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#ifndef MODULES_IDS_IDS_H_
#define MODULES_IDS_IDS_H_
#include "PMR/common/MessageContainer.pb-c.h"
#include "PMR/Hardware/HardwareDispenser.pb-c.h"
#include "drivers/motors/motor.h"
#define MAX_SYSTEM_DISPENSERS 8
typedef struct
{
int32_t dispensercapacity; //milliliters
int32_t midtankcapacity;//milliliters
double nlperpulse; //nanoliter per step , uStep = 1
uint32_t minfrequency;
uint32_t maxfrequency;
uint32_t minmicrostep;
uint32_t maxmicrostep;
double correctiongain;
double ratiotodryerspeed;
double kp;
double ki;
double kd;
double changeslope;
double highlengthmicrosecond;
int32_t controltiming; //10-100-1000 milliseconds
int32_t id;
}DispenserConfigStruc;
extern uint32_t DispenserIdToMotorId[MAX_SYSTEM_DISPENSERS];
uint32_t DispenserConfigMessage(HardwareDispenser * request);
#endif //MODULES_IDS_IDS_H_
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