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.Stubs.UI;

//Expected BUSY = FALSH ON ACC OR DEC

public void OnExecute(StubManager stubManager)
{
    
	// UInt32 : MotorID
	// UInt32 : MicroSteps
	// Boolean : SetMicroSteps
	// UInt32 : ACC
	// Boolean : SetACC
	// UInt32 : DEC
	// Boolean : SetDec
	// UInt32 : MaxSpeed
	// Boolean : SetMaxSpeed
	stubManager.Run("StubMotorInitRequest" ,11, 0, false, 0, false, 0, false, 0, false); //Init - use embedded hardcodded values

	Thread.Sleep(1000);	
	// UInt32 : MotorID
	// Boolean : Direction
	// Double : Speed
	stubManager.Run("StubMotorRunRequest" ,22, true, 1000); //step/sec
	

	//Thread.Sleep(1000);
	// UInt32 : MotorID
    stubManager.Run("StubMotorSpeedRequest" ,33);
    stubManager.Run("StubMotorStatusRequest" ,55, true);
        
	Thread.Sleep(1000);
	// UInt32 : MotorID
	// UInt32 : StopCMD
	stubManager.Run("StubMotorStopRequest" ,44, 0); // 0 - SoftHiZ / 1 - HardHiZ  / 2 - SoftStop / 3 - HardStop
	stubManager.Run("StubMotorStatusRequest" ,55, true);
}