Added support for motor controllers.

64 files changed, 2727 insertions, 316 deletions

diff --git a/Software/DB/Tango.mdf b/Software/DB/Tango.mdf
index 5481ba429..576b52c73 100644
--- a/Software/DB/Tango.mdf
+++ b/Software/DB/Tango.mdf
diff --git a/Software/DB/Tango_log.ldf b/Software/DB/Tango_log.ldf
index 9249879a7..ebd2921bf 100644
--- a/Software/DB/Tango_log.ldf
+++ b/Software/DB/Tango_log.ldf
diff --git a/Software/Graphics/circuitjpg.jpg b/Software/Graphics/circuitjpg.jpg
new file mode 100644
index 000000000..589559bd4
--- /dev/null
+++ b/Software/Graphics/circuitjpg.jpg
diff --git a/Software/Graphics/embedded-device.png b/Software/Graphics/embedded-device.png
new file mode 100644
index 000000000..2b3be3dfd
--- /dev/null
+++ b/Software/Graphics/embedded-device.png
diff --git a/Software/Graphics/engine.png b/Software/Graphics/engine.png
new file mode 100644
index 000000000..731ddc4f6
--- /dev/null
+++ b/Software/Graphics/engine.png
diff --git a/Software/Graphics/prop.png b/Software/Graphics/prop.png
new file mode 100644
index 000000000..268c1e557
--- /dev/null
+++ b/Software/Graphics/prop.png
diff --git a/Software/PMR/Messages/Common/MessageType.proto b/Software/PMR/Messages/Common/MessageType.proto
index 20b83d9ed..24a398e01 100644
--- a/Software/PMR/Messages/Common/MessageType.proto
+++ b/Software/PMR/Messages/Common/MessageType.proto
@@ -60,9 +60,14 @@ enum MessageType
 	//Diagnostics
 	PushDiagnosticsRequest = 2000;
 	PushDiagnosticsResponse = 2001;
-	ReportRequest = 2002;
-	ReportResponse = 2003;
-	StatusResponse = 2004;
+	MotorAbortHomingRequest = 2002;
+	MotorAbortHomingResponse = 2003;
+	MotorHomingRequest = 2004;
+	MotorHomingResponse = 2005;
+	MotorJoggingRequest = 2006;
+	MotorJoggingResponse = 2007;
+	MotorAbortJoggingRequest = 2008;
+	MotorAbortJoggingResponse = 2009;
 
 
 	//Printing
diff --git a/Software/PMR/Messages/Diagnostics/MotorAbortHomingRequest.proto b/Software/PMR/Messages/Diagnostics/MotorAbortHomingRequest.proto
new file mode 100644
index 000000000..a06dde1ef
--- /dev/null
+++ b/Software/PMR/Messages/Diagnostics/MotorAbortHomingRequest.proto
@@ -0,0 +1,9 @@
+syntax = "proto3";
+
+package Tango.PMR.Diagnostics;
+option java_package = "com.twine.tango.pmr.diagnostics";
+
+message MotorAbortHomingRequest
+{
+	int32 Code = 1;
+}
\ No newline at end of file
diff --git a/Software/PMR/Messages/Diagnostics/MotorAbortHomingResponse.proto b/Software/PMR/Messages/Diagnostics/MotorAbortHomingResponse.proto
new file mode 100644
index 000000000..acc226051
--- /dev/null
+++ b/Software/PMR/Messages/Diagnostics/MotorAbortHomingResponse.proto
@@ -0,0 +1,9 @@
+syntax = "proto3";
+
+package Tango.PMR.Diagnostics;
+option java_package = "com.twine.tango.pmr.diagnostics";
+
+message MotorAbortHomingResponse
+{
+
+}
\ No newline at end of file
diff --git a/Software/PMR/Messages/Diagnostics/MotorAbortJoggingRequest.proto b/Software/PMR/Messages/Diagnostics/MotorAbortJoggingRequest.proto
new file mode 100644
index 000000000..d568ea1ca
--- /dev/null
+++ b/Software/PMR/Messages/Diagnostics/MotorAbortJoggingRequest.proto
@@ -0,0 +1,9 @@
+syntax = "proto3";
+
+package Tango.PMR.Diagnostics;
+option java_package = "com.twine.tango.pmr.diagnostics";
+
+message MotorAbortJoggingRequest
+{
+	int32 Code = 2;
+}
\ No newline at end of file
diff --git a/Software/PMR/Messages/Diagnostics/MotorAbortJoggingResponse.proto b/Software/PMR/Messages/Diagnostics/MotorAbortJoggingResponse.proto
new file mode 100644
index 000000000..2e995fc3a
--- /dev/null
+++ b/Software/PMR/Messages/Diagnostics/MotorAbortJoggingResponse.proto
@@ -0,0 +1,9 @@
+syntax = "proto3";
+
+package Tango.PMR.Diagnostics;
+option java_package = "com.twine.tango.pmr.diagnostics";
+
+message MotorAbortJoggingResponse
+{
+	int32 Code = 2;
+}
\ No newline at end of file
diff --git a/Software/PMR/Messages/Diagnostics/MotorDirection.proto b/Software/PMR/Messages/Diagnostics/MotorDirection.proto
new file mode 100644
index 000000000..ed577fc38
--- /dev/null
+++ b/Software/PMR/Messages/Diagnostics/MotorDirection.proto
@@ -0,0 +1,10 @@
+syntax = "proto3";
+
+package Tango.PMR.Diagnostics;
+option java_package = "com.twine.tango.pmr.diagnostics";
+
+enum MotorDirection
+{
+	Forward = 0;
+	Backward = 1;
+}
\ No newline at end of file
diff --git a/Software/PMR/Messages/Diagnostics/MotorHomingRequest.proto b/Software/PMR/Messages/Diagnostics/MotorHomingRequest.proto
new file mode 100644
index 000000000..b5a1fcb9e
--- /dev/null
+++ b/Software/PMR/Messages/Diagnostics/MotorHomingRequest.proto
@@ -0,0 +1,10 @@
+syntax = "proto3";
+
+package Tango.PMR.Diagnostics;
+option java_package = "com.twine.tango.pmr.diagnostics";
+
+message MotorHomingRequest
+{
+	int32 Code = 1;
+	double Speed = 2;
+}
\ No newline at end of file
diff --git a/Software/PMR/Messages/Diagnostics/MotorHomingResponse.proto b/Software/PMR/Messages/Diagnostics/MotorHomingResponse.proto
new file mode 100644
index 000000000..f79b85955
--- /dev/null
+++ b/Software/PMR/Messages/Diagnostics/MotorHomingResponse.proto
@@ -0,0 +1,10 @@
+syntax = "proto3";
+
+package Tango.PMR.Diagnostics;
+option java_package = "com.twine.tango.pmr.diagnostics";
+
+message MotorHomingResponse
+{
+	int32 Progress = 1;
+	int32 MaxProgress = 2;
+}
\ No newline at end of file
diff --git a/Software/PMR/Messages/Diagnostics/MotorJoggingRequest.proto b/Software/PMR/Messages/Diagnostics/MotorJoggingRequest.proto
new file mode 100644
index 000000000..9a2e0a6c5
--- /dev/null
+++ b/Software/PMR/Messages/Diagnostics/MotorJoggingRequest.proto
@@ -0,0 +1,13 @@
+syntax = "proto3";
+
+import "MotorDirection.proto";
+
+package Tango.PMR.Diagnostics;
+option java_package = "com.twine.tango.pmr.diagnostics";
+
+message MotorJoggingRequest
+{
+	MotorDirection Direction = 1;
+	int32 Code = 2;
+	double Speed = 3;
+}
\ No newline at end of file
diff --git a/Software/PMR/Messages/Diagnostics/MotorJoggingResponse.proto b/Software/PMR/Messages/Diagnostics/MotorJoggingResponse.proto
new file mode 100644
index 000000000..f7c855159
--- /dev/null
+++ b/Software/PMR/Messages/Diagnostics/MotorJoggingResponse.proto
@@ -0,0 +1,9 @@
+syntax = "proto3";
+
+package Tango.PMR.Diagnostics;
+option java_package = "com.twine.tango.pmr.diagnostics";
+
+message MotorJoggingResponse
+{
+
+}
\ No newline at end of file
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();
+        }
     }
 }
diff --git a/Software/Visual_Studio/Tango.Editors/ElementEditor.cs b/Software/Visual_Studio/Tango.Editors/ElementEditor.cs
index c839639b9..99520ba5b 100644
--- a/Software/Visual_Studio/Tango.Editors/ElementEditor.cs
+++ b/Software/Visual_Studio/Tango.Editors/ElementEditor.cs
@@ -464,15 +464,15 @@ namespace Tango.Editors
         /// <param name="e">The <see cref="DragDeltaEventArgs"/> instance containing the event data.</param>
         protected virtual void DragTopLeft(object sender, DragDeltaEventArgs e)
         {
-            if (!IsCtrlDown())
-            {
+            //if (!IsCtrlDown())
+            //{
                 DragLeft(sender, e);
                 DragTop(sender, e);
-            }
-            else
-            {
-                DragAngle(sender, e);
-            }
+            //}
+            //else
+            //{
+            //    DragAngle(sender, e);
+            //}
         }
 
         /// <summary>
@@ -482,15 +482,15 @@ namespace Tango.Editors
         /// <param name="e">The <see cref="DragDeltaEventArgs"/> instance containing the event data.</param>
         protected virtual void DragTopRight(object sender, DragDeltaEventArgs e)
         {
-            if (!IsCtrlDown())
-            {
+            //if (!IsCtrlDown())
+            //{
                 DragRight(sender, e);
                 DragTop(sender, e);
-            }
-            else
-            {
-                DragAngle(sender, e);
-            }
+            //}
+            //else
+            //{
+            //    DragAngle(sender, e);
+            //}
         }
 
         /// <summary>
@@ -500,15 +500,15 @@ namespace Tango.Editors
         /// <param name="e">The <see cref="DragDeltaEventArgs"/> instance containing the event data.</param>
         protected virtual void DragBottomRight(object sender, DragDeltaEventArgs e)
         {
-            if (!IsCtrlDown())
-            {
+            //if (!IsCtrlDown())
+            //{
                 DragRight(sender, e);
                 DragBottom(sender, e);
-            }
-            else
-            {
-                DragAngle(sender, e);
-            }
+            //}
+            //else
+            //{
+            //    DragAngle(sender, e);
+            //}
         }
 
         /// <summary>
@@ -518,15 +518,15 @@ namespace Tango.Editors
         /// <param name="e">The <see cref="DragDeltaEventArgs"/> instance containing the event data.</param>
         protected virtual void DragBottomLeft(object sender, DragDeltaEventArgs e)
         {
-            if (!IsCtrlDown())
-            {
+            //if (!IsCtrlDown())
+            //{
                 DragLeft(sender, e);
                 DragBottom(sender, e);
-            }
-            else
-            {
-                DragAngle(sender, e);
-            }
+            //}
+            //else
+            //{
+            //    DragAngle(sender, e);
+            //}
         }
 
         /// <summary>
diff --git a/Software/Visual_Studio/Tango.Editors/ElementsEditor.xaml.cs b/Software/Visual_Studio/Tango.Editors/ElementsEditor.xaml.cs
index c6d4c00a3..cf602cac7 100644
--- a/Software/Visual_Studio/Tango.Editors/ElementsEditor.xaml.cs
+++ b/Software/Visual_Studio/Tango.Editors/ElementsEditor.xaml.cs
@@ -297,7 +297,18 @@ namespace Tango.Editors
         public static readonly DependencyProperty PreviewVisualSourceOpacityProperty =
             DependencyProperty.Register("PreviewVisualSourceOpacity", typeof(double), typeof(ElementsEditor), new PropertyMetadata(1.0));
 
-        
+        /// <summary>
+        /// Gets or sets a value indicating whether this instance is editable.
+        /// </summary>
+        public bool IsEditable
+        {
+            get { return (bool)GetValue(IsEditableProperty); }
+            set { SetValue(IsEditableProperty, value); }
+        }
+        public static readonly DependencyProperty IsEditableProperty =
+            DependencyProperty.Register("IsEditable", typeof(bool), typeof(ElementsEditor), new PropertyMetadata(true));
+
+
         #endregion
 
         #region Attached Properties
@@ -730,7 +741,7 @@ namespace Tango.Editors
         /// <param name="e">The <see cref="MouseButtonEventArgs"/> instance containing the event data.</param>
         private void Element_PreviewMouseDown(object sender, MouseButtonEventArgs e)
         {
-            if (e.ChangedButton == MouseButton.Left && !Keyboard.IsKeyDown(Key.LeftShift) && !Keyboard.IsKeyDown(Key.LeftAlt))
+            if (e.ChangedButton == MouseButton.Left && !Keyboard.IsKeyDown(Key.LeftShift) && IsEditable)
             {
                 SelectedElement = sender as IElementEditor;
             }
diff --git a/Software/Visual_Studio/Tango.Emulations/Emulators/MachineEmulator.cs b/Software/Visual_Studio/Tango.Emulations/Emulators/MachineEmulator.cs
index 87fddc183..cbda54d56 100644
--- a/Software/Visual_Studio/Tango.Emulations/Emulators/MachineEmulator.cs
+++ b/Software/Visual_Studio/Tango.Emulations/Emulators/MachineEmulator.cs
@@ -29,6 +29,9 @@ namespace Tango.Emulations.Emulators
     {
         private PushDiagnosticsRequest _diagnosticsRequest;
         private bool _cancelJob;
+        private List<int> _motorJoggingRequestCodes;
+        private double _graphAmplitude;
+        private double _graphFrequency;
 
         #region Constructors
 
@@ -37,7 +40,7 @@ namespace Tango.Emulations.Emulators
         /// </summary>
         public MachineEmulator() : base()
         {
-
+            Init();
         }
 
         /// <summary>
@@ -46,7 +49,20 @@ namespace Tango.Emulations.Emulators
         /// <param name="transporter">The transporter.</param>
         public MachineEmulator(ITransporter transporter) : base(transporter)
         {
+            LogManager.Log("Machine emulator initialized using transporter " + transporter.ToString());
+            Init();
+        }
+
+        private void Init()
+        {
+            _motorJoggingRequestCodes = new List<int>();
+            ResetGraphFactors();
+        }
 
+        private void ResetGraphFactors()
+        {
+            _graphAmplitude = 75;
+            _graphFrequency = 1;
         }
 
         #endregion
@@ -63,147 +79,202 @@ namespace Tango.Emulations.Emulators
             switch (container.Type)
             {
                 case MessageType.CalculateRequest:
-                    Task.Factory.StartNew(() =>
-                    {
-                        var request = MessageFactory.ExtractMessageFromContainer<CalculateRequest>(container);
-                        var response = MessageFactory.CreateTangoMessage<CalculateResponse>(container.Token);
-                        response.Message.Sum = request.A + request.B;
-                        Transporter.SendResponse(response);
-                    });
+                    HandleCalculateRequest(MessageFactory.ParseTangoMessageFromContainer<CalculateRequest>(container));
                     break;
                 case MessageType.ProgressRequest:
+                    HandleProgressRequest(MessageFactory.ParseTangoMessageFromContainer<ProgressRequest>(container));
+                    break;
+                case MessageType.PushDiagnosticsRequest:
+                    HandlePushDiagnosticsRequest(MessageFactory.ParseTangoMessageFromContainer<PushDiagnosticsRequest>(container));
+                    break;
+                case MessageType.JobRequest:
+                    HandleJobRequest(MessageFactory.ParseTangoMessageFromContainer<JobRequest>(container));
+                    break;
+                case MessageType.AbortJobRequest:
+                    HandleAbortJobRequest(MessageFactory.ParseTangoMessageFromContainer<AbortJobRequest>(container));
+                    break;
+                case MessageType.MotorJoggingRequest:
+                    HandleMotorJoggingRequest(MessageFactory.ParseTangoMessageFromContainer<MotorJoggingRequest>(container));
+                    break;
+                case MessageType.MotorAbortJoggingRequest:
+                    HandleAbortMotorJoggingRequest(MessageFactory.ParseTangoMessageFromContainer<MotorAbortJoggingRequest>(container));
+                    break;
+            }
+        }
+
+        #endregion
 
-                    var r = MessageFactory.ExtractMessageFromContainer<ProgressRequest>(container);
+        #region Request Handlers
 
-                    Task.Factory.StartNew(() =>
-                    {
-                        for (int i = 0; i < r.Amount; i++)
-                        {
-                            Thread.Sleep(r.Delay * 10);
-                            var res = MessageFactory.CreateTangoMessage<ProgressResponse>(container.Token);
-                            res.Message.Progress = i;
+        private void HandleCalculateRequest(TangoMessage<CalculateRequest> request)
+        {
+            Task.Factory.StartNew(() =>
+            {
+                var response = MessageFactory.CreateTangoMessage<CalculateResponse>(request.Container.Token);
+                response.Message.Sum = request.Message.A + request.Message.B;
+                Transporter.SendResponse(response);
+            });
+        }
 
-                            if (i == r.Amount - 1) res.Container.Completed = true;
+        private void HandleProgressRequest(TangoMessage<ProgressRequest> request)
+        {
+            Task.Factory.StartNew(() =>
+            {
+                for (int i = 0; i < request.Message.Amount; i++)
+                {
+                    Thread.Sleep(request.Message.Delay * 10);
+                    var res = MessageFactory.CreateTangoMessage<ProgressResponse>(request.Container.Token);
+                    res.Message.Progress = i;
 
-                            Transporter.SendResponse(res);
-                        }
-                    });
-                    break;
-                case MessageType.DirectSynchronizationRequest:
+                    if (i == request.Message.Amount - 1) res.Container.Completed = true;
 
-                    Task.Factory.StartNew(() =>
-                    {
-                        var request = MessageFactory.ExtractMessageFromContainer<DirectSynchronizationRequest>(container);
-                        var response = MessageFactory.CreateTangoMessage<DirectSynchronizationResponse>(container.Token);
-                        response.Message.LocalDB = ByteString.CopyFrom(new byte[1024 * 1024 * 10]);
-                        Transporter.SendResponse(response);
-                    });
-                    break;
-                case MessageType.PushDiagnosticsRequest:
+                    Transporter.SendResponse(res);
+                }
+            });
+        }
 
-                    _diagnosticsRequest = MessageFactory.ExtractMessageFromContainer<PushDiagnosticsRequest>(container);
+        private void HandlePushDiagnosticsRequest(TangoMessage<PushDiagnosticsRequest> request)
+        {
+            _diagnosticsRequest = request.Message;
 
-                    int value = 0;
-                    Random rnd = new Random();
+            int value = 0;
+            Random rnd = new Random();
 
-                    Task.Factory.StartNew(() =>
+            Task.Factory.StartNew(() =>
+            {
+                while (Transporter.State == TransportComponentState.Connected)
+                {
+                    PushDiagnosticsResponse res = new PushDiagnosticsResponse();
+
+                    if (_diagnosticsRequest.PushSensors)
                     {
-                        while (Transporter.State == TransportComponentState.Connected)
+                        for (int i = 0; i < 10; i++)
                         {
-                            PushDiagnosticsResponse res = new PushDiagnosticsResponse();
+                            value++;
+                            res.Dancer1Angle.Add((int)(150 + _graphAmplitude * Math.Sin(2 * 3.14 * ((int)_graphFrequency) * value)));
+                        }
 
-                            if (_diagnosticsRequest.PushSensors)
-                            {
-                                for (int i = 0; i < 10; i++)
-                                {
-                                    value++;
-                                    res.Dancer1Angle.Add((int)(150 + 75 * Math.Sin(2 * 3.14 * 10 * value)));
-                                }
+                        res.Dancer2Angle.Add(Cursor.Position.Y);
+                        res.Dancer3Angle.Add(Cursor.Position.Y);
+                    }
 
-                                res.Dancer2Angle.Add(Cursor.Position.Y);
-                                res.Dancer3Angle.Add(Cursor.Position.Y);
-                            }
+                    if (_diagnosticsRequest.PushMotors)
+                    {
+                        var dispenserFrequencies = new RepeatedField<DoubleArray>();
+
+                        double cPosition = Cursor.Position.Y;
+
+                        for (int i = 0; i < 8; i++)
+                        {
+                            DoubleArray singleDispenser = new DoubleArray();
 
-                            if (_diagnosticsRequest.PushMotors)
+                            for (int j = 0; j < 10; j++)
                             {
-                                var dispenserFrequencies = new RepeatedField<DoubleArray>();
+                                singleDispenser.Data.Add(cPosition + (i * 50));
+                            }
 
-                                double cPosition = Cursor.Position.Y;
+                            dispenserFrequencies.Add(singleDispenser);
+                        }
 
-                                for (int i = 0; i < 8; i++)
-                                {
-                                    DoubleArray singleDispenser = new DoubleArray();
+                        res.DispensersMotorsFrequency.AddRange(dispenserFrequencies);
 
-                                    for (int j = 0; j < 10; j++)
-                                    {
-                                        singleDispenser.Data.Add(cPosition + (i * 50));
-                                    }
+                        res.Dispenser1MotorFrequency.AddRange(dispenserFrequencies[0].Data);
+                        res.Dispenser2MotorFrequency.AddRange(dispenserFrequencies[1].Data);
+                        res.Dispenser3MotorFrequency.AddRange(dispenserFrequencies[2].Data);
+                        res.Dispenser4MotorFrequency.AddRange(dispenserFrequencies[3].Data);
+                        res.Dispenser5MotorFrequency.AddRange(dispenserFrequencies[4].Data);
+                        res.Dispenser6MotorFrequency.AddRange(dispenserFrequencies[5].Data);
+                        res.Dispenser7MotorFrequency.AddRange(dispenserFrequencies[6].Data);
+                        res.Dispenser8MotorFrequency.AddRange(dispenserFrequencies[7].Data);
+                    }
 
-                                    dispenserFrequencies.Add(singleDispenser);
-                                }
+                    Transporter.SendResponse<PushDiagnosticsResponse>(res, request.Container.Token);
+                    Thread.Sleep(10);
+                }
+            });
 
-                                res.DispensersMotorsFrequency.AddRange(dispenserFrequencies);
+        }
 
-                                res.Dispenser1MotorFrequency.AddRange(dispenserFrequencies[0].Data);
-                                res.Dispenser2MotorFrequency.AddRange(dispenserFrequencies[1].Data);
-                                res.Dispenser3MotorFrequency.AddRange(dispenserFrequencies[2].Data);
-                                res.Dispenser4MotorFrequency.AddRange(dispenserFrequencies[3].Data);
-                                res.Dispenser5MotorFrequency.AddRange(dispenserFrequencies[4].Data);
-                                res.Dispenser6MotorFrequency.AddRange(dispenserFrequencies[5].Data);
-                                res.Dispenser7MotorFrequency.AddRange(dispenserFrequencies[6].Data);
-                                res.Dispenser8MotorFrequency.AddRange(dispenserFrequencies[7].Data);
-                            }
+        private void HandleJobRequest(TangoMessage<JobRequest> request)
+        {
+            JobTicket job = request.Message.JobTicket;
 
-                            Transporter.SendResponse<PushDiagnosticsResponse>(res, container.Token);
-                            Thread.Sleep(10);
+            LogManager.Log("Job request received: " + Environment.NewLine + job.ToString());
+
+            double progress = 0;
+            _cancelJob = false;
+
+            Task.Factory.StartNew(() =>
+            {
+                while (progress < job.Length && !_cancelJob)
+                {
+                    Transporter.SendResponse<JobResponse>(new JobResponse()
+                    {
+                        Status = new JobStatus()
+                        {
+                            Progress = progress
                         }
-                    });
 
-                    break;
-                case MessageType.JobRequest:
+                    }, request.Container.Token);
 
-                    var JobRequest = MessageFactory.ExtractMessageFromContainer<JobRequest>(container);
-                    JobTicket job = JobRequest.JobTicket;
+                    progress += 0.03;
 
-                    double progress = 0;
-                    _cancelJob = false;
+                    Thread.Sleep(30);
+                }
 
-                    Task.Factory.StartNew(() =>
+                Transporter.SendResponse<JobResponse>(new JobResponse()
+                {
+                    Status = new JobStatus()
                     {
-                        while (progress < job.Length && !_cancelJob)
-                        {
-                            Transporter.SendResponse<JobResponse>(new JobResponse()
-                            {
-                                Status = new JobStatus()
-                                {
-                                    Progress = progress
-                                }
+                        Progress = job.Length,
+                    }
 
-                            }, container.Token);
+                }, request.Container.Token, !_cancelJob);
+            });
+        }
 
-                            progress += 0.03;
+        private void HandleAbortJobRequest(TangoMessage<AbortJobRequest> request)
+        {
+            LogManager.Log("Abort job request received.");
+            _cancelJob = true;
+            Transporter.SendResponse<AbortJobResponse>(new AbortJobResponse(), request.Container.Token);
+        }
 
-                            Thread.Sleep(30);
-                        }
+        private void HandleMotorJoggingRequest(TangoMessage<MotorJoggingRequest> request)
+        {
+            var jogRequest = request.Message;
 
-                        Transporter.SendResponse<JobResponse>(new JobResponse()
-                        {
-                            Status = new JobStatus()
-                            {
-                                Progress = job.Length,
-                            }
+            _motorJoggingRequestCodes.Add(jogRequest.Code);
 
-                        }, container.Token, !_cancelJob);
-                    });
+            LogManager.Log("Motor jogging request received: " + Environment.NewLine + jogRequest.ToString());
 
-                    break;
-                case MessageType.AbortJobRequest:
+            Task.Factory.StartNew(() => 
+            {
+                while (_motorJoggingRequestCodes.Contains(jogRequest.Code))
+                {
 
-                    _cancelJob = true;
-                    Transporter.SendResponse<AbortJobResponse>(new AbortJobResponse(), container.Token);
+                    if (jogRequest.Direction == MotorDirection.Forward)
+                    {
+                        _graphFrequency += 0.1;
+                    }
+                    else
+                    {
+                        _graphFrequency -= 0.1;
+                    }
 
-                    break;
-            }
+                    Thread.Sleep(30);
+                }
+            });
+
+            Transporter.SendResponse<MotorJoggingResponse>(new MotorJoggingResponse(), request.Container.Token);
+        }
+
+        private void HandleAbortMotorJoggingRequest(TangoMessage<MotorAbortJoggingRequest> request)
+        {
+            LogManager.Log("Abort motor jogging request received: " + Environment.NewLine + request.Message.ToString());
+            _motorJoggingRequestCodes.Remove(request.Message.Code);
+            ResetGraphFactors();
+            Transporter.SendResponse<MotorAbortJoggingResponse>(new MotorAbortJoggingResponse(), request.Container.Token);
         }
 
         #endregion
diff --git a/Software/Visual_Studio/Tango.Integration/Operators/IMachineOperator.cs b/Software/Visual_Studio/Tango.Integration/Operators/IMachineOperator.cs
index bba5ff094..6b64575de 100644
--- a/Software/Visual_Studio/Tango.Integration/Operators/IMachineOperator.cs
+++ b/Software/Visual_Studio/Tango.Integration/Operators/IMachineOperator.cs
@@ -9,6 +9,7 @@ using Tango.PMR.Printing;
 using Tango.Transport;
 using System.Reactive;
 using Tango.Integration.Printing;
+using Tango.PMR;
 
 namespace Tango.Integration.Operators
 {
@@ -35,5 +36,19 @@ namespace Tango.Integration.Operators
         /// <param name="processParameters">Process parameters table</param>
         /// <returns></returns>
         JobHandler Print(Job job, ProcessParametersTable processParameters);
+
+        /// <summary>
+        /// Starts jogging the specified motor.
+        /// </summary>
+        /// <param name="request">The request.</param>
+        /// <returns></returns>
+        Task<TangoMessage<MotorJoggingResponse>> StartMotorJogging(MotorJoggingRequest request);
+
+        /// <summary>
+        /// Stops jogging the specified motor.
+        /// </summary>
+        /// <param name="request">The request.</param>
+        /// <returns></returns>
+        Task<TangoMessage<MotorAbortJoggingResponse>> StopMotorJogging(MotorAbortJoggingRequest request);
     }
 }
diff --git a/Software/Visual_Studio/Tango.Integration/Operators/MachineOperator.cs b/Software/Visual_Studio/Tango.Integration/Operators/MachineOperator.cs
index cc42b64ed..56b7ec971 100644
--- a/Software/Visual_Studio/Tango.Integration/Operators/MachineOperator.cs
+++ b/Software/Visual_Studio/Tango.Integration/Operators/MachineOperator.cs
@@ -184,6 +184,26 @@ namespace Tango.Integration.Operators
             return handler;
         }
 
+        /// <summary>
+        /// Starts jogging the specified motor.
+        /// </summary>
+        /// <param name="request">The request.</param>
+        /// <returns></returns>
+        public Task<TangoMessage<MotorJoggingResponse>> StartMotorJogging(MotorJoggingRequest request)
+        {
+            return SendRequest<MotorJoggingRequest, MotorJoggingResponse>(request);
+        }
+
+        /// <summary>
+        /// Stops jogging the specified motor.
+        /// </summary>
+        /// <param name="request">The request.</param>
+        /// <returns></returns>
+        public Task<TangoMessage<MotorAbortJoggingResponse>> StopMotorJogging(MotorAbortJoggingRequest request)
+        {
+            return SendRequest<MotorAbortJoggingRequest, MotorAbortJoggingResponse>(request);
+        }
+
         #endregion
     }
 }
diff --git a/Software/Visual_Studio/Tango.Logging/ConsoleLogger.cs b/Software/Visual_Studio/Tango.Logging/ConsoleLogger.cs
index 4eb77be5a..d073f81ed 100644
--- a/Software/Visual_Studio/Tango.Logging/ConsoleLogger.cs
+++ b/Software/Visual_Studio/Tango.Logging/ConsoleLogger.cs
@@ -38,23 +38,10 @@ namespace Tango.Logging
         }
 
         /// <summary>
-        /// Called when a new library exception is available.
-        /// </summary>
-        /// <param name="output">The output.</param>
-        public void OnError(LogItemBase output)
-        {
-            EnsureConsoleOpen(() =>
-            {
-                console.SetColor(ConsoleColor.Red);
-                console.WriteLine(output.ToString());
-            });
-        }
-
-        /// <summary>
         /// Called when a new library trace is available.
         /// </summary>
         /// <param name="output">The output.</param>
-        public void OnTrace(LogItemBase output)
+        public void OnLog(LogItemBase output)
         {
             EnsureConsoleOpen(() =>
             {
diff --git a/Software/Visual_Studio/Tango.Logging/FileLogger.cs b/Software/Visual_Studio/Tango.Logging/FileLogger.cs
index ca17aa367..75c6e529e 100644
--- a/Software/Visual_Studio/Tango.Logging/FileLogger.cs
+++ b/Software/Visual_Studio/Tango.Logging/FileLogger.cs
@@ -45,16 +45,7 @@ namespace Tango.Logging
         /// Called when a new library trace is available.
         /// </summary>
         /// <param name="output">The output.</param>
-        public void OnTrace(LogItemBase output)
-        {
-            OnError(output);
-        }
-
-        /// <summary>
-        /// Called when a new library exception is available.
-        /// </summary>
-        /// <param name="output">The output.</param>
-        public void OnError(LogItemBase output)
+        public void OnLog(LogItemBase output)
         {
             File.AppendAllText(LogFile, output.ToString() + Environment.NewLine);
         }
diff --git a/Software/Visual_Studio/Tango.Logging/ILogger.cs b/Software/Visual_Studio/Tango.Logging/ILogger.cs
index 61108962a..de3c3584b 100644
--- a/Software/Visual_Studio/Tango.Logging/ILogger.cs
+++ b/Software/Visual_Studio/Tango.Logging/ILogger.cs
@@ -12,16 +12,10 @@ namespace Tango.Logging
     public interface ILogger
     {
         /// <summary>
-        /// Called when a new library trace is available.
+        /// Called when a new log is available.
         /// </summary>
-        /// <param name="output">The output.</param>
-        void OnTrace(LogItemBase output);
-
-        /// <summary>
-        /// Called when a new library exception is available.
-        /// </summary>
-        /// <param name="output">The output.</param>
-        void OnError(LogItemBase output);
+        /// <param name="log">The log.</param>
+        void OnLog(LogItemBase log);
 
         /// <summary>
         /// Gets or sets a value indicating whether this <see cref="ILogger"/> is enabled.
diff --git a/Software/Visual_Studio/Tango.Logging/LogManager.cs b/Software/Visual_Studio/Tango.Logging/LogManager.cs
index d6750ce0b..43f40fcbe 100644
--- a/Software/Visual_Studio/Tango.Logging/LogManager.cs
+++ b/Software/Visual_Studio/Tango.Logging/LogManager.cs
@@ -156,14 +156,7 @@ namespace Tango.Logging
         {
             if (log != null)
             {
-                if (log.GetType() == typeof(ExceptionLogItem))
-                {
-                    _loggers.Where(x => x.Enabled && x.Immediate).ToList().ForEach(x => x.OnError(log));
-                }
-                else
-                {
-                    _loggers.Where(x => x.Enabled && x.Immediate).ToList().ForEach(x => x.OnTrace(log));
-                }
+                _loggers.Where(x => x.Enabled && x.Immediate).ToList().ForEach(x => x.OnLog(log));
             }
 
             _logs.Enqueue(log);
@@ -187,8 +180,8 @@ namespace Tango.Logging
         /// <summary>
         /// Loggings thread method.
         /// </summary>
-        [DebuggerStepThrough]
-        [DebuggerHidden]
+        //[DebuggerStepThrough]
+        //[DebuggerHidden]
         private static void LoggingThreadMethod()
         {
             while (_logs.Count > 0)
@@ -199,14 +192,7 @@ namespace Tango.Logging
                 {
                     if (log != null)
                     {
-                        if (log.GetType() == typeof(ExceptionLogItem))
-                        {
-                            _loggers.Where(x => x.Enabled && !x.Immediate).ToList().ForEach(x => x.OnError(log));
-                        }
-                        else
-                        {
-                            _loggers.Where(x => x.Enabled && !x.Immediate).ToList().ForEach(x => x.OnTrace(log));
-                        }
+                        _loggers.Where(x => x.Enabled && !x.Immediate).ToList().ForEach(x => x.OnLog(log));
                     }
                 }
 
@@ -238,14 +224,7 @@ namespace Tango.Logging
             {
                 try
                 {
-                    if (log.GetType() == typeof(ExceptionLogItem))
-                    {
-                        _loggers.Where(x => x.Enabled).ToList().ForEach(x => x.OnError(log));
-                    }
-                    else
-                    {
-                        _loggers.Where(x => x.Enabled).ToList().ForEach(x => x.OnTrace(log));
-                    }
+                    _loggers.Where(x => x.Enabled).ToList().ForEach(x => x.OnLog(log));
 
                     wroteLog = true;
                 }
diff --git a/Software/Visual_Studio/Tango.Logging/SimpleStringLogger.cs b/Software/Visual_Studio/Tango.Logging/SimpleStringLogger.cs
new file mode 100644
index 000000000..57aea174f
--- /dev/null
+++ b/Software/Visual_Studio/Tango.Logging/SimpleStringLogger.cs
@@ -0,0 +1,46 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Tango.Logging
+{
+    public class SimpleStringLogger : ILogger
+    {
+        private bool _enabled;
+        private bool _immidiate;
+
+        public bool Enabled { get => _enabled; set => _enabled = value; }
+        public bool Immediate { get => _immidiate; set => _immidiate = value; }
+
+        public List<LogCategory> Categories { get; set; }
+
+        public event EventHandler<LogItemBase> LogReceived;
+
+        public SimpleStringLogger()
+        {
+            Categories = new List<LogCategory>();
+            Categories.Add(LogCategory.Critical);
+            Categories.Add(LogCategory.Debug);
+            Categories.Add(LogCategory.Error);
+            Categories.Add(LogCategory.General);
+            Categories.Add(LogCategory.Warning);
+            Enabled = true;
+        }
+
+        public SimpleStringLogger(params LogCategory[] categories)
+        {
+            Categories = categories.ToList();
+            Enabled = true;
+        }
+
+        public void OnLog(LogItemBase log)
+        {
+            if (Categories.Contains(log.Category))
+            {
+                LogReceived?.Invoke(this, log);
+            }
+        }
+    }
+}
diff --git a/Software/Visual_Studio/Tango.Logging/Tango.Logging.csproj b/Software/Visual_Studio/Tango.Logging/Tango.Logging.csproj
index 1e70e4cb1..04a651de8 100644
--- a/Software/Visual_Studio/Tango.Logging/Tango.Logging.csproj
+++ b/Software/Visual_Studio/Tango.Logging/Tango.Logging.csproj
@@ -64,6 +64,7 @@
     <Compile Include="LogManager.cs" />
     <Compile Include="MessageLogItem.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
+    <Compile Include="SimpleStringLogger.cs" />
     <Compile Include="VSOutputLogger.cs" />
   </ItemGroup>
   <ItemGroup>
diff --git a/Software/Visual_Studio/Tango.Logging/VSOutputLogger.cs b/Software/Visual_Studio/Tango.Logging/VSOutputLogger.cs
index 80de5292f..3804bdaa3 100644
--- a/Software/Visual_Studio/Tango.Logging/VSOutputLogger.cs
+++ b/Software/Visual_Studio/Tango.Logging/VSOutputLogger.cs
@@ -25,21 +25,11 @@ namespace Tango.Logging
         /// Called when a new library trace is available.
         /// </summary>
         /// <param name="output">The output.</param>
-        public void OnTrace(LogItemBase output)
+        public void OnLog(LogItemBase output)
         {
             Debug.WriteLine(output.ToString());
         }
 
-        /// <summary>
-        /// Called when a new library exception is available.
-        /// </summary>
-        /// <param name="output">The output.</param>
-        public void OnError(LogItemBase output)
-        {
-            Debug.WriteLine(output.ToString());
-        }
-
-
         private bool _isEnabled;
         /// <summary>
         /// Gets or sets a value indicating whether this <see cref="ILogger" /> is enabled.
diff --git a/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs b/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs
index ac58c616b..ec378556b 100644
--- a/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs
+++ b/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs
@@ -22,7 +22,7 @@ namespace Tango.PMR.Common {
     static MessageTypeReflection() {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
-            "ChFNZXNzYWdlVHlwZS5wcm90bxIQVGFuZ28uUE1SLkNvbW1vbiq4CwoLTWVz",
+            "ChFNZXNzYWdlVHlwZS5wcm90bxIQVGFuZ28uUE1SLkNvbW1vbireDAoLTWVz",
             "c2FnZVR5cGUSCAoETm9uZRAAEhQKEENhbGN1bGF0ZVJlcXVlc3QQAxIVChFD",
             "YWxjdWxhdGVSZXNwb25zZRAEEhMKD1Byb2dyZXNzUmVxdWVzdBAFEhQKEFBy",
             "b2dyZXNzUmVzcG9uc2UQBhIcChhTdHViQ2FydHJpZGdlUmVhZFJlcXVlc3QQ",
@@ -52,11 +52,14 @@ namespace Tango.PMR.Common {
             "UmVxdWVzdBDtBxIdChhPdmVycmlkZURhdGFCYXNlUmVzcG9uc2UQ7gcSFQoQ",
             "S2VlcEFsaXZlUmVxdWVzdBDvBxIWChFLZWVwQWxpdmVSZXNwb25zZRDwBxIb",
             "ChZQdXNoRGlhZ25vc3RpY3NSZXF1ZXN0ENAPEhwKF1B1c2hEaWFnbm9zdGlj",
-            "c1Jlc3BvbnNlENEPEhIKDVJlcG9ydFJlcXVlc3QQ0g8SEwoOUmVwb3J0UmVz",
-            "cG9uc2UQ0w8SEwoOU3RhdHVzUmVzcG9uc2UQ1A8SDwoKSm9iUmVxdWVzdBC4",
-            "FxIQCgtKb2JSZXNwb25zZRC5FxIUCg9BYm9ydEpvYlJlcXVlc3QQuhcSFQoQ",
-            "QWJvcnRKb2JSZXNwb25zZRC7F0IcChpjb20udHdpbmUudGFuZ28ucG1yLmNv",
-            "bW1vbmIGcHJvdG8z"));
+            "c1Jlc3BvbnNlENEPEhwKF01vdG9yQWJvcnRIb21pbmdSZXF1ZXN0ENIPEh0K",
+            "GE1vdG9yQWJvcnRIb21pbmdSZXNwb25zZRDTDxIXChJNb3RvckhvbWluZ1Jl",
+            "cXVlc3QQ1A8SGAoTTW90b3JIb21pbmdSZXNwb25zZRDVDxIYChNNb3Rvckpv",
+            "Z2dpbmdSZXF1ZXN0ENYPEhkKFE1vdG9ySm9nZ2luZ1Jlc3BvbnNlENcPEh0K",
+            "GE1vdG9yQWJvcnRKb2dnaW5nUmVxdWVzdBDYDxIeChlNb3RvckFib3J0Sm9n",
+            "Z2luZ1Jlc3BvbnNlENkPEg8KCkpvYlJlcXVlc3QQuBcSEAoLSm9iUmVzcG9u",
+            "c2UQuRcSFAoPQWJvcnRKb2JSZXF1ZXN0ELoXEhUKEEFib3J0Sm9iUmVzcG9u",
+            "c2UQuxdCHAoaY29tLnR3aW5lLnRhbmdvLnBtci5jb21tb25iBnByb3RvMw=="));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { },
           new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Common.MessageType), }, null));
@@ -124,9 +127,14 @@ namespace Tango.PMR.Common {
     /// </summary>
     [pbr::OriginalName("PushDiagnosticsRequest")] PushDiagnosticsRequest = 2000,
     [pbr::OriginalName("PushDiagnosticsResponse")] PushDiagnosticsResponse = 2001,
-    [pbr::OriginalName("ReportRequest")] ReportRequest = 2002,
-    [pbr::OriginalName("ReportResponse")] ReportResponse = 2003,
-    [pbr::OriginalName("StatusResponse")] StatusResponse = 2004,
+    [pbr::OriginalName("MotorAbortHomingRequest")] MotorAbortHomingRequest = 2002,
+    [pbr::OriginalName("MotorAbortHomingResponse")] MotorAbortHomingResponse = 2003,
+    [pbr::OriginalName("MotorHomingRequest")] MotorHomingRequest = 2004,
+    [pbr::OriginalName("MotorHomingResponse")] MotorHomingResponse = 2005,
+    [pbr::OriginalName("MotorJoggingRequest")] MotorJoggingRequest = 2006,
+    [pbr::OriginalName("MotorJoggingResponse")] MotorJoggingResponse = 2007,
+    [pbr::OriginalName("MotorAbortJoggingRequest")] MotorAbortJoggingRequest = 2008,
+    [pbr::OriginalName("MotorAbortJoggingResponse")] MotorAbortJoggingResponse = 2009,
     /// <summary>
     ///Printing
     /// </summary>
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortHomingRequest.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortHomingRequest.cs
new file mode 100644
index 000000000..d5385333c
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortHomingRequest.cs
@@ -0,0 +1,160 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: MotorAbortHomingRequest.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from MotorAbortHomingRequest.proto</summary>
+  public static partial class MotorAbortHomingRequestReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for MotorAbortHomingRequest.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static MotorAbortHomingRequestReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "Ch1Nb3RvckFib3J0SG9taW5nUmVxdWVzdC5wcm90bxIVVGFuZ28uUE1SLkRp",
+            "YWdub3N0aWNzIicKF01vdG9yQWJvcnRIb21pbmdSZXF1ZXN0EgwKBENvZGUY",
+            "ASABKAVCIQofY29tLnR3aW5lLnRhbmdvLnBtci5kaWFnbm9zdGljc2IGcHJv",
+            "dG8z"));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.MotorAbortHomingRequest), global::Tango.PMR.Diagnostics.MotorAbortHomingRequest.Parser, new[]{ "Code" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class MotorAbortHomingRequest : pb::IMessage<MotorAbortHomingRequest> {
+    private static readonly pb::MessageParser<MotorAbortHomingRequest> _parser = new pb::MessageParser<MotorAbortHomingRequest>(() => new MotorAbortHomingRequest());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<MotorAbortHomingRequest> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.MotorAbortHomingRequestReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortHomingRequest() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortHomingRequest(MotorAbortHomingRequest other) : this() {
+      code_ = other.code_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortHomingRequest Clone() {
+      return new MotorAbortHomingRequest(this);
+    }
+
+    /// <summary>Field number for the "Code" field.</summary>
+    public const int CodeFieldNumber = 1;
+    private int code_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Code {
+      get { return code_; }
+      set {
+        code_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as MotorAbortHomingRequest);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(MotorAbortHomingRequest other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Code != other.Code) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Code != 0) hash ^= Code.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (Code != 0) {
+        output.WriteRawTag(8);
+        output.WriteInt32(Code);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Code != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Code);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(MotorAbortHomingRequest other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Code != 0) {
+        Code = other.Code;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 8: {
+            Code = input.ReadInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortHomingResponse.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortHomingResponse.cs
new file mode 100644
index 000000000..8f6401a3f
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortHomingResponse.cs
@@ -0,0 +1,131 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: MotorAbortHomingResponse.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from MotorAbortHomingResponse.proto</summary>
+  public static partial class MotorAbortHomingResponseReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for MotorAbortHomingResponse.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static MotorAbortHomingResponseReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "Ch5Nb3RvckFib3J0SG9taW5nUmVzcG9uc2UucHJvdG8SFVRhbmdvLlBNUi5E",
+            "aWFnbm9zdGljcyIaChhNb3RvckFib3J0SG9taW5nUmVzcG9uc2VCIQofY29t",
+            "LnR3aW5lLnRhbmdvLnBtci5kaWFnbm9zdGljc2IGcHJvdG8z"));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.MotorAbortHomingResponse), global::Tango.PMR.Diagnostics.MotorAbortHomingResponse.Parser, null, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class MotorAbortHomingResponse : pb::IMessage<MotorAbortHomingResponse> {
+    private static readonly pb::MessageParser<MotorAbortHomingResponse> _parser = new pb::MessageParser<MotorAbortHomingResponse>(() => new MotorAbortHomingResponse());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<MotorAbortHomingResponse> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.MotorAbortHomingResponseReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortHomingResponse() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortHomingResponse(MotorAbortHomingResponse other) : this() {
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortHomingResponse Clone() {
+      return new MotorAbortHomingResponse(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as MotorAbortHomingResponse);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(MotorAbortHomingResponse other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(MotorAbortHomingResponse other) {
+      if (other == null) {
+        return;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortJoggingRequest.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortJoggingRequest.cs
new file mode 100644
index 000000000..cf9f015d3
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortJoggingRequest.cs
@@ -0,0 +1,160 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: MotorAbortJoggingRequest.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from MotorAbortJoggingRequest.proto</summary>
+  public static partial class MotorAbortJoggingRequestReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for MotorAbortJoggingRequest.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static MotorAbortJoggingRequestReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "Ch5Nb3RvckFib3J0Sm9nZ2luZ1JlcXVlc3QucHJvdG8SFVRhbmdvLlBNUi5E",
+            "aWFnbm9zdGljcyIoChhNb3RvckFib3J0Sm9nZ2luZ1JlcXVlc3QSDAoEQ29k",
+            "ZRgCIAEoBUIhCh9jb20udHdpbmUudGFuZ28ucG1yLmRpYWdub3N0aWNzYgZw",
+            "cm90bzM="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.MotorAbortJoggingRequest), global::Tango.PMR.Diagnostics.MotorAbortJoggingRequest.Parser, new[]{ "Code" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class MotorAbortJoggingRequest : pb::IMessage<MotorAbortJoggingRequest> {
+    private static readonly pb::MessageParser<MotorAbortJoggingRequest> _parser = new pb::MessageParser<MotorAbortJoggingRequest>(() => new MotorAbortJoggingRequest());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<MotorAbortJoggingRequest> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.MotorAbortJoggingRequestReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortJoggingRequest() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortJoggingRequest(MotorAbortJoggingRequest other) : this() {
+      code_ = other.code_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortJoggingRequest Clone() {
+      return new MotorAbortJoggingRequest(this);
+    }
+
+    /// <summary>Field number for the "Code" field.</summary>
+    public const int CodeFieldNumber = 2;
+    private int code_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Code {
+      get { return code_; }
+      set {
+        code_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as MotorAbortJoggingRequest);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(MotorAbortJoggingRequest other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Code != other.Code) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Code != 0) hash ^= Code.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (Code != 0) {
+        output.WriteRawTag(16);
+        output.WriteInt32(Code);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Code != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Code);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(MotorAbortJoggingRequest other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Code != 0) {
+        Code = other.Code;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 16: {
+            Code = input.ReadInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortJoggingResponse.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortJoggingResponse.cs
new file mode 100644
index 000000000..5624c5827
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorAbortJoggingResponse.cs
@@ -0,0 +1,160 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: MotorAbortJoggingResponse.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from MotorAbortJoggingResponse.proto</summary>
+  public static partial class MotorAbortJoggingResponseReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for MotorAbortJoggingResponse.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static MotorAbortJoggingResponseReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "Ch9Nb3RvckFib3J0Sm9nZ2luZ1Jlc3BvbnNlLnByb3RvEhVUYW5nby5QTVIu",
+            "RGlhZ25vc3RpY3MiKQoZTW90b3JBYm9ydEpvZ2dpbmdSZXNwb25zZRIMCgRD",
+            "b2RlGAIgASgFQiEKH2NvbS50d2luZS50YW5nby5wbXIuZGlhZ25vc3RpY3Ni",
+            "BnByb3RvMw=="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.MotorAbortJoggingResponse), global::Tango.PMR.Diagnostics.MotorAbortJoggingResponse.Parser, new[]{ "Code" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class MotorAbortJoggingResponse : pb::IMessage<MotorAbortJoggingResponse> {
+    private static readonly pb::MessageParser<MotorAbortJoggingResponse> _parser = new pb::MessageParser<MotorAbortJoggingResponse>(() => new MotorAbortJoggingResponse());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<MotorAbortJoggingResponse> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.MotorAbortJoggingResponseReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortJoggingResponse() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortJoggingResponse(MotorAbortJoggingResponse other) : this() {
+      code_ = other.code_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorAbortJoggingResponse Clone() {
+      return new MotorAbortJoggingResponse(this);
+    }
+
+    /// <summary>Field number for the "Code" field.</summary>
+    public const int CodeFieldNumber = 2;
+    private int code_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Code {
+      get { return code_; }
+      set {
+        code_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as MotorAbortJoggingResponse);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(MotorAbortJoggingResponse other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Code != other.Code) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Code != 0) hash ^= Code.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (Code != 0) {
+        output.WriteRawTag(16);
+        output.WriteInt32(Code);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Code != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Code);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(MotorAbortJoggingResponse other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Code != 0) {
+        Code = other.Code;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 16: {
+            Code = input.ReadInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorDirection.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorDirection.cs
new file mode 100644
index 000000000..59c355cd6
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorDirection.cs
@@ -0,0 +1,45 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: MotorDirection.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from MotorDirection.proto</summary>
+  public static partial class MotorDirectionReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for MotorDirection.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static MotorDirectionReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChRNb3RvckRpcmVjdGlvbi5wcm90bxIVVGFuZ28uUE1SLkRpYWdub3N0aWNz",
+            "KisKDk1vdG9yRGlyZWN0aW9uEgsKB0ZvcndhcmQQABIMCghCYWNrd2FyZBAB",
+            "QiEKH2NvbS50d2luZS50YW5nby5wbXIuZGlhZ25vc3RpY3NiBnByb3RvMw=="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Diagnostics.MotorDirection), }, null));
+    }
+    #endregion
+
+  }
+  #region Enums
+  public enum MotorDirection {
+    [pbr::OriginalName("Forward")] Forward = 0,
+    [pbr::OriginalName("Backward")] Backward = 1,
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorHomingRequest.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorHomingRequest.cs
new file mode 100644
index 000000000..5044fa2ed
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorHomingRequest.cs
@@ -0,0 +1,188 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: MotorHomingRequest.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from MotorHomingRequest.proto</summary>
+  public static partial class MotorHomingRequestReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for MotorHomingRequest.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static MotorHomingRequestReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChhNb3RvckhvbWluZ1JlcXVlc3QucHJvdG8SFVRhbmdvLlBNUi5EaWFnbm9z",
+            "dGljcyIxChJNb3RvckhvbWluZ1JlcXVlc3QSDAoEQ29kZRgBIAEoBRINCgVT",
+            "cGVlZBgCIAEoAUIhCh9jb20udHdpbmUudGFuZ28ucG1yLmRpYWdub3N0aWNz",
+            "YgZwcm90bzM="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.MotorHomingRequest), global::Tango.PMR.Diagnostics.MotorHomingRequest.Parser, new[]{ "Code", "Speed" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class MotorHomingRequest : pb::IMessage<MotorHomingRequest> {
+    private static readonly pb::MessageParser<MotorHomingRequest> _parser = new pb::MessageParser<MotorHomingRequest>(() => new MotorHomingRequest());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<MotorHomingRequest> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.MotorHomingRequestReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorHomingRequest() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorHomingRequest(MotorHomingRequest other) : this() {
+      code_ = other.code_;
+      speed_ = other.speed_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorHomingRequest Clone() {
+      return new MotorHomingRequest(this);
+    }
+
+    /// <summary>Field number for the "Code" field.</summary>
+    public const int CodeFieldNumber = 1;
+    private int code_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Code {
+      get { return code_; }
+      set {
+        code_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Speed" field.</summary>
+    public const int SpeedFieldNumber = 2;
+    private double speed_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double Speed {
+      get { return speed_; }
+      set {
+        speed_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as MotorHomingRequest);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(MotorHomingRequest other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Code != other.Code) return false;
+      if (Speed != other.Speed) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Code != 0) hash ^= Code.GetHashCode();
+      if (Speed != 0D) hash ^= Speed.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (Code != 0) {
+        output.WriteRawTag(8);
+        output.WriteInt32(Code);
+      }
+      if (Speed != 0D) {
+        output.WriteRawTag(17);
+        output.WriteDouble(Speed);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Code != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Code);
+      }
+      if (Speed != 0D) {
+        size += 1 + 8;
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(MotorHomingRequest other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Code != 0) {
+        Code = other.Code;
+      }
+      if (other.Speed != 0D) {
+        Speed = other.Speed;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 8: {
+            Code = input.ReadInt32();
+            break;
+          }
+          case 17: {
+            Speed = input.ReadDouble();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorHomingResponse.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorHomingResponse.cs
new file mode 100644
index 000000000..7dd9f982b
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorHomingResponse.cs
@@ -0,0 +1,188 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: MotorHomingResponse.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from MotorHomingResponse.proto</summary>
+  public static partial class MotorHomingResponseReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for MotorHomingResponse.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static MotorHomingResponseReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChlNb3RvckhvbWluZ1Jlc3BvbnNlLnByb3RvEhVUYW5nby5QTVIuRGlhZ25v",
+            "c3RpY3MiPAoTTW90b3JIb21pbmdSZXNwb25zZRIQCghQcm9ncmVzcxgBIAEo",
+            "BRITCgtNYXhQcm9ncmVzcxgCIAEoBUIhCh9jb20udHdpbmUudGFuZ28ucG1y",
+            "LmRpYWdub3N0aWNzYgZwcm90bzM="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.MotorHomingResponse), global::Tango.PMR.Diagnostics.MotorHomingResponse.Parser, new[]{ "Progress", "MaxProgress" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class MotorHomingResponse : pb::IMessage<MotorHomingResponse> {
+    private static readonly pb::MessageParser<MotorHomingResponse> _parser = new pb::MessageParser<MotorHomingResponse>(() => new MotorHomingResponse());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<MotorHomingResponse> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.MotorHomingResponseReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorHomingResponse() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorHomingResponse(MotorHomingResponse other) : this() {
+      progress_ = other.progress_;
+      maxProgress_ = other.maxProgress_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorHomingResponse Clone() {
+      return new MotorHomingResponse(this);
+    }
+
+    /// <summary>Field number for the "Progress" field.</summary>
+    public const int ProgressFieldNumber = 1;
+    private int progress_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Progress {
+      get { return progress_; }
+      set {
+        progress_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "MaxProgress" field.</summary>
+    public const int MaxProgressFieldNumber = 2;
+    private int maxProgress_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int MaxProgress {
+      get { return maxProgress_; }
+      set {
+        maxProgress_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as MotorHomingResponse);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(MotorHomingResponse other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Progress != other.Progress) return false;
+      if (MaxProgress != other.MaxProgress) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Progress != 0) hash ^= Progress.GetHashCode();
+      if (MaxProgress != 0) hash ^= MaxProgress.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (Progress != 0) {
+        output.WriteRawTag(8);
+        output.WriteInt32(Progress);
+      }
+      if (MaxProgress != 0) {
+        output.WriteRawTag(16);
+        output.WriteInt32(MaxProgress);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Progress != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Progress);
+      }
+      if (MaxProgress != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(MaxProgress);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(MotorHomingResponse other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Progress != 0) {
+        Progress = other.Progress;
+      }
+      if (other.MaxProgress != 0) {
+        MaxProgress = other.MaxProgress;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 8: {
+            Progress = input.ReadInt32();
+            break;
+          }
+          case 16: {
+            MaxProgress = input.ReadInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorJoggingRequest.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorJoggingRequest.cs
new file mode 100644
index 000000000..99f1a56c6
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorJoggingRequest.cs
@@ -0,0 +1,217 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: MotorJoggingRequest.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from MotorJoggingRequest.proto</summary>
+  public static partial class MotorJoggingRequestReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for MotorJoggingRequest.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static MotorJoggingRequestReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChlNb3RvckpvZ2dpbmdSZXF1ZXN0LnByb3RvEhVUYW5nby5QTVIuRGlhZ25v",
+            "c3RpY3MaFE1vdG9yRGlyZWN0aW9uLnByb3RvImwKE01vdG9ySm9nZ2luZ1Jl",
+            "cXVlc3QSOAoJRGlyZWN0aW9uGAEgASgOMiUuVGFuZ28uUE1SLkRpYWdub3N0",
+            "aWNzLk1vdG9yRGlyZWN0aW9uEgwKBENvZGUYAiABKAUSDQoFU3BlZWQYAyAB",
+            "KAFCIQofY29tLnR3aW5lLnRhbmdvLnBtci5kaWFnbm9zdGljc2IGcHJvdG8z"));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { global::Tango.PMR.Diagnostics.MotorDirectionReflection.Descriptor, },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.MotorJoggingRequest), global::Tango.PMR.Diagnostics.MotorJoggingRequest.Parser, new[]{ "Direction", "Code", "Speed" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class MotorJoggingRequest : pb::IMessage<MotorJoggingRequest> {
+    private static readonly pb::MessageParser<MotorJoggingRequest> _parser = new pb::MessageParser<MotorJoggingRequest>(() => new MotorJoggingRequest());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<MotorJoggingRequest> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.MotorJoggingRequestReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorJoggingRequest() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorJoggingRequest(MotorJoggingRequest other) : this() {
+      direction_ = other.direction_;
+      code_ = other.code_;
+      speed_ = other.speed_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorJoggingRequest Clone() {
+      return new MotorJoggingRequest(this);
+    }
+
+    /// <summary>Field number for the "Direction" field.</summary>
+    public const int DirectionFieldNumber = 1;
+    private global::Tango.PMR.Diagnostics.MotorDirection direction_ = 0;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public global::Tango.PMR.Diagnostics.MotorDirection Direction {
+      get { return direction_; }
+      set {
+        direction_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Code" field.</summary>
+    public const int CodeFieldNumber = 2;
+    private int code_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Code {
+      get { return code_; }
+      set {
+        code_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Speed" field.</summary>
+    public const int SpeedFieldNumber = 3;
+    private double speed_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public double Speed {
+      get { return speed_; }
+      set {
+        speed_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as MotorJoggingRequest);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(MotorJoggingRequest other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Direction != other.Direction) return false;
+      if (Code != other.Code) return false;
+      if (Speed != other.Speed) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Direction != 0) hash ^= Direction.GetHashCode();
+      if (Code != 0) hash ^= Code.GetHashCode();
+      if (Speed != 0D) hash ^= Speed.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (Direction != 0) {
+        output.WriteRawTag(8);
+        output.WriteEnum((int) Direction);
+      }
+      if (Code != 0) {
+        output.WriteRawTag(16);
+        output.WriteInt32(Code);
+      }
+      if (Speed != 0D) {
+        output.WriteRawTag(25);
+        output.WriteDouble(Speed);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Direction != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeEnumSize((int) Direction);
+      }
+      if (Code != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Code);
+      }
+      if (Speed != 0D) {
+        size += 1 + 8;
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(MotorJoggingRequest other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Direction != 0) {
+        Direction = other.Direction;
+      }
+      if (other.Code != 0) {
+        Code = other.Code;
+      }
+      if (other.Speed != 0D) {
+        Speed = other.Speed;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 8: {
+            direction_ = (global::Tango.PMR.Diagnostics.MotorDirection) input.ReadEnum();
+            break;
+          }
+          case 16: {
+            Code = input.ReadInt32();
+            break;
+          }
+          case 25: {
+            Speed = input.ReadDouble();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorJoggingResponse.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorJoggingResponse.cs
new file mode 100644
index 000000000..259949ca4
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorJoggingResponse.cs
@@ -0,0 +1,131 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: MotorJoggingResponse.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from MotorJoggingResponse.proto</summary>
+  public static partial class MotorJoggingResponseReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for MotorJoggingResponse.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static MotorJoggingResponseReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChpNb3RvckpvZ2dpbmdSZXNwb25zZS5wcm90bxIVVGFuZ28uUE1SLkRpYWdu",
+            "b3N0aWNzIhYKFE1vdG9ySm9nZ2luZ1Jlc3BvbnNlQiEKH2NvbS50d2luZS50",
+            "YW5nby5wbXIuZGlhZ25vc3RpY3NiBnByb3RvMw=="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.MotorJoggingResponse), global::Tango.PMR.Diagnostics.MotorJoggingResponse.Parser, null, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class MotorJoggingResponse : pb::IMessage<MotorJoggingResponse> {
+    private static readonly pb::MessageParser<MotorJoggingResponse> _parser = new pb::MessageParser<MotorJoggingResponse>(() => new MotorJoggingResponse());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<MotorJoggingResponse> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.MotorJoggingResponseReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorJoggingResponse() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorJoggingResponse(MotorJoggingResponse other) : this() {
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public MotorJoggingResponse Clone() {
+      return new MotorJoggingResponse(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as MotorJoggingResponse);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(MotorJoggingResponse other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(MotorJoggingResponse other) {
+      if (other == null) {
+        return;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/ITangoMessage.cs b/Software/Visual_Studio/Tango.PMR/ITangoMessage.cs
index d61e374ff..6d3d8d405 100644
--- a/Software/Visual_Studio/Tango.PMR/ITangoMessage.cs
+++ b/Software/Visual_Studio/Tango.PMR/ITangoMessage.cs
@@ -15,7 +15,7 @@ namespace Tango.PMR
         /// <summary>
         /// Gets the container that will encapsulate the actual PMR message.
         /// </summary>
-        MessageContainer Container { get; }
+        MessageContainer Container { get; set; }
 
         /// <summary>
         /// Gets or sets the PMR message type.
diff --git a/Software/Visual_Studio/Tango.PMR/MessageFactory.cs b/Software/Visual_Studio/Tango.PMR/MessageFactory.cs
index 4e3f67570..2c4eb3d13 100644
--- a/Software/Visual_Studio/Tango.PMR/MessageFactory.cs
+++ b/Software/Visual_Studio/Tango.PMR/MessageFactory.cs
@@ -76,6 +76,20 @@ namespace Tango.PMR
         }
 
         /// <summary>
+        /// Parses the specified tango message type from the specified message container.
+        /// </summary>
+        /// <typeparam name="T"></typeparam>
+        /// <param name="data">The data.</param>
+        /// <returns></returns>
+        public static TangoMessage<T> ParseTangoMessageFromContainer<T>(MessageContainer container) where T : IMessage<T>
+        {
+            MessageParser<T> parser = new MessageParser<T>(() => Activator.CreateInstance<T>());
+            TangoMessage<T> tango = new TangoMessage<T>(parser.ParseFrom(container.Data), container.Type);
+            tango.Container = container;
+            return tango;
+        }
+
+        /// <summary>
         /// Parses an unknown tango message from the specified byte array.
         /// </summary>
         /// <param name="data">The data.</param>
diff --git a/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj b/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj
index e0f79daa9..e6f671ca7 100644
--- a/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj
+++ b/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj
@@ -56,6 +56,15 @@
     <Compile Include="ColorLab\OutputColor.cs" />
     <Compile Include="Diagnostics\DataFileFrame.cs" />
     <Compile Include="Diagnostics\DoubleArray.cs" />
+    <Compile Include="Diagnostics\MotorAbortHomingRequest.cs" />
+    <Compile Include="Diagnostics\MotorAbortHomingResponse.cs" />
+    <Compile Include="Diagnostics\MotorAbortJoggingRequest.cs" />
+    <Compile Include="Diagnostics\MotorAbortJoggingResponse.cs" />
+    <Compile Include="Diagnostics\MotorDirection.cs" />
+    <Compile Include="Diagnostics\MotorHomingRequest.cs" />
+    <Compile Include="Diagnostics\MotorHomingResponse.cs" />
+    <Compile Include="Diagnostics\MotorJoggingRequest.cs" />
+    <Compile Include="Diagnostics\MotorJoggingResponse.cs" />
     <Compile Include="Diagnostics\PushDiagnosticsRequest.cs" />
     <Compile Include="Diagnostics\PushDiagnosticsResponse.cs" />
     <Compile Include="ExtensionMethods.cs" />
diff --git a/Software/Visual_Studio/Tango.PMR/TangoMessage.cs b/Software/Visual_Studio/Tango.PMR/TangoMessage.cs
index 7bc951148..c2cf94b38 100644
--- a/Software/Visual_Studio/Tango.PMR/TangoMessage.cs
+++ b/Software/Visual_Studio/Tango.PMR/TangoMessage.cs
@@ -18,7 +18,7 @@ namespace Tango.PMR
         /// <summary>
         /// Gets the container that will encapsulate the actual PMR message.
         /// </summary>
-        public MessageContainer Container { get; }
+        public MessageContainer Container { get; set; }
 
         /// <summary>
         /// Gets or sets the message.
diff --git a/Software/Visual_Studio/Tango.Transport/Encoders/ProtoEncoder.cs b/Software/Visual_Studio/Tango.Transport/Encoders/ProtoEncoder.cs
index 79d3485fc..bdc47da70 100644
--- a/Software/Visual_Studio/Tango.Transport/Encoders/ProtoEncoder.cs
+++ b/Software/Visual_Studio/Tango.Transport/Encoders/ProtoEncoder.cs
@@ -43,5 +43,16 @@ namespace Tango.Transport.Encoders
         {
             return tangoMessage.ToBytes();
         }
+
+        /// <summary>
+        /// Returns a <see cref="System.String" /> that represents this instance.
+        /// </summary>
+        /// <returns>
+        /// A <see cref="System.String" /> that represents this instance.
+        /// </returns>
+        public override string ToString()
+        {
+            return "Protobuf Encoder";
+        }
     }
 }
diff --git a/Software/Visual_Studio/Tango.Transport/TransportAdapterBase.cs b/Software/Visual_Studio/Tango.Transport/TransportAdapterBase.cs
index b996c82b2..715869520 100644
--- a/Software/Visual_Studio/Tango.Transport/TransportAdapterBase.cs
+++ b/Software/Visual_Studio/Tango.Transport/TransportAdapterBase.cs
@@ -179,5 +179,20 @@ namespace Tango.Transport
         public abstract Task Disconnect();
 
         #endregion
+
+        #region Override Methods
+
+        /// <summary>
+        /// Returns a <see cref="System.String" /> that represents this instance.
+        /// </summary>
+        /// <returns>
+        /// A <see cref="System.String" /> that represents this instance.
+        /// </returns>
+        public override string ToString()
+        {
+            return this.GetType().Name + " [" + AdapterMode + "]";
+        }
+
+        #endregion
     }
 }
diff --git a/Software/Visual_Studio/Tango.Transport/TransporterBase.cs b/Software/Visual_Studio/Tango.Transport/TransporterBase.cs
index c4232e5b2..0f4193aab 100644
--- a/Software/Visual_Studio/Tango.Transport/TransporterBase.cs
+++ b/Software/Visual_Studio/Tango.Transport/TransporterBase.cs
@@ -616,6 +616,21 @@ namespace Tango.Transport
 
         #endregion
 
+        #region Override Methods
+
+        /// <summary>
+        /// Returns a <see cref="System.String" /> that represents this instance.
+        /// </summary>
+        /// <returns>
+        /// A <see cref="System.String" /> that represents this instance.
+        /// </returns>
+        public override string ToString()
+        {
+            return this.GetType().Name + ", Adapter: " + (Adapter != null ? Adapter.ToString() : "Null") + ", Encoder: " + (Encoder != null ? Encoder.ToString() : "Null");
+        }
+
+        #endregion
+
         #region Dispose
 
         /// <summary>
diff --git a/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/Images/circuit.jpg b/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/Images/circuit.jpg
new file mode 100644
index 000000000..589559bd4
--- /dev/null
+++ b/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/Images/circuit.jpg
diff --git a/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/Images/embedded-device.png b/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/Images/embedded-device.png
new file mode 100644
index 000000000..2b3be3dfd
--- /dev/null
+++ b/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/Images/embedded-device.png
diff --git a/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/MainWindow.xaml b/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/MainWindow.xaml
index 318a4133e..0bedbb1fb 100644
--- a/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/MainWindow.xaml
+++ b/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/MainWindow.xaml
@@ -9,7 +9,7 @@
         xmlns:local="clr-namespace:Tango.MachineEM.UI"
         xmlns:views="clr-namespace:Tango.MachineEM.UI.Views"
         mc:Ignorable="d"
-        Title="Tango Machine Emulator" Height="720" Width="1200" TitleCaps="False" BorderBrush="Gray" BorderThickness="1" WindowStartupLocation="CenterScreen" Background="#202020" Foreground="Gainsboro" DataContext="{Binding RelativeSource={RelativeSource Self}}">
+        Title="Tango Embedded Emulator" Height="720" Width="1200" TitleCaps="False" BorderBrush="Gray" BorderThickness="1" WindowStartupLocation="CenterScreen" Background="#202020" Foreground="Gainsboro" DataContext="{Binding RelativeSource={RelativeSource Self}}">
     <Grid>
         <views:MainView DataContext="{StaticResource MainViewVM}"></views:MainView>
     </Grid>
diff --git a/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/Tango.MachineEM.UI.csproj b/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/Tango.MachineEM.UI.csproj
index 8442cf3d6..e15e75bc5 100644
--- a/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/Tango.MachineEM.UI.csproj
+++ b/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/Tango.MachineEM.UI.csproj
@@ -162,6 +162,12 @@
   <ItemGroup>
     <Resource Include="machine.ico" />
   </ItemGroup>
+  <ItemGroup>
+    <Resource Include="Images\circuit.jpg" />
+  </ItemGroup>
+  <ItemGroup>
+    <Resource Include="Images\embedded-device.png" />
+  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
   <PropertyGroup>
     <PostBuildEvent>$(TargetDir)linkgen.exe -s "$(TargetPath)" -d "$(TargetDir)Utilities\Machine Emulator.lnk"</PostBuildEvent>
diff --git a/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/ViewModels/MainViewVM.cs b/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/ViewModels/MainViewVM.cs
index 0b1a10f13..99be80b29 100644
--- a/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/ViewModels/MainViewVM.cs
+++ b/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/ViewModels/MainViewVM.cs
@@ -145,18 +145,21 @@ namespace Tango.MachineEM.UI.ViewModels
         /// </summary>
         public MainViewVM()
         {
-            MainViewLogger logger = new MainViewLogger();
-            //logger.NewLog += (output) => 
-            //{
-            //    Log += output + Environment.NewLine;
-            //};
+            SimpleStringLogger logger = new SimpleStringLogger(LogCategory.Critical, LogCategory.Error, LogCategory.General, LogCategory.Warning);
+            logger.LogReceived += (sedner, log) =>
+            {
+                Log += log.ToString() + Environment.NewLine;
+            };
 
             LogManager.RegisterLogger(logger);
 
+            LogManager.Log("Embedded Emulator Started...");
+
+
             Emulator = new MachineEmulator(new BasicTransporter());
 
             StartCommand = new RelayCommand(Start, (x) => !Emulator.IsStarted);
-            StopCommand = new RelayCommand(Stop,(x) => Emulator.IsStarted);
+            StopCommand = new RelayCommand(Stop, (x) => Emulator.IsStarted);
             RunCommand = new RelayCommand(RunSelectedStub, (x) => !_running);
             CancelCommand = new RelayCommand(Cancel, (x) => _running);
             ClearCommand = new RelayCommand(() => Log = String.Empty);
@@ -257,32 +260,5 @@ namespace Tango.MachineEM.UI.ViewModels
         }
 
         #endregion
-
-        #region Custom Logger
-
-        public class MainViewLogger : ILogger
-        {
-            public bool Enabled { get; set; }
-            public bool Immediate { get; set; }
-            public event Action<String> NewLog;
-
-            public MainViewLogger()
-            {
-                Enabled = true;
-                Immediate = true;
-            }
-
-            public void OnError(LogItemBase output)
-            {
-                NewLog?.Invoke(output.ToString());
-            }
-
-            public void OnTrace(LogItemBase output)
-            {
-                NewLog?.Invoke(output.ToString());
-            }
-        }
-
-        #endregion
     }
 }
diff --git a/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/Views/MainView.xaml b/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/Views/MainView.xaml
index b48001a02..4e3c7bbc9 100644
--- a/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/Views/MainView.xaml
+++ b/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/Views/MainView.xaml
@@ -15,6 +15,9 @@
         <converters:BooleanInverseConverter x:Key="BooleanInverseConverter"></converters:BooleanInverseConverter>
     </UserControl.Resources>
     <Grid>
+        <Grid.Background>
+            <ImageBrush ImageSource="../Images/circuit.jpg" Opacity="0.1" Stretch="UniformToFill"></ImageBrush>
+        </Grid.Background>
         <Grid>
             <Grid.RowDefinitions>
                 <RowDefinition Height="100"/>
@@ -22,16 +25,20 @@
             </Grid.RowDefinitions>
 
             <Grid>
+                <Grid.Effect>
+                    <DropShadowEffect BlurRadius="10"/>
+                </Grid.Effect>
+                <Grid.Background>
+                    <SolidColorBrush Color="#151515" Opacity="0.8" />
+                </Grid.Background>
                 <StackPanel Orientation="Horizontal" VerticalAlignment="Center" Margin="20 15">
-                    <Image Source="/Images/machine-trans.png" RenderOptions.BitmapScalingMode="Fant"></Image>
-                    <TextBlock Text="Tango Machine Emulator" VerticalAlignment="Center" Margin="20 0 0 0" FontSize="36" Foreground="Yellow">
+                    <Image Source="/Images/embedded-device.png" RenderOptions.BitmapScalingMode="Fant"></Image>
+                    <TextBlock Text="Tango Embedded Emulator" VerticalAlignment="Center" Margin="20 0 0 0" FontSize="36" Foreground="Red">
                         <TextBlock.Effect>
                             <DropShadowEffect/>
                         </TextBlock.Effect>
                     </TextBlock>
                 </StackPanel>
-
-                <Rectangle VerticalAlignment="Bottom" HorizontalAlignment="Stretch" Margin="20 0 50 0" Stroke="DimGray" StrokeThickness="1" StrokeDashArray="5"></Rectangle>
             </Grid>
 
             <Grid Grid.Row="1" Margin="20">
@@ -41,7 +48,13 @@
                         <RowDefinition Height="70"/>
                     </Grid.RowDefinitions>
 
-                    <Grid x:Name="gridContent" Background="#151515" Margin="5">
+                    <Grid>
+                        <TextBox x:Name="txtLog" FontFamily="monospaced" TextChanged="txtLog_TextChanged" Text="{Binding Log}" Background="Transparent" Foreground="Red" FontSize="11" Padding="5" Style="{x:Null}" BorderThickness="0" IsReadOnly="True" AcceptsReturn="True" VerticalScrollBarVisibility="Auto" TextWrapping="Wrap">
+
+                        </TextBox>
+                    </Grid>
+
+                    <Grid x:Name="gridContent" Background="#151515" Margin="5" Visibility="Hidden">
                         <Grid>
                             <Grid.ColumnDefinitions>
                                 <ColumnDefinition Width="300" />
@@ -135,7 +148,13 @@
                             </Grid>
                         </Grid>
                     </Grid>
-                    <Grid x:Name="gridActions" Grid.Row="1" Background="#151515" Margin="5">
+                    <Grid x:Name="gridActions" Grid.Row="1" Margin="5">
+                        <Grid.Effect>
+                            <DropShadowEffect BlurRadius="10" />
+                        </Grid.Effect>
+                        <Grid.Background>
+                            <SolidColorBrush Color="#151515" Opacity="0.8" />
+                        </Grid.Background>
                         <StackPanel HorizontalAlignment="Right" Orientation="Horizontal" Margin="5">
                             <ComboBox IsEnabled="{Binding Emulator.IsStarted,Converter={StaticResource BooleanInverseConverter}}" MinWidth="140" Margin="5" BorderThickness="0" ItemsSource="{Binding Ports}" SelectedItem="{Binding SelectedPort}"></ComboBox>
                             <Button Margin="5" MinWidth="100" Style="{StaticResource AccentedSquareButtonStyle}" mahapps:ButtonHelper.PreserveTextCase="True" BorderThickness="0" Command="{Binding StopCommand}">
diff --git a/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/Views/MainView.xaml.cs b/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/Views/MainView.xaml.cs
index 9112f28f4..358cd7927 100644
--- a/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/Views/MainView.xaml.cs
+++ b/Software/Visual_Studio/Utilities/Tango.MachineEM.UI/Views/MainView.xaml.cs
@@ -2,6 +2,7 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
+using System.Threading;
 using System.Threading.Tasks;
 using System.Windows;
 using System.Windows.Controls;
@@ -29,5 +30,19 @@ namespace Tango.MachineEM.UI.Views
         {
             //txtResponse.ScrollToEnd();
         }
+
+        private void txtLog_TextChanged(object sender, TextChangedEventArgs e)
+        {
+            Task.Factory.StartNew(() =>
+            {
+                Thread.Sleep(50);
+
+                this.Dispatcher.Invoke(() =>
+                {
+                    txtLog.SelectionStart = txtLog.Text.Length;
+                    txtLog.ScrollToEnd();
+                });
+            });
+        }
     }
 }
diff --git a/Software/Visual_Studio/Utilities/Tango.Synchronization.UI/ViewModels/MainViewVM.cs b/Software/Visual_Studio/Utilities/Tango.Synchronization.UI/ViewModels/MainViewVM.cs
index 174b408bc..0cf824d28 100644
--- a/Software/Visual_Studio/Utilities/Tango.Synchronization.UI/ViewModels/MainViewVM.cs
+++ b/Software/Visual_Studio/Utilities/Tango.Synchronization.UI/ViewModels/MainViewVM.cs
@@ -131,10 +131,10 @@ namespace Tango.Synchronization.UI.ViewModels
         /// </summary>
         public MainViewVM()
         {
-            MainViewLogger logger = new MainViewLogger();
-            logger.NewLog += (output) =>
+            SimpleStringLogger logger = new SimpleStringLogger(LogCategory.Critical, LogCategory.Error, LogCategory.General, LogCategory.Warning);
+            logger.LogReceived += (sender,log) =>
             {
-                Log += output + Environment.NewLine;
+                Log += log.ToString() + Environment.NewLine;
             };
 
             LogManager.RegisterLogger(logger);
@@ -301,32 +301,5 @@ namespace Tango.Synchronization.UI.ViewModels
             MessageBox.Show(message, "Tango", MessageBoxButton.OK, MessageBoxImage.Information, MessageBoxResult.No, MessageBoxOptions.DefaultDesktopOnly);
         }
         #endregion
-
-        #region Custom Logger
-
-        public class MainViewLogger : ILogger
-        {
-            public bool Enabled { get; set; }
-            public bool Immediate { get; set; }
-            public event Action<String> NewLog;
-
-            public MainViewLogger()
-            {
-                Enabled = true;
-                Immediate = true;
-            }
-
-            public void OnError(LogItemBase output)
-            {
-                NewLog?.Invoke(output.TimeStamp.ToTimeString() + ": " + output.GetMessage());
-            }
-
-            public void OnTrace(LogItemBase output)
-            {
-                NewLog?.Invoke(output.TimeStamp.ToTimeString() + ": " + output.GetMessage());
-            }
-        }
-
-        #endregion
     }
 }