlPerPulse = 2.4;
+hardware6Dispenser.Capacity = 500;
+
+HardwareDispenser hardware7Dispenser = new HardwareDispenser();
+hardware7Dispenser.HardwareDispenserType = Tango.PMR.Hardware.HardwareDispenserType.StandardDispenser;
+hardware7Dispenser.Index = 6;
+hardware7Dispenser.NlPerPulse = 2.4;
+hardware7Dispenser.Capacity = 500;
+
+HardwareDispenser hardware8Dispenser = new HardwareDispenser();
+hardware8Dispenser.HardwareDispenserType = Tango.PMR.Hardware.HardwareDispenserType.StandardDispenser;
+hardware8Dispenser.Index = 7;
+hardware8Dispenser.NlPerPulse = 2.4;
+hardware8Dispenser.Capacity = 500;
diff --git a/Software/Stubs Collection/stubs/addedfiles/MotorsConfiguration.cs b/Software/Stubs Collection/stubs/addedfiles/MotorsConfiguration.cs
new file mode 100644
index 000000000..3ebf70b29
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/MotorsConfiguration.cs
@@ -0,0 +1,317 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+HardwareMotor FeederMotor = new HardwareMotor();
+FeederMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
+FeederMotor.MinFrequency = 0;
+FeederMotor.MaxFrequency = 1000000;
+FeederMotor.SetMicroStep = 1;
+FeederMotor.MicroStep = 8;
+FeederMotor.MaxChangeSlope = 4095;
+FeederMotor.HighLengthMicroSecond = 0;
+FeederMotor.SpeedMaster = false;
+FeederMotor.PulsePerRound = 200;
+FeederMotor.PulleyRadius = 1.25;
+FeederMotor.ConfigWord = 0x1C80;
+FeederMotor.DirectionThreadWize = true;
+FeederMotor.KvalHold = 0x8;
+FeederMotor.KvalRun = 0x35;
+FeederMotor.KvalAcc = 0x7f;
+FeederMotor.KvalDec = 0x27;
+FeederMotor.OverCurrentThreshold = 7;
+FeederMotor.StallThreshold = 0x1F;
+FeederMotor.ThermalCompensationFactor = 0;
+FeederMotor.LowSpeedOptimization = false;
+FeederMotor.StSlp = 0x20;
+FeederMotor.IntSpd = 0x1A13;
+FeederMotor.FnSlpAcc = 0x50;
+FeederMotor.FnSlpDec = 0x50;
+FeederMotor.FsSpd = 0x27;
+
+HardwareMotor DryerMotor = new HardwareMotor();
+DryerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
+DryerMotor.MinFrequency = 0;
+DryerMotor.MaxFrequency = 1000000;
+DryerMotor.SetMicroStep = 1;
+DryerMotor.MicroStep = 8;
+DryerMotor.MaxChangeSlope = 4095;
+DryerMotor.HighLengthMicroSecond = 0;
+DryerMotor.SpeedMaster = true;
+DryerMotor.PulsePerRound = 200;
+DryerMotor.PulleyRadius = 1.05;
+DryerMotor.ConfigWord = 0x1c80;
+DryerMotor.DirectionThreadWize = false;
+DryerMotor.KvalHold = 0x8;
+DryerMotor.KvalRun = 0x35;
+DryerMotor.KvalAcc = 0x7f;
+DryerMotor.KvalDec = 0x27;
+DryerMotor.OverCurrentThreshold = 7;
+DryerMotor.StallThreshold = 0x1F;
+DryerMotor.ThermalCompensationFactor = 0;
+DryerMotor.LowSpeedOptimization = false;
+DryerMotor.StSlp = 0x20;
+DryerMotor.IntSpd = 0x1A13;
+DryerMotor.FnSlpAcc = 0x50;
+DryerMotor.FnSlpDec = 0x50;
+DryerMotor.FsSpd = 0x27;
+
+HardwareMotor PoolerMotor = new HardwareMotor();
+PoolerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLdriving;
+PoolerMotor.MinFrequency = 0;
+PoolerMotor.MaxFrequency = 1000000;
+PoolerMotor.SetMicroStep = 1;
+PoolerMotor.MicroStep = 8;
+PoolerMotor.MaxChangeSlope = 10000;
+PoolerMotor.HighLengthMicroSecond = 0;
+PoolerMotor.SpeedMaster = false;
+PoolerMotor.PulsePerRound = 200;
+PoolerMotor.PulleyRadius = 1.25;
+PoolerMotor.ConfigWord = 0x1C80;
+PoolerMotor.DirectionThreadWize = true;
+PoolerMotor.KvalHold = 0x8;
+PoolerMotor.KvalRun = 0x35;
+PoolerMotor.KvalAcc = 0x7f;
+PoolerMotor.KvalDec = 0x27;
+PoolerMotor.OverCurrentThreshold = 7;
+PoolerMotor.StallThreshold = 0x1F;
+PoolerMotor.ThermalCompensationFactor = 0;
+PoolerMotor.LowSpeedOptimization = false;
+PoolerMotor.StSlp = 20;
+PoolerMotor.IntSpd = 0x1A13;
+PoolerMotor.FnSlpAcc = 0x50;
+PoolerMotor.FnSlpDec = 0x50;
+PoolerMotor.FsSpd = 0x27;
+ 
+HardwareMotor WinderMotor = new HardwareMotor();
+WinderMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoWinder;
+WinderMotor.MinFrequency = 0;
+WinderMotor.MaxFrequency = 100000;
+WinderMotor.SetMicroStep = 1;
+WinderMotor.MicroStep = 16;
+WinderMotor.MaxChangeSlope = 0x7ff;
+WinderMotor.HighLengthMicroSecond = 0;
+WinderMotor.SpeedMaster = false;
+WinderMotor.PulsePerRound = 200;
+WinderMotor.PulleyRadius = 0.8;
+WinderMotor.ConfigWord = 0x1CA0;
+WinderMotor.DirectionThreadWize = false;
+WinderMotor.KvalHold = 0x08;
+WinderMotor.KvalRun = 0x20;
+WinderMotor.KvalAcc = 0x20;
+WinderMotor.KvalDec = 0x3ff;
+WinderMotor.OverCurrentThreshold = 0xF;
+WinderMotor.StallThreshold = 0x7F;
+WinderMotor.ThermalCompensationFactor = 0;
+WinderMotor.LowSpeedOptimization = false;
+WinderMotor.StSlp = 0x7;
+WinderMotor.IntSpd = 0x22C5;
+WinderMotor.FnSlpAcc = 0x15;
+WinderMotor.FnSlpDec = 0x15;
+WinderMotor.FsSpd = 0x3ff;
+
+HardwareMotor ScrewMotor = new HardwareMotor();
+ScrewMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoScrew;
+ScrewMotor.MinFrequency = 0;
+ScrewMotor.MaxFrequency = 100000;
+ScrewMotor.SetMicroStep = 1;
+ScrewMotor.MicroStep = 8;
+ScrewMotor.MaxChangeSlope = 0x7FF;
+ScrewMotor.HighLengthMicroSecond = 0;
+ScrewMotor.SpeedMaster = false;
+ScrewMotor.PulsePerRound = 200;
+ScrewMotor.PulleyRadius = 1.68;
+ScrewMotor.ConfigWord = 0x1CA0;
+ScrewMotor.DirectionThreadWize = true;
+ScrewMotor.KvalHold = 0x1;
+ScrewMotor.KvalRun = 0x20;
+ScrewMotor.KvalAcc = 0x20;
+ScrewMotor.KvalDec = 0x27;
+ScrewMotor.OverCurrentThreshold = 0xF;
+ScrewMotor.StallThreshold = 0x7F;
+ScrewMotor.ThermalCompensationFactor = 0;
+ScrewMotor.LowSpeedOptimization = false;
+ScrewMotor.StSlp = 0x7;
+ScrewMotor.IntSpd = 0x22C5;
+ScrewMotor.FnSlpAcc = 0x15;
+ScrewMotor.FnSlpDec = 0x15;
+ScrewMotor.FsSpd = 0x27;
+
+
+HardwareMotor LeftRockerMotor = new HardwareMotor();
+LeftRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLloading;
+LeftRockerMotor.MinFrequency = 0;
+LeftRockerMotor.MaxFrequency = 1000000;
+LeftRockerMotor.SetMicroStep = 1;
+LeftRockerMotor.MicroStep = 4;
+LeftRockerMotor.MaxChangeSlope = 10000;
+LeftRockerMotor.HighLengthMicroSecond = 0;
+LeftRockerMotor.SpeedMaster = false;
+LeftRockerMotor.PulsePerRound = 200;
+LeftRockerMotor.PulleyRadius = 1.3;
+LeftRockerMotor.ConfigWord = 0xC80;
+LeftRockerMotor.DirectionThreadWize = false;
+LeftRockerMotor.KvalHold = 0x28;
+LeftRockerMotor.KvalRun = 0x5f;
+LeftRockerMotor.KvalAcc = 0x5f;
+LeftRockerMotor.KvalDec = 0x27;
+LeftRockerMotor.OverCurrentThreshold = 7;
+LeftRockerMotor.StallThreshold = 0x1F;
+LeftRockerMotor.ThermalCompensationFactor = 0;
+LeftRockerMotor.LowSpeedOptimization = false;
+LeftRockerMotor.StSlp = 6;
+LeftRockerMotor.IntSpd = 0x44B8;
+LeftRockerMotor.FnSlpAcc = 0x14;
+LeftRockerMotor.FnSlpDec = 0x14;
+LeftRockerMotor.FsSpd = 0x27;
+
+
+HardwareMotor RightRockerMotor = new HardwareMotor();
+RightRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRloading;
+RightRockerMotor.MinFrequency = 0;
+RightRockerMotor.MaxFrequency = 1000000;
+RightRockerMotor.SetMicroStep = 1;
+RightRockerMotor.MicroStep = 4;
+RightRockerMotor.MaxChangeSlope = 4095;
+RightRockerMotor.HighLengthMicroSecond = 0;
+RightRockerMotor.SpeedMaster = false;
+RightRockerMotor.PulsePerRound = 200;
+RightRockerMotor.PulleyRadius = 1.3;
+RightRockerMotor.ConfigWord = 0xC80;
+RightRockerMotor.DirectionThreadWize = true;
+RightRockerMotor.KvalHold = 0x28;
+RightRockerMotor.KvalRun = 0x5f;
+RightRockerMotor.KvalAcc = 0x5f;
+RightRockerMotor.KvalDec = 0x27;
+RightRockerMotor.OverCurrentThreshold = 7;
+RightRockerMotor.StallThreshold = 0x1F;
+RightRockerMotor.ThermalCompensationFactor = 0;
+RightRockerMotor.LowSpeedOptimization = false;
+RightRockerMotor.StSlp = 6;
+RightRockerMotor.IntSpd = 0x44B8;
+RightRockerMotor.FnSlpAcc = 0x14;
+RightRockerMotor.FnSlpDec = 0x14;
+RightRockerMotor.FsSpd = 0x27;
+
+HardwareMotor Dispenser4Motor = new HardwareMotor();
+Dispenser4Motor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDispenser4;
+Dispenser4Motor.MinFrequency = 0;
+Dispenser4Motor.MaxFrequency = 100000;
+Dispenser4Motor.SetMicroStep = 1;
+Dispenser4Motor.MicroStep = 16;
+Dispenser4Motor.MaxChangeSlope = 0x7FF;
+Dispenser4Motor.HighLengthMicroSecond = 0;
+Dispenser4Motor.SpeedMaster = false;
+Dispenser4Motor.PulsePerRound = 400;
+Dispenser4Motor.PulleyRadius = 1.68;
+Dispenser4Motor.ConfigWord = 0x1CA0;
+Dispenser4Motor.DirectionThreadWize = true;
+Dispenser4Motor.KvalHold = 0x21;
+Dispenser4Motor.KvalRun = 0xc0;
+Dispenser4Motor.KvalAcc = 0x2e;
+Dispenser4Motor.KvalDec = 0x3ff;
+Dispenser4Motor.OverCurrentThreshold = 0xF;
+Dispenser4Motor.StallThreshold = 0x1F;
+Dispenser4Motor.ThermalCompensationFactor = 0;
+Dispenser4Motor.LowSpeedOptimization = false;
+Dispenser4Motor.StSlp = 0x9;
+Dispenser4Motor.IntSpd = 0x1AD2;
+Dispenser4Motor.FnSlpAcc = 0x26;
+Dispenser4Motor.FnSlpDec = 0x26;
+Dispenser4Motor.FsSpd = 0x3ff;
+
+HardwareMotor Dispenser7Motor = new HardwareMotor();
+Dispenser7Motor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDispenser7;
+Dispenser7Motor.MinFrequency = 0;
+Dispenser7Motor.MaxFrequency = 100000;
+Dispenser7Motor.SetMicroStep = 1;
+Dispenser7Motor.MicroStep = 16;
+Dispenser7Motor.MaxChangeSlope = 0x7FF;
+Dispenser7Motor.HighLengthMicroSecond = 0;
+Dispenser7Motor.SpeedMaster = false;
+Dispenser7Motor.PulsePerRound = 400;
+Dispenser7Motor.PulleyRadius = 1.68;
+Dispenser7Motor.ConfigWord = 0x1CA0;
+Dispenser7Motor.DirectionThreadWize = true;
+Dispenser7Motor.KvalHold = 0x21;
+Dispenser7Motor.KvalRun = 0xc0;
+Dispenser7Motor.KvalAcc = 0x2e;
+Dispenser7Motor.KvalDec = 0x3ff;
+Dispenser7Motor.OverCurrentThreshold = 0xF;
+Dispenser7Motor.StallThreshold = 0x1F;
+Dispenser7Motor.ThermalCompensationFactor = 0;
+Dispenser7Motor.LowSpeedOptimization = false;
+Dispenser7Motor.StSlp = 0x9;
+Dispenser7Motor.IntSpd = 0x1AD2;
+Dispenser7Motor.FnSlpAcc = 0x26;
+Dispenser7Motor.FnSlpDec = 0x26;
+Dispenser7Motor.FsSpd = 0x3ff;
+
+HardwareMotor Dispenser8Motor = new HardwareMotor();
+Dispenser8Motor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDispenser8;
+Dispenser8Motor.MinFrequency = 0;
+Dispenser8Motor.MaxFrequency = 100000;
+Dispenser8Motor.SetMicroStep = 1;
+Dispenser8Motor.MicroStep = 16;
+Dispenser8Motor.MaxChangeSlope = 0x7FF;
+Dispenser8Motor.HighLengthMicroSecond = 0;
+Dispenser8Motor.SpeedMaster = false;
+Dispenser8Motor.PulsePerRound = 400;
+Dispenser8Motor.PulleyRadius = 1.68;
+Dispenser8Motor.ConfigWord = 0x1CA0;
+Dispenser8Motor.DirectionThreadWize = true;
+Dispenser8Motor.KvalHold = 0x21;
+Dispenser8Motor.KvalRun = 0xc0;
+Dispenser8Motor.KvalAcc = 0x2e;
+Dispenser8Motor.KvalDec = 0x3ff;
+Dispenser8Motor.OverCurrentThreshold = 0xF;
+Dispenser8Motor.StallThreshold = 0x1F;
+Dispenser8Motor.ThermalCompensationFactor = 0;
+Dispenser8Motor.LowSpeedOptimization = false;
+Dispenser8Motor.StSlp = 0x9;
+Dispenser8Motor.IntSpd = 0x1AD2;
+Dispenser8Motor.FnSlpAcc = 0x26;
+Dispenser8Motor.FnSlpDec = 0x26;
+Dispenser8Motor.FsSpd = 0x3ff;
+
+HardwareMotor DryerLoadarm = new HardwareMotor();
+DryerLoadarm.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerLoadarm;
+DryerLoadarm.MinFrequency = 0;
+DryerLoadarm.MaxFrequency = 1000000;
+DryerLoadarm.SetMicroStep = 1;
+DryerLoadarm.MicroStep = 1;
+DryerLoadarm.MaxChangeSlope = 10000;
+DryerLoadarm.HighLengthMicroSecond = 0;
+DryerLoadarm.SpeedMaster = false;
+DryerLoadarm.PulsePerRound = 200;
+DryerLoadarm.PulleyRadius = 1.25;
+DryerLoadarm.ConfigWord = 0x1C80;
+DryerLoadarm.DirectionThreadWize = false;
+DryerLoadarm.KvalHold = 0x35;
+DryerLoadarm.KvalRun = 0x7f;
+DryerLoadarm.KvalAcc = 0x7f;
+DryerLoadarm.KvalDec = 0x27;
+DryerLoadarm.OverCurrentThreshold = 7;
+DryerLoadarm.StallThreshold = 0x1F;
+DryerLoadarm.ThermalCompensationFactor = 0;
+DryerLoadarm.LowSpeedOptimization = false;
+DryerLoadarm.StSlp = 0x20;
+DryerLoadarm.IntSpd = 0x1A13;
+DryerLoadarm.FnSlpAcc = 0x50;
+DryerLoadarm.FnSlpDec = 0x50;
+DryerLoadarm.FsSpd = 0x27;
+
+HardwareWinder Winder = new HardwareWinder();
+Winder.HardwareWinderType = Tango.PMR.Hardware.HardwareWinderType.InternalWinder;
+Winder.MillimeterPerRotation = 20;
+
diff --git a/Software/Stubs Collection/stubs/addedfiles/PID_Configuration.cs b/Software/Stubs Collection/stubs/addedfiles/PID_Configuration.cs
new file mode 100644
index 000000000..984ed00e2
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/PID_Configuration.cs
@@ -0,0 +1,76 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+HardwarePidControl FeederPidControl = new HardwarePidControl();
+FeederPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorFeeder;
+FeederPidControl.OutputProportionalPowerLimit = 1.0;
+FeederPidControl.OutputProportionalBand = 5;
+FeederPidControl.IntegralTime = 5;
+FeederPidControl.DerivativeTime = 0;
+FeederPidControl.SensorCorrectionAdjustment = 0;
+FeederPidControl.SensorMinValue = 0;
+FeederPidControl.SensorMaxValue = 0;
+FeederPidControl.SetPointRampRateorSoftStartRamp = 0;
+FeederPidControl.SetPointControlOutputRate = 4;
+FeederPidControl.ControlOutputType = 0;
+FeederPidControl.SsrControlOutputType = 0;
+FeederPidControl.OutputOnOffHysteresisValue = 0;
+FeederPidControl.ProcessVariableSamplingRate = 1000;
+FeederPidControl.PvInputFilterFactorMode = 4;
+FeederPidControl.OutputProportionalCycleTime = 0;
+FeederPidControl.AcHeatersHalfCycleTime = 0;
+FeederPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl PoolerPidControl = new HardwarePidControl();
+PoolerPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorPooler;
+PoolerPidControl.OutputProportionalPowerLimit = 1.0;
+PoolerPidControl.OutputProportionalBand = 5;
+PoolerPidControl.IntegralTime = 5;
+PoolerPidControl.DerivativeTime = 0;
+PoolerPidControl.SensorCorrectionAdjustment = 0;
+PoolerPidControl.SensorMinValue = 0;
+PoolerPidControl.SensorMaxValue = 0;
+PoolerPidControl.SetPointRampRateorSoftStartRamp = 0;
+PoolerPidControl.SetPointControlOutputRate = 4;
+PoolerPidControl.ControlOutputType = 0;
+PoolerPidControl.SsrControlOutputType = 0;
+PoolerPidControl.OutputOnOffHysteresisValue = 0;
+PoolerPidControl.ProcessVariableSamplingRate = 1000;
+PoolerPidControl.PvInputFilterFactorMode = 4;
+PoolerPidControl.OutputProportionalCycleTime = 0;
+PoolerPidControl.AcHeatersHalfCycleTime = 0;
+PoolerPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl WinderPidControl = new HardwarePidControl();
+WinderPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorWinder;
+WinderPidControl.OutputProportionalPowerLimit = 1.0;
+WinderPidControl.OutputProportionalBand = 5;
+WinderPidControl.IntegralTime = 7;
+WinderPidControl.DerivativeTime = 0;
+WinderPidControl.SensorCorrectionAdjustment = 0;
+WinderPidControl.SensorMinValue = 0;
+WinderPidControl.SensorMaxValue = 0;
+WinderPidControl.SetPointRampRateorSoftStartRamp = 0;
+WinderPidControl.SetPointControlOutputRate = 4;
+WinderPidControl.ControlOutputType = 0;
+WinderPidControl.SsrControlOutputType = 0;
+WinderPidControl.OutputOnOffHysteresisValue = 0;
+WinderPidControl.ProcessVariableSamplingRate = 1000;
+WinderPidControl.PvInputFilterFactorMode = 4;
+WinderPidControl.OutputProportionalCycleTime = 0;
+WinderPidControl.AcHeatersHalfCycleTime = 0;
+WinderPidControl.ProportionalGain = 12.0;
+
diff --git a/Software/Stubs Collection/stubs/addedfiles/ThreadMotorsDefinition.cs b/Software/Stubs Collection/stubs/addedfiles/ThreadMotorsDefinition.cs
new file mode 100644
index 000000000..84a29bc3d
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/ThreadMotorsDefinition.cs
@@ -0,0 +1,314 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+HardwarePidControl FeederPidControl = new HardwarePidControl();
+FeederPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorFeeder;
+FeederPidControl.OutputProportionalPowerLimit = 1.0;
+FeederPidControl.OutputProportionalBand = 5;
+FeederPidControl.IntegralTime = 5;
+FeederPidControl.DerivativeTime = 0;
+FeederPidControl.SensorCorrectionAdjustment = 0;
+FeederPidControl.SensorMinValue = 0;
+FeederPidControl.SensorMaxValue = 0;
+FeederPidControl.SetPointRampRateorSoftStartRamp = 0;
+FeederPidControl.SetPointControlOutputRate = 4;
+FeederPidControl.ControlOutputType = 0;
+FeederPidControl.SsrControlOutputType = 0;
+FeederPidControl.OutputOnOffHysteresisValue = 0;
+FeederPidControl.ProcessVariableSamplingRate = 1000;
+FeederPidControl.PvInputFilterFactorMode = 4;
+FeederPidControl.OutputProportionalCycleTime = 0;
+FeederPidControl.AcHeatersHalfCycleTime = 0;
+FeederPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl PoolerPidControl = new HardwarePidControl();
+PoolerPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorPooler;
+PoolerPidControl.OutputProportionalPowerLimit = 1.0;
+PoolerPidControl.OutputProportionalBand = 5;
+PoolerPidControl.IntegralTime = 5;
+PoolerPidControl.DerivativeTime = 0;
+PoolerPidControl.SensorCorrectionAdjustment = 0;
+PoolerPidControl.SensorMinValue = 0;
+PoolerPidControl.SensorMaxValue = 0;
+PoolerPidControl.SetPointRampRateorSoftStartRamp = 0;
+PoolerPidControl.SetPointControlOutputRate = 4;
+PoolerPidControl.ControlOutputType = 0;
+PoolerPidControl.SsrControlOutputType = 0;
+PoolerPidControl.OutputOnOffHysteresisValue = 0;
+PoolerPidControl.ProcessVariableSamplingRate = 1000;
+PoolerPidControl.PvInputFilterFactorMode = 4;
+PoolerPidControl.OutputProportionalCycleTime = 0;
+PoolerPidControl.AcHeatersHalfCycleTime = 0;
+PoolerPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl WinderPidControl = new HardwarePidControl();
+WinderPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorWinder;
+WinderPidControl.OutputProportionalPowerLimit = 1.0;
+WinderPidControl.OutputProportionalBand = 5;
+WinderPidControl.IntegralTime = 5;
+WinderPidControl.DerivativeTime = 0;
+WinderPidControl.SensorCorrectionAdjustment = 0;
+WinderPidControl.SensorMinValue = 0;
+WinderPidControl.SensorMaxValue = 0;
+WinderPidControl.SetPointRampRateorSoftStartRamp = 0;
+WinderPidControl.SetPointControlOutputRate = 4;
+WinderPidControl.ControlOutputType = 0;
+WinderPidControl.SsrControlOutputType = 0;
+WinderPidControl.OutputOnOffHysteresisValue = 0;
+WinderPidControl.ProcessVariableSamplingRate = 1000;
+WinderPidControl.PvInputFilterFactorMode = 4;
+WinderPidControl.OutputProportionalCycleTime = 0;
+WinderPidControl.AcHeatersHalfCycleTime = 0;
+WinderPidControl.ProportionalGain = 11.0;
+
+
+HardwareDancer FeederDancer = new HardwareDancer();
+FeederDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.RightDancer;
+FeederDancer.Gradual = false;
+FeederDancer.K = 0;
+FeederDancer.X = 0;
+FeederDancer.PulsePerMmSpring = 0;
+FeederDancer.MaximalMovementMm = 15;
+FeederDancer.ZeroPoint = 14170;
+FeederDancer.ResolutionBits = 14;
+FeederDancer.ArmLength = 126;
+
+HardwareDancer PoolerDancer = new HardwareDancer();
+PoolerDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.MiddleDancer;
+PoolerDancer.Gradual = false;
+PoolerDancer.K = 0;
+PoolerDancer.X = 0;
+PoolerDancer.PulsePerMmSpring = 0;
+PoolerDancer.MaximalMovementMm = 15;
+PoolerDancer.ZeroPoint = 13347;
+PoolerDancer.ResolutionBits = 14;
+PoolerDancer.ArmLength = 126;
+
+HardwareDancer WinderDancer = new HardwareDancer();
+WinderDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.LeftDancer;
+WinderDancer.Gradual = false;
+WinderDancer.K = 0;
+WinderDancer.X = 0;
+WinderDancer.PulsePerMmSpring = 0;
+WinderDancer.MaximalMovementMm = 15;
+WinderDancer.ZeroPoint = 11320;
+WinderDancer.ResolutionBits = 14;
+WinderDancer.ArmLength = 126;
+
+HardwareMotor FeederMotor = new HardwareMotor();
+FeederMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
+FeederMotor.MinFrequency = 0;
+FeederMotor.MaxFrequency = 1000000;
+FeederMotor.SetMicroStep = 1;
+FeederMotor.MicroStep = 1;
+FeederMotor.MaxChangeSlope = 10000;
+FeederMotor.HighLengthMicroSecond = 0;
+FeederMotor.SpeedMaster = false;
+FeederMotor.PulsePerRound = 200;
+FeederMotor.PulleyRadius = 1.25;
+FeederMotor.ConfigWord = 0x1C80;
+FeederMotor.DirectionThreadWize = true;
+FeederMotor.KvalHold = 0x35;
+FeederMotor.KvalRun = 0x7f;
+FeederMotor.KvalAcc = 0x7f;
+FeederMotor.KvalDec = 0x7f;
+FeederMotor.OverCurrentThreshold = 7;
+FeederMotor.StallThreshold = 0x1F;
+FeederMotor.ThermalCompensationFactor = 0;
+FeederMotor.LowSpeedOptimization = false;
+FeederMotor.StSlp = 0x20;
+FeederMotor.IntSpd = 0x1A13;
+FeederMotor.FnSlpAcc = 0x50;
+FeederMotor.FnSlpDec = 0x50;
+
+HardwareMotor DryerMotor = new HardwareMotor();
+DryerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
+DryerMotor.MinFrequency = 0;
+DryerMotor.MaxFrequency = 1000000;
+DryerMotor.SetMicroStep = 1;
+DryerMotor.MicroStep = 1;
+DryerMotor.MaxChangeSlope = 1000;
+DryerMotor.HighLengthMicroSecond = 0;
+DryerMotor.SpeedMaster = true;
+DryerMotor.PulsePerRound = 200;
+DryerMotor.PulleyRadius = 1.05;
+DryerMotor.ConfigWord = 0x1c80;
+DryerMotor.DirectionThreadWize = false;
+DryerMotor.KvalHold = 0x35;
+DryerMotor.KvalRun = 0x7f;
+DryerMotor.KvalAcc = 0x7f;
+DryerMotor.KvalDec = 0x7f;
+DryerMotor.OverCurrentThreshold = 7;
+DryerMotor.StallThreshold = 0x1F;
+DryerMotor.ThermalCompensationFactor = 0;
+DryerMotor.LowSpeedOptimization = false;
+DryerMotor.StSlp = 0x20;
+DryerMotor.IntSpd = 0x1A13;
+DryerMotor.FnSlpAcc = 0x50;
+DryerMotor.FnSlpDec = 0x50;
+
+HardwareMotor PoolerMotor = new HardwareMotor();
+PoolerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLdriving;
+PoolerMotor.MinFrequency = 0;
+PoolerMotor.MaxFrequency = 1000000;
+PoolerMotor.SetMicroStep = 1;
+PoolerMotor.MicroStep = 8;
+PoolerMotor.MaxChangeSlope = 10000;
+PoolerMotor.HighLengthMicroSecond = 0;
+PoolerMotor.SpeedMaster = false;
+PoolerMotor.PulsePerRound = 200;
+PoolerMotor.PulleyRadius = 1.25;
+PoolerMotor.ConfigWord = 0x1C80;
+PoolerMotor.DirectionThreadWize = true;
+PoolerMotor.KvalHold = 0x35;
+PoolerMotor.KvalRun = 0x7f;
+PoolerMotor.KvalAcc = 0x7f;
+PoolerMotor.KvalDec = 0x7f;
+PoolerMotor.OverCurrentThreshold = 7;
+PoolerMotor.StallThreshold = 0x1F;
+PoolerMotor.ThermalCompensationFactor = 0;
+PoolerMotor.LowSpeedOptimization = false;
+PoolerMotor.StSlp = 20;
+PoolerMotor.IntSpd = 0x1A13;
+PoolerMotor.FnSlpAcc = 0x50;
+PoolerMotor.FnSlpDec = 0x50;
+
+HardwareMotor WinderMotor = new HardwareMotor();
+WinderMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoWinder;
+WinderMotor.MinFrequency = 0;
+WinderMotor.MaxFrequency = 1000000;
+WinderMotor.SetMicroStep = 1;
+WinderMotor.MicroStep = 16;
+WinderMotor.MaxChangeSlope = 10000;
+WinderMotor.HighLengthMicroSecond = 0;
+WinderMotor.SpeedMaster = false;
+WinderMotor.PulsePerRound = 200;
+WinderMotor.PulleyRadius = 1.68;
+WinderMotor.ConfigWord = 0x1c80;
+WinderMotor.DirectionThreadWize = false;
+WinderMotor.KvalHold = 0x0F;
+WinderMotor.KvalRun = 0x15;
+WinderMotor.KvalAcc = 0x15;
+WinderMotor.KvalDec = 0x15;
+WinderMotor.OverCurrentThreshold = 7;
+WinderMotor.StallThreshold = 0x1F;
+WinderMotor.ThermalCompensationFactor = 0;
+WinderMotor.LowSpeedOptimization = false;
+WinderMotor.StSlp = 0x18;
+WinderMotor.IntSpd = 0x22C5;
+WinderMotor.FnSlpAcc = 0x22;
+WinderMotor.FnSlpDec = 0x22;
+
+HardwareMotor ScrewMotor = new HardwareMotor();
+ScrewMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoScrew;
+ScrewMotor.MinFrequency = 0;
+ScrewMotor.MaxFrequency = 1000000;
+ScrewMotor.SetMicroStep = 1;
+ScrewMotor.MicroStep = 8;
+ScrewMotor.MaxChangeSlope = 100;
+ScrewMotor.HighLengthMicroSecond = 0;
+ScrewMotor.SpeedMaster = false;
+ScrewMotor.PulsePerRound = 200;
+ScrewMotor.PulleyRadius = 1.25;
+ScrewMotor.ConfigWord = 0x1C80;
+ScrewMotor.DirectionThreadWize = false;
+ScrewMotor.KvalHold = 0x0F;
+ScrewMotor.KvalRun = 0x15;
+ScrewMotor.KvalAcc = 0x15;
+ScrewMotor.KvalDec = 0x15;
+ScrewMotor.OverCurrentThreshold = 7;
+ScrewMotor.StallThreshold = 0x1F;
+ScrewMotor.ThermalCompensationFactor = 0;
+ScrewMotor.LowSpeedOptimization = false;
+ScrewMotor.StSlp = 0x18;
+ScrewMotor.IntSpd = 0x22C5;
+ScrewMotor.FnSlpAcc = 0x22;
+ScrewMotor.FnSlpDec = 0x22;
+
+HardwareMotor LeftRockerMotor = new HardwareMotor();
+LeftRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLloading;
+LeftRockerMotor.MinFrequency = 0;
+LeftRockerMotor.MaxFrequency = 1000000;
+LeftRockerMotor.SetMicroStep = 1;
+LeftRockerMotor.MicroStep = 4;
+LeftRockerMotor.MaxChangeSlope = 10000;
+LeftRockerMotor.HighLengthMicroSecond = 0;
+LeftRockerMotor.SpeedMaster = false;
+LeftRockerMotor.PulsePerRound = 200;
+LeftRockerMotor.PulleyRadius = 1.3;
+LeftRockerMotor.ConfigWord = 0xC80;
+LeftRockerMotor.DirectionThreadWize = false;
+LeftRockerMotor.KvalHold = 0x28;
+LeftRockerMotor.KvalRun = 0x5f;
+LeftRockerMotor.KvalAcc = 0x5f;
+LeftRockerMotor.KvalDec = 0x5f;
+LeftRockerMotor.OverCurrentThreshold = 7;
+LeftRockerMotor.StallThreshold = 0x1F;
+LeftRockerMotor.ThermalCompensationFactor = 0;
+LeftRockerMotor.LowSpeedOptimization = false;
+LeftRockerMotor.StSlp = 6;
+LeftRockerMotor.IntSpd = 0x44B8;
+LeftRockerMotor.FnSlpAcc = 0x14;
+LeftRockerMotor.FnSlpDec = 0x14;
+
+
+HardwareMotor RightRockerMotor = new HardwareMotor();
+RightRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRloading;
+RightRockerMotor.MinFrequency = 0;
+RightRockerMotor.MaxFrequency = 1000000;
+RightRockerMotor.SetMicroStep = 1;
+RightRockerMotor.MicroStep = 4;
+RightRockerMotor.MaxChangeSlope = 10000;
+RightRockerMotor.HighLengthMicroSecond = 0;
+RightRockerMotor.SpeedMaster = false;
+RightRockerMotor.PulsePerRound = 200;
+RightRockerMotor.PulleyRadius = 1.3;
+RightRockerMotor.ConfigWord = 0xC80;
+RightRockerMotor.DirectionThreadWize = true;
+RightRockerMotor.KvalHold = 0x28;
+RightRockerMotor.KvalRun = 0x5f;
+RightRockerMotor.KvalAcc = 0x5f;
+RightRockerMotor.KvalDec = 0x5f;
+RightRockerMotor.OverCurrentThreshold = 7;
+RightRockerMotor.StallThreshold = 0x1F;
+RightRockerMotor.ThermalCompensationFactor = 0;
+RightRockerMotor.LowSpeedOptimization = false;
+RightRockerMotor.StSlp = 6;
+RightRockerMotor.IntSpd = 0x44B8;
+RightRockerMotor.FnSlpAcc = 0x14;
+RightRockerMotor.FnSlpDec = 0x14;
+
+
+
+HardwareWinder Winder = new HardwareWinder();
+Winder.HardwareWinderType = Tango.PMR.Hardware.HardwareWinderType.InternalWinder;
+Winder.MillimeterPerRotation = 20;
+
+//hardwareConfiguration.Motors.Add(FeederMotor);
+//hardwareConfiguration.Motors.Add(WinderMotor);
+//hardwareConfiguration.Motors.Add(DryerMotor);
+//hardwareConfiguration.Motors.Add(PoolerMotor);
+//hardwareConfiguration.Motors.Add(ScrewMotor);
+//hardwareConfiguration.Motors.Add(LeftRockerMotor);
+//hardwareConfiguration.Motors.Add(RightRockerMotor);
+
+//hardwareConfiguration.PidControls.Add(FeederPidControl);
+//hardwareConfiguration.PidControls.Add(PoolerPidControl);
+//hardwareConfiguration.PidControls.Add(WinderPidControl);
+
+//hardwareConfiguration.Dancers.Add(FeederDancer);
+//hardwareConfiguration.Dancers.Add(PoolerDancer);
+//hardwareConfiguration.Dancers.Add(WinderDancer);
diff --git a/Software/Stubs Collection/stubs/addedfiles/ThreadMotorsDefinition1.cs b/Software/Stubs Collection/stubs/addedfiles/ThreadMotorsDefinition1.cs
new file mode 100644
index 000000000..22e662930
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/ThreadMotorsDefinition1.cs
@@ -0,0 +1,316 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+HardwarePidControl FeederPidControl = new HardwarePidControl();
+FeederPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorFeeder;
+FeederPidControl.OutputProportionalPowerLimit = 1.0;
+FeederPidControl.OutputProportionalBand = 5;
+FeederPidControl.IntegralTime = 5;
+FeederPidControl.DerivativeTime = 0;
+FeederPidControl.SensorCorrectionAdjustment = 0;
+FeederPidControl.SensorMinValue = 0;
+FeederPidControl.SensorMaxValue = 0;
+FeederPidControl.SetPointRampRateorSoftStartRamp = 0;
+FeederPidControl.SetPointControlOutputRate = 4;
+FeederPidControl.ControlOutputType = 0;
+FeederPidControl.SsrControlOutputType = 0;
+FeederPidControl.OutputOnOffHysteresisValue = 0;
+FeederPidControl.ProcessVariableSamplingRate = 1000;
+FeederPidControl.PvInputFilterFactorMode = 4;
+FeederPidControl.OutputProportionalCycleTime = 0;
+FeederPidControl.AcHeatersHalfCycleTime = 0;
+FeederPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl PoolerPidControl = new HardwarePidControl();
+PoolerPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorPooler;
+PoolerPidControl.OutputProportionalPowerLimit = 1.0;
+PoolerPidControl.OutputProportionalBand = 5;
+PoolerPidControl.IntegralTime = 5;
+PoolerPidControl.DerivativeTime = 0;
+PoolerPidControl.SensorCorrectionAdjustment = 0;
+PoolerPidControl.SensorMinValue = 0;
+PoolerPidControl.SensorMaxValue = 0;
+PoolerPidControl.SetPointRampRateorSoftStartRamp = 0;
+PoolerPidControl.SetPointControlOutputRate = 4;
+PoolerPidControl.ControlOutputType = 0;
+PoolerPidControl.SsrControlOutputType = 0;
+PoolerPidControl.OutputOnOffHysteresisValue = 0;
+PoolerPidControl.ProcessVariableSamplingRate = 1000;
+PoolerPidControl.PvInputFilterFactorMode = 4;
+PoolerPidControl.OutputProportionalCycleTime = 0;
+PoolerPidControl.AcHeatersHalfCycleTime = 0;
+PoolerPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl WinderPidControl = new HardwarePidControl();
+WinderPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorWinder;
+WinderPidControl.OutputProportionalPowerLimit = 1.0;
+WinderPidControl.OutputProportionalBand = 5;
+WinderPidControl.IntegralTime = 7;
+WinderPidControl.DerivativeTime = 0;
+WinderPidControl.SensorCorrectionAdjustment = 0;
+WinderPidControl.SensorMinValue = 0;
+WinderPidControl.SensorMaxValue = 0;
+WinderPidControl.SetPointRampRateorSoftStartRamp = 0;
+WinderPidControl.SetPointControlOutputRate = 4;
+WinderPidControl.ControlOutputType = 0;
+WinderPidControl.SsrControlOutputType = 0;
+WinderPidControl.OutputOnOffHysteresisValue = 0;
+WinderPidControl.ProcessVariableSamplingRate = 1000;
+WinderPidControl.PvInputFilterFactorMode = 4;
+WinderPidControl.OutputProportionalCycleTime = 0;
+WinderPidControl.AcHeatersHalfCycleTime = 0;
+WinderPidControl.ProportionalGain = 12.0;
+
+
+HardwareDancer FeederDancer = new HardwareDancer();
+FeederDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.RightDancer;
+FeederDancer.Gradual = false;
+FeederDancer.K = 0;
+FeederDancer.X = 0;
+FeederDancer.PulsePerMmSpring = 0;
+FeederDancer.MaximalMovementMm = 15;
+FeederDancer.ZeroPoint = 14170;
+FeederDancer.ResolutionBits = 14;
+FeederDancer.ArmLength = 126;
+
+HardwareDancer PoolerDancer = new HardwareDancer();
+PoolerDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.MiddleDancer;
+PoolerDancer.Gradual = false;
+PoolerDancer.K = 0;
+PoolerDancer.X = 0;
+PoolerDancer.PulsePerMmSpring = 0;
+PoolerDancer.MaximalMovementMm = 15;
+PoolerDancer.ZeroPoint = 13347;
+PoolerDancer.ResolutionBits = 14;
+PoolerDancer.ArmLength = 126;
+
+HardwareDancer WinderDancer = new HardwareDancer();
+WinderDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.LeftDancer;
+WinderDancer.Gradual = false;
+WinderDancer.K = 0;
+WinderDancer.X = 0;
+WinderDancer.PulsePerMmSpring = 0;
+WinderDancer.MaximalMovementMm = 15;
+WinderDancer.ZeroPoint = 10900;
+WinderDancer.ResolutionBits = 14;
+WinderDancer.ArmLength = 126;
+
+HardwareMotor FeederMotor = new HardwareMotor();
+FeederMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
+FeederMotor.MinFrequency = 0;
+FeederMotor.MaxFrequency = 1000000;
+FeederMotor.SetMicroStep = 1;
+FeederMotor.MicroStep = 1;
+FeederMotor.MaxChangeSlope = 10000;
+FeederMotor.HighLengthMicroSecond = 0;
+FeederMotor.SpeedMaster = false;
+FeederMotor.PulsePerRound = 200;
+FeederMotor.PulleyRadius = 1.25;
+FeederMotor.ConfigWord = 0x1C80;
+FeederMotor.DirectionThreadWize = true;
+FeederMotor.KvalHold = 0x35;
+FeederMotor.KvalRun = 0x7f;
+FeederMotor.KvalAcc = 0x7f;
+FeederMotor.KvalDec = 0x7f;
+FeederMotor.OverCurrentThreshold = 7;
+FeederMotor.StallThreshold = 0x1F;
+FeederMotor.ThermalCompensationFactor = 0;
+FeederMotor.LowSpeedOptimization = false;
+FeederMotor.StSlp = 0x20;
+FeederMotor.IntSpd = 0x1A13;
+FeederMotor.FnSlpAcc = 0x50;
+FeederMotor.FnSlpDec = 0x50;
+
+HardwareMotor DryerMotor = new HardwareMotor();
+DryerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
+DryerMotor.MinFrequency = 0;
+DryerMotor.MaxFrequency = 1000000;
+DryerMotor.SetMicroStep = 1;
+DryerMotor.MicroStep = 1;
+DryerMotor.MaxChangeSlope = 1000;
+DryerMotor.HighLengthMicroSecond = 0;
+DryerMotor.SpeedMaster = true;
+DryerMotor.PulsePerRound = 200;
+DryerMotor.PulleyRadius = 1.05;
+DryerMotor.ConfigWord = 0x1c80;
+DryerMotor.DirectionThreadWize = false;
+DryerMotor.KvalHold = 0x35;
+DryerMotor.KvalRun = 0x7f;
+DryerMotor.KvalAcc = 0x7f;
+DryerMotor.KvalDec = 0x7f;
+DryerMotor.OverCurrentThreshold = 7;
+DryerMotor.StallThreshold = 0x1F;
+DryerMotor.ThermalCompensationFactor = 0;
+DryerMotor.LowSpeedOptimization = false;
+DryerMotor.StSlp = 0x20;
+DryerMotor.IntSpd = 0x1A13;
+DryerMotor.FnSlpAcc = 0x50;
+DryerMotor.FnSlpDec = 0x50;
+
+HardwareMotor PoolerMotor = new HardwareMotor();
+PoolerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLdriving;
+PoolerMotor.MinFrequency = 0;
+PoolerMotor.MaxFrequency = 1000000;
+PoolerMotor.SetMicroStep = 1;
+PoolerMotor.MicroStep = 8;
+PoolerMotor.MaxChangeSlope = 10000;
+PoolerMotor.HighLengthMicroSecond = 0;
+PoolerMotor.SpeedMaster = false;
+PoolerMotor.PulsePerRound = 200;
+PoolerMotor.PulleyRadius = 1.25;
+PoolerMotor.ConfigWord = 0x1C80;
+PoolerMotor.DirectionThreadWize = true;
+PoolerMotor.KvalHold = 0x35;
+PoolerMotor.KvalRun = 0x7f;
+PoolerMotor.KvalAcc = 0x7f;
+PoolerMotor.KvalDec = 0x7f;
+PoolerMotor.OverCurrentThreshold = 7;
+PoolerMotor.StallThreshold = 0x1F;
+PoolerMotor.ThermalCompensationFactor = 0;
+PoolerMotor.LowSpeedOptimization = false;
+PoolerMotor.StSlp = 20;
+PoolerMotor.IntSpd = 0x1A13;
+PoolerMotor.FnSlpAcc = 0x50;
+PoolerMotor.FnSlpDec = 0x50;
+
+HardwareMotor WinderMotor = new HardwareMotor();
+WinderMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoWinder;
+WinderMotor.MinFrequency = 0;
+WinderMotor.MaxFrequency = 1000000;
+WinderMotor.SetMicroStep = 1;
+WinderMotor.MicroStep = 16;
+WinderMotor.MaxChangeSlope = 10000;
+WinderMotor.HighLengthMicroSecond = 0;
+WinderMotor.SpeedMaster = false;
+WinderMotor.PulsePerRound = 200;
+WinderMotor.PulleyRadius = 1.68;
+WinderMotor.ConfigWord = 0x1c80;
+WinderMotor.DirectionThreadWize = false;
+WinderMotor.KvalHold = 0x0F;
+WinderMotor.KvalRun = 0x15;
+WinderMotor.KvalAcc = 0x15;
+WinderMotor.KvalDec = 0x15;
+WinderMotor.OverCurrentThreshold = 7;
+WinderMotor.StallThreshold = 0x1F;
+WinderMotor.ThermalCompensationFactor = 0;
+WinderMotor.LowSpeedOptimization = false;
+WinderMotor.StSlp = 0x18;
+WinderMotor.IntSpd = 0x22C5;
+WinderMotor.FnSlpAcc = 0x22;
+WinderMotor.FnSlpDec = 0x22;
+
+HardwareMotor ScrewMotor = new HardwareMotor();
+ScrewMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoScrew;
+ScrewMotor.MinFrequency = 0;
+ScrewMotor.MaxFrequency = 1000000;
+ScrewMotor.SetMicroStep = 1;
+ScrewMotor.MicroStep = 8;
+ScrewMotor.MaxChangeSlope = 100;
+ScrewMotor.HighLengthMicroSecond = 0;
+ScrewMotor.SpeedMaster = false;
+ScrewMotor.PulsePerRound = 200;
+ScrewMotor.PulleyRadius = 1.25;
+ScrewMotor.ConfigWord = 0x1C80;
+ScrewMotor.DirectionThreadWize = false;
+ScrewMotor.KvalHold = 0x0F;
+ScrewMotor.KvalRun = 0x15;
+ScrewMotor.KvalAcc = 0x15;
+ScrewMotor.KvalDec = 0x15;
+ScrewMotor.OverCurrentThreshold = 7;
+ScrewMotor.StallThreshold = 0x1F;
+ScrewMotor.ThermalCompensationFactor = 0;
+ScrewMotor.LowSpeedOptimization = false;
+ScrewMotor.StSlp = 0x18;
+ScrewMotor.IntSpd = 0x22C5;
+ScrewMotor.FnSlpAcc = 0x22;
+ScrewMotor.FnSlpDec = 0x22;
+
+HardwareMotor LeftRockerMotor = new HardwareMotor();
+LeftRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLloading;
+LeftRockerMotor.MinFrequency = 20;
+LeftRockerMotor.LowSpeedOptimization = true;
+LeftRockerMotor.MaxFrequency = 1000000;
+LeftRockerMotor.SetMicroStep = 1;
+LeftRockerMotor.MicroStep = 4;
+LeftRockerMotor.MaxChangeSlope = 10000;
+LeftRockerMotor.HighLengthMicroSecond = 0;
+LeftRockerMotor.SpeedMaster = false;
+LeftRockerMotor.PulsePerRound = 200;
+LeftRockerMotor.PulleyRadius = 1.3;
+LeftRockerMotor.ConfigWord = 0xC80;
+LeftRockerMotor.DirectionThreadWize = false;
+LeftRockerMotor.KvalHold = 0x28;
+LeftRockerMotor.KvalRun = 0x5f;
+LeftRockerMotor.KvalAcc = 0x5f;
+LeftRockerMotor.KvalDec = 0x5f;
+LeftRockerMotor.OverCurrentThreshold = 7;
+LeftRockerMotor.StallThreshold = 0x1F;
+LeftRockerMotor.ThermalCompensationFactor = 0;
+LeftRockerMotor.LowSpeedOptimization = false;
+LeftRockerMotor.StSlp = 6;
+LeftRockerMotor.IntSpd = 0x44B8;
+LeftRockerMotor.FnSlpAcc = 0x14;
+LeftRockerMotor.FnSlpDec = 0x14;
+
+
+HardwareMotor RightRockerMotor = new HardwareMotor();
+RightRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRloading;
+RightRockerMotor.MinFrequency = 20;
+RightRockerMotor.LowSpeedOptimization = true;
+RightRockerMotor.MaxFrequency = 1000000;
+RightRockerMotor.SetMicroStep = 1;
+RightRockerMotor.MicroStep = 4;
+RightRockerMotor.MaxChangeSlope = 10000;
+RightRockerMotor.HighLengthMicroSecond = 0;
+RightRockerMotor.SpeedMaster = false;
+RightRockerMotor.PulsePerRound = 200;
+RightRockerMotor.PulleyRadius = 1.3;
+RightRockerMotor.ConfigWord = 0xC80;
+RightRockerMotor.DirectionThreadWize = true;
+RightRockerMotor.KvalHold = 0x28;
+RightRockerMotor.KvalRun = 0x5f;
+RightRockerMotor.KvalAcc = 0x5f;
+RightRockerMotor.KvalDec = 0x5f;
+RightRockerMotor.OverCurrentThreshold = 7;
+RightRockerMotor.StallThreshold = 0x1F;
+RightRockerMotor.ThermalCompensationFactor = 0;
+RightRockerMotor.LowSpeedOptimization = false;
+RightRockerMotor.StSlp = 6;
+RightRockerMotor.IntSpd = 0x44B8;
+RightRockerMotor.FnSlpAcc = 0x14;
+RightRockerMotor.FnSlpDec = 0x14;
+
+
+
+HardwareWinder Winder = new HardwareWinder();
+Winder.HardwareWinderType = Tango.PMR.Hardware.HardwareWinderType.InternalWinder;
+Winder.MillimeterPerRotation = 20;
+
+//hardwareConfiguration.Motors.Add(FeederMotor);
+//hardwareConfiguration.Motors.Add(WinderMotor);
+//hardwareConfiguration.Motors.Add(DryerMotor);
+//hardwareConfiguration.Motors.Add(PoolerMotor);
+//hardwareConfiguration.Motors.Add(ScrewMotor);
+//hardwareConfiguration.Motors.Add(LeftRockerMotor);
+//hardwareConfiguration.Motors.Add(RightRockerMotor);
+
+//hardwareConfiguration.PidControls.Add(FeederPidControl);
+//hardwareConfiguration.PidControls.Add(PoolerPidControl);
+//hardwareConfiguration.PidControls.Add(WinderPidControl);
+
+//hardwareConfiguration.Dancers.Add(FeederDancer);
+//hardwareConfiguration.Dancers.Add(PoolerDancer);
+//hardwareConfiguration.Dancers.Add(WinderDancer);
diff --git a/Software/Stubs Collection/stubs/addedfiles/ThreadMotorsDefinition2.cs b/Software/Stubs Collection/stubs/addedfiles/ThreadMotorsDefinition2.cs
new file mode 100644
index 000000000..a13aa92cf
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/ThreadMotorsDefinition2.cs
@@ -0,0 +1,316 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+HardwarePidControl FeederPidControl = new HardwarePidControl();
+FeederPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorFeeder;
+FeederPidControl.OutputProportionalPowerLimit = 1.0;
+FeederPidControl.OutputProportionalBand = 5;
+FeederPidControl.IntegralTime = 5;
+FeederPidControl.DerivativeTime = 0;
+FeederPidControl.SensorCorrectionAdjustment = 0;
+FeederPidControl.SensorMinValue = 0;
+FeederPidControl.SensorMaxValue = 0;
+FeederPidControl.SetPointRampRateorSoftStartRamp = 0;
+FeederPidControl.SetPointControlOutputRate = 4;
+FeederPidControl.ControlOutputType = 0;
+FeederPidControl.SsrControlOutputType = 0;
+FeederPidControl.OutputOnOffHysteresisValue = 0;
+FeederPidControl.ProcessVariableSamplingRate = 1000;
+FeederPidControl.PvInputFilterFactorMode = 4;
+FeederPidControl.OutputProportionalCycleTime = 0;
+FeederPidControl.AcHeatersHalfCycleTime = 0;
+FeederPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl PoolerPidControl = new HardwarePidControl();
+PoolerPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorPooler;
+PoolerPidControl.OutputProportionalPowerLimit = 1.0;
+PoolerPidControl.OutputProportionalBand = 5;
+PoolerPidControl.IntegralTime = 5;
+PoolerPidControl.DerivativeTime = 0;
+PoolerPidControl.SensorCorrectionAdjustment = 0;
+PoolerPidControl.SensorMinValue = 0;
+PoolerPidControl.SensorMaxValue = 0;
+PoolerPidControl.SetPointRampRateorSoftStartRamp = 0;
+PoolerPidControl.SetPointControlOutputRate = 4;
+PoolerPidControl.ControlOutputType = 0;
+PoolerPidControl.SsrControlOutputType = 0;
+PoolerPidControl.OutputOnOffHysteresisValue = 0;
+PoolerPidControl.ProcessVariableSamplingRate = 1000;
+PoolerPidControl.PvInputFilterFactorMode = 4;
+PoolerPidControl.OutputProportionalCycleTime = 0;
+PoolerPidControl.AcHeatersHalfCycleTime = 0;
+PoolerPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl WinderPidControl = new HardwarePidControl();
+WinderPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorWinder;
+WinderPidControl.OutputProportionalPowerLimit = 1.0;
+WinderPidControl.OutputProportionalBand = 5;
+WinderPidControl.IntegralTime = 7;
+WinderPidControl.DerivativeTime = 0;
+WinderPidControl.SensorCorrectionAdjustment = 0;
+WinderPidControl.SensorMinValue = 0;
+WinderPidControl.SensorMaxValue = 0;
+WinderPidControl.SetPointRampRateorSoftStartRamp = 0;
+WinderPidControl.SetPointControlOutputRate = 4;
+WinderPidControl.ControlOutputType = 0;
+WinderPidControl.SsrControlOutputType = 0;
+WinderPidControl.OutputOnOffHysteresisValue = 0;
+WinderPidControl.ProcessVariableSamplingRate = 1000;
+WinderPidControl.PvInputFilterFactorMode = 4;
+WinderPidControl.OutputProportionalCycleTime = 0;
+WinderPidControl.AcHeatersHalfCycleTime = 0;
+WinderPidControl.ProportionalGain = 12.0;
+
+
+HardwareDancer FeederDancer = new HardwareDancer();
+FeederDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.RightDancer;
+FeederDancer.Gradual = false;
+FeederDancer.K = 0;
+FeederDancer.X = 0;
+FeederDancer.PulsePerMmSpring = 0;
+FeederDancer.MaximalMovementMm = 15;
+FeederDancer.ZeroPoint = 14170;
+FeederDancer.ResolutionBits = 14;
+FeederDancer.ArmLength = 126;
+
+HardwareDancer PoolerDancer = new HardwareDancer();
+PoolerDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.MiddleDancer;
+PoolerDancer.Gradual = false;
+PoolerDancer.K = 0;
+PoolerDancer.X = 0;
+PoolerDancer.PulsePerMmSpring = 0;
+PoolerDancer.MaximalMovementMm = 15;
+PoolerDancer.ZeroPoint = 13347;
+PoolerDancer.ResolutionBits = 14;
+PoolerDancer.ArmLength = 126;
+
+HardwareDancer WinderDancer = new HardwareDancer();
+WinderDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.LeftDancer;
+WinderDancer.Gradual = false;
+WinderDancer.K = 0;
+WinderDancer.X = 0;
+WinderDancer.PulsePerMmSpring = 0;
+WinderDancer.MaximalMovementMm = 15;
+WinderDancer.ZeroPoint = 10900;
+WinderDancer.ResolutionBits = 14;
+WinderDancer.ArmLength = 126;
+
+HardwareMotor FeederMotor = new HardwareMotor();
+FeederMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
+FeederMotor.MinFrequency = 0;
+FeederMotor.MaxFrequency = 1000000;
+FeederMotor.SetMicroStep = 1;
+FeederMotor.MicroStep = 4;
+FeederMotor.MaxChangeSlope = 10000;
+FeederMotor.HighLengthMicroSecond = 0;
+FeederMotor.SpeedMaster = false;
+FeederMotor.PulsePerRound = 200;
+FeederMotor.PulleyRadius = 1.25;
+FeederMotor.ConfigWord = 0x1C80;
+FeederMotor.DirectionThreadWize = true;
+FeederMotor.KvalHold = 0x35;
+FeederMotor.KvalRun = 0x7f;
+FeederMotor.KvalAcc = 0x7f;
+FeederMotor.KvalDec = 0x7f;
+FeederMotor.OverCurrentThreshold = 7;
+FeederMotor.StallThreshold = 0x1F;
+FeederMotor.ThermalCompensationFactor = 0;
+FeederMotor.LowSpeedOptimization = false;
+FeederMotor.StSlp = 0x20;
+FeederMotor.IntSpd = 0x1A13;
+FeederMotor.FnSlpAcc = 0x50;
+FeederMotor.FnSlpDec = 0x50;
+
+HardwareMotor DryerMotor = new HardwareMotor();
+DryerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
+DryerMotor.MinFrequency = 0;
+DryerMotor.MaxFrequency = 1000000;
+DryerMotor.SetMicroStep = 1;
+DryerMotor.MicroStep = 4;
+DryerMotor.MaxChangeSlope = 1000;
+DryerMotor.HighLengthMicroSecond = 0;
+DryerMotor.SpeedMaster = true;
+DryerMotor.PulsePerRound = 200;
+DryerMotor.PulleyRadius = 1.05;
+DryerMotor.ConfigWord = 0x1c80;
+DryerMotor.DirectionThreadWize = false;
+DryerMotor.KvalHold = 0x35;
+DryerMotor.KvalRun = 0x7f;
+DryerMotor.KvalAcc = 0x7f;
+DryerMotor.KvalDec = 0x7f;
+DryerMotor.OverCurrentThreshold = 7;
+DryerMotor.StallThreshold = 0x1F;
+DryerMotor.ThermalCompensationFactor = 0;
+DryerMotor.LowSpeedOptimization = false;
+DryerMotor.StSlp = 0x20;
+DryerMotor.IntSpd = 0x1A13;
+DryerMotor.FnSlpAcc = 0x50;
+DryerMotor.FnSlpDec = 0x50;
+
+HardwareMotor PoolerMotor = new HardwareMotor();
+PoolerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLdriving;
+PoolerMotor.MinFrequency = 0;
+PoolerMotor.MaxFrequency = 1000000;
+PoolerMotor.SetMicroStep = 1;
+PoolerMotor.MicroStep = 3;
+PoolerMotor.MaxChangeSlope = 10000;
+PoolerMotor.HighLengthMicroSecond = 0;
+PoolerMotor.SpeedMaster = false;
+PoolerMotor.PulsePerRound = 200;
+PoolerMotor.PulleyRadius = 1.25;
+PoolerMotor.ConfigWord = 0x1C80;
+PoolerMotor.DirectionThreadWize = true;
+PoolerMotor.KvalHold = 0x35;
+PoolerMotor.KvalRun = 0x7f;
+PoolerMotor.KvalAcc = 0x7f;
+PoolerMotor.KvalDec = 0x7f;
+PoolerMotor.OverCurrentThreshold = 7;
+PoolerMotor.StallThreshold = 0x1F;
+PoolerMotor.ThermalCompensationFactor = 0;
+PoolerMotor.LowSpeedOptimization = false;
+PoolerMotor.StSlp = 20;
+PoolerMotor.IntSpd = 0x1A13;
+PoolerMotor.FnSlpAcc = 0x50;
+PoolerMotor.FnSlpDec = 0x50;
+
+HardwareMotor WinderMotor = new HardwareMotor();
+WinderMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoWinder;
+WinderMotor.MinFrequency = 0;
+WinderMotor.MaxFrequency = 1000000;
+WinderMotor.SetMicroStep = 1;
+WinderMotor.MicroStep = 16;
+WinderMotor.MaxChangeSlope = 0x7ff;
+WinderMotor.HighLengthMicroSecond = 0;
+WinderMotor.SpeedMaster = false;
+WinderMotor.PulsePerRound = 200;
+WinderMotor.PulleyRadius = 1.68;
+WinderMotor.ConfigWord = 0x1CA0;
+WinderMotor.DirectionThreadWize = false;
+WinderMotor.KvalHold = 0x0F;
+WinderMotor.KvalRun = 0x15;
+WinderMotor.KvalAcc = 0x15;
+WinderMotor.KvalDec = 0x15;
+WinderMotor.OverCurrentThreshold = 0xF0;
+WinderMotor.StallThreshold = 0x7F;
+WinderMotor.ThermalCompensationFactor = 0;
+WinderMotor.LowSpeedOptimization = false;
+WinderMotor.StSlp = 0x18;
+WinderMotor.IntSpd = 0x22C5;
+WinderMotor.FnSlpAcc = 0x22;
+WinderMotor.FnSlpDec = 0x22;
+
+HardwareMotor ScrewMotor = new HardwareMotor();
+ScrewMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoScrew;
+ScrewMotor.MinFrequency = 0;
+ScrewMotor.MaxFrequency = 1000;
+ScrewMotor.SetMicroStep = 1;
+ScrewMotor.MicroStep = 4;
+ScrewMotor.MaxChangeSlope = 10000;
+ScrewMotor.HighLengthMicroSecond = 0;
+ScrewMotor.SpeedMaster = false;
+ScrewMotor.PulsePerRound = 200;
+ScrewMotor.PulleyRadius = 1.25;
+ScrewMotor.ConfigWord = 0x1C80;
+ScrewMotor.DirectionThreadWize = false;
+ScrewMotor.KvalHold = 0x0F;
+ScrewMotor.KvalRun = 0x15;
+ScrewMotor.KvalAcc = 0x15;
+ScrewMotor.KvalDec = 0x15;
+ScrewMotor.OverCurrentThreshold = 7;
+ScrewMotor.StallThreshold = 0x1F;
+ScrewMotor.ThermalCompensationFactor = 0;
+ScrewMotor.LowSpeedOptimization = false;
+ScrewMotor.StSlp = 0x18;
+ScrewMotor.IntSpd = 0x22C5;
+ScrewMotor.FnSlpAcc = 0x22;
+ScrewMotor.FnSlpDec = 0x22;// Request ----
+
+HardwareMotor LeftRockerMotor = new HardwareMotor();
+LeftRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLloading;
+LeftRockerMotor.MinFrequency = 20;
+LeftRockerMotor.LowSpeedOptimization = true;
+LeftRockerMotor.MaxFrequency = 1000000;
+LeftRockerMotor.SetMicroStep = 1;
+LeftRockerMotor.MicroStep = 2;
+LeftRockerMotor.MaxChangeSlope = 10000;
+LeftRockerMotor.HighLengthMicroSecond = 0;
+LeftRockerMotor.SpeedMaster = false;
+LeftRockerMotor.PulsePerRound = 200;
+LeftRockerMotor.PulleyRadius = 1.3;
+LeftRockerMotor.ConfigWord = 0xC80;
+LeftRockerMotor.DirectionThreadWize = false;
+LeftRockerMotor.KvalHold = 0x28;
+LeftRockerMotor.KvalRun = 0x5f;
+LeftRockerMotor.KvalAcc = 0x5f;
+LeftRockerMotor.KvalDec = 0x5f;
+LeftRockerMotor.OverCurrentThreshold = 7;
+LeftRockerMotor.StallThreshold = 0x1F;
+LeftRockerMotor.ThermalCompensationFactor = 0;
+LeftRockerMotor.LowSpeedOptimization = false;
+LeftRockerMotor.StSlp = 6;
+LeftRockerMotor.IntSpd = 0x44B8;
+LeftRockerMotor.FnSlpAcc = 0x14;
+LeftRockerMotor.FnSlpDec = 0x14;
+
+
+HardwareMotor RightRockerMotor = new HardwareMotor();
+RightRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRloading;
+RightRockerMotor.MinFrequency = 20;
+RightRockerMotor.LowSpeedOptimization = true;
+RightRockerMotor.MaxFrequency = 1000000;
+RightRockerMotor.SetMicroStep = 1;
+RightRockerMotor.MicroStep = 4;
+RightRockerMotor.MaxChangeSlope = 10000;
+RightRockerMotor.HighLengthMicroSecond = 0;
+RightRockerMotor.SpeedMaster = false;
+RightRockerMotor.PulsePerRound = 200;
+RightRockerMotor.PulleyRadius = 1.3;
+RightRockerMotor.ConfigWord = 0xC80;
+RightRockerMotor.DirectionThreadWize = true;
+RightRockerMotor.KvalHold = 0x28;
+RightRockerMotor.KvalRun = 0x5f;
+RightRockerMotor.KvalAcc = 0x5f;
+RightRockerMotor.KvalDec = 0x5f;
+RightRockerMotor.OverCurrentThreshold = 7;
+RightRockerMotor.StallThreshold = 0x1F;
+RightRockerMotor.ThermalCompensationFactor = 0;
+RightRockerMotor.LowSpeedOptimization = false;
+RightRockerMotor.StSlp = 6;
+RightRockerMotor.IntSpd = 0x44B8;
+RightRockerMotor.FnSlpAcc = 0x14;
+RightRockerMotor.FnSlpDec = 0x14;
+
+
+
+HardwareWinder Winder = new HardwareWinder();
+Winder.HardwareWinderType = Tango.PMR.Hardware.HardwareWinderType.InternalWinder;
+Winder.MillimeterPerRotation = 20;
+
+//hardwareConfiguration.Motors.Add(FeederMotor);
+//hardwareConfiguration.Motors.Add(WinderMotor);
+//hardwareConfiguration.Motors.Add(DryerMotor);
+//hardwareConfiguration.Motors.Add(PoolerMotor);
+//hardwareConfiguration.Motors.Add(ScrewMotor);
+//hardwareConfiguration.Motors.Add(LeftRockerMotor);
+//hardwareConfiguration.Motors.Add(RightRockerMotor);
+
+//hardwareConfiguration.PidControls.Add(FeederPidControl);
+//hardwareConfiguration.PidControls.Add(PoolerPidControl);
+//hardwareConfiguration.PidControls.Add(WinderPidControl);
+
+//hardwareConfiguration.Dancers.Add(FeederDancer);
+//hardwareConfiguration.Dancers.Add(PoolerDancer);
+//hardwareConfiguration.Dancers.Add(WinderDancer);
diff --git a/Software/Stubs Collection/stubs/addedfiles/newDeskSystemThreadMotorsDefinition.cs b/Software/Stubs Collection/stubs/addedfiles/newDeskSystemThreadMotorsDefinition.cs
new file mode 100644
index 000000000..34008fd61
--- /dev/null
+++ b/Software/Stubs Collection/stubs/addedfiles/newDeskSystemThreadMotorsDefinition.cs
@@ -0,0 +1,434 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+HardwarePidControl FeederPidControl = new HardwarePidControl();
+FeederPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorFeeder;
+FeederPidControl.OutputProportionalPowerLimit = 1.0;
+FeederPidControl.OutputProportionalBand = 5;
+FeederPidControl.IntegralTime = 5;
+FeederPidControl.DerivativeTime = 0;
+FeederPidControl.SensorCorrectionAdjustment = 0;
+FeederPidControl.SensorMinValue = 0;
+FeederPidControl.SensorMaxValue = 0;
+FeederPidControl.SetPointRampRateorSoftStartRamp = 0;
+FeederPidControl.SetPointControlOutputRate = 4;
+FeederPidControl.ControlOutputType = 0;
+FeederPidControl.SsrControlOutputType = 0;
+FeederPidControl.OutputOnOffHysteresisValue = 0;
+FeederPidControl.ProcessVariableSamplingRate = 1000;
+FeederPidControl.PvInputFilterFactorMode = 4;
+FeederPidControl.OutputProportionalCycleTime = 0;
+FeederPidControl.AcHeatersHalfCycleTime = 0;
+FeederPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl PoolerPidControl = new HardwarePidControl();
+PoolerPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorPooler;
+PoolerPidControl.OutputProportionalPowerLimit = 1.0;
+PoolerPidControl.OutputProportionalBand = 5;
+PoolerPidControl.IntegralTime = 5;
+PoolerPidControl.DerivativeTime = 0;
+PoolerPidControl.SensorCorrectionAdjustment = 0;
+PoolerPidControl.SensorMinValue = 0;
+PoolerPidControl.SensorMaxValue = 0;
+PoolerPidControl.SetPointRampRateorSoftStartRamp = 0;
+PoolerPidControl.SetPointControlOutputRate = 4;
+PoolerPidControl.ControlOutputType = 0;
+PoolerPidControl.SsrControlOutputType = 0;
+PoolerPidControl.OutputOnOffHysteresisValue = 0;
+PoolerPidControl.ProcessVariableSamplingRate = 1000;
+PoolerPidControl.PvInputFilterFactorMode = 4;
+PoolerPidControl.OutputProportionalCycleTime = 0;
+PoolerPidControl.AcHeatersHalfCycleTime = 0;
+PoolerPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl WinderPidControl = new HardwarePidControl();
+WinderPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorWinder;
+WinderPidControl.OutputProportionalPowerLimit = 1.0;
+WinderPidControl.OutputProportionalBand = 5;
+WinderPidControl.IntegralTime = 5;
+WinderPidControl.DerivativeTime = 0;
+WinderPidControl.SensorCorrectionAdjustment = 0;
+WinderPidControl.SensorMinValue = 0;
+WinderPidControl.SensorMaxValue = 0;
+WinderPidControl.SetPointRampRateorSoftStartRamp = 0;
+WinderPidControl.SetPointControlOutputRate = 4;
+WinderPidControl.ControlOutputType = 0;
+WinderPidControl.SsrControlOutputType = 0;
+WinderPidControl.OutputOnOffHysteresisValue = 0;
+WinderPidControl.ProcessVariableSamplingRate = 1000;
+WinderPidControl.PvInputFilterFactorMode = 4;
+WinderPidControl.OutputProportionalCycleTime = 0;
+WinderPidControl.AcHeatersHalfCycleTime = 0;
+WinderPidControl.ProportionalGain = 11.0;
+
+
+HardwareDancer FeederDancer = new HardwareDancer();
+FeederDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.RightDancer;
+FeederDancer.Gradual = false;
+FeederDancer.K = 0;
+FeederDancer.X = 0;
+FeederDancer.PulsePerMmSpring = 0;
+FeederDancer.MaximalMovementMm = 20;
+FeederDancer.ZeroPoint = 14182;
+FeederDancer.ResolutionBits = 14;
+FeederDancer.ArmLength = 126;
+
+HardwareDancer PoolerDancer = new HardwareDancer();
+PoolerDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.MiddleDancer;
+PoolerDancer.Gradual = false;
+PoolerDancer.K = 0;
+PoolerDancer.X = 0;
+PoolerDancer.PulsePerMmSpring = 0;
+PoolerDancer.MaximalMovementMm = 20;
+PoolerDancer.ZeroPoint = 13247;
+PoolerDancer.ResolutionBits = 14;
+PoolerDancer.ArmLength = 126;
+
+HardwareDancer WinderDancer = new HardwareDancer();
+WinderDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.LeftDancer;
+WinderDancer.Gradual = false;
+WinderDancer.K = 0;
+WinderDancer.X = 0;
+WinderDancer.PulsePerMmSpring = 0;
+WinderDancer.MaximalMovementMm = 20;
+WinderDancer.ZeroPoint = 11193;
+WinderDancer.ResolutionBits = 14;
+WinderDancer.ArmLength = 126;
+
+HardwareMotor FeederMotor = new HardwareMotor();
+FeederMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
+FeederMotor.MinFrequency = 0;
+FeederMotor.MaxFrequency = 1000000;
+FeederMotor.SetMicroStep = 1;
+FeederMotor.MicroStep = 1;
+FeederMotor.MaxChangeSlope = 10000;
+FeederMotor.HighLengthMicroSecond = 0;
+FeederMotor.SpeedMaster = false;
+FeederMotor.PulsePerRound = 200;
+FeederMotor.PulleyRadius = 1.25;
+FeederMotor.ConfigWord = 0x1C80;
+FeederMotor.DirectionThreadWize = true;
+FeederMotor.KvalHold = 0x35;
+FeederMotor.KvalRun = 0x7f;
+FeederMotor.KvalAcc = 0x7f;
+FeederMotor.KvalDec = 0x3Ff;
+FeederMotor.OverCurrentThreshold = 7;
+FeederMotor.StallThreshold = 0x1F;
+FeederMotor.ThermalCompensationFactor = 0;
+FeederMotor.LowSpeedOptimization = false;
+FeederMotor.StSlp = 0x20;
+FeederMotor.IntSpd = 0x1A13;
+FeederMotor.FnSlpAcc = 0x50;
+FeederMotor.FnSlpDec = 0x50;
+
+HardwareMotor DryerMotor = new HardwareMotor();
+DryerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
+DryerMotor.MinFrequency = 0;
+DryerMotor.MaxFrequency = 1000000;
+DryerMotor.SetMicroStep = 1;
+DryerMotor.MicroStep = 1;
+DryerMotor.MaxChangeSlope = 1000;
+DryerMotor.HighLengthMicroSecond = 0;
+DryerMotor.SpeedMaster = true;
+DryerMotor.PulsePerRound = 200;
+DryerMotor.PulleyRadius = 1.05;
+DryerMotor.ConfigWord = 0x1c80;
+DryerMotor.DirectionThreadWize = false;
+DryerMotor.KvalHold = 0x35;
+DryerMotor.KvalRun = 0x7f;
+DryerMotor.KvalAcc = 0x7f;
+DryerMotor.KvalDec = 0x3Ff;
+DryerMotor.OverCurrentThreshold = 7;
+DryerMotor.StallThreshold = 0x1F;
+DryerMotor.ThermalCompensationFactor = 0;
+DryerMotor.LowSpeedOptimization = false;
+DryerMotor.StSlp = 0x20;
+DryerMotor.IntSpd = 0x1A13;
+DryerMotor.FnSlpAcc = 0x50;
+DryerMotor.FnSlpDec = 0x50;
+
+HardwareMotor PoolerMotor = new HardwareMotor();
+PoolerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLdriving;
+PoolerMotor.MinFrequency = 0;
+PoolerMotor.MaxFrequency = 1000000;
+PoolerMotor.SetMicroStep = 1;
+PoolerMotor.MicroStep = 8;
+PoolerMotor.MaxChangeSlope = 10000;
+PoolerMotor.HighLengthMicroSecond = 0;
+PoolerMotor.SpeedMaster = false;
+PoolerMotor.PulsePerRound = 200;
+PoolerMotor.PulleyRadius = 1.25;
+PoolerMotor.ConfigWord = 0x1C80;
+PoolerMotor.DirectionThreadWize = true;
+PoolerMotor.KvalHold = 0x35;
+PoolerMotor.KvalRun = 0x7f;
+PoolerMotor.KvalAcc = 0x7f;
+PoolerMotor.KvalDec = 0x3ff;
+PoolerMotor.OverCurrentThreshold = 7;
+PoolerMotor.StallThreshold = 0x1F;
+PoolerMotor.ThermalCompensationFactor = 0;
+PoolerMotor.LowSpeedOptimization = false;
+PoolerMotor.StSlp = 20;
+PoolerMotor.IntSpd = 0x1A13;
+PoolerMotor.FnSlpAcc = 0x50;
+PoolerMotor.FnSlpDec = 0x50;
+ 
+HardwareMotor WinderMotor = new HardwareMotor();
+WinderMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoWinder;
+WinderMotor.MinFrequency = 0;
+WinderMotor.MaxFrequency = 100000;
+WinderMotor.SetMicroStep = 1;
+WinderMotor.MicroStep = 16;
+WinderMotor.MaxChangeSlope = 0x7ff;
+WinderMotor.HighLengthMicroSecond = 0;
+WinderMotor.SpeedMaster = false;
+WinderMotor.PulsePerRound = 200;
+WinderMotor.PulleyRadius = 0.8;
+WinderMotor.ConfigWord = 0x1CA0;
+WinderMotor.DirectionThreadWize = false;
+WinderMotor.KvalHold = 0x08;
+WinderMotor.KvalRun = 0x20;
+WinderMotor.KvalAcc = 0x20;
+WinderMotor.KvalDec = 0x3ff;
+WinderMotor.OverCurrentThreshold = 0xF;
+WinderMotor.StallThreshold = 0x7F;
+WinderMotor.ThermalCompensationFactor = 0;
+WinderMotor.LowSpeedOptimization = false;
+WinderMotor.StSlp = 0x7;
+WinderMotor.IntSpd = 0x22C5;
+WinderMotor.FnSlpAcc = 0x15;
+WinderMotor.FnSlpDec = 0x15;
+
+HardwareMotor ScrewMotor = new HardwareMotor();
+ScrewMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoScrew;
+ScrewMotor.MinFrequency = 0;
+ScrewMotor.MaxFrequency = 100000;
+ScrewMotor.SetMicroStep = 1;
+ScrewMotor.MicroStep = 8;
+ScrewMotor.MaxChangeSlope = 0x7FF;
+ScrewMotor.HighLengthMicroSecond = 0;
+ScrewMotor.SpeedMaster = false;
+ScrewMotor.PulsePerRound = 200;
+ScrewMotor.PulleyRadius = 1.68;
+ScrewMotor.ConfigWord = 0x1CA0;
+ScrewMotor.DirectionThreadWize = true;
+ScrewMotor.KvalHold = 0x1;
+ScrewMotor.KvalRun = 0x20;
+ScrewMotor.KvalAcc = 0x20;
+ScrewMotor.KvalDec = 0x3ff;
+ScrewMotor.OverCurrentThreshold = 0xF;
+ScrewMotor.StallThreshold = 0x7F;
+ScrewMotor.ThermalCompensationFactor = 0;
+ScrewMotor.LowSpeedOptimization = false;
+ScrewMotor.StSlp = 0x7;
+ScrewMotor.IntSpd = 0x22C5;
+ScrewMotor.FnSlpAcc = 0x15;
+ScrewMotor.FnSlpDec = 0x15;
+
+
+HardwareMotor LeftRockerMotor = new HardwareMotor();
+LeftRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLloading;
+LeftRockerMotor.MinFrequency = 0;
+LeftRockerMotor.MaxFrequency = 1000000;
+LeftRockerMotor.SetMicroStep = 1;
+LeftRockerMotor.MicroStep = 4;
+LeftRockerMotor.MaxChangeSlope = 10000;
+LeftRockerMotor.HighLengthMicroSecond = 0;
+LeftRockerMotor.SpeedMaster = false;
+LeftRockerMotor.PulsePerRound = 200;
+LeftRockerMotor.PulleyRadius = 1.3;
+LeftRockerMotor.ConfigWord = 0xC80;
+LeftRockerMotor.DirectionThreadWize = false;
+LeftRockerMotor.KvalHold = 0x28;
+LeftRockerMotor.KvalRun = 0x5f;
+LeftRockerMotor.KvalAcc = 0x5f;
+LeftRockerMotor.KvalDec = 0x3ff;
+LeftRockerMotor.OverCurrentThreshold = 7;
+LeftRockerMotor.StallThreshold = 0x1F;
+LeftRockerMotor.ThermalCompensationFactor = 0;
+LeftRockerMotor.LowSpeedOptimization = false;
+LeftRockerMotor.StSlp = 6;
+LeftRockerMotor.IntSpd = 0x44B8;
+LeftRockerMotor.FnSlpAcc = 0x14;
+LeftRockerMotor.FnSlpDec = 0x14;
+
+
+HardwareMotor RightRockerMotor = new HardwareMotor();
+RightRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRloading;
+RightRockerMotor.MinFrequency = 0;
+RightRockerMotor.MaxFrequency = 1000000;
+RightRockerMotor.SetMicroStep = 1;
+RightRockerMotor.MicroStep = 4;
+RightRockerMotor.MaxChangeSlope = 10000;
+RightRockerMotor.HighLengthMicroSecond = 0;
+RightRockerMotor.SpeedMaster = false;
+RightRockerMotor.PulsePerRound = 200;
+RightRockerMotor.PulleyRadius = 1.3;
+RightRockerMotor.ConfigWord = 0xC80;
+RightRockerMotor.DirectionThreadWize = true;
+RightRockerMotor.KvalHold = 0x28;
+RightRockerMotor.KvalRun = 0x5f;
+RightRockerMotor.KvalAcc = 0x5f;
+RightRockerMotor.KvalDec = 0x3ff;
+RightRockerMotor.OverCurrentThreshold = 7;
+RightRockerMotor.StallThreshold = 0x1F;
+RightRockerMotor.ThermalCompensationFactor = 0;
+RightRockerMotor.LowSpeedOptimization = false;
+RightRockerMotor.StSlp = 6;
+RightRockerMotor.IntSpd = 0x44B8;
+RightRockerMotor.FnSlpAcc = 0x14;
+RightRockerMotor.FnSlpDec = 0x14;
+
+HardwareMotor Dispenser4Motor = new HardwareMotor();
+Dispenser4Motor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDispenser4;
+Dispenser4Motor.MinFrequency = 0;
+Dispenser4Motor.MaxFrequency = 100000;
+Dispenser4Motor.SetMicroStep = 1;
+Dispenser4Motor.MicroStep = 16;
+Dispenser4Motor.MaxChangeSlope = 0x7FF;
+Dispenser4Motor.HighLengthMicroSecond = 0;
+Dispenser4Motor.SpeedMaster = false;
+Dispenser4Motor.PulsePerRound = 200;
+Dispenser4Motor.PulleyRadius = 1.68;
+Dispenser4Motor.ConfigWord = 0x1CA0;
+Dispenser4Motor.DirectionThreadWize = true;
+Dispenser4Motor.KvalHold = 0x21;
+Dispenser4Motor.KvalRun = 0xc0;
+Dispenser4Motor.KvalAcc = 0x2e;
+Dispenser4Motor.KvalDec = 0x3ff;
+Dispenser4Motor.OverCurrentThreshold = 0xF;
+Dispenser4Motor.StallThreshold = 0x1F;
+Dispenser4Motor.ThermalCompensationFactor = 0;
+Dispenser4Motor.LowSpeedOptimization = false;
+Dispenser4Motor.StSlp = 0x9;
+Dispenser4Motor.IntSpd = 0x1AD2;
+Dispenser4Motor.FnSlpAcc = 0x26;
+Dispenser4Motor.FnSlpDec = 0x26;
+
+HardwareMotor Dispenser7Motor = new HardwareMotor();
+Dispenser7Motor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDispenser7;
+Dispenser7Motor.MinFrequency = 0;
+Dispenser7Motor.MaxFrequency = 100000;
+Dispenser7Motor.SetMicroStep = 1;
+Dispenser7Motor.MicroStep = 16;
+Dispenser7Motor.MaxChangeSlope = 0x7FF;
+Dispenser7Motor.HighLengthMicroSecond = 0;
+Dispenser7Motor.SpeedMaster = false;
+Dispenser7Motor.PulsePerRound = 200;
+Dispenser7Motor.PulleyRadius = 1.68;
+Dispenser7Motor.ConfigWord = 0x1CA0;
+Dispenser7Motor.DirectionThreadWize = true;
+Dispenser7Motor.KvalHold = 0x21;
+Dispenser7Motor.KvalRun = 0xc0;
+Dispenser7Motor.KvalAcc = 0x2e;
+Dispenser7Motor.KvalDec = 0x3ff;
+Dispenser7Motor.OverCurrentThreshold = 0xF;
+Dispenser7Motor.StallThreshold = 0x1F;
+Dispenser7Motor.ThermalCompensationFactor = 0;
+Dispenser7Motor.LowSpeedOptimization = false;
+Dispenser7Motor.StSlp = 0x9;
+Dispenser7Motor.IntSpd = 0x1AD2;
+Dispenser7Motor.FnSlpAcc = 0x26;
+Dispenser7Motor.FnSlpDec = 0x26;
+
+HardwareMotor Dispenser8Motor = new HardwareMotor();
+Dispenser8Motor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDispenser8;
+Dispenser8Motor.MinFrequency = 0;
+Dispenser8Motor.MaxFrequency = 100000;
+Dispenser8Motor.SetMicroStep = 1;
+Dispenser8Motor.MicroStep = 16;
+Dispenser8Motor.MaxChangeSlope = 0x7FF;
+Dispenser8Motor.HighLengthMicroSecond = 0;
+Dispenser8Motor.SpeedMaster = false;
+Dispenser8Motor.PulsePerRound = 200;
+Dispenser8Motor.PulleyRadius = 1.68;
+Dispenser8Motor.ConfigWord = 0x1CA0;
+Dispenser8Motor.DirectionThreadWize = true;
+Dispenser8Motor.KvalHold = 0x21;
+Dispenser8Motor.KvalRun = 0xc0;
+Dispenser8Motor.KvalAcc = 0x2e;
+Dispenser8Motor.KvalDec = 0x3ff;
+Dispenser8Motor.OverCurrentThreshold = 0xF;
+Dispenser8Motor.StallThreshold = 0x1F;
+Dispenser8Motor.ThermalCompensationFactor = 0;
+Dispenser8Motor.LowSpeedOptimization = false;
+Dispenser8Motor.StSlp = 0x9;
+Dispenser8Motor.IntSpd = 0x1AD2;
+Dispenser8Motor.FnSlpAcc = 0x26;
+Dispenser8Motor.FnSlpDec = 0x26;
+HardwareMotor DryerLoadarm = new HardwareMotor();
+DryerLoadarm.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerLoadarm;
+DryerLoadarm.MinFrequency = 0;
+DryerLoadarm.MaxFrequency = 1000000;
+DryerLoadarm.SetMicroStep = 1;
+DryerLoadarm.MicroStep = 1;
+DryerLoadarm.MaxChangeSlope = 10000;
+DryerLoadarm.HighLengthMicroSecond = 0;
+DryerLoadarm.SpeedMaster = false;
+DryerLoadarm.PulsePerRound = 200;
+DryerLoadarm.PulleyRadius = 1.25;
+DryerLoadarm.ConfigWord = 0x1C80;
+DryerLoadarm.DirectionThreadWize = false;
+DryerLoadarm.KvalHold = 0x35;
+DryerLoadarm.KvalRun = 0x7f;
+DryerLoadarm.KvalAcc = 0x7f;
+DryerLoadarm.KvalDec = 0x7f;
+DryerLoadarm.OverCurrentThreshold = 7;
+DryerLoadarm.StallThreshold = 0x1F;
+DryerLoadarm.ThermalCompensationFactor = 0;
+DryerLoadarm.LowSpeedOptimization = false;
+DryerLoadarm.StSlp = 0x20;
+DryerLoadarm.IntSpd = 0x1A13;
+DryerLoadarm.FnSlpAcc = 0x50;
+DryerLoadarm.FnSlpDec = 0x50;
+
+
+HardwareDispenser hardwareDispenser = new HardwareDispenser();
+hardwareDispenser.HardwareDispenserType = Tango.PMR.Hardware.HardwareDispenserType.StandardDispenser;
+hardwareDispenser.Index = 7;
+hardwareDispenser.NlPerPulse = 2.4;
+hardwareDispenser.Capacity = 500;
+
+JobDispenser jobDispenser = new JobDispenser();
+jobDispenser.Index = 0;
+jobDispenser.Volume = 0;
+jobDispenser.DispenserStepDivision = Tango.PMR.Printing.DispenserStepDivision.Auto;
+jobDispenser.NanolitterPerSecond = 0;
+jobDispenser.NanoliterPerCentimeter = 0;
+jobDispenser.PulsePerSecond = 0;
+jobDispenser.DispenserLiquidType = Tango.PMR.Printing.DispenserLiquidType.Cyan;
+jobDispenser.LiquidMaxNanoliterPerCentimeter = 0;
+jobDispenser.NanoliterPerPulse = 0;
+
+HardwareWinder Winder = new HardwareWinder();
+Winder.HardwareWinderType = Tango.PMR.Hardware.HardwareWinderType.InternalWinder;
+Winder.MillimeterPerRotation = 20;
+
+//hardwareConfiguration.Motors.Add(FeederMotor);
+//hardwareConfiguration.Motors.Add(WinderMotor);
+//hardwareConfiguration.Motors.Add(DryerMotor);
+//hardwareConfiguration.Motors.Add(PoolerMotor);
+//hardwareConfiguration.Motors.Add(ScrewMotor);
+//hardwareConfiguration.Motors.Add(LeftRockerMotor);
+//hardwareConfiguration.Motors.Add(RightRockerMotor);
+
+//hardwareConfiguration.PidControls.Add(FeederPidControl);
+//hardwareConfiguration.PidControls.Add(PoolerPidControl);
+//hardwareConfiguration.PidControls.Add(WinderPidControl);
+
+//hardwareConfiguration.Dancers.Add(FeederDancer);
+//hardwareConfiguration.Dancers.Add(PoolerDancer);
+//hardwareConfiguration.Dancers.Add(WinderDancer);