stubs updated from scripts, new head tpf from rapid

75 files changed, 14042 insertions, 198 deletions

diff --git a/Software/Stubs Collection/stubs/Read Dancer.cs b/Software/Stubs Collection/stubs/Read Dancer.cs
index 58f302d53..8fcfc94b0 100644
--- a/Software/Stubs Collection/stubs/Read Dancer.cs
+++ b/Software/Stubs Collection/stubs/Read Dancer.cs
@@ -12,27 +12,21 @@ using Tango.Stubs;
 
 public void OnExecute(StubManager stubManager)
 {
-	stubManager.RequestTimeout = 2000;
-    //for (int i = 0; i < 100; i++)
-    {
-// Request ----
-// UInt32 : DancerID
-
-// Response ----
-// UInt32 : DancerID
-// UInt32 : Position
-// UInt32 : GeneralStatus
-// UInt32 : DetailedStatus
-		//var response = stubManager.Run<StubDancerPositionResponse>("StubDancerPositionRequest" ,1);
+	var response1 = stubManager.ShowResponseWindow("Please Enter Password:");
+	if (response1=="Aa123456")
+	{
+		stubManager.WriteLine(response1);
+		
 		
-//var response = stubManager.Run<StubMotorSpeedResponse>("StubMotorSpeedRequest" ,22);
-//var response;
-//var response = stubManager.Run<StubMotorStatusResponse>("StubMotorStatusRequest" ,18, true);
-		var response = stubManager.Run<StubDancerPositionResponse>("StubDancerPositionRequest" ,0);
-		Thread.Sleep(1000);
-		 response = stubManager.Run<StubDancerPositionResponse>("StubDancerPositionRequest" ,1);
-		Thread.Sleep(1000);
-		 response = stubManager.Run<StubDancerPositionResponse>("StubDancerPositionRequest" ,2);
-		Thread.Sleep(1000);
+		stubManager.RequestTimeout = 2000;
+		//for (int i = 0; i < 100; i++)
+		{
+			var response = stubManager.Run<StubDancerPositionResponse>("StubDancerPositionRequest" ,0);
+			Thread.Sleep(1000);
+			 response = stubManager.Run<StubDancerPositionResponse>("StubDancerPositionRequest" ,1);
+			Thread.Sleep(1000);
+			 response = stubManager.Run<StubDancerPositionResponse>("StubDancerPositionRequest" ,2);
+			Thread.Sleep(1000);
+		}
     }
 }
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/11.cs b/Software/Stubs Collection/stubs/Scripts/11.cs
new file mode 100644
index 000000000..9b7b1097e
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/11.cs
@@ -0,0 +1,42 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+
+const Int32 x_ABS_POS    = 0x01;
+const Int32 x_EL_POS     = 0x02;
+const Int32 x_MARK       = 0x03;
+const Int32 x_SPEED      = 0x04;
+const Int32 x_GET_PARAM  = 0x20;
+const Int32 x_MOVE_PARAM  = 0x40;
+
+const Int32	F1_MOTO_DRYER_LOADARM_A1_TX_00	=	0x60000240	;
+const Int32	F1_MOTO_DRYER_LOADARM_A1_TX_01	=	0x60000242	;
+const Int32	F1_MOTO_DRYER_LOADARM_A1_RX_00	=	0x60000244	;
+const Int32	F1_MOTO_DRYER_LOADARM_A1_RX_01	=	0x60000246	;
+
+public void OnExecute(StubManager stubManager)
+{
+
+
+
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F1_MOTO_DRYER_LOADARM_A1_TX_01,0X4100);	
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F1_MOTO_DRYER_LOADARM_A1_TX_00,32000);	
+
+
+
+	
+	
+	
+	
+	
+	
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/12345.cs b/Software/Stubs Collection/stubs/Scripts/12345.cs
new file mode 100644
index 000000000..354c349cc
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/12345.cs
@@ -0,0 +1,63 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+
+/*** Dryer Motors ***/				
+const Int32	F1_MOTO_DRYER_LOADARM_A1_TX_00	=	0x60000240	;
+const Int32	F1_MOTO_DRYER_LOADARM_A1_TX_01	=	0x60000242	;
+const Int32	F1_MOTO_DRYER_LOADARM_A1_RX_00	=	0x60000244	;
+const Int32	F1_MOTO_DRYER_LOADARM_A1_RX_01	=	0x60000246	;
+
+
+const Int32 x_ABS_POS    = 0x01;
+const Int32 x_EL_POS     = 0x02;
+const Int32 x_MARK       = 0x03;
+const Int32 x_SPEED      = 0x04;
+const Int32 x_GET_PARAM  = 0x20;
+const Int32 x_MOVE_PARAM  = 0x40;
+
+
+
+
+public void OnExecute(StubManager stubManager)
+{
+ 
+// Request ----
+// UInt32 : Address
+// UInt32 : Value
+
+// Response ----
+// String : Status
+// UInt32 : StatusWord
+
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F1_MOTO_DRYER_LOADARM_A1_TX_01,0);	
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F1_MOTO_DRYER_LOADARM_A1_TX_00,(x_GET_PARAM | x_ABS_POS)<<8);	
+
+
+
+var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_MOTO_DRYER_LOADARM_A1_RX_00);
+ response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_MOTO_DRYER_LOADARM_A1_RX_01);
+
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F1_MOTO_DRYER_LOADARM_A1_TX_01,0);	
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F1_MOTO_DRYER_LOADARM_A1_TX_00,0);	
+
+
+
+response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_MOTO_DRYER_LOADARM_A1_RX_00);
+ response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_MOTO_DRYER_LOADARM_A1_RX_01);
+
+	
+	
+	
+	
+	
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser ByPass - getout from loewer safety.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser ByPass - getout from loewer safety.cs
new file mode 100644
index 000000000..34dce79fe
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser ByPass - getout from loewer safety.cs
@@ -0,0 +1,46 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+public void OnExecute(StubManager stubManager)
+{
+	UInt32 Dispenser_ID = 3; //Software Dispensers 0..7, BP  Dispensers 1..8 (4 for bp disp 5)
+
+	stubManager.Write("ByPass + TestRelay + read inputs ");
+	stubManager.WriteLine("");
+	var response = stubManager.Run<StubDispenserResponse>("StubDispenserRequest" ,Dispenser_ID, true, false, 0, 0);//ByPass + read inputs
+	stubManager.Write("MSB for Disp_UP, LSB for Disp_Down   ");
+	stubManager.WriteHex((response.DispenserPosition),4);
+	stubManager.WriteLine("");
+	stubManager.Write("MSB for Realy_On, LSB for Over_Press ");
+	stubManager.WriteHex((response.InkWorningLevel),4);
+	stubManager.WriteLine("");
+	stubManager.WriteLine("----");
+	stubManager.WriteLine("");
+	
+	stubManager.Run("StubMotorRunRequest" ,(Dispenser_ID + 6), true, 1200 );//Dispenser ID -> motor ID
+	
+	Thread.Sleep(30000); //Sleep
+	stubManager.Run("StubMotorStopRequest" ,15, 3);
+	
+	stubManager.Write("Remove ByPass ( + read inputs) ");
+	stubManager.WriteLine("");
+	response = stubManager.Run<StubDispenserResponse>("StubDispenserRequest" ,Dispenser_ID, false, false, 0, 0);// read inputs
+	stubManager.Write("MSB for Disp_UP, LSB for Disp_Down   ");
+	stubManager.WriteHex((response.DispenserPosition),4);
+	stubManager.WriteLine("");
+	stubManager.Write("MSB for Realy_On, LSB for Over_Press ");
+	stubManager.WriteHex((response.InkWorningLevel),4);
+	stubManager.WriteLine("");
+	stubManager.WriteLine("----");
+	stubManager.WriteLine("");
+	
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser ByPass - getout from upper safety.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser ByPass - getout from upper safety.cs
new file mode 100644
index 000000000..1887d433c
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser ByPass - getout from upper safety.cs
@@ -0,0 +1,46 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+public void OnExecute(StubManager stubManager)
+{
+	UInt32 Dispenser_ID = 1; //Software Dispensers 0..7, BP  Dispensers 1..8 (4 for bp disp 5)
+
+	stubManager.Write("ByPass + TestRelay + read inputs ");
+	stubManager.WriteLine("");
+	var response = stubManager.Run<StubDispenserResponse>("StubDispenserRequest" ,Dispenser_ID, true, false, 0, 0);//ByPass + read inputs
+	stubManager.Write("MSB for Disp_UP, LSB for Disp_Down   ");
+	stubManager.WriteHex((response.DispenserPosition),4);
+	stubManager.WriteLine("");
+	stubManager.Write("MSB for Realy_On, LSB for Over_Press ");
+	stubManager.WriteHex((response.InkWorningLevel),4);
+	stubManager.WriteLine("");
+	stubManager.WriteLine("----");
+	stubManager.WriteLine("");
+	
+	stubManager.Run("StubMotorRunRequest" ,(Dispenser_ID + 6), false, 1200 );//Dispenser ID -> motor ID
+	
+	Thread.Sleep(30000); //Sleep
+	stubManager.Run("StubMotorStopRequest" ,15, 3);
+	
+	stubManager.Write("Remove ByPass ( + read inputs) ");
+	stubManager.WriteLine("");
+	response = stubManager.Run<StubDispenserResponse>("StubDispenserRequest" ,Dispenser_ID, false, false, 0, 0);// read inputs
+	stubManager.Write("MSB for Disp_UP, LSB for Disp_Down   ");
+	stubManager.WriteHex((response.DispenserPosition),4);
+	stubManager.WriteLine("");
+	stubManager.Write("MSB for Realy_On, LSB for Over_Press ");
+	stubManager.WriteHex((response.InkWorningLevel),4);
+	stubManager.WriteLine("");
+	stubManager.WriteLine("----");
+	stubManager.WriteLine("");
+	
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_LimitSwitch.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_LimitSwitch.cs
index 90ad540f9..7eb048556 100644
--- a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_LimitSwitch.cs
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_LimitSwitch.cs
@@ -37,6 +37,8 @@ int LimitSW_Dispenser(Int32 Fpga, Int32 Adr, int DispenserNo)
 			counter = counter + 1;
 		}
 		Thread.Sleep(100);
+		Temp = RetVal.Value;
+
 	}
 	
 	
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_PressureSensor.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_PressureSensor.cs
index 11a419576..342d2fdb2 100644
--- a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_PressureSensor.cs
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dispenser/Dispenser_PressureSensor.cs
@@ -27,7 +27,7 @@ public void OnExecute(StubManager stubManager)
  	
 	for (int i=2; i<10; i++)
 	{	
-		Thread.Sleep(1000);
+		Thread.Sleep(100);
 		var response = stubManager.Run<StubIntADCReadResponse>("StubIntADCReadRequest" ,i);
 		stubManager.Write("\nADC VALUE, DISPENSER "); stubManager.Write(i-1); stubManager.Write("\t"); stubManager.WriteHex(response.SamplingInBits, 4); stubManager.Write("\t"); stubManager.Write(response.VoltageSamplingMv); stubManager.Write(" mV");
 	}
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_Jig.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_Jig.cs
new file mode 100644
index 000000000..42f35b8ef
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_Jig.cs
@@ -0,0 +1,542 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+
+include "..\..\Defines\Tango_Defines_Basic.cs"                	
+include "Tango_Defines_LimitSwitch.cs"   
+include "Tango_Defines_SSR.cs"                          	
+include "Tango_Defines_Tacho.cs"                          	
+                       	
+
+const  int UNIT_UNDER_TEST=3+1+2+6;
+//--------------------------------------------------------------------------------
+string path1="P:\\Scripts\\Assemblies\\Dryer\\DryerLog\\";
+string path2="C:\\DryerLog\\";
+
+string	File_Name1	;
+string Status;
+//---------------------------
+Int32	last_14bit_position;
+Int32	position_32bit=0;
+float [] DryerTemp = new float[3]	;
+
+
+string [,] Units_status = new string[UNIT_UNDER_TEST,2]	{ 
+												{"Lid_Motor","Not Test"},
+												{"LS_Lid_Open","Not Test"},
+												{"LS_Lid_Close","Not Test"},
+												{"DRIVING_Motor","Not Test"},
+												{"SSI_Encoder","Not Test"},
+												{"LoadArm_Motor","Not Test"},
+												{"Blower_test","Not Test"},
+												{"Air_PT100_test","Not Test"},
+												{"Main_PT100_test","Not Test"},
+												{"Sec.PT100","Not Test"},
+												{"SSR1_heater","Not Test"},												
+												{"SSR2_heater","Not Test"},												
+											};
+
+
+
+//-----------------------------------------------------
+string Dryer_Sn;
+//--------------------------------------------------------------------------------
+
+public void OnExecute(StubManager stubManager)
+{
+string  path="";
+		Form form1 = new Form();
+		
+// Set the caption bar text of the form.
+		form1.TopMost = true;
+		form1.Text = "Dryer Test";
+  		form1.FormBorderStyle = FormBorderStyle.FixedDialog;
+ 		form1.MaximizeBox = false;
+		form1.MinimizeBox = false;
+ 		form1.StartPosition = FormStartPosition.CenterScreen;
+	    form1.AutoSize = true;
+	    form1.AutoSizeMode = AutoSizeMode.GrowAndShrink;
+// Create buttons to Run.
+ 		Button button1 = new Button () 
+	{
+		Width = 100,
+   	  	Height = 100,
+  	};
+		button1.Text = "Run";
+		button1.Location = new Point (40, 100);
+	    form1.Controls.Add(button1);
+//-----Dryer Serial Number -----------
+
+	Label Label1 = new Label () 
+		{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="  Dryer S/N"
+  		};
+	Label1.Location = new Point (30, 10);
+ 	form1.Controls.Add(Label1);
+	TextBox TextBox1 = new TextBox () 
+		{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  		};
+	TextBox1.Location = new Point (40, 40);
+	form1.Controls.Add(TextBox1);
+ //----------LOCATION----------
+	 
+ Label Label3 = new Label () 
+	{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="LOCATION"
+  	};
+Label3.Location = new Point (350, 10);
+ form1.Controls.Add(Label3);
+	 
+
+
+TextBox TextBox3 = new TextBox () 
+	{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  	};
+TextBox3.Location = new Point (360, 40);
+ form1.Controls.Add(TextBox3); 
+ 
+//--------------------------------------------------------------------------------
+
+	    stubManager.Write("Counter is 2 \n");
+  
+	    button1.Click += (_,__) => 
+	    
+	   { 	
+if (!Directory.Exists(path1))
+	{
+		path=path2;	
+		if (!Directory.Exists(path2))
+			Directory.CreateDirectory(path2);	
+	}			
+else
+path=path1;	
+
+
+File_Name1=path + TextBox1.Text +"_Dryer_" + DateTime.Now.ToString("MM_dd_yyyy_HH_mm_ss")+".log" ;
+
+
+stubManager.Write(File_Name1 +"\n");
+stubManager.WriteToFile(File_Name1,DateTime.Now +" " );
+stubManager.Write(DateTime.Now +"\n" );
+
+stubManager.AppendToFile(File_Name1,"Dryer Test Report" );
+stubManager.Write("Dryer Test Report\n" );
+
+stubManager.AppendToFile(File_Name1,"Dryer S/N: \t" + TextBox1.Text  );
+stubManager.Write("Dryer S/N:" + TextBox1.Text +"\n" );
+                  
+
+stubManager.AppendToFile(File_Name1,"Location:\t" + TextBox3.Text );
+stubManager.Write("Location:" + TextBox3.Text +"\n" );
+
+	 
+	 
+Label Label5 = new Label () 
+	{
+		Width = 120,
+   	  	Height =100,
+   	  	Text = ""
+  	}; 
+Label5.Location = new Point (300, 100);
+Label5.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D;
+
+Label5.Text="Pros";
+Label5.Font = new Font("Arial", 24,FontStyle.Bold);
+form1.Controls.Add(Label5); 	
+
+
+//------------------------------- start test -----------
+//	Test_LId();
+//	Test_motor_driving();
+// 	Test_Load_Arm ();
+ 	Test_Blower_heaters_pt100();
+	Status=write_to_file();
+
+	   Label5.Text=Status;
+	   TextBox1.Text="";
+};	   
+	   
+	   form1.ShowDialog();
+	
+	return ;
+   }
+//------------------------------------------
+int Test_Blower_heaters_pt100()
+{
+	
+	float ftemp=0;
+	float ftemp1=0;
+	
+	SetBit(FPGA1,0x3d2,5,1);		//turn off Blower
+	  Thread.Sleep(500);
+
+	var RetVal=Fpga_Read_Reg(FPGA1, F1_Tacho_reg8, 0); 
+
+   	DialogResult result = MessageBox.Show("Close Dryer Door", "Warning");
+	RetVal=Fpga_Read_Reg(FPGA1, F1_Tacho_reg8, 0); 
+	if(RetVal.Value>20)
+	{
+		Units_status[6,1]="Fail";
+		stubManager.Write("Error,Fan rotate\n");		
+		return 0;
+	}	
+		 
+	SetBit(FPGA1,0x3d2,4,1);		//Dir
+	SetBit(FPGA1,0x3d2,3,1);		//Torqer High
+	SetBit(FPGA1,0x3d2,5,0);		//turn on Blower
+
+	const int LOW = 70;//0 - 100%
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000400 | 0x112, 0xFF);//Freq 8 bit
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000400 | 0x3EC, LOW+1);//Low 8 bit
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000400 | 0x3EE, 101 - LOW);//High 8 bit 
+	 
+	Thread.Sleep(1000);
+	RetVal=Fpga_Read_Reg(FPGA1, F1_Tacho_reg8, 0); 
+	stubManager.Write("blower Speed-  " + RetVal.Value + "\n");	
+	if ((RetVal.Value<150)||(RetVal.Value>250) )
+	{
+		Units_status[6,1]="Fail";
+		stubManager.Write("Error,Fan rotate\n");		
+		return 0;
+	}	
+		Units_status[6,1]="Pass";
+		
+		
+	stubManager.Write("Temp Befor heating \n");
+	if	(test_pt100()!=0)
+		return 0;
+
+float temp=0;
+float temp1=4096*95*5;
+
+	//Write GPO_DRYER_SSR1_CTRL SSR/SSR no. 1
+   SetBit (FPGA2, F2_CTRL, 10, 1);		//turn SSR1 on
+   stubManager.Write("\tTesting SSR no. 1\t");
+   Thread.Sleep(1000);
+var response1 = stubManager.Run<StubIntADCReadResponse>("StubIntADCReadRequest" ,16);
+	temp=Convert.ToUInt32 (response1.SamplingInBits);
+	temp=temp*800*3*100;
+	temp=temp/(4096*95*50);
+	stubManager.Write("Current = "+ temp + "A\n");
+	if ((temp>6) || (temp<3))
+		Units_status[10,1]="Fail";
+	else
+		Units_status[10,1]="Pass";
+  
+	//Write GPO_DRYER_SSR2_CTRL SSR/SSR no. 2	
+	SetBit (FPGA2, F2_CTRL, 9, 1);
+	stubManager.Write("\tTesting SSR no. 2\t");
+	Thread.Sleep(1000);
+	response1 = stubManager.Run<StubIntADCReadResponse>("StubIntADCReadRequest" ,17);
+	temp=Convert.ToUInt32 (response1.SamplingInBits);
+	stubManager.WriteLine(temp);
+	temp=temp*800*3*100;
+	temp=temp/(4096*95*120);
+	stubManager.Write("Current = "+ temp + "A\n");
+ 	if ((temp>3) || (temp<1))
+		Units_status[11,1]="Fail";
+	else
+		Units_status[11,1]="Pass";
+  
+ 	Thread.Sleep(50000);
+
+//check air temp
+	ftemp=Read_pt100(0);
+	stubManager.Write("After heating air temp is " + ftemp + "\n");
+	ftemp = ftemp - DryerTemp[0];
+	if ((ftemp<5)||(ftemp>25))
+		Units_status[7,1]="Fail";
+	else
+		Units_status[7,1]="Pass";
+
+
+
+//check Main temp
+	ftemp=Read_pt100(1);
+	stubManager.Write("After heating Main temp is " + ftemp + "\n");
+	ftemp = ftemp - DryerTemp[1];
+	if ((ftemp<5)||(ftemp>40))
+		Units_status[8,1]="Fail";
+	else
+		Units_status[8,1]="Pass";
+
+//check Sec. temp
+	ftemp=Read_pt100(2);
+	stubManager.Write("After heating Sec. temp is " + ftemp + "\n");
+	ftemp = ftemp - DryerTemp[2];
+	if ((ftemp<5)||(ftemp>40))
+		Units_status[9,1]="Fail";
+	else
+		Units_status[9,1]="Pass";
+
+	SetBit (FPGA2, F2_CTRL, 10, 0);		//turn SSR1 off
+	SetBit (FPGA2, F2_CTRL, 9, 0);		//turn SSR2 off
+
+	SetBit(FPGA1,0x3d2,5,1);		//turn off Blower
+	return 1;
+   
+}
+
+	int	test_pt100()
+	{
+		float ftemp=0;
+	int temp=0;
+	int		j=0;
+			for (int i = 0; i < 3; i++)
+	    {
+			DryerTemp[i]=Read_pt100(i);
+			ftemp=DryerTemp[i];
+			if ((ftemp>100)|| (ftemp<10))
+			{	
+				Units_status[i+7,1]="Fail";
+			}
+			else
+			{
+				Units_status[i+7,1]="Pass";
+			}	
+			stubManager.Write(Units_status[i+7,0] +"\t"+ ftemp.ToString("F2")); 
+			stubManager.Write("°C\n");	
+	
+	    }
+			return 0;
+	}
+//------------------------------------------------
+float Read_pt100(int i)	
+{
+			int j=i+6;	
+			var response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,j); //
+			float ftemp = (float)response.TemperatureCMultBy100;
+			ftemp = ftemp / 100;
+		return (ftemp);
+}
+
+
+//------------------------------------------
+int Test_motor_driving ()
+
+{
+	
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,3, true, 500);		//rotate Dryer Motor.
+	stubManager.Write("Dryer Motor rotate \n ");
+	DialogResult result = MessageBox.Show("Are Dryer Motor rotate?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.No)
+		{
+			Units_status[3,1]="Fail";
+			stubManager.Write("Dryer Motor not rotate\n");
+		}
+	else 
+		{
+			Units_status[3,1]="Pass";
+			stubManager.Write("Dryer Motor rotate\n");
+		}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,3,3);		//stop motor
+
+	return 0;
+}	
+//----------------------------------
+int Test_Load_Arm()
+{
+
+	Int32 temp3=0;
+	Int32 j=0;
+	Int32 i=0;
+	position_32bit=0;
+	Int32 temp=position_32bit;
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,5, false, 60);//40
+	Thread.Sleep(50);
+	temp=ReadEncoder();	
+	while ((temp3==0)&& (i<600) )		//wait until Limit Switch or timeout 200*50msec=10sec
+		{
+	   		Thread.Sleep(50);
+	    	ReadEncoder();	
+//	   		stubManager.Write("position_32bit " + position_32bit  +"\t");
+
+	    	if (Math.Abs(position_32bit)> (50*0x4000))
+	    	    temp3=1;
+			if ((position_32bit-temp)>20)
+				temp3=2;
+//						stubManager.Write("Temp " + temp   +"\n");
+			temp=position_32bit;
+//			stubManager.Write("Temp3 " + temp3  +"\n");
+		}
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,5, 3);
+
+	DialogResult result1 = MessageBox.Show("Arm Motor rotate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result1 == DialogResult.No)
+		{
+			Units_status[5,1]="Fail";
+			stubManager.Write("Arm Motor Not rotate\n");
+			return 0;
+		}
+	Units_status[5,1]="Pass";
+			
+	DialogResult result2 = MessageBox.Show("Did Arm Motor arrive to mecahnicl stopper ?", "Warning",MessageBoxButtons.YesNo);
+	if(result2 == DialogResult.No)
+		{
+			Units_status[4,1]="Fail";
+			stubManager.Write("Arm Motor arrive to mecahnicl stopper \n");
+			return 0;
+		}
+
+	position_32bit=0;
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,5, true, 60);
+	Thread.Sleep(50);
+		i=0;
+		while ((Math.Abs(ReadEncoder())< (30*0x4000))&& (i<4500)) 
+
+			{
+	   			Thread.Sleep(50);
+	   			i++;
+//	    		stubManager.Write("position_32bit " + position_32bit  +"\t" + i + "\n" );
+
+								
+			}
+			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,5, 3);
+
+	DialogResult result3 = MessageBox.Show("Did Arm Motor make 30 rounds?", "Warning",MessageBoxButtons.YesNo);
+	if(result3 == DialogResult.No)
+		{
+			Units_status[4,1]="Fail";
+			stubManager.Write("Arm Motor not make 30 rounds\n");
+			return 0;
+		}
+	Units_status[4,1]="Pass";
+	return 1;	
+}
+
+Int32 ReadEncoder()
+{
+	Int32 temp;
+	Int32 temp1;
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x6000019e, 0x0000);		//triggers a TX transmission
+
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000190);
+	var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000192);		 
+
+	temp =  Convert.ToInt32 (((((response1.Value <<16) + 	response.Value)>>10 ) & 0x3fff));
+	if (temp>last_14bit_position)
+		{
+		temp1=temp-last_14bit_position;
+		position_32bit=position_32bit+temp1;
+		if (temp1>0x2000)
+			position_32bit=position_32bit-0x4000;
+		}
+	else if (temp<last_14bit_position)
+		
+		{
+			temp1=last_14bit_position-temp;
+			position_32bit=position_32bit-temp1;
+		if (temp1>0x2000)
+			position_32bit=position_32bit+0x4000;
+		}
+	
+	last_14bit_position=temp;
+
+	return position_32bit;
+}
+//-----------------------------------
+int Test_LId ()
+{
+	Int32 Bit = 1;	
+ 	int i = 0;
+	
+	stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,4, false, 0x800000+2);		//mov Dryer Lid motor down
+	Thread.Sleep(2000);
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,4, 2);		//Hard stop hiZ motor
+	Thread.Sleep(1000);
+	
+	stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,4, false, 0x800000+0);		//mov Dryer Lid motor up
+
+	while ((Bit != 0x0) && (i<200))		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					Bit = GetBit(FPGA1, F1_LS_01_Direct,4);	
+					Thread.Sleep(50);
+					i++;
+			}
+	stubManager.Write("\n--------1-Lid Open--------");
+
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,4, 2);		//Hard stop hiZ motor
+	DialogResult result1 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result1 == DialogResult.No)
+		{
+			Units_status[1,1]="Fail";
+			stubManager.Write("LS_Lid_Open Not calibrate\n");
+			return 0;
+		}
+	Units_status[1,1]="Pass";
+
+	stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,4, false, 0x800000+2);		//mov Dryer Lid motor down
+
+	Bit = 1;
+	i=0;	 
+	while ((Bit != 0x0) && (i<200))		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					Bit = GetBit(FPGA1, F1_LS_01_Direct,5);	
+					Thread.Sleep(50);
+					i++;
+			}
+					stubManager.Write("\n--------2-Lid Close--------");
+
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,4, 2);		//Hard stop hiZ motor
+	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result2 == DialogResult.No)
+		{
+			Units_status[2,1]="Fail";
+			stubManager.Write("LS_Lid_Close Not calibrate\n");
+			return 0;
+		}
+	Units_status[2,1]="Pass";
+	Units_status[0,1]="Pass";
+			return 1;
+
+}
+
+ //------------------------------------  
+string write_to_file() 
+{	
+	    stubManager.Write("write_to_file\n");
+	
+string Stemp="Pass";
+		for (int i=0;i<UNIT_UNDER_TEST;i++)
+		{
+			stubManager.AppendToFile(File_Name1,Units_status[i,0]+"\t" + Units_status[i,1] );
+			stubManager.Write(Units_status[i,0]+"\t" + Units_status[i,1]+"\n" );
+
+			if ((Units_status[i,1]=="Fail")||(Units_status[i,1]=="Not Test"))
+			Stemp="Fail";
+		}
+		if (Stemp=="Fail")
+			{
+			stubManager.AppendToFile(File_Name1,"-------------Dryer  Fail ------------ ");
+			stubManager.Write("-------------Dryer Fail ------------ ");
+			}
+		else
+			{
+			stubManager.AppendToFile(File_Name1,"-------------Dryer Pass ------------ )");
+			stubManager.Write("-------------Dryer Pass ------------ ");
+			}
+			
+	return Stemp;
+	
+}
+
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_LimitSwitch.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_LimitSwitch.cs
index 46849f051..4d9f116bb 100644
--- a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_LimitSwitch.cs
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_LimitSwitch.cs
@@ -22,12 +22,13 @@ public void OnExecute(StubManager stubManager)
  	uint Temp = 0;
 	int counter = 0;
 	
+//	stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,23, false,0x800000+2);
 
-	stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,4, false, 2);		//mov Dryer Lid motor up
+	stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,4, false, 0x800000+0);		//mov Dryer Lid motor up
 
 	while (Bit != 0x0)		//wait until Dryer Lid open
 			{	
-					Bit = GetBit(FPGA1, F1_LS_01_Direct,5);	
+					Bit = GetBit(FPGA1, F1_LS_01_Direct,4);	
 					Thread.Sleep(10);
 			}
 					stubManager.Write("\n--------1-Lid Open--------");
@@ -38,12 +39,12 @@ stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,4, 2);		//Hard st
 
 
 
+	stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,4, false, 0x800000+2);		//mov Dryer Lid motor up
 
-stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,4, true, 2);		//mov Dryer Lid motor down
 	 Bit = 1;	
 	while (Bit != 0x0)		//wait until Dryer Lid open
 			{	
-					Bit = GetBit(FPGA1, F1_LS_01_Direct,4);	
+					Bit = GetBit(FPGA1, F1_LS_01_Direct,5);	
 					Thread.Sleep(10);
 			}
 					stubManager.Write("\n--------2-Lid Close--------");
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_SSR.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_SSR.cs
index da391cfb2..c5bcb93e5 100644
--- a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_SSR.cs
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_SSR.cs
@@ -19,21 +19,54 @@ include "Tango_Defines_SSR.cs"
 public void OnExecute(StubManager stubManager)
 {  
    //Write GPO_DRYER_SSR1_CTRL SSR/SSR no. 1
+   	var response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,6); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
    SetBit (FPGA2, F2_CTRL, 10, 1);
-   stubManager.Write("\nTesting SSR no. 1");
-   Thread.Sleep(4000);
+   stubManager.Write("\tTesting SSR no. 1\t");
+   Thread.Sleep(10000);
+
+ // Request ----
+// UInt32 : ADCDevice
+
+// Response ----
+// UInt32 : ADCDevice
+// Int32 : SamplingInBits
+// Int32 : VoltageSamplingMv
+// String : Status
+// UInt32 : StatusWord
+var response1 = stubManager.Run<StubIntADCReadResponse>("StubIntADCReadRequest" ,16);
+   stubManager.WriteLine(response1.SamplingInBits);
+   stubManager.WriteLine(response1.VoltageSamplingMv);
+
+
+
    SetBit (FPGA2, F2_CTRL, 10, 0);
+    response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,6); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+   stubManager.Write("\n");
+
   
    //Write GPO_DRYER_SSR2_CTRL SSR/SSR no. 2
+   	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,7); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
    SetBit (FPGA2, F2_CTRL, 9, 1);
-   stubManager.Write("\nTesting SSR no. 2");
-   Thread.Sleep(4000);
+   stubManager.Write("\tTesting SSR no. 2\t");
+   Thread.Sleep(10000);
    SetBit (FPGA2, F2_CTRL, 9, 0);
-   
+    response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,7); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+  	stubManager.Write("\n");
+
    //Write GPO_DRYER_SSR3_CTRL SSR/SSR no. 3
+   	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,8); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
    SetBit (FPGA2, F2_CTRL, 8, 1);
-   stubManager.Write("\nTesting SSR no. 3");
-   Thread.Sleep(4000);
+   stubManager.Write("\tTesting SSR no. 3\t");
+   Thread.Sleep(10000);
    SetBit (FPGA2, F2_CTRL, 8, 0);
+    response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,8); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+  	stubManager.Write("\n");
+
 
 }
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_SSR1.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_SSR1.cs
new file mode 100644
index 000000000..b059a170f
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Dryer_SSR1.cs
@@ -0,0 +1,72 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_SSR.cs"                          	
+//include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+//include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_SSR.cs"                          	
+                            
+
+public void OnExecute(StubManager stubManager)
+{  
+float temp=0;
+float temp1=4096*95*5;
+
+	//Write GPO_DRYER_SSR1_CTRL SSR/SSR no. 1
+   	var response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,6); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+   SetBit (FPGA2, F2_CTRL, 10, 1);
+   stubManager.Write("\tTesting SSR no. 1\t");
+   Thread.Sleep(1000);
+   
+   
+var response1 = stubManager.Run<StubIntADCReadResponse>("StubIntADCReadRequest" ,16);
+   
+	temp=Convert.ToUInt32 (response1.SamplingInBits);
+	temp=temp*800*3*100;
+	temp=temp/(4096*95*50);
+   stubManager.Write("Current = "+ temp + "A\n");
+   temp=temp*60;
+   stubManager.Write("Voltage = "+ temp + " Volt\n");
+
+
+   SetBit (FPGA2, F2_CTRL, 10, 0);
+    response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,6); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+   stubManager.Write("\n");
+
+  
+   //Write GPO_DRYER_SSR2_CTRL SSR/SSR no. 2
+   	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,7); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+   SetBit (FPGA2, F2_CTRL, 9, 1);
+   stubManager.Write("\tTesting SSR no. 2\t");
+   Thread.Sleep(1000);
+   
+response1 = stubManager.Run<StubIntADCReadResponse>("StubIntADCReadRequest" ,17);
+   
+	temp=Convert.ToUInt32 (response1.SamplingInBits);
+	stubManager.WriteLine(temp);
+	temp=temp*800*3*100;
+	temp=temp/(4096*95*120);
+   stubManager.Write("Current = "+ temp + "A\n");
+   temp=temp*120;
+   stubManager.Write("Voltage = "+ temp + " Volt\n");
+   
+   
+   SetBit (FPGA2, F2_CTRL, 9, 0);
+    response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,7); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+  	stubManager.Write("\n");
+
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/GPO_Blower_PWM.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/GPO_Blower_PWM.cs
index d7c4894c6..8ac0d41dc 100644
--- a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/GPO_Blower_PWM.cs
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/GPO_Blower_PWM.cs
@@ -12,14 +12,19 @@ using Tango.Stubs;
 
 include "..\..\Defines\Tango_Defines_Basic.cs"
 include "Tango_Defines_SSR.cs"                          	
+include "Tango_Defines_Tacho.cs"                          	
 
 
 
 
 public void OnExecute(StubManager stubManager)
 {
+	
+	var RetVal=Fpga_Read_Reg(FPGA1, F1_Tacho_reg8, 0); 
+
+
 	SetBit(FPGA1,0x3d2,5,0);		//turn on Blower
-	SetBit(FPGA1,0x3d2,4,0);		//Dir
+	SetBit(FPGA1,0x3d2,4,1);		//Dir
 	SetBit(FPGA1,0x3d2,3,1);		//Torqer High
 
 	
@@ -30,6 +35,10 @@ public void OnExecute(StubManager stubManager)
 	var response2 = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000400 | 0x3EE, 101 - LOW);//High 8 bit 
 	 
 	Thread.Sleep(4000);
+		 RetVal=Fpga_Read_Reg(FPGA1, F1_Tacho_reg8, 0); 
+			stubManager.Write("\nFan5 Speed-");	
+			stubManager.WriteHex(RetVal.Value,4);
+
 	SetBit(FPGA1,0x3d2,5,1);		//turn off Blower
 
 	// low + high = 100 % in order use the same freq 
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Load_Dryer_Arm.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Load_Dryer_Arm.cs
new file mode 100644
index 000000000..1ce0a515f
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Load_Dryer_Arm.cs
@@ -0,0 +1,224 @@
+//-------------------------------------------
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "..\Defines\Tango_Defines_Motors.cs"
+
+	//--------------------------------------------------------------------------------
+
+//--------------------------------------------------------------------------------
+Int32	last_14bit_position;
+Int32	position_32bit;
+
+	
+public void OnExecute(StubManager stubManager)
+{
+	
+
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x6000019e, 0x0000);		//triggers a TX transmission
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000190);
+	var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000192);		 
+	last_14bit_position =  Convert.ToInt32 (((((response1.Value <<16) + 	response.Value)>>10 ) & 0x3fff));
+	position_32bit=0;
+
+	
+//Create form
+		Form form1 = new Form();
+
+//--------------------------------------------------------------------------------
+
+// Create buttons to use as the accept and cancel buttons.
+ 		Button button1 = new Button () 
+	{
+		Width = 100,
+   	  	Height = 100,
+  	};
+   
+ 		Button button2 = new Button ()
+    {
+		Width = 100,
+	   	Height = 100,
+	 };
+//--------------------------------------------------------------------------------		
+// Set the text of button
+		   
+		button1.Text = "ARM HOME";
+		
+		button2.Text = "ARM STRART";
+   
+//--------------------------------------------------------------------------------
+// Set the position of the button on the form.
+		
+		button1.Location = new Point (40, 100);
+
+	    button2.Location
+      		= new Point (button1.Left  + button1.Width + 10, 100);
+
+//--------------------------------------------------------------------------------
+   // Add button to the form.
+ 
+	    form1.Controls.Add(button1);
+
+	    form1.Controls.Add(button2);
+  
+//--------------------------------------------------------------------------------
+
+// Set the caption bar text of the form.
+   
+		form1.Text = "Load Dryer Arm";
+		
+//--------------------------------------------------------------------------------
+   
+   // Define the border style of the form to a dialog box.
+   
+  		form1.FormBorderStyle = FormBorderStyle.FixedDialog;
+   
+	// Set the MaximizeBox to false to remove the maximize box.
+
+		form1.MaximizeBox = false;
+   
+	// Set the MinimizeBox to false to remove the minimize box.
+   	
+		form1.MinimizeBox = false;
+   	
+	// Set the start position of the form to the center of the screen.
+
+		form1.StartPosition = FormStartPosition.CenterScreen;
+
+   
+	    form1.AutoSize = true;
+	    form1.AutoSizeMode = AutoSizeMode.GrowAndShrink;
+//--------------------------------------------------------------------------------
+	   
+	TextBox TextBox1 = new TextBox () 
+	{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text ="20"
+  	};
+TextBox1.Location = new Point (40, 40);
+ form1.Controls.Add(TextBox1);
+Label Label1 = new Label () 
+	{
+		Width = 150,
+   	  	Height = 100,
+   	  	Text ="Number round"
+  	};
+Label1.Location = new Point (20, 10);
+ form1.Controls.Add(Label1);
+ 
+ 
+ 
+//--------------------------------------------------------------------------------
+    
+
+   
+	    button2.Click += (_,__) => 
+	    	
+   {
+			position_32bit=0;
+	    	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,5, true, 40);
+		    Thread.Sleep(200);
+
+			while (Math.Abs(ReadEncoder())< (UInt32.Parse(TextBox1.Text)*0x4000)) 
+
+			{
+	   			Thread.Sleep(200);
+	    										
+			}
+			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,5, 3);
+		
+   };
+
+   
+
+//--------------------------------------------------------------------------------
+
+	    button1.Click += (_,__) =>
+   {
+			Int32 temp3=0;
+	    	Int32 j=0;
+	    	position_32bit=0;
+	    	Int32 temp=position_32bit;
+		    stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,5, false, 40);
+		    Thread.Sleep(200);
+
+			while (temp3==0) 
+
+			{
+	   			Thread.Sleep(200);
+	    		ReadEncoder();	
+	   			stubManager.Write("position_32bit " + position_32bit  +"\t");
+
+	    		if (Math.Abs(position_32bit)> (UInt32.Parse(TextBox1.Text)*0x4000))
+	    		    temp3=1;
+				if (Math.Abs(position_32bit-temp)<0x40)
+					j=j+1;	
+				else
+					j=0;					
+	   			temp=position_32bit;
+				if (j>3)
+					temp3=2;
+				
+				stubManager.Write("Temp3 " + temp3  +"\n");
+
+										
+			}
+			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,5, 3);
+		
+   };
+
+//--------------------------------------------------------------------------------
+
+// Display the form as a modal dialog box.
+	    form1.ShowDialog();
+	    
+			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,5, 3);
+		
+	
+	return;
+}
+
+Int32 ReadEncoder()
+{
+	Int32 temp;
+	Int32 temp1;
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x6000019e, 0x0000);		//triggers a TX transmission
+
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000190);
+	var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000192);		 
+
+	temp =  Convert.ToInt32 (((((response1.Value <<16) + 	response.Value)>>10 ) & 0x3fff));
+	if (temp>last_14bit_position)
+		{
+		temp1=temp-last_14bit_position;
+		position_32bit=position_32bit+temp1;
+		if (temp1>0x2000)
+			position_32bit=position_32bit-0x4000;
+		}
+	else if (temp<last_14bit_position)
+		
+		{
+			temp1=last_14bit_position-temp;
+			position_32bit=position_32bit-temp1;
+		if (temp1>0x2000)
+			position_32bit=position_32bit+0x4000;
+		}
+	
+	last_14bit_position=temp;
+
+	return position_32bit;
+}
+
+
+
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Loading_arm_center_calibration.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Loading_arm_center_calibration.cs
new file mode 100644
index 000000000..bb502309e
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/Loading_arm_center_calibration.cs
@@ -0,0 +1,22 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+public void OnExecute(StubManager stubManager)
+{
+
+
+ProgressRequest progressRequest = new ProgressRequest();
+progressRequest.Amount = 0xB1;
+
+var response = stubManager.Run<ProgressResponse>(progressRequest);
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/1.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/1.cs
new file mode 100644
index 000000000..4100a770c
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/1.cs
@@ -0,0 +1,28 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_SSR.cs"                          	
+
+public void OnExecute(StubManager stubManager)
+{
+
+		
+   //Write GPO_DRYER_SSR1_CTRL SSR/SSR no. 1
+  SetBit (FPGA2, F2_CTRL, 0, 1);
+   stubManager.Write("\nTesting SSR no. 13 of magnet");
+
+	
+	
+	
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/DyeHeadJig.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/DyeHeadJig.cs
new file mode 100644
index 000000000..2baedf7c2
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/DyeHeadJig.cs
@@ -0,0 +1,548 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_SSR.cs"                          	
+include "Tango_Defines_LimitSwitch.cs"                          	
+
+	
+//--------------------------------------------------------------------------------	
+	const Int32 I2C_ID =  2;
+
+//--------------------------------------------------------------------------------
+//--------------------------------------------------------------------------------
+//string path1=@"P:\Scripts\Assemblies\Dye head\DyeHeadLog\";
+string path1="P:\\Scripts\\Assemblies\\Dye head\\DyeHeadLog\\";
+string path2=@"C:\DyeHeadLog";
+
+string	File_Name1	;
+string Status;
+//---------------------------
+
+float [] DyeHeadTemp = new float[6]	;
+
+string [,] Units_status = new string[16,2]	{ 
+												{"Pt100_Zone_1","Not Test"},
+												{"Pt100_Zone_2","Not Test"},
+												{"Pt100_Zone_3","Not Test"},
+												{"Pt100_Zone_4","Not Test"},
+												{"Pt100_Zone_5","Not Test"},
+												{"Pt100_Zone_6","Not Test"},
+												{"Heater_Zone_1","Not Test"},
+												{"Heater_Zone_2","Not Test"},
+												{"Heater_Zone_3","Not Test"},
+												{"Heater_Zone_4","Not Test"},
+												{"Heater_Zone_5","Not Test"},
+												{"Heater_Zone_6","Not Test"},
+												{"Magnet","Not Test"},
+												{"LS_DH_LID_Open","Not Test"},
+												{"LS_DH_LID_Close","Not Test"},
+												{"DH_LID_Motor","Not Test"},
+											};
+
+
+
+//-----------------------------------------------------
+string DyeHead_Sn;
+//--------------------------------------------------------------------------------
+
+public void OnExecute(StubManager stubManager)
+{
+string  path="";
+		Form form1 = new Form();
+
+// Set the caption bar text of the form.
+   
+		form1.Text = "DyeHead Test";
+  		form1.FormBorderStyle = FormBorderStyle.FixedDialog;
+ 		form1.MaximizeBox = false;
+		form1.MinimizeBox = false;
+ 		form1.StartPosition = FormStartPosition.CenterScreen;
+	    form1.AutoSize = true;
+	    form1.AutoSizeMode = AutoSizeMode.GrowAndShrink;
+// Create buttons to Run.
+ 		Button button1 = new Button () 
+	{
+		Width = 100,
+   	  	Height = 100,
+  	};
+		button1.Text = "Run";
+		button1.Location = new Point (40, 100);
+	    form1.Controls.Add(button1);
+//-----DyeHead Serial Number -----------
+
+	Label Label1 = new Label () 
+		{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="  DyeHead S/N"
+  		};
+	Label1.Location = new Point (30, 10);
+ 	form1.Controls.Add(Label1);
+	TextBox TextBox1 = new TextBox () 
+		{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  		};
+	TextBox1.Location = new Point (40, 40);
+	form1.Controls.Add(TextBox1);
+ //----------LOCATION----------
+	 
+ Label Label3 = new Label () 
+	{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="LOCATION"
+  	};
+Label3.Location = new Point (350, 10);
+ form1.Controls.Add(Label3);
+	 
+
+
+TextBox TextBox3 = new TextBox () 
+	{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  	};
+TextBox3.Location = new Point (360, 40);
+ form1.Controls.Add(TextBox3);
+ 
+//--------------------------------------------------------------------------------
+
+	    stubManager.Write("Counter is 2 \n");
+  
+	    button1.Click += (_,__) => 
+	    
+	   { 	
+if (!Directory.Exists(path1))
+	{
+		path=path2;	
+		if (!Directory.Exists(path2))
+			Directory.CreateDirectory(path2);	
+	}			
+else
+path=path1;	
+
+
+File_Name1=path + TextBox1.Text +"_DyeHead_" + DateTime.Now.ToString("MM_dd_yyyy_HH_mm_ss")+".log" ;
+
+
+stubManager.Write(File_Name1 +"\n");
+stubManager.WriteToFile(File_Name1,DateTime.Now +" " );
+stubManager.Write(DateTime.Now +"\n" );
+
+stubManager.AppendToFile(File_Name1,"DyeHead Test Report" );
+stubManager.Write("DyeHead Test Report\n" );
+
+stubManager.AppendToFile(File_Name1,"RTFU S/N: \t" + TextBox1.Text  );
+stubManager.Write("DyeHead S/N:" + TextBox1.Text +"\n" );
+                  
+
+stubManager.AppendToFile(File_Name1,"Location:\t" + TextBox3.Text );
+stubManager.Write("Location:" + TextBox3.Text +"\n" );
+
+	 
+	 
+Label Label5 = new Label () 
+	{
+		Width = 120,
+   	  	Height =100,
+   	  	Text = ""
+  	}; 
+Label5.Location = new Point (300, 100);
+Label5.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D;
+
+Label5.Text="Pros";
+Label5.Font = new Font("Arial", 24,FontStyle.Bold);
+form1.Controls.Add(Label5); 	
+
+
+//------------------------------- start test -----------
+
+	DialogResult result = MessageBox.Show("Make shure, Dyehead is not hot", "Warning",MessageBoxButtons.OKCancel);
+	if(result == DialogResult.Cancel)
+		{
+			stubManager.AppendToFile(File_Name1,"Dyehead is too hot \tFail");
+			stubManager.Write("Dyehead is too hot \tFail\n");
+			return ;
+		}
+	Test_Magnet_Motor_LS_DyeHead();
+	Test_heaters_pt100 ();
+	Status=write_to_file();
+
+	   Label5.Text=Status;
+	   TextBox1.Text="";
+};	   
+	   
+	   form1.ShowDialog();
+	    
+	    stubManager.Write("Counter is \n");
+
+	
+	return;
+   }
+   
+//-------------------------------------------- 
+ int Test_Magnet_Motor_LS_DyeHead()
+{  
+	Int32 Bit = 1;	
+	
+	stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,23, false,0x800000+0);
+	stubManager.Write("\nTesting SSR no. 13 of magnet or motor driver");
+ 
+	DialogResult result = MessageBox.Show("Make shure, Magnet is open", "Warning",MessageBoxButtons.OKCancel);
+	if(result == DialogResult.Cancel)
+		{
+			Units_status[12,1]="Fail";
+			stubManager.Write("Magnet Not Open\n");
+			return 0;
+		}
+	Units_status[12,1]="Pass";
+
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,2, true, 250);
+	stubManager.Write("\n***   Open Lid Head ");
+	
+	Bit = 1;
+	int i=0;		
+	while ((Bit != 0x0)&& (i<200))		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					Bit = GetBit(FPGA1, F1_LS_01_Direct,7);	
+					Thread.Sleep(50);
+					i++;
+			}
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,23,3);		//stop motor
+		
+	DialogResult result1 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result1 == DialogResult.Cancel)
+		{
+			Units_status[15,1]="Fail";
+			Units_status[13,1]="Fail";
+			stubManager.Write("LS_DH_LID_Open Not calibrate\n");
+			return 0;
+		}
+	Units_status[13,1]="Pass";
+	stubManager.Write("\n***   Close Lid Head ");
+	Bit = 1;
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,2, false, 250);
+	i=0;		
+	while ((Bit != 0x0)&& (i<200))		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					Bit = GetBit(FPGA1, F1_LS_01_Direct,8);	
+					Thread.Sleep(50);
+					i++;
+			}
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,23,3);		//stop motor
+		
+	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result2 == DialogResult.Cancel)
+		{
+			Units_status[14,1]="Fail";
+			Units_status[15,1]="Fail";
+			stubManager.Write("LS_DH_LID_Close Not calibrate\n");
+			return 0;
+		}
+	Units_status[14,1]="Pass";
+	stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,23, false,0x800000+2);
+	DialogResult result3 = MessageBox.Show("Make shure, Magnet is open", "Warning",MessageBoxButtons.OKCancel);
+	if(result3 == DialogResult.Cancel)
+		{
+			Units_status[12,1]="Fail";
+			stubManager.Write("Magnet Not Open\n");
+			return 0;
+		}
+	Units_status[12,1]="Pass";
+	Units_status[15,1]="Pass";
+
+ 			return 0;
+}  
+   
+ //------------------------------------  
+string write_to_file() 
+{	
+	    stubManager.Write("write_to_file\n");
+	
+string Stemp="Pass";
+		for (int i=0;i<16;i++)
+		{
+			stubManager.AppendToFile(File_Name1,Units_status[i,0]+"\t" + Units_status[i,1] );
+			stubManager.Write(Units_status[i,0]+"\t" + Units_status[i,1]+"\n" );
+
+			if ((Units_status[i,1]=="Fail")||(Units_status[i,1]=="Not Test"))
+			Stemp="Fail";
+		}
+	return Stemp;
+}
+//------------------------------------  
+int Test_heaters_pt100()
+{
+//	uint utemp=0;
+	uint temp=0;
+	float ftemp=0;
+	float ftemp1=0;
+	
+	stubManager.Write("\nTemp Befor heating \n");
+	if	(test_pt100()!=0)
+			return 0;
+
+//------------Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 8
+	SetBit (FPGA2, F2_CTRL, 3, 1);
+	stubManager.Write("Testing SSR no. 8\tHeadZone-1\t");
+	Thread.Sleep(10000);
+    adc_configuration(0x40,0x10);		//a2d_address 0x40 channel 3
+	adc_set_for_read_ch(0x40);
+	temp=adc_read_ch(0x40);
+   	SetBit (FPGA2, F2_CTRL, 3, 0);
+	ftemp=Read_pt100(0);
+	stubManager.Write("After heating " + ftemp +"c\tCurrent is "+ temp + "\n");
+	ftemp = ftemp - DyeHeadTemp[0];
+	if ((temp>0x860)|| (temp<0x7e0)||(ftemp<5)||(ftemp>20))
+		Units_status[6,1]="Fail";
+	else
+		Units_status[6,1]="Pass";
+	
+    //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 7
+	ftemp=Read_pt100(1);
+	ftemp1 = ftemp - DyeHeadTemp[1];
+	if ( ftemp1>4)
+		Units_status[7,1]="Fail";		
+	else 
+	{
+	SetBit (FPGA2, F2_CTRL, 4, 1);
+	stubManager.Write("Testing SSR no. 7\tHeadZone-2\t");
+	Thread.Sleep(10000);
+   	adc_configuration(0x40,0x08);		//a2d_address 0x40 channel 4
+	adc_set_for_read_ch(0x40);
+	temp=adc_read_ch(0x40);
+    SetBit (FPGA2, F2_CTRL, 4, 0);
+	ftemp=Read_pt100(1);
+	stubManager.Write("After heating " + ftemp +"c\tCurrent is "+temp + "\n");
+	ftemp = ftemp - DyeHeadTemp[1];
+	if ((temp>0x660)|| (temp<0x600)||(ftemp<5)||(ftemp>20))
+		Units_status[7,1]="Fail";
+	else
+		Units_status[7,1]="Pass";
+	}
+
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 6
+   
+	ftemp=Read_pt100(2);
+	ftemp1 = ftemp - DyeHeadTemp[2];
+	if ( ftemp1>4)
+		Units_status[7,1]="Fail";		
+	else 
+	{
+	SetBit (FPGA2, F2_CTRL, 5, 1);
+	stubManager.Write("Testing SSR no. 6\tHeadZone-3\t");
+	Thread.Sleep(10000);
+   	adc_configuration(0x40,0x04);		//a2d_address 0x40 channel 5
+	adc_set_for_read_ch(0x40);
+	temp=adc_read_ch(0x40);
+	SetBit (FPGA2, F2_CTRL, 5, 0);
+	ftemp=Read_pt100(2);
+	stubManager.Write("After heating " + ftemp +"c\tCurrent is "+temp +"\n");
+	ftemp = ftemp - DyeHeadTemp[2];
+	if ((temp>0x660)|| (temp<0x600)||(ftemp<5)||(ftemp>20))
+		Units_status[8,1]="Fail";
+	else
+		Units_status[8,1]="Pass";
+	}
+	
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 5
+	ftemp=Read_pt100(3);
+	ftemp1 = ftemp - DyeHeadTemp[3];
+	if ( ftemp1>4)
+		Units_status[9,1]="Fail";		
+	else 
+	{
+	SetBit (FPGA2, F2_CTRL, 6, 1);
+	stubManager.Write("Testing SSR no. 5\tHeadZone-4\t");
+	Thread.Sleep(10000);
+   	adc_configuration(0x44,0x80);		//a2d_address 0x44 channel 0
+	adc_set_for_read_ch(0x44);
+	temp=adc_read_ch(0x44);
+	SetBit (FPGA2, F2_CTRL, 6, 0);
+	ftemp=Read_pt100(3);
+	stubManager.Write("After heating " + ftemp +"c\tCurrent is "+temp + "\n");
+	ftemp = ftemp - DyeHeadTemp[3];
+	if ((temp>0x1100)|| (temp<0xf90)||(ftemp<5)||(ftemp>20))
+		Units_status[9,1]="Fail";
+	else
+		Units_status[9,1]="Pass";
+	}
+
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 10
+	ftemp=Read_pt100(4);
+	ftemp1 = ftemp - DyeHeadTemp[4];
+	if ( ftemp1>4)
+		Units_status[10,1]="Fail";		
+	else 
+	{
+	SetBit (FPGA1, F1_gpo_01, 2, 1);
+	stubManager.Write("Testing SSR no. 10\tHeadZone-5\t");
+	Thread.Sleep(10000);
+   	adc_configuration(0x44,0x40);		//a2d_address 0x44 channel 1
+	adc_set_for_read_ch(0x44);
+	temp=adc_read_ch(0x44);
+	SetBit (FPGA1, F1_gpo_01, 2, 0);
+ 	ftemp=Read_pt100(4);
+	stubManager.Write("After heating " + ftemp +"c\tCurrent is "+temp + "\n");
+	ftemp = ftemp - DyeHeadTemp[4];
+	if ((temp>0xa80)|| (temp<0xa20)||(ftemp<5)||(ftemp>20))
+		Units_status[10,1]="Fail";
+	else
+		Units_status[10,1]="Pass";
+	}
+	
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 11
+	ftemp=Read_pt100(5);
+	ftemp1 = ftemp - DyeHeadTemp[5];
+	if ( ftemp1>4)
+		Units_status[11,1]="Fail";		
+	else 
+	{
+	SetBit (FPGA3, F3_GPO_01_bus, 4, 1);
+	stubManager.Write("Testing SSR no. 11\tHeadZone-6\t");
+	Thread.Sleep(10000);
+   	adc_configuration(0x44,0x40);		//a2d_address 0x44 channel 1
+	adc_set_for_read_ch(0x44);
+	temp=adc_read_ch(0x44);
+	SetBit (FPGA3, F3_GPO_01_bus, 4, 0);
+ 	ftemp=Read_pt100(5);
+	stubManager.Write("After heating " + ftemp +"c\tCurrent is "+temp + "\n");
+	ftemp = ftemp - DyeHeadTemp[5];
+	if ((temp>0x660)|| (temp<0x600)||(ftemp<5)||(ftemp>20))
+		Units_status[11,1]="Fail";
+	else
+		Units_status[11,1]="Pass";
+	}
+	return 0;
+}
+//------------------------------------------------		
+	int	test_pt100()
+	{
+		float ftemp=0;
+	int temp=0;
+	int		j=0;
+			for (int i = 0; i < 6; i++)
+	    {
+			DyeHeadTemp[i]=Read_pt100(i);
+			ftemp=DyeHeadTemp[i];
+			if ((ftemp>100)|| (ftemp<10))
+			{	
+				Units_status[i,1]="Fail";
+			}
+			else
+			{
+				Units_status[i,1]="Pass";
+			}	
+			stubManager.Write("Zone-"+(i+1)+ "\t" + ftemp.ToString("F2")); 
+			stubManager.Write("°C\n");	
+	
+	    }
+			return 0;
+	}
+//------------------------------------------------
+float Read_pt100(int i)	
+{
+			int j= i+1;
+			if (i==5)
+			j=11;	
+			var response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,j); //
+			float ftemp = (float)response.TemperatureCMultBy100;
+			ftemp = ftemp / 100;
+		return (ftemp);
+}
+//---------------------------
+int adc_configuration(uint I2C_Slave_Add,uint channel ) 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x00);//Byte 0 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(channel);//Byte 1 to Write, must be 0x80, 0x40, 0x20, 0x10, 0x08, 0x04, 0x02 or 0x01 for different channels
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x80);//Byte 2 to Write
+	
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+	}
+//-----------------------------------
+int adc_set_for_read_temp(uint I2C_Slave_Add) 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x02);//Byte 0 to write
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+	}
+//-----------------------------------
+int adc_read_temp(uint I2C_Slave_Add) 
+	{
+
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID;
+	stubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add;
+	stubI2CReadBytesRequest.NumberOfBytesToRead = 2; // Number of bytes to read
+
+	var response1 = stubManager.Run<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+	
+	for(int i=0; i<stubI2CReadBytesRequest.NumberOfBytesToRead;i++)
+			{
+				stubManager.WriteLineHex(response1.ReadBytes[i],2);
+			}
+	
+	
+	return 1;
+	}
+//-----------------------------------
+int adc_set_for_read_ch(uint I2C_Slave_Add) 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x01);//Byte 0 to write
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+	}
+//-----------------------------------
+uint adc_read_ch(uint I2C_Slave_Add) 
+	{
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID;
+	stubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add;
+	stubI2CReadBytesRequest.NumberOfBytesToRead = 2; // Number of bytes to read
+
+	var response1 = stubManager.Run<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+	uint temph=0;
+	uint templ=0;
+	uint temp=0;
+			temph=response1.ReadBytes[0];
+			templ=response1.ReadBytes[1];
+			temp = (temph << 8) | templ;
+			temp=temp & 0x0fff;
+	return temp;
+	}
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/DyeHeadJig1.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/DyeHeadJig1.cs
new file mode 100644
index 000000000..b3513ac55
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/DyeHeadJig1.cs
@@ -0,0 +1,575 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_SSR.cs"                          	
+include "Tango_Defines_LimitSwitch.cs"                          	
+
+	
+//--------------------------------------------------------------------------------	
+	const Int32 I2C_ID =  2;
+
+//--------------------------------------------------------------------------------
+//--------------------------------------------------------------------------------
+//string path1=@"P:\Scripts\Assemblies\Dye head\DyeHeadLog\";
+string path1="P:\\Scripts\\Assemblies\\Dye head\\DyeHeadLog\\";
+string path2="C:\\DyeHeadLog\\";
+
+string	File_Name1	;
+string Status;
+//---------------------------
+
+float [] DyeHeadTemp = new float[6]	;
+
+string [,] Units_status = new string[16,2]	{ 
+												{"Pt100_Zone_1","Not Test"},
+												{"Pt100_Zone_2","Not Test"},
+												{"Pt100_Zone_3","Not Test"},
+												{"Pt100_Zone_4","Not Test"},
+												{"Pt100_Zone_5","Not Test"},
+												{"Pt100_Zone_6","Not Test"},
+												{"Heater_Zone_1","Not Test"},
+												{"Heater_Zone_2","Not Test"},
+												{"Heater_Zone_3","Not Test"},
+												{"Heater_Zone_4","Not Test"},
+												{"Heater_Zone_5","Not Test"},
+												{"Heater_Zone_6","Not Test"},
+												{"Magnet       ","Not Test"},
+												{"LS_DH_LID_Open","Not Test"},
+												{"LS_DH_LID_Close","Not Test"},
+												{"DH_LID_Motor","Not Test"},
+											};
+
+
+
+//-----------------------------------------------------
+string DyeHead_Sn;
+//--------------------------------------------------------------------------------
+
+public void OnExecute(StubManager stubManager)
+{
+string  path="";
+		Form form1 = new Form();
+
+// Set the caption bar text of the form.
+   
+		form1.Text = "DyeHead Test";
+  		form1.FormBorderStyle = FormBorderStyle.FixedDialog;
+ 		form1.MaximizeBox = false;
+		form1.MinimizeBox = false;
+ 		form1.StartPosition = FormStartPosition.CenterScreen;
+	    form1.AutoSize = true;
+	    form1.AutoSizeMode = AutoSizeMode.GrowAndShrink;
+// Create buttons to Run.
+ 		Button button1 = new Button () 
+	{
+		Width = 100,
+   	  	Height = 100,
+  	};
+		button1.Text = "Run";
+		button1.Location = new Point (40, 100);
+	    form1.Controls.Add(button1);
+//-----DyeHead Serial Number -----------
+
+	Label Label1 = new Label () 
+		{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="  DyeHead S/N"
+  		};
+	Label1.Location = new Point (30, 10);
+ 	form1.Controls.Add(Label1);
+	TextBox TextBox1 = new TextBox () 
+		{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  		};
+	TextBox1.Location = new Point (40, 40);
+	form1.Controls.Add(TextBox1);
+ //----------LOCATION----------
+	 
+ Label Label3 = new Label () 
+	{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="LOCATION"
+  	};
+Label3.Location = new Point (350, 10);
+ form1.Controls.Add(Label3);
+	 
+
+
+TextBox TextBox3 = new TextBox () 
+	{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  	};
+TextBox3.Location = new Point (360, 40);
+ form1.Controls.Add(TextBox3);
+ 
+//--------------------------------------------------------------------------------
+
+	    stubManager.Write("Counter is 2 \n");
+  
+	    button1.Click += (_,__) => 
+	    
+	   { 	
+if (!Directory.Exists(path1))
+	{
+		path=path2;	
+		if (!Directory.Exists(path2))
+			Directory.CreateDirectory(path2);	
+	}			
+else
+path=path1;	
+
+
+File_Name1=path + TextBox1.Text +"_DyeHead_" + DateTime.Now.ToString("MM_dd_yyyy_HH_mm_ss")+".log" ;
+
+
+stubManager.Write(File_Name1 +"\n");
+stubManager.WriteToFile(File_Name1,DateTime.Now +" " );
+stubManager.Write(DateTime.Now +"\n" );
+
+stubManager.AppendToFile(File_Name1,"DyeHead Test Report" );
+stubManager.Write("DyeHead Test Report\n" );
+
+stubManager.AppendToFile(File_Name1,"DyeHead S/N: \t" + TextBox1.Text  );
+stubManager.Write("DyeHead S/N:" + TextBox1.Text +"\n" );
+                  
+
+stubManager.AppendToFile(File_Name1,"Location:\t" + TextBox3.Text );
+stubManager.Write("Location:" + TextBox3.Text +"\n" );
+
+	 
+	 
+Label Label5 = new Label () 
+	{
+		Width = 120,
+   	  	Height =100,
+   	  	Text = ""
+  	}; 
+Label5.Location = new Point (300, 100);
+Label5.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D;
+
+Label5.Text="Pros";
+Label5.Font = new Font("Arial", 24,FontStyle.Bold);
+form1.Controls.Add(Label5); 	
+
+
+//------------------------------- start test -----------
+
+	DialogResult result = MessageBox.Show("Make shure, Dyehead is not hot", "Warning",MessageBoxButtons.OKCancel);
+	if(result == DialogResult.Cancel)
+		{
+			stubManager.AppendToFile(File_Name1,"Dyehead is too hot \tFail");
+			stubManager.Write("Dyehead is too hot \tFail\n");
+			return ;
+		}
+	Test_Magnet_Motor_LS_DyeHead();
+	Test_heaters_pt100 ();
+	Status=write_to_file();
+
+	   Label5.Text=Status;
+	   TextBox1.Text="";
+};	   
+	   
+	   form1.ShowDialog();
+	    
+//	    stubManager.Write("Counter is \n");
+
+	
+	return;
+   }
+   
+//-------------------------------------------- 
+ int Test_Magnet_Motor_LS_DyeHead()
+{  
+	Int32 Bit = 1;	
+	
+	stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,23, false,0x800000+0);
+	stubManager.Write("\nTesting SSR no. 13 of magnet or motor driver");
+ 
+	DialogResult result = MessageBox.Show("Make shure, Magnet is open", "Warning",MessageBoxButtons.OKCancel);
+	if(result == DialogResult.Cancel)
+		{
+			Units_status[12,1]="Fail";
+			stubManager.Write("Magnet Not Open\n");
+			return 0;
+		}
+	Units_status[12,1]="Pass";
+
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,2, true, 250);
+	stubManager.Write("\n***   Open Lid Head ");
+	
+	Bit = 1;
+	int i=0;		
+	while ((Bit != 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					Bit = GetBit(FPGA1, F1_LS_01_Direct,7);	
+					Thread.Sleep(50);
+					i++;
+			}
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,2,3);		//stop motor
+		
+	DialogResult result1 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result1 == DialogResult.Cancel)
+		{
+			Units_status[15,1]="Fail";
+			Units_status[13,1]="Fail";
+			stubManager.Write("LS_DH_LID_Open Not calibrate\n");
+			return 0;
+		}
+	Units_status[13,1]="Pass";
+	stubManager.Write("\n***   Close Lid Head ");
+	Bit = 1;
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,2, false, 250);
+	i=0;		
+	while ((Bit != 0x0) && (i<200))		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					Bit = GetBit(FPGA1, F1_LS_01_Direct,8);	
+					Thread.Sleep(50);
+					i++;
+			}
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,2,3);		//stop motor
+		
+	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result2 == DialogResult.Cancel)
+		{
+			Units_status[14,1]="Fail";
+			Units_status[15,1]="Fail";
+			stubManager.Write("LS_DH_LID_Close Not calibrate\n");
+			return 0;
+		}
+	Units_status[14,1]="Pass";
+	stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,23, false,0x800000+2);
+	DialogResult result3 = MessageBox.Show("Make shure, Magnet is close", "Warning",MessageBoxButtons.OKCancel);
+	if(result3 == DialogResult.Cancel)
+		{
+			Units_status[12,1]="Fail";
+			stubManager.Write("Magnet Not close\n");
+			return 0;
+		}
+	Units_status[12,1]="Pass";
+	Units_status[15,1]="Pass";
+
+ 			return 0;
+}  
+   
+ //------------------------------------  
+string write_to_file() 
+{	
+	    stubManager.Write("write_to_file\n");
+	
+string Stemp="Pass";
+		for (int i=0;i<16;i++)
+		{
+			stubManager.AppendToFile(File_Name1,Units_status[i,0]+"\t" + Units_status[i,1] );
+			stubManager.Write(Units_status[i,0]+"\t" + Units_status[i,1]+"\n" );
+
+			if ((Units_status[i,1]=="Fail")||(Units_status[i,1]=="Not Test"))
+			Stemp="Fail";
+		}
+		if (Stemp=="Fail")
+			{
+			stubManager.AppendToFile(File_Name1,"-------------Dye Head Fail ------------ )");
+			stubManager.Write("-------------Dye Head Fail ------------ ");
+			}
+		else
+			{
+			stubManager.AppendToFile(File_Name1,"-------------Dye Head Pass ------------ )");
+			stubManager.Write("-------------Dye Head Pass ------------ ");
+			}
+			
+	return Stemp;
+}
+//------------------------------------  
+int Test_heaters_pt100()
+{
+	
+//	uint utemp=0;
+	uint temp=0;
+	float ftemp=0;
+	float ftemp1=0;
+	float current=0;
+	
+	stubManager.Write("\nTemp Befor heating \n");
+	if	(test_pt100()!=0)
+			return 0;
+
+//------------Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 8
+	SetBit (FPGA2, F2_CTRL, 3, 1);
+	stubManager.Write("Testing SSR no. 8\tHeadZone-1\t");
+	Thread.Sleep(10000);
+    adc_configuration(0x40,0x10);		//a2d_address 0x40 channel 3
+	adc_set_for_read_ch(0x40);
+	temp=adc_read_ch(0x40);
+	current= (float)(temp); 
+	current=( float) (0.001221) * current;
+   	SetBit (FPGA2, F2_CTRL, 3, 0);
+	ftemp=Read_pt100(0);
+	stubManager.Write("After heating " + ftemp +"c\tCurrent is "+ current + "\n");
+	ftemp = ftemp - DyeHeadTemp[0];
+	
+	if ((current>1.5)|| (current<0.9)||(ftemp<5)||(ftemp>25))
+		Units_status[6,1]="Fail";
+	else
+		Units_status[6,1]="Pass";
+	
+    //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 7
+	ftemp=Read_pt100(1);
+	ftemp1 = ftemp - DyeHeadTemp[1];
+	if ( ftemp1>4)
+		Units_status[7,1]="Fail";		
+	else 
+	{
+	SetBit (FPGA2, F2_CTRL, 4, 1);
+	stubManager.Write("Testing SSR no. 7\tHeadZone-2\t");
+	Thread.Sleep(10000);
+   	adc_configuration(0x40,0x08);		//a2d_address 0x40 channel 4
+	adc_set_for_read_ch(0x40);
+	temp=adc_read_ch(0x40);
+	current= (float)(temp); 
+	current=( float) (0.001221) * current;
+    SetBit (FPGA2, F2_CTRL, 4, 0);
+	ftemp=Read_pt100(1);
+	stubManager.Write("After heating " + ftemp +"c\tCurrent is "+ current + "\n");
+	ftemp = ftemp - DyeHeadTemp[1];
+	if ((current<1.6)|| (current>2.1)||(ftemp<5)||(ftemp>25))
+		Units_status[7,1]="Fail";
+	else
+		Units_status[7,1]="Pass";
+	}
+
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 6
+   
+	ftemp=Read_pt100(2);
+	ftemp1 = ftemp - DyeHeadTemp[2];
+	if ( ftemp1>4)
+		Units_status[8,1]="Fail";		
+	else 
+	{
+	SetBit (FPGA2, F2_CTRL, 5, 1);
+	stubManager.Write("Testing SSR no. 6\tHeadZone-3\t");
+	Thread.Sleep(10000);
+   	adc_configuration(0x40,0x04);		//a2d_address 0x40 channel 5
+	adc_set_for_read_ch(0x40);
+	temp=adc_read_ch(0x40);
+	current= (float)(temp); 
+	current=( float) (0.001221) * current;
+	SetBit (FPGA2, F2_CTRL, 5, 0);
+	ftemp=Read_pt100(2);
+	stubManager.Write("After heating " + ftemp +"c\tCurrent is "+current +"\n");
+	ftemp = ftemp - DyeHeadTemp[2];
+	if ((current<1.6)|| (current>2.1)||(ftemp<5)||(ftemp>25))
+		Units_status[8,1]="Fail";
+	else
+		Units_status[8,1]="Pass";
+	}
+	
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 5
+	ftemp=Read_pt100(3);
+	ftemp1 = ftemp - DyeHeadTemp[3];
+	if ( ftemp1>4)
+		Units_status[9,1]="Fail";		
+	else 
+	{
+	SetBit (FPGA2, F2_CTRL, 6, 1);
+	stubManager.Write("Testing SSR no. 5\tHeadZone-4\t");
+	Thread.Sleep(10000);
+   	adc_configuration(0x44,0x80);		//a2d_address 0x44 channel 0
+	adc_set_for_read_ch(0x44);
+	temp=adc_read_ch(0x44);
+	current= (float)(temp); 
+	current=( float) (0.001221) * current;
+
+	SetBit (FPGA2, F2_CTRL, 6, 0);
+	ftemp=Read_pt100(3);
+	stubManager.Write("After heating " + ftemp +"c\tCurrent is "+current + "\n");
+	ftemp = ftemp - DyeHeadTemp[3];
+	if ((current<2.9)|| (current>3.4)||(ftemp<5)||(ftemp>25))
+		Units_status[9,1]="Fail";
+	else
+		Units_status[9,1]="Pass";
+	}
+
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 10
+	ftemp=Read_pt100(4);
+	ftemp1 = ftemp - DyeHeadTemp[4];
+	if ( ftemp1>4)
+		Units_status[10,1]="Fail";		
+	else 
+	{
+	SetBit (FPGA1, F1_gpo_01, 2, 1);
+	stubManager.Write("Testing SSR no. 10\tHeadZone-5\t");
+	Thread.Sleep(10000);
+   	adc_configuration(0x44,0x40);		//a2d_address 0x44 channel 1
+	adc_set_for_read_ch(0x44);
+	temp=adc_read_ch(0x44);
+	current= (float)(temp); 
+	current=( float) (0.001526) * current;
+	SetBit (FPGA1, F1_gpo_01, 2, 0);
+ 	ftemp=Read_pt100(4);
+	stubManager.Write("After heating " + ftemp +"c\tCurrent is "+current + "\n");
+	ftemp = ftemp - DyeHeadTemp[4];
+	if ((current<2.9)|| (current>3.4)||(ftemp<5)||(ftemp>25))
+		Units_status[10,1]="Fail";
+	else
+		Units_status[10,1]="Pass";
+	}
+	
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 11
+	ftemp=Read_pt100(5);
+	ftemp1 = ftemp - DyeHeadTemp[5];
+	if ( ftemp1>4)
+		Units_status[11,1]="Fail";		
+	else 
+	{
+	SetBit (FPGA3, F3_GPO_01_bus, 4, 1);
+	stubManager.Write("Testing SSR no. 11\tHeadZone-6\t");
+	Thread.Sleep(10000);
+   	adc_configuration(0x44,0x40);		//a2d_address 0x44 channel 1
+	adc_set_for_read_ch(0x44);
+	temp=adc_read_ch(0x44);
+	current= (float)(temp); 
+	current=( float) (0.001526) * current;
+	SetBit (FPGA3, F3_GPO_01_bus, 4, 0);
+ 	ftemp=Read_pt100(5);
+	stubManager.Write("After heating " + ftemp +"c\tCurrent is "+current + "\n");
+	ftemp = ftemp - DyeHeadTemp[5];
+	if ((current<1.6)|| (current>2.1)||(ftemp<5)||(ftemp>20))
+		Units_status[11,1]="Fail";
+	else
+		Units_status[11,1]="Pass";
+	}
+	return 0;
+}
+//------------------------------------------------		
+	int	test_pt100()
+	{
+		float ftemp=0;
+	int temp=0;
+	int		j=0;
+			for (int i = 0; i < 6; i++)
+	    {
+			DyeHeadTemp[i]=Read_pt100(i);
+			ftemp=DyeHeadTemp[i];
+			if ((ftemp>100)|| (ftemp<10))
+			{	
+				Units_status[i,1]="Fail";
+			}
+			else
+			{
+				Units_status[i,1]="Pass";
+			}	
+			stubManager.Write("Zone-"+(i+1)+ "\t" + ftemp.ToString("F2")); 
+			stubManager.Write("°C\n");	
+	
+	    }
+			return 0;
+	}
+//------------------------------------------------
+float Read_pt100(int i)	
+{
+			int j= i+1;
+			if (i==5)
+			j=11;	
+			var response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,j); //
+			float ftemp = (float)response.TemperatureCMultBy100;
+			ftemp = ftemp / 100;
+		return (ftemp);
+}
+//---------------------------
+int adc_configuration(uint I2C_Slave_Add,uint channel ) 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x00);//Byte 0 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(channel);//Byte 1 to Write, must be 0x80, 0x40, 0x20, 0x10, 0x08, 0x04, 0x02 or 0x01 for different channels
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x80);//Byte 2 to Write
+	
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+	}
+//-----------------------------------
+int adc_set_for_read_temp(uint I2C_Slave_Add) 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x02);//Byte 0 to write
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+	}
+//-----------------------------------
+int adc_read_temp(uint I2C_Slave_Add) 
+	{
+
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID;
+	stubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add;
+	stubI2CReadBytesRequest.NumberOfBytesToRead = 2; // Number of bytes to read
+
+	var response1 = stubManager.Run<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+	
+	for(int i=0; i<stubI2CReadBytesRequest.NumberOfBytesToRead;i++)
+			{
+				stubManager.WriteLineHex(response1.ReadBytes[i],2);
+			}
+	
+	
+	return 1;
+	}
+//-----------------------------------
+int adc_set_for_read_ch(uint I2C_Slave_Add) 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x01);//Byte 0 to write
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+	}
+//-----------------------------------
+uint adc_read_ch(uint I2C_Slave_Add) 
+	{
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID;
+	stubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add;
+	stubI2CReadBytesRequest.NumberOfBytesToRead = 2; // Number of bytes to read
+
+	var response1 = stubManager.Run<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+	uint temph=0;
+	uint templ=0;
+	uint temp=0;
+			temph=response1.ReadBytes[0];
+			templ=response1.ReadBytes[1];
+			temp = (temph << 8) | templ;
+			temp=temp & 0x0fff;
+	return temp;
+	}
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/DyeHead_SSR.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/DyeHead_SSR.cs
new file mode 100644
index 000000000..cb01a86c4
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/DyeHead_SSR.cs
@@ -0,0 +1,117 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_SSR.cs"                          	
+//include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+//include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_SSR.cs"                          	
+                            
+
+public void OnExecute(StubManager stubManager)
+{  
+	
+	
+	UInt32 temp=0;
+	
+	
+	
+   	stubManager.Write("\n");
+	var response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,1); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 8
+   SetBit (FPGA2, F2_CTRL, 3, 1);
+   stubManager.Write("\tTesting SSR no. 8\tHeadZone-1");
+   Thread.Sleep(10000);
+   SetBit (FPGA2, F2_CTRL, 3, 0);
+	var response1 = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,1); //
+	stubManager.WriteHex(response1.TemperatureCMultBy100,4);
+
+   	stubManager.Write("\n");
+  	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,2); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+    //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 7
+   SetBit (FPGA2, F2_CTRL, 4, 1);
+   stubManager.Write("\tTesting SSR no. 7\tHeadZone-2");
+   Thread.Sleep(10000);
+   SetBit (FPGA2, F2_CTRL, 4, 0);
+ 	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,2); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+ 	
+
+
+	stubManager.Write("\n");
+	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,3); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 6
+   SetBit (FPGA2, F2_CTRL, 5, 1);
+   stubManager.Write("\tTesting SSR no. 6\tHeadZone-3");
+   Thread.Sleep(10000);
+   SetBit (FPGA2, F2_CTRL, 5, 0);
+ 	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,3); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+ 	
+
+
+   	stubManager.Write("\n");
+	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,4); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 5
+   SetBit (FPGA2, F2_CTRL, 6, 1);
+   stubManager.Write("\tTesting SSR no. 6\tHeadZone-4");
+   Thread.Sleep(10000);
+   SetBit (FPGA2, F2_CTRL, 6, 0);
+ 	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,4); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+ 	
+
+
+   	stubManager.Write("\n");
+	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,5); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 10
+   SetBit (FPGA1, F1_gpo_01, 2, 1);
+   stubManager.Write("\tTesting SSR no. 6\tHeadZone-5");
+   Thread.Sleep(10000);
+   SetBit (FPGA1, F1_gpo_01, 2, 0);
+ 	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,5); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+ 	
+
+
+   	stubManager.Write("\n");
+	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,11); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 11
+   SetBit (FPGA3, F3_GPO_01_bus, 4, 1);
+   stubManager.Write("\tTesting SSR no. 6\tHeadZone-6");
+   Thread.Sleep(10000);
+   SetBit (FPGA3, F3_GPO_01_bus, 4, 0);
+ 	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,11
+                                                     ); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+ 	
+
+
+   	stubManager.Write("\n");
+	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,0); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+   //Write F2_GPO_MIXCHIP_SSR4_CTRL SSR/SSR no. 4
+   SetBit (FPGA2, F2_CTRL, 7, 1);
+   stubManager.Write("Testing SSR no. 4\tMIXCHIP    ");
+   Thread.Sleep(10000);
+   SetBit (FPGA2, F2_CTRL, 7, 0);
+ 	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,0); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+ 	
+
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/DyeHead_SSR_CURRENT_SENSE.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/DyeHead_SSR_CURRENT_SENSE.cs
new file mode 100644
index 000000000..b9793a336
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/DyeHead_SSR_CURRENT_SENSE.cs
@@ -0,0 +1,237 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_SSR.cs"                          	
+//include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+//include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_SSR.cs"                          	
+
+//----------------------
+const Int32 I2C_ID =  2;
+//const Int32 I2C_Slave_Add = 0x46; //must be 0x40, 0x44 or 0x46
+//----------------------
+                            
+
+public void OnExecute(StubManager stubManager)
+{  
+	
+	
+	UInt32 temp=0;
+	
+	
+   	stubManager.Write("\n");
+	var response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,1); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 8
+   SetBit (FPGA2, F2_CTRL, 3, 1);
+   stubManager.Write("\tTesting SSR no. 8\tHeadZone-1\t");
+   Thread.Sleep(10000);
+    adc_configuration(0x40,0x10);		//a2d_address 0x40 channel 3
+	adc_set_for_read_ch(0x40);
+	adc_read_ch(0x40);
+   	SetBit (FPGA2, F2_CTRL, 3, 0);
+	var response1 = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,1); //
+	stubManager.WriteHex(response1.TemperatureCMultBy100,4);
+   
+   	stubManager.Write("\n");
+  	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,2); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+    //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 7
+   SetBit (FPGA2, F2_CTRL, 4, 1);
+   stubManager.Write("\tTesting SSR no. 7\tHeadZone-2\t");
+   Thread.Sleep(10000);
+   	adc_configuration(0x40,0x08);		//a2d_address 0x40 channel 4
+	adc_set_for_read_ch(0x40);
+	adc_read_ch(0x40);
+    SetBit (FPGA2, F2_CTRL, 4, 0);
+ 	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,2); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+ 	
+
+ 	stubManager.Write("\n");
+	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,3); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 6
+   SetBit (FPGA2, F2_CTRL, 5, 1);
+   stubManager.Write("\tTesting SSR no. 6\tHeadZone-3\t");
+   Thread.Sleep(10000);
+   	adc_configuration(0x40,0x04);		//a2d_address 0x40 channel 5
+	adc_set_for_read_ch(0x40);
+	adc_read_ch(0x40);
+   SetBit (FPGA2, F2_CTRL, 5, 0);
+ 	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,3); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+ 	
+
+   	stubManager.Write("\n");
+	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,4); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 5
+   SetBit (FPGA2, F2_CTRL, 6, 1);
+   stubManager.Write("\tTesting SSR no. 5\tHeadZone-4\t");
+   Thread.Sleep(10000);
+   	adc_configuration(0x44,0x80);		//a2d_address 0x44 channel 0
+	adc_set_for_read_ch(0x44);
+	adc_read_ch(0x44);
+   SetBit (FPGA2, F2_CTRL, 6, 0);
+ 	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,4); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+ 	
+
+   	stubManager.Write("\n");
+	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,5); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 10
+   SetBit (FPGA1, F1_gpo_01, 2, 1);
+   stubManager.Write("\tTesting SSR no. 10\tHeadZone-5\t");
+   Thread.Sleep(10000);
+   	adc_configuration(0x44,0x40);		//a2d_address 0x44 channel 1
+	adc_set_for_read_ch(0x44);
+	adc_read_ch(0x44);
+   SetBit (FPGA1, F1_gpo_01, 2, 0);
+ 	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,5); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+ 	
+
+   	stubManager.Write("\n");
+	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,11); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 11
+   SetBit (FPGA3, F3_GPO_01_bus, 4, 1);
+   stubManager.Write("\tTesting SSR no. 11\tHeadZone-6\t");
+   Thread.Sleep(10000);
+   	adc_configuration(0x44,0x40);		//a2d_address 0x44 channel 1
+	adc_set_for_read_ch(0x44);
+	adc_read_ch(0x44);
+   SetBit (FPGA3, F3_GPO_01_bus, 4, 0);
+ 	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,11); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+ 	
+
+   	stubManager.Write("\n");
+	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,0); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+   //Write F2_GPO_MIXCHIP_SSR4_CTRL SSR/SSR no. 4
+   SetBit (FPGA2, F2_CTRL, 7, 1);
+   stubManager.Write("Testing SSR no. 4\tMIXCHIP    \t");
+   Thread.Sleep(10000);
+    adc_configuration(0x46,0x08);		//a2d_address 0x46 channel 4
+	adc_set_for_read_ch(0x46);
+	adc_read_ch(0x46);
+
+   SetBit (FPGA2, F2_CTRL, 7, 0);
+ 	response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,0); //
+	stubManager.WriteHex(response.TemperatureCMultBy100,4);
+ 
+
+}
+
+//----------------------
+
+int adc_configuration(uint I2C_Slave_Add,uint channel ) 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x00);//Byte 0 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(channel);//Byte 1 to Write, must be 0x80, 0x40, 0x20, 0x10, 0x08, 0x04, 0x02 or 0x01 for different channels
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x80);//Byte 2 to Write
+	
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+	}
+
+
+
+
+int adc_set_for_read_temp(uint I2C_Slave_Add) 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x02);//Byte 0 to write
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+	}
+
+
+
+
+int adc_read_temp(uint I2C_Slave_Add) 
+	{
+
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID;
+	stubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add;
+	stubI2CReadBytesRequest.NumberOfBytesToRead = 2; // Number of bytes to read
+
+	var response1 = stubManager.Run<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+	
+	for(int i=0; i<stubI2CReadBytesRequest.NumberOfBytesToRead;i++)
+			{
+				stubManager.WriteLineHex(response1.ReadBytes[i],2);
+			}
+	
+	
+	return 1;
+	}
+
+
+
+
+int adc_set_for_read_ch(uint I2C_Slave_Add) 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x01);//Byte 0 to write
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+	}
+
+
+int adc_read_ch(uint I2C_Slave_Add) 
+	{
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID;
+	stubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add;
+	stubI2CReadBytesRequest.NumberOfBytesToRead = 2; // Number of bytes to read
+
+	var response1 = stubManager.Run<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+	uint temph=0;
+	uint templ=0;
+	uint temp;
+	for(int i=0; i<stubI2CReadBytesRequest.NumberOfBytesToRead;i=i+2)
+			{
+			temph=response1.ReadBytes[i];
+			templ=response1.ReadBytes[i+1];
+			temp = (temph << 8) | templ;
+			temp=temp & 0x0fff;
+			stubManager.WriteHex(temp,4);
+
+			}
+	
+	return 1;
+	}
+
+
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/Jig/DyeHeadJig.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/Jig/DyeHeadJig.cs
new file mode 100644
index 000000000..3e5ccf085
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/Jig/DyeHeadJig.cs
@@ -0,0 +1,384 @@
+//--------------------------------------------------------------------------------
+
+//include "Dispenser_setup_mbar1.cs"
+//include "C:\Dispenser_setup\Dispenser_setup_seal_test.cs"
+	
+//--------------------------------------------------------------------------------	
+//include "Dispenser_Motor_stop.cs"
+//include "Dispenser_setup_form_valve close_1.cs"
+//include "Dispenser_setup_form_valve open_1.cs"
+//include	"Dispenser_Motor_run.cs"
+//include	"Dispenser_Motor_Up.cs"
+//include	"Dispenser_Motor_Down.cs"
+//--------------------------------------------------------------------------------
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+//--------------------------------------------------------------------------------
+const Int32	RDANCER_Motor	=	21;		 
+const Int32	RDRIVING_Motor	=	22;		 
+const Int32	RLOADING_Motor	=	24;	
+
+//--------
+
+const	Int32 	F1_LS_RLOADMOTOR_UP	= 0x0040 ;
+const	Int32	F1_LS_RLOADMOTOR_DN	= 0x0080 ;
+
+
+
+
+
+
+const Int32 F1_MOTO_RLOADING_TX1 = 0x60000202;
+const Int32 F1_MOTO_RLOADING_TX0 = 0x60000200;
+const Int32 F1_MOTO_RLOADING_RX1 = 0x60000206;
+const Int32 F1_MOTO_RLOADING_RX0 = 0x60000204;
+
+
+const	Int32	F1_LS_03_Direct				=0x60000040;
+//--------------------------------------------------------------------------------
+string path1="M:\\RTFU\\Reports\\";
+string	File_Name1	;
+string Status;
+
+
+
+//-----------------------------------------------------
+
+//int SealTest=0;
+//int Characterization;
+string RTFU_Sn;
+//int dispenserNumber=1;
+//string Dtype="";
+//int Table=0;
+///string shortDateString;
+
+//UInt32 Type_card;
+//--------------------------------------------------------------------------------
+
+public void OnExecute(StubManager stubManager)
+{
+	    stubManager.Write("Counter is 1 \n");
+
+//-----------------------------------------------------------------------------------------------------------------------------------------------------
+//stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0X60000522, 0X128);//0X128 EQULE 50 MSEC
+			
+    //-----------------------------detect card ----------------------------
+    
+ 			
+//---------------------------------------------------------------------------------------------------------------------------------------------------------				
+
+	
+//Create form
+		Form form1 = new Form();
+
+//--------------------------------------------------------------------------------
+
+// Create buttons to use as the accept and cancel buttons.
+ 		Button button1 = new Button () 
+	{
+		Width = 100,
+   	  	Height = 100,
+  	};
+
+//--------------------------------------------------------------------------------		
+// Set the text of button
+		   
+		button1.Text = "Run";
+		
+	 
+//--------------------------------------------------------------------------------
+// Set the position of the button on the form.
+		
+		button1.Location = new Point (40, 100);
+
+
+
+
+//--------------------------------------------------------------------------------
+   // Add button to the form.
+ 
+	    form1.Controls.Add(button1);
+	    
+	    
+	 
+//--------------------------------------------------------------------------------
+
+// Set the caption bar text of the form.
+   
+		form1.Text = "RTFU Test";
+		
+//--------------------------------------------------------------------------------
+   
+   // Define the border style of the form to a dialog box.
+   
+  		form1.FormBorderStyle = FormBorderStyle.FixedDialog;
+   
+	// Set the MaximizeBox to false to remove the maximize box.
+
+		form1.MaximizeBox = false;
+   
+	// Set the MinimizeBox to false to remove the minimize box.
+   	
+		form1.MinimizeBox = false;
+   	
+	// Set the start position of the form to the center of the screen.
+
+		form1.StartPosition = FormStartPosition.CenterScreen;
+
+   
+	    form1.AutoSize = true;
+	    form1.AutoSizeMode = AutoSizeMode.GrowAndShrink;
+	   
+//-----RTFU Serial Number -----------
+
+Label Label1 = new Label () 
+	{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="  RTFU S/N"
+  	};
+Label1.Location = new Point (30, 10);
+ form1.Controls.Add(Label1);
+ 
+
+TextBox TextBox1 = new TextBox () 
+	{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  	};
+TextBox1.Location = new Point (40, 40);
+ form1.Controls.Add(TextBox1);
+ 
+//-----USER NAME -----------
+ 
+Label Label2 = new Label () 
+	{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="USER NAME"
+  	};
+Label2.Location = new Point (190, 10);
+ form1.Controls.Add(Label2);
+ 
+ 
+TextBox TextBox2 = new TextBox () 
+	{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  	};
+TextBox2.Location = new Point (200, 40);
+ form1.Controls.Add(TextBox2);
+	 
+//----------LOCATION----------
+	 
+ Label Label3 = new Label () 
+	{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="LOCATION"
+  	};
+Label3.Location = new Point (350, 10);
+ form1.Controls.Add(Label3);
+	 
+
+
+TextBox TextBox3 = new TextBox () 
+	{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  	};
+TextBox3.Location = new Point (360, 40);
+ form1.Controls.Add(TextBox3);
+ 
+//--------------------------------------------------------------------------------
+
+	    stubManager.Write("Counter is 2 \n");
+  
+	    button1.Click += (_,__) => 
+	    
+	   { 	
+	    	
+//File_Name1=path1 +"RTFU.log" ;
+File_Name1=path1 + TextBox1.Text +"_RTFU_" + DateTime.Now.ToString("MM_dd_yyyy_HH_mm_ss")+".log" ;
+//File_Name1=path1 + DateTime.Now+"RTFU.log" ;
+
+stubManager.Write(File_Name1 +"\n");
+stubManager.WriteToFile(File_Name1,DateTime.Now +"\n" );
+stubManager.Write(DateTime.Now +"\n" );
+
+stubManager.AppendToFile(File_Name1,"RTFU Test Report\n" );
+stubManager.Write("RTFU Test Report\n" );
+
+stubManager.AppendToFile(File_Name1,"RTFU S/N: \t" + TextBox1.Text +"\n" );
+stubManager.Write("RTFU S/N:" + TextBox1.Text +"\n" );
+                  
+stubManager.AppendToFile(File_Name1,"User Name:\t" + TextBox2.Text +"\n" );
+stubManager.Write("User Name:" + TextBox2.Text +"\n" );
+
+
+stubManager.AppendToFile(File_Name1,"Location:\t" + TextBox3.Text +"\n" );
+stubManager.Write("Location:" + TextBox3.Text +"\n" );
+
+	 
+	 
+	 
+	 
+	 
+Label Label5 = new Label () 
+	{
+		Width = 120,
+   	  	Height =100,
+   	  	Text = ""
+  	}; 
+Label5.Location = new Point (300, 100);
+Label5.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D;
+
+Label5.Text="Pros";
+Label5.Font = new Font("Arial", 24,FontStyle.Bold);
+form1.Controls.Add(Label5); 	
+
+Status=Test_RLOADING_RTFU ();
+	   Label5.Text=Status;
+	   TextBox1.Text="";
+};	   
+	   
+	   form1.ShowDialog();
+	    
+	    stubManager.Write("Counter is \n");
+
+	
+	return;
+   }
+ //------------------------------------  
+string Test_RLOADING_RTFU()
+{
+	int	temp=1; 
+	int counter;
+	Motor_SetParam(F1_MOTO_RLOADING_TX1,F1_MOTO_RLOADING_TX0,0x0a,0x2c000000);							//set kval ran to 0x2c
+	Thread.Sleep(100);
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor, true,100);				//move Rloading down
+	Thread.Sleep(3000);
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading
+	Thread.Sleep(1000);
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor,false,100);				//move Rloading up
+
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//read LS
+	if ((response.Value & F1_LS_RLOADMOTOR_UP) !=F1_LS_RLOADMOTOR_UP )								//if LS_RLOADMOTOR_UP is up then error
+	{	
+		stubManager.AppendToFile(File_Name1,"LS_RLOADMOTOR_UP\tFail");
+		stubManager.Write("LS_RLOADMOTOR_UP\tFail\n");
+		return "Fail";
+	}
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if LS_RLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_RLOADMOTOR_UP) != F1_LS_RLOADMOTOR_UP  )
+			counter=150;	
+			Thread.Sleep(100);	
+	}
+		if (counter >= 150) 								
+	{	
+		stubManager.AppendToFile(File_Name1,"LS_RLOADMOTOR_UP or Motors RLOADING \tFail");
+		stubManager.Write("LS_RLOADMOTOR_UP or Motors RLOADING \tFail\n");
+		return "Fail";
+	}
+		stubManager.AppendToFile(File_Name1,"LS_RLOADMOTOR_UP\tPass");
+		stubManager.Write("LS_RLOADMOTOR_UP or Motors RLOADING \tPass\n");
+//-----------------------------------------------------------------------------------------------------
+
+		stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor, true,100);				//move Rloading down
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);		//read LS
+	
+	if ((response.Value & F1_LS_RLOADMOTOR_DN) !=F1_LS_RLOADMOTOR_DN )										//if LS_RLOADMOTOR_DN is up then error
+	{	
+		stubManager.AppendToFile(File_Name1,"LS_RLOADMOTOR_DN\tFail");
+		stubManager.Write("LS_RLOADMOTOR_DN\tFail\n");
+		return "Fail";
+	}
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if LS_RLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_RLOADMOTOR_DN) != F1_LS_RLOADMOTOR_DN  )
+			counter=150;	
+			Thread.Sleep(100);	
+	}
+		if (counter >= 150) 								
+	{	
+		stubManager.AppendToFile(File_Name1,"LS_RLOADMOTOR_DN \tFail");
+		stubManager.Write("LS_RLOADMOTOR_UP RLOADING \tFail\n");
+		return "Fail";
+	}
+		Thread.Sleep(1000);
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading
+		Thread.Sleep(1000);
+		Motor_SetParam(F1_MOTO_RLOADING_TX1,F1_MOTO_RLOADING_TX0,0x0a,0x14000000);							//set kval ran to 0x14
+
+	return "Pass";;
+
+}	
+//-------------------------------------------------------------
+int Test_RDRIVING_RTFU()
+{
+	int	temp=1; 
+	int counter;
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RDRIVING_Motor, true,200);				//move Rdriving clockwise 
+	
+	DialogResult result1 = MessageBox.Show("Are RDRIVING_Motor move clockwise ?","Important Question",MessageBoxButtons.YesNo);
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RDRIVING_Motor, 3);					//hold Rloading
+	if (result1==DialogResult.Yes)
+	{
+		stubManager.AppendToFile(File_Name1,"RDRIVING_RTFU\tPass");
+		stubManager.Write("RDRIVING_RTFU\tPass\n");
+		return 1;
+	}
+	else
+	{
+		stubManager.AppendToFile(File_Name1,"RDRIVING_RTFU\tFail");
+		stubManager.Write("RDRIVING_RTFU\tFail\n");
+		return 0;
+	}		
+}
+//--------------------------------------------------------------------------------
+
+
+//--------------------------------------------------------------------------------
+  
+//--------------------------------------------------------------------------------
+   
+
+//--------------------------------------------------------------------------------
+
+// Display the form as a modal dialog box.
+
+// ParaData1 shall be left justified i.e. <cmd><Byte0><Byte1><Byte2>
+int Motor_SetParam(Int32 HighAdr, Int32 LowAdr, Int32 ParaAddr, uint ParaData1)
+{
+	
+	Int32 Temp = 0;
+	Temp = (ParaAddr << 8 ) + ( (Int32) ParaData1 >> 24);
+
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,HighAdr, (Temp & 0xffff));
+	Temp = ((Int32)ParaData1 >> 8) & 0xffff;
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,LowAdr, (Temp));
+	//Fpga_Read_Reg(Fpga, HighAdr+4, 1);
+	//Fpga_Read_Reg(Fpga, LowAdr+4, 1);
+		
+	return 1;
+}
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/header_LimitSwitch.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/header_LimitSwitch.cs
new file mode 100644
index 000000000..4454e9c63
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/header_LimitSwitch.cs
@@ -0,0 +1,48 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_LimitSwitch.cs"
+//include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\LAB_Tests\Main_PCB\ATP_Test\Scripts\Defines\Tango_Defines_Basic.cs"
+//include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\LAB_Tests\Main_PCB\ATP_Test\Scripts\Defines\Tango_Defines_LimitSwitch.cs"
+
+
+
+
+public void OnExecute(StubManager stubManager)
+{
+ 	
+ 	uint Temp = 0;
+	int counter = 0;
+	stubManager.Write("\nReading register F1_LS_01_Direct: ");
+	var RetVal = Fpga_Read_Reg(FPGA1, F1_LS_01_Direct, 0);
+	stubManager.WriteHex(RetVal.Value,4); 
+	Temp = RetVal.Value;
+	stubManager.Write("\nActivate limit switches one-by-one");
+	
+	while ( counter != 10000)
+	{
+		RetVal = Fpga_Read_Reg(FPGA1, F1_LS_01_Direct, 0);
+		if (RetVal.Value != Temp)
+		{
+			stubManager.Write("\nRegister F1_LS_01_Direct new value: ");
+			stubManager.WriteHex(RetVal.Value,4);	
+			counter = counter + 1;
+		}
+		Thread.Sleep(100);
+			Temp = RetVal.Value;
+
+	}
+	
+
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/magner_ssr.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/magner_ssr.cs
new file mode 100644
index 000000000..54e3f4844
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/magner_ssr.cs
@@ -0,0 +1,68 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_SSR.cs"                          	
+//include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+//include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_SSR.cs"                          	
+                            
+
+public void OnExecute(StubManager stubManager)
+{  
+Int32 Bit = 1;	
+	
+   //Write GPO_DRYER_SSR1_CTRL SSR/SSR no. 1
+   //SetBit (FPGA2, F2_CTRL, 0, 1);
+   stubManager.Write("\nTesting SSR no. 13 of magnet");
+   //Thread.Sleep(4000);
+
+//var response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,2, true, 50);
+
+
+	stubManager.Write("\n***   Open Lid Head ");
+			Bit = 1;
+
+	/*while (Bit != 0x0)		//wait until LTFU LOADRAM Down
+			{	
+					Bit = GetBit(FPGA1, F1_LS_01_Direct,7);	
+					Thread.Sleep(10);
+			}
+		Thread.Sleep(100);
+					stubManager.Write("\n--------1--------");
+
+					
+	stubManager.Write("\n***   Close Lid Head ");
+			Bit = 1;
+ response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,2, false, 50);
+
+	while (Bit != 0x0)		//wait until LTFU LOADRAM Down
+			{	
+					Bit = GetBit(FPGA1, F1_LS_01_Direct,8);	
+					Thread.Sleep(10);
+			}
+		Thread.Sleep(100);
+					stubManager.Write("\n--------2--------");
+
+  response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,2, true, 0);*/
+
+     SetBit (FPGA2, F2_CTRL, 0, 1);//open
+     SetBit (FPGA2, F2_CTRL, 0, 0);//close
+     
+     
+//    var response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,0, true, 50); motor clean
+	
+//response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,1, true, 50); motor clean
+
+     
+     
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/magnet_motor_limit_switch.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/magnet_motor_limit_switch.cs
new file mode 100644
index 000000000..0dcf29853
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/magnet_motor_limit_switch.cs
@@ -0,0 +1,69 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_SSR.cs"  
+include "Tango_Defines_LimitSwitch.cs"                          	
+	
+//include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+//include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_SSR.cs"                          	
+                            
+
+public void OnExecute(StubManager stubManager)
+{  
+Int32 Bit = 1;	
+	
+   //Write GPO_DRYER_SSR1_CTRL SSR/SSR no. 1
+   SetBit (FPGA2, F2_CTRL, 0, 1);
+   stubManager.Write("\nTesting SSR no. 13 of magnet");
+   Thread.Sleep(4000);
+
+var response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,2, true, 50);
+
+
+	stubManager.Write("\n***   Open Lid Head ");
+			Bit = 1;
+
+	while (Bit != 0x0)		//wait until LTFU LOADRAM Down
+			{	
+					Bit = GetBit(FPGA1, F1_LS_01_Direct,7);	
+					Thread.Sleep(10);
+			}
+		Thread.Sleep(100);
+					stubManager.Write("\n--------1--------");
+
+					
+	stubManager.Write("\n***   Close Lid Head ");
+			Bit = 1;
+ response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,2, false, 50);
+
+	while (Bit != 0x0)		//wait until LTFU LOADRAM Down
+			{	
+					Bit = GetBit(FPGA1, F1_LS_01_Direct,8);	
+					Thread.Sleep(10);
+			}
+		Thread.Sleep(100);
+					stubManager.Write("\n--------2--------");
+
+  response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,2, true, 0);
+
+     SetBit (FPGA2, F2_CTRL, 0, 0);
+     
+     
+//    var response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,0, true, 50); motor clean
+	
+//response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,1, true, 50); motor clean
+
+     
+     
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/magnet_motor_limit_switch1.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/magnet_motor_limit_switch1.cs
new file mode 100644
index 000000000..a5a43f137
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dye head/magnet_motor_limit_switch1.cs
@@ -0,0 +1,75 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_SSR.cs"  
+include "Tango_Defines_LimitSwitch.cs"                          	
+	
+//include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Tango_Defines_Basic.cs"
+//include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\Software\Stub_scripts\Interfaces\Tango_Defines_SSR.cs"                          	
+                            
+
+public void OnExecute(StubManager stubManager)
+{  
+Int32 Bit = 1;	
+	
+   //Write GPO_DRYER_SSR1_CTRL SSR/SSR no. 1
+   SetBit (FPGA2, F2_CTRL, 0, 1);
+   	stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,23, false,0x800000+0);
+
+   stubManager.Write("\nTesting SSR no. 13 of magnet or motor driver");
+     Thread.Sleep(1000);
+
+var response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,2, true, 150);
+
+
+	stubManager.Write("\n***   Open Lid Head ");
+			Bit = 1;
+
+	while (Bit != 0x0)		//wait until LTFU LOADRAM Down
+			{	
+					Bit = GetBit(FPGA1, F1_LS_01_Direct,7);	
+					Thread.Sleep(50);
+			}
+		Thread.Sleep(2000);
+					stubManager.Write("\n--------1--------");
+
+					
+	stubManager.Write("\n***   Close Lid Head ");
+			Bit = 1;
+ response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,2, false, 150);
+
+	while (Bit != 0x0)		//wait until LTFU LOADRAM Down
+			{	
+					Bit = GetBit(FPGA1, F1_LS_01_Direct,8);	
+					Thread.Sleep(50);
+			}
+		Thread.Sleep(100);
+					stubManager.Write("\n--------2--------");
+
+  response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,2, true, 0);
+
+     SetBit (FPGA2, F2_CTRL, 0, 0);
+    	
+     stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,23, false,0x800000+2);
+ 		Thread.Sleep(1000);
+ stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,23,3);
+  
+     
+//    var response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,0, true, 50); motor clean
+	
+//response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,1, true, 50); motor clean
+
+     
+     
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/ElectricalEnclosure/ElectricalEnclosure_Fans1.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/ElectricalEnclosure/ElectricalEnclosure_Fans1.cs
index 264400e64..af5a07543 100644
--- a/Software/Stubs Collection/stubs/Scripts/Assemblies/ElectricalEnclosure/ElectricalEnclosure_Fans1.cs
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/ElectricalEnclosure/ElectricalEnclosure_Fans1.cs
@@ -83,31 +83,55 @@ public void OnExecute(StubManager stubManager)
 		var RetVal=Fpga_Read_Reg(FPGA1, F1_Tacho_reg0, 0); 
 			stubManager.Write("\nFan5 Speed-");	
 			stubManager.WriteHex(RetVal.Value,4);
+
+			
+			
+			
+			 RetVal=Fpga_Read_Reg(FPGA1, F1_Tacho_reg1, 0); 
+			stubManager.Write("\nFan1 Speed-");	
+			stubManager.WriteHex(RetVal.Value,4);
 			
 			 RetVal = Fpga_Read_Reg(FPGA1, F1_gpi_FANS, 0);
 			Temp1=RetVal.Value & 0x0001;
 		if (Temp1 !=0x0001)
-			stubManager.Write("\nFan1 Running ");
+			stubManager.Write("\tFan1 Running ");
 		else
-			stubManager.Write("\nFan1 Stop");
+			stubManager.Write("\tFan1 Stop");
 			
+		
+		
+			RetVal=Fpga_Read_Reg(FPGA1, F1_Tacho_reg2, 0); 
+			stubManager.Write("\nFan2 Speed-");	
+			stubManager.WriteHex(RetVal.Value,4);
+
 			Temp1=RetVal.Value & 0x0002;
 		if (Temp1 !=0x0002)
-			stubManager.Write("\nFan2 Running ");
+			stubManager.Write("\tFan2 Running ");
 		else
-			stubManager.Write("\nFan2 Stop");
+			stubManager.Write("\tFan2 Stop");
 			
+		
+			RetVal=Fpga_Read_Reg(FPGA1, F1_Tacho_reg3, 0); 
+			stubManager.Write("\nFan3 Speed-");	
+			stubManager.WriteHex(RetVal.Value,4);
+
 			Temp1=RetVal.Value & 0x0004;
 		if (Temp1 !=0x0004)
-			stubManager.Write("\nFan3 Running ");
+			stubManager.Write("\tFan3 Running ");
 		else
-			stubManager.Write("\nFan3 Stop");
+			stubManager.Write("\tFan3 Stop");
 			
+		
+		
+			RetVal=Fpga_Read_Reg(FPGA1, F1_Tacho_reg4, 0); 
+			stubManager.Write("\nFan4 Speed-");	
+			stubManager.WriteHex(RetVal.Value,4);
+		
 			Temp1=RetVal.Value & 0x0008;
 		if (Temp1 !=0x0008)
-			stubManager.Write("\nFan4 Running ");
+			stubManager.Write("\tFan4 Running ");
 		else
-			stubManager.Write("\nFan4 Stop");
+			stubManager.Write("\tFan4 Stop");
 		
 		
 		Fpga_Read_Reg(FPGA1, F1_Tacho_reg5, 1); stubManager.Write("\n");
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_JIG.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_JIG.cs
new file mode 100644
index 000000000..f961158e9
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_JIG.cs
@@ -0,0 +1,574 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+//--------------------------------------------------------------------------------
+
+//-------------------DEFINE Motors------------------
+const Int32	LDANCER_Motor	=	16;		 
+const Int32	LDRIVING_Motor	=	18;		 
+const Int32	LLOADING_Motor	=	19;	
+
+//-------------------DEFINE Motors Parameters------------------
+
+const Int32 F1_MOTO_LLOADING_TX1 = 0x60000232;
+const Int32 F1_MOTO_LLOADING_TX0 = 0x60000230;
+
+
+//-------------------DEFINE Limit Switch---------------
+const	Int32	F1_LS_02_Direct		=0x60000030;
+
+const	Int32 	F1_LS_LLOADMOTOR_UP	= 0x0100 ;
+const	Int32	F1_LS_LLOADMOTOR_DN	= 0x0200 ;
+const	Int32	F1_LS_LDANCER1_UP 	= 0x1000;
+const	Int32	F1_LS_LDANCER1_DN 	= 0x2000;
+const	Int32	F1_LS_LDANCER2_UP 	= 0x0400;
+const	Int32	F1_LS_LDANCER2_DN 	= 0x0800;
+const	Int32	F1_LS_LLOADRAM_LF	= 0x0080;
+const	Int32	F1_LS_LLOADRAM_RT	= 0x0040;
+
+
+const Int32 F1_LDANCER1_ROTENC_MSB 	= 0x600001c2;
+const Int32 F1_LDANCER1_ROTENC_LSB 	= 0x600001c0;
+const Int32 F1_LDANCER1_ROTENC_TX 	= 0x600001ce;
+
+const Int32 F1_LDANCER2_ROTENC_MSB 	= 0x600001b2;
+const Int32 F1_LDANCER2_ROTENC_LSB 	= 0x600001b0;
+const Int32 F1_LDANCER2_ROTENC_TX 	= 0x600001be;
+
+const  int UNIT_UNDER_TEST=3+1+5;
+//--------------------------------------------------------------------------------
+string path1="P:\\Scripts\\Assemblies\\LTFU\\LTFULog\\";
+string path2="C:\\LTFULog\\";
+
+string	File_Name1	;
+string Status;
+//---------------------------
+
+string [,] Units_status = new string[UNIT_UNDER_TEST,2]	{ 
+												{"LS_LLOADMOTOR_Up","Not Test"},	//0
+												{"LS_LLOADMOTOR_DOWN","Not Test"},	//1
+												{"LLOADING_Motor","Not Test"},		//2
+												{"LDRIVING_Motor","Not Test"},		//3
+												{"LS_LDANCER1_DOWN","Not Test"},	//4
+												{"LS_LDANCER1_UP","Not Test"},		//5
+												{"LDANCER_Motor","Not Test"},		//6
+												{"LDANCER1_ROTENC","Not Test"},		//7
+												{"LDANCER1_ROTENC","Not Test"},		//8
+											};
+//-----------------------------------------------------
+string LTFU_Sn;
+//--------------------------------------------------------------------------------
+
+public void OnExecute(StubManager stubManager)
+{
+string  path="";
+		Form form1 = new Form();
+	Motor_SetParam(F1_MOTO_LLOADING_TX1,F1_MOTO_LLOADING_TX0,0x0a,0x14000000);							//set kval ran to 0x14,0.65A
+		
+// Set the caption bar text of the form.
+		form1.TopMost = true;
+		form1.Text = "LTFU Test";
+  		form1.FormBorderStyle = FormBorderStyle.FixedDialog;
+ 		form1.MaximizeBox = false;
+		form1.MinimizeBox = false;
+ 		form1.StartPosition = FormStartPosition.CenterScreen;
+	    form1.AutoSize = true;
+	    form1.AutoSizeMode = AutoSizeMode.GrowAndShrink;
+// Create buttons to Run. 
+ 		Button button1 = new Button () 
+	{
+		Width = 100,
+   	  	Height = 100,
+  	};
+		button1.Text = "Run";
+		button1.Location = new Point (40, 100);
+	    form1.Controls.Add(button1);
+//-----LTFU Serial Number -----------
+
+	Label Label1 = new Label () 
+		{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="  LTFU S/N"
+  		};
+	Label1.Location = new Point (30, 10);
+ 	form1.Controls.Add(Label1);
+	TextBox TextBox1 = new TextBox () 
+		{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  		};
+	TextBox1.Location = new Point (40, 40);
+	form1.Controls.Add(TextBox1);
+ //----------LOCATION----------
+	 
+ Label Label3 = new Label () 
+	{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="LOCATION"
+  	};
+Label3.Location = new Point (350, 10);
+ form1.Controls.Add(Label3);
+	 
+
+
+TextBox TextBox3 = new TextBox () 
+	{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  	};
+TextBox3.Location = new Point (360, 40);
+ form1.Controls.Add(TextBox3);
+ 
+ 
+ 	 
+	 
+	Label Label5 = new Label () 
+	{
+		Width = 120,
+   	  	Height =100,
+   	  	Text = ""
+  	}; 
+	Label5.Location = new Point (300, 100);
+	Label5.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D;
+
+	Label5.Text="";
+	Label5.Font = new Font("Arial", 24,FontStyle.Bold);
+	form1.Controls.Add(Label5); 	
+
+
+ 
+ 
+//--------------------------------------------------------------------------------
+	      
+	    button1.Click += (_,__) => 
+	    
+	{ 
+
+		Label5.Text="Pros";
+	
+	if (!Directory.Exists(path1))
+		{
+			path=path2;	
+			if (!Directory.Exists(path2))
+			Directory.CreateDirectory(path2);	
+		}			
+	else
+		path=path1;	
+
+	File_Name1=path + TextBox1.Text +"_LTFU_" + DateTime.Now.ToString("MM_dd_yyyy_HH_mm_ss")+".log" ;
+
+
+	stubManager.Write(File_Name1 +"\n");
+	stubManager.WriteToFile(File_Name1,DateTime.Now +" " );
+	stubManager.Write(DateTime.Now +"\n" );
+
+	stubManager.AppendToFile(File_Name1,"LTFU Test Report" );
+	stubManager.Write("LTFU Test Report\n" );
+
+	stubManager.AppendToFile(File_Name1,"LTFU S/N: \t" + TextBox1.Text  );
+	stubManager.Write("LTFU S/N:" + TextBox1.Text +"\n" );
+                  
+
+	stubManager.AppendToFile(File_Name1,"Location:\t" + TextBox3.Text );
+	stubManager.Write("Location:" + TextBox3.Text +"\n" );
+
+
+
+//------------------------------- start test -----------
+	Test_LLOADING_LTFU();
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LLOADING_Motor, 3);					//hold LRoading high z
+	Thread.Sleep(100);
+	Motor_SetParam(F1_MOTO_LLOADING_TX1,F1_MOTO_LLOADING_TX0,0x0a,0x14000000);							//set kval ran to 0x14,0.65A
+
+	Test_LDRIVING_LTFU();
+
+	Test_DANCER_LTFU();
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LDANCER_Motor, 3);					//hold Lloading high z
+
+	Status=write_to_file();
+		stubManager.Write(Status +"\n");	
+
+	Label5.Text=Status;
+	TextBox1.Text="";
+	};	   
+	   
+	   form1.ShowDialog();
+	
+	return ;
+   }
+ 
+ //------------------------------------  
+int Test_LLOADING_LTFU()
+{
+	int	temp=1; 
+	int counter;
+	
+	Motor_SetParam(F1_MOTO_LLOADING_TX1,F1_MOTO_LLOADING_TX0,0x0a,0x2c000000);							//set kval ran to 0x2c- 1.3A
+	Thread.Sleep(100);
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,LLOADING_Motor, false,200);				//move Rloading down
+	Thread.Sleep(3000);
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LLOADING_Motor, 3);					//hold Rloading high z
+	Thread.Sleep(1000);
+//------------------------------------------ check  F1_LS_LLOADMOTOR_UP------------------------------------------------
+
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_02_Direct);	//read LS
+	if ((response.Value & F1_LS_LLOADMOTOR_UP) !=F1_LS_LLOADMOTOR_UP )									//if LS_RLOADMOTOR_UP is up then error
+	{	
+		DialogResult result = MessageBox.Show("Did LLOADIN MOTOR Move?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.Yes)
+		{
+		Units_status[0,1]="Fail";
+		stubManager.Write("LS_LLOADMOTOR_UP\tFail\n");	
+		return 0;
+		}
+	else 
+		{
+			Units_status[2,1]="Fail";
+			stubManager.Write("LLOADMOTOR\tFail\n");
+			return 0;
+		}
+	}	
+//----------------------------------------- mov LLOADING up -------------------------------------------------
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,LLOADING_Motor,true,200);				//move Lloading up
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_02_Direct);	//if LS_LLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_LLOADMOTOR_UP) != F1_LS_LLOADMOTOR_UP  )
+			counter=250;
+		
+			Thread.Sleep(100);	
+	}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LLOADING_Motor, 3);					//hold Lloading high z
+
+	if (counter == 150) 								
+	{	
+		Units_status[0,1]="Fail";
+		stubManager.Write("LS_LLOADMOTOR_UP\tFail\n");	
+		return 0;
+	}
+	DialogResult result1 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result1 == DialogResult.No)
+		{
+			Units_status[0,1]="Fail";
+			stubManager.Write("LS_LLOADMOTOR_UP Not calibrate\n");
+			return 0;
+		}
+	Units_status[0,1]="Pass";
+	Units_status[2,1]="Pass";
+	
+//------------------------------------------ check  F1_LS_LLOADMOTOR_DN------------------------------------------------
+		
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_02_Direct);		//read LS
+	
+	if ((response.Value & F1_LS_LLOADMOTOR_DN) !=F1_LS_LLOADMOTOR_DN )										//if LS_LLOADMOTOR_DN is up then error
+	{	
+		Units_status[1,1]="Fail";
+		stubManager.Write("LS_LLOADMOTOR_DN\tFail\n");
+		return 0;
+	}
+//------------------------------------------ mov LLOADING dn ------------------------------------------------
+
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,LLOADING_Motor, false,200);				//move Lloading down
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_02_Direct);	//if LS_LLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_LLOADMOTOR_DN) != F1_LS_LLOADMOTOR_DN  )
+			counter=250;	
+			
+			Thread.Sleep(100);	
+	}
+	
+		if (counter == 150) 								
+	{	
+		Units_status[1,1]="Fail";
+		stubManager.Write("LS_LLOADMOTOR_DN\tFail\n");	
+		return 0;
+	}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LLOADING_Motor, 3);					//hold Lloading high z
+		
+	DialogResult result4 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result4 == DialogResult.No)
+		{
+			Units_status[1,1]="Fail";
+			stubManager.Write("LS_LLOADMOTOR_DN Not calibrate\n");
+			return 0;
+		}
+	Units_status[1,1]="Pass";
+		stubManager.Write("LLOADMOTOR\tPass\n");
+	
+		stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,LLOADING_Motor, false,200);				//move Lloading down
+			Thread.Sleep(2000);	
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LLOADING_Motor, 3);					//hold Lloading high z
+
+	return 1 ;
+
+}	
+
+
+Int32 ReadEncoder(int i)
+{
+	Int32 temp;
+	
+	if (i==0)			//LDANCER1_ROTENC
+		{
+			stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F1_LDANCER1_ROTENC_TX, 0x0000);		//triggers a TX transmission
+
+			var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LDANCER1_ROTENC_LSB);
+			var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LDANCER1_ROTENC_MSB);		 
+		
+			temp =  Convert.ToInt32 (((((response1.Value <<16) + 	response.Value)>>10 ) & 0x3fff));
+	
+
+			return temp;
+		}
+								//LDANCER2_ROTENC
+		
+			stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F1_LDANCER2_ROTENC_TX, 0x0000);		//triggers a TX transmission
+			var response2 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LDANCER2_ROTENC_LSB);
+			var response3 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LDANCER2_ROTENC_MSB);		 
+		
+			temp =  Convert.ToInt32 (((((response3.Value <<16) + 	response2.Value)>>10 ) & 0x3fff));
+	
+
+			return temp;
+}
+//--------------------------------------------------------------------------------
+int Test_DANCER_LTFU()
+{
+	int counter;
+	Int32 temp;
+	Int32 temp1;
+	Int32 temp2;
+	Int32 temp3;
+	
+	
+//------------------------------------------ check  F1_LS_LDANCER1_DN  ------------------------------------------------
+
+	MessageBox.Show("Make sure LDANCER Doun");
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_02_Direct);	//read LS
+	
+	
+	if ((response.Value & F1_LS_LDANCER1_UP) !=F1_LS_LDANCER1_UP )								//if F1_LS_LDANCER1_UP is up then error
+	{	
+		Units_status[5,1]="Fail";
+		stubManager.Write("LS_LDANCER_UP\tFail\n");	
+		return 0;
+	}
+	
+//----------------------------------------- check F1_LS_LDANCER1_UP -------------------------------------------------
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,LDANCER_Motor,false,400);				//move Lloading up
+	counter =0;
+	while ( counter < 250)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_02_Direct);	//if F1_LS_LDANCER1_UP is up then move down
+		if ((response.Value & F1_LS_LDANCER1_UP) != F1_LS_LDANCER1_UP  )
+			counter=350;
+		
+			Thread.Sleep(100);	
+	}
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LDANCER_Motor, 3);					//hold Ldancer high z
+	
+	
+		if (counter == 250) 								
+	{	
+		Units_status[5,1]="Fail";
+		stubManager.Write("LS_LDANCER1_UP\tFail\n");	
+		return 0;
+	}
+
+	 response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_02_Direct);	//read LS
+	if ((response.Value & F1_LS_LDANCER1_DN) !=F1_LS_LDANCER1_DN )								//if F1_LS_LDANCER1_DN is up then error
+	{	
+		Units_status[4,1]="Fail";
+		stubManager.Write("LS_LDANCER1_DOWN\tFail\n");	
+		return 0;
+	}
+
+	DialogResult result5= MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	
+	if(result5== DialogResult.No)
+		{
+			Units_status[5,1]="Fail";
+			stubManager.Write("LS_LDANCER1_UP Not calibrate\n");
+			return 0;
+		}
+	
+	Units_status[5,1]="Pass";
+	stubManager.Write("LS_LDANCER1_UP\tPass\n");	
+
+//----------------------------------------- mov LDANCER_Motor down and check Ldancer encoder -------------------------------------------------
+	temp= ReadEncoder(0);
+	temp2= ReadEncoder(1);
+
+	
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,LDANCER_Motor,true,400);				//move Rloading down
+	counter =0;
+	while ( counter < 250)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_02_Direct);	//if LS_LDANCER1_DN is dn then move stop
+		if ((response.Value & F1_LS_LDANCER1_DN) != F1_LS_LDANCER1_DN  )
+			counter=350;
+		
+			Thread.Sleep(100);	
+	}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LDANCER_Motor, 3);					//hold Rloading high z
+		if (counter == 250) 								
+	{	
+		Units_status[4,1]="Fail";
+		stubManager.Write("LS_LDANCER1_DOWN\tFail\n");	
+		return 0;
+	}
+	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	
+	if(result2 == DialogResult.No)
+		{
+			Units_status[4,1]="Fail";
+			stubManager.Write("LS_LDANCER1_DN Not calibrate\n");
+			return 0;
+		}
+	
+	Units_status[4,1]="Pass";
+	stubManager.Write("LS_LDANCER1_DN\tPass\n");	
+	
+	Units_status[6,1]="Pass";
+	stubManager.Write("LDANCER_Motor\tPass\n");	
+
+	temp1= ReadEncoder(0);
+	temp3= ReadEncoder(1);
+
+	stubManager.Write("temp="+temp + "\temp1="+temp1 +"\n");
+		
+	DialogResult result = MessageBox.Show("SSI Dancer1 led is Green(not blinking)?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.No)
+		{
+			Units_status[7,1]="Fail";
+			stubManager.Write("LDANCER1_SSI\tFail\n");	
+		}
+	else
+		{
+			if (temp>temp1)
+			temp1=temp1+0x4000;
+			temp1=temp1-temp;			
+			if ((temp1> 4000) || (temp1 <200))
+				{
+					Units_status[7,1]="Fail";
+					stubManager.Write("LDANCER1_SSI\tFail\n");	
+				}
+			else
+				{
+					Units_status[7,1]="Pass";
+					stubManager.Write("LDANCER1_SSI\tPass\n");	
+				}
+		}
+	stubManager.Write("temp2="+temp2 + "\temp3="+temp3 +"\n");
+		
+	DialogResult result3 = MessageBox.Show("SSI Dancer2 led is Green(not blinking)?", "Warning",MessageBoxButtons.YesNo);
+	if(result3 == DialogResult.No)
+		{
+			Units_status[8,1]="Fail";
+			stubManager.Write("LDANCER2_SSI\tFail\n");	
+		}
+	else
+		{
+			if (temp3>temp2)
+			temp2=temp2+0x4000;
+			temp2=temp2-temp3;			
+			if ((temp1> 4000) || (temp1 <2000))
+				{
+					Units_status[8,1]="Fail";
+					stubManager.Write("LDANCER2_SSI\tFail\n");	
+				}
+			else
+				{
+					Units_status[8,1]="Pass";
+					stubManager.Write("LDANCER2_SSI\tPass\n");	
+				}
+		}		
+	return 1;
+}
+
+
+//-------------------------------------------------------------
+int Test_LDRIVING_LTFU()
+{	
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,LDRIVING_Motor, true,200);				//move Ldriving clockwise 
+	stubManager.Write("LDRIVING_Motor Motor rotate \n ");
+	
+	DialogResult result = MessageBox.Show("Are LDRIVING Motor rotate?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.No)
+		{
+			Units_status[3,1]="Fail";
+			stubManager.Write("LDRIVING Motor not rotate\n");
+		}
+	else 
+		{
+			Units_status[3,1]="Pass";
+			stubManager.Write("LDRIVING Motor rotate\n");
+		}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LDRIVING_Motor,3);		//stop motor
+
+	return 0;
+}	
+
+
+
+//--------------------------------------------------------------------------------
+int Motor_SetParam(Int32 HighAdr, Int32 LowAdr, Int32 ParaAddr, uint ParaData1)
+{
+	
+	Int32 Temp = 0;
+	Temp = (ParaAddr << 8 ) + ( (Int32) ParaData1 >> 24);
+
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,HighAdr, (Temp & 0xffff));
+	Temp = ((Int32)ParaData1 >> 8) & 0xffff;
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,LowAdr, (Temp));
+		
+	return 1;
+}
+ //------------------------------------  
+string write_to_file() 
+{	
+	    stubManager.Write("write_to_file\n");
+	
+string Stemp="Pass";
+		for (int i=0;i<UNIT_UNDER_TEST;i++)
+		{
+			stubManager.AppendToFile(File_Name1,Units_status[i,0]+"\t" + Units_status[i,1] );
+			stubManager.Write(Units_status[i,0]+"\t" + Units_status[i,1]+"\n" );
+
+			if ((Units_status[i,1]=="Fail")||(Units_status[i,1]=="Not Test"))
+			Stemp="Fail";
+		}
+		if (Stemp=="Fail")
+			{
+			stubManager.AppendToFile(File_Name1,"-------------LTFU  Fail ------------ ");
+			stubManager.Write("-------------LTFU Fail ------------ ");
+			}
+		else
+			{
+			stubManager.AppendToFile(File_Name1,"-------------LTFU Pass ------------ )");
+			stubManager.Write("-------------LTFU Pass ------------ ");
+			}
+			
+	return Stemp;
+	
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_Motors_Switch.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_Motors_Switch.cs
index 7578e825d..9955e0e5d 100644
--- a/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_Motors_Switch.cs
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_Motors_Switch.cs
@@ -14,6 +14,8 @@ using Tango.Stubs;
 
 include "..\..\Defines\Tango_Defines_Basic.cs"
 include "Tango_Defines_Motors.cs"
+include "Tango_Defines_LimitSwitch.cs"
+
 //include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\LAB_Tests\Main_PCB\ATP_Test\Scripts\Defines\Tango_Defines_Basic.cs"
 //include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\LAB_Tests\Main_PCB\ATP_Test\Scripts\Defines\Tango_Defines_Motors.cs"
 	
@@ -21,15 +23,108 @@ include "Tango_Defines_Motors.cs"
 
 public void OnExecute(StubManager stubManager)
 {
-	
+Int32 Bit = 1;	
 	stubManager.Write("\n***   LTFU Motor + limit switch Test   ***");
-//	stubManager.Write("\n***   Pulling motor drivers out of reset");
 	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST1, 0, 1);
 	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST1, 1, 1);
 	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST1, 2, 1);
 	SetBit(FPGA1, F1_Moto_Driver_NSTBYRST1, 4, 1);
 	
-	stubManager.Write("\n***   F1_MOTO_LPIVOT1 is moving back and forth  ");
+	stubManager.Write("\n***   Moving motor F1_MOTO_LLOADING back and for");
+			Bit = 1;
+
+	var response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,19,true , 500);
+	while (Bit != 0x0)		//wait until LTFU LOADRAM Down
+			{	
+					Bit = GetBit(FPGA1, F1_LS_02_Direct,8);	
+					Thread.Sleep(10);
+			}
+		Thread.Sleep(100);
+					stubManager.Write("\n--------1--------");
+
+
+response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,19, false, 500);
+		Bit = 1;
+	while (Bit != 0x0)		//wait until LTFU LOADRAM Down
+			{	
+			Bit = GetBit(FPGA1, F1_LS_02_Direct,9);	
+			Thread.Sleep(10);
+			}
+			stubManager.Write("\n--------2--------");
+	response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,19, false, 0);
+
+				Thread.Sleep(100);
+   var response1 = stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,19, false, 5000);
+	Thread.Sleep(1000);
+	Motor_HighZ(FPGA1, F1_MOTO_LLOADING_TX1, F1_MOTO_LLOADING_TX0);		
+	stubManager.Write("\n***   Stopped motor F1_MOTO_LLOADING");
+
+
+		//mov ldriving - 
+	stubManager.Write("\n***   Running motor F1_MOTO_LDRIVING for 4 seconds...  ");
+	Motor_Run(FPGA1, F1_MOTO_LDRIVING_TX1, F1_MOTO_LDRIVING_TX0, 0xffff, 0x1);
+	Thread.Sleep(4000);	
+	Motor_HighZ(FPGA1, F1_MOTO_LDRIVING_TX1, F1_MOTO_LDRIVING_TX0);
+
+
+
+
+
+
+
+
+	stubManager.Write("\n\n***   Moving motor F1_MOTO_LDANCER1 back and for ...");
+	
+	Bit = 1;
+	response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,16,false ,500);
+	while (Bit != 0x0)		//wait until LTFU LOADRAM Down
+			{	
+					Bit = GetBit(FPGA1, F1_LS_02_Direct,12);	
+					Thread.Sleep(10);
+			}
+		Thread.Sleep(100);
+					stubManager.Write("\n--------1--------");
+
+
+response = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,16, true, 500);
+		Bit = 1;
+	while (Bit != 0x0)		//wait until LTFU LOADRAM Down
+			{	
+			Bit = GetBit(FPGA1, F1_LS_02_Direct,13);	
+			Thread.Sleep(10);
+			}
+
+ 	Thread.Sleep(1000);
+	Motor_HighZ(FPGA1, F1_MOTO_LDANCER1_TX1, F1_MOTO_LDANCER1_TX0);	
+
+	
+	
+	
+
+/*
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
 
 	
 
@@ -107,7 +202,7 @@ public void OnExecute(StubManager stubManager)
 //	Thread.Sleep(4000);
 
 	stubManager.Write("\n\n***   RTFU Motor Test Ended  ***");
-	
+	*/
 
 	
 }
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_SSI.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_SSI.cs
index 3218dbd83..94873f9f4 100644
--- a/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_SSI.cs
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/LTFU/LTFU_SSI.cs
@@ -31,18 +31,64 @@ public void OnExecute(StubManager stubManager)
 
 	for (int i = 0; i < 100; i++)
 	{
-	
-		SSI_Read_Write(FPGA1, F1_LDANCER1_ROTENC_MSB, F1_LDANCER1_ROTENC_LSB, F1_LDANCER1_ROTENC_TX);
-		SSI_Read_Write(FPGA1, F1_LDANCER2_ROTENC_MSB, F1_LDANCER2_ROTENC_LSB, F1_LDANCER2_ROTENC_TX);
-		stubManager.Write("\n");
-		k++;
-		if  ( (k & 0x8) == 0x08 ) {
-			k = 0;			
-			stubManager.Write("	LDANCER1    				LDANCER2     \n");
-		}
+
+		stubManager.Write("LDANCER1 - "+ ReadEncoder(0)+ "\t\t LDANCER2 - " + ReadEncoder(1) + "\n" );
+
+
+		
 
 		Thread.Sleep(400);
 	}
 	
 	
 }
+
+
+Int32 ReadEncoder(int i)
+{
+	Int32 temp;
+	
+	if (i==0)			//LDANCER1_ROTENC
+		{
+			stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x600001ce, 0x0000);		//triggers a TX transmission
+
+			var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x600001c0);
+			var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x600001c2);		 
+		
+			temp =  Convert.ToInt32 (((((response1.Value <<16) + 	response.Value)>>10 ) & 0x3fff));
+	
+
+			return temp;
+		}
+								//LDANCER2_ROTENC
+		
+			stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x600001be, 0x0000);		//triggers a TX transmission
+			var response2 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x600001b0);
+			var response3 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x600001b2);		 
+		
+			temp =  Convert.ToInt32 (((((response3.Value <<16) + 	response2.Value)>>10 ) & 0x3fff));
+	
+
+			return temp;
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/Calibrate_Midtank_pressure_sensors.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/Calibrate_Midtank_pressure_sensors.cs
new file mode 100644
index 000000000..9af524c88
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/Calibrate_Midtank_pressure_sensors.cs
@@ -0,0 +1,347 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.PMR.EmbeddedParameters;
+using Tango.Stubs;
+
+//----------------------
+const double	MIN_SLOP=0.8;
+const double	MAX_SLOP=1.4;
+const double	ERROR_SLOP=-1;
+const double	MIN_50cc_on_volt=2.3;
+const double	MAX_50cc_on_volt=3.2;
+const double	ERROR_50cc_on_volt=-1;
+
+
+
+const Int32	F3_VALVE_OUT	=	0x600008E2	;
+string Machine_SN	;
+private const string FILE_PATH = "P:\\Operations\\Log\\Midtanlk\\";
+string File_name;
+double [,] voltage_array = new double[9,9];
+string [] Parameter = new string[5] {"\t","Empty [V]","100cc  [V]","800cc [V]"," b [L/V] "};
+
+//----------------------
+const Int32 I2C_ID =  2;
+//const Int32 I2C_Slave_Add = 0x46; //must be 0x40, 0x44 or 0x46
+//----------------------
+
+
+
+
+
+public void OnExecute(StubManager stubManager)
+{
+
+	
+	voltage_array[1,0]=1;
+	voltage_array[2,0]=2;
+	voltage_array[3,0]=3;
+	voltage_array[4,0]=4;
+	voltage_array[5,0]=5;
+	voltage_array[6,0]=6;
+	voltage_array[7,0]=7;
+	voltage_array[8,0]=8;
+
+    var response = stubManager.ShowResponseWindow("Enter Machine S/N: ", "");
+	stubManager.Write("\n");
+	Machine_SN = response;
+	stubManager.Write(Machine_SN);
+	File_name= FILE_PATH +Machine_SN + DateTime.Now.ToString("MM_dd_yyyy_HH_mm_ss")+".LOG";
+	stubManager.Write(File_name);
+ 	stubManager.WriteToFile(File_name,"Machine S/N:" + Machine_SN);
+
+        string box_msg = "Make Sure all Midatnk empty";
+ //       string box_title = "Midatnk empty";
+//        MessageBox.Show(box_msg, box_title);
+   MessageBox.Show(box_msg);
+        
+		stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F3_VALVE_OUT, 0x000f);		// open all valve air of midtank and close all ink of midtank
+		Thread.Sleep(500);
+		stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F3_VALVE_OUT, 0x00ff);		// open all valve air of midtank and close all ink of midtank
+		Thread.Sleep(500);
+		stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F3_VALVE_OUT, 0x0fff);		// open all valve air of midtank and close all ink of midtank
+		Thread.Sleep(500);
+		stubManager.Run<StubFpgaWriteRegResponse>("stubFpgaWriteRegRequest" ,F3_VALVE_OUT, 0xffff);		// open all valve air and ink of midtank
+	
+		Thread.Sleep(2500);
+
+		Thread.Sleep(1000);	
+		
+		read_pressure_sensor(1);
+ 		
+		box_msg ="Insert 100cc of appropriate ink/lube to each midtank\n\t1.black ink\n\t2. Magenta ink\n\t3. Transparent ink\n\t4. Cleaner\n\t5. Cyan ink\n\t6. Yellow ink\n\t7. Spot color\n\t8. Lubricant/n";
+        MessageBox.Show(box_msg);
+
+		read_pressure_sensor(2);
+
+					//	voltage_array[3,2]=2.5;
+		
+		box_msg = "Add another 700cc for ink and TI \nFor Lubbricant add 500cc only."; 
+		MessageBox.Show(box_msg);
+		read_pressure_sensor(3);
+				stubManager.Run<StubFpgaWriteRegResponse>("stubFpgaWriteRegRequest" ,F3_VALVE_OUT, 0x0000);		// close all valve air and ink of midtank
+									//			voltage_array[3,3]=4.5;
+
+		calc_slop();
+		print_table();
+		
+		insert_slop_t_eeprom();
+		box_msg ="Turn Power Off and On to finish the calibration.";
+        MessageBox.Show(box_msg);
+	
+	}
+
+int calc_slop()
+	{
+	stubManager.Write("\n ");
+		
+	double delta;
+	for (uint i=1;i<9;i++)
+		{
+			delta=voltage_array[i,3]-voltage_array[i,2];
+		
+			stubManager.Write("\nMidtank No:"+i +"="+delta);
+			if (i==8)
+				delta=0.5/delta;												//0.5 litter on lubricant			
+			else 
+				delta=0.7/delta;												//0.7 litter
+				
+			if ((delta<MIN_SLOP) || (delta >MAX_SLOP)) 
+			{
+				voltage_array[i,4]=ERROR_SLOP;
+		//		stubManager.Write("123");
+			}
+		else if	((voltage_array[i,2]<MIN_50cc_on_volt) || (voltage_array[i,2]>MAX_50cc_on_volt ))
+					voltage_array[i,4]=ERROR_SLOP;
+		else
+		voltage_array[i,4]=delta;
+		}
+	return 1;
+	}
+
+
+	int	insert_slop_t_eeprom()
+{
+	stubManager.Write("\n ");
+
+	MidTankDataSetupRequest midTankDataSetupRequest = new MidTankDataSetupRequest();
+
+
+	for (uint i=1;i<9;i++)
+	{
+		if (voltage_array[i,4]!= ERROR_SLOP)
+		{
+		MidTankData midTankData = new MidTankData();
+		midTankData.MidTankId = i-1;
+		midTankData.InitialOffsetA = voltage_array[i,2];
+		midTankData.SlopeB = voltage_array[i,4];
+		
+		stubManager.Write("\nMidtank No:" + i+ "=\tA="+voltage_array[i,2]+"\tSlop="+voltage_array[i,4]);
+
+		
+		midTankDataSetupRequest.MidTankInfo.Add(midTankData);
+	
+		}
+var response = stubManager.Run<MidTankDataSetupResponse>(midTankDataSetupRequest);
+		
+		
+		
+	}
+
+
+
+
+/*
+MidTankData midTankData = new MidTankData();
+midTankData.MidTankId = 0;
+midTankData.InitialOffsetA = 0.1;
+midTankData.SlopeB = 0.1;
+
+MidTankData midTankData1 = new MidTankData();
+midTankData1.MidTankId = 1;
+midTankData1.InitialOffsetA = 0.11;
+midTankData1.SlopeB = 0.11;
+
+MidTankData midTankData2 = new MidTankData();
+midTankData2.MidTankId = 2;
+midTankData2.InitialOffsetA = 0.2;
+midTankData2.SlopeB = 0.2;
+
+MidTankData midTankData3 = new MidTankData();
+midTankData3.MidTankId = 3;
+midTankData3.InitialOffsetA = 0.3;
+midTankData3.SlopeB = 0.3;
+
+MidTankData midTankData4 = new MidTankData();
+midTankData4.MidTankId = 4;
+midTankData4.InitialOffsetA = 0.4;
+midTankData4.SlopeB = 0.4;
+
+MidTankData midTankData5 = new MidTankData();
+midTankData5.MidTankId = 5;
+midTankData5.InitialOffsetA = 0.5;
+midTankData5.SlopeB = 0.5;
+
+MidTankData midTankData6 = new MidTankData();
+midTankData6.MidTankId = 6;
+midTankData6.InitialOffsetA = 0.6;
+midTankData6.SlopeB = 0.6;
+
+
+MidTankData midTankData7 = new MidTankData();
+midTankData6.MidTankId = 7;
+midTankData6.InitialOffsetA = 0.7;
+midTankData6.SlopeB = 0.7;
+
+
+midTankDataSetupRequest.MidTankInfo.Add(midTankData);
+midTankDataSetupRequest.MidTankInfo.Add(midTankData1);
+midTankDataSetupRequest.MidTankInfo.Add(midTankData2);
+midTankDataSetupRequest.MidTankInfo.Add(midTankData3);
+midTankDataSetupRequest.MidTankInfo.Add(midTankData4);
+midTankDataSetupRequest.MidTankInfo.Add(midTankData5);
+midTankDataSetupRequest.MidTankInfo.Add(midTankData6);
+midTankDataSetupRequest.MidTankInfo.Add(midTankData7);
+*/
+return	1;
+}
+
+
+
+int		print_table()
+		{
+
+		for (uint i=0;i<5;i++)
+			{
+				stubManager.AppendToFile(File_name,Parameter[i]+"\t"+voltage_array[1,i]+"\t"+voltage_array[2,i]+"\t"+voltage_array[3,i]+"\t"+voltage_array[4,i]+"\t"+voltage_array[5,i]+"\t"+voltage_array[6,i]+"\t"+voltage_array[7,i]+"\t"+voltage_array[8,i]) ;
+             }                                                                                                                                                                                                               
+                                                                                                                                                                                                                              
+	
+			return 1;
+
+		}
+
+
+
+int adc_configuration(uint I2C_Slave_Add,uint channel ) 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x00);//Byte 0 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(channel);//Byte 1 to Write, must be 0x80, 0x40, 0x20, 0x10, 0x08, 0x04, 0x02 or 0x01 for different channels
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x80);//Byte 2 to Write
+	
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+	}
+
+
+int adc_set_for_read_ch(uint I2C_Slave_Add) 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x01);//Byte 0 to write
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+	}
+
+
+
+
+int adc_read_ch(uint I2C_Slave_Add,uint table_index_x,uint table_index_y) 
+	{
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID;
+	stubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add;
+	stubI2CReadBytesRequest.NumberOfBytesToRead = 2; // Number of bytes to read
+
+	var response1 = stubManager.Run<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+	uint temph=0;
+	uint templ=0;
+	uint temp;
+	double calc;
+	double calc1;
+	double calc2;
+			temph=response1.ReadBytes[0];
+			templ=response1.ReadBytes[1];
+			temp = (temph << 8) | templ;
+			temp=temp & 0x0fff;
+				
+			calc = (double)temp *2.5 / 4096.0;
+			stubManager.Write("ADC [volts]:\t");
+			stubManager.Write(calc+"\t");
+		
+			calc1 = (1.96- calc) * 4.64 + 1.96;
+			stubManager.Write("Vsensor [volts]:\t");
+			stubManager.Write(calc1);
+
+			voltage_array[table_index_x,table_index_y]=calc1;
+	
+	return 1;
+	}
+
+int		read_pressure_sensor(uint i )
+	{
+
+		stubManager.Write("\n-----------MIDTANK_PRESSESENS-------test_no= "+i);
+
+		stubManager.Write("\n1_1= "); 
+		
+		adc_configuration(0x44,0x20);		//a2d_address 0x44 channel channel 2
+		adc_set_for_read_ch(0x44);
+		adc_read_ch(0x44,1,i);
+	
+		stubManager.Write("\n2_1= "); 
+		adc_configuration(0x44,0x08);		//a2d_address 0x44 channel channel 4
+		adc_set_for_read_ch(0x44);
+		adc_read_ch(0x44,2,i);
+
+		stubManager.Write("\n3_1= "); 
+		adc_configuration(0x46,0x80);		//a2d_address 0x46 channel channel 0
+		adc_set_for_read_ch(0x46);
+		adc_read_ch(0x46,3,i);
+
+		stubManager.Write("\n4_1= "); 
+		adc_configuration(0x46,0x20);		//a2d_address 0x46 channel channel 2
+		adc_set_for_read_ch(0x46);
+		adc_read_ch(0x46,4,i);
+		
+		stubManager.Write("\n1_2= "); 
+		adc_configuration(0x44,0x10);		//a2d_address 0x44 channel channel 3
+		adc_set_for_read_ch(0x44);
+		adc_read_ch(0x44,5,i);
+
+		stubManager.Write("\n2_2= "); 
+		adc_configuration(0x44,0x04);		//a2d_address 0x44 channel channel 5
+		adc_set_for_read_ch(0x44);
+		adc_read_ch(0x44,6,i);
+
+		stubManager.Write("\n3_2= "); 
+		adc_configuration(0x46,0x40);		//a2d_address 0x46 channel channel 1
+		adc_set_for_read_ch(0x46);
+		adc_read_ch(0x46,7,i);
+
+		stubManager.Write("\n4_2= ");
+		adc_configuration(0x46,0x10);		//a2d_address 0x46 channel channel 3
+		adc_set_for_read_ch(0x46);
+		adc_read_ch(0x46,8,i);
+		
+		return 1;
+	}	
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/MIDTANK_JIG.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/MIDTANK_JIG.cs
new file mode 100644
index 000000000..6b864dfee
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/MIDTANK_JIG.cs
@@ -0,0 +1,480 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+using System.Timers;
+
+
+// private static System.Timers.Timer aTimer;
+
+//--------------------------------------------------------------------------------
+const Int32 I2C_ID =  2;
+const  int UNIT_UNDER_TEST	=3*8;
+const  Int32 F3_VALVE_OUT	= 0x600008e2;		
+//--------------------------------------------------------------------------------
+string path1="P:\\Scripts\\Assemblies\\MidTank\\MidTankLog\\";
+string path2="C:\\MidTankLog\\";
+
+string	File_Name1	;
+string Status;
+//---------------------------
+int [] Convert_Midtank_No = new Int32 [8] {1,3,5,7,2,4,6,8};
+uint [,] ADC_Add_Chnl = new uint [8,2]	{
+												{0x44,0x20},				
+												{0x44,0x08},				
+												{0x46,0x80},
+												{0x46,0x20},
+												{0x44,0x10},
+												{0x44,0x04},
+												{0x46,0x40},
+												{0x46,0x10},
+										};
+
+
+string [,] Units_status = new string[UNIT_UNDER_TEST,2]	{ 
+												{"Midtank1_Valve_Air","Not Test"},				//0
+												{"Midtank1_Valve_Ink","Not Test"},				//1
+												{"Midtank1_Pressure_Sensor","Not Test"},		//2
+												{"Midtank2_Valve_Air","Not Test"},				//3
+												{"Midtank2_Valve_Ink","Not Test"},				//4
+												{"Midtank2_Pressure_Sensor","Not Test"},		//5
+												{"Midtank3_Valve_Air","Not Test"},				//6
+												{"Midtank3_Valve_Ink","Not Test"},				//7
+												{"Midtank3_Pressure_Sensor","Not Test"},		//8
+												{"Midtank4_Valve_Air","Not Test"},				//9
+												{"Midtank4_Valve_Ink","Not Test"},				//10
+												{"Midtank4_Pressure_Sensor","Not Test"},		//11
+												{"Midtank5_Valve_Air","Not Test"},				//12
+												{"Midtank5_Valve_Ink","Not Test"},				//13
+												{"Midtank5_Pressure_Sensor","Not Test"},		//14
+												{"Midtank6_Valve_Air","Not Test"},				//15
+												{"Midtank6_Valve_Ink","Not Test"},				//16
+												{"Midtank6_Pressure_Sensor","Not Test"},		//17
+												{"Midtank7_Valve_Air","Not Test"},				//18
+												{"Midtank7_Valve_Ink","Not Test"},				//19
+												{"Midtank7_Pressure_Sensor","Not Test"},		//20
+												{"Midtank8_Valve_Air","Not Test"},				//21
+												{"Midtank8_Valve_Ink","Not Test"},				//22
+												{"Midtank8_Pressure_Sensor","Not Test"},		//23
+											};
+//-----------------------------------------------------
+string MIDTANK_Sn;
+//--------------------------------------------------------------------------------
+ // private static void SetTimer()
+ //  {
+ //      // Create a timer with a one second interval.
+ //       aTimer = new System.Timers.Timer(1000);
+//        // Hook up the Elapsed event for the timer. 
+//        aTimer.Elapsed += OnTimedEvent;
+//        aTimer.AutoReset = true;
+//        aTimer.Enabled = true;
+//    }
+
+//    private static void OnTimedEvent(Object source, ElapsedEventArgs e)
+ //   {
+//		bool x=0;
+//		if (x==true)
+//			Label5.Text="Pros";
+//		else
+////				Label5.Text="    ";
+//		x = !x	;
+//	
+//    }
+
+
+
+
+
+
+
+
+
+public void OnExecute(StubManager stubManager)
+{
+string  path="";
+		Form form1 = new Form();
+		
+// Set the caption bar text of the form.
+		form1.TopMost = true;
+		form1.Text = "MIDTANK Test";
+  		form1.FormBorderStyle = FormBorderStyle.FixedDialog;
+ 		form1.MaximizeBox = false;
+		form1.MinimizeBox = false;
+ 		form1.StartPosition = FormStartPosition.CenterScreen;
+	    form1.AutoSize = true;
+	    form1.AutoSizeMode = AutoSizeMode.GrowAndShrink;
+// Create buttons to Run. 
+ 		Button button1 = new Button () 
+	{
+		Width = 100,
+   	  	Height = 100,
+  	};
+		button1.Text = "Run";
+		button1.Location = new Point (40, 100);
+	    form1.Controls.Add(button1);
+//-----MIDTANK Serial Number -----------
+
+	Label Label1 = new Label () 
+		{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="  MIDTANK S/N"
+  		};
+	Label1.Location = new Point (30, 10);
+ 	form1.Controls.Add(Label1);
+	TextBox TextBox1 = new TextBox () 
+		{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  		};
+	TextBox1.Location = new Point (40, 40);
+	form1.Controls.Add(TextBox1);
+ //----------LOCATION----------
+	 
+ Label Label3 = new Label () 
+	{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="LOCATION"
+  	};
+Label3.Location = new Point (350, 10);
+ form1.Controls.Add(Label3);
+	 
+
+
+TextBox TextBox3 = new TextBox () 
+	{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  	};
+TextBox3.Location = new Point (360, 40);
+ form1.Controls.Add(TextBox3);
+ 
+ 
+ 	 
+	 
+	Label Label5 = new Label () 
+	{
+		Width = 120,
+   	  	Height =100,
+   	  	Text = ""
+  	}; 
+	Label5.Location = new Point (300, 100);
+	Label5.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D;
+
+	Label5.Text="";
+	Label5.Font = new Font("Arial", 24,FontStyle.Bold);
+	form1.Controls.Add(Label5); 	
+
+//----------------------------
+
+bool BlinkOn = false;
+
+ 
+ 
+//--------------------------------------------------------------------------------
+	      
+	    button1.Click += (_,__) => 
+	    
+	{ 
+//	    SetTimer();
+
+//		Label5.Text="Pros";
+
+
+
+
+//--------------------------------------------------------------------------------
+	      
+
+
+
+                Label5.Text = "Pros";
+  //              if (_click)
+  //                  _show_text.Text = "Fail";
+  //              else
+ //                   _show_text.Text = "Pass";
+
+ //               _click = !_click;
+   //             TextBox1.Text = "";
+ 
+
+
+//--------------------------------------------------------------------------------
+	      
+
+	    	
+	if (!Directory.Exists(path1))
+		{
+			path=path2;	
+			if (!Directory.Exists(path2))
+			Directory.CreateDirectory(path2);	
+		}			
+	else
+		path=path1;	
+
+	File_Name1=path + TextBox1.Text +"_MIDTANK_" + DateTime.Now.ToString("MM_dd_yyyy_HH_mm_ss")+".log" ;
+
+
+	stubManager.Write(File_Name1 +"\n");
+	stubManager.WriteToFile(File_Name1,DateTime.Now +" " );
+	stubManager.Write(DateTime.Now +"\n" );
+
+	stubManager.AppendToFile(File_Name1,"MIDTANK Test Report" );
+	stubManager.Write("MIDTANK Test Report\n" );
+
+	stubManager.AppendToFile(File_Name1,"MIDTANK S/N: \t" + TextBox1.Text  );
+	stubManager.Write("MIDTANK S/N:" + TextBox1.Text +"\n" );
+                  
+
+	stubManager.AppendToFile(File_Name1,"Location:\t" + TextBox3.Text );
+	stubManager.Write("Location:" + TextBox3.Text +"\n" );
+
+
+
+//------------------------------- start test -----------
+	Test_MIDTANK();
+
+	Status=write_to_file();
+	stubManager.Write(Status +"\n");	
+  			
+	Label5.Text=Status;
+	
+									//	_show_text.Text			=Status;
+	
+	TextBox1.Text="";
+	};	   
+	   
+	   form1.ShowDialog();
+	
+	return ;
+   }
+ 
+ //------------------------------------  
+int Test_MIDTANK()
+{
+	double Pressur_Volt;
+	double temp;
+	for (Int32 i=1;i<9;i++)
+	{
+		open_valve(i,0,1)		;	//open Air valve
+		open_valve(i,1,1)		;	//open Ink valve
+		Thread.Sleep(2000);
+		Pressur_Volt=read_pressuere_sense(i);
+		if ((Pressur_Volt>3 )||(Pressur_Volt<2))
+			{
+				Units_status[(i-1)*3+2,1]="Fail";
+				stubManager.Write("pressuere_sense of midtank" + i +"\tFail\n");	
+			}
+		else 	
+			{
+				close_valve(i,1,0)		;	//close Ink valve
+				DialogResult result = MessageBox.Show("ADD 20cc air thru Air valve of Midtank"+ i, "Warning");
+				close_valve(i,0,0)		;	//close Air valve
+				Thread.Sleep(2000);
+
+				temp=read_pressuere_sense(i);
+				temp=temp-Pressur_Volt;
+				if ((temp>0.5) && ( temp <2))
+					Units_status[(i-1)*3+2,1]="Pass";
+				else
+					Units_status[(i-1)*3+2,1]="Fail";
+			}
+		
+		close_valve(i,0,0)		;	//close Air valve
+		close_valve(i,1,0)		;	//close Ink valve
+	}
+	return 1;	
+}
+
+double read_pressuere_sense(Int32 Midtank_Nm)
+{
+double 	Pressur_Volt;
+	adc_configuration((ADC_Add_Chnl[Midtank_Nm-1,0]),(ADC_Add_Chnl[Midtank_Nm-1,1])	);		//configure address and channel of midtank 
+	adc_set_for_read_ch(ADC_Add_Chnl[Midtank_Nm-1,0]);
+	Pressur_Volt =adc_read_ch(ADC_Add_Chnl[Midtank_Nm-1,0]);
+	
+	stubManager.Write("pressure sense of midtank " + Midtank_Nm + "is " + Pressur_Volt+ "Volt\n");	
+	return Pressur_Volt;
+}
+
+
+//--------------------------------
+int adc_configuration(uint I2C_Slave_Add,uint channel ) 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x00);//Byte 0 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(channel);//Byte 1 to Write, must be 0x80, 0x40, 0x20, 0x10, 0x08, 0x04, 0x02 or 0x01 for different channels
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x80);//Byte 2 to Write
+	
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+	}
+//--------------------------------
+int adc_set_for_read_ch(uint I2C_Slave_Add) 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x01);//Byte 0 to write
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+	}
+//--------------------------------	
+
+double adc_read_ch(uint I2C_Slave_Add) 
+	{
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID;
+	stubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add;
+	stubI2CReadBytesRequest.NumberOfBytesToRead = 2; // Number of bytes to read
+
+	var response1 = stubManager.Run<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+	uint temph=0;
+	uint templ=0;
+	uint temp;
+	double calc;
+	double calc1;
+			temph=response1.ReadBytes[0];
+			templ=response1.ReadBytes[1];
+			temp = (temph << 8) | templ;
+			temp=temp & 0x0fff;
+				
+			calc = (double)temp *2.5 / 4096.0;
+			calc1 = (1.96- calc) * 4.64 + 1.96;
+	return calc1;
+	}
+//--------------------------------
+int open_valve (int valve_nm,int valve_type,int check_valve)		//valve_type=0 is Air ,1 is Ink ; check_valve=1 send feedbak
+{
+	int temp1=Convert_Midtank_No[valve_nm-1]	;
+
+	string temp;
+	SetBit (F3_VALVE_OUT,((valve_type+1)*8)- temp1, 1);
+		if (check_valve!=0)
+		{
+			temp="Air";
+			if (valve_type==1)
+			temp="Ink";
+				
+			DialogResult result = MessageBox.Show("Did " + temp + "Valve of Midtank " + valve_nm +" open?", "Warning",MessageBoxButtons.YesNo);
+			if(result == DialogResult.No)
+				{
+					Units_status[(valve_nm-1)*3+valve_type,1]="Fail";
+					stubManager.Write(temp +"Valve\tFail\n");	
+					return 0;
+				}
+			else 
+				{
+					Units_status[(valve_nm-1)*3+valve_type,1]="Pass";
+					stubManager.Write(temp +"Valve\tOpen\n");	
+					return 1;
+				}
+			
+		}
+		return 1;
+
+}
+//--------------------------------	
+int close_valve (int valve_nm,int valve_type,int check_valve)
+{
+	int temp1=Convert_Midtank_No[valve_nm-1];	
+
+	string temp;
+	SetBit (F3_VALVE_OUT,((valve_type+1)*8)- temp1, 0);
+	if (check_valve!=0)
+		{
+			temp="Air";
+			if (valve_type==1)
+			temp="Ink";
+				
+			DialogResult result = MessageBox.Show("Did " + temp +" Valve of Midtank " + valve_nm +" close?", "Warning",MessageBoxButtons.YesNo);
+			if(result == DialogResult.No)
+				{
+					Units_status[(valve_nm-1)*3+valve_type,1]="Fail";
+					stubManager.Write(temp +"Valve\tFail\n");	
+					return 0;
+				}
+			else 
+				{
+					Units_status[(valve_nm-1)*3+valve_type,1]="Pass";
+					stubManager.Write(temp +"Valve\tclose\n");	
+					return 1;
+				}			
+		}
+	return 1;
+
+
+
+
+}
+//--------------------------------
+Int32 SetBit(Int32 Adr, Int32 BitNo, Int32 Bit)
+{
+	Int32 BitMask;
+
+    var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" , F3_VALVE_OUT);
+	Int32 RV = (Int32) response.Value & 0xffff;
+	
+	
+	if (Bit == 0x1) 
+	{
+		BitMask = 0x1 << BitNo;
+		RV = RV | BitMask;
+		stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F3_VALVE_OUT , RV);
+	}
+	else if (Bit == 0x0)
+	{
+		BitMask = ~(0x1 << BitNo);
+		RV = RV & BitMask;
+		stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F3_VALVE_OUT , RV);
+	}
+	return 1;
+}
+ //------------------------------------  
+string write_to_file() 
+{	
+	    stubManager.Write("write_to_file\n");
+	
+string Stemp="Pass";
+		for (int i=0;i<UNIT_UNDER_TEST;i++)
+		{
+			stubManager.AppendToFile(File_Name1,Units_status[i,0]+"\t" + Units_status[i,1] );
+			stubManager.Write(Units_status[i,0]+"\t" + Units_status[i,1]+"\n" );
+
+			if ((Units_status[i,1]=="Fail")||(Units_status[i,1]=="Not Test"))
+			Stemp="Fail";
+		}
+		if (Stemp=="Fail")
+			{
+			stubManager.AppendToFile(File_Name1,"-------------MidTank  Fail ------------ ");
+			stubManager.Write("-------------MidTank Fail ------------ ");
+			}
+		else
+			{
+			stubManager.AppendToFile(File_Name1,"-------------MidTank Pass ------------ )");
+			stubManager.Write("-------------MidTank Pass ------------ ");
+			}
+			
+	return Stemp;
+	
+}
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/Midtank_pressure_sensors.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/Midtank_pressure_sensors.cs
index 682ef322d..e2bacf5f4 100644
--- a/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/Midtank_pressure_sensors.cs
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/Midtank_pressure_sensors.cs
@@ -90,6 +90,7 @@ int adc_set_for_read_ch(uint I2C_Slave_Add)
 	}
 
 
+
 int adc_read_ch(uint I2C_Slave_Add) 
 	{
 	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
@@ -98,16 +99,27 @@ int adc_read_ch(uint I2C_Slave_Add)
 	stubI2CReadBytesRequest.NumberOfBytesToRead = 2; // Number of bytes to read
 
 	var response1 = stubManager.Run<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
-	uint temph=0;
-	uint templ=0;
-	uint temp;
+	UInt32 temph=0;
+	UInt32 templ=0;
+	UInt32 temp;
+	double calc;
+	double calc1;
 	for(int i=0; i<stubI2CReadBytesRequest.NumberOfBytesToRead;i=i+2)
 			{
 			temph=response1.ReadBytes[i];
 			templ=response1.ReadBytes[i+1];
 			temp = (temph << 8) | templ;
 			temp=temp & 0x0fff;
-			stubManager.WriteHex(temp,4);
+
+			calc = (double)temp *2.5 / 4096.0;
+			calc1 = (1.96- calc) * 4.64 + 1.96;
+
+			
+		//	temp=temp*3300;
+		//	temp=temp/4096;
+			
+			stubManager.Write(calc1);
+			stubManager.Write("mV\n");
 
 			}
 	
@@ -121,47 +133,49 @@ public void OnExecute(StubManager stubManager)
 	{
 	
 
-		stubManager.Write("\n-----------MIDTANK_PRESSESENS----------- ");
+		stubManager.Write("-----------MIDTANK_PRESSESENS-----------\n ");
 
-		stubManager.Write("\n1_1= "); 
+		stubManager.Write("Midtank-1= "); 
 		adc_configuration(0x44,0x20);		//a2d_address 0x44 channel channel 2
-//		adc_set_for_read_temp(0x44);
-//		adc_read_temp(0x44);
-		adc_set_for_read_ch(0x44);
-		adc_read_ch(0x44);
-	
-		stubManager.Write("\n1_2= "); 
-		adc_configuration(0x44,0x10);		//a2d_address 0x44 channel channel 3
 		adc_set_for_read_ch(0x44);
 		adc_read_ch(0x44);
 
-		stubManager.Write("\n2_1= "); 
+		
+		stubManager.Write("Midtank-2= "); 
 		adc_configuration(0x44,0x08);		//a2d_address 0x44 channel channel 4
 		adc_set_for_read_ch(0x44);
 		adc_read_ch(0x44);
 
-		stubManager.Write("\n2_2= "); 
-		adc_configuration(0x44,0x04);		//a2d_address 0x44 channel channel 5
-		adc_set_for_read_ch(0x44);
-		adc_read_ch(0x44);
 
-		stubManager.Write("\n3_1= "); 
+		stubManager.Write("Midtank-3= ");
 		adc_configuration(0x46,0x80);		//a2d_address 0x46 channel channel 0
 		adc_set_for_read_ch(0x46);
 		adc_read_ch(0x46);
-
-		stubManager.Write("\n3_2= "); 
-		adc_configuration(0x46,0x40);		//a2d_address 0x46 channel channel 1
+	
+		stubManager.Write("Midtank-4= "); 
+		adc_configuration(0x46,0x20);		//a2d_address 0x46 channel channel 2
 		adc_set_for_read_ch(0x46);
 		adc_read_ch(0x46);
+		
+		
+		stubManager.Write("Midtank-5= "); 
+		adc_configuration(0x44,0x10);		//a2d_address 0x44 channel channel 3
+		adc_set_for_read_ch(0x44);
+		adc_read_ch(0x44);
 
-		stubManager.Write("\n4_1= "); 
-		adc_configuration(0x46,0x20);		//a2d_address 0x46 channel channel 2
+		
+		stubManager.Write("Midtank-6= "); 
+		adc_configuration(0x44,0x04);		//a2d_address 0x44 channel channel 5
+		adc_set_for_read_ch(0x44);
+		adc_read_ch(0x44);
+
+		stubManager.Write("Midtank-7= "); 
+		adc_configuration(0x46,0x40);		//a2d_address 0x46 channel channel 1
 		adc_set_for_read_ch(0x46);
 		adc_read_ch(0x46);
 
 
-		stubManager.Write("\n4_2= "); 
+		stubManager.Write("Midtank-8= "); 
 		adc_configuration(0x46,0x10);		//a2d_address 0x46 channel channel 3
 		adc_set_for_read_ch(0x46);
 		adc_read_ch(0x46);
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/midtanksetparams.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/midtanksetparams.cs
new file mode 100644
index 000000000..2208ee094
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/midtanksetparams.cs
@@ -0,0 +1,84 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+using Tango.PMR.EmbeddedParameters;
+
+public void OnExecute(StubManager stubManager)
+{
+
+
+MidTankDataSetupRequest midTankDataSetupRequest = new MidTankDataSetupRequest();
+
+//50cc  [V]	1.93242734375	1.94375546875	1.9295953125	1.935259375	1.92109921875	2.8245171875	1.92676328125	1.92676328125
+ //b [mL/V] 	-1	-1	-1	-1	-1	0.885922630082808	-1	-1
+
+MidTankData midTankData = new MidTankData();
+midTankData.MidTankId = 0;
+midTankData.InitialOffsetA = 	1.93242734375;
+midTankData.SlopeB = 1;
+
+MidTankData midTankData1 = new MidTankData();
+midTankData1.MidTankId = 1;
+midTankData1.InitialOffsetA = 1.94375546875;
+midTankData1.SlopeB = 2;
+
+MidTankData midTankData2 = new MidTankData();
+midTankData2.MidTankId = 2;
+midTankData2.InitialOffsetA = 1.935259375;
+midTankData2.SlopeB = 3;
+
+MidTankData midTankData3 = new MidTankData();
+midTankData3.MidTankId = 3;
+midTankData3.InitialOffsetA = 1.935259375;
+midTankData3.SlopeB = 4;
+
+
+MidTankData midTankData4 = new MidTankData();
+midTankData4.MidTankId = 4;
+midTankData4.InitialOffsetA = 1.92109921875;
+midTankData4.SlopeB = 5;
+
+
+MidTankData midTankData5 = new MidTankData();
+midTankData5.MidTankId = 5;
+midTankData5.InitialOffsetA = 2.8245171875;
+midTankData5.SlopeB = 6;
+
+
+MidTankData midTankData6 = new MidTankData();
+midTankData6.MidTankId = 6;
+midTankData6.InitialOffsetA = 1.92676328125;
+midTankData6.SlopeB = 7;
+
+MidTankData midTankData7 = new MidTankData();
+midTankData7.MidTankId = 7;
+midTankData7.InitialOffsetA = 1.92676328125;
+midTankData7.SlopeB = 8;
+
+
+
+midTankDataSetupRequest.MidTankInfo.Add(midTankData);
+midTankDataSetupRequest.MidTankInfo.Add(midTankData1);
+midTankDataSetupRequest.MidTankInfo.Add(midTankData2);
+midTankDataSetupRequest.MidTankInfo.Add(midTankData3);
+midTankDataSetupRequest.MidTankInfo.Add(midTankData4);
+midTankDataSetupRequest.MidTankInfo.Add(midTankData5);
+midTankDataSetupRequest.MidTankInfo.Add(midTankData6);
+midTankDataSetupRequest.MidTankInfo.Add(midTankData7);
+
+
+var response = stubManager.Run<MidTankDataSetupResponse>(midTankDataSetupRequest);
+		
+	
+	
+	
+	
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/read_midtank_calibration.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/read_midtank_calibration.cs
new file mode 100644
index 000000000..469772888
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/MidTank/read_midtank_calibration.cs
@@ -0,0 +1,37 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+public void OnExecute(StubManager stubManager)
+{
+	int i;	
+	
+	for(i=0;i<8;i++)
+	{
+
+		var response = stubManager.Run<ProgressResponse>("ProgressRequest" ,0xA, i);
+		stubManager.Write("\n Initial_Offset_A [#");
+		stubManager.Write(i);
+		stubManager.Write("] = ");
+		stubManager.WriteLine(response.Progress); 
+	}
+	
+	for(i=0;i<8;i++)
+	{
+		var response1 = stubManager.Run<ProgressResponse>("ProgressRequest" ,0xB, i);
+		stubManager.Write("\n Slope_B [#");
+		stubManager.Write(i);
+		stubManager.Write("] = ");
+		stubManager.WriteLine(response1.Progress); 
+	}
+
+	
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_JIG.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_JIG.cs
new file mode 100644
index 000000000..9ffd0d9d5
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_JIG.cs
@@ -0,0 +1,537 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+//--------------------------------------------------------------------------------
+//--------------------------------------------------------------------------------
+//string path1="P:\\Scripts\\Assemblies\\RTFU\\RTFULog\\";
+//string path2="C:\\RTFULog\\";
+
+//string	File_Name1	;
+//string Status;
+
+//-------------------DEFINE Motors------------------
+const Int32	RDANCER_Motor	=	21;		 
+const Int32	RDRIVING_Motor	=	22;		 
+const Int32	RLOADING_Motor	=	24;	
+
+//-------------------DEFINE Motors Parameters------------------
+
+const Int32 F1_MOTO_RLOADING_TX1 = 0x60000202;
+const Int32 F1_MOTO_RLOADING_TX0 = 0x60000200;
+const Int32 F1_MOTO_RLOADING_RX1 = 0x60000206;
+const Int32 F1_MOTO_RLOADING_RX0 = 0x60000204;
+
+//-------------------DEFINE Limit Switch---------------
+const	Int32	F1_LS_03_Direct		=0x60000040;
+
+const	Int32 	F1_LS_RLOADMOTOR_UP	= 0x0040 ;
+const	Int32	F1_LS_RLOADMOTOR_DN	= 0x0080 ;
+const	Int32	F1_LS_RDANCER_UP 	= 0x0100;
+const	Int32	F1_LS_RDANCER_DOWN 	= 0x0200;
+const	Int32	F1_LS_RLOADRAM_DOWN	= 0x0020;
+
+const	Int32	F1_RDANCER_ROTENC_DATA_p_RX_lsb	=	0x600001a0;
+const	Int32	F1_RDANCER_ROTENC_DATA_p_RX_msb	=	0x600001a2;
+const	Int32	F1_RDANCER_ROTENC_DATA_p_TX		=	0x600001ae;
+
+
+const  int UNIT_UNDER_TEST=3+1+5;
+//--------------------------------------------------------------------------------
+string path1="P:\\Scripts\\Assemblies\\RTFU\\RTFULog\\";
+string path2="C:\\RTFULog\\";
+
+string	File_Name1	;
+string Status;
+//---------------------------
+
+string [,] Units_status = new string[UNIT_UNDER_TEST,2]	{ 
+												{"LS_RLOADMOTOR_Up","Not Test"},	//0
+												{"LS_RLOADMOTOR_DOWN","Not Test"},	//1
+												{"RLOADING_Motor","Not Test"},		//2
+												{"DRIVING_Motor","Not Test"},		//3
+												{"LS_RDANCER_DOWN","Not Test"},		//4
+												{"LS_RDANCER_UP","Not Test"},		//5
+												{"LS_RLOADRAM_DOWN","Not Test"},	//6
+												{"RDANCER_Motor","Not Test"},		//7
+												{"RDANCER_ROTENC","Not Test"},		//8
+											};
+
+
+
+//-----------------------------------------------------
+string RTFU_Sn;
+//--------------------------------------------------------------------------------
+
+public void OnExecute(StubManager stubManager)
+{
+string  path="";
+		Form form1 = new Form();
+		
+// Set the caption bar text of the form.
+		form1.TopMost = true;
+		form1.Text = "RTFU Test";
+  		form1.FormBorderStyle = FormBorderStyle.FixedDialog;
+ 		form1.MaximizeBox = false;
+		form1.MinimizeBox = false;
+ 		form1.StartPosition = FormStartPosition.CenterScreen;
+	    form1.AutoSize = true;
+	    form1.AutoSizeMode = AutoSizeMode.GrowAndShrink;
+// Create buttons to Run.
+ 		Button button1 = new Button () 
+	{
+		Width = 100,
+   	  	Height = 100,
+  	};
+		button1.Text = "Run";
+		button1.Location = new Point (40, 100);
+	    form1.Controls.Add(button1);
+//-----RTFU Serial Number -----------
+
+	Label Label1 = new Label () 
+		{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="  RTFU S/N"
+  		};
+	Label1.Location = new Point (30, 10);
+ 	form1.Controls.Add(Label1);
+	TextBox TextBox1 = new TextBox () 
+		{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  		};
+	TextBox1.Location = new Point (40, 40);
+	form1.Controls.Add(TextBox1);
+ //----------LOCATION----------
+	 
+ Label Label3 = new Label () 
+	{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="LOCATION"
+  	};
+Label3.Location = new Point (350, 10);
+ form1.Controls.Add(Label3);
+	 
+
+
+TextBox TextBox3 = new TextBox () 
+	{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  	};
+TextBox3.Location = new Point (360, 40);
+ form1.Controls.Add(TextBox3);
+ 
+//--------------------------------------------------------------------------------
+
+	    stubManager.Write("Counter is 2 \n");
+  
+	    button1.Click += (_,__) => 
+	    
+	{ 	
+	if (!Directory.Exists(path1))
+		{
+			path=path2;	
+			if (!Directory.Exists(path2))
+			Directory.CreateDirectory(path2);	
+		}			
+	else
+		path=path1;	
+
+	File_Name1=path + TextBox1.Text +"_RTFU_" + DateTime.Now.ToString("MM_dd_yyyy_HH_mm_ss")+".log" ;
+
+
+	stubManager.Write(File_Name1 +"\n");
+	stubManager.WriteToFile(File_Name1,DateTime.Now +" " );
+	stubManager.Write(DateTime.Now +"\n" );
+
+	stubManager.AppendToFile(File_Name1,"RTFU Test Report" );
+	stubManager.Write("RTFU Test Report\n" );
+
+	stubManager.AppendToFile(File_Name1,"RTFU S/N: \t" + TextBox1.Text  );
+	stubManager.Write("RTFU S/N:" + TextBox1.Text +"\n" );
+                  
+
+	stubManager.AppendToFile(File_Name1,"Location:\t" + TextBox3.Text );
+	stubManager.Write("Location:" + TextBox3.Text +"\n" );
+
+	 
+	 
+	Label Label5 = new Label () 
+	{
+		Width = 120,
+   	  	Height =100,
+   	  	Text = ""
+  	}; 
+	Label5.Location = new Point (300, 100);
+	Label5.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D;
+
+	Label5.Text="Pros";
+	Label5.Font = new Font("Arial", 24,FontStyle.Bold);
+	form1.Controls.Add(Label5); 	
+
+
+//------------------------------- start test -----------
+	Test_RLOADING_RTFU();
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading high z
+	Thread.Sleep(100);
+	Motor_SetParam(F1_MOTO_RLOADING_TX1,F1_MOTO_RLOADING_TX0,0x0a,0x14000000);							//set kval ran to 0x14,0.65A
+
+	Test_RDRIVING_RTFU();
+	Test_DANCER_RTFU();
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RDANCER_Motor, 3);					//hold Rloading high z
+
+	Status=write_to_file();
+
+	Label5.Text=Status;
+	TextBox1.Text="";
+	};	   
+	   
+	   form1.ShowDialog();
+	
+	return ;
+   }
+ //------------------------------------  
+int Test_RLOADING_RTFU()
+{
+	int	temp=1; 
+	int counter;
+	
+	Motor_SetParam(F1_MOTO_RLOADING_TX1,F1_MOTO_RLOADING_TX0,0x0a,0x2c000000);							//set kval ran to 0x2c- 1.3A
+	Thread.Sleep(100);
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor, true,100);				//move Rloading down
+	Thread.Sleep(3000);
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading high z
+	Thread.Sleep(1000);
+//------------------------------------------ check  F1_LS_RLOADMOTOR_up------------------------------------------------
+
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//read LS
+	if ((response.Value & F1_LS_RLOADMOTOR_UP) !=F1_LS_RLOADMOTOR_UP )									//if LS_RLOADMOTOR_UP is up then error
+	{	
+		DialogResult result = MessageBox.Show("Did RLOADIN MOTOR Move?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.Yes)
+		{
+		Units_status[0,1]="Fail";
+		stubManager.Write("LS_RLOADMOTOR_UP\tFail\n");	
+		return 0;
+		}
+	else 
+		{
+			Units_status[2,1]="Fail";
+			stubManager.Write("RLOADMOTOR\tFail\n");
+			return 0;
+		}
+	}
+	
+//----------------------------------------- mov RLOADING up -------------------------------------------------
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor,false,100);				//move Rloading up
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if LS_RLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_RLOADMOTOR_UP) != F1_LS_RLOADMOTOR_UP  )
+			counter=250;
+		
+			Thread.Sleep(100);	
+	}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading high z
+
+	if (counter == 150) 								
+	{	
+		Units_status[0,1]="Fail";
+		stubManager.Write("LS_RLOADMOTOR_UP\tFail\n");	
+		return 0;
+	}
+	DialogResult result1 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result1 == DialogResult.No)
+		{
+			Units_status[0,1]="Fail";
+			stubManager.Write("LS_RLOADMOTOR_UP Not calibrate\n");
+			return 0;
+		}
+	Units_status[0,1]="Pass";
+	Units_status[2,1]="Pass";
+	
+//------------------------------------------ check  F1_LS_RLOADMOTOR_DN------------------------------------------------
+		
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);		//read LS
+	
+	if ((response.Value & F1_LS_RLOADMOTOR_DN) !=F1_LS_RLOADMOTOR_DN )										//if LS_RLOADMOTOR_DN is up then error
+	{	
+		Units_status[1,1]="Fail";
+		stubManager.Write("LS_RLOADMOTOR_DN\tFail\n");
+		return 0;
+	}
+//------------------------------------------ mov RLOADING dn ------------------------------------------------
+
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor, true,100);				//move Rloading down
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if LS_RLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_RLOADMOTOR_DN) != F1_LS_RLOADMOTOR_DN  )
+			counter=250;	
+			
+			Thread.Sleep(100);	
+	}
+	
+		if (counter == 150) 								
+	{	
+		Units_status[1,1]="Fail";
+		stubManager.Write("LS_RLOADMOTOR_DN\tFail\n");	
+		return 0;
+	}
+	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result2 == DialogResult.No)
+		{
+			Units_status[1,1]="Fail";
+			stubManager.Write("LS_RLOADMOTOR_DN Not calibrate\n");
+			return 0;
+		}
+	Units_status[1,1]="Pass";
+		stubManager.Write("RLOADMOTOR\tPass\n");
+
+	return 1 ;
+
+}	
+
+//----------------------------------
+
+Int32 ReadEncoder()
+{
+	Int32 temp;
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F1_RDANCER_ROTENC_DATA_p_TX, 0x0000);		//triggers a TX transmission
+
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_RDANCER_ROTENC_DATA_p_RX_lsb);
+	var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_RDANCER_ROTENC_DATA_p_RX_msb);		 
+
+	temp =  Convert.ToInt32 (((((response1.Value <<16) + 	response.Value)>>10 ) & 0x3fff));
+	
+
+	return temp;
+}
+//--------------------------------------------------------------------------------
+int Test_DANCER_RTFU()
+{
+	int counter;
+	Int32 temp;
+	Int32 temp1;
+	
+//------------------------------------------ check  F1_LS_RDANCER_DOWN  ------------------------------------------------
+
+	MessageBox.Show("Make sure RDANCER Doun");
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//read LS
+	if ((response.Value & F1_LS_RDANCER_DOWN) !=F1_LS_RDANCER_DOWN )								//if F1_LS_RDANCER_DOWN is up then error
+	{	
+		Units_status[4,1]="Fail";
+		stubManager.Write("LS_RDANCER_DOWN\tFail\n");	
+		return 0;
+	}
+//----------------------------------------- mov RDANCER_Motor up and check F1_LS_RDANCER_DOWN -------------------------------------------------
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RDANCER_Motor,true,10);				//move Rloading up
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if LS_RLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_RDANCER_DOWN) != F1_LS_RDANCER_DOWN  )
+			counter=250;
+		
+			Thread.Sleep(100);	
+	}
+		if (counter == 150) 								
+	{	
+		Units_status[4,1]="Fail";
+		stubManager.Write("LS_RDANCER_DOWN\tFail\n");	
+		return 0;
+	}
+		Units_status[4,1]="Pass";
+		stubManager.Write("LS_RDANCER_DOWN\tPass\n");	
+	
+//----------------------------------------- check F1_LS_RDANCER_UP -------------------------------------------------
+
+	if ((response.Value & F1_LS_RDANCER_UP) !=F1_LS_RDANCER_UP )								//if F1_LS_RDANCER_UP is up then error
+	{	
+		Units_status[5,1]="Fail";
+		stubManager.Write("LS_RDANCER_UP\tFail\n");	
+		return 0;
+	}
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if F1_LS_RDANCER_UP is up then move down
+		if ((response.Value & F1_LS_RDANCER_UP) != F1_LS_RDANCER_UP  )
+			counter=250;
+		
+			Thread.Sleep(100);	
+	}
+		if (counter == 150) 								
+	{	
+		Units_status[5,1]="Fail";
+		stubManager.Write("LS_RDANCER_UP\tFail\n");	
+		return 0;
+	}
+		Units_status[5,1]="Pass";
+		stubManager.Write("LS_RDANCER_UP\tPass\n");	
+
+//----------------------------------------- check F1_LS_RLOADRAM_DOWN -------------------------------------------------
+
+	if ((response.Value & F1_LS_RLOADRAM_DOWN) !=F1_LS_RLOADRAM_DOWN )								//if F1_LS_RLOADRAM_DOWN is up then error
+	{	
+		Units_status[6,1]="Fail";
+		stubManager.Write("LS_RLOADRAM_DOWN\tFail\n");	
+		return 0;
+	}
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if F1_LS_RLOADRAM_DOWN is up then move down
+		if ((response.Value & F1_LS_RLOADRAM_DOWN) != F1_LS_RLOADRAM_DOWN  )
+			counter=250;
+		
+			Thread.Sleep(100);	
+	}
+		if (counter == 150) 								
+	{	
+		Units_status[6,1]="Fail";
+		stubManager.Write("LS_RLOADRAM_DOWN\tFail\n");	
+		return 0;
+	}
+	Units_status[6,1]="Pass";
+	stubManager.Write("LS_RLOADRAM_DOWN\tPass\n");	
+
+//----------------------------------------- mov RDANCER_Motor down and check rdancer encoder -------------------------------------------------
+	temp= ReadEncoder();
+	
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RDANCER_Motor,false,10);				//move Rloading down
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if LS_RLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_RDANCER_DOWN) != F1_LS_RDANCER_DOWN  )
+			counter=250;
+		
+			Thread.Sleep(100);	
+	}
+		if (counter == 150) 								
+	{	
+		Units_status[4,1]="Fail";
+		stubManager.Write("LS_RDANCER_DOWN\tFail\n");	
+		return 0;
+	}
+	Units_status[7,1]="Pass";
+	stubManager.Write("RDANCER_Motor\tPass\n");	
+
+	temp1= ReadEncoder();
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RDANCER_Motor, 3);					//hold Rloading high z
+
+	stubManager.Write("temp="+temp + "\temp1="+temp1 +"\n");
+		
+	DialogResult result = MessageBox.Show("SSI Dancer led is Green(not blinking)?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.No)
+		{
+			Units_status[8,1]="Fail";
+			stubManager.Write("RDANCER_SSI\tFail\n");	
+			return 0;
+		}
+
+	if (temp>temp1)
+		temp1=temp1+0x4000;
+
+	temp1=temp1-temp;			
+	if ((temp1> 15000) || (temp1 <1000))
+		{
+			Units_status[8,1]="Fail";
+			stubManager.Write("RDANCER_SSI\tFail\n");	
+			return 0;
+		}
+	Units_status[8,1]="Pass";
+		stubManager.Write("RDANCER_SSI\tPass\n");	
+	
+	return 1;
+}
+
+
+//-------------------------------------------------------------
+int Test_RDRIVING_RTFU()
+{	
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RDRIVING_Motor, true,200);				//move Rdriving clockwise 
+	stubManager.Write("RDRIVING_Motor Motor rotate \n ");
+	
+	DialogResult result = MessageBox.Show("Are RDRIVING Motor rotate?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.No)
+		{
+			Units_status[3,1]="Fail";
+			stubManager.Write("RDRIVING Motor not rotate\n");
+		}
+	else 
+		{
+			Units_status[3,1]="Pass";
+			stubManager.Write("RDRIVING Motor rotate\n");
+		}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RDRIVING_Motor,3);		//stop motor
+
+	return 0;
+}	
+
+
+
+//--------------------------------------------------------------------------------
+int Motor_SetParam(Int32 HighAdr, Int32 LowAdr, Int32 ParaAddr, uint ParaData1)
+{
+	
+	Int32 Temp = 0;
+	Temp = (ParaAddr << 8 ) + ( (Int32) ParaData1 >> 24);
+
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,HighAdr, (Temp & 0xffff));
+	Temp = ((Int32)ParaData1 >> 8) & 0xffff;
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,LowAdr, (Temp));
+		
+	return 1;
+}
+ //------------------------------------  
+string write_to_file() 
+{	
+	    stubManager.Write("write_to_file\n");
+	
+string Stemp="Pass";
+		for (int i=0;i<UNIT_UNDER_TEST;i++)
+		{
+			stubManager.AppendToFile(File_Name1,Units_status[i,0]+"\t" + Units_status[i,1] );
+			stubManager.Write(Units_status[i,0]+"\t" + Units_status[i,1]+"\n" );
+
+			if ((Units_status[i,1]=="Fail")||(Units_status[i,1]=="Not Test"))
+			Stemp="Fail";
+		}
+		if (Stemp=="Fail")
+			{
+			stubManager.AppendToFile(File_Name1,"-------------RTFU  Fail ------------ ");
+			stubManager.Write("-------------RTFU Fail ------------ ");
+			}
+		else
+			{
+			stubManager.AppendToFile(File_Name1,"-------------RTFU Pass ------------ )");
+			stubManager.Write("-------------RTFU Pass ------------ ");
+			}
+			
+	return Stemp;
+	
+}
+
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_JIG1.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_JIG1.cs
new file mode 100644
index 000000000..500e153c4
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/RTFU/RTFU_JIG1.cs
@@ -0,0 +1,552 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+//--------------------------------------------------------------------------------
+//--------------------------------------------------------------------------------
+//string path1="P:\\Scripts\\Assemblies\\RTFU\\RTFULog\\";
+//string path2="C:\\RTFULog\\";
+
+//string	File_Name1	;
+//string Status;
+
+//-------------------DEFINE Motors------------------
+const Int32	RDANCER_Motor	=	21;		 
+const Int32	RDRIVING_Motor	=	22;		 
+const Int32	RLOADING_Motor	=	24;	
+
+//-------------------DEFINE Motors Parameters------------------
+
+const Int32 F1_MOTO_RLOADING_TX1 = 0x60000202;
+const Int32 F1_MOTO_RLOADING_TX0 = 0x60000200;
+const Int32 F1_MOTO_RLOADING_RX1 = 0x60000206;
+const Int32 F1_MOTO_RLOADING_RX0 = 0x60000204;
+
+//-------------------DEFINE Limit Switch---------------
+const	Int32	F1_LS_03_Direct		=0x60000040;
+
+const	Int32 	F1_LS_RLOADMOTOR_UP	= 0x0040 ;
+const	Int32	F1_LS_RLOADMOTOR_DN	= 0x0080 ;
+const	Int32	F1_LS_RDANCER_UP 	= 0x0100;
+const	Int32	F1_LS_RDANCER_DOWN 	= 0x0200;
+const	Int32	F1_LS_RLOADRAM_DOWN	= 0x0020;
+
+const	Int32	F1_RDANCER_ROTENC_DATA_p_RX_lsb	=	0x600001a0;
+const	Int32	F1_RDANCER_ROTENC_DATA_p_RX_msb	=	0x600001a2;
+const	Int32	F1_RDANCER_ROTENC_DATA_p_TX		=	0x600001ae;
+
+
+const  int UNIT_UNDER_TEST=3+1+5;
+//--------------------------------------------------------------------------------
+string path1="P:\\Scripts\\Assemblies\\RTFU\\RTFULog\\";
+string path2="C:\\RTFULog\\";
+
+string	File_Name1	;
+string Status;
+//---------------------------
+
+string [,] Units_status = new string[UNIT_UNDER_TEST,2]	{ 
+												{"LS_RLOADMOTOR_Up","Not Test"},	//0
+												{"LS_RLOADMOTOR_DOWN","Not Test"},	//1
+												{"RLOADING_Motor","Not Test"},		//2
+												{"DRIVING_Motor","Not Test"},		//3
+												{"LS_RDANCER_DOWN","Not Test"},		//4
+												{"LS_RDANCER_UP","Not Test"},		//5
+												{"LS_RLOADRAM_DOWN","Not Test"},	//6
+												{"RDANCER_Motor","Not Test"},		//7
+												{"RDANCER_ROTENC","Not Test"},		//8
+											};
+
+
+
+//-----------------------------------------------------
+string RTFU_Sn;
+//--------------------------------------------------------------------------------
+
+public void OnExecute(StubManager stubManager)
+{
+string  path="";
+		Form form1 = new Form();
+	Motor_SetParam(F1_MOTO_RLOADING_TX1,F1_MOTO_RLOADING_TX0,0x0a,0x14000000);							//set kval ran to 0x14,0.65A
+		
+// Set the caption bar text of the form.
+		form1.TopMost = true;
+		form1.Text = "RTFU Test";
+  		form1.FormBorderStyle = FormBorderStyle.FixedDialog;
+ 		form1.MaximizeBox = false;
+		form1.MinimizeBox = false;
+ 		form1.StartPosition = FormStartPosition.CenterScreen;
+	    form1.AutoSize = true;
+	    form1.AutoSizeMode = AutoSizeMode.GrowAndShrink;
+// Create buttons to Run. 
+ 		Button button1 = new Button () 
+	{
+		Width = 100,
+   	  	Height = 100,
+  	};
+		button1.Text = "Run";
+		button1.Location = new Point (40, 100);
+	    form1.Controls.Add(button1);
+//-----RTFU Serial Number -----------
+
+	Label Label1 = new Label () 
+		{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="  RTFU S/N"
+  		};
+	Label1.Location = new Point (30, 10);
+ 	form1.Controls.Add(Label1);
+	TextBox TextBox1 = new TextBox () 
+		{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  		};
+	TextBox1.Location = new Point (40, 40);
+	form1.Controls.Add(TextBox1);
+ //----------LOCATION----------
+	 
+ Label Label3 = new Label () 
+	{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="LOCATION"
+  	};
+Label3.Location = new Point (350, 10);
+ form1.Controls.Add(Label3);
+	 
+
+
+TextBox TextBox3 = new TextBox () 
+	{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  	};
+TextBox3.Location = new Point (360, 40);
+ form1.Controls.Add(TextBox3);
+ 
+ 
+ 	 
+	 
+	Label Label5 = new Label () 
+	{
+		Width = 120,
+   	  	Height =100,
+   	  	Text = ""
+  	}; 
+	Label5.Location = new Point (300, 100);
+	Label5.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D;
+
+	Label5.Text="";
+	Label5.Font = new Font("Arial", 24,FontStyle.Bold);
+	form1.Controls.Add(Label5); 	
+
+
+ 
+ 
+//--------------------------------------------------------------------------------
+
+	    stubManager.Write("Counter is 2 \n");
+  
+	    button1.Click += (_,__) => 
+	    
+	{ 
+
+		Label5.Text="Pros";
+	
+	if (!Directory.Exists(path1))
+		{
+			path=path2;	
+			if (!Directory.Exists(path2))
+			Directory.CreateDirectory(path2);	
+		}			
+	else
+		path=path1;	
+
+	File_Name1=path + TextBox1.Text +"_RTFU_" + DateTime.Now.ToString("MM_dd_yyyy_HH_mm_ss")+".log" ;
+
+
+	stubManager.Write(File_Name1 +"\n");
+	stubManager.WriteToFile(File_Name1,DateTime.Now +" " );
+	stubManager.Write(DateTime.Now +"\n" );
+
+	stubManager.AppendToFile(File_Name1,"RTFU Test Report" );
+	stubManager.Write("RTFU Test Report\n" );
+
+	stubManager.AppendToFile(File_Name1,"RTFU S/N: \t" + TextBox1.Text  );
+	stubManager.Write("RTFU S/N:" + TextBox1.Text +"\n" );
+                  
+
+	stubManager.AppendToFile(File_Name1,"Location:\t" + TextBox3.Text );
+	stubManager.Write("Location:" + TextBox3.Text +"\n" );
+
+
+//------------------------------- start test -----------
+	Test_RLOADING_RTFU();
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading high z
+	Thread.Sleep(100);
+	Motor_SetParam(F1_MOTO_RLOADING_TX1,F1_MOTO_RLOADING_TX0,0x0a,0x14000000);							//set kval ran to 0x14,0.65A
+
+	Test_RDRIVING_RTFU();
+	Test_DANCER_RTFU();
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RDANCER_Motor, 3);					//hold Rloading high z
+
+	Status=write_to_file();
+		stubManager.Write(Status +"\n");	
+
+	Label5.Text=Status;
+	TextBox1.Text="";
+	};	   
+	   
+	   form1.ShowDialog();
+	
+	return ;
+   }
+ //------------------------------------  
+int Test_RLOADING_RTFU()
+{
+	int	temp=1; 
+	int counter;
+	
+	Motor_SetParam(F1_MOTO_RLOADING_TX1,F1_MOTO_RLOADING_TX0,0x0a,0x2c000000);							//set kval ran to 0x2c- 1.3A
+	Thread.Sleep(100);
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor, true,200);				//move Rloading down
+	Thread.Sleep(3000);
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading high z
+	Thread.Sleep(1000);
+//------------------------------------------ check  F1_LS_RLOADMOTOR_up------------------------------------------------
+
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//read LS
+	if ((response.Value & F1_LS_RLOADMOTOR_UP) !=F1_LS_RLOADMOTOR_UP )									//if LS_RLOADMOTOR_UP is up then error
+	{	
+		DialogResult result = MessageBox.Show("Did RLOADIN MOTOR Move?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.Yes)
+		{
+		Units_status[0,1]="Fail";
+		stubManager.Write("LS_RLOADMOTOR_UP\tFail\n");	
+		return 0;
+		}
+	else 
+		{
+			Units_status[2,1]="Fail";
+			stubManager.Write("RLOADMOTOR\tFail\n");
+			return 0;
+		}
+	}
+	
+//----------------------------------------- mov RLOADING up -------------------------------------------------
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor,false,200);				//move Rloading up
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if LS_RLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_RLOADMOTOR_UP) != F1_LS_RLOADMOTOR_UP  )
+			counter=250;
+		
+			Thread.Sleep(100);	
+	}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading high z
+
+	if (counter == 150) 								
+	{	
+		Units_status[0,1]="Fail";
+		stubManager.Write("LS_RLOADMOTOR_UP\tFail\n");	
+		return 0;
+	}
+	DialogResult result1 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result1 == DialogResult.No)
+		{
+			Units_status[0,1]="Fail";
+			stubManager.Write("LS_RLOADMOTOR_UP Not calibrate\n");
+			return 0;
+		}
+	Units_status[0,1]="Pass";
+	Units_status[2,1]="Pass";
+	
+//------------------------------------------ check  F1_LS_RLOADMOTOR_DN------------------------------------------------
+		
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);		//read LS
+	
+	if ((response.Value & F1_LS_RLOADMOTOR_DN) !=F1_LS_RLOADMOTOR_DN )										//if LS_RLOADMOTOR_DN is up then error
+	{	
+		Units_status[1,1]="Fail";
+		stubManager.Write("LS_RLOADMOTOR_DN\tFail\n");
+		return 0;
+	}
+//------------------------------------------ mov RLOADING dn ------------------------------------------------
+
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor, true,200);				//move Rloading down
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if LS_RLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_RLOADMOTOR_DN) != F1_LS_RLOADMOTOR_DN  )
+			counter=250;	
+			
+			Thread.Sleep(100);	
+	}
+	
+		if (counter == 150) 								
+	{	
+		Units_status[1,1]="Fail";
+		stubManager.Write("LS_RLOADMOTOR_DN\tFail\n");	
+		return 0;
+	}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading high z
+		
+	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result2 == DialogResult.No)
+		{
+			Units_status[1,1]="Fail";
+			stubManager.Write("LS_RLOADMOTOR_DN Not calibrate\n");
+			return 0;
+		}
+	Units_status[1,1]="Pass";
+		stubManager.Write("RLOADMOTOR\tPass\n");
+	
+		stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor, true,200);				//move Rloading down
+			Thread.Sleep(2000);	
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading high z
+
+	return 1 ;
+
+}	
+
+//----------------------------------
+
+Int32 ReadEncoder()
+{
+	Int32 temp;
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F1_RDANCER_ROTENC_DATA_p_TX, 0x0000);		//triggers a TX transmission
+
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_RDANCER_ROTENC_DATA_p_RX_lsb);
+	var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_RDANCER_ROTENC_DATA_p_RX_msb);		 
+
+	temp =  Convert.ToInt32 (((((response1.Value <<16) + 	response.Value)>>10 ) & 0x3fff));
+	
+
+	return temp;
+}
+//--------------------------------------------------------------------------------
+int Test_DANCER_RTFU()
+{
+	int counter;
+	Int32 temp;
+	Int32 temp1;
+	
+//------------------------------------------ check  F1_LS_RDANCER_DOWN  ------------------------------------------------
+
+	MessageBox.Show("Make sure RDANCER Doun");
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//read LS
+	if ((response.Value & F1_LS_RDANCER_DOWN) !=F1_LS_RDANCER_DOWN )								//if F1_LS_RDANCER_DOWN is up then error
+	{	
+		Units_status[4,1]="Fail";
+		stubManager.Write("LS_RDANCER_DOWN\tFail\n");	
+		return 0;
+	}
+//----------------------------------------- mov RDANCER_Motor up and check F1_LS_RDANCER_DOWN -------------------------------------------------
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RDANCER_Motor,true,10);				//move Rloading up
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if LS_RLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_RDANCER_DOWN) != F1_LS_RDANCER_DOWN  )
+			counter=250;
+		
+			Thread.Sleep(100);	
+	}
+		if (counter == 150) 								
+	{	
+		Units_status[4,1]="Fail";
+		stubManager.Write("LS_RDANCER_DOWN\tFail\n");	
+		return 0;
+	}
+		Units_status[4,1]="Pass";
+		stubManager.Write("LS_RDANCER_DOWN\tPass\n");	
+	
+//----------------------------------------- check F1_LS_RDANCER_UP -------------------------------------------------
+
+	if ((response.Value & F1_LS_RDANCER_UP) !=F1_LS_RDANCER_UP )								//if F1_LS_RDANCER_UP is up then error
+	{	
+		Units_status[5,1]="Fail";
+		stubManager.Write("LS_RDANCER_UP\tFail\n");	
+		return 0;
+	}
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if F1_LS_RDANCER_UP is up then move down
+		if ((response.Value & F1_LS_RDANCER_UP) != F1_LS_RDANCER_UP  )
+			counter=250;
+		
+			Thread.Sleep(100);	
+	}
+		if (counter == 150) 								
+	{	
+		Units_status[5,1]="Fail";
+		stubManager.Write("LS_RDANCER_UP\tFail\n");	
+		return 0;
+	}
+		Units_status[5,1]="Pass";
+		stubManager.Write("LS_RDANCER_UP\tPass\n");	
+
+//----------------------------------------- check F1_LS_RLOADRAM_DOWN -------------------------------------------------
+
+	if ((response.Value & F1_LS_RLOADRAM_DOWN) !=F1_LS_RLOADRAM_DOWN )								//if F1_LS_RLOADRAM_DOWN is up then error
+	{	
+		Units_status[6,1]="Fail";
+		stubManager.Write("LS_RLOADRAM_DOWN\tFail\n");	
+		return 0;
+	}
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if F1_LS_RLOADRAM_DOWN is up then move down
+		if ((response.Value & F1_LS_RLOADRAM_DOWN) != F1_LS_RLOADRAM_DOWN  )
+			counter=250;
+		
+			Thread.Sleep(100);	
+	}
+		if (counter == 150) 								
+	{	
+		Units_status[6,1]="Fail";
+		stubManager.Write("LS_RLOADRAM_DOWN\tFail\n");	
+		return 0;
+	}
+	Units_status[6,1]="Pass";
+	stubManager.Write("LS_RLOADRAM_DOWN\tPass\n");	
+
+//----------------------------------------- mov RDANCER_Motor down and check rdancer encoder -------------------------------------------------
+	temp= ReadEncoder();
+	
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RDANCER_Motor,false,10);				//move Rloading down
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if LS_RLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_RDANCER_DOWN) != F1_LS_RDANCER_DOWN  )
+			counter=250;
+		
+			Thread.Sleep(100);	
+	}
+		if (counter == 150) 								
+	{	
+		Units_status[4,1]="Fail";
+		stubManager.Write("LS_RDANCER_DOWN\tFail\n");	
+		return 0;
+	}
+	Units_status[7,1]="Pass";
+	stubManager.Write("RDANCER_Motor\tPass\n");	
+
+	temp1= ReadEncoder();
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RDANCER_Motor, 3);					//hold Rloading high z
+
+	stubManager.Write("temp="+temp + "\temp1="+temp1 +"\n");
+		
+	DialogResult result = MessageBox.Show("SSI Dancer led is Green(not blinking)?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.No)
+		{
+			Units_status[8,1]="Fail";
+			stubManager.Write("RDANCER_SSI\tFail\n");	
+			return 0;
+		}
+
+	if (temp>temp1)
+		temp1=temp1+0x4000;
+
+	temp1=temp1-temp;			
+	if ((temp1> 15000) || (temp1 <1000))
+		{
+			Units_status[8,1]="Fail";
+			stubManager.Write("RDANCER_SSI\tFail\n");	
+			return 0;
+		}
+	Units_status[8,1]="Pass";
+		stubManager.Write("RDANCER_SSI\tPass\n");	
+	
+	return 1;
+}
+
+
+//-------------------------------------------------------------
+int Test_RDRIVING_RTFU()
+{	
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RDRIVING_Motor, true,200);				//move Rdriving clockwise 
+	stubManager.Write("RDRIVING_Motor Motor rotate \n ");
+	
+	DialogResult result = MessageBox.Show("Are RDRIVING Motor rotate?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.No)
+		{
+			Units_status[3,1]="Fail";
+			stubManager.Write("RDRIVING Motor not rotate\n");
+		}
+	else 
+		{
+			Units_status[3,1]="Pass";
+			stubManager.Write("RDRIVING Motor rotate\n");
+		}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RDRIVING_Motor,3);		//stop motor
+
+	return 0;
+}	
+
+
+
+//--------------------------------------------------------------------------------
+int Motor_SetParam(Int32 HighAdr, Int32 LowAdr, Int32 ParaAddr, uint ParaData1)
+{
+	
+	Int32 Temp = 0;
+	Temp = (ParaAddr << 8 ) + ( (Int32) ParaData1 >> 24);
+
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,HighAdr, (Temp & 0xffff));
+	Temp = ((Int32)ParaData1 >> 8) & 0xffff;
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,LowAdr, (Temp));
+		
+	return 1;
+}
+ //------------------------------------  
+string write_to_file() 
+{	
+	    stubManager.Write("write_to_file\n");
+	
+string Stemp="Pass";
+		for (int i=0;i<UNIT_UNDER_TEST;i++)
+		{
+			stubManager.AppendToFile(File_Name1,Units_status[i,0]+"\t" + Units_status[i,1] );
+			stubManager.Write(Units_status[i,0]+"\t" + Units_status[i,1]+"\n" );
+
+			if ((Units_status[i,1]=="Fail")||(Units_status[i,1]=="Not Test"))
+			Stemp="Fail";
+		}
+		if (Stemp=="Fail")
+			{
+			stubManager.AppendToFile(File_Name1,"-------------RTFU  Fail ------------ ");
+			stubManager.Write("-------------RTFU Fail ------------ ");
+			}
+		else
+			{
+			stubManager.AppendToFile(File_Name1,"-------------RTFU Pass ------------ )");
+			stubManager.Write("-------------RTFU Pass ------------ ");
+			}
+			
+	return Stemp;
+	
+}
+
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/WHS/pump2.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/WHS/pump2.cs
new file mode 100644
index 000000000..c72a7cd33
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/WHS/pump2.cs
@@ -0,0 +1,32 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+public void OnExecute(StubManager stubManager)
+{
+	Int32 i=0 ;	
+	while (i==0)
+{ 		
+	DialogResult result = MessageBox.Show("Do you want to open (Yes) or close (No) valve ?", "Warning", 
+	MessageBoxButtons.YesNoCancel, MessageBoxIcon.Warning);
+	if(result == DialogResult.Yes)
+
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x600000d2, 0x800);
+
+	else if(result == DialogResult.No)
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x600000d2, 0x000);
+	else if(result == DialogResult.Cancel)
+	i=1;
+	
+}	
+
+	
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Winder/Screw_Encoder.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Winder/Screw_Encoder.cs
new file mode 100644
index 000000000..88a2e703a
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Winder/Screw_Encoder.cs
@@ -0,0 +1,44 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+public void OnExecute(StubManager stubManager)
+{
+
+UInt32 temp	;
+	
+	
+	
+	
+	
+	// Request ----
+// UInt32 : Address
+
+// Response ----
+// UInt32 : Address
+// UInt32 : Value
+// String : Status
+// UInt32 : StatusWord
+
+while (true)
+	{
+var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000100);
+var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000102);
+
+temp=(response.Value & 0xffff )+((response1.Value & 0xffff )<<16);
+temp=temp&0x0fffffff;
+stubManager.WriteHex(temp,8);
+stubManager.Write("\n");
+
+		Thread.Sleep(100);
+
+}
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Winder/Winder_Jig.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Winder/Winder_Jig.cs
new file mode 100644
index 000000000..518cd5be3
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Winder/Winder_Jig.cs
@@ -0,0 +1,370 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+
+//include "..\..\Defines\Tango_Defines_Basic.cs"                	
+//include "Tango_Defines_LimitSwitch.cs"                          	
+
+const Int32 FPGA1 =  0x60000000;
+const Int32 FPGA2 =  0x60000400;
+const Int32 FPGA3 =  0x60000800;
+const Int32	F1_LS_03_Direct	=	0x040	; //	Reads the direct values that are currently being sent to the fpga.	rsv		rsv		rsv						rsv						F1_SW_SPOOL_EXISTS		F1_SW_SPARE				F1_LS_RDANCER_DOWN		F1_LS_RDANCER_UP		F1_LS_RLOADMOTOR_DOWN	F1_LS_RLOADMOTOR_UP		F1_LS_RLOADRAM_DOWN		F1_LS_RLOADRAM_UP		F1_LS_RSPARE1			F1_LS_RSPARE2			F1_LS_SCREW_LEFT		F1_LS_SCREW_RIGHT
+
+
+
+
+const  int UNIT_UNDER_TEST=6;
+//--------------------------------------------------------------------------------
+string path1="P:\\Scripts\\Assemblies\\Winder\\WinderLog\\";
+string path2="C:\\WinderLog\\";
+
+string	File_Name1	;
+string Status;
+//---------------------------
+
+
+string [,] Units_status = new string[UNIT_UNDER_TEST,2]	{ 
+												{"Winder_Motor","Not Test"},
+												{"Screw_Motor","Not Test"},
+												{"LS_Screw_Right","Not Test"},
+												{"LS_Screw_Left","Not Test"},
+												{"Screw_Encoder","Not Test"},
+												{"SW_Spool_Exist","Not Test"},
+											};
+
+
+
+//-----------------------------------------------------
+string Winder_Sn;
+//--------------------------------------------------------------------------------
+
+public void OnExecute(StubManager stubManager)
+{
+string  path="";
+		Form form1 = new Form();
+
+// Set the caption bar text of the form.
+   
+		form1.Text = "Winder Test";
+  		form1.FormBorderStyle = FormBorderStyle.FixedDialog;
+ 		form1.MaximizeBox = false;
+		form1.MinimizeBox = false;
+ 		form1.StartPosition = FormStartPosition.CenterScreen;
+	    form1.AutoSize = true;
+	    form1.AutoSizeMode = AutoSizeMode.GrowAndShrink;
+// Create buttons to Run.
+ 		Button button1 = new Button () 
+	{
+		Width = 100,
+   	  	Height = 100,
+  	};
+		button1.Text = "Run";
+		button1.Location = new Point (40, 100);
+	    form1.Controls.Add(button1);
+//-----Winder Serial Number -----------
+
+	Label Label1 = new Label () 
+		{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="  Winder S/N"
+  		};
+	Label1.Location = new Point (30, 10);
+ 	form1.Controls.Add(Label1);
+	TextBox TextBox1 = new TextBox () 
+		{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  		};
+	TextBox1.Location = new Point (40, 40);
+	form1.Controls.Add(TextBox1);
+ //----------LOCATION----------
+	 
+ Label Label3 = new Label () 
+	{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="LOCATION"
+  	};
+Label3.Location = new Point (350, 10);
+ form1.Controls.Add(Label3);
+	 
+
+
+TextBox TextBox3 = new TextBox () 
+	{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  	};
+TextBox3.Location = new Point (360, 40);
+ form1.Controls.Add(TextBox3);
+ 
+//--------------------------------------------------------------------------------
+
+	    stubManager.Write("Counter is 2 \n");
+  
+	    button1.Click += (_,__) => 
+	    
+	   { 	
+if (!Directory.Exists(path1))
+	{
+		path=path2;	
+		if (!Directory.Exists(path2))
+			Directory.CreateDirectory(path2);	
+	}			
+else
+path=path1;	
+
+
+File_Name1=path + TextBox1.Text +"_Winder_" + DateTime.Now.ToString("MM_dd_yyyy_HH_mm_ss")+".log" ;
+
+
+stubManager.Write(File_Name1 +"\n");
+stubManager.WriteToFile(File_Name1,DateTime.Now +" " );
+stubManager.Write(DateTime.Now +"\n" );
+
+stubManager.AppendToFile(File_Name1,"Winder Test Report" );
+stubManager.Write("Winder Test Report\n" );
+
+stubManager.AppendToFile(File_Name1,"Winder S/N: \t" + TextBox1.Text  );
+stubManager.Write("Winder S/N:" + TextBox1.Text +"\n" );
+                  
+
+stubManager.AppendToFile(File_Name1,"Location:\t" + TextBox3.Text );
+stubManager.Write("Location:" + TextBox3.Text +"\n" );
+
+	 
+	 
+Label Label5 = new Label () 
+	{
+		Width = 120,
+   	  	Height =100,
+   	  	Text = ""
+  	}; 
+Label5.Location = new Point (300, 100);
+Label5.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D;
+
+Label5.Text="Pros";
+Label5.Font = new Font("Arial", 24,FontStyle.Bold);
+form1.Controls.Add(Label5); 	
+
+
+//------------------------------- start test -----------
+	Test_Winder_motor();
+	Test_Screw_LS_Motor_Encoder ();
+	Test_Pooler_Exist ();
+	
+	
+	
+	Status=write_to_file();
+
+	   Label5.Text=Status;
+	   TextBox1.Text="";
+};	   
+	   
+	   form1.ShowDialog();
+	
+	return ;
+   }
+//------------------------------------------
+int Test_Winder_motor ()
+
+{
+	
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,15, true, 500);		//rotate Winder Motor.
+	stubManager.Write("Winder Motor rotate \n ");
+	DialogResult result = MessageBox.Show("Are Winder Motor rotate?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.No)
+		{
+			Units_status[0,1]="Fail";
+			stubManager.Write("Winder Motor not rotate\n");
+		}
+	else 
+		{
+			Units_status[0,1]="Pass";
+			stubManager.Write("Winder Motor rotate\n");
+		}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,15,3);		//stop motor
+
+	return 0;
+}	
+
+
+//-------------------------------------------- 
+ int Test_Screw_LS_Motor_Encoder()
+{  
+	UInt32 temp	;
+	Int32 Bit = 1;	
+	
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,14, false, 250);		//rotate screw Motor out.
+	Thread.Sleep(1000);
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,14,3);				//stop motor
+
+	DialogResult result2 = MessageBox.Show("Did screw Motor move ?", "Warning",MessageBoxButtons.YesNo);
+	if(result2 == DialogResult.No)
+		{
+			Units_status[1,1]="Fail";
+			stubManager.Write("Screw Motor not move\n");
+			return 0;
+		}
+			Units_status[1,1]="Pass";
+	
+	stubManager.Write("Screw Motor rotate \n ");
+
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,14, true, 250);
+	stubManager.Write("\nMove screw in ");
+	
+	Bit = 1;
+	int i=0;		
+	while ((Bit != 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					Bit = GetBit(FPGA1, F1_LS_03_Direct,0);	
+					Thread.Sleep(50);
+					i++;
+			}
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,14,3);		//stop motor
+		
+	DialogResult result1 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result1 == DialogResult.No)
+		{
+			Units_status[2,1]="Fail";
+			stubManager.Write("LS_SCREW_RIGHT Not calibrate\n");
+			return 0;
+		}
+	Units_status[2,1]="Pass";
+	stubManager.Write("\nMove screw out \n");
+
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000100, 0x0000);		//clear encoder
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000102, 0x0000);		//clear encoder
+
+	Bit = 1;
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,14, false, 250);
+	i=0;		
+	while ((Bit != 0x0) && (i<200))		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+				Bit = GetBit(FPGA1, F1_LS_03_Direct,1);	
+				Thread.Sleep(50);
+				i++;
+			}
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,14,3);		//stop motor
+		
+	DialogResult result3 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result3 == DialogResult.No)
+		{
+			Units_status[3,1]="Fail";
+			stubManager.Write("LS_SCREW_LEFT Not calibrate\n");
+			return 0;
+		}
+	Units_status[3,1]="Pass";
+	
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000100);
+	var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000102);
+
+	temp=(response.Value & 0xffff )+((response1.Value & 0xffff )<<16);
+	temp=temp&0x0fffffff;
+	temp= 0x4000000-temp;
+	stubManager.Write("Encoder positio:" +temp+"\n");
+
+	if ((temp>20000) && temp<28000)
+		Units_status[4,1]="Pass";
+	else	
+		Units_status[4,1]="Fail";
+
+ 	return 1;
+}  
+ //---------------------------------------
+int Test_Pooler_Exist()
+{
+	if 	( (GetBit(FPGA1, F1_LS_03_Direct,11))==0)	
+		{
+			Units_status[5,1]="Fail";
+			return 0;
+		}
+
+	DialogResult result2 = MessageBox.Show("Remove Spool");
+	if 	( (GetBit(FPGA1, F1_LS_03_Direct,11))!=0)
+			Units_status[5,1]="Fail";
+	else
+			Units_status[5,1]="Pass";	
+	
+			return 0	;
+
+
+}	
+ //------------------------------------  
+string write_to_file() 
+{	
+	    stubManager.Write("write_to_file\n");
+	
+string Stemp="Pass";
+		for (int i=0;i<UNIT_UNDER_TEST;i++)
+		{
+			stubManager.AppendToFile(File_Name1,Units_status[i,0]+"\t" + Units_status[i,1] );
+			stubManager.Write(Units_status[i,0]+"\t" + Units_status[i,1]+"\n" );
+
+			if ((Units_status[i,1]=="Fail")||(Units_status[i,1]=="Not Test"))
+			Stemp="Fail";
+		}
+		if (Stemp=="Fail")
+			{
+			stubManager.AppendToFile(File_Name1,"-------------Winder  Fail ------------ ");
+			stubManager.Write("-------------Winder Fail ------------ ");
+			}
+		else
+			{
+			stubManager.AppendToFile(File_Name1,"-------------Winder Pass ------------ )");
+			stubManager.Write("-------------Winder Pass ------------ ");
+			}
+			
+	return Stemp;
+	
+}
+
+
+
+Int32 GetBit(Int32 Fpga, Int32 Adr, Int32 BitNo) 
+{
+	Int32 BitMask;
+	var RetVal = Fpga_Read_Reg(Fpga, Adr, 0);
+	BitMask = 0x1 << BitNo;
+	if ( ( (Int32) RetVal.Value & BitMask) == BitMask ) 
+	{ 
+		return 1;
+	}
+	else 
+	{
+		return 0;
+	}
+	
+}
+
+
+StubFpgaReadRegResponse Fpga_Read_Reg(Int32 Fpga, Int32 Addr, Int32 Verbose)
+{
+    var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" , Fpga + Addr);
+	response.Value = response.Value & 0xffff;
+	
+	if (Verbose == 1) {
+	stubManager.Write("FPGA Reg. Read (FPGA Base, Addr, Data): (");
+	stubManager.WriteHex(Fpga,4);
+	stubManager.Write(", ");
+	stubManager.WriteHex(Addr,4);
+	stubManager.Write(", ");
+	stubManager.WriteHex(response.Value,4);
+	stubManager.Write(")");
+	}
+	
+	return response;
+}
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Winder/Winder_spoll_exist.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Winder/Winder_spoll_exist.cs
new file mode 100644
index 000000000..c0ada87e1
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Winder/Winder_spoll_exist.cs
@@ -0,0 +1,65 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "Tango_Defines_LimitSwitch.cs"
+//include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\LAB_Tests\Main_PCB\ATP_Test\Scripts\Defines\Tango_Defines_Basic.cs"
+//include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\LAB_Tests\Main_PCB\ATP_Test\Scripts\Defines\Tango_Defines_LimitSwitch.cs"
+
+public void OnExecute(StubManager stubManager)
+{
+ 	
+ 	uint Temp = 0;
+	int counter = 0;
+	stubManager.Write("\nReading register F1_LS_03_Direct: ");
+	var RetVal = Fpga_Read_Reg(FPGA1, F1_LS_03_Direct, 0);
+	Temp=RetVal.Value & 0x0800;
+	if (Temp==0x0800)
+		{ 
+			stubManager.Write("\nWinder Spoll Exist ");
+		}	
+		else	
+		{
+			stubManager.Write("\nWinder Spoll NOT Exist ");
+		}
+	Temp = RetVal.Value;
+	stubManager.Write("\nActivate limit switches one-by-one");
+	
+	while ( counter != 100)
+	{
+		RetVal = Fpga_Read_Reg(FPGA1, F1_LS_03_Direct, 0);
+		if (RetVal.Value != Temp)
+		{
+//			stubManager.Write("\nRegister F1_LS_03_Direct new value: ");
+//			stubManager.WriteHex(RetVal.Value,4);	
+
+	Temp=RetVal.Value & 0x0800;
+	if (Temp==0x0800)
+		{ 
+			stubManager.Write("\nWinder Spoll Exist ");
+		}	
+		else	
+		{
+			stubManager.Write("\nWinder Spoll NOT Exist ");
+		}
+
+
+
+			counter = counter + 1;
+		}
+		Thread.Sleep(50);
+		 	Temp=RetVal.Value;
+	}
+	
+
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/I2C_RW_Dispenser_EEPROM.cs b/Software/Stubs Collection/stubs/Scripts/I2C_RW_Dispenser_EEPROM.cs
new file mode 100644
index 000000000..3c4a1d70a
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/I2C_RW_Dispenser_EEPROM.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.Stubs;
+using Tango.Stubs;
+
+//----------------------
+const Int32 I2C_ID =  4;			//MCU_I2C4 
+const Int32 TCA9548A_address =	 0xE2;	 	
+//const Int32 I2C_Slave_Add = 	0xA0;			//	//eeprom address - 32kByte & 128kByte 
+const Int32 I2C_Slave_Add = 	0xA2;			 //eeprom address - only in the eeprom of 128kByte
+int Dispenser_ID = 6; //Software Dispensers 0..7, BP  Dispensers 1..8
+//----------------------
+
+int enable_all_channel() 
+{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = TCA9548A_address;
+	
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0xff);//enable all 8 i2c channel
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+}
+
+int enable_channel(int Channel_ID) 
+{
+	uint Const_temp = 0x01;	
+	
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = TCA9548A_address;
+	
+	Const_temp = Const_temp << Channel_ID;
+	stubI2CWriteBytesRequest.BytesTWrite.Add(Const_temp);//enable i2c channel 0 Dispenser 1
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+}
+
+
+int adc_write(uint I2C_Slave_Add) 
+{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0);//Byte 0 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0);//Byte 0 to write
+	//--------------------------------------------------------------
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x12);//Data 0 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x34);//Data 1 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x56);//Data 2 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x78);//Data 3 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x90);//Data 4 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0xAB);//Data 5 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0xCD);//Data 6 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0xEF);//Data 7 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x01);//Data 8 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x02);//Data 9 to write
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+}
+
+int adc_set_for_read_ch(uint I2C_Slave_Add) 
+{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0);//Byte 0 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0);//Byte 0 to write
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+}
+
+int adc_read_ch(uint I2C_Slave_Add) 
+{
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID;
+	stubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add + 1;
+	stubI2CReadBytesRequest.NumberOfBytesToRead = 10; // Number of bytes to read
+
+	var response1 = stubManager.Run<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+	uint temph=0;
+
+	for(int i=0; i<stubI2CReadBytesRequest.NumberOfBytesToRead;i++)
+	{
+			temph=response1.ReadBytes[i];
+			stubManager.WriteHex(temph,2);
+	}
+	
+	return 1;
+}
+
+
+public void OnExecute(StubManager stubManager)
+{
+	
+	//enable_all_channel();
+	enable_channel(Dispenser_ID); // Chanel 0-7 => Disp0enser 0-7 
+	
+	for (int i = 0; i<100; i++)
+	{
+	
+		adc_write(I2C_Slave_Add);
+		Thread.Sleep(5); //Sleep for 5 milli. - must! otherwise read 0xff (See data sheet )
+		stubManager.Write("\n#");
+		stubManager.Write(i);
+		stubManager.Write("\t- The Buffer is: ");
+		adc_set_for_read_ch(I2C_Slave_Add);
+		//Thread.Sleep(1); //Sleep for 10 milli.
+		adc_read_ch(I2C_Slave_Add);
+		
+		Thread.Sleep(1000);		
+
+	}
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/I2C_RW_Main_Card_EEPROM_Save_Main_SN.cs b/Software/Stubs Collection/stubs/Scripts/I2C_RW_Main_Card_EEPROM_Save_Main_SN.cs
new file mode 100644
index 000000000..6ec538758
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/I2C_RW_Main_Card_EEPROM_Save_Main_SN.cs
@@ -0,0 +1,98 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+//----------------------
+const Int32 I2C_ID =  2;			//MCU_I2C2 
+
+const Int32 I2C_Slave_Add = 	0xA0;			//Slave (EEPROM) address  
+
+string str = "UM181700004";//main card S/N
+
+uint length = 11;
+int i = 0;
+
+//----------------------
+
+int adc_write(uint I2C_Slave_Add) 
+{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0);//Byte 0 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0);//Byte 0 to write
+	//--------------------------------------------------------------
+	
+	for(i=0;i<length;i++)
+		stubI2CWriteBytesRequest.BytesTWrite.Add(str[i]);//Data 0 to write
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+}
+
+int adc_set_for_read_ch(uint I2C_Slave_Add) 
+{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0);//Byte 0 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0);//Byte 0 to write
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+}
+
+int adc_read_ch(uint I2C_Slave_Add) 
+{
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID;
+	stubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add + 1;
+	stubI2CReadBytesRequest.NumberOfBytesToRead = length; // Number of bytes to read
+
+	var response1 = stubManager.Run<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+	uint temph=0;
+
+	for(int i=0; i<stubI2CReadBytesRequest.NumberOfBytesToRead;i++)
+	{
+			temph=response1.ReadBytes[i];
+			stubManager.Write((char) temph);
+	}
+	
+	return 1;
+}
+
+
+public void OnExecute(StubManager stubManager)
+{
+	
+	for (int i = 0; i<1; i++)
+	{
+	
+		adc_write(I2C_Slave_Add);
+		Thread.Sleep(5); //Sleep for 5 milli. - must! otherwise read 0xff (See data sheet )
+		stubManager.Write("\n");
+
+		stubManager.Write("The eeprom data: ");
+		adc_set_for_read_ch(I2C_Slave_Add);
+
+		adc_read_ch(I2C_Slave_Add);
+		
+		Thread.Sleep(1000);		
+
+	}
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Jig_Tester/Dryer_Jig.cs b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/Dryer_Jig.cs
new file mode 100644
index 000000000..deb9031fd
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/Dryer_Jig.cs
@@ -0,0 +1,395 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+                      	
+
+const  int Dryer_UNDER_TEST=12;
+//--------------------------------------------------------------------------------
+//---------------------------
+Int32	last_14bit_position;
+Int32	position_32bit=0;
+float [] DryerTemp = new float[3]	;
+
+
+string [,] Units_status_Dryer = new string[Dryer_UNDER_TEST,2]	{ 
+												{"Lid_Motor","Not Test"},
+												{"LS_Lid_Open","Not Test"},
+												{"LS_Lid_Close","Not Test"},
+												{"DRIVING_Motor","Not Test"},
+												{"SSI_Encoder","Not Test"},
+												{"LoadArm_Motor","Not Test"},
+												{"Blower_test","Not Test"},
+												{"Air_PT100_test","Not Test"},
+												{"Main_PT100_test","Not Test"},
+												{"Sec.PT100","Not Test"},
+												{"SSR1_heater","Not Test"},												
+												{"SSR2_heater","Not Test"},												
+											};
+
+
+
+//--------------------------------------------------------------------------------
+
+
+public Task<decimal> Dryer_test( Action<string> settext, CancellationToken cancellationToken, string SN, string Location )
+{
+    Task<decimal> task = null;
+    // Start a task and return it
+    task = Task.Run(() =>
+    {
+	stubManager.Write("S/N:" +SN+ "\n");
+	stubManager.Write("Location:" +Location+ "\n");
+
+	copy_table (Dryer_UNDER_TEST,Units_status_Dryer);
+
+	settext("Test Dryer LId");
+	Test_LId();
+	
+	settext("Test Dryer motor Driving");
+	Test_motor_driving();
+
+	settext("Test Dryer Load Arm");
+ 	Test_Load_Arm ();
+	
+ 	settext("Test Dryer Blower heaters pt100");
+	Test_Blower_heaters_pt100();
+	
+	Status=write_to_file(SN,Location,Dryer_UNDER_TEST,"Dryer");
+
+	settext("End Test");
+	
+	decimal result = 0;
+		
+        return result;
+    });
+    return task;
+}
+//------------------------------------------
+int Test_Blower_heaters_pt100()
+{
+	
+	float ftemp=0;
+	float ftemp1=0;
+	
+	SetBit(F1_gpo_01,5,1);		//turn off Blower
+	  delay(500);
+
+	var RetVal=Fpga_Read_Reg(F1_Tacho_reg8); 
+
+   	DialogResult result = MessageBox.Show("Close Dryer Door", "Warning");
+	RetVal=Fpga_Read_Reg(F1_Tacho_reg8); 
+	if(RetVal.Value>20)
+	{
+		Units_status[6,1]="Fail";
+		stubManager.Write("Error,Fan rotate\n");		
+		return 0;
+	}	
+		 
+	SetBit(F1_gpo_01,4,1);		//Dir
+	SetBit(F1_gpo_01,3,1);		//Torqer High
+	SetBit(F1_gpo_01,5,0);		//turn on Blower
+
+	const int LOW = 70;//0 - 100%
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F2_Prescaler1_reg11, 0xFF);//Freq 8 bit
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F2_BLOWER_PWM_LOW, LOW+1);//Low 8 bit
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F2_BLOWER_PWM_HIGH, 101 - LOW);//High 8 bit 
+	 
+	delay(1000);
+	RetVal=Fpga_Read_Reg(F1_Tacho_reg8); 
+	stubManager.Write("blower Speed-  " + RetVal.Value + "\n");	
+	if ((RetVal.Value<150)||(RetVal.Value>250) )
+	{
+		Units_status[6,1]="Fail";
+		stubManager.Write("Error,Fan rotate\n");		
+		return 0;
+	}	
+		Units_status[6,1]="Pass";
+		
+		
+	stubManager.Write("Temp Befor heating \n");
+	if	(test_pt100_dryer()!=0)
+		return 0;
+
+float temp=0;
+float temp1=4096*95*5;
+
+	//Write GPO_DRYER_SSR1_CTRL SSR/SSR no. 1
+   SetBit (F2_CTRL, 10, 1);		//turn SSR1 on
+   stubManager.Write("\tTesting SSR no. 1\t");
+   delay(1000);
+var response1 = stubManager.Run<StubIntADCReadResponse>("StubIntADCReadRequest" ,16);
+	temp=Convert.ToUInt32 (response1.SamplingInBits);
+	temp=temp*800*3*100;
+	temp=temp/(4096*95*50);
+	stubManager.Write("Current = "+ temp + "A\n");
+	if ((temp>6) || (temp<3))
+		Units_status[10,1]="Fail";
+	else
+		Units_status[10,1]="Pass";
+  
+	//Write GPO_DRYER_SSR2_CTRL SSR/SSR no. 2	
+	SetBit (F2_CTRL, 9, 1);
+	stubManager.Write("\tTesting SSR no. 2\t");
+	delay(1000);
+	response1 = stubManager.Run<StubIntADCReadResponse>("StubIntADCReadRequest" ,17);
+	temp=Convert.ToUInt32 (response1.SamplingInBits);
+	stubManager.WriteLine(temp);
+	temp=temp*800*3*100;
+	temp=temp/(4096*95*120);
+	stubManager.Write("Current = "+ temp + "A\n");
+ 	if ((temp>3) || (temp<1))
+		Units_status[11,1]="Fail";
+	else
+		Units_status[11,1]="Pass";
+  
+ 	delay(50000);
+
+//check air temp
+	ftemp=Read_pt100(6);
+	stubManager.Write("After heating air temp is " + ftemp + "\n");
+	ftemp = ftemp - DryerTemp[0];
+	if ((ftemp<5)||(ftemp>25))
+		Units_status[7,1]="Fail";
+	else
+		Units_status[7,1]="Pass";
+
+
+
+//check Main temp
+	ftemp=Read_pt100(7);
+	stubManager.Write("After heating Main temp is " + ftemp + "\n");
+	ftemp = ftemp - DryerTemp[1];
+	if ((ftemp<5)||(ftemp>40))
+		Units_status[8,1]="Fail";
+	else
+		Units_status[8,1]="Pass";
+
+//check Sec. temp
+	ftemp=Read_pt100(8);
+	stubManager.Write("After heating Sec. temp is " + ftemp + "\n");
+	ftemp = ftemp - DryerTemp[2];
+	if ((ftemp<5)||(ftemp>40))
+		Units_status[9,1]="Fail";
+	else
+		Units_status[9,1]="Pass";
+
+	SetBit (F2_CTRL, 10, 0);		//turn SSR1 off
+	SetBit (F2_CTRL, 9, 0);		//turn SSR2 off
+
+	SetBit(F1_gpo_01,5,1);		//turn off Blower
+	return 1;
+   
+}
+
+	int	test_pt100_dryer()
+	{
+		float ftemp=0;
+	int temp=0;
+	int		j=0;
+			for (int i = 6; i < 9; i++)
+	    {
+			DryerTemp[i]=Read_pt100(i);
+			ftemp=DryerTemp[i];
+			if ((ftemp>100)|| (ftemp<10))
+			{	
+				Units_status[i+7,1]="Fail";
+			}
+			else
+			{
+				Units_status[i+7,1]="Pass";
+			}	
+			stubManager.Write(Units_status[i+7,0] +"\t"+ ftemp.ToString("F2")); 
+			stubManager.Write("°C\n");	
+	
+	    }
+			return 0;
+	}
+//------------------------------------------
+int Test_motor_driving ()
+
+{
+	
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,DryerMain_Motor, true, 500);		//rotate Dryer Motor.
+	stubManager.Write("Dryer Motor rotate \n ");
+	DialogResult result = MessageBox.Show("Are Dryer Motor rotate?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.No)
+		{
+			Units_status[3,1]="Fail";
+			stubManager.Write("Dryer Motor not rotate\n");
+		}
+	else 
+		{
+			Units_status[3,1]="Pass";
+			stubManager.Write("Dryer Motor rotate\n");
+		}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DryerMain_Motor,3);		//stop motor
+
+	return 0;
+}	
+//----------------------------------
+int Test_Load_Arm()
+{
+
+	Int32 temp3=0;
+	Int32 j=0;
+	Int32 i=0;
+	position_32bit=0;
+	Int32 temp=position_32bit;
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,DrierLoadingArm_Motor, false, 60);//40
+	delay(50);
+	temp=ReadEncoder_Dryer();	
+	while ((temp3==0)&& (i<6000) )		//wait until Limit Switch or timeout 200*50msec=10sec
+		{
+	   		delay(50);
+	    	ReadEncoder_Dryer();	
+//	   		stubManager.Write("position_32bit " + position_32bit  +"\t");
+
+	    	if (Math.Abs(position_32bit)> (50*0x4000))
+	    	    temp3=1;
+			if ((position_32bit-temp)>20)
+				temp3=2;
+//						stubManager.Write("Temp " + temp   +"\n");
+			temp=position_32bit;
+//			stubManager.Write("Temp3 " + temp3  +"\n");
+		}
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DrierLoadingArm_Motor, 3);
+
+	DialogResult result1 = MessageBox.Show("Arm Motor rotate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result1 == DialogResult.No)
+		{
+			Units_status[5,1]="Fail";
+			stubManager.Write("Arm Motor Not rotate\n");
+			return 0;
+		}
+	Units_status[5,1]="Pass";
+			
+	DialogResult result2 = MessageBox.Show("Did Arm Motor arrive to mecahnicl stopper ?", "Warning",MessageBoxButtons.YesNo);
+	if(result2 == DialogResult.No)
+		{
+			Units_status[4,1]="Fail";
+			stubManager.Write("Arm Motor arrive to mecahnicl stopper \n");
+			return 0;
+		}
+
+	position_32bit=0;
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,DrierLoadingArm_Motor, true, 60);
+	delay(50);
+		i=0;
+		while ((Math.Abs(ReadEncoder_Dryer())< (30*0x4000))&& (i<6000)) 
+
+			{
+	   			delay(50);
+	   			i++;
+//	    		stubManager.Write("position_32bit " + position_32bit  +"\t" + i + "\n" );
+
+								
+			}
+			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DrierLoadingArm_Motor, 3);
+
+	DialogResult result3 = MessageBox.Show("Did Arm Motor make 30 rounds?", "Warning",MessageBoxButtons.YesNo);
+	if(result3 == DialogResult.No)
+		{
+			Units_status[4,1]="Fail";
+			stubManager.Write("Arm Motor not make 30 rounds\n");
+			return 0;
+		}
+	Units_status[4,1]="Pass";
+	return 1;	
+}
+
+Int32 ReadEncoder_Dryer()
+{
+	Int32 temp;
+	Int32 temp1;
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x6000019e, 0x0000);		//triggers a TX transmission
+
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000190);
+	var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000192);		 
+
+	temp =  Convert.ToInt32 (((((response1.Value <<16) + 	response.Value)>>10 ) & 0x3fff));
+	if (temp>last_14bit_position)
+		{
+		temp1=temp-last_14bit_position;
+		position_32bit=position_32bit+temp1;
+		if (temp1>0x2000)
+			position_32bit=position_32bit-0x4000;
+		}
+	else if (temp<last_14bit_position)
+		
+		{
+			temp1=last_14bit_position-temp;
+			position_32bit=position_32bit-temp1;
+		if (temp1>0x2000)
+			position_32bit=position_32bit+0x4000;
+		}
+	
+	last_14bit_position=temp;
+
+	return position_32bit;
+}
+//-----------------------------------
+int Test_LId ()
+{
+	Int32 Bit = 1;	
+ 	int i = 0;
+	
+	stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,DryerLid_Motor, false, 0x800000+2);		//mov Dryer Lid motor down
+	delay(2000);
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DryerLid_Motor, 2);		//Hard stop hiZ motor
+	delay(1000);
+	
+	stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,DryerLid_Motor, false, 0x800000+0);		//mov Dryer Lid motor up
+
+	while ((Bit != 0x0) && (i<200))		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					Bit = GetBit(F1_LS_01_Direct,4);	
+					delay(50);
+					i++;
+			}
+	stubManager.Write("\n--------1-Lid Open--------");
+
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DryerLid_Motor, 2);		//Hard stop hiZ motor
+	DialogResult result1 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result1 == DialogResult.No)
+		{
+			Units_status[1,1]="Fail";
+			stubManager.Write("LS_Lid_Open Not calibrate\n");
+			return 0;
+		}
+	Units_status[1,1]="Pass";
+
+	stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,DryerLid_Motor, false, 0x800000+2);		//mov Dryer Lid motor down
+
+	Bit = 1;
+	i=0;	 
+	while ((Bit != 0x0) && (i<200))		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					Bit = GetBit(F1_LS_01_Direct,5);	
+					delay(50);
+					i++;
+			}
+					stubManager.Write("\n--------2-Lid Close--------");
+
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DryerLid_Motor, 2);		//Hard stop hiZ motor
+	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result2 == DialogResult.No)
+		{
+			Units_status[2,1]="Fail";
+			stubManager.Write("LS_Lid_Close Not calibrate\n");
+			return 0;
+		}
+	Units_status[2,1]="Pass";
+	Units_status[0,1]="Pass";
+			return 1;
+
+}
diff --git a/Software/Stubs Collection/stubs/Scripts/Jig_Tester/DyeHead_Jig.cs b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/DyeHead_Jig.cs
new file mode 100644
index 000000000..bf1a7d9c8
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/DyeHead_Jig.cs
@@ -0,0 +1,344 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+const  int DyeHead_UNDER_TEST=16;
+
+float [] DyeHeadTemp = new float[6]	;
+
+string [,] Units_status_DyeHead = new string[DyeHead_UNDER_TEST,2]	{ 
+												{"Pt100_Zone_1","Not Test"},
+												{"Pt100_Zone_2","Not Test"},
+												{"Pt100_Zone_3","Not Test"},
+												{"Pt100_Zone_4","Not Test"},
+												{"Pt100_Zone_5","Not Test"},
+												{"Pt100_Zone_6","Not Test"},
+												{"Heater_Zone_1","Not Test"},
+												{"Heater_Zone_2","Not Test"},
+												{"Heater_Zone_3","Not Test"},
+												{"Heater_Zone_4","Not Test"},
+												{"Heater_Zone_5","Not Test"},
+												{"Heater_Zone_6","Not Test"},
+												{"Magnet       ","Not Test"},
+												{"LS_DH_LID_Open","Not Test"},
+												{"LS_DH_LID_Close","Not Test"},
+												{"DH_LID_Motor","Not Test"},
+											};
+
+
+
+//--------------------------------------------------------------------------------
+
+public Task<decimal> DyeHead_test( Action<string> settext, CancellationToken cancellationToken, string SN, string Location)
+{
+    Task<decimal> task = null;
+    // Start a task and return it
+    task = Task.Run(() =>
+    {
+	stubManager.Write("S/N:" +SN+ "\n");
+	stubManager.Write("Location:" +Location+ "\n");
+
+	copy_table (DyeHead_UNDER_TEST,Units_status_DyeHead);
+
+	DialogResult result1 = MessageBox.Show("Make shure, Dyehead is not hot", "Warning",MessageBoxButtons.OKCancel);
+	if(result1 == DialogResult.Cancel)
+		{
+			stubManager.AppendToFile(File_Name1,"Dyehead is too hot \tFail");
+			stubManager.Write("Dyehead is too hot \tFail\n");
+			return 0 ;
+		}
+	else
+	{
+
+//------------------------------- start test -----------
+	settext("Test Magnet Motor LS");
+	Test_Magnet_Motor_LS_DyeHead();
+	settext("Test heaters &pt100");
+	Test_heaters_pt100 ();
+	
+	Status=write_to_file(SN,Location,DyeHead_UNDER_TEST,"Dyehead");
+
+	settext("End Test");
+	}
+	decimal result = 0;
+		
+        return result;
+    });
+    return task;
+}
+  
+	 
+ 
+//-------------------------------------------- 
+ int Test_Magnet_Motor_LS_DyeHead()
+{  
+	Int32 Bit = 1;	
+	
+	stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,MAGNET_Driver, false,0x800000+0);
+	stubManager.Write("\nTesting SSR no. 13 of magnet or motor driver");
+ 
+	DialogResult result = MessageBox.Show("Make shure, Magnet is open", "Warning",MessageBoxButtons.OKCancel);
+	if(result == DialogResult.Cancel)
+		{
+			Units_status[12,1]="Fail";
+			stubManager.Write("Magnet Not Open\n");
+			return 0;
+		}
+	Units_status[12,1]="Pass";
+
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,DyeingHeadLid_Motor, true, 250);
+	stubManager.Write("\n***   Open Lid Head ");
+	
+	Bit = 1;
+	int i=0;		
+	while ((Bit != 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					Bit = GetBit(F1_LS_01_Direct,7);	
+					delay(50);
+					i++;
+			}
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DyeingHeadLid_Motor,3);		//stop motor
+		
+	DialogResult result1 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result1 == DialogResult.Cancel)
+		{
+			Units_status[15,1]="Fail";
+			Units_status[13,1]="Fail";
+			stubManager.Write("LS_DH_LID_Open Not calibrate\n");
+			return 0;
+		}
+	Units_status[13,1]="Pass";
+	stubManager.Write("\n***   Close Lid Head ");
+	Bit = 1;
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,DyeingHeadLid_Motor, false, 250);
+	i=0;		
+	while ((Bit != 0x0) && (i<200))		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					Bit = GetBit(F1_LS_01_Direct,8);	
+					delay(50);
+					i++;
+			}
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DyeingHeadLid_Motor,3);		//stop motor
+		
+	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result2 == DialogResult.Cancel)
+		{
+			Units_status[14,1]="Fail";
+			Units_status[15,1]="Fail";
+			stubManager.Write("LS_DH_LID_Close Not calibrate\n");
+			return 0;
+		}
+	Units_status[14,1]="Pass";
+	stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,MAGNET_Driver, false,0x800000+2);
+	DialogResult result3 = MessageBox.Show("Make shure, Magnet is close", "Warning",MessageBoxButtons.OKCancel);
+	if(result3 == DialogResult.Cancel)
+		{
+			Units_status[12,1]="Fail";
+			stubManager.Write("Magnet Not close\n");
+			return 0;
+		}
+	Units_status[12,1]="Pass";
+	Units_status[15,1]="Pass";
+
+ 			return 0;
+}  
+   
+
+//------------------------------------  
+public int Test_heaters_pt100()
+{
+	
+//	uint utemp=0;
+	uint temp=0;
+	float ftemp=0;
+	float ftemp1=0;
+	float current=0;
+	
+	stubManager.Write("\nTemp Befor heating \n");
+	if	(test_pt100_dyehead()!=0)
+			return 0;
+
+//------------Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 8
+	SetBit (F2_CTRL, 3, 1);
+	stubManager.Write("Testing SSR no. 8\tHeadZone-1\t");
+	delay(15000);
+    adc_configuration(0x40,0x10);		//a2d_address 0x40 channel 3
+	adc_set_for_read_ch(0x40);
+	temp=adc_read_ch(0x40);
+	current= (float)(temp); 
+	current=( float) (0.001221) * current;
+   	SetBit (F2_CTRL, 3, 0);
+	ftemp=Read_pt100(1);
+	stubManager.Write("After heating " + ftemp +"c\tCurrent is "+ current + "\n");
+	ftemp = ftemp - DyeHeadTemp[0];
+	
+	if ((current>1.5)|| (current<0.9)||(ftemp<5)||(ftemp>40))
+		Units_status[6,1]="Fail";
+	else
+		Units_status[6,1]="Pass";
+	
+    //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 7
+	ftemp=Read_pt100(2);
+	ftemp1 = ftemp - DyeHeadTemp[1];
+	if ( ftemp1>4)
+		Units_status[7,1]="Fail";		
+	else 
+	{
+	SetBit (F2_CTRL, 4, 1);
+	stubManager.Write("Testing SSR no. 7\tHeadZone-2\t");
+	delay(15000);
+   	adc_configuration(0x40,0x08);		//a2d_address 0x40 channel 4
+	adc_set_for_read_ch(0x40);
+	temp=adc_read_ch(0x40);
+	current= (float)(temp); 
+	current=( float) (0.001221) * current;
+    SetBit (F2_CTRL, 4, 0);
+	ftemp=Read_pt100(2);
+	stubManager.Write("After heating " + ftemp +"c\tCurrent is "+ current + "\n");
+	ftemp = ftemp - DyeHeadTemp[1];
+	if ((current<1.6)|| (current>2.1)||(ftemp<5)||(ftemp>40))
+		Units_status[7,1]="Fail";
+	else
+		Units_status[7,1]="Pass";
+	}
+
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 6
+   
+	ftemp=Read_pt100(3);
+	ftemp1 = ftemp - DyeHeadTemp[2];
+	if ( ftemp1>4)
+		Units_status[8,1]="Fail";		
+	else 
+	{
+	SetBit (F2_CTRL, 5, 1);
+	stubManager.Write("Testing SSR no. 6\tHeadZone-3\t");
+	delay(15000);
+   	adc_configuration(0x40,0x04);		//a2d_address 0x40 channel 5
+	adc_set_for_read_ch(0x40);
+	temp=adc_read_ch(0x40);
+	current= (float)(temp); 
+	current=( float) (0.001221) * current;
+	SetBit (F2_CTRL, 5, 0);
+	ftemp=Read_pt100(3);
+	stubManager.Write("After heating " + ftemp +"c\tCurrent is "+current +"\n");
+	ftemp = ftemp - DyeHeadTemp[2];
+	if ((current<1.6)|| (current>2.1)||(ftemp<5)||(ftemp>40))
+		Units_status[8,1]="Fail";
+	else
+		Units_status[8,1]="Pass";
+	}
+	
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 5
+	ftemp=Read_pt100(4);
+	ftemp1 = ftemp - DyeHeadTemp[3];
+	if ( ftemp1>4)
+		Units_status[9,1]="Fail";		
+	else 
+	{
+	SetBit (F2_CTRL, 6, 1);
+	stubManager.Write("Testing SSR no. 5\tHeadZone-4\t");
+	delay(15000);
+   	adc_configuration(0x44,0x80);		//a2d_address 0x44 channel 0
+	adc_set_for_read_ch(0x44);
+	temp=adc_read_ch(0x44);
+	current= (float)(temp); 
+	current=( float) (0.001221) * current;
+
+	SetBit (F2_CTRL, 6, 0);
+	ftemp=Read_pt100(4);
+	stubManager.Write("After heating " + ftemp +"c\tCurrent is "+current + "\n");
+	ftemp = ftemp - DyeHeadTemp[3];
+	if ((current<2.9)|| (current>3.4)||(ftemp<5)||(ftemp>40 ))
+		Units_status[9,1]="Fail";
+	else
+		Units_status[9,1]="Pass";
+	}
+
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 10
+	ftemp=Read_pt100(5);
+	ftemp1 = ftemp - DyeHeadTemp[4];
+	if ( ftemp1>4)
+		Units_status[10,1]="Fail";		
+	else 
+	{
+	SetBit (F1_gpo_01, 2, 1);
+	stubManager.Write("Testing SSR no. 10\tHeadZone-5\t");
+	delay(15000);
+   	adc_configuration(0x44,0x40);		//a2d_address 0x44 channel 1
+	adc_set_for_read_ch(0x44);
+	temp=adc_read_ch(0x44);
+	current= (float)(temp); 
+	current=( float) (0.001526) * current;
+	SetBit (F1_gpo_01, 2, 0);
+ 	ftemp=Read_pt100(5);
+	stubManager.Write("After heating " + ftemp +"c\tCurrent is "+current + "\n");
+	ftemp = ftemp - DyeHeadTemp[4];
+	if ((current<2.9)|| (current>3.4)||(ftemp<5)||(ftemp>40))
+		Units_status[10,1]="Fail";
+	else
+		Units_status[10,1]="Pass";
+	}
+	
+   //Write GPO_DYEINGH_SSR1_CTRL SSR/SSR no. 11
+	ftemp=Read_pt100(11);
+	ftemp1 = ftemp - DyeHeadTemp[5];
+	if ( ftemp1>4)
+		Units_status[11,1]="Fail";		
+	else 
+	{
+	SetBit (F3_GPO_01_bus, 4, 1);
+	stubManager.Write("Testing SSR no. 11\tHeadZone-6\t");
+	delay(15000);
+   	adc_configuration(0x44,0x40);		//a2d_address 0x44 channel 1
+	adc_set_for_read_ch(0x44);
+	temp=adc_read_ch(0x44);
+	current= (float)(temp); 
+	current=( float) (0.001526) * current;
+	SetBit (F3_GPO_01_bus, 4, 0);
+ 	ftemp=Read_pt100(11);
+	stubManager.Write("After heating " + ftemp +"c\tCurrent is "+current + "\n");
+	ftemp = ftemp - DyeHeadTemp[5];
+	if ((current<1.6)|| (current>2.1)||(ftemp<5)||(ftemp>40))
+		Units_status[11,1]="Fail";
+	else
+		Units_status[11,1]="Pass";
+	}
+	return 0;
+}
+//------------------------------------------------		
+	int	test_pt100_dyehead()
+	{
+		float ftemp=0;
+	int temp=0;
+	int		j=0;
+			for (int i = 0; i < 6; i++)
+	    {
+			if (i==5)
+				j=11;
+			else
+				j=i+1;
+			DyeHeadTemp[i]=Read_pt100(j);
+			ftemp=DyeHeadTemp[i];
+			if ((ftemp>100)|| (ftemp<10))
+			{	
+				Units_status[i,1]="Fail";
+			}
+			else
+			{
+				Units_status[i,1]="Pass";
+			}	
+			stubManager.Write("Zone-"+(i+1)+ "\t" + ftemp.ToString("F2")); 
+			stubManager.Write("°C\n");	
+	
+	    }
+			return 0;
+	}
diff --git a/Software/Stubs Collection/stubs/Scripts/Jig_Tester/JIG_TESTER.cs b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/JIG_TESTER.cs
new file mode 100644
index 000000000..48a12dad2
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/JIG_TESTER.cs
@@ -0,0 +1,853 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs; 
+
+include "Tango_define.cs"  
+include "MidTank_Jig.cs"
+include "DyeHead_Jig.cs"
+include "LTFU_Jig.cs"
+include "RTFU_Jig.cs"
+include "Winder_Jig.cs"  
+include "Dryer_Jig.cs"
+include "Mixer_Jig.cs"
+include "Location.cs"
+include "New_DyeHead_Jig.cs"
+include "New_Mixer_Jig.cs"
+
+//bool _click = false;
+System.Timers.Timer timer;
+
+
+string [,] Units_status   = new string[50,2];
+
+string	File_Name1	;
+string Status;
+
+
+const int Winder =0 ;
+const int LTFU =1 ;
+
+string path;
+string path1="C:\\Jig_Log\\";;
+
+bool BlinkOn = false;
+bool timer_started = false;
+CancellationTokenSource _cancellationTokenSource;
+ 
+int UNIT_UNDER_TEST ;	
+ 	
+
+public void OnExecute(StubManager stubManager)
+{
+	Label Run_text =  new Label () 
+	{
+		Width = 110,
+   	  	Height =35,
+   	  	Text = "",
+   	  	BackColor = Color.White
+  	};
+	
+	System.Windows.Forms.Label  _calc_text= 	new Label()
+    {
+        Width = 350,
+        Height = 125,
+        Text = ""
+    };
+	void setLabel1TextSafe(string txt)
+	{
+		if (_calc_text.InvokeRequired)
+	            _calc_text.Invoke(new Action(() => _calc_text.Text = txt));
+	    else
+	        _calc_text.Text = txt;
+	}
+	
+	void timer_Tick(object sender, EventArgs e)
+    {
+        if (BlinkOn)
+        {
+            Run_text.ForeColor = Color.Green;
+            Run_text.BackColor = Color.White;
+        }
+        else
+        {
+             Run_text.ForeColor = Color.Red;
+             Run_text.BackColor = Color.Black;
+
+         }
+         BlinkOn = !BlinkOn;
+        }
+	
+		timer = new System.Timers.Timer();
+        timer.Elapsed += timer_Tick;
+        timer.Interval = new TimeSpan(0, 0, 0, 0, 500).TotalMilliseconds;
+	//stubManager.WriteLine("OK!");
+		Form form1 = new Form();		
+// Set the caption bar text of the form.
+		//form1.TopMost = true;
+		form1.Text = "Tests";
+  		form1.FormBorderStyle = FormBorderStyle.FixedDialog;
+ 		form1.MaximizeBox = false;
+		form1.MinimizeBox = false;
+ 		form1.StartPosition = FormStartPosition.CenterScreen;
+	    form1.AutoSize = true;
+	    form1.AutoSizeMode = AutoSizeMode.GrowAndShrink;
+	    form1.BackColor = Color.FromArgb(233, 245, 255);
+//start mat	    
+// Create buttons to Winder. 
+ 		Button Winder_btm = new Button () 
+		{
+			Width = 80,
+	   	  	Height = 40,
+	  	};
+		Winder_btm.Text = "Winder";
+		Winder_btm.Location = new Point (4, 70);
+		Winder_btm.BackColor = System.Drawing.Color.Gray;
+	    form1.Controls.Add(Winder_btm);
+	    
+// Create buttons to LTFU. 
+ 		Button LTFU_btm = new Button () 
+		{
+			Width = 80,
+	   	  	Height = 40,
+	  	};
+		LTFU_btm.Text = "LTFU";
+		LTFU_btm.Location = new Point (94, 70);
+		LTFU_btm.BackColor = System.Drawing.Color.Gray;
+	    form1.Controls.Add(LTFU_btm);
+	    
+// Create buttons to Dryer. 
+ 		Button Dryer_btm = new Button () 
+		{
+			Width = 80,
+	   	  	Height = 40,
+	  	};
+		Dryer_btm.Text = "Dryer";
+		Dryer_btm.Location = new Point (184, 70);
+		Dryer_btm.BackColor = System.Drawing.Color.Gray;
+	    form1.Controls.Add(Dryer_btm);
+	    
+// Create buttons to Dye head. 
+ 		Button DyeHead_btm = new Button () 
+		{
+			Width = 80,
+	   	  	Height = 40,
+	  	};
+		DyeHead_btm.Text = "Dye head";
+		DyeHead_btm.Location = new Point (4, 114);
+		DyeHead_btm.BackColor = System.Drawing.Color.Gray;
+	    form1.Controls.Add(DyeHead_btm);
+	    
+// Create buttons to RTFU. 
+ 		Button RTFU_btm = new Button () 
+		{
+			Width = 80,
+	   	  	Height = 40,
+	  	};
+		RTFU_btm.Text = "RTFU";
+		RTFU_btm.Location = new Point (94, 114);
+		RTFU_btm.BackColor = System.Drawing.Color.Gray;
+	    form1.Controls.Add(RTFU_btm);
+	    
+// Create buttons to Mid Tank. 
+ 		Button MidTank_btm = new Button () 
+		{
+			Width = 80,
+	   	  	Height = 40,
+	  	};
+		MidTank_btm.Text = "Mid Tank";
+		MidTank_btm.Location = new Point (184, 114);
+		MidTank_btm.BackColor = System.Drawing.Color.Gray;
+	    form1.Controls.Add(MidTank_btm);
+	    
+// Create buttons to WHS. 
+ 		Button WHS_btm = new Button () 
+		{
+			Width = 80,
+	   	  	Height = 40,
+	  	};
+		WHS_btm.Text = "WHS";
+		WHS_btm.Location = new Point (94, 158);
+		WHS_btm.BackColor = System.Drawing.Color.Gray;
+	    form1.Controls.Add(WHS_btm);
+	    
+// Create buttons to Mixer. 
+ 		Button Mixer_btm = new Button () 
+		{
+			Width = 80,
+	   	  	Height = 40,
+	  	};
+		Mixer_btm.Text = "Mixer";
+		Mixer_btm.Location = new Point (4, 158) ;
+		Mixer_btm.BackColor = System.Drawing.Color.Gray;
+	    form1.Controls.Add(Mixer_btm);
+
+// Create buttons to New Mixer . 
+ 		Button NewMixer_btm = new Button () 
+		{
+			Width = 80,
+	   	  	Height = 40,
+	  	};
+		NewMixer_btm.Text = "New Mixer";
+		NewMixer_btm.Location = new Point (4, 202);
+		NewMixer_btm.BackColor = System.Drawing.Color.Gray;
+	    form1.Controls.Add(NewMixer_btm);
+	    
+// Create buttons to NewDyeHead. 
+ 		Button NewDyeHead_btm = new Button () 
+		{
+			Width = 80,
+	   	  	Height = 40,
+	  	};
+		NewDyeHead_btm.Text = "New Dye head";
+		NewDyeHead_btm.Location = new Point (184, 158);
+		NewDyeHead_btm.BackColor = System.Drawing.Color.Gray;
+	    form1.Controls.Add(NewDyeHead_btm);
+	    
+//-----Create Lable to Serial Number -----------
+
+		Label SN_lbl = new Label () 
+		{
+			Width = 150,
+	   	  	Height = 20,
+	   	  	Text =" S/N"
+  		};
+		SN_lbl.Location = new Point (30, 10);
+	 	form1.Controls.Add(SN_lbl);
+		TextBox SN_TexstBox = new TextBox () 
+		{
+			Width = 150,
+	   	  	Height = 20,
+	   	  	Text =""
+  		};
+		SN_TexstBox.Location = new Point (40, 40);
+		form1.Controls.Add(SN_TexstBox);
+ //----------Create Lable to LOCATION----------
+	 	Label Location_lbl = new Label () 
+		{
+			Width = 150,
+	   	  	Height = 20,
+	   	  	Text ="LOCATION"
+	  	};
+		Location_lbl.Location = new Point (300, 10);
+ 		form1.Controls.Add(Location_lbl);
+
+		TextBox Location_TexstBox = new TextBox () 
+		{
+			Width = 150,
+	   	  	Height = 20,
+	   	  	Text =Location_str
+	  	};
+		Location_TexstBox.Location = new Point (300, 40);
+ 		form1.Controls.Add(Location_TexstBox);
+ 	
+	Run_text.Location = new System.Drawing.Point(300, 100);
+    Run_text.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D;
+    Run_text.Name = "blink_Text";
+    Run_text.Font = new Font("Areal", 16, System.Drawing.FontStyle.Bold);
+	form1.Controls.Add(Run_text); 	
+//--------------------------------------------------------------------------------
+	Button Stop_btm = new Button()
+    {
+        Width = 260,
+        Height = 40,
+    };
+    Stop_btm.Text = "Stop process";
+    Stop_btm.BackColor = System.Drawing.Color.Red;
+    Stop_btm.Location = new System.Drawing.Point(4, 286);
+	Stop_btm.Enabled= false;
+    Stop_btm.Click += (_, __) =>
+    {
+        timer.Stop();
+        timer_started = false;
+        _cancellationTokenSource.Cancel();
+     		stubManager.WriteLine("stop ");
+ 
+    };
+	
+    form1.Controls.Add(Stop_btm);
+
+	void disable_test()
+	{
+            Winder_btm.Enabled = false;
+			LTFU_btm.Enabled = false;
+			RTFU_btm.Enabled = false;
+			Dryer_btm.Enabled = false;
+			MidTank_btm.Enabled= false;
+			DyeHead_btm.Enabled= false;
+			WHS_btm.Enabled= false;
+			Mixer_btm.Enabled= false;
+			NewMixer_btm.Enabled= false;
+			NewDyeHead_btm.Enabled= false;
+			Stop_btm.Enabled= true;
+	}
+	
+	void enable_test()
+	{
+			Winder_btm.Enabled = true;
+			LTFU_btm.Enabled = true;
+			RTFU_btm.Enabled = true;
+			Dryer_btm.Enabled = true;
+			MidTank_btm.Enabled= true;
+			DyeHead_btm.Enabled= true;
+			WHS_btm.Enabled= true;
+			Mixer_btm.Enabled= true;
+			NewMixer_btm.Enabled= true;
+			NewDyeHead_btm.Enabled= true;
+			Stop_btm.Enabled= false;
+	}
+	void Timer_en()
+	{	
+		if (timer_started == false)
+        {
+            timer.Start();
+            timer_started = true;
+	     }
+	}	
+	void Timer_dis()
+	{
+		if (timer_started == true)
+        {
+            timer.Stop();
+            timer_started = false;
+	     }
+	}
+	void end_test()
+	{	enable_test();
+			Timer_dis();
+		 
+			Run_text.Text = Status; 
+        if (Status=="Pass")
+        {
+            Run_text.ForeColor = Color.White;;
+            Run_text.BackColor = Color.Green;
+        }
+        else
+        {
+             Run_text.ForeColor = Color.Black;
+             Run_text.BackColor = Color.Red;
+
+        }
+	}
+
+//-----------------------------------------
+	Winder_btm.Click += async(_,__) => 
+	{
+		Run_text.Text = "Run";
+		stubManager.WriteLine("DUT- Winder ");
+		path="%userprofile%\\Dropbox\\"+Location_TexstBox.Text +"_Bench_Tester"+"\\Winder\\"  ;
+		Timer_en();
+     	_cancellationTokenSource = new CancellationTokenSource();
+        try
+        {
+			disable_test();
+            var longRunningTask = await Winder_test(setLabel1TextSafe, _cancellationTokenSource.Token, SN_TexstBox.Text ,Location_TexstBox.Text );
+        }
+        catch (OperationCanceledException)
+        {
+			enable_test();
+ 			Status="Cancel";
+			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,WINDER_Motor,3);		//stop motor
+			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,SCREW,3);		//stop motor
+
+		   stubManager.WriteLine("Task was cancelled");
+        }
+        finally
+        {
+            _cancellationTokenSource.Dispose();
+        }
+		end_test();
+	};
+//-----------------------------------------
+	LTFU_btm.Click += async(_,__) => 
+	{
+		Run_text.Text = "Run";
+		stubManager.WriteLine("DUT- LTFU ");
+		path="%userprofile%\\Dropbox\\"+Location_TexstBox.Text +"_Bench_Tester"+"\\LTFU\\"  ;
+
+		Timer_en();
+     	_cancellationTokenSource = new CancellationTokenSource();
+        try
+        {
+			disable_test();
+            var longRunningTask = await LTFU_test(setLabel1TextSafe, _cancellationTokenSource.Token, SN_TexstBox.Text ,Location_TexstBox.Text );
+        }
+        catch (OperationCanceledException)
+        {
+			enable_test();
+ 			Status="Cancel";
+			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LLOADING_Motor, 3);					//hold LRoading high z
+			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LDANCER1_Motor, 3);					//hold Lloading high z
+			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LDRIVING_Motor,3);		//stop motor
+
+			Thread.Sleep(100);
+			Motor_SetParam(F1_MOTO_LLOADING_TX1,F1_MOTO_LLOADING_TX0,0x0a,0x14000000);							//set kval ran to 0x14,0.65A
+			
+			
+		   stubManager.WriteLine("Task was cancelled");
+        }
+        finally
+        {
+            _cancellationTokenSource.Dispose();
+        }
+		end_test();
+	};
+//-----------------------------------------
+	Dryer_btm.Click += async(_,__) => 
+	{
+		Run_text.Text = "Run";
+		stubManager.WriteLine("DUT- Dryer ");
+		path="%userprofile%\\Dropbox\\"+Location_TexstBox.Text +"_Bench_Tester"+"\\Dryer\\"  ;
+		
+		Timer_en();
+     	_cancellationTokenSource = new CancellationTokenSource();
+        try
+        {
+			disable_test();
+            var longRunningTask = await Dryer_test(setLabel1TextSafe, _cancellationTokenSource.Token, SN_TexstBox.Text ,Location_TexstBox.Text );
+        }
+        catch (OperationCanceledException)
+        {
+			
+			enable_test();
+ 			Status="Cancel";
+			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DryerLid_Motor, 2);		//Hard stop hiZ motor
+			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DryerMain_Motor,3);		//stop motor
+			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DrierLoadingArm_Motor, 3);
+			SetBit (F2_CTRL, 10, 0);		//turn SSR1 off
+			SetBit (F2_CTRL, 9, 0);		//turn SSR2 off
+
+			
+			stubManager.WriteLine("Task was cancelled");
+        }
+        finally
+        {
+            _cancellationTokenSource.Dispose();
+        }
+		end_test();
+	};
+//-----------------------------------------
+	DyeHead_btm.Click += async(_,__) => 
+	{
+		Run_text.Text = "Run";
+		stubManager.WriteLine("DUT- DyeHead ");
+		path="%userprofile%\\Dropbox\\"+Location_TexstBox.Text +"_Bench_Tester"+"\\DyeHead\\"  ;
+
+		Timer_en();
+     	_cancellationTokenSource = new CancellationTokenSource();
+        try
+        {
+			disable_test();
+            var longRunningTask = await DyeHead_test(setLabel1TextSafe, _cancellationTokenSource.Token, SN_TexstBox.Text ,Location_TexstBox.Text );
+        }
+        catch (OperationCanceledException)
+        {
+			enable_test();
+ 			Status="Cancel";
+			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,MAGNET_Driver,3);		//stop magnet
+			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DyeingHeadLid_Motor,3);		//stop motor
+		   	SetBit (F2_CTRL, 3, 0);
+			SetBit (F2_CTRL, 4, 0);
+			SetBit (F2_CTRL, 5, 0);
+			SetBit (F2_CTRL, 6, 0);
+			SetBit (F1_gpo_01, 2, 0);
+			SetBit (F3_GPO_01_bus, 4, 0);
+
+			
+		   stubManager.WriteLine("Task was cancelled");
+        }
+        finally
+        {
+            _cancellationTokenSource.Dispose();
+        }
+		end_test();
+	};
+//-----------------------------------------
+	NewDyeHead_btm.Click += async(_,__) => 
+	{
+		Run_text.Text = "Run";
+		stubManager.WriteLine("DUT- New DyeHead ");
+		path="%userprofile%\\Dropbox\\"+Location_TexstBox.Text +"_Bench_Tester"+"\\NewDyeHead\\"  ;
+
+		Timer_en();
+     	_cancellationTokenSource = new CancellationTokenSource();
+        try
+        {
+			disable_test();
+            var longRunningTask = await NewDyeHead_test(setLabel1TextSafe, _cancellationTokenSource.Token, SN_TexstBox.Text ,Location_TexstBox.Text );
+        }
+        catch (OperationCanceledException)
+        {
+			enable_test();
+ 			Status="Cancel";
+			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,MAGNET_Driver,3);		//stop magnet
+			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DyeingHeadLid_Motor,3);		//stop motor
+		   	SetBit (F2_CTRL, 3, 0);//?????????????????
+			SetBit (F2_CTRL, 4, 0);//????????????????
+			SetBit (F2_CTRL, 5, 0);//?????????????????/
+			SetBit (F2_CTRL, 6, 0);//????????????????
+			SetBit (F1_gpo_01, 2, 0);//???????????????
+			SetBit (F3_GPO_01_bus, 4, 0);//????????????????????
+
+			
+		   stubManager.WriteLine("Task was cancelled");
+        }
+        finally
+        {
+            _cancellationTokenSource.Dispose();
+        }
+		end_test();
+	};
+//-----------------------------------------
+	RTFU_btm.Click += async(_,__) => 
+	{
+		Run_text.Text = "Run";
+		stubManager.WriteLine("DUT- RTFU ");
+		path="%userprofile%\\Dropbox\\"+Location_TexstBox.Text +"_Bench_Tester"+"\\RTFU\\"  ;		
+		Timer_en();
+     	_cancellationTokenSource = new CancellationTokenSource();
+        try
+        {
+			disable_test();
+            var longRunningTask = await RTFU_test(setLabel1TextSafe, _cancellationTokenSource.Token, SN_TexstBox.Text ,Location_TexstBox.Text );
+        }
+        catch (OperationCanceledException)
+        {
+			enable_test();
+ 			Status="Cancel";
+			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading high z
+			Thread.Sleep(100);
+			Motor_SetParam(F1_MOTO_RLOADING_TX1,F1_MOTO_RLOADING_TX0,0x0a,0x14000000);							//set kval ran to 0x14,0.65A
+			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RDANCER_Motor, 3);					//hold Rloading high z
+			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RDRIVING_Motor,3);		//stop motor
+		   stubManager.WriteLine("Task was cancelled");
+        }
+        finally
+        {
+            _cancellationTokenSource.Dispose();
+        }
+		end_test();
+	};
+//-----------------------------------------
+	MidTank_btm.Click += async(_,__) => 
+	{
+		Run_text.Text = "Run";
+		stubManager.WriteLine("DUT- MidTank ");
+		path="%userprofile%\\Dropbox\\"+Location_TexstBox.Text +"_Bench_Tester"+"\\MidTank\\"  ;
+		Timer_en();
+     	_cancellationTokenSource = new CancellationTokenSource();
+        try
+        {
+			disable_test();
+            var longRunningTask = await MidTank_test(setLabel1TextSafe, _cancellationTokenSource.Token, SN_TexstBox.Text ,Location_TexstBox.Text );
+        }
+        catch (OperationCanceledException)
+        {
+			enable_test();
+ 			Status="Cancel";
+			stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F3_VALVE_OUT, 0);		//close all valve
+			
+		   stubManager.WriteLine("Task was cancelled");
+        }
+        finally
+        {
+            _cancellationTokenSource.Dispose();
+        }
+		end_test();
+	};
+//---------------------------Mixer--------------
+	Mixer_btm.Click += async(_,__) => 
+	{
+		Run_text.Text = "Run";
+		stubManager.WriteLine("DUT- Mixer ");
+		path="%userprofile%\\Dropbox\\"+Location_TexstBox.Text +"_Bench_Tester"+"\\Mixer\\"  ;
+
+		Timer_en();
+     	_cancellationTokenSource = new CancellationTokenSource();
+        try
+        {
+			disable_test();
+            var longRunningTask = await Mixer_test(setLabel1TextSafe, _cancellationTokenSource.Token, SN_TexstBox.Text ,Location_TexstBox.Text );
+        }
+        catch (OperationCanceledException)
+        {
+			enable_test();
+ 			Status="Cancel";
+			SetBit (F1_gpo_01, 7, 0);		//clear bit F1_VALVE_MIXCHIP_WASTECH
+			SetBit (F2_CTRL, 7, 0);		//clear bit mixer SSR
+		   stubManager.WriteLine("Task was cancelled");
+        }
+        finally
+        {
+            _cancellationTokenSource.Dispose();
+        }
+		end_test();
+	};
+//---------------------------new Mixer--------------
+	NewMixer_btm.Click += async(_,__) => 
+	{
+		Run_text.Text = "Run";
+		stubManager.WriteLine("DUT- New Mixer ");
+		path="%userprofile%\\Dropbox\\"+Location_TexstBox.Text +"_Bench_Tester"+"\\Mixer\\"  ;
+
+		Timer_en();
+     	_cancellationTokenSource = new CancellationTokenSource();
+        try
+        {
+			disable_test();
+            var longRunningTask = await New_Mixer_test(setLabel1TextSafe, _cancellationTokenSource.Token, SN_TexstBox.Text ,Location_TexstBox.Text );
+        }
+        catch (OperationCanceledException)
+        {
+			enable_test();
+ 			Status="Cancel";
+		//	SetBit (F1_gpo_01, 7, 0);		????????????//clear bit F1_VALVE_MIXCHIP_WASTECH
+		//	SetBit (F2_CTRL, 7, 0);		//????????????clear bit mixer SSR
+		   stubManager.WriteLine("Task was cancelled");
+        }
+        finally
+        {
+            _cancellationTokenSource.Dispose();
+        }
+		end_test();
+	};
+
+//---------------------------WHS--------------
+	
+//----------------------------------------
+	 _calc_text.Location = new System.Drawing.Point(300, 150);
+    _calc_text.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D;
+    _calc_text.Name = "";
+    _calc_text.Font = new Font("Areal", 16, System.Drawing.FontStyle.Bold);
+    form1.Controls.Add(_calc_text);
+//	stubManager.WriteLine("Start dialog!");
+	form1.ShowDialog();
+	
+	return ;
+   
+    
+}
+ //---------------------------------------------------------------------------------------------------------------------
+string 		write_to_file(string s_n,string loocation,int unit_nm,string DUT)
+
+{
+string Stemp="Pass";
+string Stemp1="P";
+
+int i;
+	
+		for ( i=0;i<unit_nm;i++)
+		{
+			if ((Units_status[i,1]=="Fail")||(Units_status[i,1]=="Not Test"))
+			{	Stemp="Fail";
+				Stemp1="F";
+			}
+		}
+		
+if (!Directory.Exists(path))
+	{
+		if (!Directory.Exists(path1))
+			Directory.CreateDirectory(path1);
+		path=path1;	
+	}			
+
+		
+		
+string 	File_Name2=Environment.ExpandEnvironmentVariables(path +Stemp1+"_"+ s_n +"_"+DUT +"_"+ DateTime.Now.ToString("MM_dd_yyyy_HH_mm_ss")+".log" );
+
+stubManager.Write(File_Name2 +"\n");
+
+stubManager.WriteToFile(File_Name2,DateTime.Now +" " );
+stubManager.Write(DateTime.Now +"\n" );
+
+stubManager.AppendToFile(File_Name2,DUT + " Test Report" );
+stubManager.Write(DUT + " Test Report\n" );
+
+stubManager.AppendToFile(File_Name2,DUT + " S/N: \t" + s_n  );
+stubManager.Write(DUT + " S/N: \t" + s_n+"\n" );
+                  
+
+stubManager.AppendToFile(File_Name2,"Location:\t" + loocation +"\n" );
+stubManager.Write("Location:" + loocation+"\n\n" );
+
+		for ( i=0;i<unit_nm;i++)
+		{
+			stubManager.AppendToFile(File_Name2,Units_status[i,0]+"\t" + Units_status[i,1] );
+			stubManager.Write(Units_status[i,0]+"\t" + Units_status[i,1]+"\n" );
+		}
+		if (Stemp=="Fail")
+			{
+			stubManager.AppendToFile(File_Name2,"-------------"+DUT+ " Fail ------------ ");
+			stubManager.Write("-------------"+DUT+ " Fail ------------ ");
+			}
+		else
+			{
+			stubManager.AppendToFile(File_Name2,"-------------"+DUT+ " Pass ------------ ");
+			stubManager.Write("-------------"+DUT+ " Pass ------------ ");
+			}
+	return Stemp;
+}	
+
+//-------------------------------------------------------------------------------------
+void copy_table(int testing_nm,string [,]Units_status_DUT)
+{
+	for (int i=0;i<testing_nm;i++)
+	{
+///	Units_status[i,0]=Units_status_Winder[i,0];
+//		Units_status[i,1]=Units_status_Winder[i,1];
+		Units_status[i,0]=Units_status_DUT[i,0];
+		Units_status[i,1]=Units_status_DUT[i,1];
+		
+	}	
+}
+
+public int delay(Int32 ms_delay)
+ {
+int i;
+	 for (i=0 ;i<ms_delay;i=i+10)
+	 { 
+		Thread.Sleep(10);
+            if (_cancellationTokenSource.Token.IsCancellationRequested)
+            {
+                _cancellationTokenSource.Token.ThrowIfCancellationRequested();
+                 throw new TaskCanceledException();
+                return 0;
+            }
+	 }
+	       return 0;
+
+ }
+
+
+Int32 GetBit(Int32 Adr, Int32 BitNo) 
+{
+	Int32 BitMask;
+	var RetVal = Fpga_Read_Reg(Adr);
+	BitMask = 0x1 << BitNo;
+	if ( ( (Int32) RetVal.Value & BitMask) == BitMask ) 
+	{ 
+		return 1;
+	}
+	else 
+	{
+		return 0;
+	}
+	
+}
+
+public Int32 SetBit(Int32 Adr, Int32 BitNo, Int32 Bit)
+{
+	Int32 BitMask;
+	var RetVal = Fpga_Read_Reg(Adr);
+	Int32 RV = (Int32) RetVal.Value;
+	
+	if (Bit == 0x1) 
+	{
+		BitMask = 0x1 << BitNo;
+		RV = RV | BitMask;
+		Fpga_Write_Reg( Adr, RV );
+	}
+	else if (Bit == 0x0)
+	{
+		BitMask = ~(0x1 << BitNo);
+		RV = RV & BitMask;
+		Fpga_Write_Reg(Adr, RV );	
+	}
+	return 1;
+}
+
+
+int Fpga_Write_Reg(Int32 Addr, Int32 Data)
+{
+	var response = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,Addr, Data);
+	
+	return 1;
+}
+
+
+
+StubFpgaReadRegResponse Fpga_Read_Reg(Int32 Addr)
+{
+    var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,Addr);
+	response.Value = response.Value & 0xffff;
+	
+	return response;
+}
+
+float Read_pt100(int i)	
+{
+			var response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" ,i); //
+			float ftemp = (float)response.TemperatureCMultBy100;
+			ftemp = ftemp / 100;
+		return (ftemp);
+}
+int Motor_SetParam(Int32 HighAdr, Int32 LowAdr, Int32 ParaAddr, uint ParaData1)
+{
+	
+	Int32 Temp = 0;
+	Temp = (ParaAddr << 8 ) + ( (Int32) ParaData1 >> 24);
+
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,HighAdr, (Temp & 0xffff));
+	Temp = ((Int32)ParaData1 >> 8) & 0xffff;
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,LowAdr, (Temp));
+		
+	return 1;
+}
+
+//--------------------------------
+int adc_configuration(uint I2C_Slave_Add,uint channel ) 
+{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID2;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x00);//Byte 0 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(channel);//Byte 1 to Write, must be 0x80, 0x40, 0x20, 0x10, 0x08, 0x04, 0x02 or 0x01 for different channels
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x80);//Byte 2 to Write
+	
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+}
+//--------------------------------
+int adc_set_for_read_ch(uint I2C_Slave_Add) 
+{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID2;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x01);//Byte 0 to write
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+}
+//--------------------------------	
+
+uint adc_read_ch(uint I2C_Slave_Add) 
+{
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID2;
+	stubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add;
+	stubI2CReadBytesRequest.NumberOfBytesToRead = 2; // Number of bytes to read
+
+	var response1 = stubManager.Run<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+	uint temph=0;
+	uint templ=0;
+	uint temp;
+			temph=response1.ReadBytes[0];
+			templ=response1.ReadBytes[1];
+			temp = (temph << 8) | templ;
+			temp=temp & 0x0fff;
+				
+	return temp;
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Jig_Tester/LTFU_Jig.cs b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/LTFU_Jig.cs
new file mode 100644
index 000000000..e986e7942
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/LTFU_Jig.cs
@@ -0,0 +1,392 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+//--------------------------------------------------------------------------------
+
+const  int LTFU_UNDER_TEST=9;
+//---------------------------
+
+string [,] Units_status_LTFU = new string[LTFU_UNDER_TEST,2]	{ 
+												{"LS_LLOADMOTOR_Up","Not Test"},	//0
+												{"LS_LLOADMOTOR_DOWN","Not Test"},	//1
+												{"LLOADING_Motor","Not Test"},		//2
+												{"LDRIVING_Motor","Not Test"},		//3
+												{"LS_LDANCER1_DOWN","Not Test"},	//4
+												{"LS_LDANCER1_UP","Not Test"},		//5
+												{"LDANCER1_Motor","Not Test"},		//6
+												{"LDANCER1_ROTENC","Not Test"},		//7
+												{"LDANCER1_ROTENC","Not Test"},		//8
+											};
+//-----------------------------------------------------
+//--------------------------------------------------------------------------------
+
+
+public Task<decimal> LTFU_test( Action<string> settext, CancellationToken cancellationToken, string SN, string Location)
+{
+    Task<decimal> task = null;
+    // Start a task and return it
+    task = Task.Run(() =>
+    {
+	stubManager.Write("S/N:" +SN+ "\n");
+	stubManager.Write("Location:" +Location+ "\n");
+
+	copy_table (LTFU_UNDER_TEST,Units_status_LTFU);
+	
+	settext("Test LLOADING LTFU");
+	Test_LLOADING_LTFU();
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LLOADING_Motor, 3);					//hold LRoading high z
+	delay(100);
+	Motor_SetParam(F1_MOTO_LLOADING_TX1,F1_MOTO_LLOADING_TX0,0x0a,0x14000000);							//set kval ran to 0x14,0.65A
+
+	settext("Test LDRIVING LTFU");
+	Test_LDRIVING_LTFU();
+
+	settext("Test DANCER LTFU");
+
+	Test_DANCER_LTFU();
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LDANCER1_Motor, 3);					//hold Lloading high z
+
+	Status=write_to_file(SN,Location,LTFU_UNDER_TEST,"LTFU");
+
+	settext("End Test");
+	
+	decimal result = 0;
+		
+        return result;
+    });
+    return task;
+}
+
+
+ //------------------------------------  
+int Test_LLOADING_LTFU()
+{
+	int	temp=1; 
+	int counter;
+	
+	Motor_SetParam(F1_MOTO_LLOADING_TX1,F1_MOTO_LLOADING_TX0,0x0a,0x2c000000);							//set kval ran to 0x2c- 1.3A
+	delay(100);
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,LLOADING_Motor, false,200);				//move Rloading down
+	delay(3000);
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LLOADING_Motor, 3);					//hold Rloading high z
+	delay(1000);
+//------------------------------------------ check  F1_LS_LLOADMOTOR_UP------------------------------------------------
+
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_02_Direct);	//read LS
+	if ((response.Value & F1_LS_LLOADMOTOR_UP) !=F1_LS_LLOADMOTOR_UP )									//if LS_RLOADMOTOR_UP is up then error
+	{	
+		DialogResult result = MessageBox.Show("Did LLOADIN MOTOR Move?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.Yes)
+		{
+		Units_status[0,1]="Fail";
+		stubManager.Write("LS_LLOADMOTOR_UP\tFail\n");	
+		return 0;
+		}
+	else 
+		{
+			Units_status[2,1]="Fail";
+			stubManager.Write("LLOADMOTOR\tFail\n");
+			return 0;
+		}
+	}	
+//----------------------------------------- mov LLOADING up -------------------------------------------------
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,LLOADING_Motor,true,200);				//move Lloading up
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_02_Direct);	//if LS_LLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_LLOADMOTOR_UP) != F1_LS_LLOADMOTOR_UP  )
+			counter=250;
+		
+			delay(100);	
+	}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LLOADING_Motor, 3);					//hold Lloading high z
+
+	if (counter == 150) 								
+	{	
+		Units_status[0,1]="Fail";
+		stubManager.Write("LS_LLOADMOTOR_UP\tFail\n");	
+		return 0;
+	}
+	DialogResult result1 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result1 == DialogResult.No)
+		{
+			Units_status[0,1]="Fail";
+			stubManager.Write("LS_LLOADMOTOR_UP Not calibrate\n");
+			return 0;
+		}
+	Units_status[0,1]="Pass";
+	Units_status[2,1]="Pass";
+	
+//------------------------------------------ check  F1_LS_LLOADMOTOR_DN------------------------------------------------
+		
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_02_Direct);		//read LS
+	
+	if ((response.Value & F1_LS_LLOADMOTOR_DN) !=F1_LS_LLOADMOTOR_DN )										//if LS_LLOADMOTOR_DN is up then error
+	{	
+		Units_status[1,1]="Fail";
+		stubManager.Write("LS_LLOADMOTOR_DN\tFail\n");
+		return 0;
+	}
+//------------------------------------------ mov LLOADING dn ------------------------------------------------
+
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,LLOADING_Motor, false,200);				//move Lloading down
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_02_Direct);	//if LS_LLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_LLOADMOTOR_DN) != F1_LS_LLOADMOTOR_DN  )
+			counter=250;	
+			
+			delay(100);	
+	}
+	
+		if (counter == 150) 								
+	{	
+		Units_status[1,1]="Fail";
+		stubManager.Write("LS_LLOADMOTOR_DN\tFail\n");	
+		return 0;
+	}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LLOADING_Motor, 3);					//hold Lloading high z
+		
+	DialogResult result4 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result4 == DialogResult.No)
+		{
+			Units_status[1,1]="Fail";
+			stubManager.Write("LS_LLOADMOTOR_DN Not calibrate\n");
+			return 0;
+		}
+	Units_status[1,1]="Pass";
+		stubManager.Write("LLOADMOTOR\tPass\n");
+	
+		stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,LLOADING_Motor, false,200);				//move Lloading down
+			delay(2000);	
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LLOADING_Motor, 3);					//hold Lloading high z
+
+	return 1 ;
+
+}	
+
+
+Int32 ReadEncoder(int i)
+{
+	Int32 temp;
+	
+	if (i==0)			//LDANCER1_ROTENC
+		{
+			stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F1_LDANCER1_ROTENC_TX, 0x0000);		//triggers a TX transmission
+
+			var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LDANCER1_ROTENC_LSB);
+			var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LDANCER1_ROTENC_MSB);		 
+		
+			temp =  Convert.ToInt32 (((((response1.Value <<16) + 	response.Value)>>10 ) & 0x3fff));
+	
+
+			return temp;
+		}
+								//LDANCER2_ROTENC
+		
+			stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F1_LDANCER2_ROTENC_TX, 0x0000);		//triggers a TX transmission
+			var response2 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LDANCER2_ROTENC_LSB);
+			var response3 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LDANCER2_ROTENC_MSB);		 
+		
+			temp =  Convert.ToInt32 (((((response3.Value <<16) + 	response2.Value)>>10 ) & 0x3fff));
+	
+
+			return temp;
+}
+//--------------------------------------------------------------------------------
+int Test_DANCER_LTFU()
+{
+	int counter;
+	Int32 temp;
+	Int32 temp1;
+	Int32 temp2;
+	Int32 temp3;
+	
+	
+//------------------------------------------ check  F1_LS_LDANCER1_DN  ------------------------------------------------
+
+	MessageBox.Show("Make sure LDANCER Doun");
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_02_Direct);	//read LS
+	
+	
+	if ((response.Value & F1_LS_LDANCER1_UP) !=F1_LS_LDANCER1_UP )								//if F1_LS_LDANCER1_UP is up then error
+	{	
+		Units_status[5,1]="Fail";
+		stubManager.Write("LS_LDANCER_UP\tFail\n");	
+		return 0;
+	}
+	
+//----------------------------------------- check F1_LS_LDANCER1_UP -------------------------------------------------
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,LDANCER1_Motor,false,400);				//move Lloading up
+	counter =0;
+	while ( counter < 250)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_02_Direct);	//if F1_LS_LDANCER1_UP is up then move down
+		if ((response.Value & F1_LS_LDANCER1_UP) != F1_LS_LDANCER1_UP  )
+			counter=350;
+		
+			delay(100);	
+	}
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LDANCER1_Motor, 3);					//hold Ldancer high z
+	
+	
+		if (counter == 250) 								
+	{	
+		Units_status[5,1]="Fail";
+		stubManager.Write("LS_LDANCER1_UP\tFail\n");	
+		return 0;
+	}
+
+	 response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_02_Direct);	//read LS
+	if ((response.Value & F1_LS_LDANCER1_DN) !=F1_LS_LDANCER1_DN )								//if F1_LS_LDANCER1_DN is up then error
+	{	
+		Units_status[4,1]="Fail";
+		stubManager.Write("LS_LDANCER1_DOWN\tFail\n");	
+		return 0;
+	}
+
+	DialogResult result5= MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	
+	if(result5== DialogResult.No)
+		{
+			Units_status[5,1]="Fail";
+			stubManager.Write("LS_LDANCER1_UP Not calibrate\n");
+			return 0;
+		}
+	
+	Units_status[5,1]="Pass";
+	stubManager.Write("LS_LDANCER1_UP\tPass\n");	
+
+//----------------------------------------- mov LDANCER1_Motor down and check Ldancer encoder -------------------------------------------------
+	temp= ReadEncoder(0);
+	delay(10);	
+
+	temp2= ReadEncoder(1);
+
+	
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,LDANCER1_Motor,true,400);				//move Rloading down
+	counter =0;
+	while ( counter < 250)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_02_Direct);	//if LS_LDANCER1_DN is dn then move stop
+		if ((response.Value & F1_LS_LDANCER1_DN) != F1_LS_LDANCER1_DN  )
+			counter=350;
+		
+			delay(100);	
+	}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LDANCER1_Motor, 3);					//hold Rloading high z
+		if (counter == 250) 								
+	{	
+		Units_status[4,1]="Fail";
+		stubManager.Write("LS_LDANCER1_DOWN\tFail\n");	
+		return 0;
+	}
+	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	
+	if(result2 == DialogResult.No)
+		{
+			Units_status[4,1]="Fail";
+			stubManager.Write("LS_LDANCER1_DN Not calibrate\n");
+			return 0;
+		}
+	
+	Units_status[4,1]="Pass";
+	stubManager.Write("LS_LDANCER1_DN\tPass\n");	
+	
+	Units_status[6,1]="Pass";
+	stubManager.Write("LDANCER1_Motor\tPass\n");	
+
+	temp1= ReadEncoder(0);
+	temp3= ReadEncoder(1);
+
+	stubManager.Write("temp="+temp + "\temp1="+temp1 +"\n");
+		
+	DialogResult result = MessageBox.Show("SSI Dancer1 led is Green(not blinking)?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.No)
+		{
+			Units_status[7,1]="Fail";
+			stubManager.Write("LDANCER1_SSI\tFail\n");	
+		}
+	else
+		{
+			if (temp>temp1)
+			temp1=temp1+0x4000;
+			temp1=temp1-temp;			
+			if ((temp1> 4000) || (temp1 <200))
+				{
+					Units_status[7,1]="Fail";
+					stubManager.Write("LDANCER1_SSI\tFail\n");	
+				}
+			else
+				{
+					Units_status[7,1]="Pass";
+					stubManager.Write("LDANCER1_SSI\tPass\n");	
+				}
+		}
+	stubManager.Write("temp2="+temp2 + "\temp3="+temp3 +"\n");
+		
+	DialogResult result3 = MessageBox.Show("SSI Dancer2 led is Green(not blinking)?", "Warning",MessageBoxButtons.YesNo);
+	if(result3 == DialogResult.No)
+		{
+			Units_status[8,1]="Fail";
+			stubManager.Write("LDANCER2_SSI\tFail\n");	
+		}
+	else
+		{
+			if (temp3>temp2)
+			temp2=temp2+0x4000;
+			temp2=temp2-temp3;			
+			if ((temp2> 4000) || (temp2 <200))
+				{
+					Units_status[8,1]="Fail";
+					stubManager.Write("LDANCER2_SSI\tFail\n");	
+				}
+			else
+				{
+					Units_status[8,1]="Pass";
+					stubManager.Write("LDANCER2_SSI\tPass\n");	
+				}
+		}		
+	return 1;
+}
+
+
+//-------------------------------------------------------------
+int Test_LDRIVING_LTFU()
+{	
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,LDRIVING_Motor, true,200);				//move Ldriving clockwise 
+	stubManager.Write("LDRIVING_Motor Motor rotate \n ");
+	
+	DialogResult result = MessageBox.Show("Are LDRIVING Motor rotate?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.No)
+		{
+			Units_status[3,1]="Fail";
+			stubManager.Write("LDRIVING Motor not rotate\n");
+		}
+	else 
+		{
+			Units_status[3,1]="Pass";
+			stubManager.Write("LDRIVING Motor rotate\n");
+		}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,LDRIVING_Motor,3);		//stop motor
+
+	return 0;
+}	
+
+
+
diff --git a/Software/Stubs Collection/stubs/Scripts/Jig_Tester/MidTank_Jig.cs b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/MidTank_Jig.cs
new file mode 100644
index 000000000..1a0a591bc
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/MidTank_Jig.cs
@@ -0,0 +1,200 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+using System.Timers;
+
+const  int MidTank_UNDER_TEST	=24;
+int [] Convert_Midtank_No = new Int32 [8] {1,3,5,7,2,4,6,8};
+uint [,] ADC_Add_Chnl = new uint [8,2]	{
+												{0x44,0x20},				
+												{0x44,0x08},				
+												{0x46,0x80},
+												{0x46,0x20},
+												{0x44,0x10},
+												{0x44,0x04},
+												{0x46,0x40},
+												{0x46,0x10},
+										};
+
+
+string [,] Units_status_MidTank = new string[MidTank_UNDER_TEST,2]	{ 
+												{"Midtank1_Valve_Air","Not Test"},				//0
+												{"Midtank1_Valve_Ink","Not Test"},				//1
+												{"Midtank1_Pressure_Sensor","Not Test"},		//2
+												{"Midtank2_Valve_Air","Not Test"},				//3
+												{"Midtank2_Valve_Ink","Not Test"},				//4
+												{"Midtank2_Pressure_Sensor","Not Test"},		//5
+												{"Midtank3_Valve_Air","Not Test"},				//6
+												{"Midtank3_Valve_Ink","Not Test"},				//7
+												{"Midtank3_Pressure_Sensor","Not Test"},		//8
+												{"Midtank4_Valve_Air","Not Test"},				//9
+												{"Midtank4_Valve_Ink","Not Test"},				//10
+												{"Midtank4_Pressure_Sensor","Not Test"},		//11
+												{"Midtank5_Valve_Air","Not Test"},				//12
+												{"Midtank5_Valve_Ink","Not Test"},				//13
+												{"Midtank5_Pressure_Sensor","Not Test"},		//14
+												{"Midtank6_Valve_Air","Not Test"},				//15
+												{"Midtank6_Valve_Ink","Not Test"},				//16
+												{"Midtank6_Pressure_Sensor","Not Test"},		//17
+												{"Midtank7_Valve_Air","Not Test"},				//18
+												{"Midtank7_Valve_Ink","Not Test"},				//19
+												{"Midtank7_Pressure_Sensor","Not Test"},		//20
+												{"Midtank8_Valve_Air","Not Test"},				//21
+												{"Midtank8_Valve_Ink","Not Test"},				//22
+												{"Midtank8_Pressure_Sensor","Not Test"},		//23
+											};
+//--------------------------------------------------------------------------------
+
+public Task<decimal> MidTank_test( Action<string> settext, CancellationToken cancellationToken, string SN, string Location)
+{
+    Task<decimal> task = null;
+    // Start a task and return it
+    task = Task.Run(() =>
+    {
+
+	stubManager.Write("S/N:" +SN+ "\n");
+	stubManager.Write("Location:" +Location+ "\n");
+	stubManager.Write("-----------------------\n");
+
+	copy_table (MidTank_UNDER_TEST,Units_status_MidTank);
+	stubManager.Write("+++++++++++++++++++\n");
+		
+	settext("Test MidTank");
+	Test_MIDTANK();
+
+	Status=write_to_file(SN,Location,MidTank_UNDER_TEST,"MidTank");
+    settext("End Test");
+	decimal result = 0;
+
+    return result;
+    });
+    return task;
+}
+
+ //------------------------------------  
+int Test_MIDTANK()
+{
+	double Pressur_Volt;
+	double temp;
+	for (Int32 i=1;i<9;i++)
+	{
+		open_valve(i,0,1)		;	//open Air valve
+		open_valve(i,1,1)		;	//open Ink valve
+		delay(2000);
+		Pressur_Volt=read_pressuere_sense(i);
+		if ((Pressur_Volt>3 )||(Pressur_Volt<2))
+			{
+				Units_status[(i-1)*3+2,1]="Fail";
+				stubManager.Write("pressuere_sense of midtank" + i +"\tFail\n");	
+			}
+		else 	
+			{
+				close_valve(i,1,0)		;	//close Ink valve
+				DialogResult result = MessageBox.Show("ADD 20cc air thru Air valve of Midtank"+ i, "Warning");
+				close_valve(i,0,0)		;	//close Air valve
+				delay(2000);
+
+				temp=read_pressuere_sense(i);
+				temp=temp-Pressur_Volt;
+				if ((temp>0.5) && ( temp <2))
+					Units_status[(i-1)*3+2,1]="Pass";
+				else
+					Units_status[(i-1)*3+2,1]="Fail";
+			}
+		
+		close_valve(i,0,0)		;	//close Air valve
+		close_valve(i,1,0)		;	//close Ink valve
+	}
+	return 1;	
+}
+
+double read_pressuere_sense(Int32 Midtank_Nm)
+{
+double 	Pressur_Volt;
+double calc;
+uint temp;
+
+	adc_configuration((ADC_Add_Chnl[Midtank_Nm-1,0]),(ADC_Add_Chnl[Midtank_Nm-1,1])	);		//configure address and channel of midtank 
+	adc_set_for_read_ch(ADC_Add_Chnl[Midtank_Nm-1,0]);
+	temp =adc_read_ch(ADC_Add_Chnl[Midtank_Nm-1,0]);
+	calc= (double)temp *2.5 / 4096.0;
+	Pressur_Volt = (1.96- calc) * 4.64 + 1.96;
+	stubManager.Write("pressure sense of midtank " + Midtank_Nm + "is " + Pressur_Volt+ "Volt\n");	
+	return Pressur_Volt;
+}
+
+
+//--------------------------------
+int open_valve (int valve_nm,int valve_type,int check_valve)		//valve_type=0 is Air ,1 is Ink ; check_valve=1 send feedbak
+{
+	int temp1=Convert_Midtank_No[valve_nm-1]	;
+
+	string temp;
+	SetBit (F3_VALVE_OUT,((valve_type+1)*8)- temp1, 1);
+		if (check_valve!=0)
+		{
+			temp="Air";
+			if (valve_type==1)
+			temp="Ink";
+				
+			DialogResult result = MessageBox.Show("Did " + temp + "Valve of Midtank " + valve_nm +" open?", "Warning",MessageBoxButtons.YesNo);
+			if(result == DialogResult.No)
+				{
+					Units_status[(valve_nm-1)*3+valve_type,1]="Fail";
+					stubManager.Write(temp +"Valve\tFail\n");	
+					return 0;
+				}
+			else 
+				{
+					Units_status[(valve_nm-1)*3+valve_type,1]="Pass";
+					stubManager.Write(temp +"Valve\tOpen\n");	
+					return 1;
+				}
+			
+		}
+		return 1;
+
+}
+//--------------------------------	
+int close_valve (int valve_nm,int valve_type,int check_valve)
+{
+	int temp1=Convert_Midtank_No[valve_nm-1];	
+
+	string temp;
+	SetBit (F3_VALVE_OUT,((valve_type+1)*8)- temp1, 0);
+	if (check_valve!=0)
+		{
+			temp="Air";
+			if (valve_type==1)
+			temp="Ink";
+				
+			DialogResult result = MessageBox.Show("Did " + temp +" Valve of Midtank " + valve_nm +" close?", "Warning",MessageBoxButtons.YesNo);
+			if(result == DialogResult.No)
+				{
+					Units_status[(valve_nm-1)*3+valve_type,1]="Fail";
+					stubManager.Write(temp +"Valve\tFail\n");	
+					return 0;
+				}
+			else 
+				{
+					Units_status[(valve_nm-1)*3+valve_type,1]="Pass";
+					stubManager.Write(temp +"Valve\tclose\n");	
+					return 1;
+				}			
+		}
+	return 1;
+
+
+
+
+}
+//--------------------------------
diff --git a/Software/Stubs Collection/stubs/Scripts/Jig_Tester/Mixer_Jig.cs b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/Mixer_Jig.cs
new file mode 100644
index 000000000..c5d14855e
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/Mixer_Jig.cs
@@ -0,0 +1,131 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+const  int Mixer_UNDER_TEST=3;
+
+float  MixerTemp ;
+
+string [,] Units_status_Mixer = new string[Mixer_UNDER_TEST,2]	{ 
+												{"Pt100_Mixer","Not Test"},
+												{"Heater_Mixer","Not Test"},
+												{"VALVE_Mixer","Not Test"},
+											};
+
+
+
+//--------------------------------------------------------------------------------
+
+public Task<decimal> Mixer_test( Action<string> settext, CancellationToken cancellationToken, string SN, string Location)
+{
+    Task<decimal> task = null;
+    // Start a task and return it
+    task = Task.Run(() =>
+    {
+	stubManager.Write("S/N:" +SN+ "\n");
+	stubManager.Write("Location:" +Location+ "\n");
+
+	copy_table (Mixer_UNDER_TEST,Units_status_Mixer);
+
+
+//------------------------------- start test -----------
+	settext("Test heaters & pt100");
+	Test_Mixer_heaters_pt100 ();
+	settext("Test VALVE Mixer");
+	Test_VALVE_Mixer ();
+	
+	Status=write_to_file(SN,Location,Mixer_UNDER_TEST,"Mixer");
+
+	settext("End Test");
+	
+	decimal result = 0;
+		
+        return result;
+    });
+    return task;
+}
+  
+//-------------------------------------------- 	 
+ int	Test_VALVE_Mixer ()
+ {
+	SetBit (F1_gpo_01, 7, 1);		//set bit F1_VALVE_MIXCHIP_WASTECH
+	 
+	DialogResult result = MessageBox.Show("MixCHIP Valve Open ?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.No)
+		{
+			Units_status[2,1]="Fail";
+			stubManager.Write("VALVE_MIXCHIP_WASTECH Not open\n");
+			return 0;
+		}
+	SetBit (F1_gpo_01, 7, 0);		//clear bit F1_VALVE_MIXCHIP_WASTECH
+	 
+	DialogResult result1 = MessageBox.Show("MixCHIP Valve close ?", "Warning",MessageBoxButtons.YesNo);
+	if(result1 == DialogResult.No)
+		{
+			Units_status[2,1]="Fail";
+			stubManager.Write("VALVE_MIXCHIP_WASTECH Not close\n");
+			return 0;
+		}
+			Units_status[2,1]="Pass";
+			return 0;
+ }
+
+//------------------------------------  
+public int Test_Mixer_heaters_pt100()
+{
+	
+//	uint utemp=0;
+	uint temp=0;
+	float ftemp=0;
+	float ftemp1=0;
+	float current=0;
+	
+	stubManager.Write("\nTemp Befor heating \n");
+	
+	ftemp=Read_pt100(0);
+	if ((ftemp>100)|| (ftemp<10))
+		{	
+			Units_status[0,1]="Fail";
+			return 0;
+		}
+	stubManager.Write("Temp Befor heating is"+ ftemp.ToString("F2")); 
+	stubManager.Write("°C\n");	
+
+
+
+   //Write F2_GPO_MIXCHIP_SSR4_CTRL SSR/SSR no. 4
+	SetBit (F2_CTRL, 7, 1);
+	stubManager.Write("Testing SSR no. 4\tMIXCHIP    \t");
+	delay(10000);
+	adc_configuration(0x46,0x08);		//a2d_address 0x46 channel 4
+	adc_set_for_read_ch(0x46);
+	temp=adc_read_ch(0x46);
+	current= (float)(temp); 
+	current=( float) (0.001221) * current;
+    SetBit (F2_CTRL, 7, 0);
+
+	ftemp1=Read_pt100(0);
+	stubManager.Write("After heating " + ftemp1 +"c\tCurrent is "+ current + "\n");
+	ftemp = ftemp1 - ftemp;
+	
+	if ((current>2.5)|| (current<1.5)||(ftemp<5)||(ftemp>25))
+		{
+		Units_status[0,1]="Fail";
+		Units_status[1,1]="Fail";		
+		}
+	else
+		{
+		Units_status[0,1]="Pass";
+		Units_status[1,1]="Pass";		
+		}
+	return 0;
+}
diff --git a/Software/Stubs Collection/stubs/Scripts/Jig_Tester/New_DyeHead_Jig.cs b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/New_DyeHead_Jig.cs
new file mode 100644
index 000000000..8d483b664
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/New_DyeHead_Jig.cs
@@ -0,0 +1,651 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+const	int 	New_DyeHead_UNDER_TEST=47;
+const 	Int32	MGNET_OPEN=0x420301;
+const	Int32	MGNET_EN=0x420280;
+const	Int32	MGNET_CLOSE=0x420300;
+const	Int32	MGNET_DIS=0x420200;
+
+const	Int32	ACTRST_DIS=0x420310;
+const	Int32	ACTRST_EN=0x420300;
+
+
+const	Int32	ACTDIR_ON=0x460200;
+const	Int32	ACTDIR_OFF=0x460280;
+
+const	Int32	ACTIN_ON=0x460308;
+const	Int32	ACTOUT_ON=0x460304;
+
+const	Int32	ACTIN_OFF=0x46030C;
+const	Int32	ACTOUT_OFF=0x46030C;
+
+
+
+const	Int32	LS_FRONT=0X460110;
+const	Int32	LS_REAR=0X460120;
+const	Int32	LS_UPPER=0X460140;
+const	Int32	LS_SPARE=0X460180;
+const	Int32	ACTIN_EN=0X460101;
+const	Int32	ACTOUT_EN=0X460102;
+
+
+
+string EEPROM_Header="Header_1         ";	//16 characters
+
+int Head_Mux_Channel_ID = 4; //Head MUX channel
+		char[] characters = new char[16];	
+
+
+//float [] DyeHeadTemp = new float[6]	;
+
+string [,] Units_status_New_DyeHead = new string[New_DyeHead_UNDER_TEST,2]	{ 
+												{"Pt100_Zone_1","Pass"},		//0
+												{"Pt100_Zone_2","Pass"},		//1
+												{"Pt100_Zone_3","Pass"},		//2
+												{"Pt100_Zone_4","Pass"},		//3
+												{"Pt100_Zone_5","Pass"},		//4
+												{"Pt100_Zone_6","Pass"},		//5
+												{"Pt100_Zone_7","Pass"},		//6
+												{"Pt100_Zone_8","Pass"},		//7
+												{"Pt100_Zone_9","Pass"},		//8
+												{"Pt100_Zone_10","Pass"},		//9
+												{"Pt100_Zone_11","Pass"},		//10
+												{"Pt100_Zone_12","Pass"},		//11
+												
+												{"Current_Zone_1","Pass"},		//12
+												{"Current_Zone_2","Pass"},		//13
+												{"Current_Zone_3","Pass"},		//14
+												{"Current_Zone_4","Pass"},		//15
+												{"Current_Zone_5","Pass"},		//16
+												{"Current_Zone_6","Pass"},		//17
+												{"Current_Zone_7","Pass"},		//18
+												{"Current_Zone_8","Pass"},		//19
+												{"Current_Zone_9","Pass"},		//20
+												{"Current_Zone_10","Pass"},		//21
+												{"Current_Zone_11","Pass"},		//22
+												{"Current_Zone_12","Pass"},		//23
+												
+												{"Break_Zone_1","Pass"},		//24
+												{"Break_Zone_2","Pass"}, 		//25
+												{"Break_Zone_3","Pass"}, 		//26
+												{"Break_Zone_4","Pass"}, 		//27
+												{"Break_Zone_5","Pass"}, 		//28
+												{"Break_Zone_6","Pass"}, 		//29
+												{"Break_Zone_7","Pass"},		//30
+												{"Break_Zone_8","Pass"},		//31
+												{"Break_Zone_9","Pass"},		//32
+												{"Break_Zone_10","Pass"},		//33
+												{"Break_Zone_11","Pass"},		//34
+												{"Break_Zone_12","Pass"},		//35
+												                        
+												{"Magnet      ","Not Test"},	//36
+												{"LS_REAR","Not Test"},     	//37
+												{"LS_FRONT","Not Test"},    	//38
+												{"DH_LID_Motor","Not Test"},	//39
+												
+												{"EEPROM ","Pass"},				//40
+												
+												{"ACTUATOR_IN","Not Test"},			//41
+												{"LS_IN_UP","Not Test"},			//42
+												{"LS_IN_DN","Not Test"},			//43
+												{"ACTUATOR_OUT","Not Test"},		//44
+												{"LS_OUT_UP","Not Test"},			//45
+												{"LS_OUT_DN","Not Test"},			//46
+												
+												
+											};
+
+
+
+//--------------------------------------------------------------------------------
+
+public Task<decimal> NewDyeHead_test( Action<string> settext, CancellationToken cancellationToken, string SN, string Location)
+{
+    Task<decimal> task = null;
+    // Start a task and return it
+    task = Task.Run(() =>
+    {
+	stubManager.Write("S/N:" +SN+ "\n");
+	stubManager.Write("Location:" +Location+ "\n");
+
+	copy_table (New_DyeHead_UNDER_TEST,Units_status_New_DyeHead);
+	DialogResult result1 = MessageBox.Show("Make shure, Dyehead is not hot", "Warning",MessageBoxButtons.OKCancel);
+	if(result1 == DialogResult.Cancel)
+		{
+			stubManager.AppendToFile(File_Name1,"Dyehead is too hot \tFail");
+			stubManager.Write("Dyehead is too hot \tFail\n");
+			return 0 ;
+		}
+	else
+	{
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0xC3,0);	// disable i2c
+
+//------------------------------- start test -----------
+	settext("Test Magnet Motor LS");
+// 	Test_Magnet_Motor_LS_New_DyeHead();
+	settext("Test heaters &pt100");
+//  	Test_heaters_pt100 ();
+	settext("Test Head EEPROM");
+//	Test_Head_EEPROM(SN);			//pass
+	settext("Test Actuator In");
+//	Test_Actuator_in();
+	settext("Test Actuator Out");
+	Test_Actuator_out();
+	Status=write_to_file(SN,Location,New_DyeHead_UNDER_TEST,"Dyehead");
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0xC3,1);	// disable i2c
+
+	settext("End Test");
+	}
+	decimal result = 0;
+		
+        return result;
+    });
+    return task;
+}
+  
+//------------------------------------------------------------- 
+ int Test_Actuator_in()
+{  
+	Int32 temp;
+	int i=0;
+	
+	DialogResult result = MessageBox.Show("Make shure, ACTUATOR-IN is down", "Warning",MessageBoxButtons.OKCancel);
+	if(result == DialogResult.Cancel)
+		{
+			Units_status[41,1]="Fail";
+			stubManager.Write("ACTUATOR-IN is Up\n"); 
+			return 0;
+		}
+//---------------------- move ACTUATOR-IN Up ---------------------------- 
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTDIR_ON);	// DIR=1
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTIN_ON);	// act_in enable
+	delay(10);																					
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTIN_OFF);	// act_in disable
+	stubManager.Write("ACTUATOR-IN  moving Up\n"); 
+
+	temp = 1;
+	 i=0;		
+	while ((temp != 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					temp=read_pio (ACTIN_EN);	// read ACTIN_EN
+					delay(50);
+					i++;
+			}
+
+	if(i == 200)
+		{
+			Units_status[41,1]="Fail";
+			stubManager.Write("CTUATOR-IN is not moving Up\n");
+			return 0;
+		}
+		
+	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result2 == DialogResult.Cancel)
+		{
+			Units_status[42,1]="Fail";
+			stubManager.Write("LS_IN_UP Not calibrate\n");
+			return 0;
+		}
+	Units_status[41,1]="Pass";
+	Units_status[42,1]="Pass";
+//---------------------- move ACTUATOR-IN Dn ---------------------------- 
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTDIR_OFF);	// DIR=0
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTIN_ON);	// act_in enable
+	delay(10);																					
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTIN_OFF);	// act_in disable
+	stubManager.Write("ACTUATOR-IN  moving Dn\n"); 
+
+	temp = 1;
+	 i=0;		
+	while ((temp != 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					temp=read_pio (ACTIN_EN);	// read ACTIN_EN
+					delay(50);
+					i++;
+			}
+
+	if(i == 200)
+		{
+			Units_status[41,1]="Fail";
+			stubManager.Write("CTUATOR-IN is not moving Down\n");
+			return 0;
+		}
+		
+	DialogResult result3 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result3 == DialogResult.Cancel)
+		{
+			Units_status[43,1]="Fail";
+			stubManager.Write("LS_IN_Down Not calibrate\n");
+			return 0;
+		}
+	Units_status[43,1]="Pass";
+	return 0;
+
+}
+//------------------------------------------------------------- 
+ int Test_Actuator_out()
+{  
+	Int32 temp;
+	int i=0;
+	
+	DialogResult result = MessageBox.Show("Make shure, ACTUATOR-OUT is down", "Warning",MessageBoxButtons.OKCancel);
+	if(result == DialogResult.Cancel)
+		{
+			Units_status[44,1]="Fail";
+			stubManager.Write("ACTUATOR-OUT is Up\n"); 
+			return 0;
+		}
+//---------------------- move ACTUATOR-OUT Up ---------------------------- 
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTDIR_ON);	// DIR=1
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTRST_DIS);	// act_OUT enable
+
+	DialogResult result_debug0 = MessageBox.Show("result_debug0", "Warning",MessageBoxButtons.OKCancel);
+	
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTOUT_ON);	// act_OUT enable
+
+	DialogResult result_debug1 = MessageBox.Show("result_debug1", "Warning",MessageBoxButtons.OKCancel);
+	
+	
+	delay(10);																					
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTOUT_OFF);	// act_OUT disable
+	DialogResult result_debug2 = MessageBox.Show("result_debug2", "Warning",MessageBoxButtons.OKCancel);
+	
+	stubManager.Write("ACTUATOR-OUT  moving Up\n"); 
+
+	temp = 1;
+	 i=0;		
+	while ((temp != 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					temp=read_pio (ACTOUT_EN);	// read ACTOUT_EN
+					delay(50);
+					i++;
+			}
+
+	if(i == 200)
+		{
+			Units_status[44,1]="Fail";
+			stubManager.Write("CTUATOR-OUT is not moving Up\n");
+			return 0;
+		}
+		
+	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result2 == DialogResult.Cancel)
+		{
+			Units_status[45,1]="Fail";
+			stubManager.Write("LS_OUT_UP Not calibrate\n");
+			return 0;
+		}
+	Units_status[44,1]="Pass";
+	Units_status[45,1]="Pass";
+//---------------------- move ACTUATOR-OUT Dn ---------------------------- 
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTDIR_OFF);	// DIR=0
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTOUT_ON);	// act_out enable
+	delay(10);																					
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTOUT_OFF);	// act_out disable
+	stubManager.Write("ACTUATOR-OUT  moving Dn\n"); 
+
+	temp = 1;
+	 i=0;		
+	while ((temp != 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					temp=read_pio (ACTOUT_EN);	// read ACTOUT_EN
+					delay(50);
+					i++;
+			}
+
+	if(i == 200)
+		{
+			Units_status[44,1]="Fail";
+			stubManager.Write("CTUATOR-OUT is not moving Down\n");
+			return 0;
+		}
+		
+	DialogResult result3 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result3 == DialogResult.Cancel)
+		{
+			Units_status[46,1]="Fail";
+			stubManager.Write("LS_OUT_Down Not calibrate\n");
+			return 0;
+		}
+	Units_status[46,1]="Pass";
+	return 0;
+
+}
+
+
+
+//-------------------------------------------- 
+ int Test_Magnet_Motor_LS_New_DyeHead()
+{  
+	Int32 temp;
+	int i=0;
+	
+//---------------------- open Magnet ---------------------------- 
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,MGNET_OPEN);	// turn magnet on
+					delay(100);
+
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,MGNET_EN);	// magnet enable
+//							delay(100);
+
+		stubManager.Write("Magnet is Open\n"); 
+		delay(1000);																					
+//---------------------- chekc Magnet is open  ---------------------------- 
+		temp=read_pio (LS_UPPER);	// read LS_UPPER
+		if (temp != 0)		
+		{	
+			Units_status[36,1]="Fail";
+			stubManager.Write("Magnet is close\n"); 
+			return 0;
+		}
+	DialogResult result = MessageBox.Show("Make shure, Magnet is open", "Warning",MessageBoxButtons.OKCancel);
+	if(result == DialogResult.Cancel)
+		{
+			Units_status[36,1]="Fail";
+			stubManager.Write("Magnet is close\n"); 
+			return 0;
+		}
+//---------------------- Move DyeingHead Lid Motor rear---------------------------- 
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,DyeingHeadLid_Motor, true, 250);
+	stubManager.Write("***   Open Lid Head \n");
+	
+	temp = 0;
+	 i=0;		
+	while ((temp == 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					temp=read_pio (LS_REAR);	// read LS_REAR
+					delay(50);
+					i++;
+			}
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DyeingHeadLid_Motor,3);		//stop motor
+	if(i == 200)
+		{
+			Units_status[37,1]="Fail";
+			Units_status[39,1]="Fail";
+			stubManager.Write("LS_REAR Not calibrate\n");
+			return 0;
+		}
+	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result2 == DialogResult.Cancel)
+		{
+			Units_status[37,1]="Fail";
+			Units_status[39,1]="Fail";
+			stubManager.Write("LS_REAR Not calibrate\n");
+			return 0;
+		}
+	Units_status[37,1]="Pass";
+//---------------------- Move DyeingHead Lid Motor front---------------------------- 
+	stubManager.Write("***   Close Lid Head \n");
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,DyeingHeadLid_Motor, false, 250);
+	temp = 0;
+	 i=0;		
+	while ((temp == 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					temp=read_pio (LS_FRONT);	// read LS_FRONT
+					delay(50);
+					i++;
+			}
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DyeingHeadLid_Motor,3);		//stop motor
+	if(i == 200)
+		{
+			Units_status[38,1]="Fail";
+			stubManager.Write("LS_FRONT Not calibrate\n");
+			return 0;
+		}
+		
+	DialogResult result3 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result3 == DialogResult.Cancel)
+		{
+			Units_status[38,1]="Fail";
+			stubManager.Write("LS_FRONT Not calibrate\n");
+			return 0;
+		}
+	Units_status[39,1]="Pass";
+	Units_status[38,1]="Pass";
+	
+//---------------------- Close Magnet ---------------------------- 
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,MGNET_CLOSE);	// turn magnet off
+		delay(2000);																					
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,MGNET_DIS);	// magnet Disable
+		
+		stubManager.Write("Magnet is Close\n"); 
+		delay(1000);																					
+//---------------------- chekc Magnet is close  ---------------------------- 
+		temp=read_pio (LS_UPPER);	// read LS_UPPER
+		if (temp == 0)		
+		{	
+			Units_status[36,1]="Fail";
+			stubManager.Write("Magnet is open\n"); 
+			return 0;
+		}
+	DialogResult result4 = MessageBox.Show("Make shure, Magnet is close", "Warning",MessageBoxButtons.OKCancel);
+	if(result4 == DialogResult.Cancel)
+		{
+			Units_status[36,1]="Fail";
+			stubManager.Write("Magnet is open\n"); 
+			return 0;
+		}
+			Units_status[36,1]="Pass";
+			stubManager.Write("Magnet is close\n"); 
+			return 0;
+}		
+  
+
+//------------------------------------  
+public int Test_new_heaters_pt100()
+{
+	
+//	uint utemp=0;
+	Int32 temp=0;
+	float ftemp=0;
+	float ftemp1=0;
+	float current=0;
+	Double current_sense; 
+
+	for (Int32 i = 0; i < 12; i++)
+	{
+		Int32 tdly=10000;
+//---------------------- get tempurature of heaters---------------------------- 
+		temp= 0x8000 +12+i/2+(i%2)*8;			//HZone_1=12
+										//HZone_2=20
+										//HZone_3=13
+										//HZone_4=21
+										//HZone_5=14
+										//HZone_6=22
+										//HZone_7=15
+										//HZone_8=23
+										//HZone_9=16
+										//HZone_10=24
+										//HZone_11=17
+										//HZone_11=25
+		var response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" , temp);	//get temperature from the buffer
+		 ftemp = (float)response.TemperatureCMultBy100;
+		ftemp = ftemp / 100;
+
+		if ((ftemp>50)|| (ftemp<15))
+		{	
+			Units_status[i,1]="Fail";
+			tdly=1000;
+
+		}
+		stubManager.Write("Zone-"+(i+1)+ "\t" + ftemp.ToString("F2")+"°C\n"); 
+//---------------------- get current of heaters  ---------------------------- 
+	var response1 = stubManager.Run<StubMidTankPressureSensorResponse>("StubMidTankPressureSensorRequest" ,0x8000 + i); // get current
+		current_sense=response1.Pressure;
+		if (current_sense>0.1)
+		{	
+			Units_status[i+12,1]="Fail";
+		}
+		stubManager.Write("current is "+(i+1)+ "\t" + current_sense +"\n"); 
+//---------------------- get Break of heaters  ---------------------------- 
+	var response2 = stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,0x440000 +(i/8)*0x100+(1<<(i&7)));	// read break
+		temp = (Int32) (response2.Progress);
+		if ((temp & (1<<(i&7))) !=0)						//if break ok
+		{	
+			Units_status[i+24,1]="Fail";
+			stubManager.Write("Break Zone "+(i+1)+ "\t is Off\n"); 
+		}
+		else
+		{
+			stubManager.Write("Break Zone "+(i+1)+ "\t is Off\n"); 
+		}
+//---------------------- turn heater on  ---------------------------- 
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,0x400200 +(i/8)*0x100+(1<<(i&7)));	// turn heater on 
+		stubManager.Write("Heater -  "+(i+1)+ "\t is On\n"); 
+		delay(2000);																					//delay 20 second
+//---------------------- get current of heaters  ---------------------------- 
+	var response3 = stubManager.Run<StubMidTankPressureSensorResponse>("StubMidTankPressureSensorRequest" ,0x8000 + i); // get current
+		current_sense=response3.Pressure;
+		if ((current_sense<1.1) ||(current_sense>1.4) )		//if current not 1.25A  
+		{	
+			Units_status[i+12,1]="Fail";
+		}
+		stubManager.Write("current is "+(i+1)+ "\t" + current_sense +"\n"); 
+//---------------------- get Break of heaters  ---------------------------- 
+	var response4 = stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,0x440000 +(i/8)*0x100+(1<<(i&7)));	// read break
+		temp = (Int32) (response4.Progress);
+		if ((temp & (1<<(i&7))) !=0)						//if break ok
+		{	
+			Units_status[i+24,1]="Fail";
+			stubManager.Write("Break Zone "+(i+1)+ "\t is Off\n"); 
+		}
+		else
+		{
+			stubManager.Write("Break Zone "+(i+1)+ "\t is On\n"); 
+		}
+		delay(tdly);																					//delay 20 second
+		temp= 12+i/2+(i%2)*8;
+		var response5 = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" , temp);	//get temperature from the buffer
+		ftemp1 = (float)response5.TemperatureCMultBy100;
+		ftemp1 = ftemp1 / 100;
+
+		if (((ftemp1-ftemp)<5)|| ((ftemp1-ftemp)>35))
+		{	
+			Units_status[i,1]="Fail";
+		}
+		stubManager.Write("Zone-"+(i+1)+ "after heating is \t" + ftemp1.ToString("F2")+"°C\n"); 
+//---------------------- turn heater off  ---------------------------- 
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,0x400200 +(i/8)*0x100);	// turn heater off 
+		stubManager.Write("Heater -  "+(i+1)+ "\t is Off\n"); 
+
+	}	
+			return 0;
+}
+
+Int32 read_pio(Int32 i2c_input)
+{
+		Int32 temp=0;
+	var response = stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,i2c_input);	// read break
+		temp = (Int32) (response.Progress);
+		temp =temp & (i2c_input& 0xff);						//if break ok
+		return temp;
+}
+//end mati
+	
+	//enable_all_channel();
+public int Test_Head_EEPROM(string s_n)
+{
+			stubManager.WriteLine("--debug -1");
+
+	enable_channel(Head_Mux_Channel_ID); // Chanel 0-7 => Disp0enser 0-7 
+	
+		Write_EEPROM(0xA0,s_n);
+		delay(200); 					//Sleep for 5 milli. - must! otherwise read 0xff (See data sheet )	
+		
+//------------ go to address 0 on eeprom --------------
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID3;
+	stubI2CWriteBytesRequest.SlaveAddress = 0xA0;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0);//Byte 0 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0);//Byte 0 to write
+	stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+		
+		//Thread.Sleep(1); //Sleep for 10 milli.
+		Read_EEPROM(0xA0);
+		
+		delay(20); 					//Sleep for 5 milli. - must! otherwise read 0xff (See data sheet )	
+		return 0;
+
+}
+
+int enable_channel(int Channel_ID) 
+{
+	uint Const_temp = 0x01;	
+	
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID3;
+	stubI2CWriteBytesRequest.SlaveAddress = TCA9548A_address;
+	
+	Const_temp = Const_temp << Channel_ID;
+	stubI2CWriteBytesRequest.BytesTWrite.Add(Const_temp);
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+}
+
+int Write_EEPROM (uint I2C_Slave_Add,string s_n   ) 
+{
+
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID3;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0);//Byte 0 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0);//Byte 0 to write
+	
+	//--------------------------------------------------------------
+		characters = EEPROM_Header.ToCharArray();	
+
+	for (int i=0;i<16;i++)
+		{
+		stubI2CWriteBytesRequest.BytesTWrite.Add(characters[i]);	//add header
+	//		characters[i]=0x20;
+		}
+		characters = s_n.ToCharArray();	
+		
+	for (int i=0;i<characters.Length ;i++)
+		{
+			
+			stubI2CWriteBytesRequest.BytesTWrite.Add(characters[i]);	//add s/n
+
+		}
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+}
+
+int Read_EEPROM(uint I2C_Slave_Add) 
+{
+		char temp;
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID3;
+	stubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add + 1;
+	stubI2CReadBytesRequest.NumberOfBytesToRead = 16; // Number of header bytes to read
+
+	var response1 = stubManager.Run<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+	uint temph=0;
+		char[] characters = EEPROM_Header.ToCharArray();	
+			stubManager.WriteLine("--debug --7 ");
+	for(int i=0; i<stubI2CReadBytesRequest.NumberOfBytesToRead;i++)
+	{
+			temp =  Convert.ToChar(response1.ReadBytes[i]);
+
+
+	}
+	
+	return 1;
+}
diff --git a/Software/Stubs Collection/stubs/Scripts/Jig_Tester/New_Mixer_Jig.cs b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/New_Mixer_Jig.cs
new file mode 100644
index 000000000..949d0a194
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/New_Mixer_Jig.cs
@@ -0,0 +1,168 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+const  int New_Mixer_UNDER_TEST=4;
+const 	Int32	Valve_EN=0x420220;
+const 	Int32	Valve_DIS=0x420200;
+const 	Int32	Mixer_ON=0x420210;
+const 	Int32	Mixer_OFF=0x420200;
+
+float  NewMixerTemp ;
+
+string [,] Units_status_New_Mixer = new string[New_Mixer_UNDER_TEST,2]	{ 
+												{"Pt100_Mixer","Pass"},		//0
+												{"Heater_Mixer","Pass"},	//1
+												{"Break_Mixer","Pass"},			//2
+												{"VALVE_Mixer","Not Test"},		//3
+											};
+
+
+
+//--------------------------------------------------------------------------------
+
+public Task<decimal> New_Mixer_test( Action<string> settext, CancellationToken cancellationToken, string SN, string Location)
+{
+    Task<decimal> task = null;
+    // Start a task and return it
+    task = Task.Run(() =>
+    {
+	stubManager.Write("S/N:" +SN+ "\n");
+	stubManager.Write("Location:" +Location+ "\n");
+
+	copy_table (New_Mixer_UNDER_TEST,Units_status_New_Mixer);
+
+
+//------------------------------- start test -----------
+	settext("Test heater & pt100");
+	Test_New_Mixer_heater_pt100 ();
+	settext("Test VALVE Mixer");
+	Test_VALVE_New_Mixer ();
+	
+	Status=write_to_file(SN,Location,New_Mixer_UNDER_TEST,"Mixer");
+
+	settext("End Test");
+	
+	decimal result = 0;
+		
+        return result;
+    });
+    return task;
+}
+  
+//-------------------------------------------- 	 
+ int	Test_VALVE_New_Mixer ()
+ {
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,Valve_EN);	// Valve enable
+	 
+	DialogResult result = MessageBox.Show("MixCHIP Valve Open ?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.No)
+		{
+			Units_status[3,1]="Fail";
+			stubManager.Write("VALVE_MIXCHIP_WASTECH Not open\n");
+			return 0;
+		}
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,Valve_DIS);	// Valve enable
+	 
+	DialogResult result1 = MessageBox.Show("MixCHIP Valve close ?", "Warning",MessageBoxButtons.YesNo);
+	if(result1 == DialogResult.No)
+		{
+			Units_status[3,1]="Fail";
+			stubManager.Write("VALVE_MIXCHIP_WASTECH Not close\n");
+			return 0;
+		}
+			Units_status[3,1]="Pass";
+			return 0;
+ }
+
+//------------------------------------  
+public int Test_New_Mixer_heater_pt100()
+{
+	Int32 temp=0;
+	float ftemp=0;
+	float ftemp1=0;
+	float current=0;
+	Int32 tdly=10000;
+	Double current_sense; 
+
+//---------------------- get tempurature of mixer---------------------------- 
+	
+	stubManager.Write("\nTemp Befor heating \n");
+
+		var response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" , 19);	//get temperature from mixer
+		 ftemp = (float)response.TemperatureCMultBy100;
+	if ((ftemp>100)|| (ftemp<10))
+		{	
+			Units_status[0,1]="Fail";
+			tdly=1000;
+		}
+	stubManager.Write("Temp Befor heating is"+ ftemp.ToString("F2")); 
+	stubManager.Write("°C\n");	
+//---------------------- get current of mixer  ---------------------------- 
+	var response1 = stubManager.Run<StubMidTankPressureSensorResponse>("StubMidTankPressureSensorRequest" ,0x8000 + 20); // get current mixer
+		current_sense=response1.Pressure;
+		if (current_sense>0.1)
+		{	
+			Units_status[1,1]="Fail";
+		}
+		stubManager.Write("current is " + current_sense +"\n"); 
+//---------------------- get Break of Mixer  ---------------------------- 
+	var response2 = stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,0x460000 +0x10);	// read break
+		temp = (Int32) (response2.Progress);
+		if ((temp & 0x10 )!=0)						//if break ok
+		{	
+			Units_status[2,1]="Fail";
+			stubManager.Write("Break Mixer is Off\n"); 
+		}
+		else
+		{
+			stubManager.Write("Break Mixer is On\n"); 
+		}
+//---------------------- turn Mixer on  ---------------------------- 
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,Mixer_ON);	// turn mixer on 
+		stubManager.Write("Mixer On\n"); 
+		delay(2000);																					//delay 20 second
+//---------------------- get current of mixer  ---------------------------- 
+	var response3 = stubManager.Run<StubMidTankPressureSensorResponse>("StubMidTankPressureSensorRequest" ,0x8000 + 20); // get current
+		current_sense=response3.Pressure;
+		if ((current_sense<2) ||(current_sense>3) )		//if current not 2.5A  
+		{	
+			Units_status[3,1]="Fail";
+		}
+		stubManager.Write("current in Mixer is " + current_sense +"\n"); 
+//---------------------- get Break of Mixer  ---------------------------- 
+	var response4 = stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,0x460000 +0x10);	// read break
+		temp = (Int32) (response4.Progress);
+		if ((temp & 0x10 )!=0)						//if break ok
+		{	
+			Units_status[2,1]="Fail";
+			stubManager.Write("Break Mixer is Off\n"); 
+		}
+		else
+		{
+			stubManager.Write("Break Mixer is On\n"); 
+		}
+//---------------------- get tempurature of mixer---------------------------- 
+		var response5 = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" , 19);	//get temperature from the mixer
+		ftemp1 = (float)response5.TemperatureCMultBy100;
+		ftemp1 = ftemp1 / 100;
+
+		if (((ftemp1-ftemp)<5)|| ((ftemp1-ftemp)>35))
+		{	
+			Units_status[0,1]="Fail";
+		}
+		stubManager.Write("Mixer after heating is \t" + ftemp1.ToString("F2")+"°C\n"); 
+//---------------------- turn Mixer off  ---------------------------- 
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,Mixer_OFF);	// turn mixer off 
+		stubManager.Write("Mixer is Off\n"); 
+	return 0;
+}	
diff --git a/Software/Stubs Collection/stubs/Scripts/Jig_Tester/RTFU_Jig.cs b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/RTFU_Jig.cs
new file mode 100644
index 000000000..d63cbe86c
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/RTFU_Jig.cs
@@ -0,0 +1,367 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+//--------------------------------------------------------------------------------
+//--------------------------------------------------------------------------------
+
+const  int RTFU_UNDER_TEST=9;
+
+string [,] Units_status_RTFU = new string[RTFU_UNDER_TEST,2]	{ 
+												{"LS_RLOADMOTOR_Up","Not Test"},	//0
+												{"LS_RLOADMOTOR_DOWN","Not Test"},	//1
+												{"RLOADING_Motor","Not Test"},		//2
+												{"DRIVING_Motor","Not Test"},		//3
+												{"LS_RDANCER_DOWN","Not Test"},		//4
+												{"LS_RDANCER_UP","Not Test"},		//5
+												{"LS_RLOADRAM_DOWN","Not Test"},	//6
+												{"RDANCER_Motor","Not Test"},		//7
+												{"RDANCER_ROTENC","Not Test"},		//8
+											};
+
+
+
+//-----------------------------------------------------
+
+public Task<decimal> RTFU_test( Action<string> settext, CancellationToken cancellationToken, string SN, string Location)
+{
+    Task<decimal> task = null;
+    // Start a task and return it
+    task = Task.Run(() =>
+    {
+
+	stubManager.Write("S/N:" +SN+ "\n");
+	stubManager.Write("Location:" +Location+ "\n");
+
+	copy_table (RTFU_UNDER_TEST,Units_status_RTFU);
+		
+	settext("Test RLOADING RTFU");
+	Test_RLOADING_RTFU();
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading high z
+
+	delay(100);
+	Motor_SetParam(F1_MOTO_RLOADING_TX1,F1_MOTO_RLOADING_TX0,0x0a,0x14000000);							//set kval ran to 0x14,0.65A
+	
+	settext("Test RDRIVING RTFU");
+	Test_RDRIVING_RTFU();
+
+	settext("Test DANCER RTFU");
+
+	Test_DANCER_RTFU();
+	
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RDANCER_Motor, 3);					//hold Rloading high z
+
+	Status=write_to_file(SN,Location,RTFU_UNDER_TEST,"RTFU");
+
+    settext("End Test");
+	decimal result = 0;
+
+    return result;
+    });
+    return task;
+}
+  
+
+ //------------------------------------  
+int Test_RLOADING_RTFU()
+{
+	int	temp=1; 
+	int counter;
+	
+	Motor_SetParam(F1_MOTO_RLOADING_TX1,F1_MOTO_RLOADING_TX0,0x0a,0x40000000);							//set kval ran to 0x40- 1.9A
+	delay(100);
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor, true,200);				//move Rloading down
+	delay(3000);
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading high z
+	delay(1000);
+//------------------------------------------ check  F1_LS_RLOADMOTOR_up------------------------------------------------
+
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//read LS
+	if ((response.Value & F1_LS_RLOADMOTOR_UP) !=F1_LS_RLOADMOTOR_UP )									//if LS_RLOADMOTOR_UP is up then error
+	{	
+		DialogResult result = MessageBox.Show("Did RLOADIN MOTOR Move?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.Yes)
+		{
+		Units_status[0,1]="Fail";
+		stubManager.Write("LS_RLOADMOTOR_UP\tFail\n");	
+		return 0;
+		}
+	else 
+		{
+			Units_status[2,1]="Fail";
+			stubManager.Write("RLOADMOTOR\tFail\n");
+			return 0;
+		}
+	}
+	
+//----------------------------------------- mov RLOADING up -------------------------------------------------
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor,false,200);				//move Rloading up
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if LS_RLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_RLOADMOTOR_UP) != F1_LS_RLOADMOTOR_UP  )
+			counter=250;
+		
+			delay(100);	
+	}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading high z
+
+	if (counter == 150) 								
+	{	
+		Units_status[0,1]="Fail";
+		stubManager.Write("LS_RLOADMOTOR_UP\tFail\n");	
+		return 0;
+	}
+	DialogResult result1 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result1 == DialogResult.No)
+		{
+			Units_status[0,1]="Fail";
+			stubManager.Write("LS_RLOADMOTOR_UP Not calibrate\n");
+			return 0;
+		}
+	Units_status[0,1]="Pass";
+	Units_status[2,1]="Pass";
+	
+//------------------------------------------ check  F1_LS_RLOADMOTOR_DN------------------------------------------------
+		
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);		//read LS
+	
+	if ((response.Value & F1_LS_RLOADMOTOR_DN) !=F1_LS_RLOADMOTOR_DN )										//if LS_RLOADMOTOR_DN is up then error
+	{	
+		Units_status[1,1]="Fail";
+		stubManager.Write("LS_RLOADMOTOR_DN\tFail\n");
+		return 0;
+	}
+//------------------------------------------ mov RLOADING dn ------------------------------------------------
+
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor, true,200);				//move Rloading down
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if LS_RLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_RLOADMOTOR_DN) != F1_LS_RLOADMOTOR_DN  )
+			counter=250;	
+			
+			delay(100);	
+	}
+	
+		if (counter == 150) 								
+	{	
+		Units_status[1,1]="Fail";
+		stubManager.Write("LS_RLOADMOTOR_DN\tFail\n");	
+		return 0;
+	}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading high z
+		
+	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result2 == DialogResult.No)
+		{
+			Units_status[1,1]="Fail";
+			stubManager.Write("LS_RLOADMOTOR_DN Not calibrate\n");
+			return 0;
+		}
+	Units_status[1,1]="Pass";
+		stubManager.Write("RLOADMOTOR\tPass\n");
+	
+		stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor, true,200);				//move Rloading down
+			delay(2000);	
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading high z
+
+	return 1 ;
+
+}	
+
+//----------------------------------
+
+Int32 ReadEncoder()
+{
+	Int32 temp;
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F1_RDANCER_ROTENC_DATA_p_TX, 0x0000);		//triggers a TX transmission
+
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_RDANCER_ROTENC_DATA_p_RX_lsb);
+	var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_RDANCER_ROTENC_DATA_p_RX_msb);		 
+
+	temp =  Convert.ToInt32 (((((response1.Value <<16) + 	response.Value)>>10 ) & 0x3fff));
+	
+
+	return temp;
+}
+//--------------------------------------------------------------------------------
+int Test_DANCER_RTFU()
+{
+	int counter;
+	Int32 temp;
+	Int32 temp1;
+	
+//------------------------------------------ check  F1_LS_RDANCER_DOWN  ------------------------------------------------
+
+	MessageBox.Show("Make sure RDANCER Down");
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//read LS
+	if ((response.Value & F1_LS_RDANCER_DOWN) !=F1_LS_RDANCER_DOWN )								//if F1_LS_RDANCER_DOWN is up then error
+	{	
+		Units_status[4,1]="Fail";
+		stubManager.Write("LS_RDANCER_DOWN\tFail\n");	
+		return 0;
+	}
+//----------------------------------------- mov RDANCER_Motor up and check F1_LS_RDANCER_DOWN -------------------------------------------------
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RDANCER_Motor,true,10);				//move Rloading up
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if LS_RLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_RDANCER_DOWN) != F1_LS_RDANCER_DOWN  )
+			counter=250;
+		
+			delay(100);	
+	}
+		if (counter == 150) 								
+	{	
+		Units_status[4,1]="Fail";
+		stubManager.Write("LS_RDANCER_DOWN\tFail\n");	
+		return 0;
+	}
+		Units_status[4,1]="Pass";
+		stubManager.Write("LS_RDANCER_DOWN\tPass\n");	
+	
+//----------------------------------------- check F1_LS_RDANCER_UP -------------------------------------------------
+
+	if ((response.Value & F1_LS_RDANCER_UP) !=F1_LS_RDANCER_UP )								//if F1_LS_RDANCER_UP is up then error
+	{	
+		Units_status[5,1]="Fail";
+		stubManager.Write("LS_RDANCER_UP\tFail\n");	
+		return 0;
+	}
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if F1_LS_RDANCER_UP is up then move down
+		if ((response.Value & F1_LS_RDANCER_UP) != F1_LS_RDANCER_UP  )
+			counter=250;
+		
+			delay(100);	
+	}
+		if (counter == 150) 								
+	{	
+		Units_status[5,1]="Fail";
+		stubManager.Write("LS_RDANCER_UP\tFail\n");	
+		return 0;
+	}
+		Units_status[5,1]="Pass";
+		stubManager.Write("LS_RDANCER_UP\tPass\n");	
+
+//----------------------------------------- check F1_LS_RLOADRAM_DOWN -------------------------------------------------
+
+	if ((response.Value & F1_LS_RLOADRAM_DOWN) !=F1_LS_RLOADRAM_DOWN )								//if F1_LS_RLOADRAM_DOWN is up then error
+	{	
+		Units_status[6,1]="Fail";
+		stubManager.Write("LS_RLOADRAM_DOWN\tFail\n");	
+		return 0;
+	}
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if F1_LS_RLOADRAM_DOWN is up then move down
+		if ((response.Value & F1_LS_RLOADRAM_DOWN) != F1_LS_RLOADRAM_DOWN  )
+			counter=250;
+		
+			delay(100);	
+	}
+		if (counter == 150) 								
+	{	
+		Units_status[6,1]="Fail";
+		stubManager.Write("LS_RLOADRAM_DOWN\tFail\n");	
+		return 0;
+	}
+	Units_status[6,1]="Pass";
+	stubManager.Write("LS_RLOADRAM_DOWN\tPass\n");	
+
+//----------------------------------------- mov RDANCER_Motor down and check rdancer encoder -------------------------------------------------
+	temp= ReadEncoder();
+	
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RDANCER_Motor,false,10);				//move Rloading down
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if LS_RLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_RDANCER_DOWN) != F1_LS_RDANCER_DOWN  )
+			counter=250;
+		
+			delay(100);	
+	}
+		if (counter == 150) 								
+	{	
+		Units_status[4,1]="Fail";
+		stubManager.Write("LS_RDANCER_DOWN\tFail\n");	
+		return 0;
+	}
+	Units_status[7,1]="Pass";
+	stubManager.Write("RDANCER_Motor\tPass\n");	
+
+	temp1= ReadEncoder();
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RDANCER_Motor, 3);					//hold Rloading high z
+
+	stubManager.Write("temp="+temp + "\temp1="+temp1 +"\n");
+		
+	DialogResult result = MessageBox.Show("SSI Dancer led is Green(not blinking)?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.No)
+		{
+			Units_status[8,1]="Fail";
+			stubManager.Write("RDANCER_SSI\tFail\n");	
+			return 0;
+		}
+
+	if (temp>temp1)
+		temp1=temp1+0x4000;
+
+	temp1=temp1-temp;			
+	if ((temp1> 15000) || (temp1 <1000))
+		{
+			Units_status[8,1]="Fail";
+			stubManager.Write("RDANCER_SSI\tFail\n");	
+			return 0;
+		}
+	Units_status[8,1]="Pass";
+		stubManager.Write("RDANCER_SSI\tPass\n");	
+	
+	return 1;
+}
+
+
+//-------------------------------------------------------------
+int Test_RDRIVING_RTFU()
+{	
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RDRIVING_Motor, true,200);				//move Rdriving clockwise 
+	stubManager.Write("RDRIVING_Motor Motor rotate \n ");
+	
+	DialogResult result = MessageBox.Show("Are RDRIVING Motor rotate?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.No)
+		{
+			Units_status[3,1]="Fail";
+			stubManager.Write("RDRIVING Motor not rotate\n");
+		}
+	else 
+		{
+			Units_status[3,1]="Pass";
+			stubManager.Write("RDRIVING Motor rotate\n");
+		}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RDRIVING_Motor,3);		//stop motor
+
+	return 0;
+}	
+
+
diff --git a/Software/Stubs Collection/stubs/Scripts/Jig_Tester/Tango_define.cs b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/Tango_define.cs
new file mode 100644
index 000000000..8f2d3b28f
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/Tango_define.cs
@@ -0,0 +1,122 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+
+const Int32 F1_LS_01_Direct = 0x60000020	;
+const Int32 F1_LS_02_Direct = 0x60000030	;
+const Int32	F1_LS_03_Direct	= 0x60000040	;	
+
+const Int32	F1_gpo_01 		= 0x600003D2	;
+
+
+const Int32 F2_CTRL			= 0x600004E2	;
+
+const Int32 F3_GPO_01_bus 	= 0x600008C2; 
+
+const Int32 TCA9548A_address =	 0xE2;	 	
+
+
+const Int32 I2C_ID2 =  2;
+const Int32 I2C_ID3 =  3;
+
+
+
+const Int32 F1_SCREW_ROTENC_lsb	=	0x60000100;
+const Int32 F1_SCREW_ROTENC_msb	=	0x60000102;
+
+
+
+
+
+
+
+
+
+
+const  Int32 F3_VALVE_OUT	= 0x600008e2;		
+
+
+const Int32	F1_Tacho_reg8	=	0x600001e0	;
+
+
+
+
+//-------------------DEFINE Motors Parameters------------------
+
+const Int32 F1_MOTO_RLOADING_TX1 = 0x60000202;
+const Int32 F1_MOTO_RLOADING_TX0 = 0x60000200;
+const Int32 F1_MOTO_RLOADING_RX1 = 0x60000206;
+const Int32 F1_MOTO_RLOADING_RX0 = 0x60000204;
+
+//-------------------DEFINE Limit Switch---------------
+
+const	Int32 	F1_LS_RLOADMOTOR_UP	= 0x0040 ;
+const	Int32	F1_LS_RLOADMOTOR_DN	= 0x0080 ;
+const	Int32	F1_LS_RDANCER_UP 	= 0x0100;
+const	Int32	F1_LS_RDANCER_DOWN 	= 0x0200;
+const	Int32	F1_LS_RLOADRAM_DOWN	= 0x0020;
+
+const	Int32	F1_RDANCER_ROTENC_DATA_p_RX_lsb	=	0x600001a0;
+const	Int32	F1_RDANCER_ROTENC_DATA_p_RX_msb	=	0x600001a2;
+const	Int32	F1_RDANCER_ROTENC_DATA_p_TX		=	0x600001ae;
+
+
+
+const Int32	F2_Prescaler1_reg11		=	0x60000512	;
+const Int32	F2_BLOWER_PWM_LOW		=	0x600007EC	;
+const Int32	F2_BLOWER_PWM_HIGH		=	0x600007EE	;
+
+
+//-------------------DEFINE Motors------------------
+const Int32 CleaningHead_Motor		=	0;
+const Int32 CleaningMechanisim_Motor=	1;
+const Int32 DyeingHeadLid_Motor		=	2;
+const Int32 DryerMain_Motor			=	3;
+const Int32 DryerLid_Motor			=	4;
+const Int32 DrierLoadingArm_Motor	=	5;
+
+const Int32 SCREW					=	14; 
+const Int32 WINDER_Motor				=	15;
+
+const Int32	LDANCER1_Motor			=	16;		 
+const Int32	LDANCER2_Motor			=	17;		 
+const Int32	LDRIVING_Motor			=	18;		 
+const Int32	LLOADING_Motor			=	19;	
+			
+const Int32	RDANCER_Motor			=	21;	
+const Int32	RDRIVING_Motor			=	22;	
+const Int32	MAGNET_Driver			=	23;				//replace RLOADARM
+const Int32	RLOADING_Motor			=	24;	
+
+
+//-------------------DEFINE Motors Parameters------------------
+
+const Int32 F1_MOTO_LLOADING_TX1 = 0x60000232;
+const Int32 F1_MOTO_LLOADING_TX0 = 0x60000230;
+
+const	Int32 	F1_LS_LLOADMOTOR_UP	= 0x0100 ;
+const	Int32	F1_LS_LLOADMOTOR_DN	= 0x0200 ;
+const	Int32	F1_LS_LDANCER1_UP 	= 0x1000;
+const	Int32	F1_LS_LDANCER1_DN 	= 0x2000;
+const	Int32	F1_LS_LDANCER2_UP 	= 0x0400;
+const	Int32	F1_LS_LDANCER2_DN 	= 0x0800;
+const	Int32	F1_LS_LLOADRAM_LF	= 0x0080;
+const	Int32	F1_LS_LLOADRAM_RT	= 0x0040;
+
+
+const Int32 F1_LDANCER1_ROTENC_MSB 	= 0x600001c2;
+const Int32 F1_LDANCER1_ROTENC_LSB 	= 0x600001c0;
+const Int32 F1_LDANCER1_ROTENC_TX 	= 0x600001ce;
+
+const Int32 F1_LDANCER2_ROTENC_MSB 	= 0x600001b2;
+const Int32 F1_LDANCER2_ROTENC_LSB 	= 0x600001b0;
+const Int32 F1_LDANCER2_ROTENC_TX 	= 0x600001be;
diff --git a/Software/Stubs Collection/stubs/Scripts/Jig_Tester/Winder_Jig.cs b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/Winder_Jig.cs
new file mode 100644
index 000000000..9c52ee205
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/Winder_Jig.cs
@@ -0,0 +1,188 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+
+const  int Winder_UNDER_TEST=6;
+
+string [,] Units_status_Winder = new string[Winder_UNDER_TEST,2]	{ 
+												{"Winder_Motor","Not Test"},
+												{"Screw_Motor","Not Test"},
+												{"LS_Screw_Right","Not Test"},
+												{"LS_Screw_Left","Not Test"},
+												{"Screw_Encoder","Not Test"},
+												{"SW_Spool_Exist","Not Test"},
+											};
+
+
+//--------------------------------------------------------------------------------
+
+public Task<decimal> Winder_test( Action<string> settext, CancellationToken cancellationToken, string SN, string Location)
+{
+    Task<decimal> task = null;
+    // Start a task and return it
+    task = Task.Run(() =>
+    {
+
+	stubManager.Write("S/N:" +SN+ "\n");
+	stubManager.Write("Location:" +Location+ "\n");
+
+	copy_table (Winder_UNDER_TEST,Units_status_Winder);
+		
+	settext("Test_Winder_motor");
+ 	Test_Winder_motor();
+	settext("Test_Screw_LS_Motor_Encoder");
+	Test_Screw_LS_Motor_Encoder ();
+	settext("Test_Pooler_Exis");
+	Test_Pooler_Exist ();
+
+	Status=write_to_file(SN,Location,Winder_UNDER_TEST,"Winder");
+    settext("End Test");
+	decimal result = 0;
+
+    return result;
+    });
+    return task;
+}
+  
+//------------------------------------------
+public int Test_Winder_motor ()
+
+{
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,WINDER_Motor, true, 500);		//rotate Winder Motor.
+	stubManager.Write("Winder Motor rotate \n");
+	DialogResult result = MessageBox.Show("Are Winder Motor rotate?", "Warning",MessageBoxButtons.YesNo);
+	 if (_cancellationTokenSource.Token.IsCancellationRequested)
+            {
+                _cancellationTokenSource.Token.ThrowIfCancellationRequested();
+                 throw new TaskCanceledException();
+                return 0;
+            }
+	if(result == DialogResult.No)
+		{
+			Units_status[0,1]="Fail";
+			stubManager.Write("Winder Motor not rotate\n");
+		}
+	else 
+		{
+			Units_status[0,1]="Pass";
+			stubManager.Write("Winder Motor rotate\n");
+		}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,WINDER_Motor,3);		//stop motor
+
+	return 0;
+}	
+
+
+//-------------------------------------------- 
+ int Test_Screw_LS_Motor_Encoder()
+{  
+	UInt32 temp	;
+	Int32 Bit = 1;	
+	
+	
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,SCREW, false, 250);		//rotate screw Motor out.
+	delay(1000);
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,SCREW,3);				//stop motor
+
+	DialogResult result2 = MessageBox.Show("Did screw Motor move ?", "Warning",MessageBoxButtons.YesNo);
+	if(result2 == DialogResult.No)
+		{
+			Units_status[1,1]="Fail";
+			stubManager.Write("Screw Motor not move\n");
+			return 0;
+		}
+			Units_status[1,1]="Pass";
+	
+	stubManager.Write("Screw Motor rotate \n");
+
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,SCREW, true, 250);
+	stubManager.Write("Move screw in\n");
+	
+	Bit = 1;
+	int i=0;		
+	while ((Bit != 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					Bit = GetBit(F1_LS_03_Direct,0);	
+					delay(50);
+					i++;
+			}
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,SCREW,3);		//stop motor
+		
+	DialogResult result1 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result1 == DialogResult.No)
+		{
+			Units_status[2,1]="Fail";
+			stubManager.Write("LS_SCREW_RIGHT Not calibrate\n");
+			return 0;
+		}
+	Units_status[2,1]="Pass";
+	stubManager.Write("Move screw out\n");
+
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F1_SCREW_ROTENC_lsb, 0x0000);		//clear encoder
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F1_SCREW_ROTENC_msb, 0x0000);		//clear encoder
+
+	Bit = 1;
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,SCREW, false, 250);
+	i=0;		
+	while ((Bit != 0x0) && (i<200))		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+				Bit = GetBit(F1_LS_03_Direct,1);	
+				delay(50);
+				i++;
+			}
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,SCREW,3);		//stop motor
+		
+	DialogResult result3 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result3 == DialogResult.No)
+		{
+			Units_status[3,1]="Fail";
+			stubManager.Write("LS_SCREW_LEFT Not calibrate\n");
+			return 0;
+		}
+	Units_status[3,1]="Pass";
+	
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_SCREW_ROTENC_lsb);
+	var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_SCREW_ROTENC_msb);
+
+	temp=(response.Value & 0xffff )+((response1.Value & 0xffff )<<16);
+	temp=temp&0x0fffffff;
+	temp= 0x4000000-temp;
+	stubManager.Write("Encoder positio:" +temp+"\n");
+
+	if ((temp>20000) && temp<28000)
+		Units_status[4,1]="Pass";
+	else	
+		Units_status[4,1]="Fail";
+
+ 	return 1;
+}  
+ //---------------------------------------
+int Test_Pooler_Exist()
+{
+	if 	( (GetBit(F1_LS_03_Direct,11))==0)	
+		{
+			Units_status[5,1]="Fail";
+			return 0;
+		}
+
+	DialogResult result2 = MessageBox.Show("Remove Spool");
+	if 	( (GetBit(F1_LS_03_Direct,11))!=0)
+			Units_status[5,1]="Fail";
+	else
+			Units_status[5,1]="Pass";	
+	
+			return 0	;
+
+
+}	
+
diff --git a/Software/Stubs Collection/stubs/Scripts/Jig_Tester/location.cs b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/location.cs
new file mode 100644
index 000000000..11bf6556a
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/location.cs
@@ -0,0 +1 @@
+string Location_str = "Hameshabev";
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Jig_Tester/span.cs b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/span.cs
new file mode 100644
index 000000000..1b31dbb4e
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/span.cs
@@ -0,0 +1,615 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+const	int 	New_DyeHead_UNDER_TEST=47;
+const 	Int32	MGNET_OPEN=0x420301;
+const	Int32	MGNET_EN=0x420280;
+const	Int32	MGNET_CLOSE=0x420300;
+const	Int32	MGNET_DIS=0x420200;
+const	Int32	ACTDIR_ON=0x460280;
+const	Int32	ACTDIR_OFF=0x460200;
+
+const	Int32	ACTIN_ON=0x460308;
+const	Int32	ACTOUT_ON=0x460304;
+
+const	Int32	ACTIN_OFF=0x46030C;
+const	Int32	ACTOUT_OFF=0x46030C;
+
+
+
+const	Int32	LS_FRONT=0X460110;
+const	Int32	LS_REAR=0X460120;
+const	Int32	LS_UPPER=0X460140;
+const	Int32	LS_SPARE=0X460180;
+const	Int32	ACTIN_EN=0X460101;
+const	Int32	ACTOUT_EN=0X460102;
+
+
+
+string EEPROM_Header="Header_1         ";	//16 characters
+
+int Head_Mux_Channel_ID = 4; //Head MUX channel
+
+
+//float [] DyeHeadTemp = new float[6]	;
+
+string [,] Units_status_New_DyeHead = new string[New_DyeHead_UNDER_TEST,2]	{ 
+												{"Pt100_Zone_1","Pass"},		//0
+												{"Pt100_Zone_2","Pass"},		//1
+												{"Pt100_Zone_3","Pass"},		//2
+												{"Pt100_Zone_4","Pass"},		//3
+												{"Pt100_Zone_5","Pass"},		//4
+												{"Pt100_Zone_6","Pass"},		//5
+												{"Pt100_Zone_7","Pass"},		//6
+												{"Pt100_Zone_8","Pass"},		//7
+												{"Pt100_Zone_9","Pass"},		//8
+												{"Pt100_Zone_10","Pass"},		//9
+												{"Pt100_Zone_11","Pass"},		//10
+												{"Pt100_Zone_12","Pass"},		//11
+												
+												{"Current_Zone_1","Pass"},		//12
+												{"Current_Zone_2","Pass"},		//13
+												{"Current_Zone_3","Pass"},		//14
+												{"Current_Zone_4","Pass"},		//15
+												{"Current_Zone_5","Pass"},		//16
+												{"Current_Zone_6","Pass"},		//17
+												{"Current_Zone_7","Pass"},		//18
+												{"Current_Zone_8","Pass"},		//19
+												{"Current_Zone_9","Pass"},		//20
+												{"Current_Zone_10","Pass"},		//21
+												{"Current_Zone_11","Pass"},		//22
+												{"Current_Zone_12","Pass"},		//23
+												
+												{"Break_Zone_1","Pass"},		//24
+												{"Break_Zone_2","Pass"}, 		//25
+												{"Break_Zone_3","Pass"}, 		//26
+												{"Break_Zone_4","Pass"}, 		//27
+												{"Break_Zone_5","Pass"}, 		//28
+												{"Break_Zone_6","Pass"}, 		//29
+												{"Break_Zone_7","Pass"},		//30
+												{"Break_Zone_8","Pass"},		//31
+												{"Break_Zone_9","Pass"},		//32
+												{"Break_Zone_10","Pass"},		//33
+												{"Break_Zone_11","Pass"},		//34
+												{"Break_Zone_12","Pass"},		//35
+												                        
+												{"Magnet      ","Not Test"},	//36
+												{"LS_REAR","Not Test"},     	//37
+												{"LS_FRONT","Not Test"},    	//38
+												{"DH_LID_Motor","Not Test"},	//39
+												
+												{"EEPROM ","Pass"},				//40
+												
+												{"ACTUATOR_IN","Not Test"},			//41
+												{"LS_IN_UP","Not Test"},			//42
+												{"LS_IN_DN","Not Test"},			//43
+												{"ACTUATOR_OUT","Not Test"},		//44
+												{"LS_OUT_UP","Not Test"},			//45
+												{"LS_OUT_DN","Not Test"},			//46
+												
+												
+											};
+
+
+
+//--------------------------------------------------------------------------------
+
+public Task<decimal> NewDyeHead_test( Action<string> settext, CancellationToken cancellationToken, string SN, string Location)
+{
+    Task<decimal> task = null;
+    // Start a task and return it
+    task = Task.Run(() =>
+    {
+	stubManager.Write("S/N:" +SN+ "\n");
+	stubManager.Write("Location:" +Location+ "\n");
+
+	copy_table (New_DyeHead_UNDER_TEST,Units_status_New_DyeHead);
+
+	DialogResult result1 = MessageBox.Show("Make shure, Dyehead is not hot", "Warning",MessageBoxButtons.OKCancel);
+	if(result1 == DialogResult.Cancel)
+		{
+			stubManager.AppendToFile(File_Name1,"Dyehead is too hot \tFail");
+			stubManager.Write("Dyehead is too hot \tFail\n");
+			return 0 ;
+		}
+	else
+	{
+
+//------------------------------- start test -----------
+	settext("Test Magnet Motor LS");
+	Test_Magnet_Motor_LS_New_DyeHead();
+	settext("Test heaters &pt100");
+	Test_heaters_pt100 ();
+	settext("Test Head EEPROM");
+	Test_Head_EEPROM(SN);	
+	settext("Test Actuator In");
+	Test_Actuator_in();
+	settext("Test Actuator Out");
+	Test_Actuator_out();
+	Status=write_to_file(SN,Location,DyeHead_UNDER_TEST,"Dyehead");
+
+	settext("End Test");
+	}
+	decimal result = 0;
+		
+        return result;
+    });
+    return task;
+}
+  
+//------------------------------------------------------------- 
+ int Test_Actuator_in()
+{  
+	Int32 temp;
+	int i=0;
+	
+	DialogResult result = MessageBox.Show("Make shure, ACTUATOR-IN is down", "Warning",MessageBoxButtons.OKCancel);
+	if(result == DialogResult.Cancel)
+		{
+			Units_status[41,1]="Fail";
+			stubManager.Write("ACTUATOR-IN is Up\n"); 
+			return 0;
+		}
+//---------------------- move ACTUATOR-IN Up ---------------------------- 
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTDIR_ON);	// DIR=1
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTIN_ON);	// act_in enable
+	delay(10);																					
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTIN_OFF);	// act_in disable
+	stubManager.Write("ACTUATOR-IN  moving Up\n"); 
+
+	temp = 1;
+	 i=0;		
+	while ((temp != 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					temp=read_pio (ACTIN_EN);	// read ACTIN_EN
+					delay(50);
+					i++;
+			}
+
+	if(i == 200)
+		{
+			Units_status[41,1]="Fail";
+			stubManager.Write("CTUATOR-IN is not moving Up\n");
+			return 0;
+		}
+		
+	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result2 == DialogResult.Cancel)
+		{
+			Units_status[42,1]="Fail";
+			stubManager.Write("LS_IN_UP Not calibrate\n");
+			return 0;
+		}
+	Units_status[41,1]="Pass";
+	Units_status[42,1]="Pass";
+//---------------------- move ACTUATOR-IN Dn ---------------------------- 
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTDIR_OFF);	// DIR=0
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTIN_ON);	// act_in enable
+	delay(10);																					
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTIN_OFF);	// act_in disable
+	stubManager.Write("ACTUATOR-IN  moving Dn\n"); 
+
+	temp = 1;
+	 i=0;		
+	while ((temp != 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					temp=read_pio (ACTIN_EN);	// read ACTIN_EN
+					delay(50);
+					i++;
+			}
+
+	if(i == 200)
+		{
+			Units_status[41,1]="Fail";
+			stubManager.Write("CTUATOR-IN is not moving Down\n");
+			return 0;
+		}
+		
+	DialogResult result3 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result3 == DialogResult.Cancel)
+		{
+			Units_status[43,1]="Fail";
+			stubManager.Write("LS_IN_Down Not calibrate\n");
+			return 0;
+		}
+	Units_status[43,1]="Pass";
+	return 0;
+
+}
+//------------------------------------------------------------- 
+ int Test_Actuator_out()
+{  
+	Int32 temp;
+	int i=0;
+	
+	DialogResult result = MessageBox.Show("Make shure, ACTUATOR-OUT is down", "Warning",MessageBoxButtons.OKCancel);
+	if(result == DialogResult.Cancel)
+		{
+			Units_status[44,1]="Fail";
+			stubManager.Write("ACTUATOR-OUT is Up\n"); 
+			return 0;
+		}
+//---------------------- move ACTUATOR-OUT Up ---------------------------- 
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTDIR_ON);	// DIR=1
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTOUT_ON);	// act_OUT enable
+	delay(10);																					
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTOUT_OFF);	// act_OUT disable
+	stubManager.Write("ACTUATOR-OUT  moving Up\n"); 
+
+	temp = 1;
+	 i=0;		
+	while ((temp != 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					temp=read_pio (ACTOUT_EN);	// read ACTOUT_EN
+					delay(50);
+					i++;
+			}
+
+	if(i == 200)
+		{
+			Units_status[44,1]="Fail";
+			stubManager.Write("CTUATOR-OUT is not moving Up\n");
+			return 0;
+		}
+		
+	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result2 == DialogResult.Cancel)
+		{
+			Units_status[45,1]="Fail";
+			stubManager.Write("LS_OUT_UP Not calibrate\n");
+			return 0;
+		}
+	Units_status[44,1]="Pass";
+	Units_status[45,1]="Pass";
+//---------------------- move ACTUATOR-OUT Dn ---------------------------- 
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTDIR_OFF);	// DIR=0
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTOUT_ON);	// act_out enable
+	delay(10);																					
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTOUT_OFF);	// act_out disable
+	stubManager.Write("ACTUATOR-OUT  moving Dn\n"); 
+
+	temp = 1;
+	 i=0;		
+	while ((temp != 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					temp=read_pio (ACTOUT_EN);	// read ACTOUT_EN
+					delay(50);
+					i++;
+			}
+
+	if(i == 200)
+		{
+			Units_status[44,1]="Fail";
+			stubManager.Write("CTUATOR-OUT is not moving Down\n");
+			return 0;
+		}
+		
+	DialogResult result3 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result3 == DialogResult.Cancel)
+		{
+			Units_status[46,1]="Fail";
+			stubManager.Write("LS_OUT_Down Not calibrate\n");
+			return 0;
+		}
+	Units_status[46,1]="Pass";
+	return 0;
+
+}
+
+
+
+//-------------------------------------------- 
+ int Test_Magnet_Motor_LS_New_DyeHead()
+{  
+	Int32 temp;
+	int i=0;
+//---------------------- open Magnet ---------------------------- 
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,MGNET_OPEN);	// turn magnet on
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,MGNET_EN);	// magnet enable
+		stubManager.Write("Magnet is Open\n"); 
+		delay(1000);																					
+//---------------------- chekc Magnet is open  ---------------------------- 
+		temp=read_pio (LS_UPPER);	// read LS_UPPER
+		if (temp != 0)		
+		{	
+			Units_status[36,1]="Fail";
+			stubManager.Write("Magnet is close\n"); 
+			return 0;
+		}
+	DialogResult result = MessageBox.Show("Make shure, Magnet is open", "Warning",MessageBoxButtons.OKCancel);
+	if(result == DialogResult.Cancel)
+		{
+			Units_status[36,1]="Fail";
+			stubManager.Write("Magnet is close\n"); 
+			return 0;
+		}
+//---------------------- Move DyeingHead Lid Motor rear---------------------------- 
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,DyeingHeadLid_Motor, true, 250);
+	stubManager.Write("***   Open Lid Head \n");
+	
+	temp = 0;
+	 i=0;		
+	while ((temp == 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					temp=read_pio (LS_REAR);	// read LS_REAR
+					delay(50);
+					i++;
+			}
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DyeingHeadLid_Motor,3);		//stop motor
+	if(i == 200)
+		{
+			Units_status[37,1]="Fail";
+			Units_status[39,1]="Fail";
+			stubManager.Write("LS_REAR Not calibrate\n");
+			return 0;
+		}
+	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result2 == DialogResult.Cancel)
+		{
+			Units_status[37,1]="Fail";
+			Units_status[39,1]="Fail";
+			stubManager.Write("LS_REAR Not calibrate\n");
+			return 0;
+		}
+	Units_status[37,1]="Pass";
+//---------------------- Move DyeingHead Lid Motor front---------------------------- 
+	stubManager.Write("***   Close Lid Head \n");
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,DyeingHeadLid_Motor, false, 250);
+	temp = 0;
+	 i=0;		
+	while ((temp == 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					temp=read_pio (LS_FRONT);	// read LS_FRONT
+					delay(50);
+					i++;
+			}
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DyeingHeadLid_Motor,3);		//stop motor
+	if(i == 200)
+		{
+			Units_status[38,1]="Fail";
+			stubManager.Write("LS_FRONT Not calibrate\n");
+			return 0;
+		}
+		
+	DialogResult result3 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result3 == DialogResult.Cancel)
+		{
+			Units_status[38,1]="Fail";
+			stubManager.Write("LS_FRONT Not calibrate\n");
+			return 0;
+		}
+	Units_status[37,1]="Pass";
+	Units_status[38,1]="Pass";
+//---------------------- Close Magnet ---------------------------- 
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,MGNET_CLOSE);	// turn magnet off
+		delay(2000);																					
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,MGNET_DIS);	// magnet Disable
+		
+		stubManager.Write("Magnet is Close\n"); 
+		delay(1000);																					
+//---------------------- chekc Magnet is close  ---------------------------- 
+		temp=read_pio (LS_UPPER);	// read LS_UPPER
+		if (temp == 0)		
+		{	
+			Units_status[36,1]="Fail";
+			stubManager.Write("Magnet is open\n"); 
+			return 0;
+		}
+	DialogResult result4 = MessageBox.Show("Make shure, Magnet is close", "Warning",MessageBoxButtons.OKCancel);
+	if(result4 == DialogResult.Cancel)
+		{
+			Units_status[36,1]="Fail";
+			stubManager.Write("Magnet is open\n"); 
+			return 0;
+		}
+			Units_status[36,1]="Pass";
+			stubManager.Write("Magnet is close\n"); 
+			return 0;
+}		
+  
+
+//------------------------------------  
+public int Test_new_heaters_pt100()
+{
+	
+//	uint utemp=0;
+	Int32 temp=0;
+	float ftemp=0;
+	float ftemp1=0;
+	float current=0;
+	Double current_sense; 
+
+	for (Int32 i = 0; i < 12; i++)
+	{
+		Int32 tdly=10000;
+//---------------------- get tempurature of heaters---------------------------- 
+		temp= 12+i/2+(i%2)*8;			//HZone_1=12
+										//HZone_2=20
+										//HZone_3=13
+										//HZone_4=21
+										//HZone_5=14
+										//HZone_6=22
+										//HZone_7=15
+										//HZone_8=23
+										//HZone_9=16
+										//HZone_10=24
+										//HZone_11=17
+										//HZone_11=25
+		var response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" , temp);	//get temperature from the buffer
+		 ftemp = (float)response.TemperatureCMultBy100;
+		ftemp = ftemp / 100;
+
+		if ((ftemp>50)|| (ftemp<15))
+		{	
+			Units_status[i,1]="Fail";
+			tdly=1000;
+
+		}
+		stubManager.Write("Zone-"+(i+1)+ "\t" + ftemp.ToString("F2")+"°C\n"); 
+//---------------------- get current of heaters  ---------------------------- 
+	var response1 = stubManager.Run<StubMidTankPressureSensorResponse>("StubMidTankPressureSensorRequest" ,0x8000 + i); // get current
+		current_sense=response1.Pressure;
+		if (current_sense>0.1)
+		{	
+			Units_status[i+12,1]="Fail";
+		}
+		stubManager.Write("current is "+(i+1)+ "\t" + current_sense +"\n"); 
+//---------------------- get Break of heaters  ---------------------------- 
+	var response2 = stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,0x440000 +(i/8)*0x100+(1<<(i&7)));	// read break
+		temp = (Int32) (response2.Progress);
+		if ((temp & (1<<(i&7))) !=0)						//if break ok
+		{	
+			Units_status[i+24,1]="Fail";
+			stubManager.Write("Break Zone "+(i+1)+ "\t is Off\n"); 
+		}
+		else
+		{
+			stubManager.Write("Break Zone "+(i+1)+ "\t is Off\n"); 
+		}
+//---------------------- turn heater on  ---------------------------- 
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,0x400200 +(i/8)*0x100+(1<<(i&7)));	// turn heater on 
+		stubManager.Write("Heater -  "+(i+1)+ "\t is On\n"); 
+		delay(2000);																					//delay 20 second
+//---------------------- get current of heaters  ---------------------------- 
+	var response3 = stubManager.Run<StubMidTankPressureSensorResponse>("StubMidTankPressureSensorRequest" ,0x8000 + i); // get current
+		current_sense=response3.Pressure;
+		if ((current_sense<1.1) ||(current_sense>1.4) )		//if current not 1.25A  
+		{	
+			Units_status[i+12,1]="Fail";
+		}
+		stubManager.Write("current is "+(i+1)+ "\t" + current_sense +"\n"); 
+//---------------------- get Break of heaters  ---------------------------- 
+	var response4 = stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,0x440000 +(i/8)*0x100+(1<<(i&7)));	// read break
+		temp = (Int32) (response4.Progress);
+		if ((temp & (1<<(i&7))) !=0)						//if break ok
+		{	
+			Units_status[i+24,1]="Fail";
+			stubManager.Write("Break Zone "+(i+1)+ "\t is Off\n"); 
+		}
+		else
+		{
+			stubManager.Write("Break Zone "+(i+1)+ "\t is On\n"); 
+		}
+		delay(tdly);																					//delay 20 second
+		temp= 12+i/2+(i%2)*8;
+		var response5 = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" , temp);	//get temperature from the buffer
+		ftemp1 = (float)response5.TemperatureCMultBy100;
+		ftemp1 = ftemp1 / 100;
+
+		if (((ftemp1-ftemp)<5)|| ((ftemp1-ftemp)>35))
+		{	
+			Units_status[i,1]="Fail";
+		}
+		stubManager.Write("Zone-"+(i+1)+ "after heating is \t" + ftemp1.ToString("F2")+"°C\n"); 
+//---------------------- turn heater off  ---------------------------- 
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,0x400200 +(i/8)*0x100);	// turn heater off 
+		stubManager.Write("Heater -  "+(i+1)+ "\t is Off\n"); 
+
+	}	
+			return 0;
+}
+
+Int32 read_pio(Int32 i2c_input)
+{
+		Int32 temp=0;
+	var response = stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,i2c_input);	// read break
+		temp = (Int32) (response.Progress);
+		temp =temp & (i2c_input& 0xff);						//if break ok
+		return temp;
+}
+//end mati
+	
+	//enable_all_channel();
+public int Test_Head_EEPROM(string s_n)
+{
+
+	enable_channel(Head_Mux_Channel_ID); // Chanel 0-7 => Disp0enser 0-7 
+	
+		Write_EEPROM(0xA0,s_n);
+		delay(20); 					//Sleep for 5 milli. - must! otherwise read 0xff (See data sheet )	
+		
+		adc_set_for_read_ch(0xA0);
+		//Thread.Sleep(1); //Sleep for 10 milli.
+		Read_EEPROM(0xA0);
+		
+		delay(20); 					//Sleep for 5 milli. - must! otherwise read 0xff (See data sheet )	
+		return 0;
+
+}
+
+
+
+int enable_channel(int Channel_ID) 
+{
+	uint Const_temp = 0x01;	
+	
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID3;
+	stubI2CWriteBytesRequest.SlaveAddress = TCA9548A_address;
+	
+	Const_temp = Const_temp << Channel_ID;
+	stubI2CWriteBytesRequest.BytesTWrite.Add(Const_temp);
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+}
+
+int Write_EEPROM (uint I2C_Slave_Add,string s_n   ) 
+{
+	
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID3;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0);//Byte 0 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0);//Byte 0 to write
+	//--------------------------------------------------------------
+		char[] characters = EEPROM_Header.ToCharArray();	
+
+	for (int i=0;i<16;i++)
+		{
+		stubI2CWriteBytesRequest.BytesTWrite.Add(characters[i]);	//add header
+		}
+		characters = s_n.ToCharArray();	
+		
+	for (int i=0;i<16;i++)
+		{
+			stubI2CWriteBytesRequest.BytesTWrite.Add(characters[i]);	//add s/n
+		}
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+}
+
+int Read_EEPROM(uint I2C_Slave_Add) 
+{
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID3;
+	stubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add + 1;
+	stubI2CReadBytesRequest.NumberOfBytesToRead = 16; // Number of header bytes to read
+
+	var response1 = stubManager.Run<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+	uint temph=0;
+		char[] characters = EEPROM_Header.ToCharArray();	
+
+	for(int i=0; i<stubI2CReadBytesRequest.NumberOfBytesToRead;i++)
+	{
+			if (characters[i]!=response1.ReadBytes[i]);
+				Units_status[40,1]="Fail";
+	}
+	stubManager.Write("EEprom "+ Units_status[40,1]+"\n"); 
+	
+	return 1;
+}
diff --git a/Software/Stubs Collection/stubs/Scripts/Jig_Tester/stapele_span.cs b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/stapele_span.cs
new file mode 100644
index 000000000..656786ad7
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Jig_Tester/stapele_span.cs
@@ -0,0 +1,631 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+const	int 	New_Stapele_Span_UNDER_TEST=47;
+const 	Int32	MGNET_OPEN=0x420301;
+const	Int32	MGNET_EN=0x420280;
+const	Int32	MGNET_CLOSE=0x420300;
+const	Int32	MGNET_DIS=0x420200;
+const	Int32	ACTDIR_ON=0x460280;
+const	Int32	ACTDIR_OFF=0x460200;
+
+const	Int32	ACTIN_ON=0x460308;
+const	Int32	ACTOUT_ON=0x460304;
+
+const	Int32	ACTIN_OFF=0x46030C;
+const	Int32	ACTOUT_OFF=0x46030C;
+
+
+
+const	Int32	LS_FRONT=0X460110;
+const	Int32	LS_REAR=0X460120;
+const	Int32	LS_UPPER=0X460140;
+const	Int32	LS_SPARE=0X460180;
+const	Int32	ACTIN_EN=0X460101;
+const	Int32	ACTOUT_EN=0X460102;
+
+
+
+string EEPROM_Header="Header_1         ";	//16 characters
+
+int Head_Mux_Channel_ID = 4; //Head MUX channel
+
+
+//float [] Stapele_SpanTemp = new float[6]	;
+
+string [,] Units_status_New_Stapele_Span = new string[New_Stapele_Span_UNDER_TEST,2]	{ 
+												{"Pt100_HTIN","Pass"},		//0
+												{"Pt100_HTOUT","Pass"},		//1
+												
+												{"Current_HTIN1","Pass"},		//2
+												{"Current_HTIN2","Pass"},		//3
+												{"Current_HTIN3","Pass"},		//4
+												{"Current_HTIN4","Pass"},		//5
+												{"Current_HTOUT1","Pass"},		//6
+												{"Current_HTOUT2","Pass"},		//7
+												{"Current_HTOUT3","Pass"},		//8
+												{"Current_HTOUT4","Pass"},		//9
+												
+												{"Break_HTIN1","Pass"},			//10
+												{"Break_HTIN2","Pass"}, 		//11
+												{"Break_HTIN3","Pass"}, 		//12
+												{"Break_HTIN4","Pass"}, 		//13
+												{"Break_HTOUT1","Pass"}, 		//14
+												{"Break_HTOUT2","Pass"}, 		//15
+												{"Break_HTOUT3","Pass"},		//16
+												{"Break_HTOUT4","Pass"},		//17
+
+												{"Fan_in","Not Test"},		//18
+												{"Fan_out","Not Test"},		//19
+												                        
+																		
+																		
+												{"Magnet      ","Not Test"},	//18
+												{"LS_REAR","Not Test"},     	//19
+												{"LS_FRONT","Not Test"},    	//2
+												{"DH_LID_Motor","Not Test"},	//39
+												
+												{"EEPROM ","Pass"},				//40
+												
+												{"ACTUATOR_IN","Not Test"},			//41
+												{"LS_IN_UP","Not Test"},			//42
+												{"LS_IN_DN","Not Test"},			//43
+												{"ACTUATOR_OUT","Not Test"},		//44
+												{"LS_OUT_UP","Not Test"},			//45
+												{"LS_OUT_DN","Not Test"},			//46
+												
+												
+											};
+
+
+
+//--------------------------------------------------------------------------------
+
+public Task<decimal> NewStapele_Span_test( Action<string> settext, CancellationToken cancellationToken, string SN, string Location)
+{
+    Task<decimal> task = null;
+    // Start a task and return it
+    task = Task.Run(() =>
+    {
+	stubManager.Write("S/N:" +SN+ "\n");
+	stubManager.Write("Location:" +Location+ "\n");
+
+	copy_table (New_Stapele_Span_UNDER_TEST,Units_status_New_Stapele_Span);
+
+	DialogResult result1 = MessageBox.Show("Make shure, Stapele_Span is not hot", "Warning",MessageBoxButtons.OKCancel);
+	if(result1 == DialogResult.Cancel)
+		{
+			stubManager.AppendToFile(File_Name1,"Stapele_Span is too hot \tFail");
+			stubManager.Write("Stapele_Span is too hot \tFail\n");
+			return 0 ;
+		}
+	else
+	{
+
+//------------------------------- start test -----------
+	settext("Test Magnet Motor LS");
+	Test_Magnet_Motor_LS_New_Stapele_Span();
+	settext("Test blowers &pt100");
+	Test_blowers_pt100 ();
+	settext("Test Head EEPROM");
+	Test_Head_EEPROM(SN);	
+	settext("Test Actuator In");
+	Test_Actuator_in();
+	settext("Test Actuator Out");
+	Test_Actuator_out();
+	Status=write_to_file(SN,Location,Stapele_Span_UNDER_TEST,"Stapele_Span");
+
+	settext("End Test");
+	}
+	decimal result = 0;
+		
+        return result;
+    });
+    return task;
+}
+  
+//------------------------------------------------------------- 
+ int Test_Actuator_in()
+{  
+	Int32 temp;
+	int i=0;
+	
+	DialogResult result = MessageBox.Show("Make shure, ACTUATOR-IN is down", "Warning",MessageBoxButtons.OKCancel);
+	if(result == DialogResult.Cancel)
+		{
+			Units_status[41,1]="Fail";
+			stubManager.Write("ACTUATOR-IN is Up\n"); 
+			return 0;
+		}
+//---------------------- move ACTUATOR-IN Up ---------------------------- 
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTDIR_ON);	// DIR=1
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTIN_ON);	// act_in enable
+	delay(10);																					
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTIN_OFF);	// act_in disable
+	stubManager.Write("ACTUATOR-IN  moving Up\n"); 
+
+	temp = 1;
+	 i=0;		
+	while ((temp != 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					temp=read_pio (ACTIN_EN);	// read ACTIN_EN
+					delay(50);
+					i++;
+			}
+
+	if(i == 200)
+		{
+			Units_status[41,1]="Fail";
+			stubManager.Write("CTUATOR-IN is not moving Up\n");
+			return 0;
+		}
+		
+	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result2 == DialogResult.Cancel)
+		{
+			Units_status[42,1]="Fail";
+			stubManager.Write("LS_IN_UP Not calibrate\n");
+			return 0;
+		}
+	Units_status[41,1]="Pass";
+	Units_status[42,1]="Pass";
+//---------------------- move ACTUATOR-IN Dn ---------------------------- 
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTDIR_OFF);	// DIR=0
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTIN_ON);	// act_in enable
+	delay(10);																					
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTIN_OFF);	// act_in disable
+	stubManager.Write("ACTUATOR-IN  moving Dn\n"); 
+
+	temp = 1;
+	 i=0;		
+	while ((temp != 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					temp=read_pio (ACTIN_EN);	// read ACTIN_EN
+					delay(50);
+					i++;
+			}
+
+	if(i == 200)
+		{
+			Units_status[41,1]="Fail";
+			stubManager.Write("CTUATOR-IN is not moving Down\n");
+			return 0;
+		}
+		
+	DialogResult result3 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result3 == DialogResult.Cancel)
+		{
+			Units_status[43,1]="Fail";
+			stubManager.Write("LS_IN_Down Not calibrate\n");
+			return 0;
+		}
+	Units_status[43,1]="Pass";
+	return 0;
+
+}
+//------------------------------------------------------------- 
+ int Test_Actuator_out()
+{  
+	Int32 temp;
+	int i=0;
+	
+	DialogResult result = MessageBox.Show("Make shure, ACTUATOR-OUT is down", "Warning",MessageBoxButtons.OKCancel);
+	if(result == DialogResult.Cancel)
+		{
+			Units_status[44,1]="Fail";
+			stubManager.Write("ACTUATOR-OUT is Up\n"); 
+			return 0;
+		}
+//---------------------- move ACTUATOR-OUT Up ---------------------------- 
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTDIR_ON);	// DIR=1
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTOUT_ON);	// act_OUT enable
+	delay(10);																					
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTOUT_OFF);	// act_OUT disable
+	stubManager.Write("ACTUATOR-OUT  moving Up\n"); 
+
+	temp = 1;
+	 i=0;		
+	while ((temp != 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					temp=read_pio (ACTOUT_EN);	// read ACTOUT_EN
+					delay(50);
+					i++;
+			}
+
+	if(i == 200)
+		{
+			Units_status[44,1]="Fail";
+			stubManager.Write("CTUATOR-OUT is not moving Up\n");
+			return 0;
+		}
+		
+	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result2 == DialogResult.Cancel)
+		{
+			Units_status[45,1]="Fail";
+			stubManager.Write("LS_OUT_UP Not calibrate\n");
+			return 0;
+		}
+	Units_status[44,1]="Pass";
+	Units_status[45,1]="Pass";
+//---------------------- move ACTUATOR-OUT Dn ---------------------------- 
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTDIR_OFF);	// DIR=0
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTOUT_ON);	// act_out enable
+	delay(10);																					
+	stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,ACTOUT_OFF);	// act_out disable
+	stubManager.Write("ACTUATOR-OUT  moving Dn\n"); 
+
+	temp = 1;
+	 i=0;		
+	while ((temp != 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					temp=read_pio (ACTOUT_EN);	// read ACTOUT_EN
+					delay(50);
+					i++;
+			}
+
+	if(i == 200)
+		{
+			Units_status[44,1]="Fail";
+			stubManager.Write("CTUATOR-OUT is not moving Down\n");
+			return 0;
+		}
+		
+	DialogResult result3 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result3 == DialogResult.Cancel)
+		{
+			Units_status[46,1]="Fail";
+			stubManager.Write("LS_OUT_Down Not calibrate\n");
+			return 0;
+		}
+	Units_status[46,1]="Pass";
+	return 0;
+
+}
+
+
+
+//-------------------------------------------- 
+ int Test_Magnet_Motor_LS_New_Stapele_Span()
+{  
+	Int32 temp;
+	int i=0;
+//---------------------- open Magnet ---------------------------- 
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,MGNET_OPEN);	// turn magnet on
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,MGNET_EN);	// magnet enable
+		stubManager.Write("Magnet is Open\n"); 
+		delay(1000);																					
+//---------------------- chekc Magnet is open  ---------------------------- 
+		temp=read_pio (LS_UPPER);	// read LS_UPPER
+		if (temp != 0)		
+		{	
+			Units_status[36,1]="Fail";
+			stubManager.Write("Magnet is close\n"); 
+			return 0;
+		}
+	DialogResult result = MessageBox.Show("Make shure, Magnet is open", "Warning",MessageBoxButtons.OKCancel);
+	if(result == DialogResult.Cancel)
+		{
+			Units_status[36,1]="Fail";
+			stubManager.Write("Magnet is close\n"); 
+			return 0;
+		}
+//---------------------- Move DyeingHead Lid Motor rear---------------------------- 
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,DyeingHeadLid_Motor, true, 250);
+	stubManager.Write("***   Open Lid Head \n");
+	
+	temp = 0;
+	 i=0;		
+	while ((temp == 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					temp=read_pio (LS_REAR);	// read LS_REAR
+					delay(50);
+					i++;
+			}
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DyeingHeadLid_Motor,3);		//stop motor
+	if(i == 200)
+		{
+			Units_status[37,1]="Fail";
+			Units_status[39,1]="Fail";
+			stubManager.Write("LS_REAR Not calibrate\n");
+			return 0;
+		}
+	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result2 == DialogResult.Cancel)
+		{
+			Units_status[37,1]="Fail";
+			Units_status[39,1]="Fail";
+			stubManager.Write("LS_REAR Not calibrate\n");
+			return 0;
+		}
+	Units_status[37,1]="Pass";
+//---------------------- Move DyeingHead Lid Motor front---------------------------- 
+	stubManager.Write("***   Close Lid Head \n");
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,DyeingHeadLid_Motor, false, 250);
+	temp = 0;
+	 i=0;		
+	while ((temp == 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
+			{	
+					temp=read_pio (LS_FRONT);	// read LS_FRONT
+					delay(50);
+					i++;
+			}
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DyeingHeadLid_Motor,3);		//stop motor
+	if(i == 200)
+		{
+			Units_status[38,1]="Fail";
+			stubManager.Write("LS_FRONT Not calibrate\n");
+			return 0;
+		}
+		
+	DialogResult result3 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.OKCancel);
+	if(result3 == DialogResult.Cancel)
+		{
+			Units_status[38,1]="Fail";
+			stubManager.Write("LS_FRONT Not calibrate\n");
+			return 0;
+		}
+	Units_status[37,1]="Pass";
+	Units_status[38,1]="Pass";
+//---------------------- Close Magnet ---------------------------- 
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,MGNET_CLOSE);	// turn magnet off
+		delay(2000);																					
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,MGNET_DIS);	// magnet Disable
+		
+		stubManager.Write("Magnet is Close\n"); 
+		delay(1000);																					
+//---------------------- chekc Magnet is close  ---------------------------- 
+		temp=read_pio (LS_UPPER);	// read LS_UPPER
+		if (temp == 0)		
+		{	
+			Units_status[36,1]="Fail";
+			stubManager.Write("Magnet is open\n"); 
+			return 0;
+		}
+	DialogResult result4 = MessageBox.Show("Make shure, Magnet is close", "Warning",MessageBoxButtons.OKCancel);
+	if(result4 == DialogResult.Cancel)
+		{
+			Units_status[36,1]="Fail";
+			stubManager.Write("Magnet is open\n"); 
+			return 0;
+		}
+			Units_status[36,1]="Pass";
+			stubManager.Write("Magnet is close\n"); 
+			return 0;
+}		
+  
+
+//------------------------------------  
+public int Test_blowers_pt100_fan()
+{
+	
+//	uint utemp=0;
+	Int32 temp=0;
+	float ftemp=0;
+	float ftemp1=0;
+	float current=0;
+	Double current_sense; 
+
+	for (Int32 i = 0; i < 2; i++)
+	{
+	//---------------------- check fans---------------------------- 
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0xfac0+i, 0xff);//Fan Click Head Card , Fan 1 Setting - 0xFF Full PWM 0x80 = 50%  FF = 100% 0 - STOP
+		delay(2000);																					//delay 2 second
+
+		var response5 = stubManager.Run<ProgressResponse>("ProgressRequest" ,0xfac0+i, 0xff);//Fan Click Head Card , Fan 1 Setting - 0xFF Full PWM 0x80 = 50%  FF = 100% 0 - STOP
+		temp = (Int32) (response.Progress);
+		temp =temp & (response.Progress & 0xffff);						//
+		if (temp>0xEC0)
+		{
+			Units_status[18+i,1]="Fail";
+			return 0;
+		}
+			Units_status[18+i,1]="Pass";
+		
+		//---------------------- get tempurature of heaters---------------------------- 
+		if	(i==0)
+			temp=18;
+		else
+			temp=16;
+		var response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" , 0x8000 +temp);	//get temperature from the buffer
+		 ftemp = (float)response.TemperatureCMultBy100;
+		ftemp = ftemp / 100;
+
+		if ((ftemp>50)|| (ftemp<15))
+		{	
+			Units_status[i,1]="Fail";
+			tdly=1000;
+
+		}
+		stubManager.Write("Hit-"+(i+1)+ "\t" + ftemp.ToString("F2")+"°C\n"); 
+
+		for (Int32 j = 0; j < 4; j++)
+		{
+			Int32 tdly=10000;
+		//---------------------- get current of heaters  ---------------------------- 
+		var response1 = stubManager.Run<StubMidTankPressureSensorResponse>("StubMidTankPressureSensorRequest" ,0x8000 +12 + 4*i +j); // get current
+			current_sense=2*response1.Pressure;
+			if (current_sense>0.1)
+			{	
+				Units_status[2+j+4*i,1]="Fail";
+			}
+			stubManager.Write("current is "+(j+1+4*i )+ "\t" + current_sense +"\n"); 
+		//---------------------- get Break of heaters  ---------------------------- 
+		var response2 = stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,0x440000 +0x20000*i +(1-i)*0x100);	// read break
+			temp = (Int32) (response2.Progress);
+			if ((temp & (1<<((1-i)*4+j))) !=0)						//if break ok
+			{	
+				Units_status[10+j+4*i,1]="Fail";
+				stubManager.Write("Break Zone "+(i*4+j+1)+ "\t is Off\n"); 
+			}
+			else
+			{
+				stubManager.Write("Break Zone "+(i*4+j+1)+ "\t is On\n"); 
+			}
+		//---------------------- turn heater on  ---------------------------- 
+			stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,0x400300 +0x1fff00*i  +(1<<((1-i)*4+j)));	// turn heater on 
+			stubManager.Write("Heater -  "+(i*4+j+1)+ "\t is On\n"); 
+			delay(2000);																					//delay 2 second
+		//---------------------- get current of heaters  ---------------------------- 
+		var response3 = stubManager.Run<StubMidTankPressureSensorResponse>("StubMidTankPressureSensorRequest" ,0x8000 + +12 + 4*i +j); // get current
+			current_sense=2*response3.Pressure;
+			if ((current_sense<1.1) ||(current_sense>1.4) )		//if current not 2.5A  
+			{	
+				Units_status[2+j+4*i,1]="Fail";
+			}
+			stubManager.Write("current is "+(j+1+4*i )+"\t" + current_sense +"\n"); 
+		//---------------------- get Break of heaters  ---------------------------- 
+		var response4 = stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,0x440000 +0x20000*i +(1-i)*0x100);	// read break
+			temp = (Int32) (response4.Progress);
+			if ((temp & (1<<((1-i)*4+j))) !=0)						//if break ok
+			{	
+				Units_status[10+j+4*i,1]="Fail";
+				stubManager.Write("Break Zone "+(i*4+j+1)+ "\t is Off\n"); 
+			}
+			else
+			{
+				stubManager.Write("Break Zone "+(i*4+j+1)+ "\t is On\n"); 
+			}
+	
+			delay(tdly); //delay 20 second
+		//---------------------- turn heater off  ---------------------------- 
+			
+			stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,0x400300 +0x1fff00*i );	// turn heater on 
+			stubManager.Write("Heater -  "+(i*4+j+1)+ "\t is Off\n"); 
+		}
+		//---------------------- get tempurature of heaters---------------------------- 
+		if	(i==0)
+			temp=18;
+		else
+			temp=16;
+		var response = stubManager.Run<StubTempSensorResponse>("StubTempSensorRequest" , 0x8000 +temp);	//get temperature from the buffer
+		 ftemp1 = (float)response.TemperatureCMultBy100;
+		ftemp1 = ftemp1 / 100;
+
+		if (((ftemp1-ftemp)<5)|| ((ftemp1-ftemp)>35))
+		{	
+			Units_status[i,1]="Fail";
+		}
+		stubManager.Write("Zone-"+(i+1)+ "after heating is \t" + ftemp1.ToString("F2")+"°C\n"); 
+
+	//---------------------- check fan off---------------------------- 
+		
+		stubManager.Run<ProgressResponse>("ProgressRequest" ,0xfac0+i, 0);//Fan Click Head Card , Fan 1 Setting - 0xFF Full PWM 0x80 = 50%  FF = 100% 0 - STOP
+		delay(2000);																					//delay 2 second
+		var response6 = stubManager.Run<ProgressResponse>("ProgressRequest" ,0xfac0+i, 0);//Fan Click Head Card , Fan 1 Setting - 0xFF Full PWM 0x80 = 50%  FF = 100% 0 - STOP
+		temp = (Int32) (response6.Progress);
+		temp =temp & (response.Progress & 0xffff);						//
+		if (temp<0x0xFF00)
+		{
+			Units_status[18+i,1]="Fail";
+			return 0;
+		}
+		
+	}	
+			return 0;
+}
+
+Int32 read_pio(Int32 i2c_input)
+{
+		Int32 temp=0;
+	var response = stubManager.Run<ProgressResponse>("ProgressRequest" ,0x0EAD,i2c_input);	// read break
+		temp = (Int32) (response.Progress);
+		temp =temp & (i2c_input& 0xff);						//if break ok
+		return temp;
+}
+//end mati
+	
+	//enable_all_channel();
+public int Test_Head_EEPROM(string s_n)
+{
+
+	enable_channel(Head_Mux_Channel_ID); // Chanel 0-7 => Disp0enser 0-7 
+	
+		Write_EEPROM(0xA0,s_n);
+		delay(20); 					//Sleep for 5 milli. - must! otherwise read 0xff (See data sheet )	
+		
+		adc_set_for_read_ch(0xA0);
+		//Thread.Sleep(1); //Sleep for 10 milli.
+		Read_EEPROM(0xA0);
+		
+		delay(20); 					//Sleep for 5 milli. - must! otherwise read 0xff (See data sheet )	
+		return 0;
+
+}
+
+
+
+int enable_channel(int Channel_ID) 
+{
+	uint Const_temp = 0x01;	
+	
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID3;
+	stubI2CWriteBytesRequest.SlaveAddress = TCA9548A_address;
+	
+	Const_temp = Const_temp << Channel_ID;
+	stubI2CWriteBytesRequest.BytesTWrite.Add(Const_temp);
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+}
+
+int Write_EEPROM (uint I2C_Slave_Add,string s_n   ) 
+{
+	
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID3;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0);//Byte 0 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0);//Byte 0 to write
+	//--------------------------------------------------------------
+		char[] characters = EEPROM_Header.ToCharArray();	
+
+	for (int i=0;i<16;i++)
+		{
+		stubI2CWriteBytesRequest.BytesTWrite.Add(characters[i]);	//add header
+		}
+		characters = s_n.ToCharArray();	
+		
+	for (int i=0;i<16;i++)
+		{
+			stubI2CWriteBytesRequest.BytesTWrite.Add(characters[i]);	//add s/n
+		}
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+}
+
+int Read_EEPROM(uint I2C_Slave_Add) 
+{
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID3;
+	stubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add + 1;
+	stubI2CReadBytesRequest.NumberOfBytesToRead = 16; // Number of header bytes to read
+
+	var response1 = stubManager.Run<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+	uint temph=0;
+		char[] characters = EEPROM_Header.ToCharArray();	
+
+	for(int i=0; i<stubI2CReadBytesRequest.NumberOfBytesToRead;i++)
+	{
+			if (characters[i]!=response1.ReadBytes[i]);
+				Units_status[40,1]="Fail";
+	}
+	stubManager.Write("EEprom "+ Units_status[40,1]+"\n"); 
+	
+	return 1;
+}
diff --git a/Software/Stubs Collection/stubs/Scripts/Moshe Copy Files.exe b/Software/Stubs Collection/stubs/Scripts/Moshe Copy Files.exe
new file mode 100644
index 000000000..428ce300b
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Moshe Copy Files.exe
diff --git a/Software/Stubs Collection/stubs/Scripts/Motor_Get_Param_Horizontal_Printing.cs b/Software/Stubs Collection/stubs/Scripts/Motor_Get_Param_Horizontal_Printing.cs
index 7e0d1ae38..6221ff388 100644
--- a/Software/Stubs Collection/stubs/Scripts/Motor_Get_Param_Horizontal_Printing.cs
+++ b/Software/Stubs Collection/stubs/Scripts/Motor_Get_Param_Horizontal_Printing.cs
@@ -42,58 +42,6 @@ const Int32 x_GET_PARAM  = 0x20;
 //-------------------------------
 const Int32 Max_Motor_ID  = 25;
 
-
-
-string[] Motor_ID = new string[30];
-
-
-Motor_ID[0] ="DH_CLEANHEAD ";
-Motor_ID[1] ="DH_CLEANMECH ";
-Motor_ID[2] ="DH_LID       ";
-Motor_ID[3] ="DRYER_DRIVING";
-Motor_ID[4] ="DRYER_LID    ";
-Motor_ID[5] ="DRYER_LOADARM";
-Motor_ID[6] ="DISPENCER_1  ";
-Motor_ID[7] ="DISPENCER_2  ";
-Motor_ID[8] ="DISPENCER_3  ";
-Motor_ID[9] ="DISPENCER_4  ";
-Motor_ID[10]="DISPENCER_5  ";
-Motor_ID[11]="DISPENCER_6  ";
-Motor_ID[12]="DISPENCER_7  ";
-Motor_ID[13]="DISPENCER_8  ";
-Motor_ID[14]="SCREW        ";
-Motor_ID[15]="WINDER       ";
-Motor_ID[16]="LDANCER1     ";
-Motor_ID[17]="LDANCER2     ";
-Motor_ID[18]="LDRIVING     ";
-Motor_ID[19]="LLODING      ";
-Motor_ID[20]="LPIVOT       ";
-Motor_ID[21]="RDANCER      ";
-Motor_ID[22]="RDRIVING     ";
-Motor_ID[23]="RLOADARM     ";
-Motor_ID[24]="RLODING      ";
-Motor_ID[25]="SPARE1_1     ";
-Motor_ID[26]="SPARE1_2     ";
-Motor_ID[27]="SPARE2_1     ";
-Motor_ID[28]="SPARE2_2     ";
-Motor_ID[29]="SPARE3       ";
-
-	
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
 Int32 i  = 12; // to run only for specific motor 
 
 public void OnExecute(StubManager stubManager)
@@ -103,14 +51,11 @@ public void OnExecute(StubManager stubManager)
 		
 		if((i%8 ==0) )
 		{
-			stubManager.Write("\n\n");
-			stubManager.Write("MoTor\t\t\tMIN_SPEED\tMAX_SPEED\tSTEP_MODE\tACC\t\tDEC\t\tKVAL_HOLD\tKVAL_RUN\tKVAL_ACC\tKVAL_DEC\tOCD_TH\t\tSTALL_TH\tCONFIG\t\tFS_SPD\t\tADC_OUT\tDriver_Type\n");
-			stubManager.Write("------\t\t\t--------\t--------\t----------\t---\t\t---\t\t---------\t--------\t--------\t--------\t------\t\t--------\t------\t\t------\t\t------\t\t------\n");
+			stubManager.Write("MoTor\tMIN_SPEED\tMAX_SPEED\tSTEP_MODE\tACC\t\tDEC\t\tKVAL_HOLD\tKVAL_RUN\tKVAL_ACC\tKVAL_DEC\tOCD_TH\t\tSTALL_TH\tCONFIG\t\tFS_SPD\t\tADC_OUT\n");
+			stubManager.Write("------\t--------\t--------\t----------\t---\t\t---\t\t---------\t--------\t--------\t--------\t------\t\t--------\t------\t\t------\t\t------\n");
 		}
-		//stubManager.Write(i);
-		
-		stubManager.Write(Motor_ID[i]);
-		stubManager.Write("\t\t");
+		stubManager.Write(i);
+		stubManager.Write("\t");
 	
 		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MIN_SPEED)<<16, 0, 0);
 		stubManager.WriteHex(response.RecivedData,4); 
@@ -166,50 +111,8 @@ public void OnExecute(StubManager stubManager)
 		
 		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ADC_OUT)<<8, 0, 0);
 		stubManager.WriteHex(response.RecivedData,4);
-		if(	response.RecivedData > 12 )	
-			stubManager.Write("\t\tVolage_Driver");
-		else if (	response.RecivedData > 8 )	
-			stubManager.Write("\t\tCurrent_Driver");
-		else
-			stubManager.Write("\t\tNo_Driver");
-			
-			
 		stubManager.Write("\n\n");
 		
 	}
-	
-	stubManager.Write("MoTor\t\t\tINT_SPD\tST_SLP\t\tSLP_ACC\tSLP_DEC\tSTATUS\n");
-	stubManager.Write("-----\t\t\t-------\t------\t\t-------\t--------\t-----\n");
-	
-	for (i = 0; i < Max_Motor_ID; i++)
-	{
-		stubManager.Write(Motor_ID[i]);
-
-//		stubManager.Write(i);
-		stubManager.Write("\t\t");
-	
-		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_INT_SPD)<<16, 0, 0);
-		stubManager.WriteHex(response.RecivedData,4); 
-		stubManager.Write("\t\t");			
-		
-		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ST_SLP)<<8, 0, 0);
-		stubManager.WriteHex(response.RecivedData,4); 
-		stubManager.Write("\t\t");
-		
-		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FN_SLP_ACC)<<8, 0, 0);
-		stubManager.WriteHex(response.RecivedData,4);
-		stubManager.Write("\t\t");
-		
-		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FN_SLP_DEC)<<8, 0, 0);
-		stubManager.WriteHex(response.RecivedData,4);
-		stubManager.Write("\t\t");
-		
-		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STATUS)<<16, 0, 0);
-		stubManager.WriteHex(response.RecivedData,4);
-		stubManager.Write("\n\n");
-		
-		
-		
-	}
 
 }
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Motor_Get_Param_Horizontal_Printing1.cs b/Software/Stubs Collection/stubs/Scripts/Motor_Get_Param_Horizontal_Printing1.cs
new file mode 100644
index 000000000..6221ff388
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Motor_Get_Param_Horizontal_Printing1.cs
@@ -0,0 +1,118 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+//unmark Auto logging !
+
+const Int32 x_ABS_POS    = 0x01;
+const Int32 x_EL_POS     = 0x02;
+const Int32 x_MARK       = 0x03;
+const Int32 x_SPEED      = 0x04;
+const Int32 x_ACC        = 0x05;
+const Int32 x_DEC        = 0x06;
+const Int32 x_MAX_SPEED  = 0x07;
+const Int32 x_MIN_SPEED  = 0x08;
+const Int32 x_FS_SPD     = 0x15;
+const Int32 x_KVAL_HOLD  = 0x09;
+const Int32 x_KVAL_RUN   = 0x0A;
+const Int32 x_KVAL_ACC   = 0x0B;
+const Int32 x_KVAL_DEC   = 0x0C;
+const Int32 x_INT_SPD    = 0x0D;
+const Int32 x_ST_SLP     = 0x0E;
+const Int32 x_FN_SLP_ACC = 0x0F;
+const Int32 x_FN_SLP_DEC = 0x10;
+const Int32 x_K_THERM    = 0x11;
+const Int32 x_ADC_OUT    = 0x12;
+const Int32 x_OCD_TH     = 0x13;
+const Int32 x_STALL_TH   = 0x14;
+const Int32 x_STEP_MODE  = 0x16;
+const Int32 x_ALARM_EN   = 0x17;
+const Int32 x_CONFIG     = 0x18;
+const Int32 x_STATUS     = 0x19;
+//-------------------------------
+const Int32 x_GET_PARAM  = 0x20;
+//-------------------------------
+const Int32 Max_Motor_ID  = 25;
+
+Int32 i  = 12; // to run only for specific motor 
+
+public void OnExecute(StubManager stubManager)
+{
+	for (i = 0; i < Max_Motor_ID; i++)
+	{
+		
+		if((i%8 ==0) )
+		{
+			stubManager.Write("MoTor\tMIN_SPEED\tMAX_SPEED\tSTEP_MODE\tACC\t\tDEC\t\tKVAL_HOLD\tKVAL_RUN\tKVAL_ACC\tKVAL_DEC\tOCD_TH\t\tSTALL_TH\tCONFIG\t\tFS_SPD\t\tADC_OUT\n");
+			stubManager.Write("------\t--------\t--------\t----------\t---\t\t---\t\t---------\t--------\t--------\t--------\t------\t\t--------\t------\t\t------\t\t------\n");
+		}
+		stubManager.Write(i);
+		stubManager.Write("\t");
+	
+		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MIN_SPEED)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t");			
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MAX_SPEED)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); stubManager.Write("\t");		
+		stubManager.Write("\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STEP_MODE)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ACC)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_DEC)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_HOLD)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_RUN)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_ACC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_DEC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_OCD_TH)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STALL_TH)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_CONFIG)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FS_SPD)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ADC_OUT)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\n\n");
+		
+	}
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Motor_Get_Param_Horizontal_Printing2.cs b/Software/Stubs Collection/stubs/Scripts/Motor_Get_Param_Horizontal_Printing2.cs
new file mode 100644
index 000000000..09d22dea9
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Motor_Get_Param_Horizontal_Printing2.cs
@@ -0,0 +1,233 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+//unmark Auto logging !
+
+const Int32 x_ABS_POS    = 0x01;
+const Int32 x_EL_POS     = 0x02;
+const Int32 x_MARK       = 0x03;
+const Int32 x_SPEED      = 0x04;
+const Int32 x_ACC        = 0x05;
+const Int32 x_DEC        = 0x06;
+const Int32 x_MAX_SPEED  = 0x07;
+const Int32 x_MIN_SPEED  = 0x08;
+const Int32 x_FS_SPD     = 0x15;
+const Int32 x_KVAL_HOLD  = 0x09;
+const Int32 x_KVAL_RUN   = 0x0A;
+const Int32 x_KVAL_ACC   = 0x0B;
+const Int32 x_KVAL_DEC   = 0x0C;
+const Int32 x_INT_SPD    = 0x0D;
+const Int32 x_ST_SLP     = 0x0E;
+const Int32 x_FN_SLP_ACC = 0x0F;
+const Int32 x_FN_SLP_DEC = 0x10;
+const Int32 x_K_THERM    = 0x11;
+const Int32 x_ADC_OUT    = 0x12;
+const Int32 x_OCD_TH     = 0x13;
+const Int32 x_STALL_TH   = 0x14;
+const Int32 x_STEP_MODE  = 0x16;
+const Int32 x_ALARM_EN   = 0x17;
+const Int32 x_CONFIG     = 0x18;
+const Int32 x_STATUS     = 0x19;
+//-------------------------------
+const Int32 x_GET_PARAM  = 0x20;
+//-------------------------------
+const Int32 Max_Motor_ID  = 25;
+
+
+
+string[] Motor_ID = new string[30];
+
+
+Motor_ID[0] ="DH_CLEANHEAD ";
+Motor_ID[1] ="DH_CLEANMECH ";
+Motor_ID[2] ="DH_LID       ";
+Motor_ID[3] ="DRYER_DRIVING";
+Motor_ID[4] ="DRYER_LID    ";
+Motor_ID[5] ="DRYER_LOADARM";
+Motor_ID[6] ="DISPENCER_1  ";
+Motor_ID[7] ="DISPENCER_2  ";
+Motor_ID[8] ="DISPENCER_3  ";
+Motor_ID[9] ="DISPENCER_4  ";
+Motor_ID[10]="DISPENCER_5  ";
+Motor_ID[11]="DISPENCER_6  ";
+Motor_ID[12]="DISPENCER_7  ";
+Motor_ID[13]="DISPENCER_8  ";
+Motor_ID[14]="SCREW        ";
+Motor_ID[15]="WINDER       ";
+Motor_ID[16]="LDANCER1     ";
+Motor_ID[17]="LDANCER2     ";
+Motor_ID[18]="LDRIVING     ";
+Motor_ID[19]="LLODING      ";
+Motor_ID[20]="LPIVOT       ";
+Motor_ID[21]="RDANCER      ";
+Motor_ID[22]="RDRIVING     ";
+Motor_ID[23]="RLOADARM     ";
+Motor_ID[24]="RLODING      ";
+Motor_ID[25]="SPARE1_1     ";
+Motor_ID[26]="SPARE1_2     ";
+Motor_ID[27]="SPARE2_1     ";
+Motor_ID[28]="SPARE2_2     ";
+Motor_ID[29]="SPARE3       ";
+
+	
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Int32 i  = 12; // to run only for specific motor 
+
+public void OnExecute(StubManager stubManager)
+{
+
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000380 , 0x06b9);	
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000390 , 0x003f);	
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000550 , 0x0003);
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000b80 , 0x001f);	
+
+
+
+
+
+
+
+
+
+
+
+	for (i = 0; i < Max_Motor_ID; i++)
+	{
+		
+		if((i%8 ==0) )
+		{
+			stubManager.Write("\n\n");
+			stubManager.Write("MoTor\t\t\tMIN_SPEED\tMAX_SPEED\tSTEP_MODE\tACC\t\tDEC\t\tKVAL_HOLD\tKVAL_RUN\tKVAL_ACC\tKVAL_DEC\tOCD_TH\t\tSTALL_TH\tCONFIG\t\tFS_SPD\t\tADC_OUT\tDriver_Type\n");
+			stubManager.Write("------\t\t\t--------\t--------\t----------\t---\t\t---\t\t---------\t--------\t--------\t--------\t------\t\t--------\t------\t\t------\t\t------\t\t------\n");
+		}
+		//stubManager.Write(i);
+		
+		stubManager.Write(Motor_ID[i]);
+		stubManager.Write("\t\t");
+	
+		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MIN_SPEED)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t");			
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MAX_SPEED)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); stubManager.Write("\t");		
+		stubManager.Write("\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STEP_MODE)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ACC)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_DEC)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_HOLD)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_RUN)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_ACC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_DEC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_OCD_TH)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STALL_TH)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_CONFIG)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FS_SPD)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ADC_OUT)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		if(	response.RecivedData > 0x15 )	
+			stubManager.Write("\t\tDual_Driver");
+		else if (	response.RecivedData > 0x0b)	
+			stubManager.Write("\t\tVolage_Driver");
+		else if (	response.RecivedData > 8 )	
+			stubManager.Write("\t\tCurrent_Driver");
+		else
+			stubManager.Write("\t\tNo_Driver");
+			
+			
+		stubManager.Write("\n\n");
+		
+	}
+	
+	stubManager.Write("MoTor\t\t\tINT_SPD\tST_SLP\t\tSLP_ACC\tSLP_DEC\tSTATUS\n");
+	stubManager.Write("-----\t\t\t-------\t------\t\t-------\t--------\t-----\n");
+	
+	for (i = 0; i < Max_Motor_ID; i++)
+	{
+		stubManager.Write(Motor_ID[i]);
+
+//		stubManager.Write(i);
+		stubManager.Write("\t\t");
+	
+		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_INT_SPD)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t");			
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ST_SLP)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FN_SLP_ACC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FN_SLP_DEC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STATUS)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\n\n");
+		
+		
+		
+	}
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Motor_Get_Param_Horizontal_Printing3.cs b/Software/Stubs Collection/stubs/Scripts/Motor_Get_Param_Horizontal_Printing3.cs
new file mode 100644
index 000000000..73042af54
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Motor_Get_Param_Horizontal_Printing3.cs
@@ -0,0 +1,261 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+//unmark Auto logging !
+
+const Int32 x_ABS_POS    = 0x01;
+const Int32 x_EL_POS     = 0x02;
+const Int32 x_MARK       = 0x03;
+const Int32 x_SPEED      = 0x04;
+const Int32 x_ACC        = 0x05;
+const Int32 x_DEC        = 0x06;
+const Int32 x_MAX_SPEED  = 0x07;
+const Int32 x_MIN_SPEED  = 0x08;
+const Int32 x_FS_SPD     = 0x15;
+const Int32 x_KVAL_HOLD  = 0x09;
+const Int32 x_KVAL_RUN   = 0x0A;
+const Int32 x_KVAL_ACC   = 0x0B;
+const Int32 x_KVAL_DEC   = 0x0C;
+const Int32 x_INT_SPD    = 0x0D;
+const Int32 x_ST_SLP     = 0x0E;
+const Int32 x_FN_SLP_ACC = 0x0F;
+const Int32 x_FN_SLP_DEC = 0x10;
+const Int32 x_K_THERM    = 0x11;
+const Int32 x_ADC_OUT    = 0x12;
+const Int32 x_OCD_TH     = 0x13;
+const Int32 x_STALL_TH   = 0x14;
+const Int32 x_STEP_MODE  = 0x16;
+const Int32 x_ALARM_EN   = 0x17;
+const Int32 x_CONFIG     = 0x18;
+const Int32 x_STATUS     = 0x19;
+//-------------------------------
+const Int32 x_GET_PARAM  = 0x20;
+//-------------------------------
+const Int32 Max_Motor_ID  = 25;
+
+
+
+string[] Motor_ID = new string[30];
+
+
+Motor_ID[0] ="DH_CLEANHEAD ";
+Motor_ID[1] ="DH_CLEANMECH ";
+Motor_ID[2] ="DH_LID       ";
+Motor_ID[3] ="DRYER_DRIVING";
+Motor_ID[4] ="DRYER_LID    ";
+Motor_ID[5] ="DRYER_LOADARM";
+Motor_ID[6] ="DISPENCER_1  ";
+Motor_ID[7] ="DISPENCER_2  ";
+Motor_ID[8] ="DISPENCER_3  ";
+Motor_ID[9] ="DISPENCER_4  ";
+Motor_ID[10]="DISPENCER_5  ";
+Motor_ID[11]="DISPENCER_6  ";
+Motor_ID[12]="DISPENCER_7  ";
+Motor_ID[13]="DISPENCER_8  ";
+Motor_ID[14]="SCREW        ";
+Motor_ID[15]="WINDER       ";
+Motor_ID[16]="LDANCER1     ";
+Motor_ID[17]="LDANCER2     ";
+Motor_ID[18]="LDRIVING     ";
+Motor_ID[19]="LLODING      ";
+Motor_ID[20]="LPIVOT       ";
+Motor_ID[21]="RDANCER      ";
+Motor_ID[22]="RDRIVING     ";
+Motor_ID[23]="RLOADARM     ";
+Motor_ID[24]="RLODING      ";
+Motor_ID[25]="SPARE1_1     ";
+Motor_ID[26]="SPARE1_2     ";
+Motor_ID[27]="SPARE2_1     ";
+Motor_ID[28]="SPARE2_2     ";
+Motor_ID[29]="SPARE3       ";
+
+	
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Int32 i  = 12; // to run only for specific motor 
+
+public void OnExecute(StubManager stubManager)
+{
+
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000380 , 0x06b9);	
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000390 , 0x003f);	
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000550 , 0x0003);
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000b80 , 0x001f);	
+
+
+
+
+
+
+
+
+
+
+
+	for (i = 0; i < Max_Motor_ID; i++)
+	{
+		
+		if((i%8 ==0) )
+		{
+			stubManager.Write("\n\n");
+			stubManager.Write("MoTor\t\t\tMIN_SPEED\tMAX_SPEED\tSTEP_MODE\tACC\t\tDEC\t\tKVAL_HOLD\tKVAL_RUN\tKVAL_ACC\tKVAL_DEC\tOCD_TH\t\tSTALL_TH\tCONFIG\t\tFS_SPD\t\tADC_OUT\tDriver_Type\n");
+			stubManager.Write("------\t\t\t--------\t--------\t----------\t---\t\t---\t\t---------\t--------\t--------\t--------\t------\t\t--------\t------\t\t------\t\t------\t\t------\n");
+		}
+		//stubManager.Write(i);
+		
+		stubManager.Write(Motor_ID[i]);
+		stubManager.Write("\t\t");
+	
+		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MIN_SPEED)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t");			
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MAX_SPEED)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); stubManager.Write("\t");		
+		stubManager.Write("\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STEP_MODE)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ACC)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_DEC)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_HOLD)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_RUN)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_ACC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_DEC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_OCD_TH)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STALL_TH)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_CONFIG)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FS_SPD)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ADC_OUT)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		if(	response.RecivedData > 0x15 )	
+			stubManager.Write("\t\tDual_Driver");
+		else if (	response.RecivedData > 0x0b)	
+			stubManager.Write("\t\tVolage_Driver");
+		else if (	response.RecivedData > 8 )	
+			stubManager.Write("\t\tCurrent_Driver");
+		else
+			stubManager.Write("\t\tNo_Driver");
+			
+			
+		stubManager.Write("\n\n");
+		
+	}
+	
+	stubManager.Write("MoTor\t\t\tINT_SPD\tST_SLP\t\tSLP_ACC\tSLP_DEC\tSTATUS\n");
+	stubManager.Write("-----\t\t\t-------\t------\t\t-------\t--------\t-----\n");
+	
+	for (i = 0; i < Max_Motor_ID; i++)
+	{
+		stubManager.Write(Motor_ID[i]);
+
+//		stubManager.Write(i);
+		stubManager.Write("\t\t");
+	
+		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_INT_SPD)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t");			
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ST_SLP)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FN_SLP_ACC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FN_SLP_DEC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STATUS)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\n\n");
+		
+		
+		
+	}
+	
+	stubManager.Write("--------------- New Driver POWERSTEP01 ---------------\n\n");	
+	stubManager.Write("MoTor\tPS01_CONFIG\t\tPS01_STATUS\t\tPS01_GATECFG1\t\tPS01_GATECFG2\n");
+	stubManager.Write("-----\t------------\t\t-----------\t\t-------------\t\t------------\n");
+	
+	for (i = 6; i < 14; i++)//Dispensers only
+		//for (i = 25; i < 29; i++)//Dispensers only
+	{
+		stubManager.Write(i);
+		stubManager.Write("\t");
+	
+		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_POWERSTEP01_CONFIG)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t\t");			
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_POWERSTEP01_STATUS)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_POWERSTEP01_GATECFG1)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_POWERSTEP01_GATECFG2)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\n\n");
+	}
+
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Motor_Get_Param_Horizontal_Printing4.cs b/Software/Stubs Collection/stubs/Scripts/Motor_Get_Param_Horizontal_Printing4.cs
new file mode 100644
index 000000000..5d6259cb4
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Motor_Get_Param_Horizontal_Printing4.cs
@@ -0,0 +1,265 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+//unmark Auto logging !
+const Int32 x_POWERSTEP01_CONFIG      = 0x1A;
+const Int32 x_POWERSTEP01_STATUS      = 0x1B;
+const Int32 x_POWERSTEP01_GATECFG1    = 0x18;
+const Int32 x_POWERSTEP01_GATECFG2    = 0x19;
+
+const Int32 x_ABS_POS    = 0x01;
+const Int32 x_EL_POS     = 0x02;
+const Int32 x_MARK       = 0x03;
+const Int32 x_SPEED      = 0x04;
+const Int32 x_ACC        = 0x05;
+const Int32 x_DEC        = 0x06;
+const Int32 x_MAX_SPEED  = 0x07;
+const Int32 x_MIN_SPEED  = 0x08;
+const Int32 x_FS_SPD     = 0x15;
+const Int32 x_KVAL_HOLD  = 0x09;
+const Int32 x_KVAL_RUN   = 0x0A;
+const Int32 x_KVAL_ACC   = 0x0B;
+const Int32 x_KVAL_DEC   = 0x0C;
+const Int32 x_INT_SPD    = 0x0D;
+const Int32 x_ST_SLP     = 0x0E;
+const Int32 x_FN_SLP_ACC = 0x0F;
+const Int32 x_FN_SLP_DEC = 0x10;
+const Int32 x_K_THERM    = 0x11;
+const Int32 x_ADC_OUT    = 0x12;
+const Int32 x_OCD_TH     = 0x13;
+const Int32 x_STALL_TH   = 0x14;
+const Int32 x_STEP_MODE  = 0x16;
+const Int32 x_ALARM_EN   = 0x17;
+const Int32 x_CONFIG     = 0x18;
+const Int32 x_STATUS     = 0x19;
+//-------------------------------
+const Int32 x_GET_PARAM  = 0x20;
+//-------------------------------
+const Int32 Max_Motor_ID  = 25;
+
+
+
+string[] Motor_ID = new string[30];
+
+
+Motor_ID[0] ="DH_CLEANHEAD ";
+Motor_ID[1] ="DH_CLEANMECH ";
+Motor_ID[2] ="DH_LID       ";
+Motor_ID[3] ="DRYER_DRIVING";
+Motor_ID[4] ="DRYER_LID    ";
+Motor_ID[5] ="DRYER_LOADARM";
+Motor_ID[6] ="DISPENCER_1  ";
+Motor_ID[7] ="DISPENCER_2  ";
+Motor_ID[8] ="DISPENCER_3  ";
+Motor_ID[9] ="DISPENCER_4  ";
+Motor_ID[10]="DISPENCER_5  ";
+Motor_ID[11]="DISPENCER_6  ";
+Motor_ID[12]="DISPENCER_7  ";
+Motor_ID[13]="DISPENCER_8  ";
+Motor_ID[14]="SCREW        ";
+Motor_ID[15]="WINDER       ";
+Motor_ID[16]="LDANCER1     ";
+Motor_ID[17]="LDANCER2     ";
+Motor_ID[18]="LDRIVING     ";
+Motor_ID[19]="LLODING      ";
+Motor_ID[20]="LPIVOT       ";
+Motor_ID[21]="RDANCER      ";
+Motor_ID[22]="RDRIVING     ";
+Motor_ID[23]="RLOADARM     ";
+Motor_ID[24]="RLODING      ";
+Motor_ID[25]="SPARE1_1     ";
+Motor_ID[26]="SPARE1_2     ";
+Motor_ID[27]="SPARE2_1     ";
+Motor_ID[28]="SPARE2_2     ";
+Motor_ID[29]="SPARE3       ";
+
+	
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Int32 i  = 12; // to run only for specific motor 
+
+public void OnExecute(StubManager stubManager)
+{
+
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000380 , 0x06b9);	
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000390 , 0x003f);	
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000550 , 0x0003);
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000b80 , 0x001f);	
+
+
+
+
+
+
+
+
+
+
+
+	for (i = 0; i < Max_Motor_ID; i++)
+	{
+		
+		if((i%8 ==0) )
+		{
+			stubManager.Write("\n\n");
+			stubManager.Write("MoTor\t\t\tMIN_SPEED\tMAX_SPEED\tSTEP_MODE\tACC\t\tDEC\t\tKVAL_HOLD\tKVAL_RUN\tKVAL_ACC\tKVAL_DEC\tOCD_TH\t\tSTALL_TH\tCONFIG\t\tFS_SPD\t\tADC_OUT\tDriver_Type\n");
+			stubManager.Write("------\t\t\t--------\t--------\t----------\t---\t\t---\t\t---------\t--------\t--------\t--------\t------\t\t--------\t------\t\t------\t\t------\t\t------\n");
+		}
+		//stubManager.Write(i);
+		
+		stubManager.Write(Motor_ID[i]);
+		stubManager.Write("\t\t");
+	
+		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MIN_SPEED)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t");			
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MAX_SPEED)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); stubManager.Write("\t");		
+		stubManager.Write("\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STEP_MODE)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ACC)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_DEC)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_HOLD)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_RUN)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_ACC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_DEC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_OCD_TH)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STALL_TH)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_CONFIG)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FS_SPD)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ADC_OUT)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		if(	response.RecivedData > 0x15 )	
+			stubManager.Write("\t\tDual_Driver");
+		else if (	response.RecivedData > 0x0b)	
+			stubManager.Write("\t\tVolage_Driver");
+		else if (	response.RecivedData > 8 )	
+			stubManager.Write("\t\tCurrent_Driver");
+		else
+			stubManager.Write("\t\tNo_Driver");
+			
+			
+		stubManager.Write("\n\n");
+		
+	}
+	
+	stubManager.Write("MoTor\t\t\tINT_SPD\tST_SLP\t\tSLP_ACC\tSLP_DEC\tSTATUS\n");
+	stubManager.Write("-----\t\t\t-------\t------\t\t-------\t--------\t-----\n");
+	
+	for (i = 0; i < Max_Motor_ID; i++)
+	{
+		stubManager.Write(Motor_ID[i]);
+
+//		stubManager.Write(i);
+		stubManager.Write("\t\t");
+	
+		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_INT_SPD)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t");			
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ST_SLP)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FN_SLP_ACC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FN_SLP_DEC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STATUS)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\n\n");
+		
+		
+		
+	}
+	
+	stubManager.Write("--------------- New Driver POWERSTEP01 ---------------\n\n");	
+	stubManager.Write("MoTor\tPS01_CONFIG\t\tPS01_STATUS\t\tPS01_GATECFG1\t\tPS01_GATECFG2\n");
+	stubManager.Write("-----\t------------\t\t-----------\t\t-------------\t\t------------\n");
+	
+	for (i = 6; i < 14; i++)//Dispensers only
+		//for (i = 25; i < 29; i++)//Dispensers only
+	{
+		stubManager.Write(i);
+		stubManager.Write("\t");
+	
+		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_POWERSTEP01_CONFIG)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t\t");			
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_POWERSTEP01_STATUS)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_POWERSTEP01_GATECFG1)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_POWERSTEP01_GATECFG2)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\n\n");
+	}
+
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Motor_Get_Param_Horizontal_Printing_powerstep01.cs b/Software/Stubs Collection/stubs/Scripts/Motor_Get_Param_Horizontal_Printing_powerstep01.cs
new file mode 100644
index 000000000..4188fe36b
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Motor_Get_Param_Horizontal_Printing_powerstep01.cs
@@ -0,0 +1,266 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+//unmark Auto logging !
+
+const Int32 x_POWERSTEP01_CONFIG      = 0x1A;
+const Int32 x_POWERSTEP01_STATUS      = 0x1B;
+const Int32 x_POWERSTEP01_GATECFG1    = 0x18;
+const Int32 x_POWERSTEP01_GATECFG2    = 0x19;
+
+const Int32 x_ABS_POS    = 0x01;
+const Int32 x_EL_POS     = 0x02;
+const Int32 x_MARK       = 0x03;
+const Int32 x_SPEED      = 0x04;
+const Int32 x_ACC        = 0x05;
+const Int32 x_DEC        = 0x06;
+const Int32 x_MAX_SPEED  = 0x07;
+const Int32 x_MIN_SPEED  = 0x08;
+const Int32 x_FS_SPD     = 0x15;
+const Int32 x_KVAL_HOLD  = 0x09;
+const Int32 x_KVAL_RUN   = 0x0A;
+const Int32 x_KVAL_ACC   = 0x0B;
+const Int32 x_KVAL_DEC   = 0x0C;
+const Int32 x_INT_SPD    = 0x0D;
+const Int32 x_ST_SLP     = 0x0E;
+const Int32 x_FN_SLP_ACC = 0x0F;
+const Int32 x_FN_SLP_DEC = 0x10;
+const Int32 x_K_THERM    = 0x11;
+const Int32 x_ADC_OUT    = 0x12;
+const Int32 x_OCD_TH     = 0x13;
+const Int32 x_STALL_TH   = 0x14;
+const Int32 x_STEP_MODE  = 0x16;
+const Int32 x_ALARM_EN   = 0x17;
+const Int32 x_CONFIG     = 0x18;
+const Int32 x_STATUS     = 0x19;
+//-------------------------------
+const Int32 x_GET_PARAM  = 0x20;
+//-------------------------------
+const Int32 Max_Motor_ID  = 25;
+
+
+
+string[] Motor_ID = new string[30];
+
+
+Motor_ID[0] ="DH_CLEANHEAD ";
+Motor_ID[1] ="DH_CLEANMECH ";
+Motor_ID[2] ="DH_LID       ";
+Motor_ID[3] ="DRYER_DRIVING";
+Motor_ID[4] ="DRYER_LID    ";
+Motor_ID[5] ="DRYER_LOADARM";
+Motor_ID[6] ="DISPENCER_1  ";
+Motor_ID[7] ="DISPENCER_2  ";
+Motor_ID[8] ="DISPENCER_3  ";
+Motor_ID[9] ="DISPENCER_4  ";
+Motor_ID[10]="DISPENCER_5  ";
+Motor_ID[11]="DISPENCER_6  ";
+Motor_ID[12]="DISPENCER_7  ";
+Motor_ID[13]="DISPENCER_8  ";
+Motor_ID[14]="SCREW        ";
+Motor_ID[15]="WINDER       ";
+Motor_ID[16]="LDANCER1     ";
+Motor_ID[17]="LDANCER2     ";
+Motor_ID[18]="LDRIVING     ";
+Motor_ID[19]="LLODING      ";
+Motor_ID[20]="LPIVOT       ";
+Motor_ID[21]="RDANCER      ";
+Motor_ID[22]="RDRIVING     ";
+Motor_ID[23]="RLOADARM     ";
+Motor_ID[24]="RLODING      ";
+Motor_ID[25]="SPARE1_1     ";
+Motor_ID[26]="SPARE1_2     ";
+Motor_ID[27]="SPARE2_1     ";
+Motor_ID[28]="SPARE2_2     ";
+Motor_ID[29]="SPARE3       ";
+
+	
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Int32 i  = 12; // to run only for specific motor 
+
+public void OnExecute(StubManager stubManager)
+{
+
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000380 , 0x06b9);	
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000390 , 0x003f);	
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000550 , 0x0003);
+stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000b80 , 0x001f);	
+
+
+
+
+
+
+
+
+
+
+
+	for (i = 0; i < Max_Motor_ID; i++)
+	{
+		
+		if((i%8 ==0) )
+		{
+			stubManager.Write("\n\n");
+			stubManager.Write("MoTor\t\t\tMIN_SPEED\tMAX_SPEED\tSTEP_MODE\tACC\t\tDEC\t\tKVAL_HOLD\tKVAL_RUN\tKVAL_ACC\tKVAL_DEC\tOCD_TH\t\tSTALL_TH\tCONFIG\t\tFS_SPD\t\tADC_OUT\tDriver_Type\n");
+			stubManager.Write("------\t\t\t--------\t--------\t----------\t---\t\t---\t\t---------\t--------\t--------\t--------\t------\t\t--------\t------\t\t------\t\t------\t\t------\n");
+		}
+		//stubManager.Write(i);
+		
+		stubManager.Write(Motor_ID[i]);
+		stubManager.Write("\t\t");
+	
+		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MIN_SPEED)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t");			
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MAX_SPEED)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); stubManager.Write("\t");		
+		stubManager.Write("\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STEP_MODE)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ACC)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_DEC)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_HOLD)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_RUN)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_ACC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_DEC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_OCD_TH)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STALL_TH)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_CONFIG)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FS_SPD)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ADC_OUT)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		if(	response.RecivedData > 0x15 )	
+			stubManager.Write("\t\tDual_Driver");
+		else if (	response.RecivedData > 0x0b)	
+			stubManager.Write("\t\tVolage_Driver");
+		else if (	response.RecivedData > 8 )	
+			stubManager.Write("\t\tCurrent_Driver");
+		else
+			stubManager.Write("\t\tNo_Driver");
+			
+			
+		stubManager.Write("\n\n");
+		
+	}
+	
+	stubManager.Write("MoTor\t\t\tINT_SPD\tST_SLP\t\tSLP_ACC\tSLP_DEC\tSTATUS\n");
+	stubManager.Write("-----\t\t\t-------\t------\t\t-------\t--------\t-----\n");
+	
+	for (i = 0; i < Max_Motor_ID; i++)
+	{
+		stubManager.Write(Motor_ID[i]);
+
+//		stubManager.Write(i);
+		stubManager.Write("\t\t");
+	
+		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_INT_SPD)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t");			
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ST_SLP)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FN_SLP_ACC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FN_SLP_DEC)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STATUS)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\n\n");
+		
+		
+		
+	}
+	
+	
+	stubManager.Write("--------------- New Driver POWERSTEP01 ---------------\n\n");	
+	stubManager.Write("MoTor\tPS01_CONFIG\t\tPS01_STATUS\t\tPS01_GATECFG1\t\tPS01_GATECFG2\n");
+	stubManager.Write("-----\t------------\t\t-----------\t\t-------------\t\t------------\n");
+	
+	for (i = 6; i < 14; i++)//Dispensers only
+		//for (i = 25; i < 29; i++)//Dispensers only
+	{
+		stubManager.Write(i);
+		stubManager.Write("\t");
+	
+		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_POWERSTEP01_CONFIG)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t\t");			
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_POWERSTEP01_STATUS)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4); 
+		stubManager.Write("\t\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_POWERSTEP01_GATECFG1)<<16, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\t\t\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_POWERSTEP01_GATECFG2)<<8, 0, 0);
+		stubManager.WriteHex(response.RecivedData,4);
+		stubManager.Write("\n\n");
+	}
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Read Dancer.cs b/Software/Stubs Collection/stubs/Scripts/Read Dancer.cs
new file mode 100644
index 000000000..8fcfc94b0
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Read Dancer.cs
@@ -0,0 +1,32 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+public void OnExecute(StubManager stubManager)
+{
+	var response1 = stubManager.ShowResponseWindow("Please Enter Password:");
+	if (response1=="Aa123456")
+	{
+		stubManager.WriteLine(response1);
+		
+		
+		stubManager.RequestTimeout = 2000;
+		//for (int i = 0; i < 100; i++)
+		{
+			var response = stubManager.Run<StubDancerPositionResponse>("StubDancerPositionRequest" ,0);
+			Thread.Sleep(1000);
+			 response = stubManager.Run<StubDancerPositionResponse>("StubDancerPositionRequest" ,1);
+			Thread.Sleep(1000);
+			 response = stubManager.Run<StubDancerPositionResponse>("StubDancerPositionRequest" ,2);
+			Thread.Sleep(1000);
+		}
+    }
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/Read_Version.cs b/Software/Stubs Collection/stubs/Scripts/Read_Version.cs
index 3bc9eb929..b3e3e2c1f 100644
--- a/Software/Stubs Collection/stubs/Scripts/Read_Version.cs
+++ b/Software/Stubs Collection/stubs/Scripts/Read_Version.cs
@@ -53,7 +53,6 @@ public void OnExecute(StubManager stubManager)
 	stubManager.Write("\n");
 	
 	
-	
 	var response_swid = stubManager.Run<StubReadEmbeddedVersionResponse>("StubReadEmbeddedVersionRequest" , true);
 	stubManager.Write("\nTIVA MCU SW Version (Major, Minor, Patch, Build, Version String): (");
 	stubManager.WriteHex(response_swid.VerMajor,4);
@@ -86,21 +85,7 @@ public void OnExecute(StubManager stubManager)
 	//ReadFPGATestReg(FPGA3);		
 	stubManager.Write("\n");
 
-
-var response1 = stubManager.Run<StubReadEmbeddedVersionResponse>("StubReadEmbeddedVersionRequest" );	
-		
-	stubManager.Write("\nCPU Version: ");
-	stubManager.Write("\nVerMajor:");
-	stubManager.Write(response1.VerMajor);
-	stubManager.Write("\nVerMinor:");
-	stubManager.Write(response1.VerMinor);
-	stubManager.Write("\nVerMinor:");
-	stubManager.Write(response1.VerPatch);
-	stubManager.Write("\nVerPatch:");
-	stubManager.Write(response1.VerBuild);
-	stubManager.Write("\nVerBuild:");
-	stubManager.Write(response1.Version);
-
+	
 }
 
 /* Example Script Output
diff --git a/Software/Stubs Collection/stubs/Scripts/Tango_Main_PCB_ATP_sn_xxxxxxx.xlsx b/Software/Stubs Collection/stubs/Scripts/Tango_Main_PCB_ATP_sn_xxxxxxx.xlsx
new file mode 100644
index 000000000..57fd92df9
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Tango_Main_PCB_ATP_sn_xxxxxxx.xlsx
diff --git a/Software/Stubs Collection/stubs/Scripts/TestForVika.cs b/Software/Stubs Collection/stubs/Scripts/TestForVika.cs
new file mode 100644
index 000000000..7861bae7a
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/TestForVika.cs
@@ -0,0 +1,126 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+      bool i = true;
+//--------------------------------------------------------------------------------
+
+public void OnExecute(StubManager stubManager)
+{
+		Form form1 = new Form();		
+// Set the caption bar text of the form.
+		form1.TopMost = true;
+		form1.Text = "RTFU Test";
+  		form1.FormBorderStyle = FormBorderStyle.FixedDialog;
+ 		form1.MaximizeBox = false;
+		form1.MinimizeBox = false;
+ 		form1.StartPosition = FormStartPosition.CenterScreen;
+	    form1.AutoSize = true;
+	    form1.AutoSizeMode = AutoSizeMode.GrowAndShrink;
+// Create buttons to Run. 
+ 		Button button1 = new Button () 
+	{
+		Width = 100,
+   	  	Height = 100,
+  	};
+		button1.Text = "Run";
+		button1.Location = new Point (40, 100);
+	    form1.Controls.Add(button1);
+//-----RTFU Serial Number -----------
+
+	Label Label1 = new Label () 
+		{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="  RTFU S/N"
+  		};
+	Label1.Location = new Point (30, 10);
+ 	form1.Controls.Add(Label1);
+	TextBox TextBox1 = new TextBox () 
+		{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  		};
+	TextBox1.Location = new Point (40, 40);
+	form1.Controls.Add(TextBox1);
+ //----------LOCATION----------
+	 
+ Label Label3 = new Label () 
+	{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="LOCATION"
+  	};
+Label3.Location = new Point (350, 10);
+ form1.Controls.Add(Label3);
+	 
+
+
+TextBox TextBox3 = new TextBox () 
+	{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  	};
+TextBox3.Location = new Point (360, 40);
+ form1.Controls.Add(TextBox3);
+ 
+ 
+ 	 
+	 
+	Label Label5 = new Label () 
+	{
+		Width = 120,
+   	  	Height =100,
+   	  	Text = ""
+  	}; 
+	Label5.Location = new Point (300, 100);
+	Label5.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D;
+
+	Label5.Text="";
+	Label5.Font = new Font("Arial", 24,FontStyle.Bold);
+	form1.Controls.Add(Label5); 	
+
+
+ 
+ 
+//--------------------------------------------------------------------------------
+
+ 
+	    button1.Click += (_,__) => 
+	    
+	{ 
+
+	    	
+		Label5.Text="Pros";			///???? not working 
+	
+
+
+	
+//------------------------------- start test -----------
+	Thread.Sleep(5000);		//delay 10 second
+
+if (i==true)
+		Label5.Text="Fail";
+else
+		Label5.Text="Pass";
+		
+		i= !i;
+	TextBox1.Text="";
+	};	   
+	   
+	   form1.ShowDialog();
+	
+	return ;
+   }
+
diff --git a/Software/Stubs Collection/stubs/Scripts/Twine_Tango_Main_Test12.docx b/Software/Stubs Collection/stubs/Scripts/Twine_Tango_Main_Test12.docx
new file mode 100644
index 000000000..f82f59d00
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Twine_Tango_Main_Test12.docx
diff --git a/Software/Stubs Collection/stubs/Scripts/Twine_Tango_Main_Test13.docx b/Software/Stubs Collection/stubs/Scripts/Twine_Tango_Main_Test13.docx
new file mode 100644
index 000000000..d56728507
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Twine_Tango_Main_Test13.docx
diff --git a/Software/Stubs Collection/stubs/Scripts/Write SYLKO to head eeprom.cs b/Software/Stubs Collection/stubs/Scripts/Write SYLKO to head eeprom.cs
new file mode 100644
index 000000000..6e9bfd83d
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/Write SYLKO to head eeprom.cs
@@ -0,0 +1,118 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+//----------------------
+const Int32 I2C_ID =  3;			//MCU_I2C3 
+const Int32 TCA9548A_address =	 0xE2;	 	
+const Int32 I2C_Slave_Add = 	0xA0;			//	//eeprom address - 32kByte 
+int Head_Mux_Channel_ID = 4; //Head MUX channel
+//----------------------
+
+const Int32 SerialNum = 	0x01;
+
+
+int enable_channel(int Channel_ID) 
+{
+	uint Const_temp = 0x01;	
+	
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = TCA9548A_address;
+	
+	Const_temp = Const_temp << Channel_ID;
+	stubI2CWriteBytesRequest.BytesTWrite.Add(Const_temp);
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+}
+
+
+int adc_write(uint I2C_Slave_Add, uint Page) 
+{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0);//Byte 0 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(Page);//Byte 0 to write
+	//--------------------------------------------------------------
+
+	stubI2CWriteBytesRequest.BytesTWrite.Add(SerialNum);//S/N
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x02);//HEAD_TYPE_SYLKO
+	//stubI2CWriteBytesRequest.BytesTWrite.Add(0x03);//HEAD_TYPE_STAPLE_SPUN
+	
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+}
+
+int adc_set_for_read_ch(uint I2C_Slave_Add, uint Page)  
+{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0);//Byte 0 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(Page);//Byte 0 to write
+
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+}
+
+int adc_read_ch(uint I2C_Slave_Add) 
+{
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID;
+	stubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add + 1;
+	stubI2CReadBytesRequest.NumberOfBytesToRead = 10; // Number of bytes to read
+
+	var response1 = stubManager.Run<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+	uint temph=0;
+
+	for(int i=0; i<stubI2CReadBytesRequest.NumberOfBytesToRead;i++)
+	{
+			temph=response1.ReadBytes[i];
+			stubManager.WriteHex(temph,2);
+	}
+	
+	return 1;
+}
+
+
+public void OnExecute(StubManager stubManager)
+{
+	
+	//enable_all_channel();
+	enable_channel(Head_Mux_Channel_ID); // Chanel 0-7 => Disp0enser 0-7 
+	
+	for (int i = 0; i<1; i++)
+	{	
+		
+		adc_write(I2C_Slave_Add,0x00);
+		Thread.Sleep(10); //Sleep for 5 milli. - must! otherwise read 0xff (See data sheet )
+		
+		stubManager.Write("\nPage 0x00 #");
+		stubManager.Write(i);
+		stubManager.Write("\t- The Buffer is: ");
+		adc_set_for_read_ch(I2C_Slave_Add, 0x00);
+		//Thread.Sleep(1); //Sleep for 10 milli.
+		adc_read_ch(I2C_Slave_Add);
+		
+		Thread.Sleep(1000);		
+
+	}
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/blower_Q.cs b/Software/Stubs Collection/stubs/Scripts/blower_Q.cs
new file mode 100644
index 000000000..cb4682531
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/blower_Q.cs
@@ -0,0 +1,28 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+public void OnExecute(StubManager stubManager)
+{
+// Request ----
+// Int32 : Amount
+// Int32 : Delay
+
+// Response ----
+// Double : Progress
+
+
+//fan test 
+/*var response1 =*/ stubManager.Run<ProgressResponse>("ProgressRequest" ,/*fan1*/0x3E7, /*Head_Q=*/9); //
+//500=1F4
+//250=FA
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/check_kval_load_arm.cs b/Software/Stubs Collection/stubs/Scripts/check_kval_load_arm.cs
new file mode 100644
index 000000000..8276ad449
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/check_kval_load_arm.cs
@@ -0,0 +1,80 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+const Int32 x_KVAL_HOLD  = 0x09;
+const Int32 x_KVAL_RUN   = 0x0A;
+const Int32 x_KVAL_ACC   = 0x0B;
+const Int32 x_KVAL_DEC   = 0x0C;
+
+const Int32 x_GET_PARAM  = 0x20;
+
+
+
+public void OnExecute(StubManager stubManager)
+{
+
+	while (true)
+		{
+		stubManager.Write("\nLeft Load KVAL \t");	
+		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,19, (x_GET_PARAM | x_KVAL_HOLD)<<8, 0, 0);
+		stubManager.Write(response.RecivedData);
+		stubManager.Write("\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,19, (x_GET_PARAM | x_KVAL_RUN)<<8, 0, 0);
+		stubManager.Write(response.RecivedData);
+		stubManager.Write("\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,19, (x_GET_PARAM | x_KVAL_ACC)<<8, 0, 0);
+		stubManager.Write(response.RecivedData);
+		stubManager.Write("\t");
+
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,19, (x_GET_PARAM | x_KVAL_DEC)<<8, 0, 0);
+		stubManager.Write(response.RecivedData);
+		stubManager.Write("\n");
+		
+		
+		stubManager.Write("Right Load KVAL \t");	
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,24, (x_GET_PARAM | x_KVAL_HOLD)<<8, 0, 0);
+		stubManager.Write(response.RecivedData);
+		stubManager.Write("\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,24, (x_GET_PARAM | x_KVAL_RUN)<<8, 0, 0);
+		stubManager.Write(response.RecivedData);
+		stubManager.Write("\t");
+		
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,24, (x_GET_PARAM | x_KVAL_ACC)<<8, 0, 0);
+		stubManager.Write(response.RecivedData);
+		stubManager.Write("\t");
+
+		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,24, (x_GET_PARAM | x_KVAL_DEC)<<8, 0, 0);
+		stubManager.Write(response.RecivedData);
+		stubManager.Write("\n");
+ 		stubManager.Write(DateTime.Now.ToString("MM_dd_yyyy_HH_mm_ss"));		
+		Thread.Sleep(1000);
+		
+		
+		
+		
+		
+		
+}
+	
+	
+	
+	
+	
+	
+	
+	
+	
+	
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/temp.cs b/Software/Stubs Collection/stubs/Scripts/temp.cs
new file mode 100644
index 000000000..23508b71b
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/temp.cs
@@ -0,0 +1,492 @@
+using System;
+using System.Text;
+using System.IO;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+public void OnExecute(StubManager stubManager)
+{
+string  path="";
+		Form form1 = new Form();
+	Motor_SetParam(F1_MOTO_RLOADING_TX1,F1_MOTO_RLOADING_TX0,0x0a,0x14000000);							//set kval ran to 0x14,0.65A
+		
+// Set the caption bar text of the form.
+		form1.TopMost = true;
+		form1.Text = "RTFU Test";
+  		form1.FormBorderStyle = FormBorderStyle.FixedDialog;
+ 		form1.MaximizeBox = false;
+		form1.MinimizeBox = false;
+ 		form1.StartPosition = FormStartPosition.CenterScreen;
+	    form1.AutoSize = true;
+	    form1.AutoSizeMode = AutoSizeMode.GrowAndShrink;
+// Create buttons to Run. 
+ 		Button button1 = new Button () 
+	{
+		Width = 100,
+   	  	Height = 100,
+  	};
+		button1.Text = "Run";
+		button1.Location = new Point (40, 100);
+	    form1.Controls.Add(button1);
+//-----RTFU Serial Number -----------
+
+	Label Label1 = new Label () 
+		{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="  RTFU S/N"
+  		};
+	Label1.Location = new Point (30, 10);
+ 	form1.Controls.Add(Label1);
+	TextBox TextBox1 = new TextBox () 
+		{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  		};
+	TextBox1.Location = new Point (40, 40);
+	form1.Controls.Add(TextBox1);
+ //----------LOCATION----------
+	 
+ Label Label3 = new Label () 
+	{
+		Width = 150,
+   	  	Height = 20,
+   	  	Text ="LOCATION"
+  	};
+Label3.Location = new Point (350, 10);
+ form1.Controls.Add(Label3);
+	 
+
+
+TextBox TextBox3 = new TextBox () 
+	{
+		Width = 100,
+   	  	Height = 10,
+   	  	Text =""
+  	};
+TextBox3.Location = new Point (360, 40);
+ form1.Controls.Add(TextBox3);
+ 
+ 
+ 	 
+	 
+	Label Label5 = new Label () 
+	{
+		Width = 120,
+   	  	Height =100,
+   	  	Text = ""
+  	}; 
+	Label5.Location = new Point (300, 100);
+	Label5.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D;
+
+	Label5.Text="";
+	Label5.Font = new Font("Arial", 24,FontStyle.Bold);
+	form1.Controls.Add(Label5); 	
+
+
+ 
+ 
+//--------------------------------------------------------------------------------
+
+	    stubManager.Write("Counter is 2 \n");
+  
+	    button1.Click += (_,__) => 
+	    
+	{ 
+
+		Label5.Text="Pros";
+	
+	if (!Directory.Exists(path1))
+		{
+			path=path2;	
+			if (!Directory.Exists(path2))
+			Directory.CreateDirectory(path2);	
+		}			
+	else
+		path=path1;	
+
+	File_Name1=path + TextBox1.Text +"_RTFU_" + DateTime.Now.ToString("MM_dd_yyyy_HH_mm_ss")+".log" ;
+
+
+	stubManager.Write(File_Name1 +"\n");
+	stubManager.WriteToFile(File_Name1,DateTime.Now +" " );
+	stubManager.Write(DateTime.Now +"\n" );
+
+	stubManager.AppendToFile(File_Name1,"RTFU Test Report" );
+	stubManager.Write("RTFU Test Report\n" );
+
+	stubManager.AppendToFile(File_Name1,"RTFU S/N: \t" + TextBox1.Text  );
+	stubManager.Write("RTFU S/N:" + TextBox1.Text +"\n" );
+                  
+
+	stubManager.AppendToFile(File_Name1,"Location:\t" + TextBox3.Text );
+	stubManager.Write("Location:" + TextBox3.Text +"\n" );
+
+
+//------------------------------- start test -----------
+	Test_RLOADING_RTFU();
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading high z
+	Thread.Sleep(100);
+	Motor_SetParam(F1_MOTO_RLOADING_TX1,F1_MOTO_RLOADING_TX0,0x0a,0x14000000);							//set kval ran to 0x14,0.65A
+
+	Test_RDRIVING_RTFU();
+	Test_DANCER_RTFU();
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RDANCER_Motor, 3);					//hold Rloading high z
+
+	Status=write_to_file();
+		stubManager.Write(Status +"\n");	
+
+	Label5.Text=Status;
+	TextBox1.Text="";
+	};	   
+	   
+	   form1.ShowDialog();
+	
+	return ;
+   }
+ //------------------------------------  
+int Test_RLOADING_RTFU()
+{
+	int	temp=1; 
+	int counter;
+	
+	Motor_SetParam(F1_MOTO_RLOADING_TX1,F1_MOTO_RLOADING_TX0,0x0a,0x2c000000);							//set kval ran to 0x2c- 1.3A
+	Thread.Sleep(100);
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor, true,200);				//move Rloading down
+	Thread.Sleep(3000);
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading high z
+	Thread.Sleep(1000);
+//------------------------------------------ check  F1_LS_RLOADMOTOR_up------------------------------------------------
+
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//read LS
+	if ((response.Value & F1_LS_RLOADMOTOR_UP) !=F1_LS_RLOADMOTOR_UP )									//if LS_RLOADMOTOR_UP is up then error
+	{	
+		DialogResult result = MessageBox.Show("Did RLOADIN MOTOR Move?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.Yes)
+		{
+		Units_status[0,1]="Fail";
+		stubManager.Write("LS_RLOADMOTOR_UP\tFail\n");	
+		return 0;
+		}
+	else 
+		{
+			Units_status[2,1]="Fail";
+			stubManager.Write("RLOADMOTOR\tFail\n");
+			return 0;
+		}
+	}
+	
+//----------------------------------------- mov RLOADING up -------------------------------------------------
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor,false,200);				//move Rloading up
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if LS_RLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_RLOADMOTOR_UP) != F1_LS_RLOADMOTOR_UP  )
+			counter=250;
+		
+			Thread.Sleep(100);	
+	}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading high z
+
+	if (counter == 150) 								
+	{	
+		Units_status[0,1]="Fail";
+		stubManager.Write("LS_RLOADMOTOR_UP\tFail\n");	
+		return 0;
+	}
+	DialogResult result1 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result1 == DialogResult.No)
+		{
+			Units_status[0,1]="Fail";
+			stubManager.Write("LS_RLOADMOTOR_UP Not calibrate\n");
+			return 0;
+		}
+	Units_status[0,1]="Pass";
+	Units_status[2,1]="Pass";
+	
+//------------------------------------------ check  F1_LS_RLOADMOTOR_DN------------------------------------------------
+		
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);		//read LS
+	
+	if ((response.Value & F1_LS_RLOADMOTOR_DN) !=F1_LS_RLOADMOTOR_DN )										//if LS_RLOADMOTOR_DN is up then error
+	{	
+		Units_status[1,1]="Fail";
+		stubManager.Write("LS_RLOADMOTOR_DN\tFail\n");
+		return 0;
+	}
+//------------------------------------------ mov RLOADING dn ------------------------------------------------
+
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor, true,200);				//move Rloading down
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if LS_RLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_RLOADMOTOR_DN) != F1_LS_RLOADMOTOR_DN  )
+			counter=250;	
+			
+			Thread.Sleep(100);	
+	}
+	
+		if (counter == 150) 								
+	{	
+		Units_status[1,1]="Fail";
+		stubManager.Write("LS_RLOADMOTOR_DN\tFail\n");	
+		return 0;
+	}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading high z
+		
+	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
+	if(result2 == DialogResult.No)
+		{
+			Units_status[1,1]="Fail";
+			stubManager.Write("LS_RLOADMOTOR_DN Not calibrate\n");
+			return 0;
+		}
+	Units_status[1,1]="Pass";
+		stubManager.Write("RLOADMOTOR\tPass\n");
+	
+		stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor, true,200);				//move Rloading down
+			Thread.Sleep(2000);	
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3);					//hold Rloading high z
+
+	return 1 ;
+
+}	
+
+//----------------------------------
+
+Int32 ReadEncoder()
+{
+	Int32 temp;
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F1_RDANCER_ROTENC_DATA_p_TX, 0x0000);		//triggers a TX transmission
+
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_RDANCER_ROTENC_DATA_p_RX_lsb);
+	var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_RDANCER_ROTENC_DATA_p_RX_msb);		 
+
+	temp =  Convert.ToInt32 (((((response1.Value <<16) + 	response.Value)>>10 ) & 0x3fff));
+	
+
+	return temp;
+}
+//--------------------------------------------------------------------------------
+int Test_DANCER_RTFU()
+{
+	int counter;
+	Int32 temp;
+	Int32 temp1;
+	
+//------------------------------------------ check  F1_LS_RDANCER_DOWN  ------------------------------------------------
+
+	MessageBox.Show("Make sure RDANCER Doun");
+	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//read LS
+	if ((response.Value & F1_LS_RDANCER_DOWN) !=F1_LS_RDANCER_DOWN )								//if F1_LS_RDANCER_DOWN is up then error
+	{	
+		Units_status[4,1]="Fail";
+		stubManager.Write("LS_RDANCER_DOWN\tFail\n");	
+		return 0;
+	}
+//----------------------------------------- mov RDANCER_Motor up and check F1_LS_RDANCER_DOWN -------------------------------------------------
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RDANCER_Motor,true,10);				//move Rloading up
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if LS_RLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_RDANCER_DOWN) != F1_LS_RDANCER_DOWN  )
+			counter=250;
+		
+			Thread.Sleep(100);	
+	}
+		if (counter == 150) 								
+	{	
+		Units_status[4,1]="Fail";
+		stubManager.Write("LS_RDANCER_DOWN\tFail\n");	
+		return 0;
+	}
+		Units_status[4,1]="Pass";
+		stubManager.Write("LS_RDANCER_DOWN\tPass\n");	
+	
+//----------------------------------------- check F1_LS_RDANCER_UP -------------------------------------------------
+
+	if ((response.Value & F1_LS_RDANCER_UP) !=F1_LS_RDANCER_UP )								//if F1_LS_RDANCER_UP is up then error
+	{	
+		Units_status[5,1]="Fail";
+		stubManager.Write("LS_RDANCER_UP\tFail\n");	
+		return 0;
+	}
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if F1_LS_RDANCER_UP is up then move down
+		if ((response.Value & F1_LS_RDANCER_UP) != F1_LS_RDANCER_UP  )
+			counter=250;
+		
+			Thread.Sleep(100);	
+	}
+		if (counter == 150) 								
+	{	
+		Units_status[5,1]="Fail";
+		stubManager.Write("LS_RDANCER_UP\tFail\n");	
+		return 0;
+	}
+		Units_status[5,1]="Pass";
+		stubManager.Write("LS_RDANCER_UP\tPass\n");	
+
+//----------------------------------------- check F1_LS_RLOADRAM_DOWN -------------------------------------------------
+
+	if ((response.Value & F1_LS_RLOADRAM_DOWN) !=F1_LS_RLOADRAM_DOWN )								//if F1_LS_RLOADRAM_DOWN is up then error
+	{	
+		Units_status[6,1]="Fail";
+		stubManager.Write("LS_RLOADRAM_DOWN\tFail\n");	
+		return 0;
+	}
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if F1_LS_RLOADRAM_DOWN is up then move down
+		if ((response.Value & F1_LS_RLOADRAM_DOWN) != F1_LS_RLOADRAM_DOWN  )
+			counter=250;
+		
+			Thread.Sleep(100);	
+	}
+		if (counter == 150) 								
+	{	
+		Units_status[6,1]="Fail";
+		stubManager.Write("LS_RLOADRAM_DOWN\tFail\n");	
+		return 0;
+	}
+	Units_status[6,1]="Pass";
+	stubManager.Write("LS_RLOADRAM_DOWN\tPass\n");	
+
+//----------------------------------------- mov RDANCER_Motor down and check rdancer encoder -------------------------------------------------
+	temp= ReadEncoder();
+	
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RDANCER_Motor,false,10);				//move Rloading down
+	counter =0;
+	while ( counter < 150)
+	{
+		counter = counter + 1;
+		response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct);	//if LS_RLOADMOTOR_UP is up then move down
+		if ((response.Value & F1_LS_RDANCER_DOWN) != F1_LS_RDANCER_DOWN  )
+			counter=250;
+		
+			Thread.Sleep(100);	
+	}
+		if (counter == 150) 								
+	{	
+		Units_status[4,1]="Fail";
+		stubManager.Write("LS_RDANCER_DOWN\tFail\n");	
+		return 0;
+	}
+	Units_status[7,1]="Pass";
+	stubManager.Write("RDANCER_Motor\tPass\n");	
+
+	temp1= ReadEncoder();
+	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RDANCER_Motor, 3);					//hold Rloading high z
+
+	stubManager.Write("temp="+temp + "\temp1="+temp1 +"\n");
+		
+	DialogResult result = MessageBox.Show("SSI Dancer led is Green(not blinking)?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.No)
+		{
+			Units_status[8,1]="Fail";
+			stubManager.Write("RDANCER_SSI\tFail\n");	
+			return 0;
+		}
+
+	if (temp>temp1)
+		temp1=temp1+0x4000;
+
+	temp1=temp1-temp;			
+	if ((temp1> 15000) || (temp1 <1000))
+		{
+			Units_status[8,1]="Fail";
+			stubManager.Write("RDANCER_SSI\tFail\n");	
+			return 0;
+		}
+	Units_status[8,1]="Pass";
+		stubManager.Write("RDANCER_SSI\tPass\n");	
+	
+	return 1;
+}
+
+
+//-------------------------------------------------------------
+int Test_RDRIVING_RTFU()
+{	
+	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RDRIVING_Motor, true,200);				//move Rdriving clockwise 
+	stubManager.Write("RDRIVING_Motor Motor rotate \n ");
+	
+	DialogResult result = MessageBox.Show("Are RDRIVING Motor rotate?", "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.No)
+		{
+			Units_status[3,1]="Fail";
+			stubManager.Write("RDRIVING Motor not rotate\n");
+		}
+	else 
+		{
+			Units_status[3,1]="Pass";
+			stubManager.Write("RDRIVING Motor rotate\n");
+		}
+		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RDRIVING_Motor,3);		//stop motor
+
+	return 0;
+}	
+
+
+
+//--------------------------------------------------------------------------------
+int Motor_SetParam(Int32 HighAdr, Int32 LowAdr, Int32 ParaAddr, uint ParaData1)
+{
+	
+	Int32 Temp = 0;
+	Temp = (ParaAddr << 8 ) + ( (Int32) ParaData1 >> 24);
+
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,HighAdr, (Temp & 0xffff));
+	Temp = ((Int32)ParaData1 >> 8) & 0xffff;
+	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,LowAdr, (Temp));
+		
+	return 1;
+}
+ //------------------------------------  
+string write_to_file() 
+{	
+	    stubManager.Write("write_to_file\n");
+	
+string Stemp="Pass";
+		for (int i=0;i<UNIT_UNDER_TEST;i++)
+		{
+			stubManager.AppendToFile(File_Name1,Units_status[i,0]+"\t" + Units_status[i,1] );
+			stubManager.Write(Units_status[i,0]+"\t" + Units_status[i,1]+"\n" );
+
+			if ((Units_status[i,1]=="Fail")||(Units_status[i,1]=="Not Test"))
+			Stemp="Fail";
+		}
+		if (Stemp=="Fail")
+			{
+			stubManager.AppendToFile(File_Name1,"-------------RTFU  Fail ------------ ");
+			stubManager.Write("-------------RTFU Fail ------------ ");
+			}
+		else
+			{
+			stubManager.AppendToFile(File_Name1,"-------------RTFU Pass ------------ )");
+			stubManager.Write("-------------RTFU Pass ------------ ");
+			}
+			
+	return Stemp;
+	
+}
+
diff --git a/Software/Stubs Collection/stubs/Scripts/test.cs b/Software/Stubs Collection/stubs/Scripts/test.cs
new file mode 100644
index 000000000..a0aebf743
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/test.cs
@@ -0,0 +1,76 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+//----------------------
+
+//----------------------
+const Int32 I2C_ID =  3;			//MCU_I2C2 
+const Int32 TCA9548A_address =	 0xe2;	 	//or 0xE0 or 0xE4
+const Int32 I2C_Slave_Add = 	0xc0;			//	/MPC9600 address 
+//const Int32 I2C_Slave_Add = 0x46; //must be 0x40, 0x44 or 0x46
+//----------------------
+
+
+int disable_all_channel1() 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = 0xe0;
+	
+//	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x10);//enable all 8 i2c channel
+	
+	stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	Thread.Sleep(10);		
+	
+	return 1;
+	}
+int disable_all_channel2() 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = 0xe2;
+	
+//	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x00);//enable all 8 i2c channel
+	
+	stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	Thread.Sleep(10);		
+	
+	return 1;
+	}
+
+int disable_all_channel3() 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = 0xe4;
+	
+//	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x00);//enable all 8 i2c channel
+	
+	stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	Thread.Sleep(10);		
+	
+	return 1;
+	}
+
+
+
+public void OnExecute(StubManager stubManager)
+{
+	disable_all_channel1();
+	disable_all_channel2();
+	disable_all_channel3();
+
+	
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Scripts/wd_enable.cs b/Software/Stubs Collection/stubs/Scripts/wd_enable.cs
new file mode 100644
index 000000000..3919b7256
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Scripts/wd_enable.cs
@@ -0,0 +1,25 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+public void OnExecute(StubManager stubManager)
+{
+    for (int i = 0; i < 100; i++)
+    {
+ 
+//var response = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000160, 0x4001);	//wd fpga1
+var response = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000540, 0x4001);	//wd fpga2
+//var response = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000940, 0x4001);	//wd fpga3
+      Thread.Sleep(100);
+ 	
+    	
+    }
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/read embedded version.cs b/Software/Stubs Collection/stubs/read embedded version.cs
index 27424c029..8990fc2cd 100644
--- a/Software/Stubs Collection/stubs/read embedded version.cs
+++ b/Software/Stubs Collection/stubs/read embedded version.cs
@@ -8,7 +8,7 @@ using System.Threading;
 using System.Threading.Tasks;
 using System.Collections.Generic;
 using Tango.PMR.Stubs;
-using Tango.Stubs.UI;
+using Tango.Stubs;
 
 public void OnExecute(StubManager stubManager)
 {