Same as previous..

6 files changed, 0 insertions, 2558 deletions

diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/Dancer.cs b/Software/Visual_Studio/Tango.PMR/Hardware/Dancer.cs
deleted file mode 100644
index e7fa596ef..000000000
--- a/Software/Visual_Studio/Tango.PMR/Hardware/Dancer.cs
+++ /dev/null
@@ -1,253 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-// source: Dancer.proto
-#pragma warning disable 1591, 0612, 3021
-#region Designer generated code
-
-using pb = global::Google.Protobuf;
-using pbc = global::Google.Protobuf.Collections;
-using pbr = global::Google.Protobuf.Reflection;
-using scg = global::System.Collections.Generic;
-namespace Tango.PMR.Hardware {
-
-  /// <summary>Holder for reflection information generated from Dancer.proto</summary>
-  public static partial class DancerReflection {
-
-    #region Descriptor
-    /// <summary>File descriptor for Dancer.proto</summary>
-    public static pbr::FileDescriptor Descriptor {
-      get { return descriptor; }
-    }
-    private static pbr::FileDescriptor descriptor;
-
-    static DancerReflection() {
-      byte[] descriptorData = global::System.Convert.FromBase64String(
-          string.Concat(
-            "CgxEYW5jZXIucHJvdG8SElRhbmdvLlBNUi5IYXJkd2FyZSJOCgZEYW5jZXIS",
-            "FAoMRml4T3JHcmFkdWFsGAEgASgIEgkKAUsYAiABKAESCQoBWBgDIAEoARIY",
-            "ChBQdWxzZVBlck1NU3ByaW5nGAQgASgFQh4KHGNvbS50d2luZS50YW5nby5w",
-            "bXIuaGFyZHdhcmViBnByb3RvMw=="));
-      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
-          new pbr::FileDescriptor[] { },
-          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
-            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Hardware.Dancer), global::Tango.PMR.Hardware.Dancer.Parser, new[]{ "FixOrGradual", "K", "X", "PulsePerMMSpring" }, null, null, null)
-          }));
-    }
-    #endregion
-
-  }
-  #region Messages
-  public sealed partial class Dancer : pb::IMessage<Dancer> {
-    private static readonly pb::MessageParser<Dancer> _parser = new pb::MessageParser<Dancer>(() => new Dancer());
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public static pb::MessageParser<Dancer> Parser { get { return _parser; } }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public static pbr::MessageDescriptor Descriptor {
-      get { return global::Tango.PMR.Hardware.DancerReflection.Descriptor.MessageTypes[0]; }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    pbr::MessageDescriptor pb::IMessage.Descriptor {
-      get { return Descriptor; }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public Dancer() {
-      OnConstruction();
-    }
-
-    partial void OnConstruction();
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public Dancer(Dancer other) : this() {
-      fixOrGradual_ = other.fixOrGradual_;
-      k_ = other.k_;
-      x_ = other.x_;
-      pulsePerMMSpring_ = other.pulsePerMMSpring_;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public Dancer Clone() {
-      return new Dancer(this);
-    }
-
-    /// <summary>Field number for the "FixOrGradual" field.</summary>
-    public const int FixOrGradualFieldNumber = 1;
-    private bool fixOrGradual_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public bool FixOrGradual {
-      get { return fixOrGradual_; }
-      set {
-        fixOrGradual_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "K" field.</summary>
-    public const int KFieldNumber = 2;
-    private double k_;
-    /// <summary>
-    ///for F=KX spring calculation function
-    /// </summary>
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double K {
-      get { return k_; }
-      set {
-        k_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "X" field.</summary>
-    public const int XFieldNumber = 3;
-    private double x_;
-    /// <summary>
-    ///for F=KX spring calculation function
-    /// </summary>
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double X {
-      get { return x_; }
-      set {
-        x_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "PulsePerMMSpring" field.</summary>
-    public const int PulsePerMMSpringFieldNumber = 4;
-    private int pulsePerMMSpring_;
-    /// <summary>
-    ///changing explanation
-    /// </summary>
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int PulsePerMMSpring {
-      get { return pulsePerMMSpring_; }
-      set {
-        pulsePerMMSpring_ = value;
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override bool Equals(object other) {
-      return Equals(other as Dancer);
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public bool Equals(Dancer other) {
-      if (ReferenceEquals(other, null)) {
-        return false;
-      }
-      if (ReferenceEquals(other, this)) {
-        return true;
-      }
-      if (FixOrGradual != other.FixOrGradual) return false;
-      if (K != other.K) return false;
-      if (X != other.X) return false;
-      if (PulsePerMMSpring != other.PulsePerMMSpring) return false;
-      return true;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override int GetHashCode() {
-      int hash = 1;
-      if (FixOrGradual != false) hash ^= FixOrGradual.GetHashCode();
-      if (K != 0D) hash ^= K.GetHashCode();
-      if (X != 0D) hash ^= X.GetHashCode();
-      if (PulsePerMMSpring != 0) hash ^= PulsePerMMSpring.GetHashCode();
-      return hash;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override string ToString() {
-      return pb::JsonFormatter.ToDiagnosticString(this);
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void WriteTo(pb::CodedOutputStream output) {
-      if (FixOrGradual != false) {
-        output.WriteRawTag(8);
-        output.WriteBool(FixOrGradual);
-      }
-      if (K != 0D) {
-        output.WriteRawTag(17);
-        output.WriteDouble(K);
-      }
-      if (X != 0D) {
-        output.WriteRawTag(25);
-        output.WriteDouble(X);
-      }
-      if (PulsePerMMSpring != 0) {
-        output.WriteRawTag(32);
-        output.WriteInt32(PulsePerMMSpring);
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int CalculateSize() {
-      int size = 0;
-      if (FixOrGradual != false) {
-        size += 1 + 1;
-      }
-      if (K != 0D) {
-        size += 1 + 8;
-      }
-      if (X != 0D) {
-        size += 1 + 8;
-      }
-      if (PulsePerMMSpring != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(PulsePerMMSpring);
-      }
-      return size;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void MergeFrom(Dancer other) {
-      if (other == null) {
-        return;
-      }
-      if (other.FixOrGradual != false) {
-        FixOrGradual = other.FixOrGradual;
-      }
-      if (other.K != 0D) {
-        K = other.K;
-      }
-      if (other.X != 0D) {
-        X = other.X;
-      }
-      if (other.PulsePerMMSpring != 0) {
-        PulsePerMMSpring = other.PulsePerMMSpring;
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void MergeFrom(pb::CodedInputStream input) {
-      uint tag;
-      while ((tag = input.ReadTag()) != 0) {
-        switch(tag) {
-          default:
-            input.SkipLastField();
-            break;
-          case 8: {
-            FixOrGradual = input.ReadBool();
-            break;
-          }
-          case 17: {
-            K = input.ReadDouble();
-            break;
-          }
-          case 25: {
-            X = input.ReadDouble();
-            break;
-          }
-          case 32: {
-            PulsePerMMSpring = input.ReadInt32();
-            break;
-          }
-        }
-      }
-    }
-
-  }
-
-  #endregion
-
-}
-
-#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/Dispenser.cs b/Software/Visual_Studio/Tango.PMR/Hardware/Dispenser.cs
deleted file mode 100644
index 803944892..000000000
--- a/Software/Visual_Studio/Tango.PMR/Hardware/Dispenser.cs
+++ /dev/null
@@ -1,569 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-// source: Dispenser.proto
-#pragma warning disable 1591, 0612, 3021
-#region Designer generated code
-
-using pb = global::Google.Protobuf;
-using pbc = global::Google.Protobuf.Collections;
-using pbr = global::Google.Protobuf.Reflection;
-using scg = global::System.Collections.Generic;
-namespace Tango.PMR.Hardware {
-
-  /// <summary>Holder for reflection information generated from Dispenser.proto</summary>
-  public static partial class DispenserReflection {
-
-    #region Descriptor
-    /// <summary>File descriptor for Dispenser.proto</summary>
-    public static pbr::FileDescriptor Descriptor {
-      get { return descriptor; }
-    }
-    private static pbr::FileDescriptor descriptor;
-
-    static DispenserReflection() {
-      byte[] descriptorData = global::System.Convert.FromBase64String(
-          string.Concat(
-            "Cg9EaXNwZW5zZXIucHJvdG8SElRhbmdvLlBNUi5IYXJkd2FyZSLFAgoPRGlz",
-            "cGVuc2VyQ29uZmlnEhkKEURpc3BlbnNlckNhcGFjaXR5GAEgASgFEhcKD01p",
-            "ZFRhbmtDYXBhY2l0eRgCIAEoBRIWCg5GbG93UGVyUHVsc2VObBgDIAEoARIP",
-            "CgdNaW5GcmVxGAQgASgNEg8KB01heEZyZXEYBSABKA0SFAoMTWlubWljcm9T",
-            "dGVwGAYgASgNEhQKDE1heG1pY3JvU3RlcBgHIAEoDRIWCg5Db3JyZWN0aW9u",
-            "R2FpbhgIIAEoARIYChBSYXRpbzJEcnllclNwZWVkGAkgASgBEgoKAktwGAog",
-            "ASgBEgoKAktpGAsgASgBEgoKAktkGAwgASgBEhMKC0NoYW5nZVNsb3BlGA0g",
-            "ASgBEhYKDkhpZ2hMZW5ndGh1U2VjGA4gASgBEhUKDUNvbnRyb2xUaW1pbmcY",
-            "DyABKAVCHgocY29tLnR3aW5lLnRhbmdvLnBtci5oYXJkd2FyZWIGcHJvdG8z"));
-      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
-          new pbr::FileDescriptor[] { },
-          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
-            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Hardware.DispenserConfig), global::Tango.PMR.Hardware.DispenserConfig.Parser, new[]{ "DispenserCapacity", "MidTankCapacity", "FlowPerPulseNl", "MinFreq", "MaxFreq", "MinmicroStep", "MaxmicroStep", "CorrectionGain", "Ratio2DryerSpeed", "Kp", "Ki", "Kd", "ChangeSlope", "HighLengthuSec", "ControlTiming" }, null, null, null)
-          }));
-    }
-    #endregion
-
-  }
-  #region Messages
-  public sealed partial class DispenserConfig : pb::IMessage<DispenserConfig> {
-    private static readonly pb::MessageParser<DispenserConfig> _parser = new pb::MessageParser<DispenserConfig>(() => new DispenserConfig());
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public static pb::MessageParser<DispenserConfig> Parser { get { return _parser; } }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public static pbr::MessageDescriptor Descriptor {
-      get { return global::Tango.PMR.Hardware.DispenserReflection.Descriptor.MessageTypes[0]; }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    pbr::MessageDescriptor pb::IMessage.Descriptor {
-      get { return Descriptor; }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public DispenserConfig() {
-      OnConstruction();
-    }
-
-    partial void OnConstruction();
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public DispenserConfig(DispenserConfig other) : this() {
-      dispenserCapacity_ = other.dispenserCapacity_;
-      midTankCapacity_ = other.midTankCapacity_;
-      flowPerPulseNl_ = other.flowPerPulseNl_;
-      minFreq_ = other.minFreq_;
-      maxFreq_ = other.maxFreq_;
-      minmicroStep_ = other.minmicroStep_;
-      maxmicroStep_ = other.maxmicroStep_;
-      correctionGain_ = other.correctionGain_;
-      ratio2DryerSpeed_ = other.ratio2DryerSpeed_;
-      kp_ = other.kp_;
-      ki_ = other.ki_;
-      kd_ = other.kd_;
-      changeSlope_ = other.changeSlope_;
-      highLengthuSec_ = other.highLengthuSec_;
-      controlTiming_ = other.controlTiming_;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public DispenserConfig Clone() {
-      return new DispenserConfig(this);
-    }
-
-    /// <summary>Field number for the "DispenserCapacity" field.</summary>
-    public const int DispenserCapacityFieldNumber = 1;
-    private int dispenserCapacity_;
-    /// <summary>
-    ///milliliters
-    /// </summary>
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int DispenserCapacity {
-      get { return dispenserCapacity_; }
-      set {
-        dispenserCapacity_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "MidTankCapacity" field.</summary>
-    public const int MidTankCapacityFieldNumber = 2;
-    private int midTankCapacity_;
-    /// <summary>
-    ///milliliters
-    /// </summary>
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int MidTankCapacity {
-      get { return midTankCapacity_; }
-      set {
-        midTankCapacity_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "FlowPerPulseNl" field.</summary>
-    public const int FlowPerPulseNlFieldNumber = 3;
-    private double flowPerPulseNl_;
-    /// <summary>
-    ///nanoliter per step , uStep = 1
-    /// </summary>
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double FlowPerPulseNl {
-      get { return flowPerPulseNl_; }
-      set {
-        flowPerPulseNl_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "MinFreq" field.</summary>
-    public const int MinFreqFieldNumber = 4;
-    private uint minFreq_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public uint MinFreq {
-      get { return minFreq_; }
-      set {
-        minFreq_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "MaxFreq" field.</summary>
-    public const int MaxFreqFieldNumber = 5;
-    private uint maxFreq_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public uint MaxFreq {
-      get { return maxFreq_; }
-      set {
-        maxFreq_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "MinmicroStep" field.</summary>
-    public const int MinmicroStepFieldNumber = 6;
-    private uint minmicroStep_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public uint MinmicroStep {
-      get { return minmicroStep_; }
-      set {
-        minmicroStep_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "MaxmicroStep" field.</summary>
-    public const int MaxmicroStepFieldNumber = 7;
-    private uint maxmicroStep_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public uint MaxmicroStep {
-      get { return maxmicroStep_; }
-      set {
-        maxmicroStep_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "CorrectionGain" field.</summary>
-    public const int CorrectionGainFieldNumber = 8;
-    private double correctionGain_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double CorrectionGain {
-      get { return correctionGain_; }
-      set {
-        correctionGain_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "Ratio2DryerSpeed" field.</summary>
-    public const int Ratio2DryerSpeedFieldNumber = 9;
-    private double ratio2DryerSpeed_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double Ratio2DryerSpeed {
-      get { return ratio2DryerSpeed_; }
-      set {
-        ratio2DryerSpeed_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "Kp" field.</summary>
-    public const int KpFieldNumber = 10;
-    private double kp_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double Kp {
-      get { return kp_; }
-      set {
-        kp_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "Ki" field.</summary>
-    public const int KiFieldNumber = 11;
-    private double ki_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double Ki {
-      get { return ki_; }
-      set {
-        ki_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "Kd" field.</summary>
-    public const int KdFieldNumber = 12;
-    private double kd_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double Kd {
-      get { return kd_; }
-      set {
-        kd_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "ChangeSlope" field.</summary>
-    public const int ChangeSlopeFieldNumber = 13;
-    private double changeSlope_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double ChangeSlope {
-      get { return changeSlope_; }
-      set {
-        changeSlope_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "HighLengthuSec" field.</summary>
-    public const int HighLengthuSecFieldNumber = 14;
-    private double highLengthuSec_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double HighLengthuSec {
-      get { return highLengthuSec_; }
-      set {
-        highLengthuSec_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "ControlTiming" field.</summary>
-    public const int ControlTimingFieldNumber = 15;
-    private int controlTiming_;
-    /// <summary>
-    ///10-100-1000 milliseconds
-    /// </summary>
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int ControlTiming {
-      get { return controlTiming_; }
-      set {
-        controlTiming_ = value;
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override bool Equals(object other) {
-      return Equals(other as DispenserConfig);
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public bool Equals(DispenserConfig other) {
-      if (ReferenceEquals(other, null)) {
-        return false;
-      }
-      if (ReferenceEquals(other, this)) {
-        return true;
-      }
-      if (DispenserCapacity != other.DispenserCapacity) return false;
-      if (MidTankCapacity != other.MidTankCapacity) return false;
-      if (FlowPerPulseNl != other.FlowPerPulseNl) return false;
-      if (MinFreq != other.MinFreq) return false;
-      if (MaxFreq != other.MaxFreq) return false;
-      if (MinmicroStep != other.MinmicroStep) return false;
-      if (MaxmicroStep != other.MaxmicroStep) return false;
-      if (CorrectionGain != other.CorrectionGain) return false;
-      if (Ratio2DryerSpeed != other.Ratio2DryerSpeed) return false;
-      if (Kp != other.Kp) return false;
-      if (Ki != other.Ki) return false;
-      if (Kd != other.Kd) return false;
-      if (ChangeSlope != other.ChangeSlope) return false;
-      if (HighLengthuSec != other.HighLengthuSec) return false;
-      if (ControlTiming != other.ControlTiming) return false;
-      return true;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override int GetHashCode() {
-      int hash = 1;
-      if (DispenserCapacity != 0) hash ^= DispenserCapacity.GetHashCode();
-      if (MidTankCapacity != 0) hash ^= MidTankCapacity.GetHashCode();
-      if (FlowPerPulseNl != 0D) hash ^= FlowPerPulseNl.GetHashCode();
-      if (MinFreq != 0) hash ^= MinFreq.GetHashCode();
-      if (MaxFreq != 0) hash ^= MaxFreq.GetHashCode();
-      if (MinmicroStep != 0) hash ^= MinmicroStep.GetHashCode();
-      if (MaxmicroStep != 0) hash ^= MaxmicroStep.GetHashCode();
-      if (CorrectionGain != 0D) hash ^= CorrectionGain.GetHashCode();
-      if (Ratio2DryerSpeed != 0D) hash ^= Ratio2DryerSpeed.GetHashCode();
-      if (Kp != 0D) hash ^= Kp.GetHashCode();
-      if (Ki != 0D) hash ^= Ki.GetHashCode();
-      if (Kd != 0D) hash ^= Kd.GetHashCode();
-      if (ChangeSlope != 0D) hash ^= ChangeSlope.GetHashCode();
-      if (HighLengthuSec != 0D) hash ^= HighLengthuSec.GetHashCode();
-      if (ControlTiming != 0) hash ^= ControlTiming.GetHashCode();
-      return hash;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override string ToString() {
-      return pb::JsonFormatter.ToDiagnosticString(this);
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void WriteTo(pb::CodedOutputStream output) {
-      if (DispenserCapacity != 0) {
-        output.WriteRawTag(8);
-        output.WriteInt32(DispenserCapacity);
-      }
-      if (MidTankCapacity != 0) {
-        output.WriteRawTag(16);
-        output.WriteInt32(MidTankCapacity);
-      }
-      if (FlowPerPulseNl != 0D) {
-        output.WriteRawTag(25);
-        output.WriteDouble(FlowPerPulseNl);
-      }
-      if (MinFreq != 0) {
-        output.WriteRawTag(32);
-        output.WriteUInt32(MinFreq);
-      }
-      if (MaxFreq != 0) {
-        output.WriteRawTag(40);
-        output.WriteUInt32(MaxFreq);
-      }
-      if (MinmicroStep != 0) {
-        output.WriteRawTag(48);
-        output.WriteUInt32(MinmicroStep);
-      }
-      if (MaxmicroStep != 0) {
-        output.WriteRawTag(56);
-        output.WriteUInt32(MaxmicroStep);
-      }
-      if (CorrectionGain != 0D) {
-        output.WriteRawTag(65);
-        output.WriteDouble(CorrectionGain);
-      }
-      if (Ratio2DryerSpeed != 0D) {
-        output.WriteRawTag(73);
-        output.WriteDouble(Ratio2DryerSpeed);
-      }
-      if (Kp != 0D) {
-        output.WriteRawTag(81);
-        output.WriteDouble(Kp);
-      }
-      if (Ki != 0D) {
-        output.WriteRawTag(89);
-        output.WriteDouble(Ki);
-      }
-      if (Kd != 0D) {
-        output.WriteRawTag(97);
-        output.WriteDouble(Kd);
-      }
-      if (ChangeSlope != 0D) {
-        output.WriteRawTag(105);
-        output.WriteDouble(ChangeSlope);
-      }
-      if (HighLengthuSec != 0D) {
-        output.WriteRawTag(113);
-        output.WriteDouble(HighLengthuSec);
-      }
-      if (ControlTiming != 0) {
-        output.WriteRawTag(120);
-        output.WriteInt32(ControlTiming);
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int CalculateSize() {
-      int size = 0;
-      if (DispenserCapacity != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(DispenserCapacity);
-      }
-      if (MidTankCapacity != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(MidTankCapacity);
-      }
-      if (FlowPerPulseNl != 0D) {
-        size += 1 + 8;
-      }
-      if (MinFreq != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MinFreq);
-      }
-      if (MaxFreq != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MaxFreq);
-      }
-      if (MinmicroStep != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MinmicroStep);
-      }
-      if (MaxmicroStep != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MaxmicroStep);
-      }
-      if (CorrectionGain != 0D) {
-        size += 1 + 8;
-      }
-      if (Ratio2DryerSpeed != 0D) {
-        size += 1 + 8;
-      }
-      if (Kp != 0D) {
-        size += 1 + 8;
-      }
-      if (Ki != 0D) {
-        size += 1 + 8;
-      }
-      if (Kd != 0D) {
-        size += 1 + 8;
-      }
-      if (ChangeSlope != 0D) {
-        size += 1 + 8;
-      }
-      if (HighLengthuSec != 0D) {
-        size += 1 + 8;
-      }
-      if (ControlTiming != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(ControlTiming);
-      }
-      return size;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void MergeFrom(DispenserConfig other) {
-      if (other == null) {
-        return;
-      }
-      if (other.DispenserCapacity != 0) {
-        DispenserCapacity = other.DispenserCapacity;
-      }
-      if (other.MidTankCapacity != 0) {
-        MidTankCapacity = other.MidTankCapacity;
-      }
-      if (other.FlowPerPulseNl != 0D) {
-        FlowPerPulseNl = other.FlowPerPulseNl;
-      }
-      if (other.MinFreq != 0) {
-        MinFreq = other.MinFreq;
-      }
-      if (other.MaxFreq != 0) {
-        MaxFreq = other.MaxFreq;
-      }
-      if (other.MinmicroStep != 0) {
-        MinmicroStep = other.MinmicroStep;
-      }
-      if (other.MaxmicroStep != 0) {
-        MaxmicroStep = other.MaxmicroStep;
-      }
-      if (other.CorrectionGain != 0D) {
-        CorrectionGain = other.CorrectionGain;
-      }
-      if (other.Ratio2DryerSpeed != 0D) {
-        Ratio2DryerSpeed = other.Ratio2DryerSpeed;
-      }
-      if (other.Kp != 0D) {
-        Kp = other.Kp;
-      }
-      if (other.Ki != 0D) {
-        Ki = other.Ki;
-      }
-      if (other.Kd != 0D) {
-        Kd = other.Kd;
-      }
-      if (other.ChangeSlope != 0D) {
-        ChangeSlope = other.ChangeSlope;
-      }
-      if (other.HighLengthuSec != 0D) {
-        HighLengthuSec = other.HighLengthuSec;
-      }
-      if (other.ControlTiming != 0) {
-        ControlTiming = other.ControlTiming;
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void MergeFrom(pb::CodedInputStream input) {
-      uint tag;
-      while ((tag = input.ReadTag()) != 0) {
-        switch(tag) {
-          default:
-            input.SkipLastField();
-            break;
-          case 8: {
-            DispenserCapacity = input.ReadInt32();
-            break;
-          }
-          case 16: {
-            MidTankCapacity = input.ReadInt32();
-            break;
-          }
-          case 25: {
-            FlowPerPulseNl = input.ReadDouble();
-            break;
-          }
-          case 32: {
-            MinFreq = input.ReadUInt32();
-            break;
-          }
-          case 40: {
-            MaxFreq = input.ReadUInt32();
-            break;
-          }
-          case 48: {
-            MinmicroStep = input.ReadUInt32();
-            break;
-          }
-          case 56: {
-            MaxmicroStep = input.ReadUInt32();
-            break;
-          }
-          case 65: {
-            CorrectionGain = input.ReadDouble();
-            break;
-          }
-          case 73: {
-            Ratio2DryerSpeed = input.ReadDouble();
-            break;
-          }
-          case 81: {
-            Kp = input.ReadDouble();
-            break;
-          }
-          case 89: {
-            Ki = input.ReadDouble();
-            break;
-          }
-          case 97: {
-            Kd = input.ReadDouble();
-            break;
-          }
-          case 105: {
-            ChangeSlope = input.ReadDouble();
-            break;
-          }
-          case 113: {
-            HighLengthuSec = input.ReadDouble();
-            break;
-          }
-          case 120: {
-            ControlTiming = input.ReadInt32();
-            break;
-          }
-        }
-      }
-    }
-
-  }
-
-  #endregion
-
-}
-
-#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/InternalWinder.cs b/Software/Visual_Studio/Tango.PMR/Hardware/InternalWinder.cs
deleted file mode 100644
index 6050ed4e4..000000000
--- a/Software/Visual_Studio/Tango.PMR/Hardware/InternalWinder.cs
+++ /dev/null
@@ -1,245 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-// source: InternalWinder.proto
-#pragma warning disable 1591, 0612, 3021
-#region Designer generated code
-
-using pb = global::Google.Protobuf;
-using pbc = global::Google.Protobuf.Collections;
-using pbr = global::Google.Protobuf.Reflection;
-using scg = global::System.Collections.Generic;
-namespace Tango.PMR.Hardware {
-
-  /// <summary>Holder for reflection information generated from InternalWinder.proto</summary>
-  public static partial class InternalWinderReflection {
-
-    #region Descriptor
-    /// <summary>File descriptor for InternalWinder.proto</summary>
-    public static pbr::FileDescriptor Descriptor {
-      get { return descriptor; }
-    }
-    private static pbr::FileDescriptor descriptor;
-
-    static InternalWinderReflection() {
-      byte[] descriptorData = global::System.Convert.FromBase64String(
-          string.Concat(
-            "ChRJbnRlcm5hbFdpbmRlci5wcm90bxISVGFuZ28uUE1SLkhhcmR3YXJlIogB",
-            "ChRJbnRlcm5hbFdpbmRlckNvbmZpZxIZChFTdGFydE9mZnNldFB1bHNlcxgB",
-            "IAEoDRIYChBTcG9vbEJhY2tpbmdSYXRlGAIgASgNEhsKE1NlZ21lbnRPZmZz",
-            "ZXRQdWxzZXMYAyABKA0SHgoWTWlsbGltZXRlcnNQZXJSb3RhdGlvbhgEIAEo",
-            "DUIeChxjb20udHdpbmUudGFuZ28ucG1yLmhhcmR3YXJlYgZwcm90bzM="));
-      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
-          new pbr::FileDescriptor[] { },
-          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
-            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Hardware.InternalWinderConfig), global::Tango.PMR.Hardware.InternalWinderConfig.Parser, new[]{ "StartOffsetPulses", "SpoolBackingRate", "SegmentOffsetPulses", "MillimetersPerRotation" }, null, null, null)
-          }));
-    }
-    #endregion
-
-  }
-  #region Messages
-  public sealed partial class InternalWinderConfig : pb::IMessage<InternalWinderConfig> {
-    private static readonly pb::MessageParser<InternalWinderConfig> _parser = new pb::MessageParser<InternalWinderConfig>(() => new InternalWinderConfig());
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public static pb::MessageParser<InternalWinderConfig> Parser { get { return _parser; } }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public static pbr::MessageDescriptor Descriptor {
-      get { return global::Tango.PMR.Hardware.InternalWinderReflection.Descriptor.MessageTypes[0]; }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    pbr::MessageDescriptor pb::IMessage.Descriptor {
-      get { return Descriptor; }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public InternalWinderConfig() {
-      OnConstruction();
-    }
-
-    partial void OnConstruction();
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public InternalWinderConfig(InternalWinderConfig other) : this() {
-      startOffsetPulses_ = other.startOffsetPulses_;
-      spoolBackingRate_ = other.spoolBackingRate_;
-      segmentOffsetPulses_ = other.segmentOffsetPulses_;
-      millimetersPerRotation_ = other.millimetersPerRotation_;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public InternalWinderConfig Clone() {
-      return new InternalWinderConfig(this);
-    }
-
-    /// <summary>Field number for the "StartOffsetPulses" field.</summary>
-    public const int StartOffsetPulsesFieldNumber = 1;
-    private uint startOffsetPulses_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public uint StartOffsetPulses {
-      get { return startOffsetPulses_; }
-      set {
-        startOffsetPulses_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "SpoolBackingRate" field.</summary>
-    public const int SpoolBackingRateFieldNumber = 2;
-    private uint spoolBackingRate_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public uint SpoolBackingRate {
-      get { return spoolBackingRate_; }
-      set {
-        spoolBackingRate_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "SegmentOffsetPulses" field.</summary>
-    public const int SegmentOffsetPulsesFieldNumber = 3;
-    private uint segmentOffsetPulses_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public uint SegmentOffsetPulses {
-      get { return segmentOffsetPulses_; }
-      set {
-        segmentOffsetPulses_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "MillimetersPerRotation" field.</summary>
-    public const int MillimetersPerRotationFieldNumber = 4;
-    private uint millimetersPerRotation_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public uint MillimetersPerRotation {
-      get { return millimetersPerRotation_; }
-      set {
-        millimetersPerRotation_ = value;
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override bool Equals(object other) {
-      return Equals(other as InternalWinderConfig);
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public bool Equals(InternalWinderConfig other) {
-      if (ReferenceEquals(other, null)) {
-        return false;
-      }
-      if (ReferenceEquals(other, this)) {
-        return true;
-      }
-      if (StartOffsetPulses != other.StartOffsetPulses) return false;
-      if (SpoolBackingRate != other.SpoolBackingRate) return false;
-      if (SegmentOffsetPulses != other.SegmentOffsetPulses) return false;
-      if (MillimetersPerRotation != other.MillimetersPerRotation) return false;
-      return true;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override int GetHashCode() {
-      int hash = 1;
-      if (StartOffsetPulses != 0) hash ^= StartOffsetPulses.GetHashCode();
-      if (SpoolBackingRate != 0) hash ^= SpoolBackingRate.GetHashCode();
-      if (SegmentOffsetPulses != 0) hash ^= SegmentOffsetPulses.GetHashCode();
-      if (MillimetersPerRotation != 0) hash ^= MillimetersPerRotation.GetHashCode();
-      return hash;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override string ToString() {
-      return pb::JsonFormatter.ToDiagnosticString(this);
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void WriteTo(pb::CodedOutputStream output) {
-      if (StartOffsetPulses != 0) {
-        output.WriteRawTag(8);
-        output.WriteUInt32(StartOffsetPulses);
-      }
-      if (SpoolBackingRate != 0) {
-        output.WriteRawTag(16);
-        output.WriteUInt32(SpoolBackingRate);
-      }
-      if (SegmentOffsetPulses != 0) {
-        output.WriteRawTag(24);
-        output.WriteUInt32(SegmentOffsetPulses);
-      }
-      if (MillimetersPerRotation != 0) {
-        output.WriteRawTag(32);
-        output.WriteUInt32(MillimetersPerRotation);
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int CalculateSize() {
-      int size = 0;
-      if (StartOffsetPulses != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(StartOffsetPulses);
-      }
-      if (SpoolBackingRate != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(SpoolBackingRate);
-      }
-      if (SegmentOffsetPulses != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(SegmentOffsetPulses);
-      }
-      if (MillimetersPerRotation != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MillimetersPerRotation);
-      }
-      return size;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void MergeFrom(InternalWinderConfig other) {
-      if (other == null) {
-        return;
-      }
-      if (other.StartOffsetPulses != 0) {
-        StartOffsetPulses = other.StartOffsetPulses;
-      }
-      if (other.SpoolBackingRate != 0) {
-        SpoolBackingRate = other.SpoolBackingRate;
-      }
-      if (other.SegmentOffsetPulses != 0) {
-        SegmentOffsetPulses = other.SegmentOffsetPulses;
-      }
-      if (other.MillimetersPerRotation != 0) {
-        MillimetersPerRotation = other.MillimetersPerRotation;
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void MergeFrom(pb::CodedInputStream input) {
-      uint tag;
-      while ((tag = input.ReadTag()) != 0) {
-        switch(tag) {
-          default:
-            input.SkipLastField();
-            break;
-          case 8: {
-            StartOffsetPulses = input.ReadUInt32();
-            break;
-          }
-          case 16: {
-            SpoolBackingRate = input.ReadUInt32();
-            break;
-          }
-          case 24: {
-            SegmentOffsetPulses = input.ReadUInt32();
-            break;
-          }
-          case 32: {
-            MillimetersPerRotation = input.ReadUInt32();
-            break;
-          }
-        }
-      }
-    }
-
-  }
-
-  #endregion
-
-}
-
-#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/Motor.cs b/Software/Visual_Studio/Tango.PMR/Hardware/Motor.cs
deleted file mode 100644
index 28659d7af..000000000
--- a/Software/Visual_Studio/Tango.PMR/Hardware/Motor.cs
+++ /dev/null
@@ -1,572 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-// source: Motor.proto
-#pragma warning disable 1591, 0612, 3021
-#region Designer generated code
-
-using pb = global::Google.Protobuf;
-using pbc = global::Google.Protobuf.Collections;
-using pbr = global::Google.Protobuf.Reflection;
-using scg = global::System.Collections.Generic;
-namespace Tango.PMR.Hardware {
-
-  /// <summary>Holder for reflection information generated from Motor.proto</summary>
-  public static partial class MotorReflection {
-
-    #region Descriptor
-    /// <summary>File descriptor for Motor.proto</summary>
-    public static pbr::FileDescriptor Descriptor {
-      get { return descriptor; }
-    }
-    private static pbr::FileDescriptor descriptor;
-
-    static MotorReflection() {
-      byte[] descriptorData = global::System.Convert.FromBase64String(
-          string.Concat(
-            "CgtNb3Rvci5wcm90bxISVGFuZ28uUE1SLkhhcmR3YXJlIskCCgtNb3RvckNv",
-            "bmZpZxInCgJJZBgBIAEoDjIbLlRhbmdvLlBNUi5IYXJkd2FyZS5Nb3Rvcklk",
-            "Eg8KB01pbkZyZXEYAiABKA0SDwoHTWF4RnJlcRgDIAEoDRIUCgxNaW5taWNy",
-            "b1N0ZXAYBCABKA0SFAoMTWF4bWljcm9TdGVwGAUgASgNEhMKC0xpbmVhclJh",
-            "dGlvGAYgASgBEhYKDk1lZGlhblBvc2l0aW9uGAcgASgNEhYKDkNvcnJlY3Rp",
-            "b25HYWluGAggASgBEhgKEFJhdGlvMkRyeWVyU3BlZWQYCSABKAESCgoCS3AY",
-            "CiABKAESCgoCS2kYCyABKAESCgoCS2QYDCABKAESEwoLQ2hhbmdlU2xvcGUY",
-            "DSABKAESFgoOSGlnaExlbmd0aHVTZWMYDiABKAESEwoLU3BlZWRLZWVwZXIY",
-            "DyABKAgqOAoHTW90b3JJZBIKCgZGZWVkZXIQABIJCgVEcnllchABEgoKBlBv",
-            "b2xlchACEgoKBldpbmRlchADQh4KHGNvbS50d2luZS50YW5nby5wbXIuaGFy",
-            "ZHdhcmViBnByb3RvMw=="));
-      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
-          new pbr::FileDescriptor[] { },
-          new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Hardware.MotorId), }, new pbr::GeneratedClrTypeInfo[] {
-            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Hardware.MotorConfig), global::Tango.PMR.Hardware.MotorConfig.Parser, new[]{ "Id", "MinFreq", "MaxFreq", "MinmicroStep", "MaxmicroStep", "LinearRatio", "MedianPosition", "CorrectionGain", "Ratio2DryerSpeed", "Kp", "Ki", "Kd", "ChangeSlope", "HighLengthuSec", "SpeedKeeper" }, null, null, null)
-          }));
-    }
-    #endregion
-
-  }
-  #region Enums
-  public enum MotorId {
-    [pbr::OriginalName("Feeder")] Feeder = 0,
-    [pbr::OriginalName("Dryer")] Dryer = 1,
-    [pbr::OriginalName("Pooler")] Pooler = 2,
-    [pbr::OriginalName("Winder")] Winder = 3,
-  }
-
-  #endregion
-
-  #region Messages
-  public sealed partial class MotorConfig : pb::IMessage<MotorConfig> {
-    private static readonly pb::MessageParser<MotorConfig> _parser = new pb::MessageParser<MotorConfig>(() => new MotorConfig());
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public static pb::MessageParser<MotorConfig> Parser { get { return _parser; } }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public static pbr::MessageDescriptor Descriptor {
-      get { return global::Tango.PMR.Hardware.MotorReflection.Descriptor.MessageTypes[0]; }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    pbr::MessageDescriptor pb::IMessage.Descriptor {
-      get { return Descriptor; }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public MotorConfig() {
-      OnConstruction();
-    }
-
-    partial void OnConstruction();
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public MotorConfig(MotorConfig other) : this() {
-      id_ = other.id_;
-      minFreq_ = other.minFreq_;
-      maxFreq_ = other.maxFreq_;
-      minmicroStep_ = other.minmicroStep_;
-      maxmicroStep_ = other.maxmicroStep_;
-      linearRatio_ = other.linearRatio_;
-      medianPosition_ = other.medianPosition_;
-      correctionGain_ = other.correctionGain_;
-      ratio2DryerSpeed_ = other.ratio2DryerSpeed_;
-      kp_ = other.kp_;
-      ki_ = other.ki_;
-      kd_ = other.kd_;
-      changeSlope_ = other.changeSlope_;
-      highLengthuSec_ = other.highLengthuSec_;
-      speedKeeper_ = other.speedKeeper_;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public MotorConfig Clone() {
-      return new MotorConfig(this);
-    }
-
-    /// <summary>Field number for the "Id" field.</summary>
-    public const int IdFieldNumber = 1;
-    private global::Tango.PMR.Hardware.MotorId id_ = 0;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public global::Tango.PMR.Hardware.MotorId Id {
-      get { return id_; }
-      set {
-        id_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "MinFreq" field.</summary>
-    public const int MinFreqFieldNumber = 2;
-    private uint minFreq_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public uint MinFreq {
-      get { return minFreq_; }
-      set {
-        minFreq_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "MaxFreq" field.</summary>
-    public const int MaxFreqFieldNumber = 3;
-    private uint maxFreq_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public uint MaxFreq {
-      get { return maxFreq_; }
-      set {
-        maxFreq_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "MinmicroStep" field.</summary>
-    public const int MinmicroStepFieldNumber = 4;
-    private uint minmicroStep_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public uint MinmicroStep {
-      get { return minmicroStep_; }
-      set {
-        minmicroStep_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "MaxmicroStep" field.</summary>
-    public const int MaxmicroStepFieldNumber = 5;
-    private uint maxmicroStep_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public uint MaxmicroStep {
-      get { return maxmicroStep_; }
-      set {
-        maxmicroStep_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "LinearRatio" field.</summary>
-    public const int LinearRatioFieldNumber = 6;
-    private double linearRatio_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double LinearRatio {
-      get { return linearRatio_; }
-      set {
-        linearRatio_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "MedianPosition" field.</summary>
-    public const int MedianPositionFieldNumber = 7;
-    private uint medianPosition_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public uint MedianPosition {
-      get { return medianPosition_; }
-      set {
-        medianPosition_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "CorrectionGain" field.</summary>
-    public const int CorrectionGainFieldNumber = 8;
-    private double correctionGain_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double CorrectionGain {
-      get { return correctionGain_; }
-      set {
-        correctionGain_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "Ratio2DryerSpeed" field.</summary>
-    public const int Ratio2DryerSpeedFieldNumber = 9;
-    private double ratio2DryerSpeed_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double Ratio2DryerSpeed {
-      get { return ratio2DryerSpeed_; }
-      set {
-        ratio2DryerSpeed_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "Kp" field.</summary>
-    public const int KpFieldNumber = 10;
-    private double kp_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double Kp {
-      get { return kp_; }
-      set {
-        kp_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "Ki" field.</summary>
-    public const int KiFieldNumber = 11;
-    private double ki_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double Ki {
-      get { return ki_; }
-      set {
-        ki_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "Kd" field.</summary>
-    public const int KdFieldNumber = 12;
-    private double kd_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double Kd {
-      get { return kd_; }
-      set {
-        kd_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "ChangeSlope" field.</summary>
-    public const int ChangeSlopeFieldNumber = 13;
-    private double changeSlope_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double ChangeSlope {
-      get { return changeSlope_; }
-      set {
-        changeSlope_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "HighLengthuSec" field.</summary>
-    public const int HighLengthuSecFieldNumber = 14;
-    private double highLengthuSec_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double HighLengthuSec {
-      get { return highLengthuSec_; }
-      set {
-        highLengthuSec_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "SpeedKeeper" field.</summary>
-    public const int SpeedKeeperFieldNumber = 15;
-    private bool speedKeeper_;
-    /// <summary>
-    ///one motor is setting the speed for the whole system.
-    /// </summary>
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public bool SpeedKeeper {
-      get { return speedKeeper_; }
-      set {
-        speedKeeper_ = value;
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override bool Equals(object other) {
-      return Equals(other as MotorConfig);
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public bool Equals(MotorConfig other) {
-      if (ReferenceEquals(other, null)) {
-        return false;
-      }
-      if (ReferenceEquals(other, this)) {
-        return true;
-      }
-      if (Id != other.Id) return false;
-      if (MinFreq != other.MinFreq) return false;
-      if (MaxFreq != other.MaxFreq) return false;
-      if (MinmicroStep != other.MinmicroStep) return false;
-      if (MaxmicroStep != other.MaxmicroStep) return false;
-      if (LinearRatio != other.LinearRatio) return false;
-      if (MedianPosition != other.MedianPosition) return false;
-      if (CorrectionGain != other.CorrectionGain) return false;
-      if (Ratio2DryerSpeed != other.Ratio2DryerSpeed) return false;
-      if (Kp != other.Kp) return false;
-      if (Ki != other.Ki) return false;
-      if (Kd != other.Kd) return false;
-      if (ChangeSlope != other.ChangeSlope) return false;
-      if (HighLengthuSec != other.HighLengthuSec) return false;
-      if (SpeedKeeper != other.SpeedKeeper) return false;
-      return true;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override int GetHashCode() {
-      int hash = 1;
-      if (Id != 0) hash ^= Id.GetHashCode();
-      if (MinFreq != 0) hash ^= MinFreq.GetHashCode();
-      if (MaxFreq != 0) hash ^= MaxFreq.GetHashCode();
-      if (MinmicroStep != 0) hash ^= MinmicroStep.GetHashCode();
-      if (MaxmicroStep != 0) hash ^= MaxmicroStep.GetHashCode();
-      if (LinearRatio != 0D) hash ^= LinearRatio.GetHashCode();
-      if (MedianPosition != 0) hash ^= MedianPosition.GetHashCode();
-      if (CorrectionGain != 0D) hash ^= CorrectionGain.GetHashCode();
-      if (Ratio2DryerSpeed != 0D) hash ^= Ratio2DryerSpeed.GetHashCode();
-      if (Kp != 0D) hash ^= Kp.GetHashCode();
-      if (Ki != 0D) hash ^= Ki.GetHashCode();
-      if (Kd != 0D) hash ^= Kd.GetHashCode();
-      if (ChangeSlope != 0D) hash ^= ChangeSlope.GetHashCode();
-      if (HighLengthuSec != 0D) hash ^= HighLengthuSec.GetHashCode();
-      if (SpeedKeeper != false) hash ^= SpeedKeeper.GetHashCode();
-      return hash;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override string ToString() {
-      return pb::JsonFormatter.ToDiagnosticString(this);
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void WriteTo(pb::CodedOutputStream output) {
-      if (Id != 0) {
-        output.WriteRawTag(8);
-        output.WriteEnum((int) Id);
-      }
-      if (MinFreq != 0) {
-        output.WriteRawTag(16);
-        output.WriteUInt32(MinFreq);
-      }
-      if (MaxFreq != 0) {
-        output.WriteRawTag(24);
-        output.WriteUInt32(MaxFreq);
-      }
-      if (MinmicroStep != 0) {
-        output.WriteRawTag(32);
-        output.WriteUInt32(MinmicroStep);
-      }
-      if (MaxmicroStep != 0) {
-        output.WriteRawTag(40);
-        output.WriteUInt32(MaxmicroStep);
-      }
-      if (LinearRatio != 0D) {
-        output.WriteRawTag(49);
-        output.WriteDouble(LinearRatio);
-      }
-      if (MedianPosition != 0) {
-        output.WriteRawTag(56);
-        output.WriteUInt32(MedianPosition);
-      }
-      if (CorrectionGain != 0D) {
-        output.WriteRawTag(65);
-        output.WriteDouble(CorrectionGain);
-      }
-      if (Ratio2DryerSpeed != 0D) {
-        output.WriteRawTag(73);
-        output.WriteDouble(Ratio2DryerSpeed);
-      }
-      if (Kp != 0D) {
-        output.WriteRawTag(81);
-        output.WriteDouble(Kp);
-      }
-      if (Ki != 0D) {
-        output.WriteRawTag(89);
-        output.WriteDouble(Ki);
-      }
-      if (Kd != 0D) {
-        output.WriteRawTag(97);
-        output.WriteDouble(Kd);
-      }
-      if (ChangeSlope != 0D) {
-        output.WriteRawTag(105);
-        output.WriteDouble(ChangeSlope);
-      }
-      if (HighLengthuSec != 0D) {
-        output.WriteRawTag(113);
-        output.WriteDouble(HighLengthuSec);
-      }
-      if (SpeedKeeper != false) {
-        output.WriteRawTag(120);
-        output.WriteBool(SpeedKeeper);
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int CalculateSize() {
-      int size = 0;
-      if (Id != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeEnumSize((int) Id);
-      }
-      if (MinFreq != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MinFreq);
-      }
-      if (MaxFreq != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MaxFreq);
-      }
-      if (MinmicroStep != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MinmicroStep);
-      }
-      if (MaxmicroStep != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MaxmicroStep);
-      }
-      if (LinearRatio != 0D) {
-        size += 1 + 8;
-      }
-      if (MedianPosition != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MedianPosition);
-      }
-      if (CorrectionGain != 0D) {
-        size += 1 + 8;
-      }
-      if (Ratio2DryerSpeed != 0D) {
-        size += 1 + 8;
-      }
-      if (Kp != 0D) {
-        size += 1 + 8;
-      }
-      if (Ki != 0D) {
-        size += 1 + 8;
-      }
-      if (Kd != 0D) {
-        size += 1 + 8;
-      }
-      if (ChangeSlope != 0D) {
-        size += 1 + 8;
-      }
-      if (HighLengthuSec != 0D) {
-        size += 1 + 8;
-      }
-      if (SpeedKeeper != false) {
-        size += 1 + 1;
-      }
-      return size;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void MergeFrom(MotorConfig other) {
-      if (other == null) {
-        return;
-      }
-      if (other.Id != 0) {
-        Id = other.Id;
-      }
-      if (other.MinFreq != 0) {
-        MinFreq = other.MinFreq;
-      }
-      if (other.MaxFreq != 0) {
-        MaxFreq = other.MaxFreq;
-      }
-      if (other.MinmicroStep != 0) {
-        MinmicroStep = other.MinmicroStep;
-      }
-      if (other.MaxmicroStep != 0) {
-        MaxmicroStep = other.MaxmicroStep;
-      }
-      if (other.LinearRatio != 0D) {
-        LinearRatio = other.LinearRatio;
-      }
-      if (other.MedianPosition != 0) {
-        MedianPosition = other.MedianPosition;
-      }
-      if (other.CorrectionGain != 0D) {
-        CorrectionGain = other.CorrectionGain;
-      }
-      if (other.Ratio2DryerSpeed != 0D) {
-        Ratio2DryerSpeed = other.Ratio2DryerSpeed;
-      }
-      if (other.Kp != 0D) {
-        Kp = other.Kp;
-      }
-      if (other.Ki != 0D) {
-        Ki = other.Ki;
-      }
-      if (other.Kd != 0D) {
-        Kd = other.Kd;
-      }
-      if (other.ChangeSlope != 0D) {
-        ChangeSlope = other.ChangeSlope;
-      }
-      if (other.HighLengthuSec != 0D) {
-        HighLengthuSec = other.HighLengthuSec;
-      }
-      if (other.SpeedKeeper != false) {
-        SpeedKeeper = other.SpeedKeeper;
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void MergeFrom(pb::CodedInputStream input) {
-      uint tag;
-      while ((tag = input.ReadTag()) != 0) {
-        switch(tag) {
-          default:
-            input.SkipLastField();
-            break;
-          case 8: {
-            id_ = (global::Tango.PMR.Hardware.MotorId) input.ReadEnum();
-            break;
-          }
-          case 16: {
-            MinFreq = input.ReadUInt32();
-            break;
-          }
-          case 24: {
-            MaxFreq = input.ReadUInt32();
-            break;
-          }
-          case 32: {
-            MinmicroStep = input.ReadUInt32();
-            break;
-          }
-          case 40: {
-            MaxmicroStep = input.ReadUInt32();
-            break;
-          }
-          case 49: {
-            LinearRatio = input.ReadDouble();
-            break;
-          }
-          case 56: {
-            MedianPosition = input.ReadUInt32();
-            break;
-          }
-          case 65: {
-            CorrectionGain = input.ReadDouble();
-            break;
-          }
-          case 73: {
-            Ratio2DryerSpeed = input.ReadDouble();
-            break;
-          }
-          case 81: {
-            Kp = input.ReadDouble();
-            break;
-          }
-          case 89: {
-            Ki = input.ReadDouble();
-            break;
-          }
-          case 97: {
-            Kd = input.ReadDouble();
-            break;
-          }
-          case 105: {
-            ChangeSlope = input.ReadDouble();
-            break;
-          }
-          case 113: {
-            HighLengthuSec = input.ReadDouble();
-            break;
-          }
-          case 120: {
-            SpeedKeeper = input.ReadBool();
-            break;
-          }
-        }
-      }
-    }
-
-  }
-
-  #endregion
-
-}
-
-#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/PIDCluster.cs b/Software/Visual_Studio/Tango.PMR/Hardware/PIDCluster.cs
deleted file mode 100644
index 3d0c07360..000000000
--- a/Software/Visual_Studio/Tango.PMR/Hardware/PIDCluster.cs
+++ /dev/null
@@ -1,303 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-// source: PIDCluster.proto
-#pragma warning disable 1591, 0612, 3021
-#region Designer generated code
-
-using pb = global::Google.Protobuf;
-using pbc = global::Google.Protobuf.Collections;
-using pbr = global::Google.Protobuf.Reflection;
-using scg = global::System.Collections.Generic;
-namespace Tango.PMR.Hardware {
-
-  /// <summary>Holder for reflection information generated from PIDCluster.proto</summary>
-  public static partial class PIDClusterReflection {
-
-    #region Descriptor
-    /// <summary>File descriptor for PIDCluster.proto</summary>
-    public static pbr::FileDescriptor Descriptor {
-      get { return descriptor; }
-    }
-    private static pbr::FileDescriptor descriptor;
-
-    static PIDClusterReflection() {
-      byte[] descriptorData = global::System.Convert.FromBase64String(
-          string.Concat(
-            "ChBQSURDbHVzdGVyLnByb3RvEhJUYW5nby5QTVIuSGFyZHdhcmUaEFBJRENv",
-            "bnRyb2wucHJvdG8i0AEKClBJRENsdXN0ZXISDAoETmFtZRgBIAEoCRIuCgdN",
-            "ZW1iZXIxGAIgASgOMh0uVGFuZ28uUE1SLkhhcmR3YXJlLkNvbnRyb2xJZBIu",
-            "CgdNZW1iZXIyGAMgASgOMh0uVGFuZ28uUE1SLkhhcmR3YXJlLkNvbnRyb2xJ",
-            "ZBIYChBDbHVzdGVyQ3ljbGVUaW1lGAQgASgCEiMKG01lbWJlcjFQb3dlckxp",
-            "bWl0UGVyY2VudGFnZRgFIAEoAhIVCg1DbHVzdGVyQWN0aXZlGAYgASgIQh4K",
-            "HGNvbS50d2luZS50YW5nby5wbXIuaGFyZHdhcmViBnByb3RvMw=="));
-      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
-          new pbr::FileDescriptor[] { global::Tango.PMR.Hardware.PIDControlReflection.Descriptor, },
-          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
-            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Hardware.PIDCluster), global::Tango.PMR.Hardware.PIDCluster.Parser, new[]{ "Name", "Member1", "Member2", "ClusterCycleTime", "Member1PowerLimitPercentage", "ClusterActive" }, null, null, null)
-          }));
-    }
-    #endregion
-
-  }
-  #region Messages
-  public sealed partial class PIDCluster : pb::IMessage<PIDCluster> {
-    private static readonly pb::MessageParser<PIDCluster> _parser = new pb::MessageParser<PIDCluster>(() => new PIDCluster());
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public static pb::MessageParser<PIDCluster> Parser { get { return _parser; } }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public static pbr::MessageDescriptor Descriptor {
-      get { return global::Tango.PMR.Hardware.PIDClusterReflection.Descriptor.MessageTypes[0]; }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    pbr::MessageDescriptor pb::IMessage.Descriptor {
-      get { return Descriptor; }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public PIDCluster() {
-      OnConstruction();
-    }
-
-    partial void OnConstruction();
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public PIDCluster(PIDCluster other) : this() {
-      name_ = other.name_;
-      member1_ = other.member1_;
-      member2_ = other.member2_;
-      clusterCycleTime_ = other.clusterCycleTime_;
-      member1PowerLimitPercentage_ = other.member1PowerLimitPercentage_;
-      clusterActive_ = other.clusterActive_;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public PIDCluster Clone() {
-      return new PIDCluster(this);
-    }
-
-    /// <summary>Field number for the "Name" field.</summary>
-    public const int NameFieldNumber = 1;
-    private string name_ = "";
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public string Name {
-      get { return name_; }
-      set {
-        name_ = pb::ProtoPreconditions.CheckNotNull(value, "value");
-      }
-    }
-
-    /// <summary>Field number for the "Member1" field.</summary>
-    public const int Member1FieldNumber = 2;
-    private global::Tango.PMR.Hardware.ControlId member1_ = 0;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public global::Tango.PMR.Hardware.ControlId Member1 {
-      get { return member1_; }
-      set {
-        member1_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "Member2" field.</summary>
-    public const int Member2FieldNumber = 3;
-    private global::Tango.PMR.Hardware.ControlId member2_ = 0;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public global::Tango.PMR.Hardware.ControlId Member2 {
-      get { return member2_; }
-      set {
-        member2_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "ClusterCycleTime" field.</summary>
-    public const int ClusterCycleTimeFieldNumber = 4;
-    private float clusterCycleTime_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public float ClusterCycleTime {
-      get { return clusterCycleTime_; }
-      set {
-        clusterCycleTime_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "Member1PowerLimitPercentage" field.</summary>
-    public const int Member1PowerLimitPercentageFieldNumber = 5;
-    private float member1PowerLimitPercentage_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public float Member1PowerLimitPercentage {
-      get { return member1PowerLimitPercentage_; }
-      set {
-        member1PowerLimitPercentage_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "ClusterActive" field.</summary>
-    public const int ClusterActiveFieldNumber = 6;
-    private bool clusterActive_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public bool ClusterActive {
-      get { return clusterActive_; }
-      set {
-        clusterActive_ = value;
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override bool Equals(object other) {
-      return Equals(other as PIDCluster);
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public bool Equals(PIDCluster other) {
-      if (ReferenceEquals(other, null)) {
-        return false;
-      }
-      if (ReferenceEquals(other, this)) {
-        return true;
-      }
-      if (Name != other.Name) return false;
-      if (Member1 != other.Member1) return false;
-      if (Member2 != other.Member2) return false;
-      if (ClusterCycleTime != other.ClusterCycleTime) return false;
-      if (Member1PowerLimitPercentage != other.Member1PowerLimitPercentage) return false;
-      if (ClusterActive != other.ClusterActive) return false;
-      return true;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override int GetHashCode() {
-      int hash = 1;
-      if (Name.Length != 0) hash ^= Name.GetHashCode();
-      if (Member1 != 0) hash ^= Member1.GetHashCode();
-      if (Member2 != 0) hash ^= Member2.GetHashCode();
-      if (ClusterCycleTime != 0F) hash ^= ClusterCycleTime.GetHashCode();
-      if (Member1PowerLimitPercentage != 0F) hash ^= Member1PowerLimitPercentage.GetHashCode();
-      if (ClusterActive != false) hash ^= ClusterActive.GetHashCode();
-      return hash;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override string ToString() {
-      return pb::JsonFormatter.ToDiagnosticString(this);
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void WriteTo(pb::CodedOutputStream output) {
-      if (Name.Length != 0) {
-        output.WriteRawTag(10);
-        output.WriteString(Name);
-      }
-      if (Member1 != 0) {
-        output.WriteRawTag(16);
-        output.WriteEnum((int) Member1);
-      }
-      if (Member2 != 0) {
-        output.WriteRawTag(24);
-        output.WriteEnum((int) Member2);
-      }
-      if (ClusterCycleTime != 0F) {
-        output.WriteRawTag(37);
-        output.WriteFloat(ClusterCycleTime);
-      }
-      if (Member1PowerLimitPercentage != 0F) {
-        output.WriteRawTag(45);
-        output.WriteFloat(Member1PowerLimitPercentage);
-      }
-      if (ClusterActive != false) {
-        output.WriteRawTag(48);
-        output.WriteBool(ClusterActive);
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int CalculateSize() {
-      int size = 0;
-      if (Name.Length != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeStringSize(Name);
-      }
-      if (Member1 != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeEnumSize((int) Member1);
-      }
-      if (Member2 != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeEnumSize((int) Member2);
-      }
-      if (ClusterCycleTime != 0F) {
-        size += 1 + 4;
-      }
-      if (Member1PowerLimitPercentage != 0F) {
-        size += 1 + 4;
-      }
-      if (ClusterActive != false) {
-        size += 1 + 1;
-      }
-      return size;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void MergeFrom(PIDCluster other) {
-      if (other == null) {
-        return;
-      }
-      if (other.Name.Length != 0) {
-        Name = other.Name;
-      }
-      if (other.Member1 != 0) {
-        Member1 = other.Member1;
-      }
-      if (other.Member2 != 0) {
-        Member2 = other.Member2;
-      }
-      if (other.ClusterCycleTime != 0F) {
-        ClusterCycleTime = other.ClusterCycleTime;
-      }
-      if (other.Member1PowerLimitPercentage != 0F) {
-        Member1PowerLimitPercentage = other.Member1PowerLimitPercentage;
-      }
-      if (other.ClusterActive != false) {
-        ClusterActive = other.ClusterActive;
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void MergeFrom(pb::CodedInputStream input) {
-      uint tag;
-      while ((tag = input.ReadTag()) != 0) {
-        switch(tag) {
-          default:
-            input.SkipLastField();
-            break;
-          case 10: {
-            Name = input.ReadString();
-            break;
-          }
-          case 16: {
-            member1_ = (global::Tango.PMR.Hardware.ControlId) input.ReadEnum();
-            break;
-          }
-          case 24: {
-            member2_ = (global::Tango.PMR.Hardware.ControlId) input.ReadEnum();
-            break;
-          }
-          case 37: {
-            ClusterCycleTime = input.ReadFloat();
-            break;
-          }
-          case 45: {
-            Member1PowerLimitPercentage = input.ReadFloat();
-            break;
-          }
-          case 48: {
-            ClusterActive = input.ReadBool();
-            break;
-          }
-        }
-      }
-    }
-
-  }
-
-  #endregion
-
-}
-
-#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/PIDControl.cs b/Software/Visual_Studio/Tango.PMR/Hardware/PIDControl.cs
deleted file mode 100644
index 053963484..000000000
--- a/Software/Visual_Studio/Tango.PMR/Hardware/PIDControl.cs
+++ /dev/null
@@ -1,616 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-// source: PIDControl.proto
-#pragma warning disable 1591, 0612, 3021
-#region Designer generated code
-
-using pb = global::Google.Protobuf;
-using pbc = global::Google.Protobuf.Collections;
-using pbr = global::Google.Protobuf.Reflection;
-using scg = global::System.Collections.Generic;
-namespace Tango.PMR.Hardware {
-
-  /// <summary>Holder for reflection information generated from PIDControl.proto</summary>
-  public static partial class PIDControlReflection {
-
-    #region Descriptor
-    /// <summary>File descriptor for PIDControl.proto</summary>
-    public static pbr::FileDescriptor Descriptor {
-      get { return descriptor; }
-    }
-    private static pbr::FileDescriptor descriptor;
-
-    static PIDControlReflection() {
-      byte[] descriptorData = global::System.Convert.FromBase64String(
-          string.Concat(
-            "ChBQSURDb250cm9sLnByb3RvEhJUYW5nby5QTVIuSGFyZHdhcmUinQQKEFBJ",
-            "RENvbnRyb2xDb25maWcSKQoCSWQYASABKA4yHS5UYW5nby5QTVIuSGFyZHdh",
-            "cmUuQ29udHJvbElkEgwKBE5hbWUYAiABKAkSIwobT3V0cHV0UHJvcG9ydGlv",
-            "bmFsQ3ljbGVUaW1lGAMgASgFEiQKHE91dHB1dFByb3BvcnRpb25hbFBvd2Vy",
-            "TGltaXQYBCABKAUSHgoWT3V0cHV0UHJvcG9ydGlvbmFsQmFuZBgFIAEoBRIU",
-            "CgxJbnRlZ3JhbFRpbWUYBiABKAUSFgoORGVyaXZhdGl2ZVRpbWUYByABKAUS",
-            "IgoaU2Vuc29yQ29ycmVjdGlvbkFkanVzdG1lbnQYCCABKAUSIwobU2Vuc29y",
-            "VHlwZWFuZFNldHBvaW50TGltaXRzGAkgASgFEicKH1NldHBvaW50UmFtcFJh",
-            "dGVvclNvZnRTdGFydFJhbXAYCiABKAUSIQoZU2V0cG9pbnRDb250cm9sT3V0",
-            "cHV0UmF0ZRgLIAEoBRIZChFDb250cm9sT3V0cHV0VHlwZRgMIAEoBRIcChRT",
-            "U1JDb250cm9sT3V0cHV0VHlwZRgNIAEoBRIjChtPdXRwdXRPTk9GRkh5c3Rl",
-            "cmVzaXNWYWx1ZXMYDiABKAUSIwobUHJvY2Vzc1ZhcmlhYmxlU2FtcGxpbmdS",
-            "YXRlGA8gASgFEh8KF1BWSW5wdXRGaWx0ZXJGYWN0b3JNb2RlGBAgASgFKo8C",
-            "CglDb250cm9sSWQSFAoQRHJ5ZXJIZWF0ZXIxMDAwdxAAEhQKEERyeWVySGVh",
-            "dGVyMjAwdzEQARIUChBEcnllckhlYXRlcjIwMHcyEAISEAoMSGVhZEhlYXRl",
-            "cloxEAMSEAoMSGVhZEhlYXRlcloyEAQSEAoMSGVhZEhlYXRlclozEAUSEAoM",
-            "SGVhZEhlYXRlclo0EAYSDwoLTWl4ZXJIZWF0ZXIQBxIQCgxXYXN0ZUNvbnRy",
-            "b2wQCBIOCgpNb3RvckRyeWVyEAkSDwoLTW90b3JGZWVkZXIQChIPCgtNb3Rv",
-            "clBvb2xlchALEg8KC01vdG9yV2luZGVyEAwSEgoORHJ5ZXJIZWF0ZXI0MDAQ",
-            "DUIeChxjb20udHdpbmUudGFuZ28ucG1yLmhhcmR3YXJlYgZwcm90bzM="));
-      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
-          new pbr::FileDescriptor[] { },
-          new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Hardware.ControlId), }, new pbr::GeneratedClrTypeInfo[] {
-            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Hardware.PIDControlConfig), global::Tango.PMR.Hardware.PIDControlConfig.Parser, new[]{ "Id", "Name", "OutputProportionalCycleTime", "OutputProportionalPowerLimit", "OutputProportionalBand", "IntegralTime", "DerivativeTime", "SensorCorrectionAdjustment", "SensorTypeandSetpointLimits", "SetpointRampRateorSoftStartRamp", "SetpointControlOutputRate", "ControlOutputType", "SSRControlOutputType", "OutputONOFFHysteresisValues", "ProcessVariableSamplingRate", "PVInputFilterFactorMode" }, null, null, null)
-          }));
-    }
-    #endregion
-
-  }
-  #region Enums
-  public enum ControlId {
-    [pbr::OriginalName("DryerHeater1000w")] DryerHeater1000W = 0,
-    [pbr::OriginalName("DryerHeater200w1")] DryerHeater200W1 = 1,
-    [pbr::OriginalName("DryerHeater200w2")] DryerHeater200W2 = 2,
-    [pbr::OriginalName("HeadHeaterZ1")] HeadHeaterZ1 = 3,
-    [pbr::OriginalName("HeadHeaterZ2")] HeadHeaterZ2 = 4,
-    [pbr::OriginalName("HeadHeaterZ3")] HeadHeaterZ3 = 5,
-    [pbr::OriginalName("HeadHeaterZ4")] HeadHeaterZ4 = 6,
-    [pbr::OriginalName("MixerHeater")] MixerHeater = 7,
-    [pbr::OriginalName("WasteControl")] WasteControl = 8,
-    [pbr::OriginalName("MotorDryer")] MotorDryer = 9,
-    [pbr::OriginalName("MotorFeeder")] MotorFeeder = 10,
-    [pbr::OriginalName("MotorPooler")] MotorPooler = 11,
-    [pbr::OriginalName("MotorWinder")] MotorWinder = 12,
-    [pbr::OriginalName("DryerHeater400")] DryerHeater400 = 13,
-  }
-
-  #endregion
-
-  #region Messages
-  public sealed partial class PIDControlConfig : pb::IMessage<PIDControlConfig> {
-    private static readonly pb::MessageParser<PIDControlConfig> _parser = new pb::MessageParser<PIDControlConfig>(() => new PIDControlConfig());
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public static pb::MessageParser<PIDControlConfig> Parser { get { return _parser; } }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public static pbr::MessageDescriptor Descriptor {
-      get { return global::Tango.PMR.Hardware.PIDControlReflection.Descriptor.MessageTypes[0]; }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    pbr::MessageDescriptor pb::IMessage.Descriptor {
-      get { return Descriptor; }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public PIDControlConfig() {
-      OnConstruction();
-    }
-
-    partial void OnConstruction();
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public PIDControlConfig(PIDControlConfig other) : this() {
-      id_ = other.id_;
-      name_ = other.name_;
-      outputProportionalCycleTime_ = other.outputProportionalCycleTime_;
-      outputProportionalPowerLimit_ = other.outputProportionalPowerLimit_;
-      outputProportionalBand_ = other.outputProportionalBand_;
-      integralTime_ = other.integralTime_;
-      derivativeTime_ = other.derivativeTime_;
-      sensorCorrectionAdjustment_ = other.sensorCorrectionAdjustment_;
-      sensorTypeandSetpointLimits_ = other.sensorTypeandSetpointLimits_;
-      setpointRampRateorSoftStartRamp_ = other.setpointRampRateorSoftStartRamp_;
-      setpointControlOutputRate_ = other.setpointControlOutputRate_;
-      controlOutputType_ = other.controlOutputType_;
-      sSRControlOutputType_ = other.sSRControlOutputType_;
-      outputONOFFHysteresisValues_ = other.outputONOFFHysteresisValues_;
-      processVariableSamplingRate_ = other.processVariableSamplingRate_;
-      pVInputFilterFactorMode_ = other.pVInputFilterFactorMode_;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public PIDControlConfig Clone() {
-      return new PIDControlConfig(this);
-    }
-
-    /// <summary>Field number for the "Id" field.</summary>
-    public const int IdFieldNumber = 1;
-    private global::Tango.PMR.Hardware.ControlId id_ = 0;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public global::Tango.PMR.Hardware.ControlId Id {
-      get { return id_; }
-      set {
-        id_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "Name" field.</summary>
-    public const int NameFieldNumber = 2;
-    private string name_ = "";
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public string Name {
-      get { return name_; }
-      set {
-        name_ = pb::ProtoPreconditions.CheckNotNull(value, "value");
-      }
-    }
-
-    /// <summary>Field number for the "OutputProportionalCycleTime" field.</summary>
-    public const int OutputProportionalCycleTimeFieldNumber = 3;
-    private int outputProportionalCycleTime_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int OutputProportionalCycleTime {
-      get { return outputProportionalCycleTime_; }
-      set {
-        outputProportionalCycleTime_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "OutputProportionalPowerLimit" field.</summary>
-    public const int OutputProportionalPowerLimitFieldNumber = 4;
-    private int outputProportionalPowerLimit_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int OutputProportionalPowerLimit {
-      get { return outputProportionalPowerLimit_; }
-      set {
-        outputProportionalPowerLimit_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "OutputProportionalBand" field.</summary>
-    public const int OutputProportionalBandFieldNumber = 5;
-    private int outputProportionalBand_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int OutputProportionalBand {
-      get { return outputProportionalBand_; }
-      set {
-        outputProportionalBand_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "IntegralTime" field.</summary>
-    public const int IntegralTimeFieldNumber = 6;
-    private int integralTime_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int IntegralTime {
-      get { return integralTime_; }
-      set {
-        integralTime_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "DerivativeTime" field.</summary>
-    public const int DerivativeTimeFieldNumber = 7;
-    private int derivativeTime_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int DerivativeTime {
-      get { return derivativeTime_; }
-      set {
-        derivativeTime_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "SensorCorrectionAdjustment" field.</summary>
-    public const int SensorCorrectionAdjustmentFieldNumber = 8;
-    private int sensorCorrectionAdjustment_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int SensorCorrectionAdjustment {
-      get { return sensorCorrectionAdjustment_; }
-      set {
-        sensorCorrectionAdjustment_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "SensorTypeandSetpointLimits" field.</summary>
-    public const int SensorTypeandSetpointLimitsFieldNumber = 9;
-    private int sensorTypeandSetpointLimits_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int SensorTypeandSetpointLimits {
-      get { return sensorTypeandSetpointLimits_; }
-      set {
-        sensorTypeandSetpointLimits_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "SetpointRampRateorSoftStartRamp" field.</summary>
-    public const int SetpointRampRateorSoftStartRampFieldNumber = 10;
-    private int setpointRampRateorSoftStartRamp_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int SetpointRampRateorSoftStartRamp {
-      get { return setpointRampRateorSoftStartRamp_; }
-      set {
-        setpointRampRateorSoftStartRamp_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "SetpointControlOutputRate" field.</summary>
-    public const int SetpointControlOutputRateFieldNumber = 11;
-    private int setpointControlOutputRate_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int SetpointControlOutputRate {
-      get { return setpointControlOutputRate_; }
-      set {
-        setpointControlOutputRate_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "ControlOutputType" field.</summary>
-    public const int ControlOutputTypeFieldNumber = 12;
-    private int controlOutputType_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int ControlOutputType {
-      get { return controlOutputType_; }
-      set {
-        controlOutputType_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "SSRControlOutputType" field.</summary>
-    public const int SSRControlOutputTypeFieldNumber = 13;
-    private int sSRControlOutputType_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int SSRControlOutputType {
-      get { return sSRControlOutputType_; }
-      set {
-        sSRControlOutputType_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "OutputONOFFHysteresisValues" field.</summary>
-    public const int OutputONOFFHysteresisValuesFieldNumber = 14;
-    private int outputONOFFHysteresisValues_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int OutputONOFFHysteresisValues {
-      get { return outputONOFFHysteresisValues_; }
-      set {
-        outputONOFFHysteresisValues_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "ProcessVariableSamplingRate" field.</summary>
-    public const int ProcessVariableSamplingRateFieldNumber = 15;
-    private int processVariableSamplingRate_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int ProcessVariableSamplingRate {
-      get { return processVariableSamplingRate_; }
-      set {
-        processVariableSamplingRate_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "PVInputFilterFactorMode" field.</summary>
-    public const int PVInputFilterFactorModeFieldNumber = 16;
-    private int pVInputFilterFactorMode_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int PVInputFilterFactorMode {
-      get { return pVInputFilterFactorMode_; }
-      set {
-        pVInputFilterFactorMode_ = value;
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override bool Equals(object other) {
-      return Equals(other as PIDControlConfig);
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public bool Equals(PIDControlConfig other) {
-      if (ReferenceEquals(other, null)) {
-        return false;
-      }
-      if (ReferenceEquals(other, this)) {
-        return true;
-      }
-      if (Id != other.Id) return false;
-      if (Name != other.Name) return false;
-      if (OutputProportionalCycleTime != other.OutputProportionalCycleTime) return false;
-      if (OutputProportionalPowerLimit != other.OutputProportionalPowerLimit) return false;
-      if (OutputProportionalBand != other.OutputProportionalBand) return false;
-      if (IntegralTime != other.IntegralTime) return false;
-      if (DerivativeTime != other.DerivativeTime) return false;
-      if (SensorCorrectionAdjustment != other.SensorCorrectionAdjustment) return false;
-      if (SensorTypeandSetpointLimits != other.SensorTypeandSetpointLimits) return false;
-      if (SetpointRampRateorSoftStartRamp != other.SetpointRampRateorSoftStartRamp) return false;
-      if (SetpointControlOutputRate != other.SetpointControlOutputRate) return false;
-      if (ControlOutputType != other.ControlOutputType) return false;
-      if (SSRControlOutputType != other.SSRControlOutputType) return false;
-      if (OutputONOFFHysteresisValues != other.OutputONOFFHysteresisValues) return false;
-      if (ProcessVariableSamplingRate != other.ProcessVariableSamplingRate) return false;
-      if (PVInputFilterFactorMode != other.PVInputFilterFactorMode) return false;
-      return true;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override int GetHashCode() {
-      int hash = 1;
-      if (Id != 0) hash ^= Id.GetHashCode();
-      if (Name.Length != 0) hash ^= Name.GetHashCode();
-      if (OutputProportionalCycleTime != 0) hash ^= OutputProportionalCycleTime.GetHashCode();
-      if (OutputProportionalPowerLimit != 0) hash ^= OutputProportionalPowerLimit.GetHashCode();
-      if (OutputProportionalBand != 0) hash ^= OutputProportionalBand.GetHashCode();
-      if (IntegralTime != 0) hash ^= IntegralTime.GetHashCode();
-      if (DerivativeTime != 0) hash ^= DerivativeTime.GetHashCode();
-      if (SensorCorrectionAdjustment != 0) hash ^= SensorCorrectionAdjustment.GetHashCode();
-      if (SensorTypeandSetpointLimits != 0) hash ^= SensorTypeandSetpointLimits.GetHashCode();
-      if (SetpointRampRateorSoftStartRamp != 0) hash ^= SetpointRampRateorSoftStartRamp.GetHashCode();
-      if (SetpointControlOutputRate != 0) hash ^= SetpointControlOutputRate.GetHashCode();
-      if (ControlOutputType != 0) hash ^= ControlOutputType.GetHashCode();
-      if (SSRControlOutputType != 0) hash ^= SSRControlOutputType.GetHashCode();
-      if (OutputONOFFHysteresisValues != 0) hash ^= OutputONOFFHysteresisValues.GetHashCode();
-      if (ProcessVariableSamplingRate != 0) hash ^= ProcessVariableSamplingRate.GetHashCode();
-      if (PVInputFilterFactorMode != 0) hash ^= PVInputFilterFactorMode.GetHashCode();
-      return hash;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override string ToString() {
-      return pb::JsonFormatter.ToDiagnosticString(this);
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void WriteTo(pb::CodedOutputStream output) {
-      if (Id != 0) {
-        output.WriteRawTag(8);
-        output.WriteEnum((int) Id);
-      }
-      if (Name.Length != 0) {
-        output.WriteRawTag(18);
-        output.WriteString(Name);
-      }
-      if (OutputProportionalCycleTime != 0) {
-        output.WriteRawTag(24);
-        output.WriteInt32(OutputProportionalCycleTime);
-      }
-      if (OutputProportionalPowerLimit != 0) {
-        output.WriteRawTag(32);
-        output.WriteInt32(OutputProportionalPowerLimit);
-      }
-      if (OutputProportionalBand != 0) {
-        output.WriteRawTag(40);
-        output.WriteInt32(OutputProportionalBand);
-      }
-      if (IntegralTime != 0) {
-        output.WriteRawTag(48);
-        output.WriteInt32(IntegralTime);
-      }
-      if (DerivativeTime != 0) {
-        output.WriteRawTag(56);
-        output.WriteInt32(DerivativeTime);
-      }
-      if (SensorCorrectionAdjustment != 0) {
-        output.WriteRawTag(64);
-        output.WriteInt32(SensorCorrectionAdjustment);
-      }
-      if (SensorTypeandSetpointLimits != 0) {
-        output.WriteRawTag(72);
-        output.WriteInt32(SensorTypeandSetpointLimits);
-      }
-      if (SetpointRampRateorSoftStartRamp != 0) {
-        output.WriteRawTag(80);
-        output.WriteInt32(SetpointRampRateorSoftStartRamp);
-      }
-      if (SetpointControlOutputRate != 0) {
-        output.WriteRawTag(88);
-        output.WriteInt32(SetpointControlOutputRate);
-      }
-      if (ControlOutputType != 0) {
-        output.WriteRawTag(96);
-        output.WriteInt32(ControlOutputType);
-      }
-      if (SSRControlOutputType != 0) {
-        output.WriteRawTag(104);
-        output.WriteInt32(SSRControlOutputType);
-      }
-      if (OutputONOFFHysteresisValues != 0) {
-        output.WriteRawTag(112);
-        output.WriteInt32(OutputONOFFHysteresisValues);
-      }
-      if (ProcessVariableSamplingRate != 0) {
-        output.WriteRawTag(120);
-        output.WriteInt32(ProcessVariableSamplingRate);
-      }
-      if (PVInputFilterFactorMode != 0) {
-        output.WriteRawTag(128, 1);
-        output.WriteInt32(PVInputFilterFactorMode);
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int CalculateSize() {
-      int size = 0;
-      if (Id != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeEnumSize((int) Id);
-      }
-      if (Name.Length != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeStringSize(Name);
-      }
-      if (OutputProportionalCycleTime != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(OutputProportionalCycleTime);
-      }
-      if (OutputProportionalPowerLimit != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(OutputProportionalPowerLimit);
-      }
-      if (OutputProportionalBand != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(OutputProportionalBand);
-      }
-      if (IntegralTime != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(IntegralTime);
-      }
-      if (DerivativeTime != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(DerivativeTime);
-      }
-      if (SensorCorrectionAdjustment != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SensorCorrectionAdjustment);
-      }
-      if (SensorTypeandSetpointLimits != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SensorTypeandSetpointLimits);
-      }
-      if (SetpointRampRateorSoftStartRamp != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SetpointRampRateorSoftStartRamp);
-      }
-      if (SetpointControlOutputRate != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SetpointControlOutputRate);
-      }
-      if (ControlOutputType != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(ControlOutputType);
-      }
-      if (SSRControlOutputType != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SSRControlOutputType);
-      }
-      if (OutputONOFFHysteresisValues != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(OutputONOFFHysteresisValues);
-      }
-      if (ProcessVariableSamplingRate != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(ProcessVariableSamplingRate);
-      }
-      if (PVInputFilterFactorMode != 0) {
-        size += 2 + pb::CodedOutputStream.ComputeInt32Size(PVInputFilterFactorMode);
-      }
-      return size;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void MergeFrom(PIDControlConfig other) {
-      if (other == null) {
-        return;
-      }
-      if (other.Id != 0) {
-        Id = other.Id;
-      }
-      if (other.Name.Length != 0) {
-        Name = other.Name;
-      }
-      if (other.OutputProportionalCycleTime != 0) {
-        OutputProportionalCycleTime = other.OutputProportionalCycleTime;
-      }
-      if (other.OutputProportionalPowerLimit != 0) {
-        OutputProportionalPowerLimit = other.OutputProportionalPowerLimit;
-      }
-      if (other.OutputProportionalBand != 0) {
-        OutputProportionalBand = other.OutputProportionalBand;
-      }
-      if (other.IntegralTime != 0) {
-        IntegralTime = other.IntegralTime;
-      }
-      if (other.DerivativeTime != 0) {
-        DerivativeTime = other.DerivativeTime;
-      }
-      if (other.SensorCorrectionAdjustment != 0) {
-        SensorCorrectionAdjustment = other.SensorCorrectionAdjustment;
-      }
-      if (other.SensorTypeandSetpointLimits != 0) {
-        SensorTypeandSetpointLimits = other.SensorTypeandSetpointLimits;
-      }
-      if (other.SetpointRampRateorSoftStartRamp != 0) {
-        SetpointRampRateorSoftStartRamp = other.SetpointRampRateorSoftStartRamp;
-      }
-      if (other.SetpointControlOutputRate != 0) {
-        SetpointControlOutputRate = other.SetpointControlOutputRate;
-      }
-      if (other.ControlOutputType != 0) {
-        ControlOutputType = other.ControlOutputType;
-      }
-      if (other.SSRControlOutputType != 0) {
-        SSRControlOutputType = other.SSRControlOutputType;
-      }
-      if (other.OutputONOFFHysteresisValues != 0) {
-        OutputONOFFHysteresisValues = other.OutputONOFFHysteresisValues;
-      }
-      if (other.ProcessVariableSamplingRate != 0) {
-        ProcessVariableSamplingRate = other.ProcessVariableSamplingRate;
-      }
-      if (other.PVInputFilterFactorMode != 0) {
-        PVInputFilterFactorMode = other.PVInputFilterFactorMode;
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void MergeFrom(pb::CodedInputStream input) {
-      uint tag;
-      while ((tag = input.ReadTag()) != 0) {
-        switch(tag) {
-          default:
-            input.SkipLastField();
-            break;
-          case 8: {
-            id_ = (global::Tango.PMR.Hardware.ControlId) input.ReadEnum();
-            break;
-          }
-          case 18: {
-            Name = input.ReadString();
-            break;
-          }
-          case 24: {
-            OutputProportionalCycleTime = input.ReadInt32();
-            break;
-          }
-          case 32: {
-            OutputProportionalPowerLimit = input.ReadInt32();
-            break;
-          }
-          case 40: {
-            OutputProportionalBand = input.ReadInt32();
-            break;
-          }
-          case 48: {
-            IntegralTime = input.ReadInt32();
-            break;
-          }
-          case 56: {
-            DerivativeTime = input.ReadInt32();
-            break;
-          }
-          case 64: {
-            SensorCorrectionAdjustment = input.ReadInt32();
-            break;
-          }
-          case 72: {
-            SensorTypeandSetpointLimits = input.ReadInt32();
-            break;
-          }
-          case 80: {
-            SetpointRampRateorSoftStartRamp = input.ReadInt32();
-            break;
-          }
-          case 88: {
-            SetpointControlOutputRate = input.ReadInt32();
-            break;
-          }
-          case 96: {
-            ControlOutputType = input.ReadInt32();
-            break;
-          }
-          case 104: {
-            SSRControlOutputType = input.ReadInt32();
-            break;
-          }
-          case 112: {
-            OutputONOFFHysteresisValues = input.ReadInt32();
-            break;
-          }
-          case 120: {
-            ProcessVariableSamplingRate = input.ReadInt32();
-            break;
-          }
-          case 128: {
-            PVInputFilterFactorMode = input.ReadInt32();
-            break;
-          }
-        }
-      }
-    }
-
-  }
-
-  #endregion
-
-}
-
-#endregion Designer generated code