Added dispensers support on technician module.

75 files changed, 3603 insertions, 101 deletions

diff --git a/Software/DB/Tango.mdf b/Software/DB/Tango.mdf
index 576b52c73..2352d6907 100644
--- a/Software/DB/Tango.mdf
+++ b/Software/DB/Tango.mdf
diff --git a/Software/DB/Tango_log.ldf b/Software/DB/Tango_log.ldf
index ebd2921bf..1a3991eae 100644
--- a/Software/DB/Tango_log.ldf
+++ b/Software/DB/Tango_log.ldf
diff --git a/Software/Graphics/cogwheel.svg b/Software/Graphics/cogwheel.svg
new file mode 100644
index 000000000..c6e68a60d
--- /dev/null
+++ b/Software/Graphics/cogwheel.svg
@@ -0,0 +1,52 @@
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diff --git a/Software/Graphics/cogwheel.xaml b/Software/Graphics/cogwheel.xaml
new file mode 100644
index 000000000..140885be7
--- /dev/null
+++ b/Software/Graphics/cogwheel.xaml
@@ -0,0 +1,36 @@
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diff --git a/Software/Graphics/dispenser-big.png b/Software/Graphics/dispenser-big.png
new file mode 100644
index 000000000..284b1da0e
--- /dev/null
+++ b/Software/Graphics/dispenser-big.png
diff --git a/Software/Graphics/dispenser-line.png b/Software/Graphics/dispenser-line.png
new file mode 100644
index 000000000..9e2e344c0
--- /dev/null
+++ b/Software/Graphics/dispenser-line.png
diff --git a/Software/Graphics/ico-ac.svg b/Software/Graphics/ico-ac.svg
new file mode 100644
index 000000000..c72933a0b
--- /dev/null
+++ b/Software/Graphics/ico-ac.svg
@@ -0,0 +1,16 @@
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diff --git a/Software/Graphics/miscellaneous.svg b/Software/Graphics/miscellaneous.svg
new file mode 100644
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diff --git a/Software/Graphics/propeller.svg b/Software/Graphics/propeller.svg
new file mode 100644
index 000000000..9299250a9
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diff --git a/Software/Graphics/propeller.xaml b/Software/Graphics/propeller.xaml
new file mode 100644
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+		l42.843,7.696c6.105,1.15,10.185,6.995,9.043,13.084c-1.079,6.112-6.908,10.153-13.028,9.074l-20.701-3.734l-3.757,20.693
+		c-1.095,6.12-6.924,10.177-13.076,9.074C6.179,255.297,3.659,253.579,1.996,251.209z"/>
+</g>
+<g>
+	<path id="SVGCleanerId_7_1_" style="fill:#086CB7;" d="M59.254,222.206l-41.015-7.389l-7.389,40.984
+		c5.474,0.181,10.429-3.458,11.445-9.043l3.765-20.693l20.708,3.742C52.362,230.784,57.489,227.397,59.254,222.206z"/>
+</g>
+<path style="fill:#B7C4C4;" d="M395.071,423.233c14.123-78.336-37.935-153.285-116.248-167.416"/>
+<path style="fill:#086CB7;" d="M268.827,254.028c-1.016,5.53,2.662,10.831,8.2,11.815c72.665,13.107,121.123,82.897,108.016,155.601
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+	C275.121,244.836,269.812,248.515,268.827,254.028z"/>
+<path style="fill:#1382CE;" d="M428.256,429.479c-0.504,2.828-2.111,5.474-4.695,7.27l-35.753,24.797l-24.828-35.738
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+	c5.088-3.552,12.091-2.308,15.644,2.828C428.193,423.626,428.768,426.651,428.256,429.479z"/>
+<path style="fill:#086CB7;" d="M367.273,409.503l23.773,34.241l34.202-23.765c-3.742-4.017-9.83-4.931-14.478-1.709l-17.306,11.981
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+<path style="fill:#1382CE;" d="M75.843,74.639c0.52-2.836,2.127-5.451,4.695-7.27l35.738-24.789l24.86,35.73
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+<path style="fill:#086CB7;" d="M136.826,94.615L113.069,60.39L78.852,84.155c3.742,4.001,9.815,4.915,14.494,1.694l17.274-11.981
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+<circle style="fill:#1382CE;" cx="252.049" cy="252.051" r="36.108"/>
+<path style="fill:#086CB7;" d="M226.52,226.522c14.108-14.1,36.966-14.1,51.058,0c14.108,14.1,14.108,36.959,0,51.058"/>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+</svg>
diff --git a/Software/Graphics/volume.png b/Software/Graphics/volume.png
new file mode 100644
index 000000000..4f48f7528
--- /dev/null
+++ b/Software/Graphics/volume.png
diff --git a/Software/PMR/Messages/Common/MessageType.proto b/Software/PMR/Messages/Common/MessageType.proto
index 24a398e01..0c43f2b2d 100644
--- a/Software/PMR/Messages/Common/MessageType.proto
+++ b/Software/PMR/Messages/Common/MessageType.proto
@@ -69,6 +69,15 @@ enum MessageType
 	MotorAbortJoggingRequest = 2008;
 	MotorAbortJoggingResponse = 2009;
 
+	DispenserAbortHomingRequest = 2010;
+	DispenserAbortHomingResponse = 2011;
+	DispenserHomingRequest = 2012;
+	DispenserHomingResponse = 2013;
+	DispenserJoggingRequest = 2014;
+	DispenserJoggingResponse = 2015;
+	DispenserAbortJoggingRequest = 2016;
+	DispenserAbortJoggingResponse = 2017;
+
 
 	//Printing
 	JobRequest = 3000;
diff --git a/Software/PMR/Messages/Diagnostics/DispenserAbortHomingRequest.proto b/Software/PMR/Messages/Diagnostics/DispenserAbortHomingRequest.proto
new file mode 100644
index 000000000..a50c64c76
--- /dev/null
+++ b/Software/PMR/Messages/Diagnostics/DispenserAbortHomingRequest.proto
@@ -0,0 +1,9 @@
+syntax = "proto3";
+
+package Tango.PMR.Diagnostics;
+option java_package = "com.twine.tango.pmr.diagnostics";
+
+message DispenserAbortHomingRequest
+{
+	int32 Code = 1;
+}
\ No newline at end of file
diff --git a/Software/PMR/Messages/Diagnostics/DispenserAbortHomingResponse.proto b/Software/PMR/Messages/Diagnostics/DispenserAbortHomingResponse.proto
new file mode 100644
index 000000000..04c242ddd
--- /dev/null
+++ b/Software/PMR/Messages/Diagnostics/DispenserAbortHomingResponse.proto
@@ -0,0 +1,9 @@
+syntax = "proto3";
+
+package Tango.PMR.Diagnostics;
+option java_package = "com.twine.tango.pmr.diagnostics";
+
+message DispenserAbortHomingResponse
+{
+
+}
\ No newline at end of file
diff --git a/Software/PMR/Messages/Diagnostics/DispenserAbortJoggingRequest.proto b/Software/PMR/Messages/Diagnostics/DispenserAbortJoggingRequest.proto
new file mode 100644
index 000000000..7767ea60f
--- /dev/null
+++ b/Software/PMR/Messages/Diagnostics/DispenserAbortJoggingRequest.proto
@@ -0,0 +1,9 @@
+syntax = "proto3";
+
+package Tango.PMR.Diagnostics;
+option java_package = "com.twine.tango.pmr.diagnostics";
+
+message DispenserAbortJoggingRequest
+{
+	int32 Code = 2;
+}
\ No newline at end of file
diff --git a/Software/PMR/Messages/Diagnostics/DispenserAbortJoggingResponse.proto b/Software/PMR/Messages/Diagnostics/DispenserAbortJoggingResponse.proto
new file mode 100644
index 000000000..df0fa3fad
--- /dev/null
+++ b/Software/PMR/Messages/Diagnostics/DispenserAbortJoggingResponse.proto
@@ -0,0 +1,9 @@
+syntax = "proto3";
+
+package Tango.PMR.Diagnostics;
+option java_package = "com.twine.tango.pmr.diagnostics";
+
+message DispenserAbortJoggingResponse
+{
+	int32 Code = 2;
+}
\ No newline at end of file
diff --git a/Software/PMR/Messages/Diagnostics/DispenserHomingRequest.proto b/Software/PMR/Messages/Diagnostics/DispenserHomingRequest.proto
new file mode 100644
index 000000000..6263b228c
--- /dev/null
+++ b/Software/PMR/Messages/Diagnostics/DispenserHomingRequest.proto
@@ -0,0 +1,10 @@
+syntax = "proto3";
+
+package Tango.PMR.Diagnostics;
+option java_package = "com.twine.tango.pmr.diagnostics";
+
+message DispenserHomingRequest
+{
+	int32 Code = 1;
+	double Speed = 2;
+}
\ No newline at end of file
diff --git a/Software/PMR/Messages/Diagnostics/DispenserHomingResponse.proto b/Software/PMR/Messages/Diagnostics/DispenserHomingResponse.proto
new file mode 100644
index 000000000..c7e249ad3
--- /dev/null
+++ b/Software/PMR/Messages/Diagnostics/DispenserHomingResponse.proto
@@ -0,0 +1,10 @@
+syntax = "proto3";
+
+package Tango.PMR.Diagnostics;
+option java_package = "com.twine.tango.pmr.diagnostics";
+
+message DispenserHomingResponse
+{
+	double Progress = 1;
+	double MaxProgress = 2;
+}
\ No newline at end of file
diff --git a/Software/PMR/Messages/Diagnostics/DispenserJoggingRequest.proto b/Software/PMR/Messages/Diagnostics/DispenserJoggingRequest.proto
new file mode 100644
index 000000000..2eba7cd1b
--- /dev/null
+++ b/Software/PMR/Messages/Diagnostics/DispenserJoggingRequest.proto
@@ -0,0 +1,13 @@
+syntax = "proto3";
+
+import "MotorDirection.proto";
+
+package Tango.PMR.Diagnostics;
+option java_package = "com.twine.tango.pmr.diagnostics";
+
+message DispenserJoggingRequest
+{
+	MotorDirection Direction = 1;
+	int32 Code = 2;
+	double Speed = 3;
+}
\ No newline at end of file
diff --git a/Software/PMR/Messages/Diagnostics/DispenserJoggingResponse.proto b/Software/PMR/Messages/Diagnostics/DispenserJoggingResponse.proto
new file mode 100644
index 000000000..7b6ccea8d
--- /dev/null
+++ b/Software/PMR/Messages/Diagnostics/DispenserJoggingResponse.proto
@@ -0,0 +1,9 @@
+syntax = "proto3";
+
+package Tango.PMR.Diagnostics;
+option java_package = "com.twine.tango.pmr.diagnostics";
+
+message DispenserJoggingResponse
+{
+
+}
\ No newline at end of file
diff --git a/Software/PMR/Messages/Diagnostics/MotorHomingResponse.proto b/Software/PMR/Messages/Diagnostics/MotorHomingResponse.proto
index f79b85955..1ee59cd3b 100644
--- a/Software/PMR/Messages/Diagnostics/MotorHomingResponse.proto
+++ b/Software/PMR/Messages/Diagnostics/MotorHomingResponse.proto
@@ -5,6 +5,6 @@ option java_package = "com.twine.tango.pmr.diagnostics";
 
 message MotorHomingResponse
 {
-	int32 Progress = 1;
-	int32 MaxProgress = 2;
+	double Progress = 1;
+	double MaxProgress = 2;
 }
\ No newline at end of file
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/DispenserElementEditor.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/DispenserElementEditor.xaml
new file mode 100644
index 000000000..b84da3b42
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/DispenserElementEditor.xaml
@@ -0,0 +1,288 @@
+<local:ElementEditor x:Class="Tango.MachineStudio.Technician.Editors.DispenserElementEditor"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+             xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
+             xmlns:items="clr-namespace:Tango.MachineStudio.Technician.TechItems"
+             xmlns:converters="clr-namespace:Tango.Editors.Converters;assembly=Tango.Editors"
+                     xmlns:sharedConverters="clr-namespace:Tango.SharedUI.Converters;assembly=Tango.SharedUI"
+             xmlns:visuals="clr-namespace:Tango.Visuals;assembly=Tango.Visuals"
+             xmlns:local="clr-namespace:Tango.Editors;assembly=Tango.Editors"
+             mc:Ignorable="d" 
+             d:DesignHeight="164.393" d:DesignWidth="224.65" Background="Transparent" ClipToBounds="False" BorderThickness="0" MinWidth="1" MinHeight="1" RenderTransformOrigin="0.5,0.5" d:DataContext="{d:DesignInstance Type=items:DispenserItem, IsDesignTimeCreatable=False}">
+
+    <UserControl.Resources>
+        <converters:BoolToVisibilityConverter x:Key="BoolToVisibilityConverter"></converters:BoolToVisibilityConverter>
+        <sharedConverters:BooleanInverseConverter x:Key="BooleanInverseConverter" />
+
+        <!--Theme-->
+        <SolidColorBrush x:Key="BorderBrush" Color="Transparent"></SolidColorBrush>
+        <SolidColorBrush x:Key="CornersBrush" Color="Red"></SolidColorBrush>
+
+        <Grid x:Key="gridHoming">
+            <DockPanel>
+                <Button Click="OnHomingStopped" DockPanel.Dock="Right" Padding="0" Style="{StaticResource MaterialDesignFlatButton}" VerticalAlignment="Center" Margin="0 0 5 0" ToolTip="Stop Homing">
+                    <materialDesign:PackIcon Kind="Stop" Foreground="#FF5F5F" HorizontalAlignment="Center" VerticalAlignment="Center" Width="32" Height="32" />
+                </Button>
+                <ProgressBar Foreground="DimGray" BorderBrush="DimGray" Maximum="{Binding HomingMaximumProgress}" Value="{Binding HomingProgress}" VerticalAlignment="Center" Height="10" Margin="5 0 5 0" Background="Transparent"></ProgressBar>
+            </DockPanel>
+        </Grid>
+
+        <Grid x:Key="gridDefault">
+            <Viewbox Stretch="Fill">
+                <materialDesign:PackIcon Kind="Home" Margin="25 0" HorizontalAlignment="Center" VerticalAlignment="Center" Width="24" Height="24" Foreground="#202020" />
+            </Viewbox>
+
+            <Button Click="OnHomingStarted" Style="{StaticResource emptyButton}" Cursor="Hand" Background="Transparent" BorderThickness="0"></Button>
+        </Grid>
+    </UserControl.Resources>
+
+    <UserControl.RenderTransform>
+        <RotateTransform Angle="{Binding RelativeSource={RelativeSource AncestorType=local:ElementEditor},Path=Angle}"></RotateTransform>
+    </UserControl.RenderTransform>
+
+    <Grid>
+
+        <Grid Margin="5" IsHitTestVisible="{Binding RelativeSource={RelativeSource AncestorType=local:ElementsEditor},Path=IsEditable,Converter={StaticResource BooleanInverseConverter}}">
+            <Grid.ColumnDefinitions>
+                <ColumnDefinition Width="20*"/>
+                <ColumnDefinition Width="100*"/>
+                <ColumnDefinition Width="20*"/>
+            </Grid.ColumnDefinitions>
+
+            <Grid.RowDefinitions>
+                <RowDefinition Height="100*" />
+                <RowDefinition Height="30*" />
+            </Grid.RowDefinitions>
+
+            <Grid Grid.Column="1">
+                <Border BorderThickness="1" BorderBrush="Gray" CornerRadius="5">
+                    <Border.Background>
+                        <ImageBrush ImageSource="../Images/black-screen.jpg" Opacity="0.1" />
+                    </Border.Background>
+
+                    <Grid>
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition Width="63*"/>
+                            <ColumnDefinition Width="88*"/>
+                        </Grid.ColumnDefinitions>
+                        <Image Source="../Images/dispenser-line.png" Grid.ColumnSpan="2" Stretch="Fill"></Image>
+
+                        <Path RenderTransformOrigin="0.5,0.5" Margin="10" HorizontalAlignment="Left" VerticalAlignment="Bottom" StrokeThickness="1" Stroke="Gray" Stretch="Uniform" Data="M728.4 312.2l-198.1-63.4c-0.5-5.9-1.6-11.6-3.4-17c8.4-2.8 17-5.9 25.7-9.2c78.8-29.7 124.3-63 135-98.8  c7.2-23.8-0.5-47.5-22.6-70.3c-17.5-18-56.2-44.9-57.8-46c-6.2-4.3-14.7-2.8-19.1 3.3L465.5 180.8c-3.2-0.4-6.4-0.6-9.6-0.6  c-2.2 0-4.5 0.1-6.7 0.3c-0.5-62.6-8.3-142.4-41.1-178.6c-12.7-14.1-28.3-21.2-46.1-21.2c0 0 0 0 0 0c-12.3 0-25.6 3.5-39.7 10.4  c-17.4 8.6-43.8 27.5-55.6 36.2c-3.5 2.6-5.7 4.2-6.1 4.5c-3.7 2.8-5.6 7.2-5.4 11.6c0.1 2.6 1 5.3 2.7 7.5l128.9 175.8  c-1.4 3.5-2.6 7.1-3.4 10.8c-42.1-13.7-94.9-27.4-138.4-27.4c-34.2 0-59.1 8.6-73.8 25.7c-13 15-17.7 35.8-14 61.7  c3.6 24.8 19.1 69.3 19.7 71.2c2 5.7 7.3 9.3 13 9.3c1.4 0 2.9-0.2 4.3-0.7L404 308.3c2.3 2.3 4.8 4.4 7.4 6.3  c-7.3 10-14.8 20.7-22.3 32c-46.3 70.4-63.5 124-51.1 159.3c8.2 23.5 28.3 38.2 59.6 43.6c16.2 2.8 41.8 3.4 60.4 3.4  c8.1 0 13.5-0.1 13.5-0.1c7.5-0.2 13.5-6.3 13.5-13.9L484 323.8c4.1-1.7 8.1-3.7 11.8-6.1c6.1 8.3 12.6 16.9 19.5 25.6  c52.2 65.4 97.5 98.6 134.8 98.6c17.6 0 42.4-7.5 61.3-43.3c11.7-22.2 25.4-67.3 25.9-69.2C739.5 322.2 735.5 314.5 728.4 312.2z   M455.9 293c-21.1 0-38.3-17.1-38.3-38.3s17.1-38.3 38.3-38.3c21.1 0 38.3 17.1 38.3 38.3C494.2 275.9 477 293 455.9 293z">
+                            <Path.Fill>
+                                <LinearGradientBrush>
+                                    <GradientStop Color="Black"/>
+                                    <GradientStop Color="{Binding Color}" Offset="0.8"/>
+                                </LinearGradientBrush>
+                            </Path.Fill>
+                            <Path.RenderTransform>
+                                <RotateTransform x:Name="propRotate" Angle="0" />
+                            </Path.RenderTransform>
+                        </Path>
+                        <!--<Image RenderTransformOrigin="0.5,0.5" Margin="10" HorizontalAlignment="Left" VerticalAlignment="Bottom" Source="../Images/prop.png" RenderOptions.BitmapScalingMode="Fant">
+                            <Image.RenderTransform>
+                                <RotateTransform x:Name="propRotate" Angle="0" />
+                            </Image.RenderTransform>
+                        </Image>-->
+                    </Grid>
+                </Border>
+            </Grid>
+
+            <Grid>
+                <Border BorderBrush="Gray" Cursor="Hand" BorderThickness="1 1 0 1" Margin="0 10" CornerRadius="5 0 0 5" PreviewMouseDown="OnBackwardPressed" PreviewMouseUp="OnBackwardReleased">
+                    <Border.Style>
+                        <Style TargetType="Border">
+                            <Setter Property="Background">
+                                <Setter.Value>
+                                    <LinearGradientBrush EndPoint="1,0">
+                                        <GradientStop Color="#AAAAAA" Offset="1" />
+                                        <GradientStop Color="#FFEEEEEE" Offset="0"/>
+                                    </LinearGradientBrush>
+                                </Setter.Value>
+                            </Setter>
+                            <Style.Triggers>
+                                <EventTrigger RoutedEvent="PreviewMouseDown">
+                                    <EventTrigger.Actions>
+                                        <BeginStoryboard>
+                                            <Storyboard>
+                                                <ColorAnimation Storyboard.TargetProperty="Background.GradientStops[1].Color" To="#FFCECECE" Duration="00:00:0.1" />
+                                            </Storyboard>
+                                        </BeginStoryboard>
+                                    </EventTrigger.Actions>
+                                </EventTrigger>
+                                <EventTrigger RoutedEvent="PreviewMouseUp">
+                                    <EventTrigger.Actions>
+                                        <BeginStoryboard>
+                                            <Storyboard>
+                                                <ColorAnimation Storyboard.TargetProperty="Background.GradientStops[1].Color" To="#FFEEEEEE" Duration="00:00:0.1" />
+                                            </Storyboard>
+                                        </BeginStoryboard>
+                                    </EventTrigger.Actions>
+                                </EventTrigger>
+                            </Style.Triggers>
+                        </Style>
+                    </Border.Style>
+
+                    <Viewbox Stretch="Fill" Margin="-10 20">
+                        <materialDesign:PackIcon Kind="ChevronLeft" HorizontalAlignment="Center" VerticalAlignment="Center" Width="24" Height="24" Foreground="#202020" />
+                    </Viewbox>
+                </Border>
+            </Grid>
+
+            <Grid Grid.Column="2">
+                <Border BorderBrush="Gray" Cursor="Hand" BorderThickness="0 1 1 1" Margin="0 10" CornerRadius="0 10 10 0" PreviewMouseDown="OnForwardPressed" PreviewMouseUp="OnForwardReleased">
+                    <Border.Style>
+                        <Style TargetType="Border">
+                            <Setter Property="Background">
+                                <Setter.Value>
+                                    <LinearGradientBrush EndPoint="1,0">
+                                        <GradientStop Color="#AAAAAA" Offset="0" />
+                                        <GradientStop Color="#FFEEEEEE" Offset="1"/>
+                                    </LinearGradientBrush>
+                                </Setter.Value>
+                            </Setter>
+                            <Style.Triggers>
+                                <EventTrigger RoutedEvent="PreviewMouseDown">
+                                    <EventTrigger.Actions>
+                                        <BeginStoryboard>
+                                            <Storyboard>
+                                                <ColorAnimation Storyboard.TargetProperty="Background.GradientStops[1].Color" To="#FFCECECE" Duration="00:00:0.1" />
+                                            </Storyboard>
+                                        </BeginStoryboard>
+                                    </EventTrigger.Actions>
+                                </EventTrigger>
+                                <EventTrigger RoutedEvent="PreviewMouseUp">
+                                    <EventTrigger.Actions>
+                                        <BeginStoryboard>
+                                            <Storyboard>
+                                                <ColorAnimation Storyboard.TargetProperty="Background.GradientStops[1].Color" To="#FFEEEEEE" Duration="00:00:0.1" />
+                                            </Storyboard>
+                                        </BeginStoryboard>
+                                    </EventTrigger.Actions>
+                                </EventTrigger>
+                            </Style.Triggers>
+                        </Style>
+                    </Border.Style>
+
+                    <Viewbox Stretch="Fill" Margin="-10 20">
+                        <materialDesign:PackIcon Kind="ChevronRight" HorizontalAlignment="Center" VerticalAlignment="Center" Width="24" Height="24" Foreground="#202020" />
+                    </Viewbox>
+                </Border>
+            </Grid>
+
+            <Grid Grid.Column="1" Grid.Row="1">
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition Width="20*"/>
+                    <ColumnDefinition Width="115*"/>
+                    <ColumnDefinition Width="20*"/>
+                </Grid.ColumnDefinitions>
+
+                <Grid Grid.Column="1">
+                    <Border BorderBrush="Gray" BorderThickness="1 0 1 1" CornerRadius="0 0 20 20">
+                        <Border.Style>
+                            <Style TargetType="Border">
+                                <Setter Property="Background">
+                                    <Setter.Value>
+                                        <LinearGradientBrush EndPoint="0.5,1" StartPoint="0.5,0">
+                                            <GradientStop Color="#979797" Offset="1" />
+                                            <GradientStop Color="#FFEEEEEE" Offset="0"/>
+                                        </LinearGradientBrush>
+                                    </Setter.Value>
+                                </Setter>
+                                <Style.Triggers>
+                                    <EventTrigger RoutedEvent="PreviewMouseDown">
+                                        <EventTrigger.Actions>
+                                            <BeginStoryboard>
+                                                <Storyboard>
+                                                    <ColorAnimation Storyboard.TargetProperty="Background.GradientStops[1].Color" To="#FFCECECE" Duration="00:00:0.1" />
+                                                </Storyboard>
+                                            </BeginStoryboard>
+                                        </EventTrigger.Actions>
+                                    </EventTrigger>
+                                    <EventTrigger RoutedEvent="PreviewMouseUp">
+                                        <EventTrigger.Actions>
+                                            <BeginStoryboard>
+                                                <Storyboard>
+                                                    <ColorAnimation Storyboard.TargetProperty="Background.GradientStops[1].Color" To="#FFEEEEEE" Duration="00:00:0.1" />
+                                                </Storyboard>
+                                            </BeginStoryboard>
+                                        </EventTrigger.Actions>
+                                    </EventTrigger>
+                                </Style.Triggers>
+                            </Style>
+                        </Border.Style>
+
+                        <Grid>
+                            <ContentControl>
+                                <ContentControl.Style>
+                                    <Style TargetType="ContentControl">
+                                        <Setter Property="Content" Value="{StaticResource gridDefault}">
+
+                                        </Setter>
+                                        <Style.Triggers>
+                                            <DataTrigger Binding="{Binding IsHoming}" Value="True">
+                                                <Setter Property="Content" Value="{StaticResource gridHoming}">
+                                                </Setter>
+                                            </DataTrigger>
+                                        </Style.Triggers>
+                                    </Style>
+                                </ContentControl.Style>
+
+                            </ContentControl>
+                        </Grid>
+                    </Border>
+                </Grid>
+            </Grid>
+
+
+        </Grid>
+
+        <!--Content-->
+        <Grid>
+            <Border Margin="0 0 0 -23" VerticalAlignment="Bottom">
+                <TextBlock Text="{Binding TechDispenser.Description}" FontSize="14" Foreground="DimGray" HorizontalAlignment="Center"></TextBlock>
+            </Border>
+        </Grid>
+        <!--Content-->
+
+
+        <Border BorderThickness="1" BorderBrush="{Binding RelativeSource={RelativeSource AncestorType=local:ElementEditor},Path=BorderBrush,TargetNullValue={StaticResource BorderBrush},FallbackValue={StaticResource BorderBrush}}" Visibility="{Binding RelativeSource={RelativeSource AncestorType=local:ElementEditor},Path=(local:ElementsEditor.IsSelected),Converter={StaticResource BoolToVisibilityConverter}}">
+            <Grid>
+                <ContentPresenter Content="{Binding RelativeSource={RelativeSource AncestorType=local:ElementEditor},Path=InnerContent}"></ContentPresenter>
+
+                <Thumb Opacity="0" DragDelta="MoveDrag" DragStarted="DragStarted" DragCompleted="OnDragEnded"></Thumb>
+                <Thumb HorizontalAlignment="Left" Cursor="SizeWE" Opacity="0" DragDelta="DragLeft" DragStarted="DragStarted" DragCompleted="OnDragEnded"></Thumb>
+                <Thumb HorizontalAlignment="Right" Cursor="SizeWE" Opacity="0" DragDelta="DragRight" DragStarted="DragStarted" DragCompleted="OnDragEnded"></Thumb>
+                <Thumb VerticalAlignment="Top" Cursor="SizeNS" Opacity="0" DragDelta="DragTop" DragStarted="DragStarted" DragCompleted="OnDragEnded"></Thumb>
+                <Thumb VerticalAlignment="Bottom" Cursor="SizeNS" Opacity="0" DragDelta="DragBottom" DragStarted="DragStarted" DragCompleted="OnDragEnded"></Thumb>
+
+                <Grid ClipToBounds="False" HorizontalAlignment="Center" VerticalAlignment="Top" Margin="0 -20 0 0" Width="10" Height="10">
+                    <Ellipse Stroke="{Binding RelativeSource={RelativeSource AncestorType=local:ElementEditor},Path=CornersBrush,TargetNullValue={StaticResource CornersBrush},FallbackValue={StaticResource CornersBrush}}" StrokeThickness="2"></Ellipse>
+                    <Rectangle HorizontalAlignment="Center" VerticalAlignment="Stretch" Margin="0 10 0 -8" StrokeThickness="1" Stroke="Red"></Rectangle>
+                    <Thumb Opacity="0" DragDelta="DragAngle" DragStarted="DragStarted" Cursor="Arrow" DragCompleted="OnDragEnded"></Thumb>
+                </Grid>
+
+                <Grid Width="10" Height="10" HorizontalAlignment="Left" VerticalAlignment="Top" Margin="-8 -8 0 0">
+                    <Border BorderBrush="{Binding RelativeSource={RelativeSource AncestorType=local:ElementEditor},Path=CornersBrush,TargetNullValue={StaticResource CornersBrush},FallbackValue={StaticResource CornersBrush}}" BorderThickness="2 2 0 0"></Border>
+                    <Thumb Opacity="0" DragDelta="DragTopLeft" DragStarted="DragStarted" Cursor="SizeNWSE" DragCompleted="OnDragEnded"></Thumb>
+                </Grid>
+
+                <Grid Width="10" Height="10" HorizontalAlignment="Right" VerticalAlignment="Top" Margin="0 -8 -8 0">
+                    <Border BorderBrush="{Binding RelativeSource={RelativeSource AncestorType=local:ElementEditor},Path=CornersBrush,TargetNullValue={StaticResource CornersBrush},FallbackValue={StaticResource CornersBrush}}" BorderThickness="0 2 2 0"></Border>
+                    <Thumb Opacity="0" DragDelta="DragTopRight" DragStarted="DragStarted" Cursor="SizeNESW" DragCompleted="OnDragEnded"></Thumb>
+                </Grid>
+
+                <Grid Width="10" Height="10" HorizontalAlignment="Right" VerticalAlignment="Bottom" Margin="0 0 -8 -8">
+                    <Border BorderBrush="{Binding RelativeSource={RelativeSource AncestorType=local:ElementEditor},Path=CornersBrush,TargetNullValue={StaticResource CornersBrush},FallbackValue={StaticResource CornersBrush}}" BorderThickness="0 0 2 2"></Border>
+                    <Thumb Opacity="0" DragDelta="DragBottomRight" DragStarted="DragStarted" Cursor="SizeNWSE" DragCompleted="OnDragEnded"></Thumb>
+                </Grid>
+
+                <Grid Width="10" Height="10" HorizontalAlignment="Left" VerticalAlignment="Bottom" Margin="-8 0 0 -8">
+                    <Border BorderBrush="{Binding RelativeSource={RelativeSource AncestorType=local:ElementEditor},Path=CornersBrush,TargetNullValue={StaticResource CornersBrush},FallbackValue={StaticResource CornersBrush}}" BorderThickness="2 0 0 2"></Border>
+                    <Thumb Opacity="0" DragDelta="DragBottomLeft" DragStarted="DragStarted" Cursor="SizeNESW" DragCompleted="OnDragEnded"></Thumb>
+                </Grid>
+            </Grid>
+        </Border>
+    </Grid>
+</local:ElementEditor>
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/DispenserElementEditor.xaml.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/DispenserElementEditor.xaml.cs
new file mode 100644
index 000000000..ef6e4c47c
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/DispenserElementEditor.xaml.cs
@@ -0,0 +1,181 @@
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Controls.Primitives;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Markup;
+using System.Windows.Media;
+using System.Windows.Media.Animation;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+using Tango.Editors;
+using Tango.Integration.Observables;
+using Tango.MachineStudio.Technician.TechItems;
+
+namespace Tango.MachineStudio.Technician.Editors
+{
+    [ContentProperty("InnerContent")]
+    public partial class DispenserElementEditor : ElementEditor
+    {
+        /// <summary>
+        /// Initializes a new instance of the <see cref="MonitorElementEditor"/> class.
+        /// </summary>
+        public DispenserElementEditor()
+            : base()
+        {
+            InitializeComponent();
+        }
+
+        /// <summary>
+        /// Initializes a new instance of the <see cref="MonitorElementEditor"/> class.
+        /// </summary>
+        /// <param name="frameworkElement">The framework element.</param>
+        public DispenserElementEditor(DispenserItem dispenserItem)
+            : this()
+        {
+            DispenserItem = dispenserItem;
+            DataContext = DispenserItem;
+        }
+
+        /// <summary>
+        /// Initializes a new instance of the <see cref="MonitorElementEditor"/> class.
+        /// </summary>
+        /// <param name="frameworkElement">The framework element.</param>
+        /// <param name="bounds">The bounds.</param>
+        public DispenserElementEditor(DispenserItem monitorItem, Rect bounds)
+            : this(monitorItem)
+        {
+            Left = bounds.Left;
+            Top = bounds.Top;
+            Width = bounds.Width;
+            Height = bounds.Height;
+        }
+
+        private DispenserItem _monitorItem;
+
+        public DispenserItem DispenserItem
+        {
+            get { return _monitorItem; }
+            set
+            {
+                _monitorItem = value; RaisePropertyChanged(nameof(DispenserItem));
+
+                if (_monitorItem != null)
+                {
+                    _monitorItem.HomingCompleted -= _monitorItem_HomingCompleted;
+                    _monitorItem.HomingCompleted += _monitorItem_HomingCompleted;
+                }
+            }
+        }
+
+        private void _monitorItem_HomingCompleted(object sender, EventArgs e)
+        {
+            StopAnimation();
+        }
+
+
+        /// <summary>
+        /// Clones this instance.
+        /// </summary>
+        /// <returns></returns>
+        public override IElementEditor Clone()
+        {
+            try
+            {
+                var clonedItem = DispenserItem.Clone() as DispenserItem;
+                DispenserElementEditor cloned = new DispenserElementEditor(clonedItem);
+                cloned.Top = Top;
+                cloned.Left = Left;
+                cloned.Width = Width;
+                cloned.Height = Height;
+                cloned.Angle = Angle;
+                return cloned;
+            }
+            catch (Exception ex)
+            {
+                throw new InvalidOperationException("Could not clone this editor. You may have to create a custom editor and implement a custom Clone method.", ex);
+            }
+        }
+
+        /// <summary>
+        /// Gets the hosted element.
+        /// </summary>
+        [ParameterIgnore]
+        public override Object HostedElement
+        {
+            get { return DispenserItem; }
+        }
+
+        private void OnForwardPressed(object sender, MouseButtonEventArgs e)
+        {
+            DispenserItem.RaiseAction(MotorActionType.ForwardPressed);
+            AnimateRight();
+        }
+
+        private void OnForwardReleased(object sender, MouseButtonEventArgs e)
+        {
+            DispenserItem.RaiseAction(MotorActionType.ForwardReleased);
+            StopAnimation();
+        }
+
+        private void OnBackwardPressed(object sender, MouseButtonEventArgs e)
+        {
+            DispenserItem.RaiseAction(MotorActionType.BackwardPressed);
+            AnimateLeft();
+        }
+
+        private void OnBackwardReleased(object sender, MouseButtonEventArgs e)
+        {
+            DispenserItem.RaiseAction(MotorActionType.BackwardReleased);
+            StopAnimation();
+        }
+
+        private void OnHomingStarted(object sender, RoutedEventArgs e)
+        {
+            DispenserItem.RaiseAction(MotorActionType.HomingStarted);
+            AnimateLeft();
+        }
+
+        private void OnHomingStopped(object sender, RoutedEventArgs e)
+        {
+            DispenserItem.RaiseAction(MotorActionType.HomingStopped);
+            StopAnimation();
+        }
+
+        private void AnimateRight()
+        {
+            DoubleAnimation ani = new DoubleAnimation();
+            ani.Duration = TimeSpan.FromSeconds(1);
+            ani.RepeatBehavior = RepeatBehavior.Forever;
+            ani.FillBehavior = FillBehavior.HoldEnd;
+            ani.To = 360;
+            propRotate.BeginAnimation(RotateTransform.AngleProperty, ani);
+        }
+
+        private void AnimateLeft()
+        {
+            DoubleAnimation ani = new DoubleAnimation();
+            ani.Duration = TimeSpan.FromSeconds(1);
+            ani.RepeatBehavior = RepeatBehavior.Forever;
+            ani.FillBehavior = FillBehavior.HoldEnd;
+            ani.To = -360;
+            propRotate.BeginAnimation(RotateTransform.AngleProperty, ani);
+        }
+
+        public void StopAnimation()
+        {
+            this.Dispatcher.Invoke(() =>
+            {
+                propRotate.BeginAnimation(RotateTransform.AngleProperty, null);
+            });
+        }
+    }
+}
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MeterElementEditor.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MeterElementEditor.xaml
index 8a9345fa9..98ace7816 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MeterElementEditor.xaml
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MeterElementEditor.xaml
@@ -3,6 +3,7 @@
              xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
              xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
              xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+                     xmlns:sharedConverters="clr-namespace:Tango.SharedUI.Converters;assembly=Tango.SharedUI"
              xmlns:items="clr-namespace:Tango.MachineStudio.Technician.TechItems"
              xmlns:converters="clr-namespace:Tango.Editors.Converters;assembly=Tango.Editors"
              xmlns:visuals="clr-namespace:Tango.Visuals;assembly=Tango.Visuals"
@@ -12,6 +13,7 @@
 
     <UserControl.Resources>
         <converters:BoolToVisibilityConverter x:Key="BoolToVisibilityConverter"></converters:BoolToVisibilityConverter>
+        <sharedConverters:BooleanInverseConverter x:Key="BooleanInverseConverter" />
 
         <!--Theme-->
         <SolidColorBrush x:Key="BorderBrush" Color="Transparent"></SolidColorBrush>
@@ -26,13 +28,13 @@
 
 
         <!--Content-->
-        <Grid>
+        <Grid IsHitTestVisible="{Binding RelativeSource={RelativeSource AncestorType=local:ElementsEditor},Path=IsEditable,Converter={StaticResource BooleanInverseConverter}}">
             <Grid.RowDefinitions>
                 <RowDefinition Height="221*"/>
                 <RowDefinition Height="Auto"/>
             </Grid.RowDefinitions>
 
-            <visuals:VUMeter Width="Auto" Height="Auto" LedBackground="Silver" TicksCount="{Binding TicksCount}" TicksPlacement="{Binding TickPlacement}" LedCount="{Binding LedCount}" Orientation="Vertical" Margin="0 0 0 10" ShowTicksLabels="True" ShowTicksLines="True" EmulateOuterLight="True" SunkenLeds="True" Value="{Binding Value}" TicksMinimum="{Binding TechMonitor.Min}" TicksMaximum="{Binding TechMonitor.Max}" Minimum="{Binding TechMonitor.Min}" Maximum="{Binding TechMonitor.Max}">
+            <visuals:VUMeter Width="Auto" Height="Auto" LedBackground="#383838" TicksCount="{Binding TicksCount}" TicksPlacement="{Binding TickPlacement}" LedCount="{Binding LedCount}" Orientation="Vertical" Margin="0 0 0 10" ShowTicksLabels="True" ShowTicksLines="True" EmulateOuterLight="True" SunkenLeds="True" Value="{Binding Value}" TicksMinimum="{Binding TechMonitor.Min}" TicksMaximum="{Binding TechMonitor.Max}" Minimum="{Binding TechMonitor.Min}" Maximum="{Binding TechMonitor.Max}">
                 <visuals:VUMeter.Foreground>
                     <SolidColorBrush Color="{Binding Color}" />
                 </visuals:VUMeter.Foreground>
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MonitorElementEditor.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MonitorElementEditor.xaml
index 8e4520cc5..081a853bb 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MonitorElementEditor.xaml
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MonitorElementEditor.xaml
@@ -5,12 +5,14 @@
              xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
              xmlns:items="clr-namespace:Tango.MachineStudio.Technician.TechItems"
              xmlns:converters="clr-namespace:Tango.Editors.Converters;assembly=Tango.Editors"
+                     xmlns:sharedConverters="clr-namespace:Tango.SharedUI.Converters;assembly=Tango.SharedUI"
              xmlns:local="clr-namespace:Tango.Editors;assembly=Tango.Editors"
              mc:Ignorable="d" 
              d:DesignHeight="250" d:DesignWidth="300" Background="Transparent" ClipToBounds="False" BorderThickness="0" MinWidth="1" MinHeight="1" RenderTransformOrigin="0.5,0.5" d:DataContext="{d:DesignInstance Type=items:MonitorItem, IsDesignTimeCreatable=False}">
 
     <UserControl.Resources>
         <converters:BoolToVisibilityConverter x:Key="BoolToVisibilityConverter"></converters:BoolToVisibilityConverter>
+        <sharedConverters:BooleanInverseConverter x:Key="BooleanInverseConverter" />
 
         <!--Theme-->
         <SolidColorBrush x:Key="BorderBrush" Color="Transparent"></SolidColorBrush>
@@ -25,7 +27,7 @@
 
 
         <!--Content-->
-        <Grid>
+        <Grid IsHitTestVisible="{Binding RelativeSource={RelativeSource AncestorType=local:ElementsEditor},Path=IsEditable,Converter={StaticResource BooleanInverseConverter}}">
             <Viewbox Stretch="Fill">
                 <StackPanel>
                     <Grid Grid.Column="1" Grid.Row="1" Width="200" Height="120">
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorElementEditor.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorElementEditor.xaml
index bf7aaeff4..a69f81538 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorElementEditor.xaml
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorElementEditor.xaml
@@ -5,6 +5,7 @@
              xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
              xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
              xmlns:items="clr-namespace:Tango.MachineStudio.Technician.TechItems"
+                     xmlns:sharedConverters="clr-namespace:Tango.SharedUI.Converters;assembly=Tango.SharedUI"
              xmlns:converters="clr-namespace:Tango.Editors.Converters;assembly=Tango.Editors"
              xmlns:visuals="clr-namespace:Tango.Visuals;assembly=Tango.Visuals"
              xmlns:local="clr-namespace:Tango.Editors;assembly=Tango.Editors"
@@ -13,6 +14,7 @@
 
     <UserControl.Resources>
         <converters:BoolToVisibilityConverter x:Key="BoolToVisibilityConverter"></converters:BoolToVisibilityConverter>
+        <sharedConverters:BooleanInverseConverter x:Key="BooleanInverseConverter" />
 
         <!--Theme-->
         <SolidColorBrush x:Key="BorderBrush" Color="Transparent"></SolidColorBrush>
@@ -20,10 +22,12 @@
 
         <Grid x:Key="gridHoming">
             <DockPanel>
-                <Button Click="OnHomingStopped" DockPanel.Dock="Right" Padding="0" Style="{StaticResource emptyButton}" VerticalAlignment="Center" Margin="0 0 5 0">
-                    <materialDesign:PackIcon Kind="Stop" Foreground="#FF5F5F" HorizontalAlignment="Center" VerticalAlignment="Center" Width="24" Height="24" />
+                <Button Click="OnHomingStopped" DockPanel.Dock="Right" Padding="0" Style="{StaticResource MaterialDesignFlatButton}" VerticalAlignment="Center" Margin="0 0 5 0" ToolTip="Stop Homing">
+                    <materialDesign:PackIcon Kind="Stop" Foreground="#FF5F5F" HorizontalAlignment="Center" VerticalAlignment="Center" Width="32" Height="32" />
                 </Button>
-                <ProgressBar Maximum="{Binding HomingMaximumProgress}" Value="{Binding HomingProgress}" VerticalAlignment="Center" Height="10" Margin="5 0 5 0" Background="Transparent"></ProgressBar>
+                <ProgressBar Foreground="DimGray" BorderBrush="DimGray" Maximum="{Binding HomingMaximumProgress}" BorderThickness="1" Value="{Binding HomingProgress}" VerticalAlignment="Center" Height="10" Margin="5 0 5 0" Background="Transparent">
+
+                </ProgressBar>
             </DockPanel>
         </Grid>
 
@@ -42,7 +46,7 @@
 
     <Grid>
 
-        <Grid Margin="5">
+        <Grid Margin="5" IsHitTestVisible="{Binding RelativeSource={RelativeSource AncestorType=local:ElementsEditor},Path=IsEditable,Converter={StaticResource BooleanInverseConverter}}">
             <Grid.ColumnDefinitions>
                 <ColumnDefinition Width="20*"/>
                 <ColumnDefinition Width="100*"/>
@@ -55,27 +59,35 @@
             </Grid.RowDefinitions>
 
             <Grid Grid.Column="1">
-                <Border BorderThickness="1" BorderBrush="Gainsboro" CornerRadius="5">
+                <Border BorderThickness="1" BorderBrush="Gray" CornerRadius="5">
                     <Border.Background>
                         <ImageBrush ImageSource="../Images/black-screen.jpg" Opacity="0.1" />
                     </Border.Background>
 
-                    <Image RenderTransformOrigin="0.5,0.5" Margin="5" Source="../Images/prop.png" RenderOptions.BitmapScalingMode="Fant">
-                        <Image.RenderTransform>
-                            <RotateTransform x:Name="propRotate" Angle="0" />
-                        </Image.RenderTransform>
-                    </Image>
+                    <Grid>
+                        <Path RenderTransformOrigin="0.5,0.5" StrokeThickness="1" Stroke="Gray" Stretch="Uniform" Margin="5" Data="M500.633 211.454l-58.729-14.443c-3.53-11.133-8.071-21.929-13.55-32.256c8.818-14.678 27.349-45.571 27.349-45.571    c3.545-5.903 2.607-13.462-2.256-18.325l-42.422-42.422c-4.863-4.878-12.407-5.815-18.325-2.256L347.055 83.53    c-10.269-5.435-21.006-9.932-32.065-13.433l-14.443-58.729C298.876 4.688 292.885 0 286 0h-60    c-6.885 0-12.891 4.688-14.546 11.367c0 0-10.005 40.99-14.429 58.715c-11.792 3.735-23.188 8.584-34.043 14.502l-47.329-28.403    c-5.918-3.516-13.447-2.607-18.325 2.256l-42.422 42.422c-4.863 4.863-5.801 12.422-2.256 18.325l29.268 48.882    c-4.717 9.302-8.672 18.984-11.821 28.901l-58.729 14.487C4.688 213.124 0 219.115 0 226v60c0 6.885 4.688 12.891 11.367 14.546    l58.744 14.443c3.56 11.294 8.188 22.266 13.799 32.798l-26.191 43.652c-3.545 5.903-2.607 13.462 2.256 18.325l42.422 42.422    c4.849 4.849 12.407 5.771 18.325 2.256c0 0 29.37-17.607 43.755-26.221c10.415 5.552 21.313 10.137 32.549 13.696l14.429 58.715    C213.109 507.313 219.115 512 226 512h60c6.885 0 12.876-4.688 14.546-11.367l14.429-58.715    c11.558-3.662 22.69-8.394 33.281-14.136c14.78 8.862 44.443 26.66 44.443 26.66c5.903 3.53 13.462 2.622 18.325-2.256    l42.422-42.422c4.863-4.863 5.801-12.422 2.256-18.325l-26.968-44.927c5.317-10.093 9.727-20.654 13.169-31.523l58.729-14.443    C507.313 298.876 512 292.885 512 286v-60C512 219.115 507.313 213.124 500.633 211.454z M256 361c-57.891 0-105-47.109-105-105    s47.109-105 105-105s105 47.109 105 105S313.891 361 256 361z">
+                            <Path.Fill>
+                                <LinearGradientBrush>
+                                    <GradientStop Color="Black"/>
+                                    <GradientStop Color="{Binding Color}" Offset="0.8"/>
+                                </LinearGradientBrush>
+                            </Path.Fill>
+                            <Path.RenderTransform>
+                                <RotateTransform x:Name="propRotate" Angle="0" />
+                            </Path.RenderTransform>
+                        </Path>
+                    </Grid>
                 </Border>
             </Grid>
 
             <Grid>
-                <Border BorderBrush="Gainsboro" BorderThickness="1 1 0 1" Margin="0 10" CornerRadius="5 0 0 5" PreviewMouseDown="OnBackwardPressed" PreviewMouseUp="OnBackwardReleased">
+                <Border BorderBrush="Gray" BorderThickness="1 1 0 1" Margin="0 10" CornerRadius="5 0 0 5" PreviewMouseDown="OnBackwardPressed" PreviewMouseUp="OnBackwardReleased">
                     <Border.Style>
                         <Style TargetType="Border">
                             <Setter Property="Background">
                                 <Setter.Value>
                                     <LinearGradientBrush EndPoint="1,0">
-                                        <GradientStop Color="#515151" Offset="1" />
+                                        <GradientStop Color="#AAAAAA" Offset="1" />
                                         <GradientStop Color="#FFEEEEEE" Offset="0"/>
                                     </LinearGradientBrush>
                                 </Setter.Value>
@@ -103,20 +115,20 @@
                         </Style>
                     </Border.Style>
 
-                    <Viewbox Stretch="Fill" Margin="-10 10">
+                    <Viewbox Stretch="Fill" Margin="-10 20">
                         <materialDesign:PackIcon Kind="ChevronLeft" HorizontalAlignment="Center" VerticalAlignment="Center" Width="24" Height="24" Foreground="#202020" />
                     </Viewbox>
                 </Border>
             </Grid>
 
             <Grid Grid.Column="2">
-                <Border BorderBrush="Gainsboro" BorderThickness="0 1 1 1" Margin="0 10" CornerRadius="0 10 10 0" PreviewMouseDown="OnForwardPressed" PreviewMouseUp="OnForwardReleased">
+                <Border BorderBrush="Gray" BorderThickness="0 1 1 1" Margin="0 10" CornerRadius="0 10 10 0" PreviewMouseDown="OnForwardPressed" PreviewMouseUp="OnForwardReleased">
                     <Border.Style>
                         <Style TargetType="Border">
                             <Setter Property="Background">
                                 <Setter.Value>
                                     <LinearGradientBrush EndPoint="1,0">
-                                        <GradientStop Color="#515151" Offset="0" />
+                                        <GradientStop Color="#AAAAAA" Offset="0" />
                                         <GradientStop Color="#FFEEEEEE" Offset="1"/>
                                     </LinearGradientBrush>
                                 </Setter.Value>
@@ -144,7 +156,7 @@
                         </Style>
                     </Border.Style>
 
-                    <Viewbox Stretch="Fill" Margin="-10 10">
+                    <Viewbox Stretch="Fill" Margin="-10 20">
                         <materialDesign:PackIcon Kind="ChevronRight" HorizontalAlignment="Center" VerticalAlignment="Center" Width="24" Height="24" Foreground="#202020" />
                     </Viewbox>
                 </Border>
@@ -158,13 +170,13 @@
                 </Grid.ColumnDefinitions>
 
                 <Grid Grid.Column="1">
-                    <Border BorderBrush="Gainsboro" BorderThickness="1 0 1 1" CornerRadius="0 0 10 10">
+                    <Border BorderBrush="Gray" BorderThickness="1 0 1 1" CornerRadius="0 0 20 20">
                         <Border.Style>
                             <Style TargetType="Border">
                                 <Setter Property="Background">
                                     <Setter.Value>
                                         <LinearGradientBrush EndPoint="0.5,1" StartPoint="0.5,0">
-                                            <GradientStop Color="#515151" Offset="1" />
+                                            <GradientStop Color="#979797" Offset="1" />
                                             <GradientStop Color="#FFEEEEEE" Offset="0"/>
                                         </LinearGradientBrush>
                                     </Setter.Value>
@@ -220,7 +232,7 @@
         <!--Content-->
         <Grid>
             <Border Margin="0 0 0 -23" VerticalAlignment="Bottom">
-                <TextBlock Text="{Binding RelativeSource={RelativeSource AncestorType=UserControl},Path=MonitorItem.TechMonitor.Description}" FontSize="14" Foreground="DimGray" HorizontalAlignment="Center"></TextBlock>
+                <TextBlock Text="{Binding TechMotor.Description}" FontSize="14" Foreground="DimGray" HorizontalAlignment="Center"></TextBlock>
             </Border>
         </Grid>
         <!--Content-->
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MultiGraphElementEditor.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MultiGraphElementEditor.xaml
index fd2db03e5..51bb3ff9c 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MultiGraphElementEditor.xaml
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MultiGraphElementEditor.xaml
@@ -5,6 +5,7 @@
              xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
              xmlns:controls="clr-namespace:Tango.MachineStudio.Common.Controls;assembly=Tango.MachineStudio.Common"
              xmlns:converters="clr-namespace:Tango.Editors.Converters;assembly=Tango.Editors"
+                     xmlns:sharedConverters="clr-namespace:Tango.SharedUI.Converters;assembly=Tango.SharedUI"
              xmlns:items="clr-namespace:Tango.MachineStudio.Technician.TechItems"
              xmlns:local="clr-namespace:Tango.Editors;assembly=Tango.Editors"
              mc:Ignorable="d" 
@@ -12,6 +13,7 @@
 
     <UserControl.Resources>
         <converters:BoolToVisibilityConverter x:Key="BoolToVisibilityConverter"></converters:BoolToVisibilityConverter>
+        <sharedConverters:BooleanInverseConverter x:Key="BooleanInverseConverter" />
 
         <!--Theme-->
         <SolidColorBrush x:Key="BorderBrush" Color="Transparent"></SolidColorBrush>
@@ -28,7 +30,7 @@
         <!--Content-->
         <Grid>
             <!--<Viewbox Stretch="Fill">-->
-                <controls:RealTimeGraphMultiControl x:Name="InnerGraph" x:FieldModifier="public" EnableToolBar="False" SensorName="{Binding TechMonitor.Description}" SensorUnits="{Binding TechMonitor.Units}" Minimum="{Binding TechMonitor.Min}" Maximum="{Binding TechMonitor.Max}" />
+            <controls:RealTimeGraphMultiControl x:Name="InnerGraph" IsHitTestVisible="{Binding RelativeSource={RelativeSource AncestorType=local:ElementsEditor},Path=IsEditable,Converter={StaticResource BooleanInverseConverter}}" x:FieldModifier="public" EnableToolBar="False" SensorName="{Binding TechMonitor.Description}" SensorUnits="{Binding TechMonitor.Units}" Minimum="{Binding TechMonitor.Min}" Maximum="{Binding TechMonitor.Max}" />
             <!--</Viewbox>-->
 
             <Border Margin="0 0 0 -23" VerticalAlignment="Bottom">
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/SingleGraphElementEditor.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/SingleGraphElementEditor.xaml
index aa0ec24e8..a0dd0f697 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/SingleGraphElementEditor.xaml
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/SingleGraphElementEditor.xaml
@@ -5,6 +5,7 @@
              xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
              xmlns:controls="clr-namespace:Tango.MachineStudio.Common.Controls;assembly=Tango.MachineStudio.Common"
              xmlns:converters="clr-namespace:Tango.Editors.Converters;assembly=Tango.Editors"
+             xmlns:sharedConverters="clr-namespace:Tango.SharedUI.Converters;assembly=Tango.SharedUI"
              xmlns:items="clr-namespace:Tango.MachineStudio.Technician.TechItems"
              xmlns:local="clr-namespace:Tango.Editors;assembly=Tango.Editors"
              mc:Ignorable="d" 
@@ -12,6 +13,7 @@
 
     <UserControl.Resources>
         <converters:BoolToVisibilityConverter x:Key="BoolToVisibilityConverter"></converters:BoolToVisibilityConverter>
+        <sharedConverters:BooleanInverseConverter x:Key="BooleanInverseConverter" />
 
         <!--Theme-->
         <SolidColorBrush x:Key="BorderBrush" Color="Transparent"></SolidColorBrush>
@@ -28,7 +30,7 @@
         <!--Content-->
         <Grid>
             <!--<Viewbox Stretch="Fill">-->
-                <controls:RealTimeGraphControl x:Name="InnerGraph" x:FieldModifier="public" EnableToolBar="False" SensorName="{Binding TechMonitor.Description}" Color="{Binding Color,Mode=TwoWay}" SensorUnits="{Binding TechMonitor.Units}" Minimum="{Binding TechMonitor.Min}" Maximum="{Binding TechMonitor.Max}" />
+                <controls:RealTimeGraphControl x:Name="InnerGraph" IsHitTestVisible="{Binding RelativeSource={RelativeSource AncestorType=local:ElementsEditor},Path=IsEditable,Converter={StaticResource BooleanInverseConverter}}" x:FieldModifier="public" EnableToolBar="False" SensorName="{Binding TechMonitor.Description}" Color="{Binding Color,Mode=TwoWay}" SensorUnits="{Binding TechMonitor.Units}" Minimum="{Binding TechMonitor.Min}" Maximum="{Binding TechMonitor.Max}" />
             <!--</Viewbox>-->
 
             <Border Margin="0 0 0 -23" VerticalAlignment="Bottom">
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/dispenser-big.png b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/dispenser-big.png
new file mode 100644
index 000000000..284b1da0e
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/dispenser-big.png
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/dispenser-line.png b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/dispenser-line.png
new file mode 100644
index 000000000..9e2e344c0
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/dispenser-line.png
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/volume.png b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/volume.png
new file mode 100644
index 000000000..4f48f7528
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/volume.png
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/DispenserTemplate.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/DispenserTemplate.xaml
new file mode 100644
index 000000000..0eca72dcd
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/DispenserTemplate.xaml
@@ -0,0 +1,44 @@
+<UserControl x:Class="Tango.MachineStudio.Technician.PropertiesTemplates.DispenserTemplate"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:converters="clr-namespace:Tango.MachineStudio.Technician.Converters"
+             xmlns:items="clr-namespace:Tango.MachineStudio.Technician.TechItems"
+              xmlns:mahapps="http://metro.mahapps.com/winfx/xaml/controls"
+             xmlns:colorPicker="clr-namespace:Tango;assembly=Tango.ColorPicker"
+             xmlns:local="clr-namespace:Tango.MachineStudio.Technician.PropertiesTemplates"
+             mc:Ignorable="d" 
+             d:DesignHeight="500" d:DesignWidth="200" d:DataContext="{d:DesignInstance Type=items:DispenserItem, IsDesignTimeCreatable=False}">
+
+    <UserControl.Resources>
+        <converters:MonitorsToSingleChannleMonitorsConverter x:Key="MonitorsToSingleChannleMonitorsConverter" />
+
+        <Style TargetType="{x:Type TabItem}" BasedOn="{StaticResource {x:Type TabItem}}">
+            <Setter Property="mahapps:ControlsHelper.HeaderFontSize" Value="14" />
+            <Setter Property="Margin" Value="2" />
+        </Style>
+    </UserControl.Resources>
+
+    <Grid>
+        <StackPanel>
+            <GroupBox Header="MOTOR">
+                <StackPanel>
+                    <TextBlock FontSize="10">Selected Motor</TextBlock>
+                    <ComboBox Margin="0 5 0 0" ItemsSource="{Binding Adapter.TechDispensers}" SelectedItem="{Binding TechDispenser,Mode=TwoWay}" DisplayMemberPath="Description" />
+
+                    <TextBlock FontSize="10" Margin="0 20 0 0"><Run>Speed</Run> <Run Text="{Binding Speed,StringFormat={}{0:N0} ms,FallbackValue=0}"></Run></TextBlock>
+                    <Slider Margin="0 5 0 0" Minimum="1" Maximum="1000" Value="{Binding Speed,Mode=TwoWay}"></Slider>
+                </StackPanel>
+            </GroupBox>
+
+            <GroupBox Header="COLOR" Margin="0 10 0 0">
+                <StackPanel>
+                    <Viewbox Margin="0 5 0 0">
+                        <colorPicker:ColorCanvas SelectedColor="{Binding Color,Mode=TwoWay}" Background="Transparent" />
+                    </Viewbox>
+                </StackPanel>
+            </GroupBox>
+        </StackPanel>
+    </Grid>
+</UserControl>
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/DispenserTemplate.xaml.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/DispenserTemplate.xaml.cs
new file mode 100644
index 000000000..dd3a21b07
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/DispenserTemplate.xaml.cs
@@ -0,0 +1,28 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace Tango.MachineStudio.Technician.PropertiesTemplates
+{
+    /// <summary>
+    /// Interaction logic for MonitorTemplate.xaml
+    /// </summary>
+    public partial class DispenserTemplate : UserControl
+    {
+        public DispenserTemplate()
+        {
+            InitializeComponent();
+        }
+    }
+}
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/MotorTemplate.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/MotorTemplate.xaml
new file mode 100644
index 000000000..0d92230ad
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/MotorTemplate.xaml
@@ -0,0 +1,44 @@
+<UserControl x:Class="Tango.MachineStudio.Technician.PropertiesTemplates.MotorTemplate"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:converters="clr-namespace:Tango.MachineStudio.Technician.Converters"
+             xmlns:items="clr-namespace:Tango.MachineStudio.Technician.TechItems"
+              xmlns:mahapps="http://metro.mahapps.com/winfx/xaml/controls"
+             xmlns:colorPicker="clr-namespace:Tango;assembly=Tango.ColorPicker"
+             xmlns:local="clr-namespace:Tango.MachineStudio.Technician.PropertiesTemplates"
+             mc:Ignorable="d" 
+             d:DesignHeight="500" d:DesignWidth="200" d:DataContext="{d:DesignInstance Type=items:MotorItem, IsDesignTimeCreatable=False}">
+
+    <UserControl.Resources>
+        <converters:MonitorsToSingleChannleMonitorsConverter x:Key="MonitorsToSingleChannleMonitorsConverter" />
+
+        <Style TargetType="{x:Type TabItem}" BasedOn="{StaticResource {x:Type TabItem}}">
+            <Setter Property="mahapps:ControlsHelper.HeaderFontSize" Value="14" />
+            <Setter Property="Margin" Value="2" />
+        </Style>
+    </UserControl.Resources>
+
+    <Grid>
+        <StackPanel>
+            <GroupBox Header="MOTOR">
+                <StackPanel>
+                    <TextBlock FontSize="10">Selected Motor</TextBlock>
+                    <ComboBox Margin="0 5 0 0" ItemsSource="{Binding Adapter.TechMotors}" SelectedItem="{Binding TechMotor,Mode=TwoWay}" DisplayMemberPath="Description" />
+
+                    <TextBlock FontSize="10" Margin="0 20 0 0"><Run>Speed</Run> <Run Text="{Binding Speed,StringFormat={}{0:N0} ms,FallbackValue=0}"></Run></TextBlock>
+                    <Slider Margin="0 5 0 0" Minimum="1" Maximum="1000" Value="{Binding Speed,Mode=TwoWay}"></Slider>
+                </StackPanel>
+            </GroupBox>
+
+            <GroupBox Header="COLOR" Margin="0 10 0 0">
+                <StackPanel>
+                    <Viewbox Margin="0 5 0 0">
+                        <colorPicker:ColorCanvas SelectedColor="{Binding Color,Mode=TwoWay}" Background="Transparent" />
+                    </Viewbox>
+                </StackPanel>
+            </GroupBox>
+        </StackPanel>
+    </Grid>
+</UserControl>
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/MotorTemplate.xaml.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/MotorTemplate.xaml.cs
new file mode 100644
index 000000000..3ac58ce5d
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/MotorTemplate.xaml.cs
@@ -0,0 +1,28 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace Tango.MachineStudio.Technician.PropertiesTemplates
+{
+    /// <summary>
+    /// Interaction logic for MonitorTemplate.xaml
+    /// </summary>
+    public partial class MotorTemplate : UserControl
+    {
+        public MotorTemplate()
+        {
+            InitializeComponent();
+        }
+    }
+}
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Tango.MachineStudio.Technician.csproj b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Tango.MachineStudio.Technician.csproj
index 0f92b6275..34208aded 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Tango.MachineStudio.Technician.csproj
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Tango.MachineStudio.Technician.csproj
@@ -60,6 +60,22 @@
     </Reference>
     <Reference Include="System" />
     <Reference Include="System.Data" />
+    <Reference Include="System.Reactive.Core, Version=3.0.3000.0, Culture=neutral, PublicKeyToken=94bc3704cddfc263, processorArchitecture=MSIL">
+      <HintPath>..\..\..\packages\System.Reactive.Core.3.1.1\lib\net46\System.Reactive.Core.dll</HintPath>
+    </Reference>
+    <Reference Include="System.Reactive.Interfaces, Version=3.0.1000.0, Culture=neutral, PublicKeyToken=94bc3704cddfc263, processorArchitecture=MSIL">
+      <HintPath>..\..\..\packages\System.Reactive.Interfaces.3.1.1\lib\net45\System.Reactive.Interfaces.dll</HintPath>
+    </Reference>
+    <Reference Include="System.Reactive.Linq, Version=3.0.3000.0, Culture=neutral, PublicKeyToken=94bc3704cddfc263, processorArchitecture=MSIL">
+      <HintPath>..\..\..\packages\System.Reactive.Linq.3.1.1\lib\net46\System.Reactive.Linq.dll</HintPath>
+    </Reference>
+    <Reference Include="System.Reactive.PlatformServices, Version=3.0.3000.0, Culture=neutral, PublicKeyToken=94bc3704cddfc263, processorArchitecture=MSIL">
+      <HintPath>..\..\..\packages\System.Reactive.PlatformServices.3.1.1\lib\net46\System.Reactive.PlatformServices.dll</HintPath>
+    </Reference>
+    <Reference Include="System.Reactive.Windows.Threading, Version=3.0.1000.0, Culture=neutral, PublicKeyToken=94bc3704cddfc263, processorArchitecture=MSIL">
+      <HintPath>..\..\..\packages\System.Reactive.Windows.Threading.3.1.1\lib\net45\System.Reactive.Windows.Threading.dll</HintPath>
+    </Reference>
+    <Reference Include="System.Windows" />
     <Reference Include="System.Windows.Interactivity, Version=4.5.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35, processorArchitecture=MSIL">
       <HintPath>..\..\..\packages\MvvmLightLibs.5.3.0.0\lib\net45\System.Windows.Interactivity.dll</HintPath>
     </Reference>
@@ -81,6 +97,9 @@
     <Compile Include="Converters\MonitorsToSingleChannleMonitorsConverter.cs" />
     <Compile Include="Converters\SecondsToGraphPointsConverter.cs" />
     <Compile Include="Converters\TransitionLinkConverter.cs" />
+    <Compile Include="Editors\DispenserElementEditor.xaml.cs">
+      <DependentUpon>DispenserElementEditor.xaml</DependentUpon>
+    </Compile>
     <Compile Include="Editors\MotorElementEditor.xaml.cs">
       <DependentUpon>MotorElementEditor.xaml</DependentUpon>
     </Compile>
@@ -100,6 +119,12 @@
     <Compile Include="PropertiesTemplates\MeterTemplate.xaml.cs">
       <DependentUpon>MeterTemplate.xaml</DependentUpon>
     </Compile>
+    <Compile Include="PropertiesTemplates\DispenserTemplate.xaml.cs">
+      <DependentUpon>DispenserTemplate.xaml</DependentUpon>
+    </Compile>
+    <Compile Include="PropertiesTemplates\MotorTemplate.xaml.cs">
+      <DependentUpon>MotorTemplate.xaml</DependentUpon>
+    </Compile>
     <Compile Include="PropertiesTemplates\MonitorTemplate.xaml.cs">
       <DependentUpon>MonitorTemplate.xaml</DependentUpon>
     </Compile>
@@ -111,6 +136,7 @@
     </Compile>
     <Compile Include="TechItems\MeterItem.cs" />
     <Compile Include="TechItems\MotorActionType.cs" />
+    <Compile Include="TechItems\DispenserItem.cs" />
     <Compile Include="TechItems\MotorItem.cs" />
     <Compile Include="TechItems\MultiGraphItem.cs" />
     <Compile Include="TechItems\SingleGraphItem.cs" />
@@ -141,6 +167,10 @@
     <Compile Include="..\..\..\Versioning\GlobalVersionInfo.cs">
       <Link>GlobalVersionInfo.cs</Link>
     </Compile>
+    <Page Include="Editors\DispenserElementEditor.xaml">
+      <Generator>MSBuild:Compile</Generator>
+      <SubType>Designer</SubType>
+    </Page>
     <Page Include="Editors\MotorElementEditor.xaml">
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
@@ -165,6 +195,14 @@
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
     </Page>
+    <Page Include="PropertiesTemplates\DispenserTemplate.xaml">
+      <Generator>MSBuild:Compile</Generator>
+      <SubType>Designer</SubType>
+    </Page>
+    <Page Include="PropertiesTemplates\MotorTemplate.xaml">
+      <Generator>MSBuild:Compile</Generator>
+      <SubType>Designer</SubType>
+    </Page>
     <Page Include="PropertiesTemplates\MonitorTemplate.xaml">
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>
@@ -311,5 +349,14 @@
   <ItemGroup>
     <Resource Include="Images\engine.png" />
   </ItemGroup>
+  <ItemGroup>
+    <Resource Include="Images\dispenser-line.png" />
+  </ItemGroup>
+  <ItemGroup>
+    <Resource Include="Images\dispenser-big.png" />
+  </ItemGroup>
+  <ItemGroup>
+    <Resource Include="Images\volume.png" />
+  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
 </Project>
\ No newline at end of file
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/DispenserItem.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/DispenserItem.cs
new file mode 100644
index 000000000..3cea8d127
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/DispenserItem.cs
@@ -0,0 +1,127 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Media;
+using System.Xml.Serialization;
+using Tango.Core.Commands;
+using Tango.Integration.Observables;
+using Tango.SharedUI.Helpers;
+
+namespace Tango.MachineStudio.Technician.TechItems
+{
+    public class DispenserItem : TechItem
+    {
+        public event EventHandler<MotorActionType> ActionExecuted;
+        public event EventHandler HomingCompleted;
+
+        private TechDispenser _techDispenser;
+        [XmlIgnore]
+        public TechDispenser TechDispenser
+        {
+            get { return _techDispenser; }
+            set { _techDispenser = value; RaisePropertyChangedAuto(); RaisePropertyChanged(nameof(Data)); }
+        }
+
+        private bool _isHoming;
+        [XmlIgnore]
+        public bool IsHoming
+        {
+            get { return _isHoming; }
+            set
+            {
+                _isHoming = value;
+                RaisePropertyChangedAuto();
+            }
+        }
+
+        private bool _isHomingCompleted;
+
+        public bool IsHomingCompleted
+        {
+            get { return _isHomingCompleted; }
+            set
+            {
+                _isHomingCompleted = value;
+                RaisePropertyChangedAuto();
+
+                if (value)
+                {
+                    HomingCompleted?.Invoke(this, new EventArgs());
+                }
+            }
+        }
+
+        private double _homingProgress;
+        [XmlIgnore]
+        public double HomingProgress
+        {
+            get { return _homingProgress; }
+            set
+            {
+                _homingProgress = value;
+                RaisePropertyChangedAuto();
+            }
+        }
+
+        private double _homingMaximumProgress;
+        [XmlIgnore]
+        public double HomingMaximumProgress
+        {
+            get { return _homingMaximumProgress; }
+            set { _homingMaximumProgress = value; RaisePropertyChangedAuto(); }
+        }
+
+        private bool _isForwardPressed;
+        [XmlIgnore]
+        public bool IsForwardPressed
+        {
+            get { return _isForwardPressed; }
+            set { _isForwardPressed = value; RaisePropertyChangedAuto(); }
+        }
+
+        private bool _isBackwardPressed;
+        [XmlIgnore]
+        public bool IsBackwardPressed
+        {
+            get { return _isBackwardPressed; }
+            set { _isBackwardPressed = value; RaisePropertyChangedAuto(); }
+        }
+
+        private double _speed;
+        public double Speed
+        {
+            get { return _speed; }
+            set { _speed = value; RaisePropertyChangedAuto(); }
+        }
+
+
+        public override object Data => TechDispenser;
+
+        public DispenserItem() : base()
+        {
+            Name = "Dispenser";
+            Description = "Dispenser Controller";
+            Image = ResourceHelper.GetImageFromResources("Images/dispenser-big.png");
+            Color = Colors.White;
+        }
+
+        public DispenserItem(TechDispenser techDispenser) : this()
+        {
+            TechDispenser = techDispenser;
+        }
+
+        public override TechItem Clone()
+        {
+            DispenserItem cloned = base.Clone() as DispenserItem;
+            cloned.TechDispenser = TechDispenser;
+            return cloned;
+        }
+
+        public void RaiseAction(MotorActionType action)
+        {
+            ActionExecuted?.Invoke(this, action);
+        }
+    }
+}
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MeterItem.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MeterItem.cs
index 9d4fd9d60..7cc2913eb 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MeterItem.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MeterItem.cs
@@ -67,7 +67,7 @@ namespace Tango.MachineStudio.Technician.TechItems
         {
             Name = "VU Monitor";
             Description = "VU Meter monitor";
-            Image = ResourceHelper.GetImageFromResources("Images/analog.png");
+            Image = ResourceHelper.GetImageFromResources("Images/volume.png");
             LastUpdateTime = DateTime.Now;
             UpdateInterval = 10;
             LedCount = 14;
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorItem.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorItem.cs
index a7088ac3f..272aedf44 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorItem.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorItem.cs
@@ -3,6 +3,7 @@ using System.Collections.Generic;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using System.Windows.Media;
 using System.Xml.Serialization;
 using Tango.Core.Commands;
 using Tango.Integration.Observables;
@@ -88,6 +89,14 @@ namespace Tango.MachineStudio.Technician.TechItems
             set { _isBackwardPressed = value; RaisePropertyChangedAuto(); }
         }
 
+        private double _speed;
+        public double Speed
+        {
+            get { return _speed; }
+            set { _speed = value; RaisePropertyChangedAuto(); }
+        }
+
+
         public override object Data => TechMotor;
 
         public MotorItem() : base()
@@ -95,6 +104,7 @@ namespace Tango.MachineStudio.Technician.TechItems
             Name = "Motor";
             Description = "Motor Controller";
             Image = ResourceHelper.GetImageFromResources("Images/engine.png");
+            Color = Colors.White;
         }
 
         public MotorItem(TechMotor techMotor) : this()
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/ViewModels/MachineTechViewVM.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/ViewModels/MachineTechViewVM.cs
index 7bed3f441..8ed8a4a80 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/ViewModels/MachineTechViewVM.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/ViewModels/MachineTechViewVM.cs
@@ -253,6 +253,13 @@ namespace Tango.MachineStudio.Technician.ViewModels
                 Elements.Add(editor);
                 InitMotorItem(motorItem);
             }
+            else if (SelectedTechItem is DispenserItem)
+            {
+                var dispenserItem = new DispenserItem(Adapter.TechDispensers.FirstOrDefault());
+                DispenserElementEditor editor = new DispenserElementEditor(dispenserItem, bounds);
+                Elements.Add(editor);
+                InitDispenserItem(dispenserItem);
+            }
         }
 
         public void OnElementsRemoved(List<IElementEditor> elements)
@@ -319,56 +326,139 @@ namespace Tango.MachineStudio.Technician.ViewModels
         {
             item.ActionExecuted += async (x, action) =>
             {
-                if (action == MotorActionType.HomingStarted)
+                if (action == MotorActionType.ForwardPressed)
+                {
+                    await MachineOperator.StartMotorJogging(new MotorJoggingRequest()
+                    {
+                        Code = item.TechMotor.Code,
+                        Direction = MotorDirection.Forward,
+                    });
+                }
+                else if (action == MotorActionType.ForwardReleased)
+                {
+                    await MachineOperator.StopMotorJogging(new MotorAbortJoggingRequest()
+                    {
+                        Code = item.TechMotor.Code,
+                    });
+                }
+                else if (action == MotorActionType.BackwardPressed)
+                {
+                    await MachineOperator.StartMotorJogging(new MotorJoggingRequest()
+                    {
+                        Code = item.TechMotor.Code,
+                        Direction = MotorDirection.Backward,
+                    });
+                }
+                else if (action == MotorActionType.BackwardReleased)
+                {
+                    await MachineOperator.StopMotorJogging(new MotorAbortJoggingRequest()
+                    {
+                        Code = item.TechMotor.Code,
+                    });
+                }
+                else if (action == MotorActionType.HomingStarted)
                 {
                     item.HomingProgress = 0;
                     item.IsHoming = true;
                     item.IsHomingCompleted = false;
 
-                    await Task.Factory.StartNew(() =>
+                    MachineOperator.StartMotorHoming(new MotorHomingRequest()
+                    {
+                        Code = item.TechMotor.Code
+                    })
+                    .Subscribe((response) => 
                     {
-                        for (int i = 0; i < 101; i++)
-                        {
-                            item.HomingMaximumProgress = 100;
-                            item.HomingProgress++;
 
-                            Thread.Sleep(60);
-                        }
+                        item.HomingMaximumProgress = response.Message.MaxProgress;
+                        item.HomingProgress = response.Message.Progress;
+
+                    }, () => 
+                    {
 
                         item.IsHoming = false;
                         item.IsHomingCompleted = true;
+
                     });
                 }
-                else if (action == MotorActionType.ForwardPressed)
+                else if (action == MotorActionType.HomingStopped)
                 {
-                    await MachineOperator.StartMotorJogging(new MotorJoggingRequest()
+                    await MachineOperator.StopMotorHoming(new MotorAbortHomingRequest()
                     {
                         Code = item.TechMotor.Code,
+                    });
+
+                    item.IsHoming = false;
+                }
+            };
+        }
+
+        private void InitDispenserItem(DispenserItem item)
+        {
+            item.ActionExecuted += async (x, action) =>
+            {
+                if (action == MotorActionType.ForwardPressed)
+                {
+                    await MachineOperator.StartDispenserJogging(new DispenserJoggingRequest()
+                    {
+                        Code = item.TechDispenser.Code,
                         Direction = MotorDirection.Forward,
                     });
                 }
                 else if (action == MotorActionType.ForwardReleased)
                 {
-                    await MachineOperator.StopMotorJogging(new MotorAbortJoggingRequest()
+                    await MachineOperator.StopDispenserJogging(new DispenserAbortJoggingRequest()
                     {
-                        Code = item.TechMotor.Code,
+                        Code = item.TechDispenser.Code,
                     });
                 }
                 else if (action == MotorActionType.BackwardPressed)
                 {
-                    await MachineOperator.StartMotorJogging(new MotorJoggingRequest()
+                    await MachineOperator.StartDispenserJogging(new DispenserJoggingRequest()
                     {
-                        Code = item.TechMotor.Code,
+                        Code = item.TechDispenser.Code,
                         Direction = MotorDirection.Backward,
                     });
                 }
                 else if (action == MotorActionType.BackwardReleased)
                 {
-                    await MachineOperator.StopMotorJogging(new MotorAbortJoggingRequest()
+                    await MachineOperator.StopDispenserJogging(new DispenserAbortJoggingRequest()
                     {
-                        Code = item.TechMotor.Code,
+                        Code = item.TechDispenser.Code,
+                    });
+                }
+                else if (action == MotorActionType.HomingStarted)
+                {
+                    item.HomingProgress = 0;
+                    item.IsHoming = true;
+                    item.IsHomingCompleted = false;
+
+                    MachineOperator.StartDispenserHoming(new DispenserHomingRequest()
+                    {
+                        Code = item.TechDispenser.Code
+                    })
+                    .Subscribe((response) =>
+                    {
+
+                        item.HomingMaximumProgress = response.Message.MaxProgress;
+                        item.HomingProgress = response.Message.Progress;
+
+                    }, () =>
+                    {
+
+                        item.IsHoming = false;
+                        item.IsHomingCompleted = true;
+
                     });
                 }
+                else if (action == MotorActionType.HomingStopped)
+                {
+                    await MachineOperator.StopDispenserHoming(new DispenserAbortHomingRequest()
+                    {
+                        Code = item.TechDispenser.Code,
+                    });
+
+                    item.IsHoming = false;
+                }
             };
         }
     }
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Views/MachineTechView.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Views/MachineTechView.xaml
index 7cdd92e06..9e3970719 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Views/MachineTechView.xaml
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Views/MachineTechView.xaml
@@ -50,15 +50,38 @@
                             </ListBox.ItemsPanel>
                             <ListBox.ItemTemplate>
                                 <DataTemplate DataType="{x:Type techItems:TechItem}">
-                                    <Border Cursor="Hand" ToolTip="{Binding Description}" Width="70" Padding="10" Margin="5" Height="70" BorderThickness="1" CornerRadius="100">
+                                    <Border Cursor="Hand" ToolTip="{Binding Description}" RenderTransformOrigin="0.5,0.5" Width="70" Padding="10" Margin="5" Height="70" BorderThickness="1" CornerRadius="100">
                                         <Border.Style>
                                             <Style TargetType="Border">
+                                                <Setter Property="RenderTransform">
+                                                    <Setter.Value>
+                                                        <ScaleTransform ScaleX="1" ScaleY="1"></ScaleTransform>
+                                                    </Setter.Value>
+                                                </Setter>
                                                 <Setter Property="Background" Value="Transparent"></Setter>
                                                 <Setter Property="BorderBrush" Value="{StaticResource AccentColorBrush}"></Setter>
+                                                <Setter Property="BorderThickness" Value="1"></Setter>
                                                 <Style.Triggers>
                                                     <DataTrigger Binding="{Binding RelativeSource={RelativeSource AncestorType=ListBoxItem},Path=IsSelected}" Value="True">
-                                                        <Setter Property="Background" Value="#F9F9F9"></Setter>
+                                                        <Setter Property="Background" Value="White"></Setter>
                                                         <Setter Property="BorderBrush" Value="#FF7575"></Setter>
+                                                        <Setter Property="BorderThickness" Value="2"></Setter>
+                                                        <DataTrigger.EnterActions>
+                                                            <BeginStoryboard>
+                                                                <Storyboard>
+                                                                    <DoubleAnimation Storyboard.TargetProperty="RenderTransform.ScaleX" To="1.1" Duration="00:00:0.2"></DoubleAnimation>
+                                                                    <DoubleAnimation Storyboard.TargetProperty="RenderTransform.ScaleY" To="1.1" Duration="00:00:0.2"></DoubleAnimation>
+                                                                </Storyboard>
+                                                            </BeginStoryboard>
+                                                        </DataTrigger.EnterActions>
+                                                        <DataTrigger.ExitActions>
+                                                            <BeginStoryboard>
+                                                                <Storyboard>
+                                                                    <DoubleAnimation Storyboard.TargetProperty="RenderTransform.ScaleX" To="1" Duration="00:00:0.2"></DoubleAnimation>
+                                                                    <DoubleAnimation Storyboard.TargetProperty="RenderTransform.ScaleY" To="1" Duration="00:00:0.2"></DoubleAnimation>
+                                                                </Storyboard>
+                                                            </BeginStoryboard>
+                                                        </DataTrigger.ExitActions>
                                                     </DataTrigger>
                                                 </Style.Triggers>
                                             </Style>
@@ -177,6 +200,12 @@
                                 <DataTemplate DataType="{x:Type items:MonitorItem}">
                                     <templates:MonitorTemplate/>
                                 </DataTemplate>
+                                <DataTemplate DataType="{x:Type items:DispenserItem}">
+                                    <templates:DispenserTemplate/>
+                                </DataTemplate>
+                                <DataTemplate DataType="{x:Type items:MotorItem}">
+                                    <templates:MotorTemplate/>
+                                </DataTemplate>
                                 <DataTemplate DataType="{x:Type items:MeterItem}">
                                     <templates:MeterTemplate/>
                                 </DataTemplate>
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/packages.config b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/packages.config
index 1d449350a..61695a8c5 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/packages.config
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/packages.config
@@ -7,4 +7,10 @@
   <package id="MaterialDesignColors" version="1.1.2" targetFramework="net46" />
   <package id="MaterialDesignThemes" version="2.3.1.953" targetFramework="net46" />
   <package id="MvvmLightLibs" version="5.3.0.0" targetFramework="net46" />
+  <package id="System.Reactive" version="3.1.1" targetFramework="net46" />
+  <package id="System.Reactive.Core" version="3.1.1" targetFramework="net46" />
+  <package id="System.Reactive.Interfaces" version="3.1.1" targetFramework="net46" />
+  <package id="System.Reactive.Linq" version="3.1.1" targetFramework="net46" />
+  <package id="System.Reactive.PlatformServices" version="3.1.1" targetFramework="net46" />
+  <package id="System.Reactive.Windows.Threading" version="3.1.1" targetFramework="net46" />
 </packages>
\ No newline at end of file
diff --git a/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.Common/Controls/RealTimeGraphControl.xaml b/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.Common/Controls/RealTimeGraphControl.xaml
index 8c364dde9..2f43869d5 100644
--- a/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.Common/Controls/RealTimeGraphControl.xaml
+++ b/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.Common/Controls/RealTimeGraphControl.xaml
@@ -53,7 +53,7 @@
 
     <Grid>
         <!--Temperature-->
-        <ContentControl Style="{StaticResource graphContent}" Margin="0 0 5 5" MinHeight="5">
+        <ContentControl Style="{StaticResource graphContent}" Margin="0 0 0 0" MinHeight="5">
             <Grid>
                 <Grid.ColumnDefinitions>
                     <ColumnDefinition Width="40"/>
diff --git a/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.Common/Controls/RealTimeGraphMultiControl.xaml b/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.Common/Controls/RealTimeGraphMultiControl.xaml
index 2055e282c..5548c452e 100644
--- a/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.Common/Controls/RealTimeGraphMultiControl.xaml
+++ b/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.Common/Controls/RealTimeGraphMultiControl.xaml
@@ -53,7 +53,7 @@
 
     <Grid>
         <!--Temperature-->
-        <ContentControl Style="{StaticResource graphContent}" Margin="0 0 5 5" MinHeight="5">
+        <ContentControl Style="{StaticResource graphContent}" Margin="0 0 0 0" MinHeight="5">
             <Grid>
                 <Grid.ColumnDefinitions>
                     <ColumnDefinition Width="40"/>
diff --git a/Software/Visual_Studio/Tango.Core/ExtensionMethods/ObjectExtensions.cs b/Software/Visual_Studio/Tango.Core/ExtensionMethods/ObjectExtensions.cs
index 88403f8a6..82bcaa9d4 100644
--- a/Software/Visual_Studio/Tango.Core/ExtensionMethods/ObjectExtensions.cs
+++ b/Software/Visual_Studio/Tango.Core/ExtensionMethods/ObjectExtensions.cs
@@ -1,4 +1,5 @@
-using System;
+using Newtonsoft.Json;
+using System;
 using System.Collections.Generic;
 using System.IO;
 using System.Linq;
@@ -49,4 +50,14 @@ public static class ObjectExtensions
             }
         }
     }
+
+    /// <summary>
+    /// Serializes the specified object to indented json string.
+    /// </summary>
+    /// <param name="obj">The object.</param>
+    /// <returns></returns>
+    public static String ToJsonString(this Object obj)
+    {
+        return JsonConvert.SerializeObject(obj, Formatting.Indented);
+    }
 }
diff --git a/Software/Visual_Studio/Tango.Core/Tango.Core.csproj b/Software/Visual_Studio/Tango.Core/Tango.Core.csproj
index da33c3f0a..e9d96417b 100644
--- a/Software/Visual_Studio/Tango.Core/Tango.Core.csproj
+++ b/Software/Visual_Studio/Tango.Core/Tango.Core.csproj
@@ -46,6 +46,9 @@
     <Reference Include="Microsoft.Practices.ServiceLocation, Version=1.3.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35, processorArchitecture=MSIL">
       <HintPath>..\packages\CommonServiceLocator.1.3\lib\portable-net4+sl5+netcore45+wpa81+wp8\Microsoft.Practices.ServiceLocation.dll</HintPath>
     </Reference>
+    <Reference Include="Newtonsoft.Json, Version=10.0.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
+      <HintPath>..\packages\Newtonsoft.Json.10.0.3\lib\net45\Newtonsoft.Json.dll</HintPath>
+    </Reference>
     <Reference Include="PresentationCore" />
     <Reference Include="PresentationFramework" />
     <Reference Include="SimpleValidator, Version=0.6.1.0, Culture=neutral, processorArchitecture=MSIL">
diff --git a/Software/Visual_Studio/Tango.Core/packages.config b/Software/Visual_Studio/Tango.Core/packages.config
index 114eefdba..bb569f026 100644
--- a/Software/Visual_Studio/Tango.Core/packages.config
+++ b/Software/Visual_Studio/Tango.Core/packages.config
@@ -3,5 +3,6 @@
   <package id="CommonServiceLocator" version="1.3" targetFramework="net46" />
   <package id="Google.Protobuf" version="3.4.1" targetFramework="net45" />
   <package id="MvvmLightLibs" version="5.3.0.0" targetFramework="net46" />
+  <package id="Newtonsoft.Json" version="10.0.3" targetFramework="net46" />
   <package id="SimpleValidator" version="0.6.1.0" targetFramework="net46" />
 </packages>
\ No newline at end of file
diff --git a/Software/Visual_Studio/Tango.Emulations/Emulators/MachineEmulator.cs b/Software/Visual_Studio/Tango.Emulations/Emulators/MachineEmulator.cs
index cbda54d56..5e76c2d1b 100644
--- a/Software/Visual_Studio/Tango.Emulations/Emulators/MachineEmulator.cs
+++ b/Software/Visual_Studio/Tango.Emulations/Emulators/MachineEmulator.cs
@@ -30,6 +30,9 @@ namespace Tango.Emulations.Emulators
         private PushDiagnosticsRequest _diagnosticsRequest;
         private bool _cancelJob;
         private List<int> _motorJoggingRequestCodes;
+        private List<int> _motorHomingRequestCodes;
+        private List<int> _dispenserJoggingRequestCodes;
+        private List<int> _dispenserHomingRequestCodes;
         private double _graphAmplitude;
         private double _graphFrequency;
 
@@ -53,9 +56,16 @@ namespace Tango.Emulations.Emulators
             Init();
         }
 
+        #endregion
+
+        #region Private Methods
+
         private void Init()
         {
             _motorJoggingRequestCodes = new List<int>();
+            _motorHomingRequestCodes = new List<int>();
+            _dispenserJoggingRequestCodes = new List<int>();
+            _dispenserHomingRequestCodes = new List<int>();
             ResetGraphFactors();
         }
 
@@ -99,6 +109,24 @@ namespace Tango.Emulations.Emulators
                 case MessageType.MotorAbortJoggingRequest:
                     HandleAbortMotorJoggingRequest(MessageFactory.ParseTangoMessageFromContainer<MotorAbortJoggingRequest>(container));
                     break;
+                case MessageType.MotorHomingRequest:
+                    HandleMotorHomingRequest(MessageFactory.ParseTangoMessageFromContainer<MotorHomingRequest>(container));
+                    break;
+                case MessageType.MotorAbortHomingRequest:
+                    HandleAbortMotorHomingRequest(MessageFactory.ParseTangoMessageFromContainer<MotorAbortHomingRequest>(container));
+                    break;
+                case MessageType.DispenserJoggingRequest:
+                    HandleDispenserJoggingRequest(MessageFactory.ParseTangoMessageFromContainer<DispenserJoggingRequest>(container));
+                    break;
+                case MessageType.DispenserAbortJoggingRequest:
+                    HandleAbortDispenserJoggingRequest(MessageFactory.ParseTangoMessageFromContainer<DispenserAbortJoggingRequest>(container));
+                    break;
+                case MessageType.DispenserHomingRequest:
+                    HandleDispenserHomingRequest(MessageFactory.ParseTangoMessageFromContainer<DispenserHomingRequest>(container));
+                    break;
+                case MessageType.DispenserAbortHomingRequest:
+                    HandleAbortDispenserHomingRequest(MessageFactory.ParseTangoMessageFromContainer<DispenserAbortHomingRequest>(container));
+                    break;
             }
         }
 
@@ -135,6 +163,8 @@ namespace Tango.Emulations.Emulators
 
         private void HandlePushDiagnosticsRequest(TangoMessage<PushDiagnosticsRequest> request)
         {
+            LogManager.Log("Push diagnostics request received " + Environment.NewLine + request.Message.ToJsonString());
+
             _diagnosticsRequest = request.Message;
 
             int value = 0;
@@ -199,7 +229,7 @@ namespace Tango.Emulations.Emulators
         {
             JobTicket job = request.Message.JobTicket;
 
-            LogManager.Log("Job request received: " + Environment.NewLine + job.ToString());
+            LogManager.Log("Job request received: " + Environment.NewLine + job.ToJsonString());
 
             double progress = 0;
             _cancelJob = false;
@@ -246,24 +276,25 @@ namespace Tango.Emulations.Emulators
 
             _motorJoggingRequestCodes.Add(jogRequest.Code);
 
-            LogManager.Log("Motor jogging request received: " + Environment.NewLine + jogRequest.ToString());
+            LogManager.Log("Motor jogging request received: " + Environment.NewLine + jogRequest.ToJsonString());
 
-            Task.Factory.StartNew(() => 
+            Task.Factory.StartNew(() =>
             {
                 while (_motorJoggingRequestCodes.Contains(jogRequest.Code))
                 {
-
                     if (jogRequest.Direction == MotorDirection.Forward)
                     {
-                        _graphFrequency += 0.1;
+                        _graphFrequency = 10;
                     }
                     else
                     {
-                        _graphFrequency -= 0.1;
+                        _graphFrequency = 18;
                     }
 
                     Thread.Sleep(30);
                 }
+
+                ResetGraphFactors();
             });
 
             Transporter.SendResponse<MotorJoggingResponse>(new MotorJoggingResponse(), request.Container.Token);
@@ -271,12 +302,128 @@ namespace Tango.Emulations.Emulators
 
         private void HandleAbortMotorJoggingRequest(TangoMessage<MotorAbortJoggingRequest> request)
         {
-            LogManager.Log("Abort motor jogging request received: " + Environment.NewLine + request.Message.ToString());
-            _motorJoggingRequestCodes.Remove(request.Message.Code);
+            LogManager.Log("Abort motor jogging request received: " + Environment.NewLine + request.Message.ToJsonString());
+            _motorJoggingRequestCodes.RemoveAll(x => x == request.Message.Code);
             ResetGraphFactors();
             Transporter.SendResponse<MotorAbortJoggingResponse>(new MotorAbortJoggingResponse(), request.Container.Token);
         }
 
+        private void HandleMotorHomingRequest(TangoMessage<MotorHomingRequest> request)
+        {
+            var homeRequest = request.Message;
+
+            LogManager.Log("Motor homing request received: " + Environment.NewLine + homeRequest.ToJsonString());
+
+            _motorHomingRequestCodes.Add(homeRequest.Code);
+
+            Task.Factory.StartNew(() =>
+            {
+                _graphFrequency = 10;
+
+                for (int i = 0; i < 100; i++)
+                {
+                    Transporter.SendResponse<MotorHomingResponse>(new MotorHomingResponse() { MaxProgress = 100, Progress = i }, request.Container.Token);
+
+                    if (!_motorHomingRequestCodes.Contains(homeRequest.Code))
+                    {
+                        ResetGraphFactors();
+                        return;
+                    }
+
+                    Thread.Sleep(30);
+                }
+
+                Transporter.SendResponse<MotorHomingResponse>(new MotorHomingResponse() { MaxProgress = 100, Progress = 100 }, request.Container.Token, true);
+                _motorHomingRequestCodes.Remove(homeRequest.Code);
+                ResetGraphFactors();
+            });
+        }
+
+        private void HandleAbortMotorHomingRequest(TangoMessage<MotorAbortHomingRequest> request)
+        {
+            LogManager.Log("Abort motor homing request received: " + Environment.NewLine + request.Message.ToJsonString());
+            _motorHomingRequestCodes.RemoveAll(x => x == request.Message.Code);
+            ResetGraphFactors();
+            Transporter.SendResponse<MotorAbortHomingResponse>(new MotorAbortHomingResponse(), request.Container.Token);
+        }
+
+        private void HandleDispenserJoggingRequest(TangoMessage<DispenserJoggingRequest> request)
+        {
+            var jogRequest = request.Message;
+
+            _dispenserJoggingRequestCodes.Add(jogRequest.Code);
+
+            LogManager.Log("Dispenser jogging request received: " + Environment.NewLine + jogRequest.ToJsonString());
+
+            Task.Factory.StartNew(() =>
+            {
+                while (_dispenserJoggingRequestCodes.Contains(jogRequest.Code))
+                {
+                    if (jogRequest.Direction == MotorDirection.Forward)
+                    {
+                        _graphFrequency = 10;
+                    }
+                    else
+                    {
+                        _graphFrequency = 18;
+                    }
+
+                    Thread.Sleep(30);
+                }
+
+                ResetGraphFactors();
+            });
+
+            Transporter.SendResponse<DispenserJoggingResponse>(new DispenserJoggingResponse(), request.Container.Token);
+        }
+
+        private void HandleAbortDispenserJoggingRequest(TangoMessage<DispenserAbortJoggingRequest> request)
+        {
+            LogManager.Log("Abort dispenser jogging request received: " + Environment.NewLine + request.Message.ToJsonString());
+            _dispenserJoggingRequestCodes.RemoveAll(x => x == request.Message.Code);
+            ResetGraphFactors();
+            Transporter.SendResponse<DispenserAbortJoggingResponse>(new DispenserAbortJoggingResponse(), request.Container.Token);
+        }
+
+        private void HandleDispenserHomingRequest(TangoMessage<DispenserHomingRequest> request)
+        {
+            var homeRequest = request.Message;
+
+            LogManager.Log("Dispenser homing request received: " + Environment.NewLine + homeRequest.ToJsonString());
+
+            _dispenserHomingRequestCodes.Add(homeRequest.Code);
+
+            Task.Factory.StartNew(() =>
+            {
+                _graphFrequency = 10;
+
+                for (int i = 0; i < 100; i++)
+                {
+                    Transporter.SendResponse<DispenserHomingResponse>(new DispenserHomingResponse() { MaxProgress = 100, Progress = i }, request.Container.Token);
+
+                    if (!_dispenserHomingRequestCodes.Contains(homeRequest.Code))
+                    {
+                        ResetGraphFactors();
+                        return;
+                    }
+
+                    Thread.Sleep(30);
+                }
+
+                Transporter.SendResponse<DispenserHomingResponse>(new DispenserHomingResponse() { MaxProgress = 100, Progress = 100 }, request.Container.Token, true);
+                _dispenserHomingRequestCodes.Remove(homeRequest.Code);
+                ResetGraphFactors();
+            });
+        }
+
+        private void HandleAbortDispenserHomingRequest(TangoMessage<DispenserAbortHomingRequest> request)
+        {
+            LogManager.Log("Abort dispenser homing request received: " + Environment.NewLine + request.Message.ToJsonString());
+            _dispenserHomingRequestCodes.RemoveAll(x => x == request.Message.Code);
+            ResetGraphFactors();
+            Transporter.SendResponse<DispenserAbortHomingResponse>(new DispenserAbortHomingResponse(), request.Container.Token);
+        }
+
         #endregion
     }
 }
diff --git a/Software/Visual_Studio/Tango.Integration/Operators/IMachineOperator.cs b/Software/Visual_Studio/Tango.Integration/Operators/IMachineOperator.cs
index 6b64575de..14c5114f3 100644
--- a/Software/Visual_Studio/Tango.Integration/Operators/IMachineOperator.cs
+++ b/Software/Visual_Studio/Tango.Integration/Operators/IMachineOperator.cs
@@ -10,6 +10,7 @@ using Tango.Transport;
 using System.Reactive;
 using Tango.Integration.Printing;
 using Tango.PMR;
+using System.Reactive.Linq;
 
 namespace Tango.Integration.Operators
 {
@@ -50,5 +51,47 @@ namespace Tango.Integration.Operators
         /// <param name="request">The request.</param>
         /// <returns></returns>
         Task<TangoMessage<MotorAbortJoggingResponse>> StopMotorJogging(MotorAbortJoggingRequest request);
+
+        /// <summary>
+        /// Starts homing the specified motor.
+        /// </summary>
+        /// <param name="request">The request.</param>
+        /// <returns></returns>
+        IObservable<TangoMessage<MotorHomingResponse>> StartMotorHoming(MotorHomingRequest request);
+
+        /// <summary>
+        /// Stops homing the specified motor.
+        /// </summary>
+        /// <param name="request">The request.</param>
+        /// <returns></returns>
+        Task<TangoMessage<MotorAbortHomingResponse>> StopMotorHoming(MotorAbortHomingRequest request);
+
+        /// <summary>
+        /// Starts jogging the specified dispenser.
+        /// </summary>
+        /// <param name="request">The request.</param>
+        /// <returns></returns>
+        Task<TangoMessage<DispenserJoggingResponse>> StartDispenserJogging(DispenserJoggingRequest request);
+
+        /// <summary>
+        /// Stops jogging the specified dispenser.
+        /// </summary>
+        /// <param name="request">The request.</param>
+        /// <returns></returns>
+        Task<TangoMessage<DispenserAbortJoggingResponse>> StopDispenserJogging(DispenserAbortJoggingRequest request);
+
+        /// <summary>
+        /// Starts homing the specified dispenser.
+        /// </summary>
+        /// <param name="request">The request.</param>
+        /// <returns></returns>
+        IObservable<TangoMessage<DispenserHomingResponse>> StartDispenserHoming(DispenserHomingRequest request);
+
+        /// <summary>
+        /// Stops homing the specified dispenser.
+        /// </summary>
+        /// <param name="request">The request.</param>
+        /// <returns></returns>
+        Task<TangoMessage<DispenserAbortHomingResponse>> StopDispenserHoming(DispenserAbortHomingRequest request);
     }
 }
diff --git a/Software/Visual_Studio/Tango.Integration/Operators/MachineOperator.cs b/Software/Visual_Studio/Tango.Integration/Operators/MachineOperator.cs
index 56b7ec971..f0d780191 100644
--- a/Software/Visual_Studio/Tango.Integration/Operators/MachineOperator.cs
+++ b/Software/Visual_Studio/Tango.Integration/Operators/MachineOperator.cs
@@ -204,6 +204,66 @@ namespace Tango.Integration.Operators
             return SendRequest<MotorAbortJoggingRequest, MotorAbortJoggingResponse>(request);
         }
 
+        /// <summary>
+        /// Starts homing the specified motor.
+        /// </summary>
+        /// <param name="request">The request.</param>
+        /// <returns></returns>
+        public IObservable<TangoMessage<MotorHomingResponse>> StartMotorHoming(MotorHomingRequest request)
+        {
+            return SendContinuousRequest<MotorHomingRequest, MotorHomingResponse>(request);
+        }
+
+        /// <summary>
+        /// Stops homing the specified motor.
+        /// </summary>
+        /// <param name="request">The request.</param>
+        /// <returns></returns>
+        public Task<TangoMessage<MotorAbortHomingResponse>> StopMotorHoming(MotorAbortHomingRequest request)
+        {
+            return SendRequest<MotorAbortHomingRequest, MotorAbortHomingResponse>(request);
+        }
+
+        /// <summary>
+        /// Starts jogging the specified dispenser.
+        /// </summary>
+        /// <param name="request">The request.</param>
+        /// <returns></returns>
+        public Task<TangoMessage<DispenserJoggingResponse>> StartDispenserJogging(DispenserJoggingRequest request)
+        {
+            return SendRequest<DispenserJoggingRequest, DispenserJoggingResponse>(request);
+        }
+
+        /// <summary>
+        /// Stops jogging the specified dispenser.
+        /// </summary>
+        /// <param name="request">The request.</param>
+        /// <returns></returns>
+        public Task<TangoMessage<DispenserAbortJoggingResponse>> StopDispenserJogging(DispenserAbortJoggingRequest request)
+        {
+            return SendRequest<DispenserAbortJoggingRequest, DispenserAbortJoggingResponse>(request);
+        }
+
+        /// <summary>
+        /// Starts homing the specified dispenser.
+        /// </summary>
+        /// <param name="request">The request.</param>
+        /// <returns></returns>
+        public IObservable<TangoMessage<DispenserHomingResponse>> StartDispenserHoming(DispenserHomingRequest request)
+        {
+            return SendContinuousRequest<DispenserHomingRequest, DispenserHomingResponse>(request);
+        }
+
+        /// <summary>
+        /// Stops homing the specified dispenser.
+        /// </summary>
+        /// <param name="request">The request.</param>
+        /// <returns></returns>
+        public Task<TangoMessage<DispenserAbortHomingResponse>> StopDispenserHoming(DispenserAbortHomingRequest request)
+        {
+            return SendRequest<DispenserAbortHomingRequest, DispenserAbortHomingResponse>(request);
+        }
+
         #endregion
     }
 }
diff --git a/Software/Visual_Studio/Tango.Logging/LogManager.cs b/Software/Visual_Studio/Tango.Logging/LogManager.cs
index 43f40fcbe..b97058bfe 100644
--- a/Software/Visual_Studio/Tango.Logging/LogManager.cs
+++ b/Software/Visual_Studio/Tango.Logging/LogManager.cs
@@ -184,30 +184,23 @@ namespace Tango.Logging
         //[DebuggerHidden]
         private static void LoggingThreadMethod()
         {
-            while (_logs.Count > 0)
+            while (_isStarted)
             {
-                LogItemBase log;
-
-                if (_logs.TryDequeue(out log))
+                while (_logs.Count > 0)
                 {
-                    if (log != null)
+                    LogItemBase log;
+
+                    if (_logs.TryDequeue(out log))
                     {
-                        _loggers.Where(x => x.Enabled && !x.Immediate).ToList().ForEach(x => x.OnLog(log));
+                        if (log != null)
+                        {
+                            _loggers.Where(x => x.Enabled && !x.Immediate).ToList().ForEach(x => x.OnLog(log));
+                        }
                     }
                 }
 
                 Thread.Sleep(10);
             }
-
-            Thread.Sleep(400);
-
-            if (_logs.Count > 0)
-            {
-                LoggingThreadMethod();
-                return;
-            }
-
-            _isStarted = false;
         }
 
         /// <summary>
diff --git a/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs b/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs
index ec378556b..86dfe19ad 100644
--- a/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs
+++ b/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs
@@ -22,7 +22,7 @@ namespace Tango.PMR.Common {
     static MessageTypeReflection() {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
-            "ChFNZXNzYWdlVHlwZS5wcm90bxIQVGFuZ28uUE1SLkNvbW1vbireDAoLTWVz",
+            "ChFNZXNzYWdlVHlwZS5wcm90bxIQVGFuZ28uUE1SLkNvbW1vbiriDgoLTWVz",
             "c2FnZVR5cGUSCAoETm9uZRAAEhQKEENhbGN1bGF0ZVJlcXVlc3QQAxIVChFD",
             "YWxjdWxhdGVSZXNwb25zZRAEEhMKD1Byb2dyZXNzUmVxdWVzdBAFEhQKEFBy",
             "b2dyZXNzUmVzcG9uc2UQBhIcChhTdHViQ2FydHJpZGdlUmVhZFJlcXVlc3QQ",
@@ -57,9 +57,15 @@ namespace Tango.PMR.Common {
             "cXVlc3QQ1A8SGAoTTW90b3JIb21pbmdSZXNwb25zZRDVDxIYChNNb3Rvckpv",
             "Z2dpbmdSZXF1ZXN0ENYPEhkKFE1vdG9ySm9nZ2luZ1Jlc3BvbnNlENcPEh0K",
             "GE1vdG9yQWJvcnRKb2dnaW5nUmVxdWVzdBDYDxIeChlNb3RvckFib3J0Sm9n",
-            "Z2luZ1Jlc3BvbnNlENkPEg8KCkpvYlJlcXVlc3QQuBcSEAoLSm9iUmVzcG9u",
-            "c2UQuRcSFAoPQWJvcnRKb2JSZXF1ZXN0ELoXEhUKEEFib3J0Sm9iUmVzcG9u",
-            "c2UQuxdCHAoaY29tLnR3aW5lLnRhbmdvLnBtci5jb21tb25iBnByb3RvMw=="));
+            "Z2luZ1Jlc3BvbnNlENkPEiAKG0Rpc3BlbnNlckFib3J0SG9taW5nUmVxdWVz",
+            "dBDaDxIhChxEaXNwZW5zZXJBYm9ydEhvbWluZ1Jlc3BvbnNlENsPEhsKFkRp",
+            "c3BlbnNlckhvbWluZ1JlcXVlc3QQ3A8SHAoXRGlzcGVuc2VySG9taW5nUmVz",
+            "cG9uc2UQ3Q8SHAoXRGlzcGVuc2VySm9nZ2luZ1JlcXVlc3QQ3g8SHQoYRGlz",
+            "cGVuc2VySm9nZ2luZ1Jlc3BvbnNlEN8PEiEKHERpc3BlbnNlckFib3J0Sm9n",
+            "Z2luZ1JlcXVlc3QQ4A8SIgodRGlzcGVuc2VyQWJvcnRKb2dnaW5nUmVzcG9u",
+            "c2UQ4Q8SDwoKSm9iUmVxdWVzdBC4FxIQCgtKb2JSZXNwb25zZRC5FxIUCg9B",
+            "Ym9ydEpvYlJlcXVlc3QQuhcSFQoQQWJvcnRKb2JSZXNwb25zZRC7F0IcChpj",
+            "b20udHdpbmUudGFuZ28ucG1yLmNvbW1vbmIGcHJvdG8z"));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { },
           new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Common.MessageType), }, null));
@@ -135,6 +141,14 @@ namespace Tango.PMR.Common {
     [pbr::OriginalName("MotorJoggingResponse")] MotorJoggingResponse = 2007,
     [pbr::OriginalName("MotorAbortJoggingRequest")] MotorAbortJoggingRequest = 2008,
     [pbr::OriginalName("MotorAbortJoggingResponse")] MotorAbortJoggingResponse = 2009,
+    [pbr::OriginalName("DispenserAbortHomingRequest")] DispenserAbortHomingRequest = 2010,
+    [pbr::OriginalName("DispenserAbortHomingResponse")] DispenserAbortHomingResponse = 2011,
+    [pbr::OriginalName("DispenserHomingRequest")] DispenserHomingRequest = 2012,
+    [pbr::OriginalName("DispenserHomingResponse")] DispenserHomingResponse = 2013,
+    [pbr::OriginalName("DispenserJoggingRequest")] DispenserJoggingRequest = 2014,
+    [pbr::OriginalName("DispenserJoggingResponse")] DispenserJoggingResponse = 2015,
+    [pbr::OriginalName("DispenserAbortJoggingRequest")] DispenserAbortJoggingRequest = 2016,
+    [pbr::OriginalName("DispenserAbortJoggingResponse")] DispenserAbortJoggingResponse = 2017,
     /// <summary>
     ///Printing
     /// </summary>
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserAbortHomingRequest.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserAbortHomingRequest.cs
new file mode 100644
index 000000000..492f9bdaf
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserAbortHomingRequest.cs
@@ -0,0 +1,160 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: DispenserAbortHomingRequest.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from DispenserAbortHomingRequest.proto</summary>
+  public static partial class DispenserAbortHomingRequestReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for DispenserAbortHomingRequest.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static DispenserAbortHomingRequestReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "CiFEaXNwZW5zZXJBYm9ydEhvbWluZ1JlcXVlc3QucHJvdG8SFVRhbmdvLlBN",
+            "Ui5EaWFnbm9zdGljcyIrChtEaXNwZW5zZXJBYm9ydEhvbWluZ1JlcXVlc3QS",
+            "DAoEQ29kZRgBIAEoBUIhCh9jb20udHdpbmUudGFuZ28ucG1yLmRpYWdub3N0",
+            "aWNzYgZwcm90bzM="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.DispenserAbortHomingRequest), global::Tango.PMR.Diagnostics.DispenserAbortHomingRequest.Parser, new[]{ "Code" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class DispenserAbortHomingRequest : pb::IMessage<DispenserAbortHomingRequest> {
+    private static readonly pb::MessageParser<DispenserAbortHomingRequest> _parser = new pb::MessageParser<DispenserAbortHomingRequest>(() => new DispenserAbortHomingRequest());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<DispenserAbortHomingRequest> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.DispenserAbortHomingRequestReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserAbortHomingRequest() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserAbortHomingRequest(DispenserAbortHomingRequest other) : this() {
+      code_ = other.code_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserAbortHomingRequest Clone() {
+      return new DispenserAbortHomingRequest(this);
+    }
+
+    /// <summary>Field number for the "Code" field.</summary>
+    public const int CodeFieldNumber = 1;
+    private int code_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Code {
+      get { return code_; }
+      set {
+        code_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as DispenserAbortHomingRequest);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(DispenserAbortHomingRequest other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Code != other.Code) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Code != 0) hash ^= Code.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (Code != 0) {
+        output.WriteRawTag(8);
+        output.WriteInt32(Code);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Code != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Code);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(DispenserAbortHomingRequest other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Code != 0) {
+        Code = other.Code;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 8: {
+            Code = input.ReadInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserAbortHomingResponse.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserAbortHomingResponse.cs
new file mode 100644
index 000000000..94e32eb29
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserAbortHomingResponse.cs
@@ -0,0 +1,131 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: DispenserAbortHomingResponse.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from DispenserAbortHomingResponse.proto</summary>
+  public static partial class DispenserAbortHomingResponseReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for DispenserAbortHomingResponse.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static DispenserAbortHomingResponseReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "CiJEaXNwZW5zZXJBYm9ydEhvbWluZ1Jlc3BvbnNlLnByb3RvEhVUYW5nby5Q",
+            "TVIuRGlhZ25vc3RpY3MiHgocRGlzcGVuc2VyQWJvcnRIb21pbmdSZXNwb25z",
+            "ZUIhCh9jb20udHdpbmUudGFuZ28ucG1yLmRpYWdub3N0aWNzYgZwcm90bzM="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.DispenserAbortHomingResponse), global::Tango.PMR.Diagnostics.DispenserAbortHomingResponse.Parser, null, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class DispenserAbortHomingResponse : pb::IMessage<DispenserAbortHomingResponse> {
+    private static readonly pb::MessageParser<DispenserAbortHomingResponse> _parser = new pb::MessageParser<DispenserAbortHomingResponse>(() => new DispenserAbortHomingResponse());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<DispenserAbortHomingResponse> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.DispenserAbortHomingResponseReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserAbortHomingResponse() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserAbortHomingResponse(DispenserAbortHomingResponse other) : this() {
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserAbortHomingResponse Clone() {
+      return new DispenserAbortHomingResponse(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as DispenserAbortHomingResponse);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(DispenserAbortHomingResponse other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(DispenserAbortHomingResponse other) {
+      if (other == null) {
+        return;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserAbortJoggingRequest.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserAbortJoggingRequest.cs
new file mode 100644
index 000000000..4f879102b
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserAbortJoggingRequest.cs
@@ -0,0 +1,160 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: DispenserAbortJoggingRequest.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from DispenserAbortJoggingRequest.proto</summary>
+  public static partial class DispenserAbortJoggingRequestReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for DispenserAbortJoggingRequest.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static DispenserAbortJoggingRequestReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "CiJEaXNwZW5zZXJBYm9ydEpvZ2dpbmdSZXF1ZXN0LnByb3RvEhVUYW5nby5Q",
+            "TVIuRGlhZ25vc3RpY3MiLAocRGlzcGVuc2VyQWJvcnRKb2dnaW5nUmVxdWVz",
+            "dBIMCgRDb2RlGAIgASgFQiEKH2NvbS50d2luZS50YW5nby5wbXIuZGlhZ25v",
+            "c3RpY3NiBnByb3RvMw=="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.DispenserAbortJoggingRequest), global::Tango.PMR.Diagnostics.DispenserAbortJoggingRequest.Parser, new[]{ "Code" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class DispenserAbortJoggingRequest : pb::IMessage<DispenserAbortJoggingRequest> {
+    private static readonly pb::MessageParser<DispenserAbortJoggingRequest> _parser = new pb::MessageParser<DispenserAbortJoggingRequest>(() => new DispenserAbortJoggingRequest());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<DispenserAbortJoggingRequest> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.DispenserAbortJoggingRequestReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserAbortJoggingRequest() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserAbortJoggingRequest(DispenserAbortJoggingRequest other) : this() {
+      code_ = other.code_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserAbortJoggingRequest Clone() {
+      return new DispenserAbortJoggingRequest(this);
+    }
+
+    /// <summary>Field number for the "Code" field.</summary>
+    public const int CodeFieldNumber = 2;
+    private int code_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Code {
+      get { return code_; }
+      set {
+        code_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as DispenserAbortJoggingRequest);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(DispenserAbortJoggingRequest other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Code != other.Code) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Code != 0) hash ^= Code.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (Code != 0) {
+        output.WriteRawTag(16);
+        output.WriteInt32(Code);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Code != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Code);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(DispenserAbortJoggingRequest other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Code != 0) {
+        Code = other.Code;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 16: {
+            Code = input.ReadInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserAbortJoggingResponse.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserAbortJoggingResponse.cs
new file mode 100644
index 000000000..e8e2c8efe
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserAbortJoggingResponse.cs
@@ -0,0 +1,160 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: DispenserAbortJoggingResponse.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from DispenserAbortJoggingResponse.proto</summary>
+  public static partial class DispenserAbortJoggingResponseReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for DispenserAbortJoggingResponse.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static DispenserAbortJoggingResponseReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "CiNEaXNwZW5zZXJBYm9ydEpvZ2dpbmdSZXNwb25zZS5wcm90bxIVVGFuZ28u",
+            "UE1SLkRpYWdub3N0aWNzIi0KHURpc3BlbnNlckFib3J0Sm9nZ2luZ1Jlc3Bv",
+            "bnNlEgwKBENvZGUYAiABKAVCIQofY29tLnR3aW5lLnRhbmdvLnBtci5kaWFn",
+            "bm9zdGljc2IGcHJvdG8z"));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.DispenserAbortJoggingResponse), global::Tango.PMR.Diagnostics.DispenserAbortJoggingResponse.Parser, new[]{ "Code" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class DispenserAbortJoggingResponse : pb::IMessage<DispenserAbortJoggingResponse> {
+    private static readonly pb::MessageParser<DispenserAbortJoggingResponse> _parser = new pb::MessageParser<DispenserAbortJoggingResponse>(() => new DispenserAbortJoggingResponse());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<DispenserAbortJoggingResponse> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.DispenserAbortJoggingResponseReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserAbortJoggingResponse() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserAbortJoggingResponse(DispenserAbortJoggingResponse other) : this() {
+      code_ = other.code_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserAbortJoggingResponse Clone() {
+      return new DispenserAbortJoggingResponse(this);
+    }
+
+    /// <summary>Field number for the "Code" field.</summary>
+    public const int CodeFieldNumber = 2;
+    private int code_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Code {
+      get { return code_; }
+      set {
+        code_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as DispenserAbortJoggingResponse);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(DispenserAbortJoggingResponse other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Code != other.Code) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Code != 0) hash ^= Code.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (Code != 0) {
+        output.WriteRawTag(16);
+        output.WriteInt32(Code);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Code != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Code);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(DispenserAbortJoggingResponse other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Code != 0) {
+        Code = other.Code;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 16: {
+            Code = input.ReadInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserHomingRequest.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserHomingRequest.cs
new file mode 100644
index 000000000..f5b45c802
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserHomingRequest.cs
@@ -0,0 +1,188 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: DispenserHomingRequest.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from DispenserHomingRequest.proto</summary>
+  public static partial class DispenserHomingRequestReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for DispenserHomingRequest.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static DispenserHomingRequestReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChxEaXNwZW5zZXJIb21pbmdSZXF1ZXN0LnByb3RvEhVUYW5nby5QTVIuRGlh",
+            "Z25vc3RpY3MiNQoWRGlzcGVuc2VySG9taW5nUmVxdWVzdBIMCgRDb2RlGAEg",
+            "ASgFEg0KBVNwZWVkGAIgASgBQiEKH2NvbS50d2luZS50YW5nby5wbXIuZGlh",
+            "Z25vc3RpY3NiBnByb3RvMw=="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.DispenserHomingRequest), global::Tango.PMR.Diagnostics.DispenserHomingRequest.Parser, new[]{ "Code", "Speed" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class DispenserHomingRequest : pb::IMessage<DispenserHomingRequest> {
+    private static readonly pb::MessageParser<DispenserHomingRequest> _parser = new pb::MessageParser<DispenserHomingRequest>(() => new DispenserHomingRequest());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<DispenserHomingRequest> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.DispenserHomingRequestReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserHomingRequest() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserHomingRequest(DispenserHomingRequest other) : this() {
+      code_ = other.code_;
+      speed_ = other.speed_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserHomingRequest Clone() {
+      return new DispenserHomingRequest(this);
+    }
+
+    /// <summary>Field number for the "Code" field.</summary>
+    public const int CodeFieldNumber = 1;
+    private int code_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Code {
+      get { return code_; }
+      set {
+        code_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Speed" field.</summary>
+    public const int SpeedFieldNumber = 2;
+    private double speed_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double Speed {
+      get { return speed_; }
+      set {
+        speed_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as DispenserHomingRequest);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(DispenserHomingRequest other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Code != other.Code) return false;
+      if (Speed != other.Speed) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Code != 0) hash ^= Code.GetHashCode();
+      if (Speed != 0D) hash ^= Speed.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (Code != 0) {
+        output.WriteRawTag(8);
+        output.WriteInt32(Code);
+      }
+      if (Speed != 0D) {
+        output.WriteRawTag(17);
+        output.WriteDouble(Speed);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Code != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Code);
+      }
+      if (Speed != 0D) {
+        size += 1 + 8;
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(DispenserHomingRequest other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Code != 0) {
+        Code = other.Code;
+      }
+      if (other.Speed != 0D) {
+        Speed = other.Speed;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 8: {
+            Code = input.ReadInt32();
+            break;
+          }
+          case 17: {
+            Speed = input.ReadDouble();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserHomingResponse.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserHomingResponse.cs
new file mode 100644
index 000000000..dce4f5777
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserHomingResponse.cs
@@ -0,0 +1,188 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: DispenserHomingResponse.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from DispenserHomingResponse.proto</summary>
+  public static partial class DispenserHomingResponseReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for DispenserHomingResponse.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static DispenserHomingResponseReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "Ch1EaXNwZW5zZXJIb21pbmdSZXNwb25zZS5wcm90bxIVVGFuZ28uUE1SLkRp",
+            "YWdub3N0aWNzIkAKF0Rpc3BlbnNlckhvbWluZ1Jlc3BvbnNlEhAKCFByb2dy",
+            "ZXNzGAEgASgBEhMKC01heFByb2dyZXNzGAIgASgBQiEKH2NvbS50d2luZS50",
+            "YW5nby5wbXIuZGlhZ25vc3RpY3NiBnByb3RvMw=="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.DispenserHomingResponse), global::Tango.PMR.Diagnostics.DispenserHomingResponse.Parser, new[]{ "Progress", "MaxProgress" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class DispenserHomingResponse : pb::IMessage<DispenserHomingResponse> {
+    private static readonly pb::MessageParser<DispenserHomingResponse> _parser = new pb::MessageParser<DispenserHomingResponse>(() => new DispenserHomingResponse());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<DispenserHomingResponse> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.DispenserHomingResponseReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserHomingResponse() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserHomingResponse(DispenserHomingResponse other) : this() {
+      progress_ = other.progress_;
+      maxProgress_ = other.maxProgress_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserHomingResponse Clone() {
+      return new DispenserHomingResponse(this);
+    }
+
+    /// <summary>Field number for the "Progress" field.</summary>
+    public const int ProgressFieldNumber = 1;
+    private double progress_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double Progress {
+      get { return progress_; }
+      set {
+        progress_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "MaxProgress" field.</summary>
+    public const int MaxProgressFieldNumber = 2;
+    private double maxProgress_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double MaxProgress {
+      get { return maxProgress_; }
+      set {
+        maxProgress_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as DispenserHomingResponse);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(DispenserHomingResponse other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Progress != other.Progress) return false;
+      if (MaxProgress != other.MaxProgress) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Progress != 0D) hash ^= Progress.GetHashCode();
+      if (MaxProgress != 0D) hash ^= MaxProgress.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (Progress != 0D) {
+        output.WriteRawTag(9);
+        output.WriteDouble(Progress);
+      }
+      if (MaxProgress != 0D) {
+        output.WriteRawTag(17);
+        output.WriteDouble(MaxProgress);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Progress != 0D) {
+        size += 1 + 8;
+      }
+      if (MaxProgress != 0D) {
+        size += 1 + 8;
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(DispenserHomingResponse other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Progress != 0D) {
+        Progress = other.Progress;
+      }
+      if (other.MaxProgress != 0D) {
+        MaxProgress = other.MaxProgress;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 9: {
+            Progress = input.ReadDouble();
+            break;
+          }
+          case 17: {
+            MaxProgress = input.ReadDouble();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserJoggingRequest.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserJoggingRequest.cs
new file mode 100644
index 000000000..48894af8d
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserJoggingRequest.cs
@@ -0,0 +1,218 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: DispenserJoggingRequest.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from DispenserJoggingRequest.proto</summary>
+  public static partial class DispenserJoggingRequestReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for DispenserJoggingRequest.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static DispenserJoggingRequestReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "Ch1EaXNwZW5zZXJKb2dnaW5nUmVxdWVzdC5wcm90bxIVVGFuZ28uUE1SLkRp",
+            "YWdub3N0aWNzGhRNb3RvckRpcmVjdGlvbi5wcm90byJwChdEaXNwZW5zZXJK",
+            "b2dnaW5nUmVxdWVzdBI4CglEaXJlY3Rpb24YASABKA4yJS5UYW5nby5QTVIu",
+            "RGlhZ25vc3RpY3MuTW90b3JEaXJlY3Rpb24SDAoEQ29kZRgCIAEoBRINCgVT",
+            "cGVlZBgDIAEoAUIhCh9jb20udHdpbmUudGFuZ28ucG1yLmRpYWdub3N0aWNz",
+            "YgZwcm90bzM="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { global::Tango.PMR.Diagnostics.MotorDirectionReflection.Descriptor, },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.DispenserJoggingRequest), global::Tango.PMR.Diagnostics.DispenserJoggingRequest.Parser, new[]{ "Direction", "Code", "Speed" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class DispenserJoggingRequest : pb::IMessage<DispenserJoggingRequest> {
+    private static readonly pb::MessageParser<DispenserJoggingRequest> _parser = new pb::MessageParser<DispenserJoggingRequest>(() => new DispenserJoggingRequest());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<DispenserJoggingRequest> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.DispenserJoggingRequestReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserJoggingRequest() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserJoggingRequest(DispenserJoggingRequest other) : this() {
+      direction_ = other.direction_;
+      code_ = other.code_;
+      speed_ = other.speed_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserJoggingRequest Clone() {
+      return new DispenserJoggingRequest(this);
+    }
+
+    /// <summary>Field number for the "Direction" field.</summary>
+    public const int DirectionFieldNumber = 1;
+    private global::Tango.PMR.Diagnostics.MotorDirection direction_ = 0;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public global::Tango.PMR.Diagnostics.MotorDirection Direction {
+      get { return direction_; }
+      set {
+        direction_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Code" field.</summary>
+    public const int CodeFieldNumber = 2;
+    private int code_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Code {
+      get { return code_; }
+      set {
+        code_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Speed" field.</summary>
+    public const int SpeedFieldNumber = 3;
+    private double speed_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double Speed {
+      get { return speed_; }
+      set {
+        speed_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as DispenserJoggingRequest);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(DispenserJoggingRequest other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Direction != other.Direction) return false;
+      if (Code != other.Code) return false;
+      if (Speed != other.Speed) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Direction != 0) hash ^= Direction.GetHashCode();
+      if (Code != 0) hash ^= Code.GetHashCode();
+      if (Speed != 0D) hash ^= Speed.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (Direction != 0) {
+        output.WriteRawTag(8);
+        output.WriteEnum((int) Direction);
+      }
+      if (Code != 0) {
+        output.WriteRawTag(16);
+        output.WriteInt32(Code);
+      }
+      if (Speed != 0D) {
+        output.WriteRawTag(25);
+        output.WriteDouble(Speed);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Direction != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeEnumSize((int) Direction);
+      }
+      if (Code != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Code);
+      }
+      if (Speed != 0D) {
+        size += 1 + 8;
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(DispenserJoggingRequest other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Direction != 0) {
+        Direction = other.Direction;
+      }
+      if (other.Code != 0) {
+        Code = other.Code;
+      }
+      if (other.Speed != 0D) {
+        Speed = other.Speed;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 8: {
+            direction_ = (global::Tango.PMR.Diagnostics.MotorDirection) input.ReadEnum();
+            break;
+          }
+          case 16: {
+            Code = input.ReadInt32();
+            break;
+          }
+          case 25: {
+            Speed = input.ReadDouble();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserJoggingResponse.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserJoggingResponse.cs
new file mode 100644
index 000000000..ab32d6f98
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserJoggingResponse.cs
@@ -0,0 +1,131 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: DispenserJoggingResponse.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from DispenserJoggingResponse.proto</summary>
+  public static partial class DispenserJoggingResponseReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for DispenserJoggingResponse.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static DispenserJoggingResponseReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "Ch5EaXNwZW5zZXJKb2dnaW5nUmVzcG9uc2UucHJvdG8SFVRhbmdvLlBNUi5E",
+            "aWFnbm9zdGljcyIaChhEaXNwZW5zZXJKb2dnaW5nUmVzcG9uc2VCIQofY29t",
+            "LnR3aW5lLnRhbmdvLnBtci5kaWFnbm9zdGljc2IGcHJvdG8z"));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.DispenserJoggingResponse), global::Tango.PMR.Diagnostics.DispenserJoggingResponse.Parser, null, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class DispenserJoggingResponse : pb::IMessage<DispenserJoggingResponse> {
+    private static readonly pb::MessageParser<DispenserJoggingResponse> _parser = new pb::MessageParser<DispenserJoggingResponse>(() => new DispenserJoggingResponse());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<DispenserJoggingResponse> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.DispenserJoggingResponseReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserJoggingResponse() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserJoggingResponse(DispenserJoggingResponse other) : this() {
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public DispenserJoggingResponse Clone() {
+      return new DispenserJoggingResponse(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as DispenserJoggingResponse);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(DispenserJoggingResponse other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(DispenserJoggingResponse other) {
+      if (other == null) {
+        return;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorHomingResponse.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorHomingResponse.cs
index 7dd9f982b..487eb32a6 100644
--- a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorHomingResponse.cs
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorHomingResponse.cs
@@ -24,7 +24,7 @@ namespace Tango.PMR.Diagnostics {
           string.Concat(
             "ChlNb3RvckhvbWluZ1Jlc3BvbnNlLnByb3RvEhVUYW5nby5QTVIuRGlhZ25v",
             "c3RpY3MiPAoTTW90b3JIb21pbmdSZXNwb25zZRIQCghQcm9ncmVzcxgBIAEo",
-            "BRITCgtNYXhQcm9ncmVzcxgCIAEoBUIhCh9jb20udHdpbmUudGFuZ28ucG1y",
+            "ARITCgtNYXhQcm9ncmVzcxgCIAEoAUIhCh9jb20udHdpbmUudGFuZ28ucG1y",
             "LmRpYWdub3N0aWNzYgZwcm90bzM="));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { },
@@ -71,9 +71,9 @@ namespace Tango.PMR.Diagnostics {
 
     /// <summary>Field number for the "Progress" field.</summary>
     public const int ProgressFieldNumber = 1;
-    private int progress_;
+    private double progress_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int Progress {
+    public double Progress {
       get { return progress_; }
       set {
         progress_ = value;
@@ -82,9 +82,9 @@ namespace Tango.PMR.Diagnostics {
 
     /// <summary>Field number for the "MaxProgress" field.</summary>
     public const int MaxProgressFieldNumber = 2;
-    private int maxProgress_;
+    private double maxProgress_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int MaxProgress {
+    public double MaxProgress {
       get { return maxProgress_; }
       set {
         maxProgress_ = value;
@@ -112,8 +112,8 @@ namespace Tango.PMR.Diagnostics {
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public override int GetHashCode() {
       int hash = 1;
-      if (Progress != 0) hash ^= Progress.GetHashCode();
-      if (MaxProgress != 0) hash ^= MaxProgress.GetHashCode();
+      if (Progress != 0D) hash ^= Progress.GetHashCode();
+      if (MaxProgress != 0D) hash ^= MaxProgress.GetHashCode();
       return hash;
     }
 
@@ -124,24 +124,24 @@ namespace Tango.PMR.Diagnostics {
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public void WriteTo(pb::CodedOutputStream output) {
-      if (Progress != 0) {
-        output.WriteRawTag(8);
-        output.WriteInt32(Progress);
+      if (Progress != 0D) {
+        output.WriteRawTag(9);
+        output.WriteDouble(Progress);
       }
-      if (MaxProgress != 0) {
-        output.WriteRawTag(16);
-        output.WriteInt32(MaxProgress);
+      if (MaxProgress != 0D) {
+        output.WriteRawTag(17);
+        output.WriteDouble(MaxProgress);
       }
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public int CalculateSize() {
       int size = 0;
-      if (Progress != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Progress);
+      if (Progress != 0D) {
+        size += 1 + 8;
       }
-      if (MaxProgress != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(MaxProgress);
+      if (MaxProgress != 0D) {
+        size += 1 + 8;
       }
       return size;
     }
@@ -151,10 +151,10 @@ namespace Tango.PMR.Diagnostics {
       if (other == null) {
         return;
       }
-      if (other.Progress != 0) {
+      if (other.Progress != 0D) {
         Progress = other.Progress;
       }
-      if (other.MaxProgress != 0) {
+      if (other.MaxProgress != 0D) {
         MaxProgress = other.MaxProgress;
       }
     }
@@ -167,12 +167,12 @@ namespace Tango.PMR.Diagnostics {
           default:
             input.SkipLastField();
             break;
-          case 8: {
-            Progress = input.ReadInt32();
+          case 9: {
+            Progress = input.ReadDouble();
             break;
           }
-          case 16: {
-            MaxProgress = input.ReadInt32();
+          case 17: {
+            MaxProgress = input.ReadDouble();
             break;
           }
         }
diff --git a/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj b/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj
index e6f671ca7..c50ce853f 100644
--- a/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj
+++ b/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj
@@ -55,6 +55,14 @@
     <Compile Include="ColorLab\InputColor.cs" />
     <Compile Include="ColorLab\OutputColor.cs" />
     <Compile Include="Diagnostics\DataFileFrame.cs" />
+    <Compile Include="Diagnostics\DispenserAbortHomingRequest.cs" />
+    <Compile Include="Diagnostics\DispenserAbortHomingResponse.cs" />
+    <Compile Include="Diagnostics\DispenserAbortJoggingRequest.cs" />
+    <Compile Include="Diagnostics\DispenserAbortJoggingResponse.cs" />
+    <Compile Include="Diagnostics\DispenserHomingRequest.cs" />
+    <Compile Include="Diagnostics\DispenserHomingResponse.cs" />
+    <Compile Include="Diagnostics\DispenserJoggingRequest.cs" />
+    <Compile Include="Diagnostics\DispenserJoggingResponse.cs" />
     <Compile Include="Diagnostics\DoubleArray.cs" />
     <Compile Include="Diagnostics\MotorAbortHomingRequest.cs" />
     <Compile Include="Diagnostics\MotorAbortHomingResponse.cs" />
diff --git a/Software/Visual_Studio/Tango.UnitTesting/App.config b/Software/Visual_Studio/Tango.UnitTesting/App.config
index 901eeb586..80fd5e3fa 100644
--- a/Software/Visual_Studio/Tango.UnitTesting/App.config
+++ b/Software/Visual_Studio/Tango.UnitTesting/App.config
@@ -17,4 +17,12 @@
       <add name="SQLite Data Provider (Entity Framework 6)" invariant="System.Data.SQLite.EF6" description=".NET Framework Data Provider for SQLite (Entity Framework 6)" type="System.Data.SQLite.EF6.SQLiteProviderFactory, System.Data.SQLite.EF6" />
     <remove invariant="System.Data.SQLite" /><add name="SQLite Data Provider" invariant="System.Data.SQLite" description=".NET Framework Data Provider for SQLite" type="System.Data.SQLite.SQLiteFactory, System.Data.SQLite" /></DbProviderFactories>
   </system.data>
+  <runtime>
+    <assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">
+      <dependentAssembly>
+        <assemblyIdentity name="System.Reactive.Core" publicKeyToken="94bc3704cddfc263" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-3.0.3000.0" newVersion="3.0.3000.0" />
+      </dependentAssembly>
+    </assemblyBinding>
+  </runtime>
 </configuration>
\ No newline at end of file
diff --git a/Software/Visual_Studio/Tango.Visuals/AnalogSwitch/AnalogSwitch.xaml b/Software/Visual_Studio/Tango.Visuals/AnalogSwitch/AnalogSwitch.xaml
new file mode 100644
index 000000000..c7ae4fe57
--- /dev/null
+++ b/Software/Visual_Studio/Tango.Visuals/AnalogSwitch/AnalogSwitch.xaml
@@ -0,0 +1,12 @@
+<UserControl x:Class="Tango.Visuals.AnalogSwitch"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             mc:Ignorable="d" 
+             d:DesignHeight="120" d:DesignWidth="70">
+    <Grid>
+        <Image x:Name="imgOFF" Source="../Images/off.png" RenderOptions.BitmapScalingMode="Fant"></Image>
+        <Image x:Name="imgON" Source="../Images/on.png" RenderOptions.BitmapScalingMode="Fant" Visibility="Hidden"></Image>
+    </Grid>
+</UserControl>
diff --git a/Software/Visual_Studio/Tango.Visuals/AnalogSwitch/AnalogSwitch.xaml.cs b/Software/Visual_Studio/Tango.Visuals/AnalogSwitch/AnalogSwitch.xaml.cs
new file mode 100644
index 000000000..2149409a1
--- /dev/null
+++ b/Software/Visual_Studio/Tango.Visuals/AnalogSwitch/AnalogSwitch.xaml.cs
@@ -0,0 +1,66 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Effects;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace Tango.Visuals
+{
+    /// <summary>
+    /// Interaction logic for AnalogSwitch.xaml
+    /// </summary>
+    public partial class AnalogSwitch : UserControl
+    {
+        public event Action<AnalogSwitch> CheckedChanged;
+
+        public AnalogSwitch()
+        {
+            InitializeComponent();
+            this.PreviewMouseUp += AnalogSwitch_PreviewMouseUp;
+        }
+
+        void AnalogSwitch_PreviewMouseUp(object sender, MouseButtonEventArgs e)
+        {
+            IsChecked = !IsChecked;
+        }
+
+        public bool IsChecked
+        {
+            get { return (bool)GetValue(IsCheckedProperty); }
+            set { SetValue(IsCheckedProperty, value); }
+        }
+
+        // Using a DependencyProperty as the backing store for IsChecked.  This enables animation, styling, binding, etc...
+        public static readonly DependencyProperty IsCheckedProperty =
+            DependencyProperty.Register("IsChecked", typeof(bool), typeof(AnalogSwitch), new PropertyMetadata(false,new PropertyChangedCallback(CheckChanged)));
+
+        private static void CheckChanged(DependencyObject d, DependencyPropertyChangedEventArgs e)
+        {
+            AnalogSwitch s = d as AnalogSwitch;
+            if ((bool)e.NewValue)
+            {
+                s.imgON.Visibility = Visibility.Visible;
+                s.imgOFF.Visibility = Visibility.Hidden;
+            }
+            else
+            {
+                s.imgOFF.Visibility = Visibility.Visible;
+                s.imgON.Visibility = Visibility.Hidden;
+            }
+
+            if (s.CheckedChanged != null) s.CheckedChanged(s);
+        }
+
+        
+    }
+}
diff --git a/Software/Visual_Studio/Tango.Visuals/Images/off.png b/Software/Visual_Studio/Tango.Visuals/Images/off.png
new file mode 100644
index 000000000..67f2f4a6f
--- /dev/null
+++ b/Software/Visual_Studio/Tango.Visuals/Images/off.png
diff --git a/Software/Visual_Studio/Tango.Visuals/Images/on.png b/Software/Visual_Studio/Tango.Visuals/Images/on.png
new file mode 100644
index 000000000..9922b1901
--- /dev/null
+++ b/Software/Visual_Studio/Tango.Visuals/Images/on.png
diff --git a/Software/Visual_Studio/Tango.Visuals/Led/Led.xaml b/Software/Visual_Studio/Tango.Visuals/Led/Led.xaml
new file mode 100644
index 000000000..b59ed5d15
--- /dev/null
+++ b/Software/Visual_Studio/Tango.Visuals/Led/Led.xaml
@@ -0,0 +1,117 @@
+<UserControl x:Class="Tango.Visuals.Led"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:converters="clr-namespace:Tango.Visuals.Converters"
+             mc:Ignorable="d" 
+             d:DesignHeight="150" d:DesignWidth="150">
+    <UserControl.Resources>
+        <converters:BooleanToVisibilityConverter x:Key="v"></converters:BooleanToVisibilityConverter>
+
+        <RadialGradientBrush x:Key="outer"
+		Center="0.5,0.5" GradientOrigin="0.5,0.5" RadiusX="0.5" RadiusY="0.5" 
+		SpreadMethod="Pad" ColorInterpolationMode="SRgbLinearInterpolation" >
+            <GradientStop Color="Transparent" Offset="0" />
+            <GradientStop Color="Transparent" Offset="1" />
+        </RadialGradientBrush>
+
+        <RadialGradientBrush x:Key="inner"
+		Center="0.5,0.5" GradientOrigin="0.5,0.5" RadiusX="0.5" RadiusY="0.5" 
+		SpreadMethod="Pad" ColorInterpolationMode="SRgbLinearInterpolation" >
+            <GradientStop Color="#FF98FF00" Offset="0" />
+            <GradientStop Color="#FF01472B" Offset="1" />
+        </RadialGradientBrush>
+
+        <RadialGradientBrush x:Key="innerOff"
+		Center="0.5,0.5" GradientOrigin="0.5,0.5" RadiusX="0.5" RadiusY="0.5" 
+		SpreadMethod="Pad" ColorInterpolationMode="SRgbLinearInterpolation" >
+            <GradientStop Color="Red" Offset="0" />
+            <GradientStop Color="#FF670000" Offset="1" />
+        </RadialGradientBrush>
+    </UserControl.Resources>
+
+    <Grid>
+        <Grid x:Name="grid">
+            <Grid.RowDefinitions>
+                <RowDefinition Height="3*"/>
+                <RowDefinition Height="60*"/>
+                <RowDefinition Height="3*"/>
+            </Grid.RowDefinitions>
+            <Grid.ColumnDefinitions>
+                <ColumnDefinition Width="3*"/>
+                <ColumnDefinition Width="60*"/>
+                <ColumnDefinition Width="3*"/>
+            </Grid.ColumnDefinitions>
+
+            <Ellipse Fill="{StaticResource outer}" Grid.RowSpan="3" Grid.ColumnSpan="3" Stroke="Gray" StrokeThickness="1"></Ellipse>
+            <!--<Ellipse Fill="#FF3E3E3E" Grid.Row="1" Grid.Column="1">
+                <Ellipse.Triggers>
+                    <EventTrigger RoutedEvent="MouseEnter">
+                        <BeginStoryboard>
+                            <Storyboard>
+                                <ColorAnimation Storyboard.TargetProperty="Fill.Color" To="#404040" Duration="00:00:0.2"></ColorAnimation>
+                            </Storyboard>
+                        </BeginStoryboard>
+                    </EventTrigger>
+                    <EventTrigger RoutedEvent="MouseLeave">
+                        <BeginStoryboard>
+                            <Storyboard>
+                                <ColorAnimation Storyboard.TargetProperty="Fill.Color" To="#FF464646" Duration="00:00:0.2"></ColorAnimation>
+                            </Storyboard>
+                        </BeginStoryboard>
+                    </EventTrigger>
+                </Ellipse.Triggers>
+            </Ellipse>-->
+
+            <Ellipse Margin="2" Grid.Row="1" Grid.Column="1" Stroke="#FF7F7F7F" StrokeThickness="2">
+                <Ellipse.Style>
+                    <Style>
+                        <Style.Triggers>
+                            <DataTrigger Binding="{Binding RelativeSource={RelativeSource AncestorType=UserControl},Path=IsChecked}" Value="True">
+                                <Setter Property="Ellipse.Fill" Value="{DynamicResource inner}"></Setter>
+                                <DataTrigger.EnterActions>
+                                    <BeginStoryboard>
+                                        <Storyboard>
+                                            <DoubleAnimation Storyboard.TargetProperty="Fill.(GradientBrush.GradientStops)[1].(GradientStop.Offset)" From="0.8" To="1" Duration="0:0:0.5" AutoReverse="True" RepeatBehavior="Forever"/>
+                                        </Storyboard>
+                                    </BeginStoryboard>
+                                </DataTrigger.EnterActions>
+                            </DataTrigger>
+                            <DataTrigger Binding="{Binding RelativeSource={RelativeSource AncestorType=UserControl},Path=IsChecked}" Value="False">
+                                <Setter Property="Ellipse.Fill" Value="{DynamicResource innerOff}"></Setter>
+                                <DataTrigger.EnterActions>
+                                    <BeginStoryboard>
+                                        <Storyboard>
+                                            <DoubleAnimation Storyboard.TargetProperty="Fill.(GradientBrush.GradientStops)[1].(GradientStop.Offset)" From="0.5" To="1" Duration="0:0:0.2" AutoReverse="False"/>
+                                        </Storyboard>
+                                    </BeginStoryboard>
+                                </DataTrigger.EnterActions>
+                            </DataTrigger>
+                        </Style.Triggers>
+                    </Style>
+                </Ellipse.Style>
+            </Ellipse>
+        </Grid>
+
+        <Grid x:Name="gridMask" Visibility="Hidden">
+            <Grid.RowDefinitions>
+                <RowDefinition Height="11*"/>
+                <RowDefinition Height="30*"/>
+                <RowDefinition Height="11*"/>
+            </Grid.RowDefinitions>
+            <Grid.ColumnDefinitions>
+                <ColumnDefinition Width="11*"/>
+                <ColumnDefinition Width="30*"/>
+                <ColumnDefinition Width="11*"/>
+            </Grid.ColumnDefinitions>
+
+            <Ellipse Fill="{StaticResource outer}" Grid.RowSpan="3" Grid.ColumnSpan="3"></Ellipse>
+            <Ellipse Fill="#FF464646" Grid.Row="1" Grid.Column="1">
+            </Ellipse>
+
+            <Ellipse Fill="#707070" Margin="2" Grid.Row="1" Grid.Column="1">
+            </Ellipse>
+        </Grid>
+    </Grid>
+</UserControl>
diff --git a/Software/Visual_Studio/Tango.Visuals/Led/Led.xaml.cs b/Software/Visual_Studio/Tango.Visuals/Led/Led.xaml.cs
new file mode 100644
index 000000000..5a1e67913
--- /dev/null
+++ b/Software/Visual_Studio/Tango.Visuals/Led/Led.xaml.cs
@@ -0,0 +1,179 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+using Tango.Core.Commands;
+
+namespace Tango.Visuals
+{
+    /// <summary>
+    /// Represents an LED like button that acts like a check box.
+    /// </summary>
+    public partial class Led : UserControl
+    {
+        #region Constructors
+
+        public Led()
+        {
+            InitializeComponent();
+            this.PreviewMouseUp += LedControl_PreviewMouseUp;
+        }
+
+        #endregion
+
+        #region Event Handlers
+
+        void LedControl_PreviewMouseUp(object sender, MouseButtonEventArgs e)
+        {
+            if (IsPassive) return;
+
+            IsChecked = !IsChecked;
+
+            if (Command != null)
+            {
+                Command.Execute(null);
+            }
+        }
+
+        #endregion
+
+        #region Properties
+
+        /// <summary>
+        /// Gets or sets whether the LED is on or off.
+        /// </summary>
+        public bool IsChecked
+        {
+            get { return (bool)GetValue(IsCheckedProperty); }
+            set { SetValue(IsCheckedProperty, value); }
+        }
+        public static readonly DependencyProperty IsCheckedProperty =
+            DependencyProperty.Register("IsChecked", typeof(bool), typeof(Led), new PropertyMetadata(false));
+
+
+        /// <summary>
+        /// Gets or sets whether the control is enabled.
+        /// </summary>
+        public bool Enabled
+        {
+            get { return (bool)GetValue(EnabledProperty); }
+            set { SetValue(EnabledProperty, value); }
+        }
+        public static readonly DependencyProperty EnabledProperty =
+            DependencyProperty.Register("Enabled", typeof(bool), typeof(Led), new PropertyMetadata(true, new PropertyChangedCallback(EnabledChanged)));
+        private static void EnabledChanged(DependencyObject d, DependencyPropertyChangedEventArgs e)
+        {
+            Led l = d as Led;
+            if ((bool)e.NewValue)
+            {
+                l.gridMask.Visibility = Visibility.Hidden;
+                l.grid.Visibility = Visibility.Visible;
+            }
+            else
+            {
+                l.gridMask.Visibility = Visibility.Visible;
+                l.grid.Visibility = Visibility.Hidden;
+            }
+        }
+
+
+        public Brush FillBrush
+        {
+            get { return (Brush)GetValue(FillBrushProperty); }
+            set { SetValue(FillBrushProperty, value); }
+        }
+        public static readonly DependencyProperty FillBrushProperty =
+            DependencyProperty.Register("FillBrush", typeof(Brush), typeof(Led), new PropertyMetadata(null));
+
+
+        public double InnerOpacity
+        {
+            get { return (double)GetValue(InnerOpacityProperty); }
+            set { SetValue(InnerOpacityProperty, value); }
+        }
+        public static readonly DependencyProperty InnerOpacityProperty =
+            DependencyProperty.Register("InnerOpacity", typeof(double), typeof(Led), new PropertyMetadata(1.0));
+
+
+        public bool IsPassive
+        {
+            get { return (bool)GetValue(IsPassiveProperty); }
+            set { SetValue(IsPassiveProperty, value); }
+        }
+        public static readonly DependencyProperty IsPassiveProperty =
+            DependencyProperty.Register("IsPassive", typeof(bool), typeof(Led), new PropertyMetadata(false));
+
+
+
+        public Brush CheckedBrush
+        {
+            get { return (Brush)GetValue(CheckedBrushProperty); }
+            set { SetValue(CheckedBrushProperty, value); }
+        }
+        public static readonly DependencyProperty CheckedBrushProperty =
+            DependencyProperty.Register("CheckedBrush", typeof(Brush), typeof(Led), new PropertyMetadata(null,CheckBrushChanged));
+
+        private static void CheckBrushChanged(DependencyObject d, DependencyPropertyChangedEventArgs e)
+        {
+            var control = d as Led;
+            control.Resources["inner"] = control.CheckedBrush;
+        }
+
+
+
+        public Brush UnCheckedBrush
+        {
+            get { return (Brush)GetValue(UnCheckedBrushProperty); }
+            set { SetValue(UnCheckedBrushProperty, value); }
+        }
+        public static readonly DependencyProperty UnCheckedBrushProperty =
+            DependencyProperty.Register("UnCheckedBrush", typeof(Brush), typeof(Led), new PropertyMetadata(null,UnCheckedBrushChanged));
+
+        private static void UnCheckedBrushChanged(DependencyObject d, DependencyPropertyChangedEventArgs e)
+        {
+            var control = d as Led;
+            control.Resources["innerOff"] = control.UnCheckedBrush;
+        }
+
+        
+
+        #endregion
+
+        #region Commands
+
+        /// <summary>
+        /// Represents the command to bind for CanExecute event.
+        /// </summary>
+        public RelayCommand Command
+        {
+            get { return (RelayCommand)GetValue(CommandProperty); }
+            set { SetValue(CommandProperty, value); }
+        }
+        public static readonly DependencyProperty CommandProperty =
+            DependencyProperty.Register("Command", typeof(RelayCommand), typeof(Led), new PropertyMetadata(null, new PropertyChangedCallback(CommandChanged)));
+        private static void CommandChanged(DependencyObject d, DependencyPropertyChangedEventArgs e)
+        {
+            Led l = d as Led;
+
+            if (l.Command != null)
+            {
+                l.Command.CanExecuteChanged += (x, y) =>
+                {
+                    l.IsEnabled = l.Command.CanExecute(null);
+                };
+            }
+        }
+
+        #endregion
+    }
+}
\ No newline at end of file
diff --git a/Software/Visual_Studio/Tango.Visuals/Tango.Visuals.csproj b/Software/Visual_Studio/Tango.Visuals/Tango.Visuals.csproj
index 4eaa3376e..53c87d0f5 100644
--- a/Software/Visual_Studio/Tango.Visuals/Tango.Visuals.csproj
+++ b/Software/Visual_Studio/Tango.Visuals/Tango.Visuals.csproj
@@ -52,6 +52,9 @@
     <Compile Include="..\Versioning\GlobalVersionInfo.cs">
       <Link>GlobalVersionInfo.cs</Link>
     </Compile>
+    <Compile Include="AnalogSwitch\AnalogSwitch.xaml.cs">
+      <DependentUpon>AnalogSwitch.xaml</DependentUpon>
+    </Compile>
     <Compile Include="Components\Arc.cs" />
     <Compile Include="Components\PieAxisTicks.xaml.cs">
       <DependentUpon>PieAxisTicks.xaml</DependentUpon>
@@ -73,6 +76,9 @@
     <Compile Include="Knob\Knob.xaml.cs">
       <DependentUpon>Knob.xaml</DependentUpon>
     </Compile>
+    <Compile Include="Led\Led.xaml.cs">
+      <DependentUpon>Led.xaml</DependentUpon>
+    </Compile>
     <Compile Include="YAxisDoubles\YAxisDoubles.xaml.cs">
       <DependentUpon>YAxisDoubles.xaml</DependentUpon>
     </Compile>
@@ -90,6 +96,10 @@
     <Compile Include="VUMeter\VUMeter.xaml.cs">
       <DependentUpon>VUMeter.xaml</DependentUpon>
     </Compile>
+    <Page Include="AnalogSwitch\AnalogSwitch.xaml">
+      <Generator>MSBuild:Compile</Generator>
+      <SubType>Designer</SubType>
+    </Page>
     <Page Include="Components\PieAxisTicks.xaml">
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
@@ -110,6 +120,10 @@
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
     </Page>
+    <Page Include="Led\Led.xaml">
+      <Generator>MSBuild:Compile</Generator>
+      <SubType>Designer</SubType>
+    </Page>
     <Page Include="YAxisDoubles\YAxisDoubles.xaml">
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
@@ -188,6 +202,17 @@
     <Resource Include="Knob\volumeKnobMetroDark.png" />
     <Resource Include="Knob\volumeKnobMetroLight.png" />
   </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\Tango.Core\Tango.Core.csproj">
+      <Project>{a34ee0f0-649d-41c8-8489-b6f1cc6924ee}</Project>
+      <Name>Tango.Core</Name>
+    </ProjectReference>
+  </ItemGroup>
+  <ItemGroup />
+  <ItemGroup>
+    <Resource Include="Images\off.png" />
+    <Resource Include="Images\on.png" />
+  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
   <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
        Other similar extension points exist, see Microsoft.Common.targets.
diff --git a/Software/Visual_Studio/Utilities/Tango.UITests/App.config b/Software/Visual_Studio/Utilities/Tango.UITests/App.config
index 8324aa6ff..f2af62f53 100644
--- a/Software/Visual_Studio/Utilities/Tango.UITests/App.config
+++ b/Software/Visual_Studio/Utilities/Tango.UITests/App.config
@@ -1,6 +1,14 @@
-<?xml version="1.0" encoding="utf-8" ?>
+<?xml version="1.0" encoding="utf-8"?>
 <configuration>
     <startup> 
         <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6" />
     </startup>
+  <runtime>
+    <assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">
+      <dependentAssembly>
+        <assemblyIdentity name="System.Reactive.Core" publicKeyToken="94bc3704cddfc263" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-3.0.3000.0" newVersion="3.0.3000.0" />
+      </dependentAssembly>
+    </assemblyBinding>
+  </runtime>
 </configuration>
\ No newline at end of file
diff --git a/Software/Visual_Studio/Utilities/Tango.UITests/MainWindow.xaml b/Software/Visual_Studio/Utilities/Tango.UITests/MainWindow.xaml
index 861cdfec7..403723a92 100644
--- a/Software/Visual_Studio/Utilities/Tango.UITests/MainWindow.xaml
+++ b/Software/Visual_Studio/Utilities/Tango.UITests/MainWindow.xaml
@@ -18,6 +18,7 @@
     </Window.Resources>
     
     <Grid>
-        <visuals:VUMeter Margin="5 0 0 0" Height="300" TicksCount="14"  Orientation="Vertical" Width="70" ShowTicksLabels="True" ShowTicksLines="True" TicksPlacement="BottomRight" Value="50" EmulateOuterLight="True" SunkenLeds="True" TicksMinimum="0" TicksMaximum="100" Minimum="0" Maximum="100" />
+        <visuals:Led Width="70" Height="70" IsChecked="{Binding ElementName=chk,Path=IsChecked}" />
+        <CheckBox HorizontalAlignment="Left" x:Name="chk">IS ON</CheckBox>
     </Grid>
 </Window>