Removed Shlomo PMR Messages.

14 files changed, 2309 insertions, 708 deletions

diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Developer/ViewModels/MainViewVM.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Developer/ViewModels/MainViewVM.cs
index 7086cfb4d..52d67a141 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Developer/ViewModels/MainViewVM.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Developer/ViewModels/MainViewVM.cs
@@ -30,6 +30,7 @@ namespace Tango.MachineStudio.Developer.ViewModels
     {
         private INotificationProvider _notification;
         private TimeSpan _runningJobEstimatedDuration;
+        private Dictionary<String, GraphControllerBase> _controllers;
 
         #region Properties
 
@@ -393,6 +394,7 @@ namespace Tango.MachineStudio.Developer.ViewModels
             }
 
             Graphs = new ObservableCollection<IRealTimeGraph>();
+            _controllers = new Dictionary<String, GraphControllerBase>();
         }
 
         /// <summary>
@@ -846,19 +848,22 @@ namespace Tango.MachineStudio.Developer.ViewModels
             if (Graphs.Count < 8)
             {
                 IRealTimeGraph graphControl = null;
+                GraphControllerBase controller = null;
 
                 if (!sensor.MultiChannel)
                 {
                     graphControl = new RealTimeGraphControl();
+                    controller = new GraphController();
+                    graphControl.Controller = controller;
                 }
                 else
                 {
                     graphControl = new RealTimeGraphMultiControl();
-                    GraphMultiController controller = new GraphMultiController();
+                    controller = new GraphMultiController();
 
                     for (int i = 0; i < sensor.ChannelCount; i++)
                     {
-                        controller.AddSeries(new DataYSeries()
+                        (controller as GraphMultiController).AddSeries(new DataYSeries()
                         {
                             Name = sensor.Description.First().ToString() + (i + 1),
                             UseFillAndStroke = true,
@@ -881,6 +886,8 @@ namespace Tango.MachineStudio.Developer.ViewModels
                 };
                 Graphs.Add(graphControl);
                 AvailableSensors.Remove(sensor);
+
+                _controllers.Add(sensor.Name, controller);
             }
             else
             {
@@ -908,8 +915,11 @@ namespace Tango.MachineStudio.Developer.ViewModels
         /// <param name="graph">The graph.</param>
         public void RemoveGraph(IRealTimeGraph graph)
         {
+            var sensor = graph.Tag as Sensor;
+            _controllers.Remove(sensor.Name);
+            graph.InnerGraph.Dispose();
             Graphs.Remove(graph);
-            AvailableSensors.Insert(0, graph.Tag as Sensor);
+            AvailableSensors.Insert(0, sensor);
         }
 
         #endregion
diff --git a/Software/Visual_Studio/SideChains/RealTimeGraphEx/RealTimeGraphExBase.cs b/Software/Visual_Studio/SideChains/RealTimeGraphEx/RealTimeGraphExBase.cs
index c1ed37474..70ce3881f 100644
--- a/Software/Visual_Studio/SideChains/RealTimeGraphEx/RealTimeGraphExBase.cs
+++ b/Software/Visual_Studio/SideChains/RealTimeGraphEx/RealTimeGraphExBase.cs
@@ -1348,7 +1348,11 @@ namespace RealTimeGraphEx
         {
             if (pushThread != null)
             {
-                pushThread.Abort();
+                try
+                {
+                    pushThread.Abort();
+                }
+                catch { }
             }
         }
 
diff --git a/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs b/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs
index 9ea3455b1..b813f3e5a 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(
-            "ChFNZXNzYWdlVHlwZS5wcm90bxIQVGFuZ28uUE1SLkNvbW1vbirBCgoLTWVz",
+            "ChFNZXNzYWdlVHlwZS5wcm90bxIQVGFuZ28uUE1SLkNvbW1vbirxCwoLTWVz",
             "c2FnZVR5cGUSBwoDUkdCEAASBwoDSm9iEAESCwoHU2VnbWVudBACEhQKEENh",
             "bGN1bGF0ZVJlcXVlc3QQAxIVChFDYWxjdWxhdGVSZXNwb25zZRAEEhMKD1By",
             "b2dyZXNzUmVxdWVzdBAFEhQKEFByb2dyZXNzUmVzcG9uc2UQBhIcChhTdHVi",
@@ -45,15 +45,19 @@ namespace Tango.PMR.Common {
             "U3R1YlZhbHZlUmVzcG9uc2UQIBIbChdTdHViRXh0Rmxhc2hSZWFkUmVxdWVz",
             "dBAhEhwKGFN0dWJFeHRGbGFzaFJlYWRSZXNwb25zZRAiEhwKGFN0dWJFeHRG",
             "bGFzaFdyaXRlUmVxdWVzdBAjEh0KGVN0dWJFeHRGbGFzaFdyaXRlUmVzcG9u",
-            "c2UQJBIlCiBFeHRlcm5hbEJyaWRnZVVkcERpc2NvdmVyeVBhY2tldBDoBxIf",
-            "ChpFeHRlcm5hbENsaWVudExvZ2luUmVxdWVzdBDpBxIgChtFeHRlcm5hbENs",
-            "aWVudExvZ2luUmVzcG9uc2UQ6gcSIQocRGlyZWN0U3luY2hyb25pemF0aW9u",
-            "UmVxdWVzdBDrBxIiCh1EaXJlY3RTeW5jaHJvbml6YXRpb25SZXNwb25zZRDs",
-            "BxIcChdPdmVycmlkZURhdGFCYXNlUmVxdWVzdBDtBxIdChhPdmVycmlkZURh",
-            "dGFCYXNlUmVzcG9uc2UQ7gcSFQoQS2VlcEFsaXZlUmVxdWVzdBDvBxIWChFL",
-            "ZWVwQWxpdmVSZXNwb25zZRDwBxIcChdTdGFydERpYWdub3N0aWNzUmVxdWVz",
-            "dBDQDxIdChhTdGFydERpYWdub3N0aWNzUmVzcG9uc2UQ0Q9CHAoaY29tLnR3",
-            "aW5lLnRhbmdvLnBtci5jb21tb25iBnByb3RvMw=="));
+            "c2UQJBIOCglEaXNwZW5zZXIQyAESCgoFTW90b3IQyQESDQoIR3JhZGllbnQQ",
+            "ygESCwoGRGFuY2VyEMsBEhMKDkludGVybmFsV2luZGVyEMwBEg0KCERpc3Bl",
+            "bnNlEM0BEhQKD1NlZ21lbnRHcmFkaWVudBDOARIlCiBFeHRlcm5hbEJyaWRn",
+            "ZVVkcERpc2NvdmVyeVBhY2tldBDoBxIfChpFeHRlcm5hbENsaWVudExvZ2lu",
+            "UmVxdWVzdBDpBxIgChtFeHRlcm5hbENsaWVudExvZ2luUmVzcG9uc2UQ6gcS",
+            "IQocRGlyZWN0U3luY2hyb25pemF0aW9uUmVxdWVzdBDrBxIiCh1EaXJlY3RT",
+            "eW5jaHJvbml6YXRpb25SZXNwb25zZRDsBxIcChdPdmVycmlkZURhdGFCYXNl",
+            "UmVxdWVzdBDtBxIdChhPdmVycmlkZURhdGFCYXNlUmVzcG9uc2UQ7gcSFQoQ",
+            "S2VlcEFsaXZlUmVxdWVzdBDvBxIWChFLZWVwQWxpdmVSZXNwb25zZRDwBxIc",
+            "ChdTdGFydERpYWdub3N0aWNzUmVxdWVzdBDQDxIdChhTdGFydERpYWdub3N0",
+            "aWNzUmVzcG9uc2UQ0Q8SEgoNUmVwb3J0UmVxdWVzdBDSDxITCg5SZXBvcnRS",
+            "ZXNwb25zZRDTDxITCg5TdGF0dXNSZXNwb25zZRDUD0IcChpjb20udHdpbmUu",
+            "dGFuZ28ucG1yLmNvbW1vbmIGcHJvdG8z"));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { },
           new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Common.MessageType), }, null));
@@ -68,6 +72,12 @@ namespace Tango.PMR.Common {
     /// </summary>
     [pbr::OriginalName("RGB")] Rgb = 0,
     [pbr::OriginalName("Job")] Job = 1,
+    /// <summary>
+    ///Hardware
+    ///Dispenser;
+    ///Motor;
+    ///Gradient;
+    /// </summary>
     [pbr::OriginalName("Segment")] Segment = 2,
     /// <summary>
     ///Stubs
@@ -107,6 +117,17 @@ namespace Tango.PMR.Common {
     [pbr::OriginalName("StubExtFlashWriteRequest")] StubExtFlashWriteRequest = 35,
     [pbr::OriginalName("StubExtFlashWriteResponse")] StubExtFlashWriteResponse = 36,
     /// <summary>
+    ///work
+    ///Hardware = 200;
+    /// </summary>
+    [pbr::OriginalName("Dispenser")] Dispenser = 200,
+    [pbr::OriginalName("Motor")] Motor = 201,
+    [pbr::OriginalName("Gradient")] Gradient = 202,
+    [pbr::OriginalName("Dancer")] Dancer = 203,
+    [pbr::OriginalName("InternalWinder")] InternalWinder = 204,
+    [pbr::OriginalName("Dispense")] Dispense = 205,
+    [pbr::OriginalName("SegmentGradient")] SegmentGradient = 206,
+    /// <summary>
     ///Integration
     /// </summary>
     [pbr::OriginalName("ExternalBridgeUdpDiscoveryPacket")] ExternalBridgeUdpDiscoveryPacket = 1000,
@@ -123,6 +144,9 @@ namespace Tango.PMR.Common {
     /// </summary>
     [pbr::OriginalName("StartDiagnosticsRequest")] StartDiagnosticsRequest = 2000,
     [pbr::OriginalName("StartDiagnosticsResponse")] StartDiagnosticsResponse = 2001,
+    [pbr::OriginalName("ReportRequest")] ReportRequest = 2002,
+    [pbr::OriginalName("ReportResponse")] ReportResponse = 2003,
+    [pbr::OriginalName("StatusResponse")] StatusResponse = 2004,
   }
 
   #endregion
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/StartDiagnosticsResponse.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/StartDiagnosticsResponse.cs
index 6449d89b5..c978f8749 100644
--- a/Software/Visual_Studio/Tango.PMR/Diagnostics/StartDiagnosticsResponse.cs
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/StartDiagnosticsResponse.cs
@@ -23,13 +23,14 @@ namespace Tango.PMR.Diagnostics {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
             "Ch5TdGFydERpYWdub3N0aWNzUmVzcG9uc2UucHJvdG8SFVRhbmdvLlBNUi5E",
-            "aWFnbm9zdGljcyJBChhTdGFydERpYWdub3N0aWNzUmVzcG9uc2USEwoLVGVt",
-            "cGVyYXR1cmUYASADKAESEAoIVmVsb2NpdHkYAiADKAFCIQofY29tLnR3aW5l",
-            "LnRhbmdvLnBtci5kaWFnbm9zdGljc2IGcHJvdG8z"));
+            "aWFnbm9zdGljcyJcChhTdGFydERpYWdub3N0aWNzUmVzcG9uc2USFAoMRGFu",
+            "Y2VyMUFuZ2xlGAEgAygBEhQKDERhbmNlcjJBbmdsZRgCIAMoARIUCgxEYW5j",
+            "ZXIzQW5nbGUYAyADKAFCIQofY29tLnR3aW5lLnRhbmdvLnBtci5kaWFnbm9z",
+            "dGljc2IGcHJvdG8z"));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { },
           new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
-            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.StartDiagnosticsResponse), global::Tango.PMR.Diagnostics.StartDiagnosticsResponse.Parser, new[]{ "Temperature", "Velocity" }, null, null, null)
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.StartDiagnosticsResponse), global::Tango.PMR.Diagnostics.StartDiagnosticsResponse.Parser, new[]{ "Dancer1Angle", "Dancer2Angle", "Dancer3Angle" }, null, null, null)
           }));
     }
     #endregion
@@ -60,8 +61,9 @@ namespace Tango.PMR.Diagnostics {
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public StartDiagnosticsResponse(StartDiagnosticsResponse other) : this() {
-      temperature_ = other.temperature_.Clone();
-      velocity_ = other.velocity_.Clone();
+      dancer1Angle_ = other.dancer1Angle_.Clone();
+      dancer2Angle_ = other.dancer2Angle_.Clone();
+      dancer3Angle_ = other.dancer3Angle_.Clone();
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -69,24 +71,34 @@ namespace Tango.PMR.Diagnostics {
       return new StartDiagnosticsResponse(this);
     }
 
-    /// <summary>Field number for the "Temperature" field.</summary>
-    public const int TemperatureFieldNumber = 1;
-    private static readonly pb::FieldCodec<double> _repeated_temperature_codec
+    /// <summary>Field number for the "Dancer1Angle" field.</summary>
+    public const int Dancer1AngleFieldNumber = 1;
+    private static readonly pb::FieldCodec<double> _repeated_dancer1Angle_codec
         = pb::FieldCodec.ForDouble(10);
-    private readonly pbc::RepeatedField<double> temperature_ = new pbc::RepeatedField<double>();
+    private readonly pbc::RepeatedField<double> dancer1Angle_ = new pbc::RepeatedField<double>();
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public pbc::RepeatedField<double> Temperature {
-      get { return temperature_; }
+    public pbc::RepeatedField<double> Dancer1Angle {
+      get { return dancer1Angle_; }
     }
 
-    /// <summary>Field number for the "Velocity" field.</summary>
-    public const int VelocityFieldNumber = 2;
-    private static readonly pb::FieldCodec<double> _repeated_velocity_codec
+    /// <summary>Field number for the "Dancer2Angle" field.</summary>
+    public const int Dancer2AngleFieldNumber = 2;
+    private static readonly pb::FieldCodec<double> _repeated_dancer2Angle_codec
         = pb::FieldCodec.ForDouble(18);
-    private readonly pbc::RepeatedField<double> velocity_ = new pbc::RepeatedField<double>();
+    private readonly pbc::RepeatedField<double> dancer2Angle_ = new pbc::RepeatedField<double>();
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public pbc::RepeatedField<double> Velocity {
-      get { return velocity_; }
+    public pbc::RepeatedField<double> Dancer2Angle {
+      get { return dancer2Angle_; }
+    }
+
+    /// <summary>Field number for the "Dancer3Angle" field.</summary>
+    public const int Dancer3AngleFieldNumber = 3;
+    private static readonly pb::FieldCodec<double> _repeated_dancer3Angle_codec
+        = pb::FieldCodec.ForDouble(26);
+    private readonly pbc::RepeatedField<double> dancer3Angle_ = new pbc::RepeatedField<double>();
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public pbc::RepeatedField<double> Dancer3Angle {
+      get { return dancer3Angle_; }
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -102,16 +114,18 @@ namespace Tango.PMR.Diagnostics {
       if (ReferenceEquals(other, this)) {
         return true;
       }
-      if(!temperature_.Equals(other.temperature_)) return false;
-      if(!velocity_.Equals(other.velocity_)) return false;
+      if(!dancer1Angle_.Equals(other.dancer1Angle_)) return false;
+      if(!dancer2Angle_.Equals(other.dancer2Angle_)) return false;
+      if(!dancer3Angle_.Equals(other.dancer3Angle_)) return false;
       return true;
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public override int GetHashCode() {
       int hash = 1;
-      hash ^= temperature_.GetHashCode();
-      hash ^= velocity_.GetHashCode();
+      hash ^= dancer1Angle_.GetHashCode();
+      hash ^= dancer2Angle_.GetHashCode();
+      hash ^= dancer3Angle_.GetHashCode();
       return hash;
     }
 
@@ -122,15 +136,17 @@ namespace Tango.PMR.Diagnostics {
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public void WriteTo(pb::CodedOutputStream output) {
-      temperature_.WriteTo(output, _repeated_temperature_codec);
-      velocity_.WriteTo(output, _repeated_velocity_codec);
+      dancer1Angle_.WriteTo(output, _repeated_dancer1Angle_codec);
+      dancer2Angle_.WriteTo(output, _repeated_dancer2Angle_codec);
+      dancer3Angle_.WriteTo(output, _repeated_dancer3Angle_codec);
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public int CalculateSize() {
       int size = 0;
-      size += temperature_.CalculateSize(_repeated_temperature_codec);
-      size += velocity_.CalculateSize(_repeated_velocity_codec);
+      size += dancer1Angle_.CalculateSize(_repeated_dancer1Angle_codec);
+      size += dancer2Angle_.CalculateSize(_repeated_dancer2Angle_codec);
+      size += dancer3Angle_.CalculateSize(_repeated_dancer3Angle_codec);
       return size;
     }
 
@@ -139,8 +155,9 @@ namespace Tango.PMR.Diagnostics {
       if (other == null) {
         return;
       }
-      temperature_.Add(other.temperature_);
-      velocity_.Add(other.velocity_);
+      dancer1Angle_.Add(other.dancer1Angle_);
+      dancer2Angle_.Add(other.dancer2Angle_);
+      dancer3Angle_.Add(other.dancer3Angle_);
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -153,12 +170,17 @@ namespace Tango.PMR.Diagnostics {
             break;
           case 10:
           case 9: {
-            temperature_.AddEntriesFrom(input, _repeated_temperature_codec);
+            dancer1Angle_.AddEntriesFrom(input, _repeated_dancer1Angle_codec);
             break;
           }
           case 18:
           case 17: {
-            velocity_.AddEntriesFrom(input, _repeated_velocity_codec);
+            dancer2Angle_.AddEntriesFrom(input, _repeated_dancer2Angle_codec);
+            break;
+          }
+          case 26:
+          case 25: {
+            dancer3Angle_.AddEntriesFrom(input, _repeated_dancer3Angle_codec);
             break;
           }
         }
diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/Dancer.cs b/Software/Visual_Studio/Tango.PMR/Hardware/Dancer.cs
new file mode 100644
index 000000000..e7fa596ef
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Hardware/Dancer.cs
@@ -0,0 +1,253 @@
+// 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
new file mode 100644
index 000000000..803944892
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Hardware/Dispenser.cs
@@ -0,0 +1,569 @@
+// 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
new file mode 100644
index 000000000..6050ed4e4
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Hardware/InternalWinder.cs
@@ -0,0 +1,245 @@
+// 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/Jobs/Motor.cs b/Software/Visual_Studio/Tango.PMR/Hardware/Motor.cs
index b0ce0abe2..28659d7af 100644
--- a/Software/Visual_Studio/Tango.PMR/Jobs/Motor.cs
+++ b/Software/Visual_Studio/Tango.PMR/Hardware/Motor.cs
@@ -1,5 +1,5 @@
 // Generated by the protocol buffer compiler.  DO NOT EDIT!
-// source: motor.proto
+// source: Motor.proto
 #pragma warning disable 1591, 0612, 3021
 #region Designer generated code
 
@@ -7,13 +7,13 @@ 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.Jobs {
+namespace Tango.PMR.Hardware {
 
-  /// <summary>Holder for reflection information generated from motor.proto</summary>
+  /// <summary>Holder for reflection information generated from Motor.proto</summary>
   public static partial class MotorReflection {
 
     #region Descriptor
-    /// <summary>File descriptor for motor.proto</summary>
+    /// <summary>File descriptor for Motor.proto</summary>
     public static pbr::FileDescriptor Descriptor {
       get { return descriptor; }
     }
@@ -22,20 +22,21 @@ namespace Tango.PMR.Jobs {
     static MotorReflection() {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
-            "Cgttb3Rvci5wcm90bxIOVGFuZ28uUE1SLkpvYnMisAIKC01vdG9yQ29uZmln",
-            "EiMKAklkGAEgASgOMhcuVGFuZ28uUE1SLkpvYnMuTW90b3JJZBIPCgdtaW5m",
-            "cmVxGAIgASgNEg8KB21heGZyZXEYAyABKA0SFAoMbWlubWljcm9zdGVwGAQg",
-            "ASgNEhQKDG1heG1pY3Jvc3RlcBgFIAEoDRITCgtsaW5lYXJyYXRpbxgGIAEo",
-            "ARIWCg5tZWRpYW5wb3NpdGlvbhgHIAEoDRIWCg5jb3JyZWN0aW9uZ2FpbhgI",
-            "IAEoARIXCg9yYXRpb24yZHJ5ZXJzcGQYCSABKAESCgoCS3AYCiABKAESCgoC",
-            "S2kYCyABKAESCgoCS2QYDCABKAESEwoLY2hhbmdlU2xvcGUYDSABKAESFwoP",
-            "aGlnaHRpbWVvdXRtU2VjGA4gASgBKjgKB01vdG9ySWQSCgoGRmVlZGVyEAAS",
-            "CQoFRHJ5ZXIQARIKCgZQb29sZXIQAhIKCgZXaW5kZXIQA0IaChhjb20udHdp",
-            "bmUudGFuZ28ucG1yLmpvYnNiBnByb3RvMw=="));
+            "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.Jobs.MotorId), }, new pbr::GeneratedClrTypeInfo[] {
-            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Jobs.MotorConfig), global::Tango.PMR.Jobs.MotorConfig.Parser, new[]{ "Id", "Minfreq", "Maxfreq", "Minmicrostep", "Maxmicrostep", "Linearratio", "Medianposition", "Correctiongain", "Ration2Dryerspd", "Kp", "Ki", "Kd", "ChangeSlope", "HightimeoutmSec" }, null, null, null)
+          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
@@ -59,7 +60,7 @@ namespace Tango.PMR.Jobs {
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public static pbr::MessageDescriptor Descriptor {
-      get { return global::Tango.PMR.Jobs.MotorReflection.Descriptor.MessageTypes[0]; }
+      get { return global::Tango.PMR.Hardware.MotorReflection.Descriptor.MessageTypes[0]; }
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -77,19 +78,20 @@ namespace Tango.PMR.Jobs {
     [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_;
-      ration2Dryerspd_ = other.ration2Dryerspd_;
+      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_;
-      hightimeoutmSec_ = other.hightimeoutmSec_;
+      highLengthuSec_ = other.highLengthuSec_;
+      speedKeeper_ = other.speedKeeper_;
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -99,100 +101,100 @@ namespace Tango.PMR.Jobs {
 
     /// <summary>Field number for the "Id" field.</summary>
     public const int IdFieldNumber = 1;
-    private global::Tango.PMR.Jobs.MotorId id_ = 0;
+    private global::Tango.PMR.Hardware.MotorId id_ = 0;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public global::Tango.PMR.Jobs.MotorId Id {
+    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_;
+    /// <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_; }
+    public uint MinFreq {
+      get { return minFreq_; }
       set {
-        minfreq_ = value;
+        minFreq_ = value;
       }
     }
 
-    /// <summary>Field number for the "maxfreq" field.</summary>
-    public const int MaxfreqFieldNumber = 3;
-    private uint maxfreq_;
+    /// <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_; }
+    public uint MaxFreq {
+      get { return maxFreq_; }
       set {
-        maxfreq_ = value;
+        maxFreq_ = value;
       }
     }
 
-    /// <summary>Field number for the "minmicrostep" field.</summary>
-    public const int MinmicrostepFieldNumber = 4;
-    private uint minmicrostep_;
+    /// <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_; }
+    public uint MinmicroStep {
+      get { return minmicroStep_; }
       set {
-        minmicrostep_ = value;
+        minmicroStep_ = value;
       }
     }
 
-    /// <summary>Field number for the "maxmicrostep" field.</summary>
-    public const int MaxmicrostepFieldNumber = 5;
-    private uint maxmicrostep_;
+    /// <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_; }
+    public uint MaxmicroStep {
+      get { return maxmicroStep_; }
       set {
-        maxmicrostep_ = value;
+        maxmicroStep_ = value;
       }
     }
 
-    /// <summary>Field number for the "linearratio" field.</summary>
-    public const int LinearratioFieldNumber = 6;
-    private double linearratio_;
+    /// <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_; }
+    public double LinearRatio {
+      get { return linearRatio_; }
       set {
-        linearratio_ = value;
+        linearRatio_ = value;
       }
     }
 
-    /// <summary>Field number for the "medianposition" field.</summary>
-    public const int MedianpositionFieldNumber = 7;
-    private uint medianposition_;
+    /// <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_; }
+    public uint MedianPosition {
+      get { return medianPosition_; }
       set {
-        medianposition_ = value;
+        medianPosition_ = value;
       }
     }
 
-    /// <summary>Field number for the "correctiongain" field.</summary>
-    public const int CorrectiongainFieldNumber = 8;
-    private double correctiongain_;
+    /// <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_; }
+    public double CorrectionGain {
+      get { return correctionGain_; }
       set {
-        correctiongain_ = value;
+        correctionGain_ = value;
       }
     }
 
-    /// <summary>Field number for the "ration2dryerspd" field.</summary>
-    public const int Ration2DryerspdFieldNumber = 9;
-    private double ration2Dryerspd_;
+    /// <summary>Field number for the "Ratio2DryerSpeed" field.</summary>
+    public const int Ratio2DryerSpeedFieldNumber = 9;
+    private double ratio2DryerSpeed_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double Ration2Dryerspd {
-      get { return ration2Dryerspd_; }
+    public double Ratio2DryerSpeed {
+      get { return ratio2DryerSpeed_; }
       set {
-        ration2Dryerspd_ = value;
+        ratio2DryerSpeed_ = value;
       }
     }
 
@@ -229,7 +231,7 @@ namespace Tango.PMR.Jobs {
       }
     }
 
-    /// <summary>Field number for the "changeSlope" field.</summary>
+    /// <summary>Field number for the "ChangeSlope" field.</summary>
     public const int ChangeSlopeFieldNumber = 13;
     private double changeSlope_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -240,14 +242,28 @@ namespace Tango.PMR.Jobs {
       }
     }
 
-    /// <summary>Field number for the "hightimeoutmSec" field.</summary>
-    public const int HightimeoutmSecFieldNumber = 14;
-    private double hightimeoutmSec_;
+    /// <summary>Field number for the "HighLengthuSec" field.</summary>
+    public const int HighLengthuSecFieldNumber = 14;
+    private double highLengthuSec_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double HightimeoutmSec {
-      get { return hightimeoutmSec_; }
+    public double HighLengthuSec {
+      get { return highLengthuSec_; }
       set {
-        hightimeoutmSec_ = value;
+        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;
       }
     }
 
@@ -265,19 +281,20 @@ namespace Tango.PMR.Jobs {
         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 (Ration2Dryerspd != other.Ration2Dryerspd) 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 (HightimeoutmSec != other.HightimeoutmSec) return false;
+      if (HighLengthuSec != other.HighLengthuSec) return false;
+      if (SpeedKeeper != other.SpeedKeeper) return false;
       return true;
     }
 
@@ -285,19 +302,20 @@ namespace Tango.PMR.Jobs {
     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 (Ration2Dryerspd != 0D) hash ^= Ration2Dryerspd.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 (HightimeoutmSec != 0D) hash ^= HightimeoutmSec.GetHashCode();
+      if (HighLengthuSec != 0D) hash ^= HighLengthuSec.GetHashCode();
+      if (SpeedKeeper != false) hash ^= SpeedKeeper.GetHashCode();
       return hash;
     }
 
@@ -312,37 +330,37 @@ namespace Tango.PMR.Jobs {
         output.WriteRawTag(8);
         output.WriteEnum((int) Id);
       }
-      if (Minfreq != 0) {
+      if (MinFreq != 0) {
         output.WriteRawTag(16);
-        output.WriteUInt32(Minfreq);
+        output.WriteUInt32(MinFreq);
       }
-      if (Maxfreq != 0) {
+      if (MaxFreq != 0) {
         output.WriteRawTag(24);
-        output.WriteUInt32(Maxfreq);
+        output.WriteUInt32(MaxFreq);
       }
-      if (Minmicrostep != 0) {
+      if (MinmicroStep != 0) {
         output.WriteRawTag(32);
-        output.WriteUInt32(Minmicrostep);
+        output.WriteUInt32(MinmicroStep);
       }
-      if (Maxmicrostep != 0) {
+      if (MaxmicroStep != 0) {
         output.WriteRawTag(40);
-        output.WriteUInt32(Maxmicrostep);
+        output.WriteUInt32(MaxmicroStep);
       }
-      if (Linearratio != 0D) {
+      if (LinearRatio != 0D) {
         output.WriteRawTag(49);
-        output.WriteDouble(Linearratio);
+        output.WriteDouble(LinearRatio);
       }
-      if (Medianposition != 0) {
+      if (MedianPosition != 0) {
         output.WriteRawTag(56);
-        output.WriteUInt32(Medianposition);
+        output.WriteUInt32(MedianPosition);
       }
-      if (Correctiongain != 0D) {
+      if (CorrectionGain != 0D) {
         output.WriteRawTag(65);
-        output.WriteDouble(Correctiongain);
+        output.WriteDouble(CorrectionGain);
       }
-      if (Ration2Dryerspd != 0D) {
+      if (Ratio2DryerSpeed != 0D) {
         output.WriteRawTag(73);
-        output.WriteDouble(Ration2Dryerspd);
+        output.WriteDouble(Ratio2DryerSpeed);
       }
       if (Kp != 0D) {
         output.WriteRawTag(81);
@@ -360,9 +378,13 @@ namespace Tango.PMR.Jobs {
         output.WriteRawTag(105);
         output.WriteDouble(ChangeSlope);
       }
-      if (HightimeoutmSec != 0D) {
+      if (HighLengthuSec != 0D) {
         output.WriteRawTag(113);
-        output.WriteDouble(HightimeoutmSec);
+        output.WriteDouble(HighLengthuSec);
+      }
+      if (SpeedKeeper != false) {
+        output.WriteRawTag(120);
+        output.WriteBool(SpeedKeeper);
       }
     }
 
@@ -372,28 +394,28 @@ namespace Tango.PMR.Jobs {
       if (Id != 0) {
         size += 1 + pb::CodedOutputStream.ComputeEnumSize((int) Id);
       }
-      if (Minfreq != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(Minfreq);
+      if (MinFreq != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MinFreq);
       }
-      if (Maxfreq != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(Maxfreq);
+      if (MaxFreq != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MaxFreq);
       }
-      if (Minmicrostep != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(Minmicrostep);
+      if (MinmicroStep != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MinmicroStep);
       }
-      if (Maxmicrostep != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(Maxmicrostep);
+      if (MaxmicroStep != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MaxmicroStep);
       }
-      if (Linearratio != 0D) {
+      if (LinearRatio != 0D) {
         size += 1 + 8;
       }
-      if (Medianposition != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(Medianposition);
+      if (MedianPosition != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MedianPosition);
       }
-      if (Correctiongain != 0D) {
+      if (CorrectionGain != 0D) {
         size += 1 + 8;
       }
-      if (Ration2Dryerspd != 0D) {
+      if (Ratio2DryerSpeed != 0D) {
         size += 1 + 8;
       }
       if (Kp != 0D) {
@@ -408,9 +430,12 @@ namespace Tango.PMR.Jobs {
       if (ChangeSlope != 0D) {
         size += 1 + 8;
       }
-      if (HightimeoutmSec != 0D) {
+      if (HighLengthuSec != 0D) {
         size += 1 + 8;
       }
+      if (SpeedKeeper != false) {
+        size += 1 + 1;
+      }
       return size;
     }
 
@@ -422,29 +447,29 @@ namespace Tango.PMR.Jobs {
       if (other.Id != 0) {
         Id = other.Id;
       }
-      if (other.Minfreq != 0) {
-        Minfreq = other.Minfreq;
+      if (other.MinFreq != 0) {
+        MinFreq = other.MinFreq;
       }
-      if (other.Maxfreq != 0) {
-        Maxfreq = other.Maxfreq;
+      if (other.MaxFreq != 0) {
+        MaxFreq = other.MaxFreq;
       }
-      if (other.Minmicrostep != 0) {
-        Minmicrostep = other.Minmicrostep;
+      if (other.MinmicroStep != 0) {
+        MinmicroStep = other.MinmicroStep;
       }
-      if (other.Maxmicrostep != 0) {
-        Maxmicrostep = other.Maxmicrostep;
+      if (other.MaxmicroStep != 0) {
+        MaxmicroStep = other.MaxmicroStep;
       }
-      if (other.Linearratio != 0D) {
-        Linearratio = other.Linearratio;
+      if (other.LinearRatio != 0D) {
+        LinearRatio = other.LinearRatio;
       }
-      if (other.Medianposition != 0) {
-        Medianposition = other.Medianposition;
+      if (other.MedianPosition != 0) {
+        MedianPosition = other.MedianPosition;
       }
-      if (other.Correctiongain != 0D) {
-        Correctiongain = other.Correctiongain;
+      if (other.CorrectionGain != 0D) {
+        CorrectionGain = other.CorrectionGain;
       }
-      if (other.Ration2Dryerspd != 0D) {
-        Ration2Dryerspd = other.Ration2Dryerspd;
+      if (other.Ratio2DryerSpeed != 0D) {
+        Ratio2DryerSpeed = other.Ratio2DryerSpeed;
       }
       if (other.Kp != 0D) {
         Kp = other.Kp;
@@ -458,8 +483,11 @@ namespace Tango.PMR.Jobs {
       if (other.ChangeSlope != 0D) {
         ChangeSlope = other.ChangeSlope;
       }
-      if (other.HightimeoutmSec != 0D) {
-        HightimeoutmSec = other.HightimeoutmSec;
+      if (other.HighLengthuSec != 0D) {
+        HighLengthuSec = other.HighLengthuSec;
+      }
+      if (other.SpeedKeeper != false) {
+        SpeedKeeper = other.SpeedKeeper;
       }
     }
 
@@ -472,39 +500,39 @@ namespace Tango.PMR.Jobs {
             input.SkipLastField();
             break;
           case 8: {
-            id_ = (global::Tango.PMR.Jobs.MotorId) input.ReadEnum();
+            id_ = (global::Tango.PMR.Hardware.MotorId) input.ReadEnum();
             break;
           }
           case 16: {
-            Minfreq = input.ReadUInt32();
+            MinFreq = input.ReadUInt32();
             break;
           }
           case 24: {
-            Maxfreq = input.ReadUInt32();
+            MaxFreq = input.ReadUInt32();
             break;
           }
           case 32: {
-            Minmicrostep = input.ReadUInt32();
+            MinmicroStep = input.ReadUInt32();
             break;
           }
           case 40: {
-            Maxmicrostep = input.ReadUInt32();
+            MaxmicroStep = input.ReadUInt32();
             break;
           }
           case 49: {
-            Linearratio = input.ReadDouble();
+            LinearRatio = input.ReadDouble();
             break;
           }
           case 56: {
-            Medianposition = input.ReadUInt32();
+            MedianPosition = input.ReadUInt32();
             break;
           }
           case 65: {
-            Correctiongain = input.ReadDouble();
+            CorrectionGain = input.ReadDouble();
             break;
           }
           case 73: {
-            Ration2Dryerspd = input.ReadDouble();
+            Ratio2DryerSpeed = input.ReadDouble();
             break;
           }
           case 81: {
@@ -524,7 +552,11 @@ namespace Tango.PMR.Jobs {
             break;
           }
           case 113: {
-            HightimeoutmSec = input.ReadDouble();
+            HighLengthuSec = input.ReadDouble();
+            break;
+          }
+          case 120: {
+            SpeedKeeper = input.ReadBool();
             break;
           }
         }
diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/PIDCluster.cs b/Software/Visual_Studio/Tango.PMR/Hardware/PIDCluster.cs
new file mode 100644
index 000000000..3d0c07360
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Hardware/PIDCluster.cs
@@ -0,0 +1,303 @@
+// 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
new file mode 100644
index 000000000..053963484
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Hardware/PIDControl.cs
@@ -0,0 +1,616 @@
+// 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
diff --git a/Software/Visual_Studio/Tango.PMR/Jobs/Dispenser.cs b/Software/Visual_Studio/Tango.PMR/Jobs/Dispenser.cs
deleted file mode 100644
index 9a196728b..000000000
--- a/Software/Visual_Studio/Tango.PMR/Jobs/Dispenser.cs
+++ /dev/null
@@ -1,327 +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.Jobs {
-
-  /// <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(
-            "Cg9kaXNwZW5zZXIucHJvdG8SDlRhbmdvLlBNUi5Kb2JzIh4KDGdyYWRpZW50",
-            "RmxvdxIOCgZOTGZsb3cYASABKAEiWQoIRGlzcGVuc2USCgoCSWQYASABKAUS",
-            "EQoJc3RhcnRGbG93GAIgASgBEi4KCGdyYWRpZW50GAMgAygLMhwuVGFuZ28u",
-            "UE1SLkpvYnMuZ3JhZGllbnRGbG93QhoKGGNvbS50d2luZS50YW5nby5wbXIu",
-            "am9ic2IGcHJvdG8z"));
-      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
-          new pbr::FileDescriptor[] { },
-          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
-            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Jobs.gradientFlow), global::Tango.PMR.Jobs.gradientFlow.Parser, new[]{ "NLflow" }, null, null, null),
-            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Jobs.Dispense), global::Tango.PMR.Jobs.Dispense.Parser, new[]{ "Id", "StartFlow", "Gradient" }, null, null, null)
-          }));
-    }
-    #endregion
-
-  }
-  #region Messages
-  public sealed partial class gradientFlow : pb::IMessage<gradientFlow> {
-    private static readonly pb::MessageParser<gradientFlow> _parser = new pb::MessageParser<gradientFlow>(() => new gradientFlow());
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public static pb::MessageParser<gradientFlow> Parser { get { return _parser; } }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public static pbr::MessageDescriptor Descriptor {
-      get { return global::Tango.PMR.Jobs.DispenserReflection.Descriptor.MessageTypes[0]; }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    pbr::MessageDescriptor pb::IMessage.Descriptor {
-      get { return Descriptor; }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public gradientFlow() {
-      OnConstruction();
-    }
-
-    partial void OnConstruction();
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public gradientFlow(gradientFlow other) : this() {
-      nLflow_ = other.nLflow_;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public gradientFlow Clone() {
-      return new gradientFlow(this);
-    }
-
-    /// <summary>Field number for the "NLflow" field.</summary>
-    public const int NLflowFieldNumber = 1;
-    private double nLflow_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double NLflow {
-      get { return nLflow_; }
-      set {
-        nLflow_ = value;
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override bool Equals(object other) {
-      return Equals(other as gradientFlow);
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public bool Equals(gradientFlow other) {
-      if (ReferenceEquals(other, null)) {
-        return false;
-      }
-      if (ReferenceEquals(other, this)) {
-        return true;
-      }
-      if (NLflow != other.NLflow) return false;
-      return true;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override int GetHashCode() {
-      int hash = 1;
-      if (NLflow != 0D) hash ^= NLflow.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 (NLflow != 0D) {
-        output.WriteRawTag(9);
-        output.WriteDouble(NLflow);
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int CalculateSize() {
-      int size = 0;
-      if (NLflow != 0D) {
-        size += 1 + 8;
-      }
-      return size;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void MergeFrom(gradientFlow other) {
-      if (other == null) {
-        return;
-      }
-      if (other.NLflow != 0D) {
-        NLflow = other.NLflow;
-      }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void MergeFrom(pb::CodedInputStream input) {
-      uint tag;
-      while ((tag = input.ReadTag()) != 0) {
-        switch(tag) {
-          default:
-            input.SkipLastField();
-            break;
-          case 9: {
-            NLflow = input.ReadDouble();
-            break;
-          }
-        }
-      }
-    }
-
-  }
-
-  public sealed partial class Dispense : pb::IMessage<Dispense> {
-    private static readonly pb::MessageParser<Dispense> _parser = new pb::MessageParser<Dispense>(() => new Dispense());
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public static pb::MessageParser<Dispense> Parser { get { return _parser; } }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public static pbr::MessageDescriptor Descriptor {
-      get { return global::Tango.PMR.Jobs.DispenserReflection.Descriptor.MessageTypes[1]; }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    pbr::MessageDescriptor pb::IMessage.Descriptor {
-      get { return Descriptor; }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public Dispense() {
-      OnConstruction();
-    }
-
-    partial void OnConstruction();
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public Dispense(Dispense other) : this() {
-      id_ = other.id_;
-      startFlow_ = other.startFlow_;
-      gradient_ = other.gradient_.Clone();
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public Dispense Clone() {
-      return new Dispense(this);
-    }
-
-    /// <summary>Field number for the "Id" field.</summary>
-    public const int IdFieldNumber = 1;
-    private int id_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int Id {
-      get { return id_; }
-      set {
-        id_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "startFlow" field.</summary>
-    public const int StartFlowFieldNumber = 2;
-    private double startFlow_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double StartFlow {
-      get { return startFlow_; }
-      set {
-        startFlow_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "gradient" field.</summary>
-    public const int GradientFieldNumber = 3;
-    private static readonly pb::FieldCodec<global::Tango.PMR.Jobs.gradientFlow> _repeated_gradient_codec
-        = pb::FieldCodec.ForMessage(26, global::Tango.PMR.Jobs.gradientFlow.Parser);
-    private readonly pbc::RepeatedField<global::Tango.PMR.Jobs.gradientFlow> gradient_ = new pbc::RepeatedField<global::Tango.PMR.Jobs.gradientFlow>();
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public pbc::RepeatedField<global::Tango.PMR.Jobs.gradientFlow> Gradient {
-      get { return gradient_; }
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override bool Equals(object other) {
-      return Equals(other as Dispense);
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public bool Equals(Dispense other) {
-      if (ReferenceEquals(other, null)) {
-        return false;
-      }
-      if (ReferenceEquals(other, this)) {
-        return true;
-      }
-      if (Id != other.Id) return false;
-      if (StartFlow != other.StartFlow) return false;
-      if(!gradient_.Equals(other.gradient_)) return false;
-      return true;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public override int GetHashCode() {
-      int hash = 1;
-      if (Id != 0) hash ^= Id.GetHashCode();
-      if (StartFlow != 0D) hash ^= StartFlow.GetHashCode();
-      hash ^= gradient_.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.WriteInt32(Id);
-      }
-      if (StartFlow != 0D) {
-        output.WriteRawTag(17);
-        output.WriteDouble(StartFlow);
-      }
-      gradient_.WriteTo(output, _repeated_gradient_codec);
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int CalculateSize() {
-      int size = 0;
-      if (Id != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Id);
-      }
-      if (StartFlow != 0D) {
-        size += 1 + 8;
-      }
-      size += gradient_.CalculateSize(_repeated_gradient_codec);
-      return size;
-    }
-
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public void MergeFrom(Dispense other) {
-      if (other == null) {
-        return;
-      }
-      if (other.Id != 0) {
-        Id = other.Id;
-      }
-      if (other.StartFlow != 0D) {
-        StartFlow = other.StartFlow;
-      }
-      gradient_.Add(other.gradient_);
-    }
-
-    [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 = input.ReadInt32();
-            break;
-          }
-          case 17: {
-            StartFlow = input.ReadDouble();
-            break;
-          }
-          case 26: {
-            gradient_.AddEntriesFrom(input, _repeated_gradient_codec);
-            break;
-          }
-        }
-      }
-    }
-
-  }
-
-  #endregion
-
-}
-
-#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Jobs/Job.cs b/Software/Visual_Studio/Tango.PMR/Jobs/Job.cs
index 82b6160ba..abea1cb98 100644
--- a/Software/Visual_Studio/Tango.PMR/Jobs/Job.cs
+++ b/Software/Visual_Studio/Tango.PMR/Jobs/Job.cs
@@ -22,19 +22,16 @@ namespace Tango.PMR.Jobs {
     static JobReflection() {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
-            "CglKb2IucHJvdG8SDlRhbmdvLlBNUi5Kb2JzGg1TZWdtZW50LnByb3RvGgtt",
-            "b3Rvci5wcm90byKyAgoDSm9iEgwKBE5hbWUYASABKAkSFgoOaW50ZXJTZWdF",
-            "bmFibGUYAiABKAgSHQoVZGlzdGFuc2VUb1Nwb29sRW5hYmxlGAMgASgIEh0K",
-            "FWRpc3RhbmNlVG9TcG9vbExlbmd0aBgEIAEoDRIZChFzdGFydE9mZnNldFB1",
-            "bHNlcxgFIAEoDRIYChBzcG9vbEJhY2tpbmdSYXRlGAYgASgNEhsKE3NlZ21l",
-            "bnRPZmZzZXRQdWxzZXMYByABKA0SHQoVbWlsaW1ldGVyc1BlclJvdGF0aW9u",
-            "GAggASgNEikKCFNlZ21lbnRzGAkgAygLMhcuVGFuZ28uUE1SLkpvYnMuU2Vn",
-            "bWVudBIrCgZNb3RvcnMYCiADKAsyGy5UYW5nby5QTVIuSm9icy5Nb3RvckNv",
-            "bmZpZ0IaChhjb20udHdpbmUudGFuZ28ucG1yLmpvYnNiBnByb3RvMw=="));
+            "CglKb2IucHJvdG8SDlRhbmdvLlBNUi5Kb2JzGg1TZWdtZW50LnByb3RvIpQB",
+            "CgNKb2ISDAoETmFtZRgBIAEoCRIWCg5pbnRlclNlZ0VuYWJsZRgCIAEoCBId",
+            "ChVkaXN0YW5zZVRvU3Bvb2xFbmFibGUYAyABKAgSHQoVZGlzdGFuY2VUb1Nw",
+            "b29sTGVuZ3RoGAQgASgNEikKCFNlZ21lbnRzGAkgAygLMhcuVGFuZ28uUE1S",
+            "LkpvYnMuU2VnbWVudEIaChhjb20udHdpbmUudGFuZ28ucG1yLmpvYnNiBnBy",
+            "b3RvMw=="));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
-          new pbr::FileDescriptor[] { global::Tango.PMR.Jobs.SegmentReflection.Descriptor, global::Tango.PMR.Jobs.MotorReflection.Descriptor, },
+          new pbr::FileDescriptor[] { global::Tango.PMR.Jobs.SegmentReflection.Descriptor, },
           new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
-            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Jobs.Job), global::Tango.PMR.Jobs.Job.Parser, new[]{ "Name", "InterSegEnable", "DistanseToSpoolEnable", "DistanceToSpoolLength", "StartOffsetPulses", "SpoolBackingRate", "SegmentOffsetPulses", "MilimetersPerRotation", "Segments", "Motors" }, null, null, null)
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Jobs.Job), global::Tango.PMR.Jobs.Job.Parser, new[]{ "Name", "InterSegEnable", "DistanseToSpoolEnable", "DistanceToSpoolLength", "Segments" }, null, null, null)
           }));
     }
     #endregion
@@ -69,12 +66,7 @@ namespace Tango.PMR.Jobs {
       interSegEnable_ = other.interSegEnable_;
       distanseToSpoolEnable_ = other.distanseToSpoolEnable_;
       distanceToSpoolLength_ = other.distanceToSpoolLength_;
-      startOffsetPulses_ = other.startOffsetPulses_;
-      spoolBackingRate_ = other.spoolBackingRate_;
-      segmentOffsetPulses_ = other.segmentOffsetPulses_;
-      milimetersPerRotation_ = other.milimetersPerRotation_;
       segments_ = other.segments_.Clone();
-      motors_ = other.motors_.Clone();
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -135,74 +127,20 @@ namespace Tango.PMR.Jobs {
       }
     }
 
-    /// <summary>Field number for the "startOffsetPulses" field.</summary>
-    public const int StartOffsetPulsesFieldNumber = 5;
-    private uint startOffsetPulses_;
-    /// <summary>
-    ///repeated temperatureSensorsSetting[Dryer,Head, Mixer]; //temp sensor wanted temperaure in celzius
-    ///SCREW:
-    /// </summary>
-    [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 = 6;
-    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 = 7;
-    private uint segmentOffsetPulses_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public uint SegmentOffsetPulses {
-      get { return segmentOffsetPulses_; }
-      set {
-        segmentOffsetPulses_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "milimetersPerRotation" field.</summary>
-    public const int MilimetersPerRotationFieldNumber = 8;
-    private uint milimetersPerRotation_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public uint MilimetersPerRotation {
-      get { return milimetersPerRotation_; }
-      set {
-        milimetersPerRotation_ = value;
-      }
-    }
-
     /// <summary>Field number for the "Segments" field.</summary>
     public const int SegmentsFieldNumber = 9;
     private static readonly pb::FieldCodec<global::Tango.PMR.Jobs.Segment> _repeated_segments_codec
         = pb::FieldCodec.ForMessage(74, global::Tango.PMR.Jobs.Segment.Parser);
     private readonly pbc::RepeatedField<global::Tango.PMR.Jobs.Segment> segments_ = new pbc::RepeatedField<global::Tango.PMR.Jobs.Segment>();
+    /// <summary>
+    ///repeated temperatureSensorsSetting[Dryer,Head, Mixer]; //temp sensor wanted temperaure in celzius
+    ///SCREW:
+    /// </summary>
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public pbc::RepeatedField<global::Tango.PMR.Jobs.Segment> Segments {
       get { return segments_; }
     }
 
-    /// <summary>Field number for the "Motors" field.</summary>
-    public const int MotorsFieldNumber = 10;
-    private static readonly pb::FieldCodec<global::Tango.PMR.Jobs.MotorConfig> _repeated_motors_codec
-        = pb::FieldCodec.ForMessage(82, global::Tango.PMR.Jobs.MotorConfig.Parser);
-    private readonly pbc::RepeatedField<global::Tango.PMR.Jobs.MotorConfig> motors_ = new pbc::RepeatedField<global::Tango.PMR.Jobs.MotorConfig>();
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public pbc::RepeatedField<global::Tango.PMR.Jobs.MotorConfig> Motors {
-      get { return motors_; }
-    }
-
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public override bool Equals(object other) {
       return Equals(other as Job);
@@ -220,12 +158,7 @@ namespace Tango.PMR.Jobs {
       if (InterSegEnable != other.InterSegEnable) return false;
       if (DistanseToSpoolEnable != other.DistanseToSpoolEnable) return false;
       if (DistanceToSpoolLength != other.DistanceToSpoolLength) return false;
-      if (StartOffsetPulses != other.StartOffsetPulses) return false;
-      if (SpoolBackingRate != other.SpoolBackingRate) return false;
-      if (SegmentOffsetPulses != other.SegmentOffsetPulses) return false;
-      if (MilimetersPerRotation != other.MilimetersPerRotation) return false;
       if(!segments_.Equals(other.segments_)) return false;
-      if(!motors_.Equals(other.motors_)) return false;
       return true;
     }
 
@@ -236,12 +169,7 @@ namespace Tango.PMR.Jobs {
       if (InterSegEnable != false) hash ^= InterSegEnable.GetHashCode();
       if (DistanseToSpoolEnable != false) hash ^= DistanseToSpoolEnable.GetHashCode();
       if (DistanceToSpoolLength != 0) hash ^= DistanceToSpoolLength.GetHashCode();
-      if (StartOffsetPulses != 0) hash ^= StartOffsetPulses.GetHashCode();
-      if (SpoolBackingRate != 0) hash ^= SpoolBackingRate.GetHashCode();
-      if (SegmentOffsetPulses != 0) hash ^= SegmentOffsetPulses.GetHashCode();
-      if (MilimetersPerRotation != 0) hash ^= MilimetersPerRotation.GetHashCode();
       hash ^= segments_.GetHashCode();
-      hash ^= motors_.GetHashCode();
       return hash;
     }
 
@@ -268,24 +196,7 @@ namespace Tango.PMR.Jobs {
         output.WriteRawTag(32);
         output.WriteUInt32(DistanceToSpoolLength);
       }
-      if (StartOffsetPulses != 0) {
-        output.WriteRawTag(40);
-        output.WriteUInt32(StartOffsetPulses);
-      }
-      if (SpoolBackingRate != 0) {
-        output.WriteRawTag(48);
-        output.WriteUInt32(SpoolBackingRate);
-      }
-      if (SegmentOffsetPulses != 0) {
-        output.WriteRawTag(56);
-        output.WriteUInt32(SegmentOffsetPulses);
-      }
-      if (MilimetersPerRotation != 0) {
-        output.WriteRawTag(64);
-        output.WriteUInt32(MilimetersPerRotation);
-      }
       segments_.WriteTo(output, _repeated_segments_codec);
-      motors_.WriteTo(output, _repeated_motors_codec);
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -303,20 +214,7 @@ namespace Tango.PMR.Jobs {
       if (DistanceToSpoolLength != 0) {
         size += 1 + pb::CodedOutputStream.ComputeUInt32Size(DistanceToSpoolLength);
       }
-      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 (MilimetersPerRotation != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MilimetersPerRotation);
-      }
       size += segments_.CalculateSize(_repeated_segments_codec);
-      size += motors_.CalculateSize(_repeated_motors_codec);
       return size;
     }
 
@@ -337,20 +235,7 @@ namespace Tango.PMR.Jobs {
       if (other.DistanceToSpoolLength != 0) {
         DistanceToSpoolLength = other.DistanceToSpoolLength;
       }
-      if (other.StartOffsetPulses != 0) {
-        StartOffsetPulses = other.StartOffsetPulses;
-      }
-      if (other.SpoolBackingRate != 0) {
-        SpoolBackingRate = other.SpoolBackingRate;
-      }
-      if (other.SegmentOffsetPulses != 0) {
-        SegmentOffsetPulses = other.SegmentOffsetPulses;
-      }
-      if (other.MilimetersPerRotation != 0) {
-        MilimetersPerRotation = other.MilimetersPerRotation;
-      }
       segments_.Add(other.segments_);
-      motors_.Add(other.motors_);
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -377,30 +262,10 @@ namespace Tango.PMR.Jobs {
             DistanceToSpoolLength = input.ReadUInt32();
             break;
           }
-          case 40: {
-            StartOffsetPulses = input.ReadUInt32();
-            break;
-          }
-          case 48: {
-            SpoolBackingRate = input.ReadUInt32();
-            break;
-          }
-          case 56: {
-            SegmentOffsetPulses = input.ReadUInt32();
-            break;
-          }
-          case 64: {
-            MilimetersPerRotation = input.ReadUInt32();
-            break;
-          }
           case 74: {
             segments_.AddEntriesFrom(input, _repeated_segments_codec);
             break;
           }
-          case 82: {
-            motors_.AddEntriesFrom(input, _repeated_motors_codec);
-            break;
-          }
         }
       }
     }
diff --git a/Software/Visual_Studio/Tango.PMR/Jobs/Segment.cs b/Software/Visual_Studio/Tango.PMR/Jobs/Segment.cs
index d990ac5d1..440650812 100644
--- a/Software/Visual_Studio/Tango.PMR/Jobs/Segment.cs
+++ b/Software/Visual_Studio/Tango.PMR/Jobs/Segment.cs
@@ -22,15 +22,14 @@ namespace Tango.PMR.Jobs {
     static SegmentReflection() {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
-            "Cg1TZWdtZW50LnByb3RvEg5UYW5nby5QTVIuSm9icxoJUkdCLnByb3RvGg9k",
-            "aXNwZW5zZXIucHJvdG8iegoHU2VnbWVudBIMCgROYW1lGAEgASgJEg4KBkxl",
-            "bmd0aBgCIAEoBRIkCgVDb2xvchgDIAEoCzIVLlRhbmdvLlBNUi5Db21tb24u",
-            "UkdCEisKCWRpc3BlbnNlchgEIAMoCzIYLlRhbmdvLlBNUi5Kb2JzLkRpc3Bl",
-            "bnNlQhoKGGNvbS50d2luZS50YW5nby5wbXIuam9ic2IGcHJvdG8z"));
+            "Cg1TZWdtZW50LnByb3RvEg5UYW5nby5QTVIuSm9icxoJUkdCLnByb3RvIk0K",
+            "B1NlZ21lbnQSDAoETmFtZRgBIAEoCRIOCgZMZW5ndGgYAiABKAUSJAoFQ29s",
+            "b3IYAyABKAsyFS5UYW5nby5QTVIuQ29tbW9uLlJHQkIaChhjb20udHdpbmUu",
+            "dGFuZ28ucG1yLmpvYnNiBnByb3RvMw=="));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
-          new pbr::FileDescriptor[] { global::Tango.PMR.Common.RGBReflection.Descriptor, global::Tango.PMR.Jobs.DispenserReflection.Descriptor, },
+          new pbr::FileDescriptor[] { global::Tango.PMR.Common.RGBReflection.Descriptor, },
           new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
-            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Jobs.Segment), global::Tango.PMR.Jobs.Segment.Parser, new[]{ "Name", "Length", "Color", "Dispenser" }, null, null, null)
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Jobs.Segment), global::Tango.PMR.Jobs.Segment.Parser, new[]{ "Name", "Length", "Color" }, null, null, null)
           }));
     }
     #endregion
@@ -64,7 +63,6 @@ namespace Tango.PMR.Jobs {
       name_ = other.name_;
       length_ = other.length_;
       Color = other.color_ != null ? other.Color.Clone() : null;
-      dispenser_ = other.dispenser_.Clone();
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -105,16 +103,6 @@ namespace Tango.PMR.Jobs {
       }
     }
 
-    /// <summary>Field number for the "dispenser" field.</summary>
-    public const int DispenserFieldNumber = 4;
-    private static readonly pb::FieldCodec<global::Tango.PMR.Jobs.Dispense> _repeated_dispenser_codec
-        = pb::FieldCodec.ForMessage(34, global::Tango.PMR.Jobs.Dispense.Parser);
-    private readonly pbc::RepeatedField<global::Tango.PMR.Jobs.Dispense> dispenser_ = new pbc::RepeatedField<global::Tango.PMR.Jobs.Dispense>();
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public pbc::RepeatedField<global::Tango.PMR.Jobs.Dispense> Dispenser {
-      get { return dispenser_; }
-    }
-
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public override bool Equals(object other) {
       return Equals(other as Segment);
@@ -131,7 +119,6 @@ namespace Tango.PMR.Jobs {
       if (Name != other.Name) return false;
       if (Length != other.Length) return false;
       if (!object.Equals(Color, other.Color)) return false;
-      if(!dispenser_.Equals(other.dispenser_)) return false;
       return true;
     }
 
@@ -141,7 +128,6 @@ namespace Tango.PMR.Jobs {
       if (Name.Length != 0) hash ^= Name.GetHashCode();
       if (Length != 0) hash ^= Length.GetHashCode();
       if (color_ != null) hash ^= Color.GetHashCode();
-      hash ^= dispenser_.GetHashCode();
       return hash;
     }
 
@@ -164,7 +150,6 @@ namespace Tango.PMR.Jobs {
         output.WriteRawTag(26);
         output.WriteMessage(Color);
       }
-      dispenser_.WriteTo(output, _repeated_dispenser_codec);
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -179,7 +164,6 @@ namespace Tango.PMR.Jobs {
       if (color_ != null) {
         size += 1 + pb::CodedOutputStream.ComputeMessageSize(Color);
       }
-      size += dispenser_.CalculateSize(_repeated_dispenser_codec);
       return size;
     }
 
@@ -200,7 +184,6 @@ namespace Tango.PMR.Jobs {
         }
         Color.MergeFrom(other.Color);
       }
-      dispenser_.Add(other.dispenser_);
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -226,10 +209,6 @@ namespace Tango.PMR.Jobs {
             input.ReadMessage(color_);
             break;
           }
-          case 34: {
-            dispenser_.AddEntriesFrom(input, _repeated_dispenser_codec);
-            break;
-          }
         }
       }
     }
diff --git a/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj b/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj
index 2d50a56fc..4cf340cca 100644
--- a/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj
+++ b/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj
@@ -62,8 +62,14 @@
     <Compile Include="NativePMR.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
     <Compile Include="TangoMessage.cs" />
-    <Compile Include="Common\*.cs" />
-    <Compile Include="Jobs\*.cs" />
+    <Compile Include="Common\ErrorCode.cs" />
+    <Compile Include="Common\KeepAliveRequest.cs" />
+    <Compile Include="Common\KeepAliveResponse.cs" />
+    <Compile Include="Common\MessageContainer.cs" />
+    <Compile Include="Common\MessageType.cs" />
+    <Compile Include="Common\RGB.cs" />
+    <Compile Include="Jobs\Job.cs" />
+    <Compile Include="Jobs\Segment.cs" />
     <Compile Include="Stubs\*.cs" />
     <Compile Include="Synchronization\*.cs" />
   </ItemGroup>