Added support for motor controllers.

14 files changed, 1422 insertions, 11 deletions

diff --git a/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs b/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs
index ac58c616b..ec378556b 100644
--- a/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs
+++ b/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs
@@ -22,7 +22,7 @@ namespace Tango.PMR.Common {
     static MessageTypeReflection() {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
-            "ChFNZXNzYWdlVHlwZS5wcm90bxIQVGFuZ28uUE1SLkNvbW1vbiq4CwoLTWVz",
+            "ChFNZXNzYWdlVHlwZS5wcm90bxIQVGFuZ28uUE1SLkNvbW1vbireDAoLTWVz",
             "c2FnZVR5cGUSCAoETm9uZRAAEhQKEENhbGN1bGF0ZVJlcXVlc3QQAxIVChFD",
             "YWxjdWxhdGVSZXNwb25zZRAEEhMKD1Byb2dyZXNzUmVxdWVzdBAFEhQKEFBy",
             "b2dyZXNzUmVzcG9uc2UQBhIcChhTdHViQ2FydHJpZGdlUmVhZFJlcXVlc3QQ",
@@ -52,11 +52,14 @@ namespace Tango.PMR.Common {
             "UmVxdWVzdBDtBxIdChhPdmVycmlkZURhdGFCYXNlUmVzcG9uc2UQ7gcSFQoQ",
             "S2VlcEFsaXZlUmVxdWVzdBDvBxIWChFLZWVwQWxpdmVSZXNwb25zZRDwBxIb",
             "ChZQdXNoRGlhZ25vc3RpY3NSZXF1ZXN0ENAPEhwKF1B1c2hEaWFnbm9zdGlj",
-            "c1Jlc3BvbnNlENEPEhIKDVJlcG9ydFJlcXVlc3QQ0g8SEwoOUmVwb3J0UmVz",
-            "cG9uc2UQ0w8SEwoOU3RhdHVzUmVzcG9uc2UQ1A8SDwoKSm9iUmVxdWVzdBC4",
-            "FxIQCgtKb2JSZXNwb25zZRC5FxIUCg9BYm9ydEpvYlJlcXVlc3QQuhcSFQoQ",
-            "QWJvcnRKb2JSZXNwb25zZRC7F0IcChpjb20udHdpbmUudGFuZ28ucG1yLmNv",
-            "bW1vbmIGcHJvdG8z"));
+            "c1Jlc3BvbnNlENEPEhwKF01vdG9yQWJvcnRIb21pbmdSZXF1ZXN0ENIPEh0K",
+            "GE1vdG9yQWJvcnRIb21pbmdSZXNwb25zZRDTDxIXChJNb3RvckhvbWluZ1Jl",
+            "cXVlc3QQ1A8SGAoTTW90b3JIb21pbmdSZXNwb25zZRDVDxIYChNNb3Rvckpv",
+            "Z2dpbmdSZXF1ZXN0ENYPEhkKFE1vdG9ySm9nZ2luZ1Jlc3BvbnNlENcPEh0K",
+            "GE1vdG9yQWJvcnRKb2dnaW5nUmVxdWVzdBDYDxIeChlNb3RvckFib3J0Sm9n",
+            "Z2luZ1Jlc3BvbnNlENkPEg8KCkpvYlJlcXVlc3QQuBcSEAoLSm9iUmVzcG9u",
+            "c2UQuRcSFAoPQWJvcnRKb2JSZXF1ZXN0ELoXEhUKEEFib3J0Sm9iUmVzcG9u",
+            "c2UQuxdCHAoaY29tLnR3aW5lLnRhbmdvLnBtci5jb21tb25iBnByb3RvMw=="));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { },
           new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Common.MessageType), }, null));
@@ -124,9 +127,14 @@ namespace Tango.PMR.Common {
     /// </summary>
     [pbr::OriginalName("PushDiagnosticsRequest")] PushDiagnosticsRequest = 2000,
     [pbr::OriginalName("PushDiagnosticsResponse")] PushDiagnosticsResponse = 2001,
-    [pbr::OriginalName("ReportRequest")] ReportRequest = 2002,
-    [pbr::OriginalName("ReportResponse")] ReportResponse = 2003,
-    [pbr::OriginalName("StatusResponse")] StatusResponse = 2004,
+    [pbr::OriginalName("MotorAbortHomingRequest")] MotorAbortHomingRequest = 2002,
+    [pbr::OriginalName("MotorAbortHomingResponse")] MotorAbortHomingResponse = 2003,
+    [pbr::OriginalName("MotorHomingRequest")] MotorHomingRequest = 2004,
+    [pbr::OriginalName("MotorHomingResponse")] MotorHomingResponse = 2005,
+    [pbr::OriginalName("MotorJoggingRequest")] MotorJoggingRequest = 2006,
+    [pbr::OriginalName("MotorJoggingResponse")] MotorJoggingResponse = 2007,
+    [pbr::OriginalName("MotorAbortJoggingRequest")] MotorAbortJoggingRequest = 2008,
+    [pbr::OriginalName("MotorAbortJoggingResponse")] MotorAbortJoggingResponse = 2009,
     /// <summary>
     ///Printing
     /// </summary>
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortHomingRequest.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortHomingRequest.cs
new file mode 100644
index 000000000..d5385333c
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortHomingRequest.cs
@@ -0,0 +1,160 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: MotorAbortHomingRequest.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.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from MotorAbortHomingRequest.proto</summary>
+  public static partial class MotorAbortHomingRequestReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for MotorAbortHomingRequest.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static MotorAbortHomingRequestReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "Ch1Nb3RvckFib3J0SG9taW5nUmVxdWVzdC5wcm90bxIVVGFuZ28uUE1SLkRp",
+            "YWdub3N0aWNzIicKF01vdG9yQWJvcnRIb21pbmdSZXF1ZXN0EgwKBENvZGUY",
+            "ASABKAVCIQofY29tLnR3aW5lLnRhbmdvLnBtci5kaWFnbm9zdGljc2IGcHJv",
+            "dG8z"));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.MotorAbortHomingRequest), global::Tango.PMR.Diagnostics.MotorAbortHomingRequest.Parser, new[]{ "Code" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class MotorAbortHomingRequest : pb::IMessage<MotorAbortHomingRequest> {
+    private static readonly pb::MessageParser<MotorAbortHomingRequest> _parser = new pb::MessageParser<MotorAbortHomingRequest>(() => new MotorAbortHomingRequest());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<MotorAbortHomingRequest> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.MotorAbortHomingRequestReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortHomingRequest() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortHomingRequest(MotorAbortHomingRequest other) : this() {
+      code_ = other.code_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortHomingRequest Clone() {
+      return new MotorAbortHomingRequest(this);
+    }
+
+    /// <summary>Field number for the "Code" field.</summary>
+    public const int CodeFieldNumber = 1;
+    private int code_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Code {
+      get { return code_; }
+      set {
+        code_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as MotorAbortHomingRequest);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(MotorAbortHomingRequest other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Code != other.Code) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Code != 0) hash ^= Code.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 (Code != 0) {
+        output.WriteRawTag(8);
+        output.WriteInt32(Code);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Code != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Code);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(MotorAbortHomingRequest other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Code != 0) {
+        Code = other.Code;
+      }
+    }
+
+    [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: {
+            Code = input.ReadInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortHomingResponse.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortHomingResponse.cs
new file mode 100644
index 000000000..8f6401a3f
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortHomingResponse.cs
@@ -0,0 +1,131 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: MotorAbortHomingResponse.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.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from MotorAbortHomingResponse.proto</summary>
+  public static partial class MotorAbortHomingResponseReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for MotorAbortHomingResponse.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static MotorAbortHomingResponseReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "Ch5Nb3RvckFib3J0SG9taW5nUmVzcG9uc2UucHJvdG8SFVRhbmdvLlBNUi5E",
+            "aWFnbm9zdGljcyIaChhNb3RvckFib3J0SG9taW5nUmVzcG9uc2VCIQofY29t",
+            "LnR3aW5lLnRhbmdvLnBtci5kaWFnbm9zdGljc2IGcHJvdG8z"));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.MotorAbortHomingResponse), global::Tango.PMR.Diagnostics.MotorAbortHomingResponse.Parser, null, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class MotorAbortHomingResponse : pb::IMessage<MotorAbortHomingResponse> {
+    private static readonly pb::MessageParser<MotorAbortHomingResponse> _parser = new pb::MessageParser<MotorAbortHomingResponse>(() => new MotorAbortHomingResponse());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<MotorAbortHomingResponse> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.MotorAbortHomingResponseReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortHomingResponse() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortHomingResponse(MotorAbortHomingResponse other) : this() {
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortHomingResponse Clone() {
+      return new MotorAbortHomingResponse(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as MotorAbortHomingResponse);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(MotorAbortHomingResponse other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      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) {
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(MotorAbortHomingResponse other) {
+      if (other == null) {
+        return;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortJoggingRequest.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortJoggingRequest.cs
new file mode 100644
index 000000000..cf9f015d3
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortJoggingRequest.cs
@@ -0,0 +1,160 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: MotorAbortJoggingRequest.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.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from MotorAbortJoggingRequest.proto</summary>
+  public static partial class MotorAbortJoggingRequestReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for MotorAbortJoggingRequest.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static MotorAbortJoggingRequestReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "Ch5Nb3RvckFib3J0Sm9nZ2luZ1JlcXVlc3QucHJvdG8SFVRhbmdvLlBNUi5E",
+            "aWFnbm9zdGljcyIoChhNb3RvckFib3J0Sm9nZ2luZ1JlcXVlc3QSDAoEQ29k",
+            "ZRgCIAEoBUIhCh9jb20udHdpbmUudGFuZ28ucG1yLmRpYWdub3N0aWNzYgZw",
+            "cm90bzM="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.MotorAbortJoggingRequest), global::Tango.PMR.Diagnostics.MotorAbortJoggingRequest.Parser, new[]{ "Code" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class MotorAbortJoggingRequest : pb::IMessage<MotorAbortJoggingRequest> {
+    private static readonly pb::MessageParser<MotorAbortJoggingRequest> _parser = new pb::MessageParser<MotorAbortJoggingRequest>(() => new MotorAbortJoggingRequest());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<MotorAbortJoggingRequest> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.MotorAbortJoggingRequestReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortJoggingRequest() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortJoggingRequest(MotorAbortJoggingRequest other) : this() {
+      code_ = other.code_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortJoggingRequest Clone() {
+      return new MotorAbortJoggingRequest(this);
+    }
+
+    /// <summary>Field number for the "Code" field.</summary>
+    public const int CodeFieldNumber = 2;
+    private int code_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Code {
+      get { return code_; }
+      set {
+        code_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as MotorAbortJoggingRequest);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(MotorAbortJoggingRequest other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Code != other.Code) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Code != 0) hash ^= Code.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 (Code != 0) {
+        output.WriteRawTag(16);
+        output.WriteInt32(Code);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Code != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Code);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(MotorAbortJoggingRequest other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Code != 0) {
+        Code = other.Code;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 16: {
+            Code = input.ReadInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortJoggingResponse.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortJoggingResponse.cs
new file mode 100644
index 000000000..5624c5827
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortJoggingResponse.cs
@@ -0,0 +1,160 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: MotorAbortJoggingResponse.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.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from MotorAbortJoggingResponse.proto</summary>
+  public static partial class MotorAbortJoggingResponseReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for MotorAbortJoggingResponse.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static MotorAbortJoggingResponseReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "Ch9Nb3RvckFib3J0Sm9nZ2luZ1Jlc3BvbnNlLnByb3RvEhVUYW5nby5QTVIu",
+            "RGlhZ25vc3RpY3MiKQoZTW90b3JBYm9ydEpvZ2dpbmdSZXNwb25zZRIMCgRD",
+            "b2RlGAIgASgFQiEKH2NvbS50d2luZS50YW5nby5wbXIuZGlhZ25vc3RpY3Ni",
+            "BnByb3RvMw=="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.MotorAbortJoggingResponse), global::Tango.PMR.Diagnostics.MotorAbortJoggingResponse.Parser, new[]{ "Code" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class MotorAbortJoggingResponse : pb::IMessage<MotorAbortJoggingResponse> {
+    private static readonly pb::MessageParser<MotorAbortJoggingResponse> _parser = new pb::MessageParser<MotorAbortJoggingResponse>(() => new MotorAbortJoggingResponse());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<MotorAbortJoggingResponse> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.MotorAbortJoggingResponseReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortJoggingResponse() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortJoggingResponse(MotorAbortJoggingResponse other) : this() {
+      code_ = other.code_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortJoggingResponse Clone() {
+      return new MotorAbortJoggingResponse(this);
+    }
+
+    /// <summary>Field number for the "Code" field.</summary>
+    public const int CodeFieldNumber = 2;
+    private int code_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Code {
+      get { return code_; }
+      set {
+        code_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as MotorAbortJoggingResponse);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(MotorAbortJoggingResponse other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Code != other.Code) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Code != 0) hash ^= Code.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 (Code != 0) {
+        output.WriteRawTag(16);
+        output.WriteInt32(Code);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Code != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Code);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(MotorAbortJoggingResponse other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Code != 0) {
+        Code = other.Code;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 16: {
+            Code = input.ReadInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorDirection.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorDirection.cs
new file mode 100644
index 000000000..59c355cd6
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorDirection.cs
@@ -0,0 +1,45 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: MotorDirection.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.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from MotorDirection.proto</summary>
+  public static partial class MotorDirectionReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for MotorDirection.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static MotorDirectionReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChRNb3RvckRpcmVjdGlvbi5wcm90bxIVVGFuZ28uUE1SLkRpYWdub3N0aWNz",
+            "KisKDk1vdG9yRGlyZWN0aW9uEgsKB0ZvcndhcmQQABIMCghCYWNrd2FyZBAB",
+            "QiEKH2NvbS50d2luZS50YW5nby5wbXIuZGlhZ25vc3RpY3NiBnByb3RvMw=="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Diagnostics.MotorDirection), }, null));
+    }
+    #endregion
+
+  }
+  #region Enums
+  public enum MotorDirection {
+    [pbr::OriginalName("Forward")] Forward = 0,
+    [pbr::OriginalName("Backward")] Backward = 1,
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorHomingRequest.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorHomingRequest.cs
new file mode 100644
index 000000000..5044fa2ed
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorHomingRequest.cs
@@ -0,0 +1,188 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: MotorHomingRequest.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.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from MotorHomingRequest.proto</summary>
+  public static partial class MotorHomingRequestReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for MotorHomingRequest.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static MotorHomingRequestReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChhNb3RvckhvbWluZ1JlcXVlc3QucHJvdG8SFVRhbmdvLlBNUi5EaWFnbm9z",
+            "dGljcyIxChJNb3RvckhvbWluZ1JlcXVlc3QSDAoEQ29kZRgBIAEoBRINCgVT",
+            "cGVlZBgCIAEoAUIhCh9jb20udHdpbmUudGFuZ28ucG1yLmRpYWdub3N0aWNz",
+            "YgZwcm90bzM="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.MotorHomingRequest), global::Tango.PMR.Diagnostics.MotorHomingRequest.Parser, new[]{ "Code", "Speed" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class MotorHomingRequest : pb::IMessage<MotorHomingRequest> {
+    private static readonly pb::MessageParser<MotorHomingRequest> _parser = new pb::MessageParser<MotorHomingRequest>(() => new MotorHomingRequest());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<MotorHomingRequest> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.MotorHomingRequestReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorHomingRequest() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorHomingRequest(MotorHomingRequest other) : this() {
+      code_ = other.code_;
+      speed_ = other.speed_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorHomingRequest Clone() {
+      return new MotorHomingRequest(this);
+    }
+
+    /// <summary>Field number for the "Code" field.</summary>
+    public const int CodeFieldNumber = 1;
+    private int code_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Code {
+      get { return code_; }
+      set {
+        code_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Speed" field.</summary>
+    public const int SpeedFieldNumber = 2;
+    private double speed_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double Speed {
+      get { return speed_; }
+      set {
+        speed_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as MotorHomingRequest);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(MotorHomingRequest other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Code != other.Code) return false;
+      if (Speed != other.Speed) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Code != 0) hash ^= Code.GetHashCode();
+      if (Speed != 0D) hash ^= Speed.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 (Code != 0) {
+        output.WriteRawTag(8);
+        output.WriteInt32(Code);
+      }
+      if (Speed != 0D) {
+        output.WriteRawTag(17);
+        output.WriteDouble(Speed);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Code != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Code);
+      }
+      if (Speed != 0D) {
+        size += 1 + 8;
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(MotorHomingRequest other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Code != 0) {
+        Code = other.Code;
+      }
+      if (other.Speed != 0D) {
+        Speed = other.Speed;
+      }
+    }
+
+    [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: {
+            Code = input.ReadInt32();
+            break;
+          }
+          case 17: {
+            Speed = input.ReadDouble();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorHomingResponse.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorHomingResponse.cs
new file mode 100644
index 000000000..7dd9f982b
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorHomingResponse.cs
@@ -0,0 +1,188 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: MotorHomingResponse.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.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from MotorHomingResponse.proto</summary>
+  public static partial class MotorHomingResponseReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for MotorHomingResponse.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static MotorHomingResponseReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChlNb3RvckhvbWluZ1Jlc3BvbnNlLnByb3RvEhVUYW5nby5QTVIuRGlhZ25v",
+            "c3RpY3MiPAoTTW90b3JIb21pbmdSZXNwb25zZRIQCghQcm9ncmVzcxgBIAEo",
+            "BRITCgtNYXhQcm9ncmVzcxgCIAEoBUIhCh9jb20udHdpbmUudGFuZ28ucG1y",
+            "LmRpYWdub3N0aWNzYgZwcm90bzM="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.MotorHomingResponse), global::Tango.PMR.Diagnostics.MotorHomingResponse.Parser, new[]{ "Progress", "MaxProgress" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class MotorHomingResponse : pb::IMessage<MotorHomingResponse> {
+    private static readonly pb::MessageParser<MotorHomingResponse> _parser = new pb::MessageParser<MotorHomingResponse>(() => new MotorHomingResponse());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<MotorHomingResponse> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.MotorHomingResponseReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorHomingResponse() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorHomingResponse(MotorHomingResponse other) : this() {
+      progress_ = other.progress_;
+      maxProgress_ = other.maxProgress_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorHomingResponse Clone() {
+      return new MotorHomingResponse(this);
+    }
+
+    /// <summary>Field number for the "Progress" field.</summary>
+    public const int ProgressFieldNumber = 1;
+    private int progress_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Progress {
+      get { return progress_; }
+      set {
+        progress_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "MaxProgress" field.</summary>
+    public const int MaxProgressFieldNumber = 2;
+    private int maxProgress_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int MaxProgress {
+      get { return maxProgress_; }
+      set {
+        maxProgress_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as MotorHomingResponse);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(MotorHomingResponse other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Progress != other.Progress) return false;
+      if (MaxProgress != other.MaxProgress) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Progress != 0) hash ^= Progress.GetHashCode();
+      if (MaxProgress != 0) hash ^= MaxProgress.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 (Progress != 0) {
+        output.WriteRawTag(8);
+        output.WriteInt32(Progress);
+      }
+      if (MaxProgress != 0) {
+        output.WriteRawTag(16);
+        output.WriteInt32(MaxProgress);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Progress != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Progress);
+      }
+      if (MaxProgress != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(MaxProgress);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(MotorHomingResponse other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Progress != 0) {
+        Progress = other.Progress;
+      }
+      if (other.MaxProgress != 0) {
+        MaxProgress = other.MaxProgress;
+      }
+    }
+
+    [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: {
+            Progress = input.ReadInt32();
+            break;
+          }
+          case 16: {
+            MaxProgress = input.ReadInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorJoggingRequest.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorJoggingRequest.cs
new file mode 100644
index 000000000..99f1a56c6
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorJoggingRequest.cs
@@ -0,0 +1,217 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: MotorJoggingRequest.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.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from MotorJoggingRequest.proto</summary>
+  public static partial class MotorJoggingRequestReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for MotorJoggingRequest.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static MotorJoggingRequestReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChlNb3RvckpvZ2dpbmdSZXF1ZXN0LnByb3RvEhVUYW5nby5QTVIuRGlhZ25v",
+            "c3RpY3MaFE1vdG9yRGlyZWN0aW9uLnByb3RvImwKE01vdG9ySm9nZ2luZ1Jl",
+            "cXVlc3QSOAoJRGlyZWN0aW9uGAEgASgOMiUuVGFuZ28uUE1SLkRpYWdub3N0",
+            "aWNzLk1vdG9yRGlyZWN0aW9uEgwKBENvZGUYAiABKAUSDQoFU3BlZWQYAyAB",
+            "KAFCIQofY29tLnR3aW5lLnRhbmdvLnBtci5kaWFnbm9zdGljc2IGcHJvdG8z"));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { global::Tango.PMR.Diagnostics.MotorDirectionReflection.Descriptor, },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.MotorJoggingRequest), global::Tango.PMR.Diagnostics.MotorJoggingRequest.Parser, new[]{ "Direction", "Code", "Speed" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class MotorJoggingRequest : pb::IMessage<MotorJoggingRequest> {
+    private static readonly pb::MessageParser<MotorJoggingRequest> _parser = new pb::MessageParser<MotorJoggingRequest>(() => new MotorJoggingRequest());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<MotorJoggingRequest> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.MotorJoggingRequestReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorJoggingRequest() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorJoggingRequest(MotorJoggingRequest other) : this() {
+      direction_ = other.direction_;
+      code_ = other.code_;
+      speed_ = other.speed_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorJoggingRequest Clone() {
+      return new MotorJoggingRequest(this);
+    }
+
+    /// <summary>Field number for the "Direction" field.</summary>
+    public const int DirectionFieldNumber = 1;
+    private global::Tango.PMR.Diagnostics.MotorDirection direction_ = 0;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public global::Tango.PMR.Diagnostics.MotorDirection Direction {
+      get { return direction_; }
+      set {
+        direction_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Code" field.</summary>
+    public const int CodeFieldNumber = 2;
+    private int code_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Code {
+      get { return code_; }
+      set {
+        code_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Speed" field.</summary>
+    public const int SpeedFieldNumber = 3;
+    private double speed_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double Speed {
+      get { return speed_; }
+      set {
+        speed_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as MotorJoggingRequest);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(MotorJoggingRequest other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Direction != other.Direction) return false;
+      if (Code != other.Code) return false;
+      if (Speed != other.Speed) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Direction != 0) hash ^= Direction.GetHashCode();
+      if (Code != 0) hash ^= Code.GetHashCode();
+      if (Speed != 0D) hash ^= Speed.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 (Direction != 0) {
+        output.WriteRawTag(8);
+        output.WriteEnum((int) Direction);
+      }
+      if (Code != 0) {
+        output.WriteRawTag(16);
+        output.WriteInt32(Code);
+      }
+      if (Speed != 0D) {
+        output.WriteRawTag(25);
+        output.WriteDouble(Speed);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Direction != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeEnumSize((int) Direction);
+      }
+      if (Code != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Code);
+      }
+      if (Speed != 0D) {
+        size += 1 + 8;
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(MotorJoggingRequest other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Direction != 0) {
+        Direction = other.Direction;
+      }
+      if (other.Code != 0) {
+        Code = other.Code;
+      }
+      if (other.Speed != 0D) {
+        Speed = other.Speed;
+      }
+    }
+
+    [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: {
+            direction_ = (global::Tango.PMR.Diagnostics.MotorDirection) input.ReadEnum();
+            break;
+          }
+          case 16: {
+            Code = input.ReadInt32();
+            break;
+          }
+          case 25: {
+            Speed = input.ReadDouble();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorJoggingResponse.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorJoggingResponse.cs
new file mode 100644
index 000000000..259949ca4
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorJoggingResponse.cs
@@ -0,0 +1,131 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: MotorJoggingResponse.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.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from MotorJoggingResponse.proto</summary>
+  public static partial class MotorJoggingResponseReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for MotorJoggingResponse.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static MotorJoggingResponseReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChpNb3RvckpvZ2dpbmdSZXNwb25zZS5wcm90bxIVVGFuZ28uUE1SLkRpYWdu",
+            "b3N0aWNzIhYKFE1vdG9ySm9nZ2luZ1Jlc3BvbnNlQiEKH2NvbS50d2luZS50",
+            "YW5nby5wbXIuZGlhZ25vc3RpY3NiBnByb3RvMw=="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.MotorJoggingResponse), global::Tango.PMR.Diagnostics.MotorJoggingResponse.Parser, null, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class MotorJoggingResponse : pb::IMessage<MotorJoggingResponse> {
+    private static readonly pb::MessageParser<MotorJoggingResponse> _parser = new pb::MessageParser<MotorJoggingResponse>(() => new MotorJoggingResponse());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<MotorJoggingResponse> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.MotorJoggingResponseReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorJoggingResponse() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorJoggingResponse(MotorJoggingResponse other) : this() {
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorJoggingResponse Clone() {
+      return new MotorJoggingResponse(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as MotorJoggingResponse);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(MotorJoggingResponse other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      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) {
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(MotorJoggingResponse other) {
+      if (other == null) {
+        return;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/ITangoMessage.cs b/Software/Visual_Studio/Tango.PMR/ITangoMessage.cs
index d61e374ff..6d3d8d405 100644
--- a/Software/Visual_Studio/Tango.PMR/ITangoMessage.cs
+++ b/Software/Visual_Studio/Tango.PMR/ITangoMessage.cs
@@ -15,7 +15,7 @@ namespace Tango.PMR
         /// <summary>
         /// Gets the container that will encapsulate the actual PMR message.
         /// </summary>
-        MessageContainer Container { get; }
+        MessageContainer Container { get; set; }
 
         /// <summary>
         /// Gets or sets the PMR message type.
diff --git a/Software/Visual_Studio/Tango.PMR/MessageFactory.cs b/Software/Visual_Studio/Tango.PMR/MessageFactory.cs
index 4e3f67570..2c4eb3d13 100644
--- a/Software/Visual_Studio/Tango.PMR/MessageFactory.cs
+++ b/Software/Visual_Studio/Tango.PMR/MessageFactory.cs
@@ -76,6 +76,20 @@ namespace Tango.PMR
         }
 
         /// <summary>
+        /// Parses the specified tango message type from the specified message container.
+        /// </summary>
+        /// <typeparam name="T"></typeparam>
+        /// <param name="data">The data.</param>
+        /// <returns></returns>
+        public static TangoMessage<T> ParseTangoMessageFromContainer<T>(MessageContainer container) where T : IMessage<T>
+        {
+            MessageParser<T> parser = new MessageParser<T>(() => Activator.CreateInstance<T>());
+            TangoMessage<T> tango = new TangoMessage<T>(parser.ParseFrom(container.Data), container.Type);
+            tango.Container = container;
+            return tango;
+        }
+
+        /// <summary>
         /// Parses an unknown tango message from the specified byte array.
         /// </summary>
         /// <param name="data">The data.</param>
diff --git a/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj b/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj
index e0f79daa9..e6f671ca7 100644
--- a/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj
+++ b/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj
@@ -56,6 +56,15 @@
     <Compile Include="ColorLab\OutputColor.cs" />
     <Compile Include="Diagnostics\DataFileFrame.cs" />
     <Compile Include="Diagnostics\DoubleArray.cs" />
+    <Compile Include="Diagnostics\MotorAbortHomingRequest.cs" />
+    <Compile Include="Diagnostics\MotorAbortHomingResponse.cs" />
+    <Compile Include="Diagnostics\MotorAbortJoggingRequest.cs" />
+    <Compile Include="Diagnostics\MotorAbortJoggingResponse.cs" />
+    <Compile Include="Diagnostics\MotorDirection.cs" />
+    <Compile Include="Diagnostics\MotorHomingRequest.cs" />
+    <Compile Include="Diagnostics\MotorHomingResponse.cs" />
+    <Compile Include="Diagnostics\MotorJoggingRequest.cs" />
+    <Compile Include="Diagnostics\MotorJoggingResponse.cs" />
     <Compile Include="Diagnostics\PushDiagnosticsRequest.cs" />
     <Compile Include="Diagnostics\PushDiagnosticsResponse.cs" />
     <Compile Include="ExtensionMethods.cs" />
diff --git a/Software/Visual_Studio/Tango.PMR/TangoMessage.cs b/Software/Visual_Studio/Tango.PMR/TangoMessage.cs
index 7bc951148..c2cf94b38 100644
--- a/Software/Visual_Studio/Tango.PMR/TangoMessage.cs
+++ b/Software/Visual_Studio/Tango.PMR/TangoMessage.cs
@@ -18,7 +18,7 @@ namespace Tango.PMR
         /// <summary>
         /// Gets the container that will encapsulate the actual PMR message.
         /// </summary>
-        public MessageContainer Container { get; }
+        public MessageContainer Container { get; set; }
 
         /// <summary>
         /// Gets or sets the message.