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.Hardware;
using Tango.PMR.Printing;
using Tango.PMR.Stubs;
using Tango.Stubs.UI;

public void OnExecute(StubManager stubManager)
{
//SystemResetRequest systemResetRequest = new SystemResetRequest();
//var response1 = stubManager.Run<SystemResetResponse>(systemResetRequest);
//    	stubManager.Run("StubGPIOWriteBitRequest" ,"P", 4, true);//ON
        Thread.Sleep(10);
//        stubManager.Run("StubGPIOWriteBitRequest" ,"P", 4, false);//OFF
        Thread.Sleep(10);
//    	stubManager.Run("StubGPIOWriteBitRequest" ,"P", 4, true);//ON
/*UploadProcessParametersRequest uploadProcessParametersRequest = new UploadProcessParametersRequest();

ProcessParameters processParameters = new ProcessParameters();
processParameters.DyeingSpeed = 10;
processParameters.MixerTemp = 0;
processParameters.DryerBufferLength = 0;
processParameters.MinInkUptake = 0;
processParameters.HeadZone1Temp = 0;
processParameters.DryerZone1Temp = 100;
processParameters.FeederTension = 0;
processParameters.DryerZone2Temp = 100;
processParameters.HeadZone2Temp = 0;
processParameters.PullerTension = 0;
processParameters.HeadZone3Temp = 0;
processParameters.DryerZone3Temp = 0;
processParameters.WinderTension = 0;
processParameters.HeadAirFlow = 0;
processParameters.DryerAirFlow = 0;
processParameters.TableIndex = 0;

uploadProcessParametersRequest.ProcessParameters = processParameters;
var response1 = stubManager.Run<UploadProcessParametersResponse>(uploadProcessParametersRequest);
*/

UploadHardwareConfigurationRequest uploadHardwareConfigurationRequest = new UploadHardwareConfigurationRequest();

HardwareConfiguration hardwareConfiguration = new HardwareConfiguration();


HardwarePidControl hardwarePidControl1 = new HardwarePidControl();
hardwarePidControl1.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorFeeder;
hardwarePidControl1.OutputProportionalPowerLimit = 80;
hardwarePidControl1.OutputProportionalBand = 5;
hardwarePidControl1.IntegralTime = 5;
hardwarePidControl1.DerivativeTime = 0;
hardwarePidControl1.SensorCorrectionAdjustment = 0;
hardwarePidControl1.SensorMinValue = 0;
hardwarePidControl1.SensorMaxValue = 0;
hardwarePidControl1.SetPointRampRateorSoftStartRamp = 0;
hardwarePidControl1.SetPointControlOutputRate = 4;
hardwarePidControl1.ControlOutputType = 0;
hardwarePidControl1.SsrControlOutputType = 0;
hardwarePidControl1.OutputOnOffHysteresisValue = 0;
hardwarePidControl1.ProcessVariableSamplingRate = 1000;
hardwarePidControl1.PvInputFilterFactorMode = 4;
hardwarePidControl1.OutputProportionalCycleTime = 0;
hardwarePidControl1.AcHeatersHalfCycleTime = 0;
hardwarePidControl1.ProportionalGain = 11.0;
hardwareConfiguration.PidControls.Add(hardwarePidControl1);


HardwarePidControl hardwarePidControl2 = new HardwarePidControl();
hardwarePidControl2.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorPooler;
hardwarePidControl2.OutputProportionalPowerLimit = 80;
hardwarePidControl2.OutputProportionalBand = 5;
hardwarePidControl2.IntegralTime = 5;
hardwarePidControl2.DerivativeTime = 0;
hardwarePidControl2.SensorCorrectionAdjustment = 0;
hardwarePidControl2.SensorMinValue = 0;
hardwarePidControl2.SensorMaxValue = 0;
hardwarePidControl2.SetPointRampRateorSoftStartRamp = 0;
hardwarePidControl2.SetPointControlOutputRate = 4;
hardwarePidControl2.ControlOutputType = 0;
hardwarePidControl2.SsrControlOutputType = 0;
hardwarePidControl2.OutputOnOffHysteresisValue = 0;
hardwarePidControl2.ProcessVariableSamplingRate = 1000;
hardwarePidControl2.PvInputFilterFactorMode = 4;
hardwarePidControl2.OutputProportionalCycleTime = 0;
hardwarePidControl2.AcHeatersHalfCycleTime = 0;
hardwarePidControl2.ProportionalGain = 11.0;
hardwareConfiguration.PidControls.Add(hardwarePidControl2);


HardwarePidControl hardwarePidControl3 = new HardwarePidControl();
hardwarePidControl3.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorWinder;
hardwarePidControl3.OutputProportionalPowerLimit = 80;
hardwarePidControl3.OutputProportionalBand = 5;
hardwarePidControl3.IntegralTime = 5;
hardwarePidControl3.DerivativeTime = 0;
hardwarePidControl3.SensorCorrectionAdjustment = 0;
hardwarePidControl3.SensorMinValue = 0;
hardwarePidControl3.SensorMaxValue = 0;
hardwarePidControl3.SetPointRampRateorSoftStartRamp = 0;
hardwarePidControl3.SetPointControlOutputRate = 4;
hardwarePidControl3.ControlOutputType = 0;
hardwarePidControl3.SsrControlOutputType = 0;
hardwarePidControl3.OutputOnOffHysteresisValue = 0;
hardwarePidControl3.ProcessVariableSamplingRate = 1000;
hardwarePidControl3.PvInputFilterFactorMode = 4;
hardwarePidControl3.OutputProportionalCycleTime = 0;
hardwarePidControl3.AcHeatersHalfCycleTime = 0;
hardwarePidControl3.ProportionalGain = 11.0;
hardwareConfiguration.PidControls.Add(hardwarePidControl3);
 HardwarePidControl Pid1 = new HardwarePidControl();
  HardwarePidControl Pid2 = new HardwarePidControl();
//Pid1.has_hardwarepidcontroltype = true;
/*Pid1.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.DryerHeater1000W;
  // Pid1.has_outputproportionalpowerlimit = true;
   Pid1.OutputProportionalPowerLimit = 50;
  // Pid1.has_outputproportionalband = true;
   Pid1.OutputProportionalBand = 3;
  // Pid1.has_kp = true;
  Pid1.SensorCorrectionAdjustment = 2.0;
  //Pid1.has_ki = true;
  Pid1.IntegralTime = 0.01;
Pid1.OutputProportionalPowerLimit = 80;
Pid1.OutputProportionalBand = 5;
Pid1.IntegralTime = 5;
Pid1.DerivativeTime = 0;
Pid1.SensorCorrectionAdjustment = 0;
Pid1.SensorMinValue = 0;
Pid1.SensorMaxValue = 0;
Pid1.SetPointRampRateorSoftStartRamp = 0;
Pid1.SetPointControlOutputRate = 4;
Pid1.ControlOutputType = 0;
Pid1.SsrControlOutputType = 0;
Pid1.OutputOnOffHysteresisValue = 0;
Pid1.ProcessVariableSamplingRate = 1000;
Pid1.PvInputFilterFactorMode = 4;
Pid1.OutputProportionalCycleTime = 0;
Pid1.AcHeatersHalfCycleTime = 0;
Pid1.ProportionalGain = 500.0;
//hardwareConfiguration.PidControls.Add(Pid1);
  
  //Pid2.has_hardwarepidcontroltype = true;
Pid2.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.DryerHeater200W1;
  // Pid2.has_outputproportionalpowerlimit = true;
   Pid2.OutputProportionalPowerLimit = 40;
  // Pid2.has_outputproportionalband = true;
   Pid2.OutputProportionalBand = 3;
  // Pid2.has_kp = true;
  Pid2.SensorCorrectionAdjustment = 0.5;
  //Pid2.has_ki = true;
  Pid2.IntegralTime = 0.1;
Pid2.OutputProportionalPowerLimit = 80;
Pid2.OutputProportionalBand = 5;
Pid2.IntegralTime = 5;
Pid2.DerivativeTime = 0;
Pid2.SensorCorrectionAdjustment = 0;
Pid2.SensorMinValue = 0;
Pid2.SensorMaxValue = 0;
Pid2.SetPointRampRateorSoftStartRamp = 0;
Pid2.SetPointControlOutputRate = 4;
Pid2.ControlOutputType = 0;
Pid2.SsrControlOutputType = 0;
Pid2.OutputOnOffHysteresisValue = 0;
Pid2.ProcessVariableSamplingRate = 1000;
Pid2.PvInputFilterFactorMode = 4;
Pid2.OutputProportionalCycleTime = 0;
Pid2.AcHeatersHalfCycleTime = 0;
Pid2.ProportionalGain = 500.0;
//hardwareConfiguration.PidControls.Add(Pid2);
*/
/*
 HardwarePidControl Pid3 = new HardwarePidControl();
  HardwarePidControl Pid4 = new HardwarePidControl();
//Pid3.has_hardwarepidcontroltype = true;
Pid3.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ1;
  // Pid1.has_outputproportionalpowerlimit = true;
   Pid3.OutputProportionalPowerLimit = 50;
  // Pid1.has_outputproportionalband = true;
   Pid3.OutputProportionalBand = 3;
  // Pid1.has_kp = true;
  Pid3.SensorCorrectionAdjustment = 2.0;
  //Pid1.has_ki = true;
  Pid3.IntegralTime = 0.01;
Pid3.OutputProportionalPowerLimit = 80;
Pid3.OutputProportionalBand = 5;
Pid3.IntegralTime = 5;
Pid3.DerivativeTime = 0;
Pid3.SensorCorrectionAdjustment = 0;
Pid3.SensorMinValue = 0;
Pid3.SensorMaxValue = 0;
Pid3.SetPointRampRateorSoftStartRamp = 0;
Pid3.SetPointControlOutputRate = 4;
Pid3.ControlOutputType = 0;
Pid3.SsrControlOutputType = 0;
Pid3.OutputOnOffHysteresisValue = 0;
Pid3.ProcessVariableSamplingRate = 1000;
Pid3.PvInputFilterFactorMode = 4;
Pid3.OutputProportionalCycleTime = 0;
Pid3.AcHeatersHalfCycleTime = 0;
Pid3.ProportionalGain = 500.0;
hardwareConfiguration.PidControls.Add(Pid3);
  
  //Pid2.has_hardwarepidcontroltype = true;
  
Pid4.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ2;
  // Pid2.has_outputproportionalpowerlimit = true;
   Pid4.OutputProportionalPowerLimit = 40;
  // Pid2.has_outputproportionalband = true;
   Pid4.OutputProportionalBand = 3;
  // Pid2.has_kp = true;
  Pid4.SensorCorrectionAdjustment = 0.5;
  //Pid2.has_ki = true;
  Pid4.IntegralTime = 0.1;

Pid4.OutputProportionalPowerLimit = 80;
Pid4.OutputProportionalBand = 5;
Pid4.IntegralTime = 5;
Pid4.DerivativeTime = 0;
Pid4.SensorCorrectionAdjustment = 0;
Pid4.SensorMinValue = 0;
Pid4.SensorMaxValue = 0;
Pid4.SetPointRampRateorSoftStartRamp = 0;
Pid4.SetPointControlOutputRate = 4;
Pid4.ControlOutputType = 0;
Pid4.SsrControlOutputType = 0;
Pid4.OutputOnOffHysteresisValue = 0;
Pid4.ProcessVariableSamplingRate = 1000;
Pid4.PvInputFilterFactorMode = 4;
Pid4.OutputProportionalCycleTime = 0;
Pid4.AcHeatersHalfCycleTime = 0;
Pid4.ProportionalGain = 500.0;
hardwareConfiguration.PidControls.Add(Pid4);
 
HardwarePidControl Pid5 = new HardwarePidControl();
  HardwarePidControl Pid6 = new HardwarePidControl();
//Pid1.has_hardwarepidcontroltype = true;
Pid5.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ3;
  // Pid1.has_outputproportionalpowerlimit = true;
   Pid5.OutputProportionalPowerLimit = 50;
  // Pid1.has_outputproportionalband = true;
   Pid5.OutputProportionalBand = 3;
  // Pid1.has_kp = true;
  Pid5.SensorCorrectionAdjustment = 2.0;
  //Pid1.has_ki = true;
  Pid5.IntegralTime = 0.01;
Pid5.OutputProportionalPowerLimit = 80;
Pid5.OutputProportionalBand = 5;
Pid5.IntegralTime = 5;
Pid5.DerivativeTime = 0;
Pid5.SensorCorrectionAdjustment = 0;
Pid5.SensorMinValue = 0;
Pid5.SensorMaxValue = 0;
Pid5.SetPointRampRateorSoftStartRamp = 0;
Pid5.SetPointControlOutputRate = 4;
Pid5.ControlOutputType = 0;
Pid5.SsrControlOutputType = 0;
Pid5.OutputOnOffHysteresisValue = 0;
Pid5.ProcessVariableSamplingRate = 1000;
Pid5.PvInputFilterFactorMode = 4;
Pid5.OutputProportionalCycleTime = 0;
Pid5.AcHeatersHalfCycleTime = 0;
Pid5.ProportionalGain = 500.0;
hardwareConfiguration.PidControls.Add(Pid5);
  
  //Pid2.has_hardwarepidcontroltype = true;
Pid6.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.HeadHeaterZ4;
  // Pid2.has_outputproportionalpowerlimit = true;
   Pid6.OutputProportionalPowerLimit = 40;
  // Pid2.has_outputproportionalband = true;
   Pid6.OutputProportionalBand = 3;
  // Pid2.has_kp = true;
  Pid6.SensorCorrectionAdjustment = 0.5;
  //Pid2.has_ki = true;
  Pid6.IntegralTime = 0.1;
Pid6.OutputProportionalPowerLimit = 80;
Pid6.OutputProportionalBand = 5;
Pid6.IntegralTime = 5;
Pid6.DerivativeTime = 0;
Pid6.SensorCorrectionAdjustment = 0;
Pid6.SensorMinValue = 0;
Pid6.SensorMaxValue = 0;
Pid6.SetPointRampRateorSoftStartRamp = 0;
Pid6.SetPointControlOutputRate = 4;
Pid6.ControlOutputType = 0;
Pid6.SsrControlOutputType = 0;
Pid6.OutputOnOffHysteresisValue = 0;
Pid6.ProcessVariableSamplingRate = 1000;
Pid6.PvInputFilterFactorMode = 4;
Pid6.OutputProportionalCycleTime = 0;
Pid6.AcHeatersHalfCycleTime = 0;
Pid6.ProportionalGain = 500.0;
hardwareConfiguration.PidControls.Add(Pid6);
/*
HardwarePidControl Pid7 = new HardwarePidControl();
//Pid1.has_hardwarepidcontroltype = true;
Pid7.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MixerHeater;
  // Pid1.has_outputproportionalpowerlimit = true;
   Pid7.OutputProportionalPowerLimit = 50;
  // Pid1.has_outputproportionalband = true;
   Pid7.OutputProportionalBand = 3;
  // Pid1.has_kp = true;
  Pid7.SensorCorrectionAdjustment = 2.0;
  //Pid1.has_ki = true;
  Pid7.IntegralTime = 0.01;
//hardwareConfiguration.PidControls.Add(Pid7);
*/

HardwareDancer hardwareDancer1 = new HardwareDancer();
hardwareDancer1.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.RightDancer;
hardwareDancer1.Gradual = false;
hardwareDancer1.K = 0;
hardwareDancer1.X = 0;
hardwareDancer1.PulsePerMmSpring = 0;
hardwareDancer1.MaximalMovementMm = 15;
hardwareDancer1.ZeroPoint = 13626;
hardwareDancer1.ResolutionBits = 14;
hardwareDancer1.ArmLength = 126;
hardwareConfiguration.Dancers.Add(hardwareDancer1);

        HardwareDancer hardwareDancer2 = new HardwareDancer();
        hardwareDancer2.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.MiddleDancer;
        hardwareDancer2.Gradual = false;
        hardwareDancer2.K = 0;
        hardwareDancer2.X = 0;
        hardwareDancer2.PulsePerMmSpring = 0;
        hardwareDancer2.MaximalMovementMm = 15;
        hardwareDancer2.ZeroPoint = 13200;
        hardwareDancer2.ResolutionBits = 14;
        hardwareDancer2.ArmLength = 126;
hardwareConfiguration.Dancers.Add(hardwareDancer2);

        HardwareDancer hardwareDancer3 = new HardwareDancer();
        hardwareDancer3.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.LeftDancer;
        hardwareDancer3.Gradual = false;
        hardwareDancer3.K = 0;
        hardwareDancer3.X = 0;
        hardwareDancer3.PulsePerMmSpring = 0;
        hardwareDancer3.MaximalMovementMm = 15;
        hardwareDancer3.ZeroPoint = 11097;
        hardwareDancer3.ResolutionBits = 14;
        hardwareDancer3.ArmLength = 126;
hardwareConfiguration.Dancers.Add(hardwareDancer3);

HardwareMotor hardwareMotor1 = new HardwareMotor();
hardwareMotor1.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
hardwareMotor1.MinFrequency = 0;
hardwareMotor1.MaxFrequency = 1000000;
hardwareMotor1.SetMicroStep = 1;
hardwareMotor1.MicroStep = 1;
hardwareMotor1.MaxChangeSlope = 10000;
hardwareMotor1.HighLengthMicroSecond = 0;
hardwareMotor1.SpeedMaster = false;
hardwareMotor1.PulsePerRound = 200;
hardwareMotor1.PulleyRadius = 1.25;
hardwareMotor1.ConfigWord = 0x1C80;
hardwareMotor1.DirectionThreadWize = true;
hardwareMotor1.KvalHold = 0x35;
hardwareMotor1.KvalRun = 0x7f;
hardwareMotor1.KvalAcc = 0x7f;
hardwareMotor1.KvalDec = 0x7f;
hardwareMotor1.OverCurrentThreshold = 7;
hardwareMotor1.StallThreshold = 0x1F;
hardwareMotor1.ThermalCompensationFactor = 0;
hardwareMotor1.LowSpeedOptimization = false;
hardwareMotor1.StSlp = 0x20;
hardwareMotor1.IntSpd = 0x1A13;
hardwareMotor1.FnSlpAcc = 0x50;
hardwareMotor1.FnSlpDec = 0x50;
hardwareConfiguration.Motors.Add(hardwareMotor1);

HardwareMotor hardwareMotor2 = new HardwareMotor();
hardwareMotor2.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoWinder;
hardwareMotor2.MinFrequency = 0;
hardwareMotor2.MaxFrequency = 1000000;
hardwareMotor2.SetMicroStep = 1;
hardwareMotor2.MicroStep = 16;
hardwareMotor2.MaxChangeSlope = 10000;
hardwareMotor2.HighLengthMicroSecond = 0;
hardwareMotor2.SpeedMaster = false;
hardwareMotor2.PulsePerRound = 200;
hardwareMotor2.PulleyRadius = 1.68;
hardwareMotor2.ConfigWord = 0x1c80;
hardwareMotor2.DirectionThreadWize = false;
hardwareMotor2.KvalHold = 0x35;
hardwareMotor2.KvalRun = 0x7f;
hardwareMotor2.KvalAcc = 0x7f;
hardwareMotor2.KvalDec = 0x7f;
hardwareMotor2.OverCurrentThreshold = 7;
hardwareMotor2.StallThreshold = 0x1F;
hardwareMotor2.ThermalCompensationFactor = 0;
hardwareMotor2.LowSpeedOptimization = false;
hardwareMotor2.StSlp = 0x20;
hardwareMotor2.IntSpd = 0x1A13;
hardwareMotor2.FnSlpAcc = 0x50;
hardwareMotor2.FnSlpDec = 0x50;
hardwareConfiguration.Motors.Add(hardwareMotor2);

HardwareMotor hardwareMotor3 = new HardwareMotor();
hardwareMotor3.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
hardwareMotor3.MinFrequency = 0;
hardwareMotor3.MaxFrequency = 1000000;
hardwareMotor3.SetMicroStep = 1;
hardwareMotor3.MicroStep = 1;
hardwareMotor3.MaxChangeSlope = 1000;
hardwareMotor3.HighLengthMicroSecond = 0;
hardwareMotor3.SpeedMaster = true;
hardwareMotor3.PulsePerRound = 200;
hardwareMotor3.PulleyRadius = 1.05;
hardwareMotor3.ConfigWord = 0x1c80;
hardwareMotor3.DirectionThreadWize = true;
hardwareMotor3.KvalHold = 0x35;
hardwareMotor3.KvalRun = 0x7f;
hardwareMotor3.KvalAcc = 0x7f;
hardwareMotor3.KvalDec = 0x7f;
hardwareMotor3.OverCurrentThreshold = 7;
hardwareMotor3.StallThreshold = 0x1F;
hardwareMotor3.ThermalCompensationFactor = 0;
hardwareMotor3.LowSpeedOptimization = false;
hardwareMotor3.StSlp = 0x20;
hardwareMotor3.IntSpd = 0x1A13;
hardwareMotor3.FnSlpAcc = 0x50;
hardwareMotor3.FnSlpDec = 0x50;
hardwareConfiguration.Motors.Add(hardwareMotor3);

HardwareMotor hardwareMotor4 = new HardwareMotor();
hardwareMotor4.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLdriving;
hardwareMotor4.MinFrequency = 0;
hardwareMotor4.MaxFrequency = 1000000;
hardwareMotor4.SetMicroStep = 1;
hardwareMotor4.MicroStep = 8;
hardwareMotor4.MaxChangeSlope = 10000;
hardwareMotor4.HighLengthMicroSecond = 0;
hardwareMotor4.SpeedMaster = false;
hardwareMotor4.PulsePerRound = 200;
hardwareMotor4.PulleyRadius = 1.25;
hardwareMotor4.ConfigWord = 0x1C80;
hardwareMotor4.DirectionThreadWize = true;
hardwareMotor4.KvalHold = 0x35;
hardwareMotor4.KvalRun = 0x7f;
hardwareMotor4.KvalAcc = 0x7f;
hardwareMotor4.KvalDec = 0x7f;
hardwareMotor4.OverCurrentThreshold = 7;
hardwareMotor4.StallThreshold = 0x1F;
hardwareMotor4.ThermalCompensationFactor = 0;
hardwareMotor4.LowSpeedOptimization = false;
hardwareMotor4.StSlp = 20;
hardwareMotor4.IntSpd = 0x1A13;
hardwareMotor4.FnSlpAcc = 0x50;
hardwareMotor4.FnSlpDec = 0x50;
hardwareConfiguration.Motors.Add(hardwareMotor4);


HardwareMotor hardwareMotor5 = new HardwareMotor();
hardwareMotor5.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoScrew;
hardwareMotor5.MinFrequency = 0;
hardwareMotor5.MaxFrequency = 1000000;
hardwareMotor5.SetMicroStep = 1;
hardwareMotor5.MicroStep = 8;
hardwareMotor5.MaxChangeSlope = 10000;
hardwareMotor5.HighLengthMicroSecond = 0;
hardwareMotor5.SpeedMaster = false;
hardwareMotor5.PulsePerRound = 200;
hardwareMotor5.PulleyRadius = 1.3;
hardwareMotor5.ConfigWord = 0x1C80;
hardwareMotor5.DirectionThreadWize = true;
hardwareMotor5.KvalHold = 0x35;
hardwareMotor5.KvalRun = 0x7f;
hardwareMotor5.KvalAcc = 0x7f;
hardwareMotor5.KvalDec = 0x7f;
hardwareMotor5.OverCurrentThreshold = 7;
hardwareMotor5.StallThreshold = 0x1F;
hardwareMotor5.ThermalCompensationFactor = 0;
hardwareMotor5.LowSpeedOptimization = false;
hardwareMotor5.StSlp = 0x20;
hardwareMotor5.IntSpd = 0x1A13;
hardwareMotor5.FnSlpAcc = 0x50;
hardwareMotor5.FnSlpDec = 0x50;
hardwareConfiguration.Motors.Add(hardwareMotor5);

HardwareMotor hardwareMotor6 = new HardwareMotor();
hardwareMotor6.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLloading;
hardwareMotor6.MinFrequency = 0;
hardwareMotor6.MaxFrequency = 1000000;
hardwareMotor6.SetMicroStep = 1;
hardwareMotor6.MicroStep = 4;
hardwareMotor6.MaxChangeSlope = 10000;
hardwareMotor6.HighLengthMicroSecond = 0;
hardwareMotor6.SpeedMaster = false;
hardwareMotor6.PulsePerRound = 200;
hardwareMotor6.PulleyRadius = 1.3;
hardwareMotor6.ConfigWord = 0xC80;
hardwareMotor6.DirectionThreadWize = true;
hardwareMotor6.KvalHold = 0x28;
hardwareMotor6.KvalRun = 0x5f;
hardwareMotor6.KvalAcc = 0x5f;
hardwareMotor6.KvalDec = 0x5f;
hardwareMotor6.OverCurrentThreshold = 7;
hardwareMotor6.StallThreshold = 0x1F;
hardwareMotor6.ThermalCompensationFactor = 0;
hardwareMotor6.LowSpeedOptimization = false;
hardwareMotor6.StSlp = 6;
hardwareMotor6.IntSpd = 0x44B8;
hardwareMotor6.FnSlpAcc = 0x14;
hardwareMotor6.FnSlpDec = 0x14;
hardwareConfiguration.Motors.Add(hardwareMotor6);

HardwareMotor hardwareMotor7 = new HardwareMotor();
hardwareMotor7.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRloading;
hardwareMotor7.MinFrequency = 0;
hardwareMotor7.MaxFrequency = 1000000;
hardwareMotor7.SetMicroStep = 1;
hardwareMotor7.MicroStep = 4;
hardwareMotor7.MaxChangeSlope = 10000;
hardwareMotor7.HighLengthMicroSecond = 0;
hardwareMotor7.SpeedMaster = false;
hardwareMotor7.PulsePerRound = 200;
hardwareMotor7.PulleyRadius = 1.3;
hardwareMotor7.ConfigWord = 0xC80;
hardwareMotor7.DirectionThreadWize = false;
hardwareMotor7.KvalHold = 0x28;
hardwareMotor7.KvalRun = 0x5f;
hardwareMotor7.KvalAcc = 0x5f;
hardwareMotor7.KvalDec = 0x5f;
hardwareMotor7.OverCurrentThreshold = 7;
hardwareMotor7.StallThreshold = 0x1F;
hardwareMotor7.ThermalCompensationFactor = 0;
hardwareMotor7.LowSpeedOptimization = false;
hardwareMotor7.StSlp = 6;
hardwareMotor7.IntSpd = 0x44B8;
hardwareMotor7.FnSlpAcc = 0x14;
hardwareMotor7.FnSlpDec = 0x14;
hardwareConfiguration.Motors.Add(hardwareMotor7);

stubManager.WriteLine("data.data length = " + hardwareConfiguration.CalculateSize());


uploadHardwareConfigurationRequest.HardwareConfiguration = hardwareConfiguration;
var response = stubManager.Run<UploadHardwareConfigurationResponse>(uploadHardwareConfigurationRequest);
        /*Thread.Sleep(5000);

        stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 7, false);//OFF
        Thread.Sleep(10);
    	stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 4, true);//ON
        Thread.Sleep(10);
        stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 4, false);//OFF
        Thread.Sleep(10);
    	stubManager.Run("StubGPIOWriteBitRequest" ,"Q", 4, true);//ON

*/


}