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.UI;

public void OnExecute(StubManager stubManager)
{
	// Request ----
	// UInt32 : MotorID
	// UInt32 : DataToSend
	// UInt32 : NBytesToSet
	// UInt32 : NBytesToGet
	
	// Response ----
	// UInt32 : MotorID
	// UInt32 : RecivedData
	

	var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,1, 0x51000E08,4 , 4); // run speed 0E08  = 1000 step/sec
	
	Thread.Sleep(2000);
	
	var response1 = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,1, 0x24,1 , 4); // Get speed
	stubManager.WriteLineHex(response1.RecivedData,4); //display the speed in hex
	
	
}