Added support for motor controllers.

11 files changed, 799 insertions, 27 deletions

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
new file mode 100644
index 000000000..bf7aaeff4
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorElementEditor.xaml
@@ -0,0 +1,267 @@
+<local:ElementEditor x:Class="Tango.MachineStudio.Technician.Editors.MotorElementEditor"
+             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: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:MotorItem, IsDesignTimeCreatable=False}">
+
+    <UserControl.Resources>
+        <converters:BoolToVisibilityConverter x:Key="BoolToVisibilityConverter"></converters:BoolToVisibilityConverter>
+
+        <!--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 emptyButton}" VerticalAlignment="Center" Margin="0 0 5 0">
+                    <materialDesign:PackIcon Kind="Stop" Foreground="#FF5F5F" HorizontalAlignment="Center" VerticalAlignment="Center" Width="24" Height="24" />
+                </Button>
+                <ProgressBar 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}" 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">
+            <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="Gainsboro" 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>
+                </Border>
+            </Grid>
+
+            <Grid>
+                <Border BorderBrush="Gainsboro" 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="#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 10">
+                        <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.Style>
+                        <Style TargetType="Border">
+                            <Setter Property="Background">
+                                <Setter.Value>
+                                    <LinearGradientBrush EndPoint="1,0">
+                                        <GradientStop Color="#515151" 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 10">
+                        <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="Gainsboro" BorderThickness="1 0 1 1" CornerRadius="0 0 10 10">
+                        <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="#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 RelativeSource={RelativeSource AncestorType=UserControl},Path=MonitorItem.TechMonitor.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/MotorElementEditor.xaml.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorElementEditor.xaml.cs
new file mode 100644
index 000000000..6371cb83a
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorElementEditor.xaml.cs
@@ -0,0 +1,186 @@
+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 MotorElementEditor : ElementEditor
+    {
+        /// <summary>
+        /// Initializes a new instance of the <see cref="MonitorElementEditor"/> class.
+        /// </summary>
+        public MotorElementEditor()
+            : base()
+        {
+            InitializeComponent();
+        }
+
+        /// <summary>
+        /// Initializes a new instance of the <see cref="MonitorElementEditor"/> class.
+        /// </summary>
+        /// <param name="frameworkElement">The framework element.</param>
+        public MotorElementEditor(MotorItem motorItem)
+            : this()
+        {
+            MotorItem = motorItem;
+            DataContext = MotorItem;
+        }
+
+        /// <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 MotorElementEditor(MotorItem monitorItem, Rect bounds)
+            : this(monitorItem)
+        {
+            Left = bounds.Left;
+            Top = bounds.Top;
+            Width = bounds.Width;
+            Height = bounds.Height;
+        }
+
+        private MotorItem _monitorItem;
+
+        public MotorItem MotorItem
+        {
+            get { return _monitorItem; }
+            set
+            {
+                _monitorItem = value; RaisePropertyChanged(nameof(MotorItem));
+
+                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 = MotorItem.Clone() as MotorItem;
+                MotorElementEditor cloned = new MotorElementEditor(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 MotorItem; }
+        }
+
+        private void OnForwardPressed(object sender, MouseButtonEventArgs e)
+        {
+            MotorItem.RaiseAction(MotorActionType.ForwardPressed);
+            AnimateRight();
+        }
+
+        private void OnForwardReleased(object sender, MouseButtonEventArgs e)
+        {
+            MotorItem.RaiseAction(MotorActionType.ForwardReleased);
+            StopAnimation();
+        }
+
+        private void OnBackwardPressed(object sender, MouseButtonEventArgs e)
+        {
+            MotorItem.RaiseAction(MotorActionType.BackwardPressed);
+            AnimateLeft();
+        }
+
+        private void OnBackwardReleased(object sender, MouseButtonEventArgs e)
+        {
+            MotorItem.RaiseAction(MotorActionType.BackwardReleased);
+            StopAnimation();
+        }
+
+        private void OnHomingStarted(object sender, RoutedEventArgs e)
+        {
+            MotorItem.RaiseAction(MotorActionType.HomingStarted);
+            AnimateLeft();
+        }
+
+        private void OnHomingStopped(object sender, RoutedEventArgs e)
+        {
+            MotorItem.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);
+            });
+        }
+
+        private void Button_Click(object sender, RoutedEventArgs e)
+        {
+
+        }
+    }
+}
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 02acf5883..aa0ec24e8 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
@@ -28,7 +28,7 @@
         <!--Content-->
         <Grid>
             <!--<Viewbox Stretch="Fill">-->
-                <controls:RealTimeGraphControl x:Name="InnerGraph" x:FieldModifier="public" IsHitTestVisible="False" 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" 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/engine.png b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/engine.png
new file mode 100644
index 000000000..731ddc4f6
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/engine.png
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/prop.png b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/prop.png
new file mode 100644
index 000000000..268c1e557
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/prop.png
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 654c6b9c1..0f92b6275 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
@@ -81,6 +81,9 @@
     <Compile Include="Converters\MonitorsToSingleChannleMonitorsConverter.cs" />
     <Compile Include="Converters\SecondsToGraphPointsConverter.cs" />
     <Compile Include="Converters\TransitionLinkConverter.cs" />
+    <Compile Include="Editors\MotorElementEditor.xaml.cs">
+      <DependentUpon>MotorElementEditor.xaml</DependentUpon>
+    </Compile>
     <Compile Include="Editors\MeterElementEditor.xaml.cs">
       <DependentUpon>MeterElementEditor.xaml</DependentUpon>
     </Compile>
@@ -107,6 +110,8 @@
       <DependentUpon>SingleGraphTemplate.xaml</DependentUpon>
     </Compile>
     <Compile Include="TechItems\MeterItem.cs" />
+    <Compile Include="TechItems\MotorActionType.cs" />
+    <Compile Include="TechItems\MotorItem.cs" />
     <Compile Include="TechItems\MultiGraphItem.cs" />
     <Compile Include="TechItems\SingleGraphItem.cs" />
     <Compile Include="TechItems\MonitorItem.cs" />
@@ -136,6 +141,10 @@
     <Compile Include="..\..\..\Versioning\GlobalVersionInfo.cs">
       <Link>GlobalVersionInfo.cs</Link>
     </Compile>
+    <Page Include="Editors\MotorElementEditor.xaml">
+      <Generator>MSBuild:Compile</Generator>
+      <SubType>Designer</SubType>
+    </Page>
     <Page Include="Editors\MeterElementEditor.xaml">
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
@@ -296,5 +305,11 @@
   <ItemGroup>
     <Resource Include="Images\multi-graph.png" />
   </ItemGroup>
+  <ItemGroup>
+    <Resource Include="Images\prop.png" />
+  </ItemGroup>
+  <ItemGroup>
+    <Resource Include="Images\engine.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/MotorActionType.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorActionType.cs
new file mode 100644
index 000000000..319345926
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorActionType.cs
@@ -0,0 +1,18 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Tango.MachineStudio.Technician.TechItems
+{
+    public enum MotorActionType
+    {
+        ForwardPressed,
+        ForwardReleased,
+        BackwardPressed,
+        BackwardReleased,
+        HomingStarted,
+        HomingStopped,
+    }
+}
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
new file mode 100644
index 000000000..a7088ac3f
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorItem.cs
@@ -0,0 +1,117 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Xml.Serialization;
+using Tango.Core.Commands;
+using Tango.Integration.Observables;
+using Tango.SharedUI.Helpers;
+
+namespace Tango.MachineStudio.Technician.TechItems
+{
+    public class MotorItem : TechItem
+    {
+        public event EventHandler<MotorActionType> ActionExecuted;
+        public event EventHandler HomingCompleted;
+
+        private TechMotor _techMotor;
+        [XmlIgnore]
+        public TechMotor TechMotor
+        {
+            get { return _techMotor; }
+            set { _techMotor = 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(); }
+        }
+
+        public override object Data => TechMotor;
+
+        public MotorItem() : base()
+        {
+            Name = "Motor";
+            Description = "Motor Controller";
+            Image = ResourceHelper.GetImageFromResources("Images/engine.png");
+        }
+
+        public MotorItem(TechMotor techMotor) : this()
+        {
+            TechMotor = techMotor;
+        }
+
+        public override TechItem Clone()
+        {
+            MotorItem cloned = base.Clone() as MotorItem;
+            cloned.TechMotor = TechMotor;
+            return cloned;
+        }
+
+        public void RaiseAction(MotorActionType action)
+        {
+            ActionExecuted?.Invoke(this, action);
+        }
+    }
+}
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 b0c899f06..7bed3f441 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
@@ -6,6 +6,7 @@ using System.Collections.ObjectModel;
 using System.Linq;
 using System.Reflection;
 using System.Text;
+using System.Threading;
 using System.Threading.Tasks;
 using System.Windows;
 using System.Windows.Media;
@@ -184,7 +185,7 @@ namespace Tango.MachineStudio.Technician.ViewModels
             return (value as RepeatedField<double>).ToList();
         }
 
-        private List<List<double>> GetMultiGraphValues(TechMonitor monitor,object value)
+        private List<List<double>> GetMultiGraphValues(TechMonitor monitor, object value)
         {
             DoubleArray[] arrayOfDoubles = Enumerable.ToArray(value as IEnumerable<DoubleArray>);
             return arrayOfDoubles.Select(x => x.Data.ToList()).ToList();
@@ -192,39 +193,105 @@ namespace Tango.MachineStudio.Technician.ViewModels
 
         public void AddElement(Rect bounds)
         {
-            lock (_elementsLock)
+            if (SelectedTechItem is MonitorItem)
             {
-                if (SelectedTechItem is MonitorItem)
-                {
-                    var monitorItem = new MonitorItem(Adapter.TechMonitors.Where(x => !x.MultiChannel).FirstOrDefault());
-                    MonitorElementEditor editor = new MonitorElementEditor(monitorItem, bounds);
-                    Elements.Add(editor);
-                }
-                else if (SelectedTechItem is MeterItem)
+                var monitorItem = new MonitorItem(Adapter.TechMonitors.Where(x => !x.MultiChannel).FirstOrDefault());
+                MonitorElementEditor editor = new MonitorElementEditor(monitorItem, bounds);
+                Elements.Add(editor);
+            }
+            else if (SelectedTechItem is MeterItem)
+            {
+                var meterItem = new MeterItem(Adapter.TechMonitors.Where(x => !x.MultiChannel).FirstOrDefault());
+                MeterElementEditor editor = new MeterElementEditor(meterItem, bounds);
+                Elements.Add(editor);
+            }
+            else if (SelectedTechItem is SingleGraphItem)
+            {
+                var graphItem = new SingleGraphItem(Adapter.TechMonitors.Where(x => !x.MultiChannel).FirstOrDefault());
+                SingleGraphElementEditor editor = new SingleGraphElementEditor(graphItem, bounds);
+                editor.InnerGraph.InnerGraph.MaxPoints = Common.Helpers.GraphsHelper.GetMaxPoints(graphItem.TechMonitor.PointsPerFrame);
+                graphItem.Editor = editor;
+
+
+                GraphController controller = new GraphController();
+                editor.InnerGraph.Controller = controller;
+
+                _singleControllers.Add(graphItem, controller);
+
+                Elements.Add(editor);
+            }
+            else if (SelectedTechItem is MultiGraphItem)
+            {
+                var graphItem = new MultiGraphItem(Adapter.TechMonitors.Where(x => x.MultiChannel).FirstOrDefault());
+                MultiGraphElementEditor editor = new MultiGraphElementEditor(graphItem, bounds);
+                editor.InnerGraph.InnerGraph.MaxPoints = Common.Helpers.GraphsHelper.GetMaxPoints(graphItem.TechMonitor.PointsPerFrame);
+                graphItem.Editor = editor;
+
+
+                GraphMultiController controller = new GraphMultiController();
+
+                for (int i = 0; i < graphItem.TechMonitor.ChannelCount; i++)
                 {
-                    var meterItem = new MeterItem(Adapter.TechMonitors.Where(x => !x.MultiChannel).FirstOrDefault());
-                    MeterElementEditor editor = new MeterElementEditor(meterItem, bounds);
-                    Elements.Add(editor);
+                    controller.AddSeries(new RealTimeGraphEx.DataSeries.DataYSeries()
+                    {
+                        UseFillAndStroke = true,
+                        Name = graphItem.TechMonitor.Name.First() + (i + 1).ToString(),
+                        Stroke = new SolidColorBrush(ColorHelper.GetRandomColor()),
+                    });
                 }
-                else if (SelectedTechItem is SingleGraphItem)
+
+                editor.InnerGraph.Controller = controller;
+
+                _multiControllers.Add(graphItem, controller);
+
+                Elements.Add(editor);
+            }
+            else if (SelectedTechItem is MotorItem)
+            {
+                var motorItem = new MotorItem(Adapter.TechMotors.FirstOrDefault());
+                MotorElementEditor editor = new MotorElementEditor(motorItem, bounds);
+                Elements.Add(editor);
+                InitMotorItem(motorItem);
+            }
+        }
+
+        public void OnElementsRemoved(List<IElementEditor> elements)
+        {
+            //foreach (var element in elements)
+            //{
+            //    if (element.HostedElement is SingleGraphItem)
+            //    {
+            //        _singleControllers.Remove(element.HostedElement as SingleGraphItem);
+            //        (element.HostedElement as SingleGraphItem).Editor.InnerGraph.InnerGraph.Dispose();
+            //    }
+            //    else if (element.HostedElement is MultiGraphItem)
+            //    {
+            //        _multiControllers.Remove(element.HostedElement as MultiGraphItem);
+            //        (element.HostedElement as MultiGraphItem).Editor.InnerGraph.InnerGraph.Dispose();
+            //    }
+            //}
+        }
+
+        public void OnElementsPasted(List<IElementEditor> elements)
+        {
+            foreach (var element in elements)
+            {
+                if (element is SingleGraphElementEditor)
                 {
-                    var graphItem = new SingleGraphItem(Adapter.TechMonitors.Where(x => !x.MultiChannel).FirstOrDefault());
-                    SingleGraphElementEditor editor = new SingleGraphElementEditor(graphItem, bounds);
-                    editor.InnerGraph.InnerGraph.MaxPoints = Common.Helpers.GraphsHelper.GetMaxPoints(graphItem.TechMonitor.PointsPerFrame);
+                    var graphItem = element.HostedElement as SingleGraphItem;
+                    var editor = element as SingleGraphElementEditor;
                     graphItem.Editor = editor;
-
+                    editor.InnerGraph.InnerGraph.MaxPoints = Common.Helpers.GraphsHelper.GetMaxPoints(graphItem.TechMonitor.PointsPerFrame);
 
                     GraphController controller = new GraphController();
                     editor.InnerGraph.Controller = controller;
 
                     _singleControllers.Add(graphItem, controller);
-
-                    Elements.Add(editor);
                 }
-                else if (SelectedTechItem is MultiGraphItem)
+                else if (element is MultiGraphElementEditor)
                 {
-                    var graphItem = new MultiGraphItem(Adapter.TechMonitors.Where(x => x.MultiChannel).FirstOrDefault());
-                    MultiGraphElementEditor editor = new MultiGraphElementEditor(graphItem, bounds);
+                    var graphItem = element.HostedElement as MultiGraphItem;
+                    var editor = element as MultiGraphElementEditor;
                     editor.InnerGraph.InnerGraph.MaxPoints = Common.Helpers.GraphsHelper.GetMaxPoints(graphItem.TechMonitor.PointsPerFrame);
                     graphItem.Editor = editor;
 
@@ -244,10 +311,65 @@ namespace Tango.MachineStudio.Technician.ViewModels
                     editor.InnerGraph.Controller = controller;
 
                     _multiControllers.Add(graphItem, controller);
-
-                    Elements.Add(editor);
                 }
             }
         }
+
+        private void InitMotorItem(MotorItem item)
+        {
+            item.ActionExecuted += async (x, action) =>
+            {
+                if (action == MotorActionType.HomingStarted)
+                {
+                    item.HomingProgress = 0;
+                    item.IsHoming = true;
+                    item.IsHomingCompleted = false;
+
+                    await Task.Factory.StartNew(() =>
+                    {
+                        for (int i = 0; i < 101; i++)
+                        {
+                            item.HomingMaximumProgress = 100;
+                            item.HomingProgress++;
+
+                            Thread.Sleep(60);
+                        }
+
+                        item.IsHoming = false;
+                        item.IsHomingCompleted = true;
+                    });
+                }
+                else 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,
+                    });
+                }
+            };
+        }
     }
 }
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 f353c92d1..7cdd92e06 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
@@ -41,7 +41,7 @@
                 </Menu>
 
                 <Grid Grid.Row="1">
-                    <StackPanel Orientation="Horizontal" Margin="20 0 0 0">
+                    <StackPanel HorizontalAlignment="Left" Orientation="Horizontal" Margin="20 0 0 0">
                         <ListBox ItemContainerStyle="{StaticResource basicListBoxItem}" ItemsSource="{Binding AvailableTechItems}" SelectedItem="{Binding SelectedTechItem,Mode=TwoWay}" HorizontalContentAlignment="Stretch" ScrollViewer.HorizontalScrollBarVisibility="Disabled" ScrollViewer.VerticalScrollBarVisibility="Disabled">
                             <ListBox.ItemsPanel>
                                 <ItemsPanelTemplate>
@@ -69,6 +69,17 @@
                             </ListBox.ItemTemplate>
                         </ListBox>
                     </StackPanel>
+
+                    <StackPanel HorizontalAlignment="Right" Orientation="Horizontal" Margin="0 0 255 10" VerticalAlignment="Bottom">
+                        <ListBox x:Name="listMode" SelectedIndex="0" Style="{StaticResource MaterialDesignToolToggleListBox}">
+                            <ListBoxItem Height="40" Width="60" HorizontalContentAlignment="Center" ToolTip="Edit Mode">
+                                <materialDesign:PackIcon HorizontalAlignment="Center" Width="30" Height="30"  Kind="Pencil" />
+                            </ListBoxItem>
+                            <ListBoxItem Height="40" Width="60" HorizontalContentAlignment="Center" ToolTip="Action Mode" MouseUp="OnActionModeClicked">
+                                <materialDesign:PackIcon HorizontalAlignment="Center" Width="30" Height="30"  Kind="HandPointingRight" />
+                            </ListBoxItem>
+                        </ListBox>
+                    </StackPanel>
                 </Grid>
             </Grid>
 
@@ -87,6 +98,8 @@
                         x:Name="editor"
                         Elements="{Binding Elements}"
                         ElementCreation="ElementsEditor_ElementCreation"  
+                        ElementsRemoved="ElementsEditor_ElementsRemoved"
+                        AfterPaste="ElementsEditor_AfterPaste"
                         RulerHeight="32" 
                         EditorWidth="1920"
                         EditorHeight="1080"
@@ -98,7 +111,19 @@
                         SelectionFillBrush="#338D8D8D" 
                         SelectionStrokeBrush="{StaticResource AccentColorBrush}" 
                         BorderBrush="{StaticResource AccentColorBrush}" 
-                        BorderThickness="1" />
+                        BorderThickness="1">
+
+                        <editors:ElementsEditor.Style>
+                            <Style TargetType="editors:ElementsEditor">
+                                <Setter Property="IsEditable" Value="True"></Setter>
+                                <Style.Triggers>
+                                    <DataTrigger Binding="{Binding ElementName=listMode,Path=SelectedIndex}" Value="1">
+                                        <Setter Property="IsEditable" Value="False"></Setter>
+                                    </DataTrigger>
+                                </Style.Triggers>
+                            </Style>
+                        </editors:ElementsEditor.Style>
+                    </editors:ElementsEditor>
 
                     <Slider Grid.Column="1" Orientation="Vertical" Margin="5" Maximum="3" Minimum="0.2" Value="{Binding ElementName=editor,Path=ScaleFactor}"></Slider>
                 </Grid>
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Views/MachineTechView.xaml.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Views/MachineTechView.xaml.cs
index 5944af1e2..6b84fb363 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Views/MachineTechView.xaml.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Views/MachineTechView.xaml.cs
@@ -32,6 +32,13 @@ namespace Tango.MachineStudio.Technician.Views
             {
                 _vm = DataContext as MachineTechViewVM;
             };
+
+            (editor.UndoRedoStatesProvider as ElementsEditorUndoRedoStatesProvider).StateExecuted += MachineTechView_StateExecuted;
+        }
+
+        private void MachineTechView_StateExecuted(object sender, UndoRedoStateExecutedEventArgs e)
+        {
+            ElementsEditorUndoRedoState state = e.State as ElementsEditorUndoRedoState;
         }
 
         private void ElementsEditor_ElementCreation(object sender, ElementCreationEventArgs e)
@@ -39,5 +46,20 @@ namespace Tango.MachineStudio.Technician.Views
             _vm.AddElement(e.Bounds);
             e.AppendUndoState = true;
         }
+
+        private void ElementsEditor_ElementsRemoved(object sender, ElementsEventArgs e)
+        {
+            _vm.OnElementsRemoved(e.Elements);
+        }
+
+        private void ElementsEditor_AfterPaste(object sender, ElementsEventArgs e)
+        {
+            _vm.OnElementsPasted(e.Elements);
+        }
+
+        private void OnActionModeClicked(object sender, MouseButtonEventArgs e)
+        {
+            editor.DeselectElements();
+        }
     }
 }