<UserControl x:Class="CyberX8_Themes.UserControls.MotionControl"
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
xmlns:converters="clr-namespace:CyberX8_Themes.Converters"
xmlns:local="clr-namespace:CyberX8_Themes.UserControls"
xmlns:Control="clr-namespace:MECF.Framework.UI.Core.Control;assembly=MECF.Framework.UI.Core"
mc:Ignorable="d" x:Name="self"
d:DesignHeight="850" d:DesignWidth="450">
<UserControl.Resources>
<converters:BoolToColor x:Key="boolToColor"/>
<converters:BoolToRedColor x:Key="boolToRedColor"/>
</UserControl.Resources>
<Grid>
<GroupBox Header="{Binding ModuleTitle, ElementName=self}" Background="{DynamicResource Table_BD_Title}" BorderBrush="DarkGray">
<Grid>
<Grid.RowDefinitions>
<RowDefinition Height="30"/>
<RowDefinition Height="35"/>
<RowDefinition Height="150"/>
<RowDefinition Height="70"/>
<RowDefinition Height="180"/>
<RowDefinition Height="2"/>
<RowDefinition Height="240"/>
<RowDefinition Height="60"/>
<RowDefinition/>
</Grid.RowDefinitions>
<WrapPanel Grid.Row="0" VerticalAlignment="Center">
<Label Content="Status" FontSize="16" FontWeight="Bold"/>
<TextBlock Background="Black" Foreground="Lime" VerticalAlignment="Center" Text="{Binding MotionData.Status, ElementName=self}"
FontWeight="Bold" FontSize="16" Width="365"/>
</WrapPanel>
<Grid Grid.Row="1">
<Button Style="{StaticResource SysBtnStyle}" Width="50" Content="ON" Margin="9,2,359,3" Height="30" Click="SwitchOn_Click"/>
<Ellipse Margin="66,9,336,10" Width="16" Height="16" Fill="{Binding MotionData.IsSwitchOn, Converter={StaticResource boolToColor}, ElementName=self}" Stroke="Silver"/>
<Button Style="{StaticResource SysBtnStyle}" Width="50" Content="OFF" Margin="88,2,280,3" Height="30" Click="SwitchOff_Click"/>
<Button Style="{StaticResource SysBtnStyle}" Width="50" Content="Home" Margin="325,2,43,3" Height="30" Click="Home_Click"/>
<Ellipse Margin="382,9,20,10" Width="16" Height="16" Fill="{Binding MotionData.IsHomed, Converter={StaticResource boolToColor}, ElementName=self}" Stroke="Silver"/>
</Grid>
<Grid Grid.Row="2">
<Grid.RowDefinitions>
<RowDefinition Height="30"/>
<RowDefinition Height="30"/>
<RowDefinition Height="30"/>
<RowDefinition Height="30"/>
<RowDefinition Height="30"/>
</Grid.RowDefinitions>
<Grid.ColumnDefinitions>
<ColumnDefinition Width="220"/>
<ColumnDefinition Width="130"/>
<ColumnDefinition Width="80"/>
<ColumnDefinition Width="*"/>
</Grid.ColumnDefinitions>
<Label Grid.Row="0" Grid.Column="0" Content="Motor Position" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="0" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" Text="{Binding MotionData.MotorPosition, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="0" Grid.Column="2" Margin="2,0,2,0" Text="{Binding ElementName=self,Path=ModuleUnit}" TextAlignment="Center" VerticalAlignment="Center" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<Label Grid.Row="1" Grid.Column="0" Content="Target Position" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="1" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" Text="{Binding MotionData.TargetPosition, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="1" Grid.Column="2" Margin="2,0,2,0" Text="{Binding ElementName=self,Path=ModuleUnit}" TextAlignment="Center" VerticalAlignment="Center" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<Label Grid.Row="2" Grid.Column="0" Content="Position Error" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="2" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" Text="{Binding MotionData.PositionError, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="2" Grid.Column="2" Margin="2,0,2,0" Text="{Binding ElementName=self,Path=ModuleUnit}" TextAlignment="Center" VerticalAlignment="Center" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<Label Grid.Row="3" Grid.Column="0" Content="Torque" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="3" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" Text="{Binding MotionData.ActualTorque, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="3" Grid.Column="2" Margin="2,0,2,0" Text="%" TextAlignment="Center" VerticalAlignment="Center" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<Label Grid.Row="4" Grid.Column="0" Content="Velocity" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="4" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" Text="{Binding ElementName=self,Path=MotionData.ActualVelocity, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="4" Grid.Column="2" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold">
<TextBlock.Text>
<Binding ElementName="self" Path="ModuleUnit" StringFormat=" {0}/sec" />
</TextBlock.Text>
</TextBlock>
</Grid>
<Grid Grid.Row="3">
<Button Style="{StaticResource SysBtnStyle}" Width="50" Content="-jog" Margin="104,2,284,38" Height="30" Click="JogDown_Click"/>
<Control:NumbericUpDown HorizontalAlignment="Center" Margin="0,2,0,0" VerticalAlignment="Top" Width="120" Height="35" MaxValue="100.00" MinValue="-100.00"
IncrementValue="{Binding ElementName=self,Path=IncrementValue,Mode=TwoWay}" DigitalMaxLength="2" Value="{Binding ElementName=self,Path=JogValue,Mode=TwoWay}"/>
<Button Style="{StaticResource SysBtnStyle}" Width="50" Content="+jog" Margin="285,2,103,38" Height="30" Click="JogUp_Click"/>
<Button Style="{StaticResource SysBtnStyle}" Width="50" Content="Stop" Margin="184,39,204,1" Height="30" Click="JogStop_Click"/>
</Grid>
<Grid Grid.Row="4">
<Grid.RowDefinitions>
<RowDefinition Height="30"/>
<RowDefinition Height="30"/>
<RowDefinition Height="30"/>
<RowDefinition Height="30"/>
<RowDefinition Height="30"/>
<RowDefinition Height="30"/>
</Grid.RowDefinitions>
<Grid.ColumnDefinitions>
<ColumnDefinition Width="180"/>
<ColumnDefinition Width="85"/>
<ColumnDefinition Width="85"/>
<ColumnDefinition Width="80"/>
<ColumnDefinition Width="*"/>
</Grid.ColumnDefinitions>
<Label Grid.Row="0" Grid.Column="0" Content="Speed" FontSize="16" FontWeight="Bold"/>
<Control:NumbericTextBox Grid.Row="0" Grid.Column="1" Margin="2,0,0,0" HorizontalAlignment="Left" VerticalAlignment="Center" Width="80"
Height="22" Value="{Binding ElementName=self,Path=InputSpeed,StringFormat={}{0:F2},Mode=TwoWay}" TextboxName="ProfileVelocity"
KeyOperation="{Binding ElementName=self,Path=KeyDownCommand}"/>
<TextBlock Grid.Column="2" Margin="0,0,2,0" TextAlignment="Center" VerticalAlignment="Center"
Text="{Binding ElementName=self,Path=MotionData.ProfileVelocity,StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="0" Grid.Column="3" TextAlignment="Center" VerticalAlignment="Center" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold">
<TextBlock.Text>
<Binding ElementName="self" Path="ModuleUnit" StringFormat=" {0}/sec" />
</TextBlock.Text>
</TextBlock>
<Label Grid.Row="1" Grid.Column="0" Content="Acceleration" FontSize="16" FontWeight="Bold"/>
<Control:NumbericTextBox Grid.Row="1" Grid.Column="1" Margin="2,0,0,0" HorizontalAlignment="Left" VerticalAlignment="Center" Width="80"
Height="22" Value="{Binding ElementName=self,Path=InputAcceleration,StringFormat={}{0:F2},Mode=TwoWay}" TextboxName="ProfileAccel"
KeyOperation="{Binding ElementName=self,Path=KeyDownCommand}"/>
<TextBlock Grid.Row="1" Grid.Column="2" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"
Text="{Binding ElementName=self,Path=MotionData.ProfileAccel, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="1" Grid.Column="3" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold">
<TextBlock.Text>
<Binding ElementName="self" Path="ModuleUnit" StringFormat=" {0}/s/s" />
</TextBlock.Text>
</TextBlock>
<Label Grid.Row="2" Grid.Column="0" Content="Deceleration" FontSize="16" FontWeight="Bold"/>
<Control:NumbericTextBox Grid.Row="2" Grid.Column="1" Margin="2,0,0,0" HorizontalAlignment="Left" VerticalAlignment="Center" Width="80"
Height="22" Value="{Binding ElementName=self,Path=InputDeceleration,StringFormat={}{0:F2},Mode=TwoWay}" TextboxName="ProfileDecel"
KeyOperation="{Binding ElementName=self,Path=KeyDownCommand}"/>
<TextBlock Grid.Row="2" Grid.Column="2" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"
Text="{Binding ElementName=self,Path=MotionData.ProfileDecel, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="2" Grid.Column="3" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold">
<TextBlock.Text>
<Binding ElementName="self" Path="ModuleUnit" StringFormat=" {0}/s/s" />
</TextBlock.Text>
</TextBlock>
<Label Grid.Row="3" Grid.Column="0" Content="Home Speed Switch" FontSize="16" FontWeight="Bold"/>
<Control:NumbericTextBox Grid.Row="3" Grid.Column="1" Margin="2,0,0,0" HorizontalAlignment="Left" VerticalAlignment="Center" Width="80"
Height="22" Value="{Binding ElementName=self,Path=InputHomeSpeedSwitch,StringFormat={}{0:F2},Mode=TwoWay}" TextboxName="HomingVelocity"
KeyOperation="{Binding ElementName=self,Path=KeyDownCommand}"/>
<TextBlock Grid.Row="3" Grid.Column="2" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"
Text="{Binding MotionData.HomingVelocity, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="3" Grid.Column="3" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold">
<TextBlock.Text>
<Binding ElementName="self" Path="ModuleUnit" StringFormat=" {0}/sec" />
</TextBlock.Text>
</TextBlock>
<Label Grid.Row="4" Grid.Column="0" Content="Home Speed Index" FontSize="16" FontWeight="Bold"/>
<Control:NumbericTextBox Grid.Row="4" Grid.Column="1" Margin="2,0,0,0" HorizontalAlignment="Left" VerticalAlignment="Center" Width="80"
Height="22" Value="{Binding ElementName=self,Path=InputHomeSpeedIndex,StringFormat={}{0:F2},Mode=TwoWay}" TextboxName="HomingVelocitySlow"
KeyOperation="{Binding ElementName=self,Path=KeyDownCommand}"/>
<TextBlock Grid.Row="4" Grid.Column="2" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"
Text="{Binding MotionData.HomingVelocitySlow, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="4" Grid.Column="3" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold">
<TextBlock.Text>
<Binding ElementName="self" Path="ModuleUnit" StringFormat=" {0}/sec" />
</TextBlock.Text>
</TextBlock>
<Label Grid.Row="5" Grid.Column="0" Content="Home Accel/Decel" FontSize="16" FontWeight="Bold"/>
<Control:NumbericTextBox Grid.Row="5" Grid.Column="1" Margin="2,0,0,0" HorizontalAlignment="Left" VerticalAlignment="Center" Width="80"
Height="22" Value="{Binding ElementName=self,Path=InputHomeAccelDecel,StringFormat={}{0:F2},Mode=TwoWay}" TextboxName="HomingAccel"
KeyOperation="{Binding ElementName=self,Path=KeyDownCommand}" />
<TextBlock Grid.Row="5" Grid.Column="2" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"
Text="{Binding MotionData.HomingAccel, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="5" Grid.Column="3" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold">
<TextBlock.Text>
<Binding ElementName="self" Path="ModuleUnit" StringFormat=" {0}/s/s" />
</TextBlock.Text>
</TextBlock>
</Grid>
<Grid Grid.Row="6">
<Grid.RowDefinitions>
<RowDefinition Height="30"/>
<RowDefinition Height="30"/>
<RowDefinition Height="30"/>
<RowDefinition Height="30"/>
<RowDefinition Height="30"/>
<RowDefinition Height="30"/>
<RowDefinition Height="30"/>
<RowDefinition Height="30"/>
</Grid.RowDefinitions>
<Grid.ColumnDefinitions>
<ColumnDefinition Width="220"/>
<ColumnDefinition Width="130"/>
<ColumnDefinition Width="80"/>
<ColumnDefinition Width="*"/>
</Grid.ColumnDefinitions>
<Label Grid.Row="0" Grid.Column="0" Content="Home Offset" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="0" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" Text="{Binding MotionData.HomeOffset, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="0" Grid.Column="2" Margin="2,0,2,0" Text="{Binding ElementName=self,Path=ModuleUnit}" TextAlignment="Center" VerticalAlignment="Center" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<Label Grid.Row="1" Grid.Column="0" Content="Position Error Limit" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="1" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" Text="{Binding MotionData.PositionErrorLimit, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="1" Grid.Column="2" Margin="2,0,2,0" Text="{Binding ElementName=self,Path=ModuleUnit}" TextAlignment="Center" VerticalAlignment="Center" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<Label Grid.Row="2" Grid.Column="0" Content="TargetPosition Error Limit" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="2" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" Text="{Binding MotionData.TargetPositionErrorLimit, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="2" Grid.Column="2" Margin="2,0,2,0" Text="{Binding ElementName=self,Path=ModuleUnit}" TextAlignment="Center" VerticalAlignment="Center" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<Label Grid.Row="3" Grid.Column="0" Content="Torque Limit" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="3" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" Text="{Binding ElementName=self,Path=MotionData.TorqueLimit}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="3" Grid.Column="2" Margin="2,0,2,0" Text="%" TextAlignment="Center" VerticalAlignment="Center" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<Label Grid.Row="4" Grid.Column="0" Content="E Stop Deceleration" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="4" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" Text="{Binding MotionData.EStopDeceleration, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="4" Grid.Column="2" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold">
<TextBlock.Text>
<Binding ElementName="self" Path="ModuleUnit" StringFormat=" {0}/s/s" />
</TextBlock.Text>
</TextBlock>
<Label Grid.Row="5" Grid.Column="0" Content="E Stop Torque" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="5" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" Text="{Binding MotionData.EStopTorque, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="5" Grid.Column="2" Margin="2,0,2,0" Text="%" TextAlignment="Center" VerticalAlignment="Center" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<Label Grid.Row="6" Grid.Column="0" Content="Rev Soft Limit" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="6" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" Text="{Binding MotionData.RevSoftLimit, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="6" Grid.Column="2" Margin="2,0,2,0" Text="{Binding ElementName=self, Path=ModuleUnit}" TextAlignment="Center" VerticalAlignment="Center" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<Label Grid.Row="7" Grid.Column="0" Content="Fwd Soft Limit" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="7" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" Text="{Binding MotionData.FwdSoftLimit, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
<TextBlock Grid.Row="7" Grid.Column="2" Margin="2,0,2,0" Text="{Binding ElementName=self, Path=ModuleUnit}" TextAlignment="Center" VerticalAlignment="Center" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
</Grid>
<Grid Grid.Row="7">
<Grid.ColumnDefinitions>
<ColumnDefinition Width="299*"/>
<ColumnDefinition Width="139*"/>
</Grid.ColumnDefinitions>
<Label Content="Rev Limit" FontSize="16" FontWeight="Bold" Margin="0,0,181,19" />
<Ellipse Margin="34,24,249,20" Width="16" Height="16" Fill="{Binding MotionData.RevLimited, Converter={StaticResource boolToRedColor}, ElementName=self}" Stroke="Silver"/>
<Label Content="Home Switch" FontSize="16" FontWeight="Bold" Margin="160,0,7,19" />
<Ellipse Margin="194,24,89,20" Width="16" Height="16" Fill="{Binding MotionData.HomedSwitched, Converter={StaticResource boolToColor}, ElementName=self}" Stroke="Silver"/>
<Label Content="Fwd Limit" FontSize="16" FontWeight="Bold" Margin="26,0,15,19" Grid.Column="1" />
<Ellipse Margin="60,24,63,20" Width="16" Height="16" Fill="{Binding MotionData.FwdLimited, Converter={StaticResource boolToRedColor}, ElementName=self}" Stroke="Silver" Grid.Column="1"/>
</Grid>
</Grid>
</GroupBox>
</Grid>
</UserControl>