Update dancer config

7 files changed, 1238 insertions, 204 deletions

diff --git a/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs b/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs
index 0c46ea0d9..ca6fb0b75 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(
-            "ChFNZXNzYWdlVHlwZS5wcm90bxIQVGFuZ28uUE1SLkNvbW1vbirqGAoLTWVz",
+            "ChFNZXNzYWdlVHlwZS5wcm90bxIQVGFuZ28uUE1SLkNvbW1vbirqGQoLTWVz",
             "c2FnZVR5cGUSCAoETm9uZRAAEhQKEENhbGN1bGF0ZVJlcXVlc3QQAxIVChFD",
             "YWxjdWxhdGVSZXNwb25zZRAEEhMKD1Byb2dyZXNzUmVxdWVzdBAFEhQKEFBy",
             "b2dyZXNzUmVzcG9uc2UQBhIcChhTdHViQ2FydHJpZGdlUmVhZFJlcXVlc3QQ",
@@ -63,38 +63,41 @@ namespace Tango.PMR.Common {
             "aW5nVGVzdFJlcXVlc3QQPRIbChdTdHViSGVhdGluZ1Rlc3RSZXNwb25zZRA+",
             "Eh4KGlN0dWJIZWF0aW5nVGVzdFBvbGxSZXF1ZXN0ED8SHwobU3R1YkhlYXRp",
             "bmdUZXN0UG9sbFJlc3BvbnNlEEASFAoQU3R1Yk1vdG9yUmVxdWVzdBBBEhUK",
-            "EVN0dWJNb3RvclJlc3BvbnNlEEISJQogRXh0ZXJuYWxCcmlkZ2VVZHBEaXNj",
-            "b3ZlcnlQYWNrZXQQ6AcSHwoaRXh0ZXJuYWxDbGllbnRMb2dpblJlcXVlc3QQ",
-            "6QcSIAobRXh0ZXJuYWxDbGllbnRMb2dpblJlc3BvbnNlEOoHEiEKHERpcmVj",
-            "dFN5bmNocm9uaXphdGlvblJlcXVlc3QQ6wcSIgodRGlyZWN0U3luY2hyb25p",
-            "emF0aW9uUmVzcG9uc2UQ7AcSHAoXT3ZlcnJpZGVEYXRhQmFzZVJlcXVlc3QQ",
-            "7QcSHQoYT3ZlcnJpZGVEYXRhQmFzZVJlc3BvbnNlEO4HEhUKEEtlZXBBbGl2",
-            "ZVJlcXVlc3QQ7wcSFgoRS2VlcEFsaXZlUmVzcG9uc2UQ8AcSGwoWUHVzaERp",
-            "YWdub3N0aWNzUmVxdWVzdBDQDxIcChdQdXNoRGlhZ25vc3RpY3NSZXNwb25z",
-            "ZRDRDxIcChdNb3RvckFib3J0SG9taW5nUmVxdWVzdBDSDxIdChhNb3RvckFi",
-            "b3J0SG9taW5nUmVzcG9uc2UQ0w8SFwoSTW90b3JIb21pbmdSZXF1ZXN0ENQP",
-            "EhgKE01vdG9ySG9taW5nUmVzcG9uc2UQ1Q8SGAoTTW90b3JKb2dnaW5nUmVx",
-            "dWVzdBDWDxIZChRNb3RvckpvZ2dpbmdSZXNwb25zZRDXDxIdChhNb3RvckFi",
-            "b3J0Sm9nZ2luZ1JlcXVlc3QQ2A8SHgoZTW90b3JBYm9ydEpvZ2dpbmdSZXNw",
-            "b25zZRDZDxIgChtEaXNwZW5zZXJBYm9ydEhvbWluZ1JlcXVlc3QQ2g8SIQoc",
-            "RGlzcGVuc2VyQWJvcnRIb21pbmdSZXNwb25zZRDbDxIbChZEaXNwZW5zZXJI",
-            "b21pbmdSZXF1ZXN0ENwPEhwKF0Rpc3BlbnNlckhvbWluZ1Jlc3BvbnNlEN0P",
-            "EhwKF0Rpc3BlbnNlckpvZ2dpbmdSZXF1ZXN0EN4PEh0KGERpc3BlbnNlckpv",
-            "Z2dpbmdSZXNwb25zZRDfDxIhChxEaXNwZW5zZXJBYm9ydEpvZ2dpbmdSZXF1",
-            "ZXN0EOAPEiIKHURpc3BlbnNlckFib3J0Sm9nZ2luZ1Jlc3BvbnNlEOEPEhkK",
-            "FFNldERpZ2l0YWxPdXRSZXF1ZXN0EOIPEhoKFVNldERpZ2l0YWxPdXRSZXNw",
-            "b25zZRDjDxIZChRUaHJlYWRKb2dnaW5nUmVxdWVzdBDkDxIaChVUaHJlYWRK",
-            "b2dnaW5nUmVzcG9uc2UQ5Q8SHgoZVGhyZWFkQWJvcnRKb2dnaW5nUmVxdWVz",
-            "dBDmDxIfChpUaHJlYWRBYm9ydEpvZ2dpbmdSZXNwb25zZRDnDxIdChhTZXRD",
-            "b21wb25lbnRWYWx1ZVJlcXVlc3QQ6A8SHgoZU2V0Q29tcG9uZW50VmFsdWVS",
-            "ZXNwb25zZRDpDxIPCgpKb2JSZXF1ZXN0ELgXEhAKC0pvYlJlc3BvbnNlELkX",
-            "EhQKD0Fib3J0Sm9iUmVxdWVzdBC6FxIVChBBYm9ydEpvYlJlc3BvbnNlELsX",
-            "EiMKHlVwbG9hZFByb2Nlc3NQYXJhbWV0ZXJzUmVxdWVzdBC8FxIkCh9VcGxv",
-            "YWRQcm9jZXNzUGFyYW1ldGVyc1Jlc3BvbnNlEL0XEhQKD0RlYnVnTG9nUmVx",
-            "dWVzdBCgHxIVChBEZWJ1Z0xvZ1Jlc3BvbnNlEKEfEicKIlVwbG9hZEhhcmR3",
-            "YXJlQ29uZmlndXJhdGlvblJlcXVlc3QQiCcSKAojVXBsb2FkSGFyZHdhcmVD",
-            "b25maWd1cmF0aW9uUmVzcG9uc2UQiSdCHAoaY29tLnR3aW5lLnRhbmdvLnBt",
-            "ci5jb21tb25iBnByb3RvMw=="));
+            "EVN0dWJNb3RvclJlc3BvbnNlEEISHAoYU3R1Yk1vdG9ySG9tZU1hcmtSZXF1",
+            "ZXN0EEMSHQoZU3R1Yk1vdG9ySG9tZU1hcmtSZXNwb25zZRBEEh8KG1N0dWJN",
+            "b3RvclJ1blN0ZXBUaWNrUmVxdWVzdBBFEiAKHFN0dWJNb3RvclJ1blN0ZXBU",
+            "aWNrUmVzcG9uc2UQRhIlCiBFeHRlcm5hbEJyaWRnZVVkcERpc2NvdmVyeVBh",
+            "Y2tldBDoBxIfChpFeHRlcm5hbENsaWVudExvZ2luUmVxdWVzdBDpBxIgChtF",
+            "eHRlcm5hbENsaWVudExvZ2luUmVzcG9uc2UQ6gcSIQocRGlyZWN0U3luY2hy",
+            "b25pemF0aW9uUmVxdWVzdBDrBxIiCh1EaXJlY3RTeW5jaHJvbml6YXRpb25S",
+            "ZXNwb25zZRDsBxIcChdPdmVycmlkZURhdGFCYXNlUmVxdWVzdBDtBxIdChhP",
+            "dmVycmlkZURhdGFCYXNlUmVzcG9uc2UQ7gcSFQoQS2VlcEFsaXZlUmVxdWVz",
+            "dBDvBxIWChFLZWVwQWxpdmVSZXNwb25zZRDwBxIbChZQdXNoRGlhZ25vc3Rp",
+            "Y3NSZXF1ZXN0ENAPEhwKF1B1c2hEaWFnbm9zdGljc1Jlc3BvbnNlENEPEhwK",
+            "F01vdG9yQWJvcnRIb21pbmdSZXF1ZXN0ENIPEh0KGE1vdG9yQWJvcnRIb21p",
+            "bmdSZXNwb25zZRDTDxIXChJNb3RvckhvbWluZ1JlcXVlc3QQ1A8SGAoTTW90",
+            "b3JIb21pbmdSZXNwb25zZRDVDxIYChNNb3RvckpvZ2dpbmdSZXF1ZXN0ENYP",
+            "EhkKFE1vdG9ySm9nZ2luZ1Jlc3BvbnNlENcPEh0KGE1vdG9yQWJvcnRKb2dn",
+            "aW5nUmVxdWVzdBDYDxIeChlNb3RvckFib3J0Sm9nZ2luZ1Jlc3BvbnNlENkP",
+            "EiAKG0Rpc3BlbnNlckFib3J0SG9taW5nUmVxdWVzdBDaDxIhChxEaXNwZW5z",
+            "ZXJBYm9ydEhvbWluZ1Jlc3BvbnNlENsPEhsKFkRpc3BlbnNlckhvbWluZ1Jl",
+            "cXVlc3QQ3A8SHAoXRGlzcGVuc2VySG9taW5nUmVzcG9uc2UQ3Q8SHAoXRGlz",
+            "cGVuc2VySm9nZ2luZ1JlcXVlc3QQ3g8SHQoYRGlzcGVuc2VySm9nZ2luZ1Jl",
+            "c3BvbnNlEN8PEiEKHERpc3BlbnNlckFib3J0Sm9nZ2luZ1JlcXVlc3QQ4A8S",
+            "IgodRGlzcGVuc2VyQWJvcnRKb2dnaW5nUmVzcG9uc2UQ4Q8SGQoUU2V0RGln",
+            "aXRhbE91dFJlcXVlc3QQ4g8SGgoVU2V0RGlnaXRhbE91dFJlc3BvbnNlEOMP",
+            "EhkKFFRocmVhZEpvZ2dpbmdSZXF1ZXN0EOQPEhoKFVRocmVhZEpvZ2dpbmdS",
+            "ZXNwb25zZRDlDxIeChlUaHJlYWRBYm9ydEpvZ2dpbmdSZXF1ZXN0EOYPEh8K",
+            "GlRocmVhZEFib3J0Sm9nZ2luZ1Jlc3BvbnNlEOcPEh0KGFNldENvbXBvbmVu",
+            "dFZhbHVlUmVxdWVzdBDoDxIeChlTZXRDb21wb25lbnRWYWx1ZVJlc3BvbnNl",
+            "EOkPEg8KCkpvYlJlcXVlc3QQuBcSEAoLSm9iUmVzcG9uc2UQuRcSFAoPQWJv",
+            "cnRKb2JSZXF1ZXN0ELoXEhUKEEFib3J0Sm9iUmVzcG9uc2UQuxcSIwoeVXBs",
+            "b2FkUHJvY2Vzc1BhcmFtZXRlcnNSZXF1ZXN0ELwXEiQKH1VwbG9hZFByb2Nl",
+            "c3NQYXJhbWV0ZXJzUmVzcG9uc2UQvRcSFAoPRGVidWdMb2dSZXF1ZXN0EKAf",
+            "EhUKEERlYnVnTG9nUmVzcG9uc2UQoR8SJwoiVXBsb2FkSGFyZHdhcmVDb25m",
+            "aWd1cmF0aW9uUmVxdWVzdBCIJxIoCiNVcGxvYWRIYXJkd2FyZUNvbmZpZ3Vy",
+            "YXRpb25SZXNwb25zZRCJJ0IcChpjb20udHdpbmUudGFuZ28ucG1yLmNvbW1v",
+            "bmIGcHJvdG8z"));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { },
           new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Common.MessageType), }, null));
@@ -175,6 +178,10 @@ namespace Tango.PMR.Common {
     [pbr::OriginalName("StubHeatingTestPollResponse")] StubHeatingTestPollResponse = 64,
     [pbr::OriginalName("StubMotorRequest")] StubMotorRequest = 65,
     [pbr::OriginalName("StubMotorResponse")] StubMotorResponse = 66,
+    [pbr::OriginalName("StubMotorHomeMarkRequest")] StubMotorHomeMarkRequest = 67,
+    [pbr::OriginalName("StubMotorHomeMarkResponse")] StubMotorHomeMarkResponse = 68,
+    [pbr::OriginalName("StubMotorRunStepTickRequest")] StubMotorRunStepTickRequest = 69,
+    [pbr::OriginalName("StubMotorRunStepTickResponse")] StubMotorRunStepTickResponse = 70,
     /// <summary>
     ///Integration
     /// </summary>
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/EventType.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/EventType.cs
index 7eebf2553..1506aef18 100644
--- a/Software/Visual_Studio/Tango.PMR/Diagnostics/EventType.cs
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/EventType.cs
@@ -22,7 +22,7 @@ namespace Tango.PMR.Diagnostics {
     static EventTypeReflection() {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
-            "Cg9FdmVudFR5cGUucHJvdG8SFVRhbmdvLlBNUi5EaWFnbm9zdGljcyroBgoJ",
+            "Cg9FdmVudFR5cGUucHJvdG8SFVRhbmdvLlBNUi5EaWFnbm9zdGljcyqbBwoJ",
             "RXZlbnRUeXBlEg8KC1RocmVhZEJyZWFrEAASHwobVGhyZWFkVGVuc2lvbkNv",
             "bnRyb2xGYWlsdXJlEAESGgoWRmVlZGVyQ29uZUluc3VmZmljaWFudBACEhYK",
             "EldpbmRlckdlbmVyYWxFcnJvchADEhcKE1dpbmRlckNvbmVOb3RFeGlzdHMQ",
@@ -42,8 +42,9 @@ namespace Tango.PMR.Diagnostics {
             "dXR0b25QcmVzc2VkEBsSFgoSU3lzdGVtR2VuZXJhbEVycm9yEBwSDwoLUmVx",
             "dWVzdFNlbnQQHRIUChBSZXNwb25zZVJlY2VpdmVkEB4SEQoNUmVxdWVzdEZh",
             "aWxlZBAfEhgKFEFwcGxpY2F0aW9uRXhjZXB0aW9uECASGgoWQXBwbGljYXRp",
-            "b25JbmZvcm1hdGlvbhAiQiEKH2NvbS50d2luZS50YW5nby5wbXIuZGlhZ25v",
-            "c3RpY3NiBnByb3RvMw=="));
+            "b25JbmZvcm1hdGlvbhAhEhYKEkFwcGxpY2F0aW9uU3RhcnRlZBAiEhkKFUFw",
+            "cGxpY2F0aW9uVGVybWluYXRlZBAjQiEKH2NvbS50d2luZS50YW5nby5wbXIu",
+            "ZGlhZ25vc3RpY3NiBnByb3RvMw=="));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { },
           new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Diagnostics.EventType), }, null));
@@ -188,7 +189,15 @@ namespace Tango.PMR.Diagnostics {
     /// <summary>
     ///General application event logs (Group = Application, Category = Info, Actions = )
     /// </summary>
-    [pbr::OriginalName("ApplicationInformation")] ApplicationInformation = 34,
+    [pbr::OriginalName("ApplicationInformation")] ApplicationInformation = 33,
+    /// <summary>
+    ///Notifies about application succesfully started (Group = Application, Category = Info, Actions = )
+    /// </summary>
+    [pbr::OriginalName("ApplicationStarted")] ApplicationStarted = 34,
+    /// <summary>
+    ///Notifies about application termination (Group = Application, Category = Info, Actions = )
+    /// </summary>
+    [pbr::OriginalName("ApplicationTerminated")] ApplicationTerminated = 35,
   }
 
   #endregion
diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/HardwarePidControl.cs b/Software/Visual_Studio/Tango.PMR/Hardware/HardwarePidControl.cs
index c59f07cc1..658f4463c 100644
--- a/Software/Visual_Studio/Tango.PMR/Hardware/HardwarePidControl.cs
+++ b/Software/Visual_Studio/Tango.PMR/Hardware/HardwarePidControl.cs
@@ -23,24 +23,26 @@ namespace Tango.PMR.Hardware {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
             "ChhIYXJkd2FyZVBpZENvbnRyb2wucHJvdG8SElRhbmdvLlBNUi5IYXJkd2Fy",
-            "ZRocSGFyZHdhcmVQaWRDb250cm9sVHlwZS5wcm90byKXBAoSSGFyZHdhcmVQ",
+            "ZRocSGFyZHdhcmVQaWRDb250cm9sVHlwZS5wcm90byLcBAoSSGFyZHdhcmVQ",
             "aWRDb250cm9sEkoKFkhhcmR3YXJlUGlkQ29udHJvbFR5cGUYASABKA4yKi5U",
             "YW5nby5QTVIuSGFyZHdhcmUuSGFyZHdhcmVQaWRDb250cm9sVHlwZRIkChxP",
-            "dXRwdXRQcm9wb3J0aW9uYWxQb3dlckxpbWl0GAIgASgFEh4KFk91dHB1dFBy",
-            "b3BvcnRpb25hbEJhbmQYAyABKAUSFAoMSW50ZWdyYWxUaW1lGAQgASgFEhYK",
-            "DkRlcml2YXRpdmVUaW1lGAUgASgFEiIKGlNlbnNvckNvcnJlY3Rpb25BZGp1",
-            "c3RtZW50GAYgASgFEhYKDlNlbnNvck1pblZhbHVlGAcgASgFEhYKDlNlbnNv",
-            "ck1heFZhbHVlGAggASgFEicKH1NldFBvaW50UmFtcFJhdGVvclNvZnRTdGFy",
-            "dFJhbXAYCSABKAUSIQoZU2V0UG9pbnRDb250cm9sT3V0cHV0UmF0ZRgKIAEo",
-            "BRIZChFDb250cm9sT3V0cHV0VHlwZRgLIAEoBRIcChRTc3JDb250cm9sT3V0",
-            "cHV0VHlwZRgMIAEoBRIiChpPdXRwdXRPbk9mZkh5c3RlcmVzaXNWYWx1ZRgN",
-            "IAEoBRIjChtQcm9jZXNzVmFyaWFibGVTYW1wbGluZ1JhdGUYDiABKAUSHwoX",
-            "UHZJbnB1dEZpbHRlckZhY3Rvck1vZGUYDyABKAVCHgocY29tLnR3aW5lLnRh",
-            "bmdvLnBtci5oYXJkd2FyZWIGcHJvdG8z"));
+            "dXRwdXRQcm9wb3J0aW9uYWxQb3dlckxpbWl0GAIgASgBEh4KFk91dHB1dFBy",
+            "b3BvcnRpb25hbEJhbmQYAyABKAESFAoMSW50ZWdyYWxUaW1lGAQgASgBEhYK",
+            "DkRlcml2YXRpdmVUaW1lGAUgASgBEiIKGlNlbnNvckNvcnJlY3Rpb25BZGp1",
+            "c3RtZW50GAYgASgBEhYKDlNlbnNvck1pblZhbHVlGAcgASgBEhYKDlNlbnNv",
+            "ck1heFZhbHVlGAggASgBEicKH1NldFBvaW50UmFtcFJhdGVvclNvZnRTdGFy",
+            "dFJhbXAYCSABKAESIQoZU2V0UG9pbnRDb250cm9sT3V0cHV0UmF0ZRgKIAEo",
+            "ARIZChFDb250cm9sT3V0cHV0VHlwZRgLIAEoARIcChRTc3JDb250cm9sT3V0",
+            "cHV0VHlwZRgMIAEoARIiChpPdXRwdXRPbk9mZkh5c3RlcmVzaXNWYWx1ZRgN",
+            "IAEoARIjChtQcm9jZXNzVmFyaWFibGVTYW1wbGluZ1JhdGUYDiABKAESHwoX",
+            "UHZJbnB1dEZpbHRlckZhY3Rvck1vZGUYDyABKAESIwobT3V0cHV0UHJvcG9y",
+            "dGlvbmFsQ3ljbGVUaW1lGBAgASgFEh4KFkFjSGVhdGVyc0hhbGZDeWNsZVRp",
+            "bWUYESABKAVCHgocY29tLnR3aW5lLnRhbmdvLnBtci5oYXJkd2FyZWIGcHJv",
+            "dG8z"));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { global::Tango.PMR.Hardware.HardwarePidControlTypeReflection.Descriptor, },
           new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
-            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Hardware.HardwarePidControl), global::Tango.PMR.Hardware.HardwarePidControl.Parser, new[]{ "HardwarePidControlType", "OutputProportionalPowerLimit", "OutputProportionalBand", "IntegralTime", "DerivativeTime", "SensorCorrectionAdjustment", "SensorMinValue", "SensorMaxValue", "SetPointRampRateorSoftStartRamp", "SetPointControlOutputRate", "ControlOutputType", "SsrControlOutputType", "OutputOnOffHysteresisValue", "ProcessVariableSamplingRate", "PvInputFilterFactorMode" }, null, null, null)
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Hardware.HardwarePidControl), global::Tango.PMR.Hardware.HardwarePidControl.Parser, new[]{ "HardwarePidControlType", "OutputProportionalPowerLimit", "OutputProportionalBand", "IntegralTime", "DerivativeTime", "SensorCorrectionAdjustment", "SensorMinValue", "SensorMaxValue", "SetPointRampRateorSoftStartRamp", "SetPointControlOutputRate", "ControlOutputType", "SsrControlOutputType", "OutputOnOffHysteresisValue", "ProcessVariableSamplingRate", "PvInputFilterFactorMode", "OutputProportionalCycleTime", "AcHeatersHalfCycleTime" }, null, null, null)
           }));
     }
     #endregion
@@ -86,6 +88,8 @@ namespace Tango.PMR.Hardware {
       outputOnOffHysteresisValue_ = other.outputOnOffHysteresisValue_;
       processVariableSamplingRate_ = other.processVariableSamplingRate_;
       pvInputFilterFactorMode_ = other.pvInputFilterFactorMode_;
+      outputProportionalCycleTime_ = other.outputProportionalCycleTime_;
+      acHeatersHalfCycleTime_ = other.acHeatersHalfCycleTime_;
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -106,9 +110,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "OutputProportionalPowerLimit" field.</summary>
     public const int OutputProportionalPowerLimitFieldNumber = 2;
-    private int outputProportionalPowerLimit_;
+    private double outputProportionalPowerLimit_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int OutputProportionalPowerLimit {
+    public double OutputProportionalPowerLimit {
       get { return outputProportionalPowerLimit_; }
       set {
         outputProportionalPowerLimit_ = value;
@@ -117,9 +121,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "OutputProportionalBand" field.</summary>
     public const int OutputProportionalBandFieldNumber = 3;
-    private int outputProportionalBand_;
+    private double outputProportionalBand_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int OutputProportionalBand {
+    public double OutputProportionalBand {
       get { return outputProportionalBand_; }
       set {
         outputProportionalBand_ = value;
@@ -128,9 +132,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "IntegralTime" field.</summary>
     public const int IntegralTimeFieldNumber = 4;
-    private int integralTime_;
+    private double integralTime_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int IntegralTime {
+    public double IntegralTime {
       get { return integralTime_; }
       set {
         integralTime_ = value;
@@ -139,9 +143,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "DerivativeTime" field.</summary>
     public const int DerivativeTimeFieldNumber = 5;
-    private int derivativeTime_;
+    private double derivativeTime_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int DerivativeTime {
+    public double DerivativeTime {
       get { return derivativeTime_; }
       set {
         derivativeTime_ = value;
@@ -150,9 +154,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "SensorCorrectionAdjustment" field.</summary>
     public const int SensorCorrectionAdjustmentFieldNumber = 6;
-    private int sensorCorrectionAdjustment_;
+    private double sensorCorrectionAdjustment_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int SensorCorrectionAdjustment {
+    public double SensorCorrectionAdjustment {
       get { return sensorCorrectionAdjustment_; }
       set {
         sensorCorrectionAdjustment_ = value;
@@ -161,9 +165,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "SensorMinValue" field.</summary>
     public const int SensorMinValueFieldNumber = 7;
-    private int sensorMinValue_;
+    private double sensorMinValue_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int SensorMinValue {
+    public double SensorMinValue {
       get { return sensorMinValue_; }
       set {
         sensorMinValue_ = value;
@@ -172,9 +176,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "SensorMaxValue" field.</summary>
     public const int SensorMaxValueFieldNumber = 8;
-    private int sensorMaxValue_;
+    private double sensorMaxValue_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int SensorMaxValue {
+    public double SensorMaxValue {
       get { return sensorMaxValue_; }
       set {
         sensorMaxValue_ = value;
@@ -183,9 +187,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "SetPointRampRateorSoftStartRamp" field.</summary>
     public const int SetPointRampRateorSoftStartRampFieldNumber = 9;
-    private int setPointRampRateorSoftStartRamp_;
+    private double setPointRampRateorSoftStartRamp_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int SetPointRampRateorSoftStartRamp {
+    public double SetPointRampRateorSoftStartRamp {
       get { return setPointRampRateorSoftStartRamp_; }
       set {
         setPointRampRateorSoftStartRamp_ = value;
@@ -194,9 +198,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "SetPointControlOutputRate" field.</summary>
     public const int SetPointControlOutputRateFieldNumber = 10;
-    private int setPointControlOutputRate_;
+    private double setPointControlOutputRate_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int SetPointControlOutputRate {
+    public double SetPointControlOutputRate {
       get { return setPointControlOutputRate_; }
       set {
         setPointControlOutputRate_ = value;
@@ -205,9 +209,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "ControlOutputType" field.</summary>
     public const int ControlOutputTypeFieldNumber = 11;
-    private int controlOutputType_;
+    private double controlOutputType_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int ControlOutputType {
+    public double ControlOutputType {
       get { return controlOutputType_; }
       set {
         controlOutputType_ = value;
@@ -216,9 +220,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "SsrControlOutputType" field.</summary>
     public const int SsrControlOutputTypeFieldNumber = 12;
-    private int ssrControlOutputType_;
+    private double ssrControlOutputType_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int SsrControlOutputType {
+    public double SsrControlOutputType {
       get { return ssrControlOutputType_; }
       set {
         ssrControlOutputType_ = value;
@@ -227,9 +231,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "OutputOnOffHysteresisValue" field.</summary>
     public const int OutputOnOffHysteresisValueFieldNumber = 13;
-    private int outputOnOffHysteresisValue_;
+    private double outputOnOffHysteresisValue_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int OutputOnOffHysteresisValue {
+    public double OutputOnOffHysteresisValue {
       get { return outputOnOffHysteresisValue_; }
       set {
         outputOnOffHysteresisValue_ = value;
@@ -238,9 +242,9 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "ProcessVariableSamplingRate" field.</summary>
     public const int ProcessVariableSamplingRateFieldNumber = 14;
-    private int processVariableSamplingRate_;
+    private double processVariableSamplingRate_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int ProcessVariableSamplingRate {
+    public double ProcessVariableSamplingRate {
       get { return processVariableSamplingRate_; }
       set {
         processVariableSamplingRate_ = value;
@@ -249,15 +253,37 @@ namespace Tango.PMR.Hardware {
 
     /// <summary>Field number for the "PvInputFilterFactorMode" field.</summary>
     public const int PvInputFilterFactorModeFieldNumber = 15;
-    private int pvInputFilterFactorMode_;
+    private double pvInputFilterFactorMode_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int PvInputFilterFactorMode {
+    public double PvInputFilterFactorMode {
       get { return pvInputFilterFactorMode_; }
       set {
         pvInputFilterFactorMode_ = value;
       }
     }
 
+    /// <summary>Field number for the "OutputProportionalCycleTime" field.</summary>
+    public const int OutputProportionalCycleTimeFieldNumber = 16;
+    private int outputProportionalCycleTime_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int OutputProportionalCycleTime {
+      get { return outputProportionalCycleTime_; }
+      set {
+        outputProportionalCycleTime_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "AcHeatersHalfCycleTime" field.</summary>
+    public const int AcHeatersHalfCycleTimeFieldNumber = 17;
+    private int acHeatersHalfCycleTime_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int AcHeatersHalfCycleTime {
+      get { return acHeatersHalfCycleTime_; }
+      set {
+        acHeatersHalfCycleTime_ = value;
+      }
+    }
+
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public override bool Equals(object other) {
       return Equals(other as HardwarePidControl);
@@ -286,6 +312,8 @@ namespace Tango.PMR.Hardware {
       if (OutputOnOffHysteresisValue != other.OutputOnOffHysteresisValue) return false;
       if (ProcessVariableSamplingRate != other.ProcessVariableSamplingRate) return false;
       if (PvInputFilterFactorMode != other.PvInputFilterFactorMode) return false;
+      if (OutputProportionalCycleTime != other.OutputProportionalCycleTime) return false;
+      if (AcHeatersHalfCycleTime != other.AcHeatersHalfCycleTime) return false;
       return true;
     }
 
@@ -293,20 +321,22 @@ namespace Tango.PMR.Hardware {
     public override int GetHashCode() {
       int hash = 1;
       if (HardwarePidControlType != 0) hash ^= HardwarePidControlType.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 (SensorMinValue != 0) hash ^= SensorMinValue.GetHashCode();
-      if (SensorMaxValue != 0) hash ^= SensorMaxValue.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 (OutputOnOffHysteresisValue != 0) hash ^= OutputOnOffHysteresisValue.GetHashCode();
-      if (ProcessVariableSamplingRate != 0) hash ^= ProcessVariableSamplingRate.GetHashCode();
-      if (PvInputFilterFactorMode != 0) hash ^= PvInputFilterFactorMode.GetHashCode();
+      if (OutputProportionalPowerLimit != 0D) hash ^= OutputProportionalPowerLimit.GetHashCode();
+      if (OutputProportionalBand != 0D) hash ^= OutputProportionalBand.GetHashCode();
+      if (IntegralTime != 0D) hash ^= IntegralTime.GetHashCode();
+      if (DerivativeTime != 0D) hash ^= DerivativeTime.GetHashCode();
+      if (SensorCorrectionAdjustment != 0D) hash ^= SensorCorrectionAdjustment.GetHashCode();
+      if (SensorMinValue != 0D) hash ^= SensorMinValue.GetHashCode();
+      if (SensorMaxValue != 0D) hash ^= SensorMaxValue.GetHashCode();
+      if (SetPointRampRateorSoftStartRamp != 0D) hash ^= SetPointRampRateorSoftStartRamp.GetHashCode();
+      if (SetPointControlOutputRate != 0D) hash ^= SetPointControlOutputRate.GetHashCode();
+      if (ControlOutputType != 0D) hash ^= ControlOutputType.GetHashCode();
+      if (SsrControlOutputType != 0D) hash ^= SsrControlOutputType.GetHashCode();
+      if (OutputOnOffHysteresisValue != 0D) hash ^= OutputOnOffHysteresisValue.GetHashCode();
+      if (ProcessVariableSamplingRate != 0D) hash ^= ProcessVariableSamplingRate.GetHashCode();
+      if (PvInputFilterFactorMode != 0D) hash ^= PvInputFilterFactorMode.GetHashCode();
+      if (OutputProportionalCycleTime != 0) hash ^= OutputProportionalCycleTime.GetHashCode();
+      if (AcHeatersHalfCycleTime != 0) hash ^= AcHeatersHalfCycleTime.GetHashCode();
       return hash;
     }
 
@@ -321,61 +351,69 @@ namespace Tango.PMR.Hardware {
         output.WriteRawTag(8);
         output.WriteEnum((int) HardwarePidControlType);
       }
-      if (OutputProportionalPowerLimit != 0) {
-        output.WriteRawTag(16);
-        output.WriteInt32(OutputProportionalPowerLimit);
+      if (OutputProportionalPowerLimit != 0D) {
+        output.WriteRawTag(17);
+        output.WriteDouble(OutputProportionalPowerLimit);
       }
-      if (OutputProportionalBand != 0) {
-        output.WriteRawTag(24);
-        output.WriteInt32(OutputProportionalBand);
+      if (OutputProportionalBand != 0D) {
+        output.WriteRawTag(25);
+        output.WriteDouble(OutputProportionalBand);
       }
-      if (IntegralTime != 0) {
-        output.WriteRawTag(32);
-        output.WriteInt32(IntegralTime);
+      if (IntegralTime != 0D) {
+        output.WriteRawTag(33);
+        output.WriteDouble(IntegralTime);
       }
-      if (DerivativeTime != 0) {
-        output.WriteRawTag(40);
-        output.WriteInt32(DerivativeTime);
+      if (DerivativeTime != 0D) {
+        output.WriteRawTag(41);
+        output.WriteDouble(DerivativeTime);
       }
-      if (SensorCorrectionAdjustment != 0) {
-        output.WriteRawTag(48);
-        output.WriteInt32(SensorCorrectionAdjustment);
+      if (SensorCorrectionAdjustment != 0D) {
+        output.WriteRawTag(49);
+        output.WriteDouble(SensorCorrectionAdjustment);
       }
-      if (SensorMinValue != 0) {
-        output.WriteRawTag(56);
-        output.WriteInt32(SensorMinValue);
+      if (SensorMinValue != 0D) {
+        output.WriteRawTag(57);
+        output.WriteDouble(SensorMinValue);
       }
-      if (SensorMaxValue != 0) {
-        output.WriteRawTag(64);
-        output.WriteInt32(SensorMaxValue);
+      if (SensorMaxValue != 0D) {
+        output.WriteRawTag(65);
+        output.WriteDouble(SensorMaxValue);
       }
-      if (SetPointRampRateorSoftStartRamp != 0) {
-        output.WriteRawTag(72);
-        output.WriteInt32(SetPointRampRateorSoftStartRamp);
+      if (SetPointRampRateorSoftStartRamp != 0D) {
+        output.WriteRawTag(73);
+        output.WriteDouble(SetPointRampRateorSoftStartRamp);
       }
-      if (SetPointControlOutputRate != 0) {
-        output.WriteRawTag(80);
-        output.WriteInt32(SetPointControlOutputRate);
+      if (SetPointControlOutputRate != 0D) {
+        output.WriteRawTag(81);
+        output.WriteDouble(SetPointControlOutputRate);
       }
-      if (ControlOutputType != 0) {
-        output.WriteRawTag(88);
-        output.WriteInt32(ControlOutputType);
+      if (ControlOutputType != 0D) {
+        output.WriteRawTag(89);
+        output.WriteDouble(ControlOutputType);
       }
-      if (SsrControlOutputType != 0) {
-        output.WriteRawTag(96);
-        output.WriteInt32(SsrControlOutputType);
+      if (SsrControlOutputType != 0D) {
+        output.WriteRawTag(97);
+        output.WriteDouble(SsrControlOutputType);
       }
-      if (OutputOnOffHysteresisValue != 0) {
-        output.WriteRawTag(104);
-        output.WriteInt32(OutputOnOffHysteresisValue);
+      if (OutputOnOffHysteresisValue != 0D) {
+        output.WriteRawTag(105);
+        output.WriteDouble(OutputOnOffHysteresisValue);
       }
-      if (ProcessVariableSamplingRate != 0) {
-        output.WriteRawTag(112);
-        output.WriteInt32(ProcessVariableSamplingRate);
+      if (ProcessVariableSamplingRate != 0D) {
+        output.WriteRawTag(113);
+        output.WriteDouble(ProcessVariableSamplingRate);
       }
-      if (PvInputFilterFactorMode != 0) {
-        output.WriteRawTag(120);
-        output.WriteInt32(PvInputFilterFactorMode);
+      if (PvInputFilterFactorMode != 0D) {
+        output.WriteRawTag(121);
+        output.WriteDouble(PvInputFilterFactorMode);
+      }
+      if (OutputProportionalCycleTime != 0) {
+        output.WriteRawTag(128, 1);
+        output.WriteInt32(OutputProportionalCycleTime);
+      }
+      if (AcHeatersHalfCycleTime != 0) {
+        output.WriteRawTag(136, 1);
+        output.WriteInt32(AcHeatersHalfCycleTime);
       }
     }
 
@@ -385,47 +423,53 @@ namespace Tango.PMR.Hardware {
       if (HardwarePidControlType != 0) {
         size += 1 + pb::CodedOutputStream.ComputeEnumSize((int) HardwarePidControlType);
       }
-      if (OutputProportionalPowerLimit != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(OutputProportionalPowerLimit);
+      if (OutputProportionalPowerLimit != 0D) {
+        size += 1 + 8;
+      }
+      if (OutputProportionalBand != 0D) {
+        size += 1 + 8;
       }
-      if (OutputProportionalBand != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(OutputProportionalBand);
+      if (IntegralTime != 0D) {
+        size += 1 + 8;
       }
-      if (IntegralTime != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(IntegralTime);
+      if (DerivativeTime != 0D) {
+        size += 1 + 8;
       }
-      if (DerivativeTime != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(DerivativeTime);
+      if (SensorCorrectionAdjustment != 0D) {
+        size += 1 + 8;
       }
-      if (SensorCorrectionAdjustment != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SensorCorrectionAdjustment);
+      if (SensorMinValue != 0D) {
+        size += 1 + 8;
       }
-      if (SensorMinValue != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SensorMinValue);
+      if (SensorMaxValue != 0D) {
+        size += 1 + 8;
       }
-      if (SensorMaxValue != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SensorMaxValue);
+      if (SetPointRampRateorSoftStartRamp != 0D) {
+        size += 1 + 8;
       }
-      if (SetPointRampRateorSoftStartRamp != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SetPointRampRateorSoftStartRamp);
+      if (SetPointControlOutputRate != 0D) {
+        size += 1 + 8;
       }
-      if (SetPointControlOutputRate != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SetPointControlOutputRate);
+      if (ControlOutputType != 0D) {
+        size += 1 + 8;
       }
-      if (ControlOutputType != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(ControlOutputType);
+      if (SsrControlOutputType != 0D) {
+        size += 1 + 8;
       }
-      if (SsrControlOutputType != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(SsrControlOutputType);
+      if (OutputOnOffHysteresisValue != 0D) {
+        size += 1 + 8;
       }
-      if (OutputOnOffHysteresisValue != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(OutputOnOffHysteresisValue);
+      if (ProcessVariableSamplingRate != 0D) {
+        size += 1 + 8;
       }
-      if (ProcessVariableSamplingRate != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(ProcessVariableSamplingRate);
+      if (PvInputFilterFactorMode != 0D) {
+        size += 1 + 8;
       }
-      if (PvInputFilterFactorMode != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(PvInputFilterFactorMode);
+      if (OutputProportionalCycleTime != 0) {
+        size += 2 + pb::CodedOutputStream.ComputeInt32Size(OutputProportionalCycleTime);
+      }
+      if (AcHeatersHalfCycleTime != 0) {
+        size += 2 + pb::CodedOutputStream.ComputeInt32Size(AcHeatersHalfCycleTime);
       }
       return size;
     }
@@ -438,48 +482,54 @@ namespace Tango.PMR.Hardware {
       if (other.HardwarePidControlType != 0) {
         HardwarePidControlType = other.HardwarePidControlType;
       }
-      if (other.OutputProportionalPowerLimit != 0) {
+      if (other.OutputProportionalPowerLimit != 0D) {
         OutputProportionalPowerLimit = other.OutputProportionalPowerLimit;
       }
-      if (other.OutputProportionalBand != 0) {
+      if (other.OutputProportionalBand != 0D) {
         OutputProportionalBand = other.OutputProportionalBand;
       }
-      if (other.IntegralTime != 0) {
+      if (other.IntegralTime != 0D) {
         IntegralTime = other.IntegralTime;
       }
-      if (other.DerivativeTime != 0) {
+      if (other.DerivativeTime != 0D) {
         DerivativeTime = other.DerivativeTime;
       }
-      if (other.SensorCorrectionAdjustment != 0) {
+      if (other.SensorCorrectionAdjustment != 0D) {
         SensorCorrectionAdjustment = other.SensorCorrectionAdjustment;
       }
-      if (other.SensorMinValue != 0) {
+      if (other.SensorMinValue != 0D) {
         SensorMinValue = other.SensorMinValue;
       }
-      if (other.SensorMaxValue != 0) {
+      if (other.SensorMaxValue != 0D) {
         SensorMaxValue = other.SensorMaxValue;
       }
-      if (other.SetPointRampRateorSoftStartRamp != 0) {
+      if (other.SetPointRampRateorSoftStartRamp != 0D) {
         SetPointRampRateorSoftStartRamp = other.SetPointRampRateorSoftStartRamp;
       }
-      if (other.SetPointControlOutputRate != 0) {
+      if (other.SetPointControlOutputRate != 0D) {
         SetPointControlOutputRate = other.SetPointControlOutputRate;
       }
-      if (other.ControlOutputType != 0) {
+      if (other.ControlOutputType != 0D) {
         ControlOutputType = other.ControlOutputType;
       }
-      if (other.SsrControlOutputType != 0) {
+      if (other.SsrControlOutputType != 0D) {
         SsrControlOutputType = other.SsrControlOutputType;
       }
-      if (other.OutputOnOffHysteresisValue != 0) {
+      if (other.OutputOnOffHysteresisValue != 0D) {
         OutputOnOffHysteresisValue = other.OutputOnOffHysteresisValue;
       }
-      if (other.ProcessVariableSamplingRate != 0) {
+      if (other.ProcessVariableSamplingRate != 0D) {
         ProcessVariableSamplingRate = other.ProcessVariableSamplingRate;
       }
-      if (other.PvInputFilterFactorMode != 0) {
+      if (other.PvInputFilterFactorMode != 0D) {
         PvInputFilterFactorMode = other.PvInputFilterFactorMode;
       }
+      if (other.OutputProportionalCycleTime != 0) {
+        OutputProportionalCycleTime = other.OutputProportionalCycleTime;
+      }
+      if (other.AcHeatersHalfCycleTime != 0) {
+        AcHeatersHalfCycleTime = other.AcHeatersHalfCycleTime;
+      }
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -494,60 +544,68 @@ namespace Tango.PMR.Hardware {
             hardwarePidControlType_ = (global::Tango.PMR.Hardware.HardwarePidControlType) input.ReadEnum();
             break;
           }
-          case 16: {
-            OutputProportionalPowerLimit = input.ReadInt32();
+          case 17: {
+            OutputProportionalPowerLimit = input.ReadDouble();
+            break;
+          }
+          case 25: {
+            OutputProportionalBand = input.ReadDouble();
+            break;
+          }
+          case 33: {
+            IntegralTime = input.ReadDouble();
             break;
           }
-          case 24: {
-            OutputProportionalBand = input.ReadInt32();
+          case 41: {
+            DerivativeTime = input.ReadDouble();
             break;
           }
-          case 32: {
-            IntegralTime = input.ReadInt32();
+          case 49: {
+            SensorCorrectionAdjustment = input.ReadDouble();
             break;
           }
-          case 40: {
-            DerivativeTime = input.ReadInt32();
+          case 57: {
+            SensorMinValue = input.ReadDouble();
             break;
           }
-          case 48: {
-            SensorCorrectionAdjustment = input.ReadInt32();
+          case 65: {
+            SensorMaxValue = input.ReadDouble();
             break;
           }
-          case 56: {
-            SensorMinValue = input.ReadInt32();
+          case 73: {
+            SetPointRampRateorSoftStartRamp = input.ReadDouble();
             break;
           }
-          case 64: {
-            SensorMaxValue = input.ReadInt32();
+          case 81: {
+            SetPointControlOutputRate = input.ReadDouble();
             break;
           }
-          case 72: {
-            SetPointRampRateorSoftStartRamp = input.ReadInt32();
+          case 89: {
+            ControlOutputType = input.ReadDouble();
             break;
           }
-          case 80: {
-            SetPointControlOutputRate = input.ReadInt32();
+          case 97: {
+            SsrControlOutputType = input.ReadDouble();
             break;
           }
-          case 88: {
-            ControlOutputType = input.ReadInt32();
+          case 105: {
+            OutputOnOffHysteresisValue = input.ReadDouble();
             break;
           }
-          case 96: {
-            SsrControlOutputType = input.ReadInt32();
+          case 113: {
+            ProcessVariableSamplingRate = input.ReadDouble();
             break;
           }
-          case 104: {
-            OutputOnOffHysteresisValue = input.ReadInt32();
+          case 121: {
+            PvInputFilterFactorMode = input.ReadDouble();
             break;
           }
-          case 112: {
-            ProcessVariableSamplingRate = input.ReadInt32();
+          case 128: {
+            OutputProportionalCycleTime = input.ReadInt32();
             break;
           }
-          case 120: {
-            PvInputFilterFactorMode = input.ReadInt32();
+          case 136: {
+            AcHeatersHalfCycleTime = input.ReadInt32();
             break;
           }
         }
diff --git a/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorHomeMarkRequest.cs b/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorHomeMarkRequest.cs
new file mode 100644
index 000000000..b7a630ba8
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorHomeMarkRequest.cs
@@ -0,0 +1,191 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: StubMotorHomeMarkRequest.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.Stubs {
+
+  /// <summary>Holder for reflection information generated from StubMotorHomeMarkRequest.proto</summary>
+  public static partial class StubMotorHomeMarkRequestReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for StubMotorHomeMarkRequest.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static StubMotorHomeMarkRequestReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "Ch5TdHViTW90b3JIb21lTWFya1JlcXVlc3QucHJvdG8SD1RhbmdvLlBNUi5T",
+            "dHVicyJQChhTdHViTW90b3JIb21lTWFya1JlcXVlc3QSEAoITW90b3JfSUQY",
+            "ASABKA0SIgoaU2V0X0hvbWVfTWFya19HT19Ib21lX01hcmsYAiABKA1CGwoZ",
+            "Y29tLnR3aW5lLnRhbmdvLnBtci5zdHVic2IGcHJvdG8z"));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Stubs.StubMotorHomeMarkRequest), global::Tango.PMR.Stubs.StubMotorHomeMarkRequest.Parser, new[]{ "MotorID", "SetHomeMarkGOHomeMark" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class StubMotorHomeMarkRequest : pb::IMessage<StubMotorHomeMarkRequest> {
+    private static readonly pb::MessageParser<StubMotorHomeMarkRequest> _parser = new pb::MessageParser<StubMotorHomeMarkRequest>(() => new StubMotorHomeMarkRequest());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<StubMotorHomeMarkRequest> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Stubs.StubMotorHomeMarkRequestReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorHomeMarkRequest() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorHomeMarkRequest(StubMotorHomeMarkRequest other) : this() {
+      motorID_ = other.motorID_;
+      setHomeMarkGOHomeMark_ = other.setHomeMarkGOHomeMark_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorHomeMarkRequest Clone() {
+      return new StubMotorHomeMarkRequest(this);
+    }
+
+    /// <summary>Field number for the "Motor_ID" field.</summary>
+    public const int MotorIDFieldNumber = 1;
+    private uint motorID_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint MotorID {
+      get { return motorID_; }
+      set {
+        motorID_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Set_Home_Mark_GO_Home_Mark" field.</summary>
+    public const int SetHomeMarkGOHomeMarkFieldNumber = 2;
+    private uint setHomeMarkGOHomeMark_;
+    /// <summary>
+    /// 0..3
+    /// </summary>
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint SetHomeMarkGOHomeMark {
+      get { return setHomeMarkGOHomeMark_; }
+      set {
+        setHomeMarkGOHomeMark_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as StubMotorHomeMarkRequest);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(StubMotorHomeMarkRequest other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (MotorID != other.MotorID) return false;
+      if (SetHomeMarkGOHomeMark != other.SetHomeMarkGOHomeMark) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (MotorID != 0) hash ^= MotorID.GetHashCode();
+      if (SetHomeMarkGOHomeMark != 0) hash ^= SetHomeMarkGOHomeMark.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 (MotorID != 0) {
+        output.WriteRawTag(8);
+        output.WriteUInt32(MotorID);
+      }
+      if (SetHomeMarkGOHomeMark != 0) {
+        output.WriteRawTag(16);
+        output.WriteUInt32(SetHomeMarkGOHomeMark);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (MotorID != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MotorID);
+      }
+      if (SetHomeMarkGOHomeMark != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(SetHomeMarkGOHomeMark);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(StubMotorHomeMarkRequest other) {
+      if (other == null) {
+        return;
+      }
+      if (other.MotorID != 0) {
+        MotorID = other.MotorID;
+      }
+      if (other.SetHomeMarkGOHomeMark != 0) {
+        SetHomeMarkGOHomeMark = other.SetHomeMarkGOHomeMark;
+      }
+    }
+
+    [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: {
+            MotorID = input.ReadUInt32();
+            break;
+          }
+          case 16: {
+            SetHomeMarkGOHomeMark = input.ReadUInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorHomeMarkResponse.cs b/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorHomeMarkResponse.cs
new file mode 100644
index 000000000..817750898
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorHomeMarkResponse.cs
@@ -0,0 +1,188 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: StubMotorHomeMarkResponse.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.Stubs {
+
+  /// <summary>Holder for reflection information generated from StubMotorHomeMarkResponse.proto</summary>
+  public static partial class StubMotorHomeMarkResponseReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for StubMotorHomeMarkResponse.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static StubMotorHomeMarkResponseReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "Ch9TdHViTW90b3JIb21lTWFya1Jlc3BvbnNlLnByb3RvEg9UYW5nby5QTVIu",
+            "U3R1YnMiPwoZU3R1Yk1vdG9ySG9tZU1hcmtSZXNwb25zZRIQCghNb3Rvcl9J",
+            "RBgBIAEoDRIQCghQb3NpdGlvbhgCIAEoDUIbChljb20udHdpbmUudGFuZ28u",
+            "cG1yLnN0dWJzYgZwcm90bzM="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Stubs.StubMotorHomeMarkResponse), global::Tango.PMR.Stubs.StubMotorHomeMarkResponse.Parser, new[]{ "MotorID", "Position" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class StubMotorHomeMarkResponse : pb::IMessage<StubMotorHomeMarkResponse> {
+    private static readonly pb::MessageParser<StubMotorHomeMarkResponse> _parser = new pb::MessageParser<StubMotorHomeMarkResponse>(() => new StubMotorHomeMarkResponse());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<StubMotorHomeMarkResponse> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Stubs.StubMotorHomeMarkResponseReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorHomeMarkResponse() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorHomeMarkResponse(StubMotorHomeMarkResponse other) : this() {
+      motorID_ = other.motorID_;
+      position_ = other.position_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorHomeMarkResponse Clone() {
+      return new StubMotorHomeMarkResponse(this);
+    }
+
+    /// <summary>Field number for the "Motor_ID" field.</summary>
+    public const int MotorIDFieldNumber = 1;
+    private uint motorID_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint MotorID {
+      get { return motorID_; }
+      set {
+        motorID_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Position" field.</summary>
+    public const int PositionFieldNumber = 2;
+    private uint position_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint Position {
+      get { return position_; }
+      set {
+        position_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as StubMotorHomeMarkResponse);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(StubMotorHomeMarkResponse other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (MotorID != other.MotorID) return false;
+      if (Position != other.Position) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (MotorID != 0) hash ^= MotorID.GetHashCode();
+      if (Position != 0) hash ^= Position.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 (MotorID != 0) {
+        output.WriteRawTag(8);
+        output.WriteUInt32(MotorID);
+      }
+      if (Position != 0) {
+        output.WriteRawTag(16);
+        output.WriteUInt32(Position);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (MotorID != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MotorID);
+      }
+      if (Position != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(Position);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(StubMotorHomeMarkResponse other) {
+      if (other == null) {
+        return;
+      }
+      if (other.MotorID != 0) {
+        MotorID = other.MotorID;
+      }
+      if (other.Position != 0) {
+        Position = other.Position;
+      }
+    }
+
+    [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: {
+            MotorID = input.ReadUInt32();
+            break;
+          }
+          case 16: {
+            Position = input.ReadUInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorRunStepTickRequest.cs b/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorRunStepTickRequest.cs
new file mode 100644
index 000000000..1697b715a
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorRunStepTickRequest.cs
@@ -0,0 +1,216 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: StubMotorRunStepTickRequest.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.Stubs {
+
+  /// <summary>Holder for reflection information generated from StubMotorRunStepTickRequest.proto</summary>
+  public static partial class StubMotorRunStepTickRequestReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for StubMotorRunStepTickRequest.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static StubMotorRunStepTickRequestReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "CiFTdHViTW90b3JSdW5TdGVwVGlja1JlcXVlc3QucHJvdG8SD1RhbmdvLlBN",
+            "Ui5TdHVicyJRChtTdHViTW90b3JSdW5TdGVwVGlja1JlcXVlc3QSEAoITW90",
+            "b3JfSUQYASABKA0SEQoJRGlyZWN0aW9uGAIgASgIEg0KBVNwZWVkGAMgASgB",
+            "QhsKGWNvbS50d2luZS50YW5nby5wbXIuc3R1YnNiBnByb3RvMw=="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Stubs.StubMotorRunStepTickRequest), global::Tango.PMR.Stubs.StubMotorRunStepTickRequest.Parser, new[]{ "MotorID", "Direction", "Speed" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class StubMotorRunStepTickRequest : pb::IMessage<StubMotorRunStepTickRequest> {
+    private static readonly pb::MessageParser<StubMotorRunStepTickRequest> _parser = new pb::MessageParser<StubMotorRunStepTickRequest>(() => new StubMotorRunStepTickRequest());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<StubMotorRunStepTickRequest> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Stubs.StubMotorRunStepTickRequestReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorRunStepTickRequest() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorRunStepTickRequest(StubMotorRunStepTickRequest other) : this() {
+      motorID_ = other.motorID_;
+      direction_ = other.direction_;
+      speed_ = other.speed_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorRunStepTickRequest Clone() {
+      return new StubMotorRunStepTickRequest(this);
+    }
+
+    /// <summary>Field number for the "Motor_ID" field.</summary>
+    public const int MotorIDFieldNumber = 1;
+    private uint motorID_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint MotorID {
+      get { return motorID_; }
+      set {
+        motorID_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Direction" field.</summary>
+    public const int DirectionFieldNumber = 2;
+    private bool direction_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Direction {
+      get { return direction_; }
+      set {
+        direction_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Speed" field.</summary>
+    public const int SpeedFieldNumber = 3;
+    private double speed_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double Speed {
+      get { return speed_; }
+      set {
+        speed_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as StubMotorRunStepTickRequest);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(StubMotorRunStepTickRequest other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (MotorID != other.MotorID) return false;
+      if (Direction != other.Direction) return false;
+      if (Speed != other.Speed) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (MotorID != 0) hash ^= MotorID.GetHashCode();
+      if (Direction != false) hash ^= Direction.GetHashCode();
+      if (Speed != 0D) hash ^= Speed.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (MotorID != 0) {
+        output.WriteRawTag(8);
+        output.WriteUInt32(MotorID);
+      }
+      if (Direction != false) {
+        output.WriteRawTag(16);
+        output.WriteBool(Direction);
+      }
+      if (Speed != 0D) {
+        output.WriteRawTag(25);
+        output.WriteDouble(Speed);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (MotorID != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MotorID);
+      }
+      if (Direction != false) {
+        size += 1 + 1;
+      }
+      if (Speed != 0D) {
+        size += 1 + 8;
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(StubMotorRunStepTickRequest other) {
+      if (other == null) {
+        return;
+      }
+      if (other.MotorID != 0) {
+        MotorID = other.MotorID;
+      }
+      if (other.Direction != false) {
+        Direction = other.Direction;
+      }
+      if (other.Speed != 0D) {
+        Speed = other.Speed;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 8: {
+            MotorID = input.ReadUInt32();
+            break;
+          }
+          case 16: {
+            Direction = input.ReadBool();
+            break;
+          }
+          case 25: {
+            Speed = input.ReadDouble();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorRunStepTickResponse.cs b/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorRunStepTickResponse.cs
new file mode 100644
index 000000000..d1b53c1ba
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Stubs/StubMotorRunStepTickResponse.cs
@@ -0,0 +1,365 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: StubMotorRunStepTickResponse.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.Stubs {
+
+  /// <summary>Holder for reflection information generated from StubMotorRunStepTickResponse.proto</summary>
+  public static partial class StubMotorRunStepTickResponseReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for StubMotorRunStepTickResponse.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static StubMotorRunStepTickResponseReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "CiJTdHViTW90b3JSdW5TdGVwVGlja1Jlc3BvbnNlLnByb3RvEg9UYW5nby5Q",
+            "TVIuU3R1YnMisgEKHFN0dWJNb3RvclJ1blN0ZXBUaWNrUmVzcG9uc2USEAoI",
+            "TW90b3JfSUQYASABKA0SDQoFU3BlZWQYAiABKAESEgoKU3RhdHVzX1JlZxgD",
+            "IAEoDRIRCglEaXJlY3Rpb24YBCABKAgSEgoKTW90X1N0YXR1cxgFIAEoDRIT",
+            "CgtTVEVQX0xPU1NfQRgGIAEoCBITCgtTVEVQX0xPU1NfQhgHIAEoCBIMCgRC",
+            "VVNZGAggASgIQhsKGWNvbS50d2luZS50YW5nby5wbXIuc3R1YnNiBnByb3Rv",
+            "Mw=="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Stubs.StubMotorRunStepTickResponse), global::Tango.PMR.Stubs.StubMotorRunStepTickResponse.Parser, new[]{ "MotorID", "Speed", "StatusReg", "Direction", "MotStatus", "STEPLOSSA", "STEPLOSSB", "BUSY" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class StubMotorRunStepTickResponse : pb::IMessage<StubMotorRunStepTickResponse> {
+    private static readonly pb::MessageParser<StubMotorRunStepTickResponse> _parser = new pb::MessageParser<StubMotorRunStepTickResponse>(() => new StubMotorRunStepTickResponse());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<StubMotorRunStepTickResponse> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Stubs.StubMotorRunStepTickResponseReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorRunStepTickResponse() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorRunStepTickResponse(StubMotorRunStepTickResponse other) : this() {
+      motorID_ = other.motorID_;
+      speed_ = other.speed_;
+      statusReg_ = other.statusReg_;
+      direction_ = other.direction_;
+      motStatus_ = other.motStatus_;
+      sTEPLOSSA_ = other.sTEPLOSSA_;
+      sTEPLOSSB_ = other.sTEPLOSSB_;
+      bUSY_ = other.bUSY_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubMotorRunStepTickResponse Clone() {
+      return new StubMotorRunStepTickResponse(this);
+    }
+
+    /// <summary>Field number for the "Motor_ID" field.</summary>
+    public const int MotorIDFieldNumber = 1;
+    private uint motorID_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint MotorID {
+      get { return motorID_; }
+      set {
+        motorID_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Speed" field.</summary>
+    public const int SpeedFieldNumber = 2;
+    private double speed_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double Speed {
+      get { return speed_; }
+      set {
+        speed_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Status_Reg" field.</summary>
+    public const int StatusRegFieldNumber = 3;
+    private uint statusReg_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint StatusReg {
+      get { return statusReg_; }
+      set {
+        statusReg_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Direction" field.</summary>
+    public const int DirectionFieldNumber = 4;
+    private bool direction_;
+    /// <summary>
+    /// Reverse / Forward
+    /// </summary>
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Direction {
+      get { return direction_; }
+      set {
+        direction_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Mot_Status" field.</summary>
+    public const int MotStatusFieldNumber = 5;
+    private uint motStatus_;
+    /// <summary>
+    ///Stopped / Acceleration / Deceleration / Constant speed
+    /// </summary>
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint MotStatus {
+      get { return motStatus_; }
+      set {
+        motStatus_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "STEP_LOSS_A" field.</summary>
+    public const int STEPLOSSAFieldNumber = 6;
+    private bool sTEPLOSSA_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool STEPLOSSA {
+      get { return sTEPLOSSA_; }
+      set {
+        sTEPLOSSA_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "STEP_LOSS_B" field.</summary>
+    public const int STEPLOSSBFieldNumber = 7;
+    private bool sTEPLOSSB_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool STEPLOSSB {
+      get { return sTEPLOSSB_; }
+      set {
+        sTEPLOSSB_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "BUSY" field.</summary>
+    public const int BUSYFieldNumber = 8;
+    private bool bUSY_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool BUSY {
+      get { return bUSY_; }
+      set {
+        bUSY_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as StubMotorRunStepTickResponse);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(StubMotorRunStepTickResponse other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (MotorID != other.MotorID) return false;
+      if (Speed != other.Speed) return false;
+      if (StatusReg != other.StatusReg) return false;
+      if (Direction != other.Direction) return false;
+      if (MotStatus != other.MotStatus) return false;
+      if (STEPLOSSA != other.STEPLOSSA) return false;
+      if (STEPLOSSB != other.STEPLOSSB) return false;
+      if (BUSY != other.BUSY) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (MotorID != 0) hash ^= MotorID.GetHashCode();
+      if (Speed != 0D) hash ^= Speed.GetHashCode();
+      if (StatusReg != 0) hash ^= StatusReg.GetHashCode();
+      if (Direction != false) hash ^= Direction.GetHashCode();
+      if (MotStatus != 0) hash ^= MotStatus.GetHashCode();
+      if (STEPLOSSA != false) hash ^= STEPLOSSA.GetHashCode();
+      if (STEPLOSSB != false) hash ^= STEPLOSSB.GetHashCode();
+      if (BUSY != false) hash ^= BUSY.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 (MotorID != 0) {
+        output.WriteRawTag(8);
+        output.WriteUInt32(MotorID);
+      }
+      if (Speed != 0D) {
+        output.WriteRawTag(17);
+        output.WriteDouble(Speed);
+      }
+      if (StatusReg != 0) {
+        output.WriteRawTag(24);
+        output.WriteUInt32(StatusReg);
+      }
+      if (Direction != false) {
+        output.WriteRawTag(32);
+        output.WriteBool(Direction);
+      }
+      if (MotStatus != 0) {
+        output.WriteRawTag(40);
+        output.WriteUInt32(MotStatus);
+      }
+      if (STEPLOSSA != false) {
+        output.WriteRawTag(48);
+        output.WriteBool(STEPLOSSA);
+      }
+      if (STEPLOSSB != false) {
+        output.WriteRawTag(56);
+        output.WriteBool(STEPLOSSB);
+      }
+      if (BUSY != false) {
+        output.WriteRawTag(64);
+        output.WriteBool(BUSY);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (MotorID != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MotorID);
+      }
+      if (Speed != 0D) {
+        size += 1 + 8;
+      }
+      if (StatusReg != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(StatusReg);
+      }
+      if (Direction != false) {
+        size += 1 + 1;
+      }
+      if (MotStatus != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(MotStatus);
+      }
+      if (STEPLOSSA != false) {
+        size += 1 + 1;
+      }
+      if (STEPLOSSB != false) {
+        size += 1 + 1;
+      }
+      if (BUSY != false) {
+        size += 1 + 1;
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(StubMotorRunStepTickResponse other) {
+      if (other == null) {
+        return;
+      }
+      if (other.MotorID != 0) {
+        MotorID = other.MotorID;
+      }
+      if (other.Speed != 0D) {
+        Speed = other.Speed;
+      }
+      if (other.StatusReg != 0) {
+        StatusReg = other.StatusReg;
+      }
+      if (other.Direction != false) {
+        Direction = other.Direction;
+      }
+      if (other.MotStatus != 0) {
+        MotStatus = other.MotStatus;
+      }
+      if (other.STEPLOSSA != false) {
+        STEPLOSSA = other.STEPLOSSA;
+      }
+      if (other.STEPLOSSB != false) {
+        STEPLOSSB = other.STEPLOSSB;
+      }
+      if (other.BUSY != false) {
+        BUSY = other.BUSY;
+      }
+    }
+
+    [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: {
+            MotorID = input.ReadUInt32();
+            break;
+          }
+          case 17: {
+            Speed = input.ReadDouble();
+            break;
+          }
+          case 24: {
+            StatusReg = input.ReadUInt32();
+            break;
+          }
+          case 32: {
+            Direction = input.ReadBool();
+            break;
+          }
+          case 40: {
+            MotStatus = input.ReadUInt32();
+            break;
+          }
+          case 48: {
+            STEPLOSSA = input.ReadBool();
+            break;
+          }
+          case 56: {
+            STEPLOSSB = input.ReadBool();
+            break;
+          }
+          case 64: {
+            BUSY = input.ReadBool();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code