Added PID Control.

12 files changed, 440 insertions, 27 deletions

diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/Tango.MachineStudio.DB.csproj b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/Tango.MachineStudio.DB.csproj
index 189c7ee0d..fa567697d 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/Tango.MachineStudio.DB.csproj
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/Tango.MachineStudio.DB.csproj
@@ -134,6 +134,7 @@
     <Compile Include="ViewModels\MultiComboVM.cs" />
     <Compile Include="ViewModels\OrganizationsViewVM.cs" />
     <Compile Include="ViewModels\PermissionsViewVM.cs" />
+    <Compile Include="ViewModels\PidControlsViewVM.cs" />
     <Compile Include="ViewModels\ProcessParametersTablesViewVM.cs" />
     <Compile Include="ViewModels\ProcessParametersTablesGroupsViewVM.cs" />
     <Compile Include="ViewModels\RmlsViewVM.cs" />
@@ -148,9 +149,15 @@
     <Compile Include="Views\DBViews\ActionTypeView.xaml.cs">
       <DependentUpon>ActionTypeView.xaml</DependentUpon>
     </Compile>
+    <Compile Include="Views\DBViews\PidControlsView.xaml.cs">
+      <DependentUpon>PidControlsView.xaml</DependentUpon>
+    </Compile>
     <Compile Include="Views\DBViews\DancerTypesView.xaml.cs">
       <DependentUpon>DancerTypesView.xaml</DependentUpon>
     </Compile>
+    <Compile Include="Views\DBViews\PidControlView.xaml.cs">
+      <DependentUpon>PidControlView.xaml</DependentUpon>
+    </Compile>
     <Compile Include="Views\DBViews\DancerTypeView.xaml.cs">
       <DependentUpon>DancerTypeView.xaml</DependentUpon>
     </Compile>
@@ -402,10 +409,18 @@
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
     </Page>
+    <Page Include="Views\DBViews\PidControlsView.xaml">
+      <Generator>MSBuild:Compile</Generator>
+      <SubType>Designer</SubType>
+    </Page>
     <Page Include="Views\DBViews\DancerTypesView.xaml">
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
     </Page>
+    <Page Include="Views\DBViews\PidControlView.xaml">
+      <Generator>MSBuild:Compile</Generator>
+      <SubType>Designer</SubType>
+    </Page>
     <Page Include="Views\DBViews\DancerTypeView.xaml">
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/ViewModelLocator.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/ViewModelLocator.cs
index 13fd85122..0889be54e 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/ViewModelLocator.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/ViewModelLocator.cs
@@ -67,6 +67,8 @@ namespace Tango.MachineStudio.DB
             SimpleIoc.Default.Register<DancerTypesViewVM>();
             SimpleIoc.Default.Register<HardwareVersionsDancerTypeViewVM>();
             SimpleIoc.Default.Register<HardwareVersionsMotorTypesViewVM>();
+
+            SimpleIoc.Default.Register<PidControlsViewVM>();
         }
 
         public static MainViewVM MainViewVM
@@ -404,5 +406,13 @@ namespace Tango.MachineStudio.DB
                 return ServiceLocator.Current.GetInstance<HardwareVersionsMotorTypesViewVM>();
             }
         }
+
+        public static PidControlsViewVM PidControlsViewVM
+        {
+            get
+            {
+                return ServiceLocator.Current.GetInstance<PidControlsViewVM>();
+            }
+        }
     }
 }
\ No newline at end of file
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/ViewModels/PidControlsViewVM.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/ViewModels/PidControlsViewVM.cs
new file mode 100644
index 000000000..7fe342da5
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/ViewModels/PidControlsViewVM.cs
@@ -0,0 +1,19 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using Tango.Integration.Observables;
+using Tango.MachineStudio.Common.Notifications;
+using Tango.SharedUI;
+
+namespace Tango.MachineStudio.DB.ViewModels
+{
+    public class PidControlsViewVM : DbTableViewModel<PidControl>
+    {
+        public PidControlsViewVM(INotificationProvider notification) : base(notification)
+        {
+
+        }
+    }
+}
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/Views/DBViews/PidControlView.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/Views/DBViews/PidControlView.xaml
new file mode 100644
index 000000000..5459fbbff
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/Views/DBViews/PidControlView.xaml
@@ -0,0 +1,73 @@
+<UserControl x:Class="Tango.MachineStudio.DB.Views.DBViews.PidControlView"
+             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:mahapps="http://metro.mahapps.com/winfx/xaml/controls"
+             xmlns:controls="clr-namespace:Tango.MachineStudio.DB.Controls"
+             xmlns:colorPicker="clr-namespace:Tango;assembly=Tango.ColorPicker"
+             xmlns:converters="clr-namespace:Tango.SharedUI.Converters;assembly=Tango.SharedUI"
+             xmlns:vm="clr-namespace:Tango.MachineStudio.DB.ViewModels"
+             xmlns:local="clr-namespace:Tango.MachineStudio.DB.Views.DBViews"
+             mc:Ignorable="d" 
+             d:DesignHeight="400" d:DesignWidth="300" d:DataContext="{d:DesignInstance Type=vm:PidControlsViewVM, IsDesignTimeCreatable=False}">
+    
+    <Grid>
+        <controls:TableGrid>
+            <TextBlock Text="ID:" FontWeight="Bold"></TextBlock>
+            <TextBox Text="{Binding EditEntity.ID}" IsReadOnly="True"></TextBox>
+            <TextBlock Text="GUID:" FontWeight="Bold"></TextBlock>
+            <TextBox Text="{Binding EditEntity.Guid}" IsReadOnly="True"></TextBox>
+            <TextBlock Text="Last Updated:" FontWeight="Bold"></TextBlock>
+            <TextBox Text="{Binding EditEntity.LastUpdated}" IsReadOnly="True"></TextBox>
+            <TextBlock Text="Code:" FontWeight="Bold"></TextBlock>
+            <mahapps:NumericUpDown Minimum="0" Maximum="10000" InterceptArrowKeys="True" Background="Transparent" BorderThickness="0" InterceptMouseWheel="True" HasDecimals="False" HorizontalContentAlignment="Left" Value="{Binding EditEntity.Code,Mode=TwoWay}"></mahapps:NumericUpDown>
+            <TextBlock Text="Name:" FontWeight="Bold"></TextBlock>
+            <TextBox Text="{Binding EditEntity.Name,Mode=TwoWay}"></TextBox>
+            <TextBlock Text="Description:" FontWeight="Bold"></TextBlock>
+            <TextBox Text="{Binding EditEntity.Description,Mode=TwoWay}"></TextBox>
+
+            <TextBlock Text="Output Proportional Power Limit:" FontWeight="Bold"></TextBlock>
+            <mahapps:NumericUpDown Minimum="0" Maximum="10000" Value="{Binding EditEntity.OutputProportionalPowerLimit,Mode=TwoWay}" InterceptArrowKeys="True" Background="Transparent" BorderThickness="0" InterceptMouseWheel="True" HasDecimals="False" HorizontalContentAlignment="Left"></mahapps:NumericUpDown>
+
+            <TextBlock Text="Output Proportional Band:" FontWeight="Bold"></TextBlock>
+            <mahapps:NumericUpDown Minimum="0" Maximum="10000" Value="{Binding EditEntity.OutputProportionalBand,Mode=TwoWay}" InterceptArrowKeys="True" Background="Transparent" BorderThickness="0" InterceptMouseWheel="True" HasDecimals="False" HorizontalContentAlignment="Left"></mahapps:NumericUpDown>
+
+            <TextBlock Text="Integral Time:" FontWeight="Bold"></TextBlock>
+            <mahapps:NumericUpDown Minimum="0" Maximum="10000" Value="{Binding EditEntity.IntegralTime,Mode=TwoWay}" InterceptArrowKeys="True" Background="Transparent" BorderThickness="0" InterceptMouseWheel="True" HasDecimals="False" HorizontalContentAlignment="Left"></mahapps:NumericUpDown>
+
+            <TextBlock Text="Derivative Time:" FontWeight="Bold"></TextBlock>
+            <mahapps:NumericUpDown Minimum="0" Maximum="10000" Value="{Binding EditEntity.DerivativeTime,Mode=TwoWay}" InterceptArrowKeys="True" Background="Transparent" BorderThickness="0" InterceptMouseWheel="True" HasDecimals="False" HorizontalContentAlignment="Left"></mahapps:NumericUpDown>
+
+            <TextBlock Text="Sensor Correction Adjustment:" FontWeight="Bold"></TextBlock>
+            <mahapps:NumericUpDown Minimum="0" Maximum="10000" Value="{Binding EditEntity.SensorCorrectionAdjustment,Mode=TwoWay}" InterceptArrowKeys="True" Background="Transparent" BorderThickness="0" InterceptMouseWheel="True" HasDecimals="False" HorizontalContentAlignment="Left"></mahapps:NumericUpDown>
+
+            <TextBlock Text="Sensor Min Value:" FontWeight="Bold"></TextBlock>
+            <mahapps:NumericUpDown Minimum="0" Maximum="10000" Value="{Binding EditEntity.SensorMinValue,Mode=TwoWay}" InterceptArrowKeys="True" Background="Transparent" BorderThickness="0" InterceptMouseWheel="True" HasDecimals="False" HorizontalContentAlignment="Left"></mahapps:NumericUpDown>
+
+            <TextBlock Text="Sensor Max Value:" FontWeight="Bold"></TextBlock>
+            <mahapps:NumericUpDown Minimum="0" Maximum="10000" Value="{Binding EditEntity.SensorMaxValue,Mode=TwoWay}" InterceptArrowKeys="True" Background="Transparent" BorderThickness="0" InterceptMouseWheel="True" HasDecimals="False" HorizontalContentAlignment="Left"></mahapps:NumericUpDown>
+
+            <TextBlock Text="SetPoint Ramp Rateor Soft Start Ramp:" FontWeight="Bold"></TextBlock>
+            <mahapps:NumericUpDown Minimum="0" Maximum="10000" Value="{Binding EditEntity.SetPointRampRateorSoftStartRamp,Mode=TwoWay}" InterceptArrowKeys="True" Background="Transparent" BorderThickness="0" InterceptMouseWheel="True" HasDecimals="False" HorizontalContentAlignment="Left"></mahapps:NumericUpDown>
+
+            <TextBlock Text="Set Point Control Output Rate:" FontWeight="Bold"></TextBlock>
+            <mahapps:NumericUpDown Minimum="0" Maximum="10000" Value="{Binding EditEntity.SetPointControlOutputRate,Mode=TwoWay}" InterceptArrowKeys="True" Background="Transparent" BorderThickness="0" InterceptMouseWheel="True" HasDecimals="False" HorizontalContentAlignment="Left"></mahapps:NumericUpDown>
+
+            <TextBlock Text="Control Output Type:" FontWeight="Bold"></TextBlock>
+            <mahapps:NumericUpDown Minimum="0" Maximum="10000" Value="{Binding EditEntity.ControlOutputType,Mode=TwoWay}" InterceptArrowKeys="True" Background="Transparent" BorderThickness="0" InterceptMouseWheel="True" HasDecimals="False" HorizontalContentAlignment="Left"></mahapps:NumericUpDown>
+
+            <TextBlock Text="SSR Control Output Type:" FontWeight="Bold"></TextBlock>
+            <mahapps:NumericUpDown Minimum="0" Maximum="10000" Value="{Binding EditEntity.SsrControlOutputType,Mode=TwoWay}" InterceptArrowKeys="True" Background="Transparent" BorderThickness="0" InterceptMouseWheel="True" HasDecimals="False" HorizontalContentAlignment="Left"></mahapps:NumericUpDown>
+
+            <TextBlock Text="Output On/Off Hysteresis Value:" FontWeight="Bold"></TextBlock>
+            <mahapps:NumericUpDown Minimum="0" Maximum="10000" Value="{Binding EditEntity.OutputOnOffHysteresisValue,Mode=TwoWay}" InterceptArrowKeys="True" Background="Transparent" BorderThickness="0" InterceptMouseWheel="True" HasDecimals="False" HorizontalContentAlignment="Left"></mahapps:NumericUpDown>
+
+            <TextBlock Text="Process Variable Sampling Rate:" FontWeight="Bold"></TextBlock>
+            <mahapps:NumericUpDown Minimum="0" Maximum="10000" Value="{Binding EditEntity.ProcessVariableSamplingRate,Mode=TwoWay}" InterceptArrowKeys="True" Background="Transparent" BorderThickness="0" InterceptMouseWheel="True" HasDecimals="False" HorizontalContentAlignment="Left"></mahapps:NumericUpDown>
+
+            <TextBlock Text="PV Input Filter Factor Mode:" FontWeight="Bold"></TextBlock>
+            <mahapps:NumericUpDown Minimum="0" Maximum="10000" Value="{Binding EditEntity.PvInputFilterFactorMode,Mode=TwoWay}" InterceptArrowKeys="True" Background="Transparent" BorderThickness="0" InterceptMouseWheel="True" HasDecimals="False" HorizontalContentAlignment="Left"></mahapps:NumericUpDown>
+        </controls:TableGrid>
+    </Grid>
+</UserControl>
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/Views/DBViews/PidControlView.xaml.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/Views/DBViews/PidControlView.xaml.cs
new file mode 100644
index 000000000..df45fb1ff
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/Views/DBViews/PidControlView.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.DB.Views.DBViews
+{
+    /// <summary>
+    /// Interaction logic for MachineView.xaml
+    /// </summary>
+    public partial class PidControlView : UserControl
+    {
+        public PidControlView()
+        {
+            InitializeComponent();
+        }
+    }
+}
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/Views/DBViews/PidControlsView.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/Views/DBViews/PidControlsView.xaml
new file mode 100644
index 000000000..0a7d6d4df
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/Views/DBViews/PidControlsView.xaml
@@ -0,0 +1,48 @@
+<UserControl x:Class="Tango.MachineStudio.DB.Views.DBViews.PidControlsView"
+             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:global="clr-namespace:Tango.MachineStudio.DB"
+             xmlns:controls="clr-namespace:Tango.MachineStudio.DB.Controls"
+             xmlns:converters="clr-namespace:Tango.SharedUI.Converters;assembly=Tango.SharedUI"
+             xmlns:observables="clr-namespace:Tango.Integration.Observables;assembly=Tango.Integration"
+             xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
+             mc:Ignorable="d" 
+             d:DesignHeight="720" d:DesignWidth="1280" Background="White" d:DataContext="{d:DesignInstance Type=observables:PidControl, IsDesignTimeCreatable=False}" DataContext="{x:Static global:ViewModelLocator.PidControlsViewVM}">
+
+    <UserControl.Resources>
+        <converters:BooleanToYesNoConverter x:Key="BooleanToYesNoConverter" />
+    </UserControl.Resources>
+    
+    <Grid>
+        <controls:DbTableView>
+            <DataGrid Background="Transparent" ItemsSource="{Binding Adapter.PidControlsViewSource}" SelectedItem="{Binding SelectedEntity}" AutoGenerateColumns="False" HorizontalAlignment="Stretch" VerticalAlignment="Stretch" IsReadOnly="True">
+                <DataGrid.Columns>
+                    <DataGridTextColumn Header="ID" Binding="{Binding ID}"></DataGridTextColumn>
+                    <DataGridTextColumn Header="GUID" Binding="{Binding Guid}"></DataGridTextColumn>
+                    <DataGridTextColumn Header="Code" Binding="{Binding Code}"></DataGridTextColumn>
+                    <DataGridTextColumn Header="Name" Binding="{Binding Name}"></DataGridTextColumn>
+                    
+                    <DataGridTextColumn Header="Description" Binding="{Binding Description}"></DataGridTextColumn>
+                    <DataGridTextColumn Header="Output Proportional Power Limit" Binding="{Binding OutputProportionalPowerLimit}"></DataGridTextColumn>
+                    <DataGridTextColumn Header="Output Proportional Band" Binding="{Binding OutputProportionalBand}"></DataGridTextColumn>
+
+                    <DataGridTextColumn Header="Integral Time" Binding="{Binding IntegralTime}"></DataGridTextColumn>
+                    <DataGridTextColumn Header="Derivative Time" Binding="{Binding DerivativeTime}"></DataGridTextColumn>
+                    <DataGridTextColumn Header="Sensor Correction Adjustment" Binding="{Binding SensorCorrectionAdjustment}"></DataGridTextColumn>
+                    <DataGridTextColumn Header="Sensor Min Value" Binding="{Binding SensorMinValue}"></DataGridTextColumn>
+                    <DataGridTextColumn Header="Sensor Max Value" Binding="{Binding SensorMaxValue}"></DataGridTextColumn>
+                    <DataGridTextColumn Header="SetPoint Ramp Rateor Soft Start Ramp" Binding="{Binding SetPointRampRateorSoftStartRamp}"></DataGridTextColumn>
+                    <DataGridTextColumn Header="Set Point Control Output Rate" Binding="{Binding SetPointControlOutputRate}"></DataGridTextColumn>
+                    <DataGridTextColumn Header="Control Output Type" Binding="{Binding ControlOutputType}"></DataGridTextColumn>
+
+                    <DataGridTextColumn Header="SSR Control Output Type" Binding="{Binding SsrControlOutputType}"></DataGridTextColumn>
+                    <DataGridTextColumn Header="Output On/Off Hysteresis Value" Binding="{Binding OutputOnOffHysteresisValue}"></DataGridTextColumn>
+                    <DataGridTextColumn Header="Process Variable Sampling Rate" Binding="{Binding ProcessVariableSamplingRate}"></DataGridTextColumn>
+                    <DataGridTextColumn Header="PV Input Filter Factor Mode" Binding="{Binding PvInputFilterFactorMode}"></DataGridTextColumn>
+                </DataGrid.Columns>
+            </DataGrid>
+        </controls:DbTableView>
+    </Grid>
+</UserControl>
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/Views/DBViews/PidControlsView.xaml.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/Views/DBViews/PidControlsView.xaml.cs
new file mode 100644
index 000000000..9ac44d396
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.DB/Views/DBViews/PidControlsView.xaml.cs
@@ -0,0 +1,32 @@
+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.MachineStudio.DB.CustomAttributes;
+using Tango.MachineStudio.DB.Managers;
+using Tango.SharedUI.Controls;
+
+namespace Tango.MachineStudio.DB.Views.DBViews
+{
+    /// <summary>
+    /// Interaction logic for MachinesView.xaml
+    /// </summary>
+    [DBView]
+    public partial class PidControlsView : UserControl
+    {
+        public PidControlsView() : base()
+        {
+            InitializeComponent();
+        }
+    }
+}
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.HardwareDesigner/Images/balance.png b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.HardwareDesigner/Images/balance.png
new file mode 100644
index 000000000..46255b3ed
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.HardwareDesigner/Images/balance.png
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.HardwareDesigner/Tango.MachineStudio.HardwareDesigner.csproj b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.HardwareDesigner/Tango.MachineStudio.HardwareDesigner.csproj
index 15186d65b..12c32df08 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.HardwareDesigner/Tango.MachineStudio.HardwareDesigner.csproj
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.HardwareDesigner/Tango.MachineStudio.HardwareDesigner.csproj
@@ -155,5 +155,8 @@
   <ItemGroup>
     <Resource Include="Images\compass.png" />
   </ItemGroup>
+  <ItemGroup>
+    <Resource Include="Images\balance.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.HardwareDesigner/ViewModels/MainViewVM.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.HardwareDesigner/ViewModels/MainViewVM.cs
index 4becc0b04..0da894aba 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.HardwareDesigner/ViewModels/MainViewVM.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.HardwareDesigner/ViewModels/MainViewVM.cs
@@ -4,6 +4,7 @@ using System.Collections.ObjectModel;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using Tango.Core.Commands;
 using Tango.Integration.Observables;
 using Tango.SharedUI;
 
@@ -46,10 +47,20 @@ namespace Tango.MachineStudio.HardwareDesigner.ViewModels
             set { _currentVersionDancerTypes = value; RaisePropertyChangedAuto(); }
         }
 
+        private ObservableCollection<PidControl> _currentVersionPidControls;
+        public ObservableCollection<PidControl> CurrentVersionPidControls
+        {
+            get { return _currentVersionPidControls; }
+            set { _currentVersionPidControls = value; RaisePropertyChangedAuto(); }
+        }
+
+        public RelayCommand SaveCommand { get; set; }
 
         public MainViewVM()
         {
             Adapter = ObservablesEntitiesAdapter.Instance;
+
+            SaveCommand = new RelayCommand(Save);
         }
 
         private void OnSelectedVersionChanged()
@@ -57,6 +68,7 @@ namespace Tango.MachineStudio.HardwareDesigner.ViewModels
             CurrentVersion = SelectedVersion.Clone();
             CurrentVersionDancerTypes = CurrentVersion.HardwareVersionsDancerTypes.Select(x => x.DancerType).ToObservableCollection();
             CurrentVersionMotorTypes = CurrentVersion.HardwareVersionsMotorTypes.Select(x => x.MotorType).ToObservableCollection();
+            CurrentVersionPidControls = CurrentVersion.HardwareVersionsPidControls.Select(x => x.PidControl).ToObservableCollection();
         }
 
         public void OnRemoveDancer(DancerType dancerType)
@@ -69,14 +81,41 @@ namespace Tango.MachineStudio.HardwareDesigner.ViewModels
             CurrentVersionMotorTypes.Remove(motorType);
         }
 
+        public void OnRemovePidControl(PidControl pidControl)
+        {
+            CurrentVersionPidControls.Remove(pidControl);
+        }
+
         public void OnMotorDrop(MotorType motorType)
         {
-            CurrentVersionMotorTypes.Add(motorType);
+            if (!CurrentVersionMotorTypes.Contains(motorType))
+            {
+                CurrentVersionMotorTypes.Add(motorType);
+            }
         }
 
         public void OnDropDancer(DancerType dancerType)
         {
-            CurrentVersionDancerTypes.Add(dancerType);
+            if (!CurrentVersionDancerTypes.Contains(dancerType))
+            {
+                CurrentVersionDancerTypes.Add(dancerType);
+            }
+        }
+
+        public void OnDropPidControl(PidControl pidControl)
+        {
+            if (!CurrentVersionPidControls.Contains(pidControl))
+            {
+                CurrentVersionPidControls.Add(pidControl);
+            }
+        }
+
+        private void Save()
+        {
+            if (CurrentVersion != null)
+            {
+
+            }
         }
     }
 }
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.HardwareDesigner/Views/MainView.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.HardwareDesigner/Views/MainView.xaml
index 77ace3e63..e73ba2a1f 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.HardwareDesigner/Views/MainView.xaml
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.HardwareDesigner/Views/MainView.xaml
@@ -60,10 +60,10 @@
                                 </Image>
 
                                 <Canvas ClipToBounds="False" x:Name="canvas">
-                                    <Border BorderThickness="2" BorderBrush="Gray" CornerRadius="0 0 20 20" Width="707" Height="132" Canvas.Left="50" Canvas.Top="378" Background="#ABFFFFFF">
+                                    <Border BorderThickness="1" BorderBrush="Gray" CornerRadius="0 0 20 20" Width="707" Height="132" Canvas.Left="50" Canvas.Top="378" Background="#ABFFFFFF">
                                         <Grid Style="{StaticResource droppableGrid}" dragAndDrop:DragAndDropService.Drop="OnDancerDrop">
                                             <TextBlock HorizontalAlignment="Center" VerticalAlignment="Center" Foreground="Silver" FontSize="20">DRAG &amp; DROP DANCERS</TextBlock>
-                                            <ListBox x:Name="listDancers" ItemsSource="{Binding CurrentVersionDancerTypes}" Margin="0 5 0 0" ScrollViewer.HorizontalScrollBarVisibility="Disabled" ScrollViewer.VerticalScrollBarVisibility="Disabled">
+                                            <ListBox x:Name="listDancers" ItemContainerStyle="{StaticResource basicListBoxItem}" ItemsSource="{Binding CurrentVersionDancerTypes}" Margin="0 5 0 0" ScrollViewer.HorizontalScrollBarVisibility="Disabled" ScrollViewer.VerticalScrollBarVisibility="Disabled">
                                                 <ListBox.ItemsPanel>
                                                     <ItemsPanelTemplate>
                                                         <WrapPanel Orientation="Horizontal" />
@@ -72,22 +72,23 @@
                                                 <ListBox.ItemTemplate>
                                                     <DataTemplate DataType="{x:Type observables:DancerType}">
                                                         <Grid Style="{StaticResource draggableGrid}">
-                                                            <Grid.ToolTip>
-                                                                <Border Padding="2">
-                                                                    <ItemsControl ItemsSource="{Binding Parameters}">
-                                                                        <ItemsControl.ItemTemplate>
-                                                                            <DataTemplate>
-                                                                                <TextBlock Margin="2">
-                                                                                                <Run Text="{Binding Name}" FontWeight="SemiBold"></Run>
-                                                                                                :
-                                                                                                <Run Text="{Binding Value}" FontStyle="Italic"></Run>
-                                                                                </TextBlock>
-                                                                            </DataTemplate>
-                                                                        </ItemsControl.ItemTemplate>
-                                                                    </ItemsControl>
-                                                                </Border>
-                                                            </Grid.ToolTip>
-                                                            <Border BorderBrush="Gray" Width="100" Height="100" BorderThickness="1" Background="White" Padding="2" IsHitTestVisible="False">
+                                                            <Border Margin="5" CornerRadius="5" Width="100" Height="100" BorderThickness="1" Padding="2" IsHitTestVisible="False">
+                                                                <Border.Style>
+                                                                    <Style TargetType="Border">
+                                                                        <Setter Property="BorderBrush" Value="Silver"></Setter>
+                                                                        <Style.Triggers>
+                                                                            <DataTrigger Binding="{Binding RelativeSource={RelativeSource AncestorType=ListBoxItem},Path=IsSelected}" Value="True">
+                                                                                <Setter Property="BorderBrush" Value="{StaticResource AccentColorBrush}"></Setter>
+                                                                            </DataTrigger>
+                                                                        </Style.Triggers>
+                                                                    </Style>
+                                                                </Border.Style>
+                                                                <Border.Background>
+                                                                    <LinearGradientBrush>
+                                                                        <GradientStop Color="White"/>
+                                                                        <GradientStop Color="#FFD6D6D6" Offset="1"/>
+                                                                    </LinearGradientBrush>
+                                                                </Border.Background>
                                                                 <Grid>
                                                                     <StackPanel>
                                                                         <Image Source="../Images/compass.png" Width="32" Margin="5" />
@@ -102,10 +103,10 @@
                                         </Grid>
                                     </Border>
 
-                                    <Border BorderThickness="2 2 2 0" BorderBrush="Gray" Width="576" Height="157" Canvas.Left="114" Canvas.Top="224" Background="#ABFFFFFF">
+                                    <Border BorderThickness="1 1 1 0" BorderBrush="Gray" Width="576" Height="157" Canvas.Left="114" Canvas.Top="224" Background="#ABFFFFFF">
                                         <Grid Style="{StaticResource droppableGrid}" dragAndDrop:DragAndDropService.Drop="OnMotorsDrop">
                                             <TextBlock HorizontalAlignment="Center" VerticalAlignment="Center" Foreground="Silver" FontSize="20">DRAG &amp; DROP MOTORS</TextBlock>
-                                            <ListBox x:Name="listMotors" ItemsSource="{Binding CurrentVersionMotorTypes}" ScrollViewer.HorizontalScrollBarVisibility="Disabled" ScrollViewer.VerticalScrollBarVisibility="Disabled">
+                                            <ListBox x:Name="listMotors" ItemContainerStyle="{StaticResource basicListBoxItem}" ItemsSource="{Binding CurrentVersionMotorTypes}" ScrollViewer.HorizontalScrollBarVisibility="Disabled" ScrollViewer.VerticalScrollBarVisibility="Disabled">
                                                 <ListBox.ItemsPanel>
                                                     <ItemsPanelTemplate>
                                                         <WrapPanel Orientation="Horizontal" />
@@ -129,7 +130,23 @@
                                                                     </ItemsControl>
                                                                 </Border>
                                                             </Grid.ToolTip>
-                                                            <Border BorderBrush="Gray" Height="25" IsHitTestVisible="False" MaxWidth="100" BorderThickness="1" Background="White" Padding="2">
+                                                            <Border Margin="4" CornerRadius="3" Height="25" IsHitTestVisible="False" MaxWidth="100" BorderThickness="1" Padding="5 2 9 2">
+                                                                <Border.Style>
+                                                                    <Style TargetType="Border">
+                                                                        <Setter Property="BorderBrush" Value="Silver"></Setter>
+                                                                        <Style.Triggers>
+                                                                            <DataTrigger Binding="{Binding RelativeSource={RelativeSource AncestorType=ListBoxItem},Path=IsSelected}" Value="True">
+                                                                                <Setter Property="BorderBrush" Value="{StaticResource AccentColorBrush}"></Setter>
+                                                                            </DataTrigger>
+                                                                        </Style.Triggers>
+                                                                    </Style>
+                                                                </Border.Style>
+                                                                <Border.Background>
+                                                                    <LinearGradientBrush>
+                                                                        <GradientStop Color="White"/>
+                                                                        <GradientStop Color="#FFD6D6D6" Offset="1"/>
+                                                                    </LinearGradientBrush>
+                                                                </Border.Background>
                                                                 <Grid>
                                                                     <StackPanel Orientation="Horizontal">
                                                                         <Image Source="../Images/engine.png" Width="16" />
@@ -143,6 +160,49 @@
                                             </ListBox>
                                         </Grid>
                                     </Border>
+
+                                    <Border BorderThickness="1 1 1 0" BorderBrush="Gray" Width="545" Height="120" Canvas.Left="130" Canvas.Top="105" Background="#ABFFFFFF" CornerRadius="20 20 0 0" Padding="5">
+                                        <Grid Style="{StaticResource droppableGrid}" dragAndDrop:DragAndDropService.Drop="OnPidControlDrop">
+                                            <TextBlock HorizontalAlignment="Center" VerticalAlignment="Center" Foreground="Silver" FontSize="20">DRAG &amp; DROP PID CONTROLS</TextBlock>
+                                            <ListBox x:Name="listPid" ItemContainerStyle="{StaticResource basicListBoxItem}" ItemsSource="{Binding CurrentVersionPidControls}" ScrollViewer.HorizontalScrollBarVisibility="Disabled" ScrollViewer.VerticalScrollBarVisibility="Disabled">
+                                                <ListBox.ItemsPanel>
+                                                    <ItemsPanelTemplate>
+                                                        <WrapPanel Orientation="Horizontal" />
+                                                    </ItemsPanelTemplate>
+                                                </ListBox.ItemsPanel>
+                                                <ListBox.ItemTemplate>
+                                                    <DataTemplate DataType="{x:Type observables:PidControl}">
+                                                        <Grid Style="{StaticResource draggableGrid}">
+                                                            <Border Margin="4" CornerRadius="3" Height="25" IsHitTestVisible="False" MaxWidth="100" BorderThickness="1" Padding="5 2 9 2">
+                                                                <Border.Style>
+                                                                    <Style TargetType="Border">
+                                                                        <Setter Property="BorderBrush" Value="Silver"></Setter>
+                                                                        <Style.Triggers>
+                                                                            <DataTrigger Binding="{Binding RelativeSource={RelativeSource AncestorType=ListBoxItem},Path=IsSelected}" Value="True">
+                                                                                <Setter Property="BorderBrush" Value="{StaticResource AccentColorBrush}"></Setter>
+                                                                            </DataTrigger>
+                                                                        </Style.Triggers>
+                                                                    </Style>
+                                                                </Border.Style>
+                                                                <Border.Background>
+                                                                    <LinearGradientBrush>
+                                                                        <GradientStop Color="White"/>
+                                                                        <GradientStop Color="#FFD6D6D6" Offset="1"/>
+                                                                    </LinearGradientBrush>
+                                                                </Border.Background>
+                                                                <Grid>
+                                                                    <StackPanel Orientation="Horizontal">
+                                                                        <Image Source="../Images/balance.png" Width="16" />
+                                                                        <TextBlock FontSize="8" Margin="5 0 0 0" TextTrimming="CharacterEllipsis" Text="{Binding Name}" VerticalAlignment="Center"></TextBlock>
+                                                                    </StackPanel>
+                                                                </Grid>
+                                                            </Border>
+                                                        </Grid>
+                                                    </DataTemplate>
+                                                </ListBox.ItemTemplate>
+                                            </ListBox>
+                                        </Grid>
+                                    </Border>
                                 </Canvas>
                             </Grid>
                         </Viewbox>
@@ -209,7 +269,11 @@
                                                 </ListBox.ItemTemplate>
                                             </ListBox>
                                         </Expander>
-                                        <Border Height="1" HorizontalAlignment="Stretch" Background="{DynamicResource MaterialDesignDivider}" SnapsToDevicePixels="True" />
+                                    </StackPanel>
+                                </materialDesign:Card>
+
+                                <materialDesign:Card Margin="5,10,5,0" Background="{DynamicResource MaterialDesignBackground}">
+                                    <StackPanel>
                                         <Expander HorizontalAlignment="Stretch" Header="Dancers">
                                             <ListBox ItemsSource="{Binding Adapter.DancerTypes}" HorizontalContentAlignment="Stretch">
                                                 <ListBox.ItemContainerStyle>
@@ -240,8 +304,38 @@
 
                                 <materialDesign:Card Margin="5,10,5,0" Background="{DynamicResource MaterialDesignBackground}">
                                     <StackPanel>
+                                        <Expander HorizontalAlignment="Stretch" Header="PID Controls">
+                                            <ListBox ItemsSource="{Binding Adapter.PidControls}" HorizontalContentAlignment="Stretch">
+                                                <ListBox.ItemContainerStyle>
+                                                    <Style TargetType="ListBoxItem" BasedOn="{StaticResource {x:Type ListBoxItem}}">
+                                                        <Setter Property="HorizontalContentAlignment" Value="Stretch"></Setter>
+                                                        <Setter Property="VerticalContentAlignment" Value="Stretch"></Setter>
+                                                        <Setter Property="Padding" Value="1"></Setter>
+                                                    </Style>
+                                                </ListBox.ItemContainerStyle>
+                                                <ListBox.ItemTemplate>
+                                                    <DataTemplate>
+                                                        <Grid Background="Transparent" IsHitTestVisible="True" dragAndDrop:DragAndDropService.DraggableBorderBrush="{StaticResource AccentColorBrush}" dragAndDrop:DragAndDropService.Draggable="True" dragAndDrop:DragAndDropService.DraggingSurface="{Binding RelativeSource={RelativeSource AncestorType=UserControl},Path=DraggingSurface}">
+                                                            <StackPanel Orientation="Horizontal" Margin="2 8">
+                                                                <Image IsHitTestVisible="False" Width="24" Height="24" Source="../Images/balance.png" Stretch="Fill" RenderOptions.BitmapScalingMode="Fant"></Image>
+                                                                <StackPanel Margin="5 0 0 0" IsHitTestVisible="False" VerticalAlignment="Center">
+                                                                    <TextBlock IsHitTestVisible="False" FontSize="10" Foreground="DimGray"><Run Text="{Binding Name}"></Run></TextBlock>
+                                                                </StackPanel>
+                                                            </StackPanel>
+
+                                                            <Rectangle Margin="0 10 0 0" VerticalAlignment="Bottom" Stroke="Gainsboro" StrokeThickness="1"></Rectangle>
+                                                        </Grid>
+                                                    </DataTemplate>
+                                                </ListBox.ItemTemplate>
+                                            </ListBox>
+                                        </Expander>
+                                    </StackPanel>
+                                </materialDesign:Card>
+
+                                <materialDesign:Card Margin="5,10,5,0" Background="{DynamicResource MaterialDesignBackground}">
+                                    <StackPanel>
                                         <Grid>
-                                            <Expander HorizontalAlignment="Stretch" Header="Selected Motor Properties">
+                                            <Expander HorizontalAlignment="Stretch" Header="Motor Properties">
                                                 <editors:ParameterizedEditor ParameterizedObject="{Binding ElementName=listMotors,Path=SelectedItem}" Padding="10">
                                                     <editors:ParameterizedEditor.ItemsPanel>
                                                         <ItemsPanelTemplate>
@@ -281,7 +375,7 @@
                                 <materialDesign:Card Margin="5,10,5,0" Background="{DynamicResource MaterialDesignBackground}">
                                     <StackPanel>
                                         <Grid>
-                                            <Expander HorizontalAlignment="Stretch" Header="Selected Dancer Properties">
+                                            <Expander HorizontalAlignment="Stretch" Header="Dancer Properties">
                                                 <editors:ParameterizedEditor ParameterizedObject="{Binding ElementName=listDancers,Path=SelectedItem}" Padding="10">
                                                     <editors:ParameterizedEditor.ItemsPanel>
                                                         <ItemsPanelTemplate>
@@ -317,11 +411,51 @@
                                         </Grid>
                                     </StackPanel>
                                 </materialDesign:Card>
+
+                                <materialDesign:Card Margin="5,10,5,0" Background="{DynamicResource MaterialDesignBackground}">
+                                    <StackPanel>
+                                        <Grid>
+                                            <Expander HorizontalAlignment="Stretch" Header="PID Control Properties">
+                                                <editors:ParameterizedEditor ParameterizedObject="{Binding ElementName=listPid,Path=SelectedItem}" Padding="10">
+                                                    <editors:ParameterizedEditor.ItemsPanel>
+                                                        <ItemsPanelTemplate>
+                                                            <StackPanel></StackPanel>
+                                                        </ItemsPanelTemplate>
+                                                    </editors:ParameterizedEditor.ItemsPanel>
+                                                    <editors:ParameterizedEditor.DoubleTemplate>
+                                                        <DataTemplate>
+                                                            <DockPanel>
+                                                                <mahApps:NumericUpDown  DockPanel.Dock="Right" Background="Transparent" BorderThickness="0 0 0 0" Value="{Binding Value,UpdateSourceTrigger=PropertyChanged}" HasDecimals="True" HorizontalContentAlignment="Center" Width="100" />
+                                                                <TextBlock Text="{Binding Name}" VerticalAlignment="Center"></TextBlock>
+                                                            </DockPanel>
+                                                        </DataTemplate>
+                                                    </editors:ParameterizedEditor.DoubleTemplate>
+                                                    <editors:ParameterizedEditor.Int32Template>
+                                                        <DataTemplate>
+                                                            <DockPanel>
+                                                                <mahApps:NumericUpDown  DockPanel.Dock="Right" Background="Transparent" BorderThickness="0 0 0 0" Value="{Binding Value,Converter={StaticResource DoubleToIntConverter},UpdateSourceTrigger=PropertyChanged}" HasDecimals="False" HorizontalContentAlignment="Center" Width="100" />
+                                                                <TextBlock Text="{Binding Name}" VerticalAlignment="Center"></TextBlock>
+                                                            </DockPanel>
+                                                        </DataTemplate>
+                                                    </editors:ParameterizedEditor.Int32Template>
+                                                    <editors:ParameterizedEditor.BooleanTemplate>
+                                                        <DataTemplate>
+                                                            <DockPanel Margin="0 5 0 0">
+                                                                <ToggleButton DockPanel.Dock="Right"  Width="100" IsChecked="{Binding Value}" HorizontalAlignment="Right" />
+                                                                <TextBlock Text="{Binding Name}" VerticalAlignment="Center"></TextBlock>
+                                                            </DockPanel>
+                                                        </DataTemplate>
+                                                    </editors:ParameterizedEditor.BooleanTemplate>
+                                                </editors:ParameterizedEditor>
+                                            </Expander>
+                                        </Grid>
+                                    </StackPanel>
+                                </materialDesign:Card>
                             </StackPanel>
                         </Grid>
                     </ScrollViewer>
 
-                    <Grid Grid.Row="1" Margin="10">
+                    <Grid Grid.Row="1" Margin="10 0 10 10">
                         <Button Height="Auto" Command="{Binding SaveCommand}" Margin="0 0 0 0">
                             <StackPanel Orientation="Horizontal">
                                 <materialDesign:PackIcon Width="20" Height="20" VerticalAlignment="Center" Kind="ContentSaveSettings"></materialDesign:PackIcon>
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.HardwareDesigner/Views/MainView.xaml.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.HardwareDesigner/Views/MainView.xaml.cs
index b06d3bd27..d18a8ac71 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.HardwareDesigner/Views/MainView.xaml.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.HardwareDesigner/Views/MainView.xaml.cs
@@ -57,6 +57,14 @@ namespace Tango.MachineStudio.HardwareDesigner.Views
             }
         }
 
+        private void OnPidControlDrop(object sender, DropEventArgs e)
+        {
+            if (e.Draggable.DataContext is PidControl)
+            {
+                _vm.OnDropPidControl(e.Draggable.DataContext as PidControl);
+            }
+        }
+
         private void OnTrashDrop(object sender, DropEventArgs e)
         {
             if (e.Draggable.DataContext is MotorType)
@@ -67,6 +75,10 @@ namespace Tango.MachineStudio.HardwareDesigner.Views
             {
                 _vm.OnRemoveDancer(e.Draggable.DataContext as DancerType);
             }
+            else if (e.Draggable.DataContext is PidControl)
+            {
+                _vm.OnRemovePidControl(e.Draggable.DataContext as PidControl);
+            }
         }
     }
 }