Added new motor parameters.

Added better LAB/RGB support on colorlab module.

2 files changed, 266 insertions, 6 deletions

diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/HardwareMotor.cs b/Software/Visual_Studio/Tango.PMR/Hardware/HardwareMotor.cs
index bbf37f866..8bbbbba73 100644
--- a/Software/Visual_Studio/Tango.PMR/Hardware/HardwareMotor.cs
+++ b/Software/Visual_Studio/Tango.PMR/Hardware/HardwareMotor.cs
@@ -23,7 +23,7 @@ namespace Tango.PMR.Hardware {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
             "ChNIYXJkd2FyZU1vdG9yLnByb3RvEhJUYW5nby5QTVIuSGFyZHdhcmUaF0hh",
-            "cmR3YXJlTW90b3JUeXBlLnByb3RvIt4ECg1IYXJkd2FyZU1vdG9yEkAKEUhh",
+            "cmR3YXJlTW90b3JUeXBlLnByb3RvIvcFCg1IYXJkd2FyZU1vdG9yEkAKEUhh",
             "cmR3YXJlTW90b3JUeXBlGAEgASgOMiUuVGFuZ28uUE1SLkhhcmR3YXJlLkhh",
             "cmR3YXJlTW90b3JUeXBlEhQKDE1pbkZyZXF1ZW5jeRgCIAEoBRIUCgxNYXhG",
             "cmVxdWVuY3kYAyABKAUSFAoMU2V0TWljcm9TdGVwGAQgASgFEhEKCU1pY3Jv",
@@ -37,11 +37,15 @@ namespace Tango.PMR.Hardware {
             "b21wZW5zYXRpb25GYWN0b3IYEyABKAUSHAoUTG93U3BlZWRPcHRpbWl6YXRp",
             "b24YFCABKAgSDQoFU3RTbHAYFSABKAUSDgoGSW50U3BkGBYgASgFEhAKCEZu",
             "U2xwQWNjGBcgASgFEhAKCEZuU2xwRGVjGBggASgFEg0KBUZzU3BkGBkgASgF",
-            "Qh4KHGNvbS50d2luZS50YW5nby5wbXIuaGFyZHdhcmViBnByb3RvMw=="));
+            "EhAKCEdhdGVDZmcxGBogASgFEhAKCEdhdGVDZmcyGBsgASgFEhAKCFRWYWxI",
+            "b2xkGBwgASgFEg8KB1RWYWxSdW4YHSABKAUSDwoHVFZhbEFjYxgeIAEoBRIP",
+            "CgdUVmFsRGVjGB8gASgFEg0KBVRGYXN0GCAgASgFEg4KBlRPbk1pbhghIAEo",
+            "BRIPCgdUT2ZmTWluGCIgASgFQh4KHGNvbS50d2luZS50YW5nby5wbXIuaGFy",
+            "ZHdhcmViBnByb3RvMw=="));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { global::Tango.PMR.Hardware.HardwareMotorTypeReflection.Descriptor, },
           new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
-            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Hardware.HardwareMotor), global::Tango.PMR.Hardware.HardwareMotor.Parser, new[]{ "HardwareMotorType", "MinFrequency", "MaxFrequency", "SetMicroStep", "MicroStep", "MaxChangeSlope", "HighLengthMicroSecond", "SpeedMaster", "PulsePerRound", "PulleyRadius", "ConfigWord", "DirectionThreadWize", "KvalHold", "KvalRun", "KvalAcc", "KvalDec", "OverCurrentThreshold", "StallThreshold", "ThermalCompensationFactor", "LowSpeedOptimization", "StSlp", "IntSpd", "FnSlpAcc", "FnSlpDec", "FsSpd" }, null, null, null)
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Hardware.HardwareMotor), global::Tango.PMR.Hardware.HardwareMotor.Parser, new[]{ "HardwareMotorType", "MinFrequency", "MaxFrequency", "SetMicroStep", "MicroStep", "MaxChangeSlope", "HighLengthMicroSecond", "SpeedMaster", "PulsePerRound", "PulleyRadius", "ConfigWord", "DirectionThreadWize", "KvalHold", "KvalRun", "KvalAcc", "KvalDec", "OverCurrentThreshold", "StallThreshold", "ThermalCompensationFactor", "LowSpeedOptimization", "StSlp", "IntSpd", "FnSlpAcc", "FnSlpDec", "FsSpd", "GateCfg1", "GateCfg2", "TValHold", "TValRun", "TValAcc", "TValDec", "TFast", "TOnMin", "TOffMin" }, null, null, null)
           }));
     }
     #endregion
@@ -97,6 +101,15 @@ namespace Tango.PMR.Hardware {
       fnSlpAcc_ = other.fnSlpAcc_;
       fnSlpDec_ = other.fnSlpDec_;
       fsSpd_ = other.fsSpd_;
+      gateCfg1_ = other.gateCfg1_;
+      gateCfg2_ = other.gateCfg2_;
+      tValHold_ = other.tValHold_;
+      tValRun_ = other.tValRun_;
+      tValAcc_ = other.tValAcc_;
+      tValDec_ = other.tValDec_;
+      tFast_ = other.tFast_;
+      tOnMin_ = other.tOnMin_;
+      tOffMin_ = other.tOffMin_;
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -382,6 +395,105 @@ namespace Tango.PMR.Hardware {
       }
     }
 
+    /// <summary>Field number for the "GateCfg1" field.</summary>
+    public const int GateCfg1FieldNumber = 26;
+    private int gateCfg1_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int GateCfg1 {
+      get { return gateCfg1_; }
+      set {
+        gateCfg1_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "GateCfg2" field.</summary>
+    public const int GateCfg2FieldNumber = 27;
+    private int gateCfg2_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int GateCfg2 {
+      get { return gateCfg2_; }
+      set {
+        gateCfg2_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "TValHold" field.</summary>
+    public const int TValHoldFieldNumber = 28;
+    private int tValHold_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int TValHold {
+      get { return tValHold_; }
+      set {
+        tValHold_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "TValRun" field.</summary>
+    public const int TValRunFieldNumber = 29;
+    private int tValRun_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int TValRun {
+      get { return tValRun_; }
+      set {
+        tValRun_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "TValAcc" field.</summary>
+    public const int TValAccFieldNumber = 30;
+    private int tValAcc_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int TValAcc {
+      get { return tValAcc_; }
+      set {
+        tValAcc_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "TValDec" field.</summary>
+    public const int TValDecFieldNumber = 31;
+    private int tValDec_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int TValDec {
+      get { return tValDec_; }
+      set {
+        tValDec_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "TFast" field.</summary>
+    public const int TFastFieldNumber = 32;
+    private int tFast_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int TFast {
+      get { return tFast_; }
+      set {
+        tFast_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "TOnMin" field.</summary>
+    public const int TOnMinFieldNumber = 33;
+    private int tOnMin_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int TOnMin {
+      get { return tOnMin_; }
+      set {
+        tOnMin_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "TOffMin" field.</summary>
+    public const int TOffMinFieldNumber = 34;
+    private int tOffMin_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int TOffMin {
+      get { return tOffMin_; }
+      set {
+        tOffMin_ = value;
+      }
+    }
+
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public override bool Equals(object other) {
       return Equals(other as HardwareMotor);
@@ -420,6 +532,15 @@ namespace Tango.PMR.Hardware {
       if (FnSlpAcc != other.FnSlpAcc) return false;
       if (FnSlpDec != other.FnSlpDec) return false;
       if (FsSpd != other.FsSpd) return false;
+      if (GateCfg1 != other.GateCfg1) return false;
+      if (GateCfg2 != other.GateCfg2) return false;
+      if (TValHold != other.TValHold) return false;
+      if (TValRun != other.TValRun) return false;
+      if (TValAcc != other.TValAcc) return false;
+      if (TValDec != other.TValDec) return false;
+      if (TFast != other.TFast) return false;
+      if (TOnMin != other.TOnMin) return false;
+      if (TOffMin != other.TOffMin) return false;
       return true;
     }
 
@@ -451,6 +572,15 @@ namespace Tango.PMR.Hardware {
       if (FnSlpAcc != 0) hash ^= FnSlpAcc.GetHashCode();
       if (FnSlpDec != 0) hash ^= FnSlpDec.GetHashCode();
       if (FsSpd != 0) hash ^= FsSpd.GetHashCode();
+      if (GateCfg1 != 0) hash ^= GateCfg1.GetHashCode();
+      if (GateCfg2 != 0) hash ^= GateCfg2.GetHashCode();
+      if (TValHold != 0) hash ^= TValHold.GetHashCode();
+      if (TValRun != 0) hash ^= TValRun.GetHashCode();
+      if (TValAcc != 0) hash ^= TValAcc.GetHashCode();
+      if (TValDec != 0) hash ^= TValDec.GetHashCode();
+      if (TFast != 0) hash ^= TFast.GetHashCode();
+      if (TOnMin != 0) hash ^= TOnMin.GetHashCode();
+      if (TOffMin != 0) hash ^= TOffMin.GetHashCode();
       return hash;
     }
 
@@ -561,6 +691,42 @@ namespace Tango.PMR.Hardware {
         output.WriteRawTag(200, 1);
         output.WriteInt32(FsSpd);
       }
+      if (GateCfg1 != 0) {
+        output.WriteRawTag(208, 1);
+        output.WriteInt32(GateCfg1);
+      }
+      if (GateCfg2 != 0) {
+        output.WriteRawTag(216, 1);
+        output.WriteInt32(GateCfg2);
+      }
+      if (TValHold != 0) {
+        output.WriteRawTag(224, 1);
+        output.WriteInt32(TValHold);
+      }
+      if (TValRun != 0) {
+        output.WriteRawTag(232, 1);
+        output.WriteInt32(TValRun);
+      }
+      if (TValAcc != 0) {
+        output.WriteRawTag(240, 1);
+        output.WriteInt32(TValAcc);
+      }
+      if (TValDec != 0) {
+        output.WriteRawTag(248, 1);
+        output.WriteInt32(TValDec);
+      }
+      if (TFast != 0) {
+        output.WriteRawTag(128, 2);
+        output.WriteInt32(TFast);
+      }
+      if (TOnMin != 0) {
+        output.WriteRawTag(136, 2);
+        output.WriteInt32(TOnMin);
+      }
+      if (TOffMin != 0) {
+        output.WriteRawTag(144, 2);
+        output.WriteInt32(TOffMin);
+      }
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -641,6 +807,33 @@ namespace Tango.PMR.Hardware {
       if (FsSpd != 0) {
         size += 2 + pb::CodedOutputStream.ComputeInt32Size(FsSpd);
       }
+      if (GateCfg1 != 0) {
+        size += 2 + pb::CodedOutputStream.ComputeInt32Size(GateCfg1);
+      }
+      if (GateCfg2 != 0) {
+        size += 2 + pb::CodedOutputStream.ComputeInt32Size(GateCfg2);
+      }
+      if (TValHold != 0) {
+        size += 2 + pb::CodedOutputStream.ComputeInt32Size(TValHold);
+      }
+      if (TValRun != 0) {
+        size += 2 + pb::CodedOutputStream.ComputeInt32Size(TValRun);
+      }
+      if (TValAcc != 0) {
+        size += 2 + pb::CodedOutputStream.ComputeInt32Size(TValAcc);
+      }
+      if (TValDec != 0) {
+        size += 2 + pb::CodedOutputStream.ComputeInt32Size(TValDec);
+      }
+      if (TFast != 0) {
+        size += 2 + pb::CodedOutputStream.ComputeInt32Size(TFast);
+      }
+      if (TOnMin != 0) {
+        size += 2 + pb::CodedOutputStream.ComputeInt32Size(TOnMin);
+      }
+      if (TOffMin != 0) {
+        size += 2 + pb::CodedOutputStream.ComputeInt32Size(TOffMin);
+      }
       return size;
     }
 
@@ -724,6 +917,33 @@ namespace Tango.PMR.Hardware {
       if (other.FsSpd != 0) {
         FsSpd = other.FsSpd;
       }
+      if (other.GateCfg1 != 0) {
+        GateCfg1 = other.GateCfg1;
+      }
+      if (other.GateCfg2 != 0) {
+        GateCfg2 = other.GateCfg2;
+      }
+      if (other.TValHold != 0) {
+        TValHold = other.TValHold;
+      }
+      if (other.TValRun != 0) {
+        TValRun = other.TValRun;
+      }
+      if (other.TValAcc != 0) {
+        TValAcc = other.TValAcc;
+      }
+      if (other.TValDec != 0) {
+        TValDec = other.TValDec;
+      }
+      if (other.TFast != 0) {
+        TFast = other.TFast;
+      }
+      if (other.TOnMin != 0) {
+        TOnMin = other.TOnMin;
+      }
+      if (other.TOffMin != 0) {
+        TOffMin = other.TOffMin;
+      }
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -834,6 +1054,42 @@ namespace Tango.PMR.Hardware {
             FsSpd = input.ReadInt32();
             break;
           }
+          case 208: {
+            GateCfg1 = input.ReadInt32();
+            break;
+          }
+          case 216: {
+            GateCfg2 = input.ReadInt32();
+            break;
+          }
+          case 224: {
+            TValHold = input.ReadInt32();
+            break;
+          }
+          case 232: {
+            TValRun = input.ReadInt32();
+            break;
+          }
+          case 240: {
+            TValAcc = input.ReadInt32();
+            break;
+          }
+          case 248: {
+            TValDec = input.ReadInt32();
+            break;
+          }
+          case 256: {
+            TFast = input.ReadInt32();
+            break;
+          }
+          case 264: {
+            TOnMin = input.ReadInt32();
+            break;
+          }
+          case 272: {
+            TOffMin = input.ReadInt32();
+            break;
+          }
         }
       }
     }
diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/HardwareMotorType.cs b/Software/Visual_Studio/Tango.PMR/Hardware/HardwareMotorType.cs
index 3ba39df3a..501fa1ad0 100644
--- a/Software/Visual_Studio/Tango.PMR/Hardware/HardwareMotorType.cs
+++ b/Software/Visual_Studio/Tango.PMR/Hardware/HardwareMotorType.cs
@@ -23,7 +23,7 @@ namespace Tango.PMR.Hardware {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
             "ChdIYXJkd2FyZU1vdG9yVHlwZS5wcm90bxISVGFuZ28uUE1SLkhhcmR3YXJl",
-            "KtwEChFIYXJkd2FyZU1vdG9yVHlwZRIVChFNT1RPX0RIX0NMRUFOSEVBRBAA",
+            "Ku8EChFIYXJkd2FyZU1vdG9yVHlwZRIVChFNT1RPX0RIX0NMRUFOSEVBRBAA",
             "EhUKEU1PVE9fREhfQ0xFQU5NRUNIEAESDwoLTU9UT19ESF9MSUQQAhIWChJN",
             "T1RPX0RSWUVSX0RSSVZJTkcQAxISCg5NT1RPX0RSWUVSX0xJRBAEEhYKEk1P",
             "VE9fRFJZRVJfTE9BREFSTRAFEhQKEE1PVE9fRElTUEVOU0VSXzEQBhIUChBN",
@@ -36,8 +36,8 @@ namespace Tango.PMR.Hardware {
             "Vk9UMRAUEhAKDE1PVE9fUkRBTkNFUhAVEhEKDU1PVE9fUkRSSVZJTkcQFhIR",
             "Cg1NT1RPX1JMT0FEQVJNEBcSEQoNTU9UT19STE9BRElORxAYEhEKDU1PVE9f",
             "U1BBUkUxXzEQGRIRCg1NT1RPX1NQQVJFMV8yEBoSEQoNTU9UT19TUEFSRTJf",
-            "MRAbEhEKDU1PVE9fU1BBUkUyXzIQHEIeChxjb20udHdpbmUudGFuZ28ucG1y",
-            "LmhhcmR3YXJlYgZwcm90bzM="));
+            "MRAbEhEKDU1PVE9fU1BBUkUyXzIQHBIRCg1NT1RPX1NQQVJFM18xEB1CHgoc",
+            "Y29tLnR3aW5lLnRhbmdvLnBtci5oYXJkd2FyZWIGcHJvdG8z"));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { },
           new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Hardware.HardwareMotorType), }, null));
@@ -163,6 +163,10 @@ namespace Tango.PMR.Hardware {
     ///Spare 4 Motor
     /// </summary>
     [pbr::OriginalName("MOTO_SPARE2_2")] MotoSpare22 = 28,
+    /// <summary>
+    ///Spare 5 Motor
+    /// </summary>
+    [pbr::OriginalName("MOTO_SPARE3_1")] MotoSpare31 = 29,
   }
 
   #endregion