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 x_KVAL_HOLD  = 0x09;
const Int32 x_KVAL_RUN   = 0x0A;
const Int32 x_KVAL_ACC   = 0x0B;
const Int32 x_KVAL_DEC   = 0x0C;

const Int32 x_GET_PARAM  = 0x20;



public void OnExecute(StubManager stubManager)
{

	while (true)
		{
		stubManager.Write("\nLeft Load KVAL \t");	
		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,19, (x_GET_PARAM | x_KVAL_HOLD)<<8, 0, 0);
		stubManager.Write(response.RecivedData);
		stubManager.Write("\t");
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,19, (x_GET_PARAM | x_KVAL_RUN)<<8, 0, 0);
		stubManager.Write(response.RecivedData);
		stubManager.Write("\t");
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,19, (x_GET_PARAM | x_KVAL_ACC)<<8, 0, 0);
		stubManager.Write(response.RecivedData);
		stubManager.Write("\t");

		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,19, (x_GET_PARAM | x_KVAL_DEC)<<8, 0, 0);
		stubManager.Write(response.RecivedData);
		stubManager.Write("\n");
		
		
		stubManager.Write("Right Load KVAL \t");	
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,24, (x_GET_PARAM | x_KVAL_HOLD)<<8, 0, 0);
		stubManager.Write(response.RecivedData);
		stubManager.Write("\t");
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,24, (x_GET_PARAM | x_KVAL_RUN)<<8, 0, 0);
		stubManager.Write(response.RecivedData);
		stubManager.Write("\t");
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,24, (x_GET_PARAM | x_KVAL_ACC)<<8, 0, 0);
		stubManager.Write(response.RecivedData);
		stubManager.Write("\t");

		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,24, (x_GET_PARAM | x_KVAL_DEC)<<8, 0, 0);
		stubManager.Write(response.RecivedData);
		stubManager.Write("\n");
 		stubManager.Write(DateTime.Now.ToString("MM_dd_yyyy_HH_mm_ss"));		
		Thread.Sleep(1000);
		
		
		
		
		
		
}
	
	
	
	
	
	
	
	
	
	
}