using System;
using System.Text;
using System.Linq;
using System.Drawing;
using System.Diagnostics;
using System.Windows.Forms;
using System.Threading;
using System.Threading.Tasks;
using System.Collections.Generic;
using Tango.PMR.Stubs;
using Tango.Stubs;


const Int32 F1_LS_01_Direct = 0x60000020	;
const Int32 F1_LS_02_Direct = 0x60000030	;
const Int32	F1_LS_03_Direct	= 0x60000040	;	

const Int32	F1_gpo_01 		= 0x600003D2	;


const Int32 F2_CTRL			= 0x600004E2	;

const Int32 F3_GPO_01_bus 	= 0x600008C2; 

const Int32 TCA9548A_address =	 0xE2;	 	


const Int32 I2C_ID2 =  2;
const Int32 I2C_ID3 =  3;



const Int32 F1_SCREW_ROTENC_lsb	=	0x60000100;
const Int32 F1_SCREW_ROTENC_msb	=	0x60000102;










const  Int32 F3_VALVE_OUT	= 0x600008e2;		


const Int32	F1_Tacho_reg8	=	0x600001e0	;




//-------------------DEFINE Motors Parameters------------------

const Int32 F1_MOTO_RLOADING_TX1 = 0x60000202;
const Int32 F1_MOTO_RLOADING_TX0 = 0x60000200;
const Int32 F1_MOTO_RLOADING_RX1 = 0x60000206;
const Int32 F1_MOTO_RLOADING_RX0 = 0x60000204;

//-------------------DEFINE Limit Switch---------------

const	Int32 	F1_LS_RLOADMOTOR_UP	= 0x0040 ;
const	Int32	F1_LS_RLOADMOTOR_DN	= 0x0080 ;
const	Int32	F1_LS_RDANCER_UP 	= 0x0100;
const	Int32	F1_LS_RDANCER_DOWN 	= 0x0200;
const	Int32	F1_LS_RLOADRAM_DOWN	= 0x0020;

const	Int32	F1_RDANCER_ROTENC_DATA_p_RX_lsb	=	0x600001a0;
const	Int32	F1_RDANCER_ROTENC_DATA_p_RX_msb	=	0x600001a2;
const	Int32	F1_RDANCER_ROTENC_DATA_p_TX		=	0x600001ae;



const Int32	F2_Prescaler1_reg11		=	0x60000512	;
const Int32	F2_BLOWER_PWM_LOW		=	0x600007EC	;
const Int32	F2_BLOWER_PWM_HIGH		=	0x600007EE	;


//-------------------DEFINE Motors------------------
const Int32 CleaningHead_Motor		=	0;
const Int32 CleaningMechanisim_Motor=	1;
const Int32 DyeingHeadLid_Motor		=	2;
const Int32 DryerMain_Motor			=	3;
const Int32 DryerLid_Motor			=	4;
const Int32 DrierLoadingArm_Motor	=	5;

const Int32 SCREW					=	14; 
const Int32 WINDER_Motor				=	15;

const Int32	LDANCER1_Motor			=	16;		 
const Int32	LDANCER2_Motor			=	17;		 
const Int32	LDRIVING_Motor			=	18;		 
const Int32	LLOADING_Motor			=	19;	
			
const Int32	RDANCER_Motor			=	21;	
const Int32	RDRIVING_Motor			=	22;	
const Int32	MAGNET_Driver			=	23;				//replace RLOADARM
const Int32	RLOADING_Motor			=	24;	


//-------------------DEFINE Motors Parameters------------------

const Int32 F1_MOTO_LLOADING_TX1 = 0x60000232;
const Int32 F1_MOTO_LLOADING_TX0 = 0x60000230;

const	Int32 	F1_LS_LLOADMOTOR_UP	= 0x0100 ;
const	Int32	F1_LS_LLOADMOTOR_DN	= 0x0200 ;
const	Int32	F1_LS_LDANCER1_UP 	= 0x1000;
const	Int32	F1_LS_LDANCER1_DN 	= 0x2000;
const	Int32	F1_LS_LDANCER2_UP 	= 0x0400;
const	Int32	F1_LS_LDANCER2_DN 	= 0x0800;
const	Int32	F1_LS_LLOADRAM_LF	= 0x0080;
const	Int32	F1_LS_LLOADRAM_RT	= 0x0040;
const	Int32	F1_LS_LSPARE1		= 0x0008;		//dn
const	Int32	F1_LS_LSPARE2		= 0x0004;		//up


const Int32 F1_LDANCER1_ROTENC_MSB 	= 0x600001c2;
const Int32 F1_LDANCER1_ROTENC_LSB 	= 0x600001c0;
const Int32 F1_LDANCER1_ROTENC_TX 	= 0x600001ce;

const Int32 F1_LDANCER2_ROTENC_MSB 	= 0x600001b2;
const Int32 F1_LDANCER2_ROTENC_LSB 	= 0x600001b0;
const Int32 F1_LDANCER2_ROTENC_TX 	= 0x600001be;