OHV/Dev/OHV/OHV.Module.Interactivity/PopUp/DriveServoView.xaml

<UserControl x:Class="OHV.Module.Interactivity.PopUp.DriveServoView"
             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:local="clr-namespace:OHV.Module.Interactivity.PopUp"
             xmlns:prism="http://prismlibrary.com/"
             xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
             prism:ViewModelLocator.AutoWireViewModel="True"
             mc:Ignorable="d" 
             Height="1080" Width="1920"
             Background="#CC282C34"
             xmlns:System="clr-namespace:System;assembly=mscorlib"
             xmlns:SharedEnum="clr-namespace:OHV.Common.Model;assembly=OHV.Common"
             >

    <prism:Dialog.WindowStyle>
        <Style TargetType="Window">
            <Setter Property="prism:Dialog.WindowStartupLocation" Value="CenterScreen" />
            <Setter Property="Background" Value="Transparent"/>
            <Setter Property="AllowsTransparency" Value="True"/>
            <Setter Property="ResizeMode" Value="NoResize"/>
            <Setter Property="WindowStyle" Value="None"/>
            <Setter Property="BorderThickness" Value="1"/>
            <Setter Property="BorderBrush" Value="{DynamicResource BorderSolidNormal}"/>
            <Setter Property="Template" Value="{DynamicResource WindowTemplateKey}"/>
            <Setter Property="WindowState" Value="Maximized"/>

            <!--<Style.Triggers>
                <Trigger Property="ResizeMode" Value="CanResizeWithGrip">
                    <Setter Property="Template" Value="{StaticResource WindowTemplateKey}"/>
                </Trigger>
            </Style.Triggers>-->
        </Style>
    </prism:Dialog.WindowStyle>

    <UserControl.Resources>
        <ResourceDictionary>
            <ObjectDataProvider x:Key="RoadForm" MethodName="GetValues"
                            ObjectType="{x:Type System:Enum}">
                <ObjectDataProvider.MethodParameters>
                    <x:Type TypeName="SharedEnum:eRoadForm"/>
                </ObjectDataProvider.MethodParameters>
            </ObjectDataProvider>
            <ObjectDataProvider x:Key="PointType" MethodName="GetValues"
                            ObjectType="{x:Type System:Enum}">
                <ObjectDataProvider.MethodParameters>
                    <x:Type TypeName="SharedEnum:ePointType"/>
                </ObjectDataProvider.MethodParameters>
            </ObjectDataProvider>

            <ResourceDictionary.MergedDictionaries>
                <ResourceDictionary Source="pack://application:,,,/MaterialDesignThemes.Wpf;component/Themes/MaterialDesignTheme.DataGrid.xaml" />
            </ResourceDictionary.MergedDictionaries>
        </ResourceDictionary>
    </UserControl.Resources>

    <Border BorderBrush="Gray" BorderThickness="2" Width="1130" Height="750">
        <Grid Background="#263238">
            <Grid.ColumnDefinitions>
                <ColumnDefinition/>
                <!--<ColumnDefinition Width="130"/>-->
                <ColumnDefinition Width="130"/>
            </Grid.ColumnDefinitions>
            <Grid.RowDefinitions>
                <RowDefinition Height="30"/>
                <RowDefinition Height="*"/>
            </Grid.RowDefinitions>

            <Grid Grid.Row="0">
                <TextBlock Margin="15,0,0,0" FontSize="25" Foreground="White">
                <Run>
                    Drive View
                </Run>
                </TextBlock>
            </Grid>

            <Grid Grid.Column="0" Margin="15" Grid.Row="1"
              Background="#37474f">

                <Grid.RowDefinitions>
                    <RowDefinition Height="*"/>
                    <RowDefinition Height="*"/>
                </Grid.RowDefinitions>

                <!--Position Data Grid View-->
                <Grid Grid.Row="0" Background="#FF606E83">
                    <!--<TextBlock VerticalAlignment="Top" HorizontalAlignment="Left" Foreground="White">Drive Point List</TextBlock>-->
                    <DockPanel>
                        <DataGrid ItemsSource="{Binding RouteList}" CanUserSortColumns="True" CanUserAddRows="False" AutoGenerateColumns="False" materialDesign:DataGridAssist.CellPadding="13 8 8 8" 
                                  materialDesign:DataGridAssist.ColumnHeaderPadding="8" Background="{x:Null}" Foreground="White" IsSynchronizedWithCurrentItem="True" SelectedItem="{Binding SelectedRoute, Mode=TwoWay}"
                                  >

                            <DataGrid.Resources>
                                <Style TargetType="{x:Type DataGridRow}">
                                    <Style.Triggers>
                                        <Trigger Property="IsSelected" Value="false">
                                            <Setter Property="Background" Value="{x:Null}"></Setter>
                                        </Trigger>
                                    </Style.Triggers>
                                </Style>

                                <Style TargetType="DataGridColumnHeader" BasedOn="{StaticResource MaterialDesignDataGridColumnHeader}">
                                    <Setter Property="VerticalContentAlignment" Value="Center"/>
                                    <Setter Property="HorizontalContentAlignment" Value="Center"/>
                                    <Setter Property="Foreground" Value="White"/>
                                </Style>

                            </DataGrid.Resources>

                            <DataGrid.Columns>
                                <DataGridTemplateColumn >
                                    <DataGridTemplateColumn.CellTemplate>
                                        <DataTemplate>
                                            <RadioButton GroupName="RouteList" IsChecked="{Binding IsSelected, UpdateSourceTrigger=PropertyChanged}"></RadioButton>
                                        </DataTemplate>
                                    </DataGridTemplateColumn.CellTemplate>
                                </DataGridTemplateColumn>

                                <materialDesign:DataGridTextColumn Header="Name" Binding="{Binding Name}" EditingElementStyle="{StaticResource MaterialDesignDataGridTextColumnPopupEditingStyle}"></materialDesign:DataGridTextColumn>
                                <materialDesign:DataGridTextColumn Header="PrePoint" Binding="{Binding PrePoint}" EditingElementStyle="{StaticResource MaterialDesignDataGridTextColumnPopupEditingStyle}"></materialDesign:DataGridTextColumn>
                                <materialDesign:DataGridTextColumn Header="NextPoint" Binding="{Binding NextPoint}" EditingElementStyle="{StaticResource MaterialDesignDataGridTextColumnPopupEditingStyle}"></materialDesign:DataGridTextColumn>
                                <materialDesign:DataGridComboBoxColumn Header="Form" SelectedValueBinding="{Binding Form}" ItemsSourceBinding="{Binding Source={StaticResource RoadForm}}"></materialDesign:DataGridComboBoxColumn>
                                <materialDesign:DataGridComboBoxColumn Header="Type" SelectedValueBinding="{Binding Type}" ItemsSourceBinding="{Binding Source={StaticResource PointType}}"></materialDesign:DataGridComboBoxColumn>
                                <materialDesign:DataGridTextColumn Header="Value" Binding="{Binding ScaleValue}" EditingElementStyle="{StaticResource MaterialDesignDataGridTextColumnPopupEditingStyle}"></materialDesign:DataGridTextColumn>
                                <materialDesign:DataGridTextColumn Header="Tolerance" Binding="{Binding ScaleTolerance}" EditingElementStyle="{StaticResource MaterialDesignDataGridTextColumnPopupEditingStyle}"></materialDesign:DataGridTextColumn>
                                <DataGridCheckBoxColumn Header="UsePIO" Binding="{Binding UsePIO}" EditingElementStyle="{StaticResource MaterialDesignDataGridCheckBoxColumnEditingStyle}"></DataGridCheckBoxColumn>
                            </DataGrid.Columns>
                        </DataGrid>
                        <!--</ScrollViewer>-->
                    </DockPanel>
                </Grid>

                <!--Axis  Grid View-->
                <Grid Grid.Row="1">
                    <Grid.RowDefinitions>
                        <RowDefinition Height="*"/>
                        <RowDefinition Height="*"/>
                    </Grid.RowDefinitions>

                    <Grid Grid.Row="0" Margin="15">
                        <Grid.ColumnDefinitions>
                            <ColumnDefinition Width="*"/>
                            <ColumnDefinition Width="*"/>
                        </Grid.ColumnDefinitions>

                        <Grid Grid.Column="0">
                            <Grid.ColumnDefinitions>
                                <ColumnDefinition Width="*"/>
                                <ColumnDefinition Width="*"/>
                                <ColumnDefinition Width="*"/>
                            </Grid.ColumnDefinitions>
                            <Grid.RowDefinitions>
                                <RowDefinition Height="*"/>
                                <RowDefinition Height="*"/>
                            </Grid.RowDefinitions>

                            <Border BorderBrush="Gray" BorderThickness="1" Grid.Column="0">
                                <StackPanel Orientation="Horizontal" VerticalAlignment="Center" HorizontalAlignment="Center">
                                    <materialDesign:PackIcon Kind="QrcodeScan" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="50" Width="auto"/>
                                    <!--<TextBlock  Foreground="Orange" FontSize="20">
                                        Current
                                    </TextBlock>-->
                                    <TextBlock Margin="15,0,0,0" HorizontalAlignment="Center" VerticalAlignment="Center"  Foreground="Orange" FontSize="20">
                                        MCR
                                    </TextBlock>
                                </StackPanel>
                            </Border>

                            <Border BorderBrush="Gray" BorderThickness="1" Grid.Row="1">
                                <StackPanel VerticalAlignment="Center" HorizontalAlignment="Center">
                                    <TextBlock HorizontalAlignment="Center"  Foreground="White" FontSize="20">
                                        <Run Text="{Binding CurrentMCR, FallbackValue=0}"/>
                                    </TextBlock>
                                </StackPanel>
                            </Border>

                            <Border BorderBrush="Gray" BorderThickness="1" Grid.Column="1" Grid.Row="0">
                                <StackPanel VerticalAlignment="Center" HorizontalAlignment="Center">
                                    <TextBlock  Foreground="Orange" FontSize="20">
                                        Current
                                    </TextBlock>
                                    <TextBlock HorizontalAlignment="Center"  Foreground="Orange" FontSize="20">
                                        Tag
                                    </TextBlock>
                                </StackPanel>
                            </Border>

                            <Border BorderBrush="Gray" BorderThickness="1" Grid.Column="1" Grid.Row="1">
                                <StackPanel VerticalAlignment="Center" HorizontalAlignment="Center">
                                    <TextBlock HorizontalAlignment="Center"  Foreground="White" FontSize="20">
                                        <Run Text="{Binding CurrentTag, FallbackValue=0}"/>
                                    </TextBlock>
                                </StackPanel>
                            </Border>

                            <Border BorderBrush="Gray" BorderThickness="1" Grid.Column="2" Grid.Row="0">
                                <StackPanel VerticalAlignment="Center" HorizontalAlignment="Center">
                                    <TextBlock HorizontalAlignment="Center"  Foreground="Orange" FontSize="20">
                                        CanReady
                                    </TextBlock>
                                    <TextBlock HorizontalAlignment="Center"  Foreground="Orange" FontSize="20">
                                        State
                                    </TextBlock>
                                </StackPanel>
                            </Border>

                            <Border BorderBrush="Gray" BorderThickness="1" Grid.Column="2" Grid.Row="1">
                                <StackPanel Orientation="Horizontal" VerticalAlignment="Center" HorizontalAlignment="Center">
                                    <TextBlock Margin="5" HorizontalAlignment="Center" Foreground="White" FontSize="20">
                                       <Run Text="{Binding AutoReadyFlag, FallbackValue=NG}"/>
                                    </TextBlock>
                                    <Ellipse Margin="5" Height="20" Width="20" Fill="{Binding AutoReadyFlagColor, FallbackValue=Gray}" Stroke="White"/>
                                </StackPanel>
                            </Border>
                        </Grid>

                        <Grid Grid.Column="1">
                            <Grid.ColumnDefinitions>
                                <ColumnDefinition Width="*"/>
                                <ColumnDefinition Width="*"/>
                            </Grid.ColumnDefinitions>

                            <Border BorderThickness="1" BorderBrush="#FF00FFD3" Margin="22,6,209,-6"/>
                            <Grid Grid.Column="0" Margin="70,10,0,10">
                                <Button Width="150"
                                    HorizontalAlignment="Stretch" 
                                    Height="Auto" 
                                    Style="{StaticResource MaterialDesignRaisedButton}"
                                    materialDesign:ButtonAssist.CornerRadius="10"
                                    BorderBrush="{Binding SteeringLeftBrushProperty}" 
                                    BorderThickness="5" 
                                    Command="{Binding SteeringMoveCommand}"
                                    CommandParameter="CW" >
                                    <StackPanel>
                                        <materialDesign:PackIcon Kind="ArrowLeft" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                                        <TextBlock Text="Steering Left" VerticalAlignment="Stretch" HorizontalAlignment="Center" FontSize="20"/>
                                    </StackPanel>
                                </Button>
                            </Grid>

                            <Grid Grid.Column="1" Margin="0,10,30,10">
                                <Button Width="150"
                                    HorizontalAlignment="Stretch" 
                                    Height="Auto" 
                                    Style="{StaticResource MaterialDesignRaisedButton}"
                                    materialDesign:ButtonAssist.CornerRadius="10"
                                    BorderBrush="{Binding SteeringRightBrushProperty}" 
                                    BorderThickness="5" 
                                    Command="{Binding SteeringMoveCommand}"
                                    CommandParameter="CCW">
                                    <StackPanel>
                                        <materialDesign:PackIcon Kind="ArrowRight" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                                        <TextBlock Text="Steering Right" VerticalAlignment="Stretch" HorizontalAlignment="Center" FontSize="18"/>
                                    </StackPanel>
                                </Button>
                            </Grid>
                        </Grid>
                    </Grid>

                    <Grid Grid.Row="1">
                        <Grid.ColumnDefinitions>
                            <ColumnDefinition Width="*"/>
                            <ColumnDefinition Width="*"/>
                            <ColumnDefinition Width="*"/>
                        </Grid.ColumnDefinitions>

                        <Border BorderThickness="1" BorderBrush="#FF00FFD3" Margin="15,0,10,169" Grid.ColumnSpan="3"></Border>

                        <Grid Grid.Column="0" Margin="20">
                            <RepeatButton
                            HorizontalAlignment="Right"
                            VerticalAlignment="Bottom"
                            Width="180"
                            Height="90"
                            Style="{StaticResource MaterialDesignRaisedButton}"
                            materialDesign:ButtonAssist.CornerRadius="10"
                            Command="{Binding JogCommand}" CommandParameter="-"
                            >
                                <StackPanel>
                                    <materialDesign:PackIcon Kind="MinusBoxOutline" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="50" Width="auto"/>
                                    <TextBlock><Run Text="BackWard" FontSize="25"/></TextBlock>
                                </StackPanel>
                            </RepeatButton>
                        </Grid>

                        <Grid Grid.Column="1" Margin="20">
                            <Button
                            HorizontalAlignment="Center"
                            VerticalAlignment="Bottom"
                            Width="180"
                            Height="90"
                            Style="{StaticResource MaterialDesignRaisedButton}"
                            materialDesign:ButtonAssist.CornerRadius="10"
                            Command="{Binding JogVelPopupCommand}" CommandParameter="-">
                                <StackPanel>
                                    <TextBlock HorizontalAlignment="Center"><Run Text="Jog Velocity" FontSize="25"/></TextBlock>
                                    <TextBlock HorizontalAlignment="Center"><Run Text="{Binding JogVelocity, StringFormat={}{0:0.000}, FallbackValue=0.00}" FontSize="30" Foreground="Orange"/></TextBlock>
                                </StackPanel>
                            </Button>
                        </Grid>

                        <Grid Grid.Column="2" Margin="20">
                            <RepeatButton
                            HorizontalAlignment="Left"
                            VerticalAlignment="Bottom"
                            Width="180"
                            Height="90"
                            Style="{StaticResource MaterialDesignRaisedButton}"
                            materialDesign:ButtonAssist.CornerRadius="10"
                            Command="{Binding JogCommand}" CommandParameter="+">
                                <StackPanel>
                                    <materialDesign:PackIcon Kind="PlusBoxOutline" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="50" Width="auto"/>
                                    <TextBlock><Run Text="Forward" FontSize="25"/></TextBlock>
                                </StackPanel>
                            </RepeatButton>
                        </Grid>
                    </Grid>
                </Grid>
                <!--<Grid Grid.Row="1">
                    <Grid.RowDefinitions>
                        <RowDefinition Height="*"/>
                        <RowDefinition Height="*"/>
                        <RowDefinition Height="*"/>
                        <RowDefinition Height="*"/>
                    </Grid.RowDefinitions>
                    <Grid.ColumnDefinitions>
                        <ColumnDefinition Width="*"/>
                        <ColumnDefinition Width="*"/>
                        <ColumnDefinition Width="*"/>
                        <ColumnDefinition Width="*"/>
                        <ColumnDefinition Width="*"/>
                    </Grid.ColumnDefinitions>

                    <Border Margin="10,5,179,0" BorderBrush="#FF00FFD3" BorderThickness="2" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Grid.RowSpan="2" Grid.Column="2"/>
                    <Border Margin="33,-2,34,82" BorderBrush="#FF00FFD3" BorderThickness="2" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Grid.Column="2" Grid.ColumnSpan="3" Grid.RowSpan="2"/>

                    -->
                <!--<Button Grid.Column="0" Grid.Row="1" HorizontalAlignment="Stretch" Margin="5" Height="auto"
                            Style="{StaticResource MaterialDesignRaisedButton}"
                            materialDesign:ButtonAssist.CornerRadius="10">
                        <StackPanel>
                            <TextBlock HorizontalAlignment="Center"><Run Text="Target" FontSize="20"/></TextBlock>
                            <TextBlock HorizontalAlignment="Center"><Run Text="Pos" FontSize="20"/></TextBlock>
                        </StackPanel>
                    </Button>-->
                <!--

                    <Button Grid.Column="0" Grid.Row="1" HorizontalAlignment="Stretch" Margin="5" Height="auto"
                            Style="{StaticResource MaterialDesignRaisedButton}"
                            materialDesign:ButtonAssist.CornerRadius="10"
                            ToolTip="MaterialDesignRaisedButton with Round Corners">
                        <StackPanel>
                            <TextBlock HorizontalAlignment="Center"><Run Text="Vehicle" FontSize="20"/></TextBlock>
                            <TextBlock HorizontalAlignment="Center"><Run Text="Drive" FontSize="20"/></TextBlock>
                        </StackPanel>
                    </Button>

                    -->
                <!--<Button Grid.Column="0" Grid.Row="3" HorizontalAlignment="Stretch" Margin="5" Height="auto"
                            Style="{StaticResource MaterialDesignRaisedButton}"
                            materialDesign:ButtonAssist.CornerRadius="10">
                        <StackPanel>
                            <TextBlock HorizontalAlignment="Center"><Run Text="Difference" FontSize="20"/></TextBlock>
                            <TextBlock HorizontalAlignment="Center"><Run Text="Pos" FontSize="20"/></TextBlock>
                        </StackPanel>
                    </Button>-->

                <!--<Button Grid.Column="1" Grid.Row="0" HorizontalAlignment="Stretch" Margin="5" Height="auto"
                            Style="{StaticResource MaterialDesignRaisedButton}"
                            materialDesign:ButtonAssist.CornerRadius="10"
                            Command="{Binding SelectAxisCommand}"
                            CommandParameter="Left">
                        <TextBlock><Run Text="Drive" FontSize="20"/></TextBlock>
                    </Button>-->
                <!--

                    <Button Grid.Column="1" Grid.Row="0" HorizontalAlignment="Stretch" Margin="5" Height="auto"
                            Style="{StaticResource MaterialDesignRaisedButton}"
                            materialDesign:ButtonAssist.CornerRadius="10"
                            Command="{Binding SelectAxisCommand}"
                            CommandParameter="Left">
                        <StackPanel>
                            <TextBlock><Run Text="Current" FontSize="20"/></TextBlock>
                            <TextBlock><Run Text="Position" FontSize="20"/></TextBlock>
                        </StackPanel>
                    </Button>

                    -->
                <!--<Button Background="{x:Null}" Grid.Column="1" Grid.Row="1" HorizontalAlignment="Stretch" Margin="5" Height="auto"
                            Style="{StaticResource MaterialDesignRaisedButton}"
                            materialDesign:ButtonAssist.CornerRadius="10">
                        <Button.InputBindings>
                            <MouseBinding Gesture="LeftClick" Command="{Binding KeyInTargetPosCommand}" CommandParameter="Left"/>
                        </Button.InputBindings>
                        <TextBlock><Run Text="{Binding DriveTargetPos, StringFormat=0.000, FallbackValue=0.000}" FontSize="20"/></TextBlock>
                    </Button>-->
                <!--

                    <Button Background="{x:Null}" Grid.Column="1" Grid.Row="1" HorizontalAlignment="Stretch" Margin="5" Height="auto"
                            Style="{StaticResource MaterialDesignRaisedButton}"
                            materialDesign:ButtonAssist.CornerRadius="10">
                        <TextBlock><Run Text="{Binding CurrentPosition, StringFormat=0.000, FallbackValue=0.000}" FontSize="20"/></TextBlock>
                    </Button>

                    -->
                <!--<Button Background="{x:Null}" Grid.Column="1" Grid.Row="3" HorizontalAlignment="Stretch" Margin="5" Height="auto"
                            Style="{StaticResource MaterialDesignRaisedButton}"
                            materialDesign:ButtonAssist.CornerRadius="10">
                        <TextBlock><Run Text="{Binding DifferenceDrive, StringFormat=0.000, FallbackValue=0.000}" FontSize="20"/></TextBlock>
                    </Button>-->
                <!--

                    <StackPanel Grid.Column="2" Grid.Row="1" Grid.ColumnSpan="3" Grid.RowSpan="3"  Orientation="Horizontal" HorizontalAlignment="Center" Margin="82,52,43,31" Width="379" >

                        <materialDesign:Badged Badge="Steering" BadgeColorZoneMode="Accent"></materialDesign:Badged>

                        <Button Margin="20,30" Width="150"
                        HorizontalAlignment="Stretch" 
                        Height="Auto" 
                        BorderBrush="{Binding SteeringLeftBrushProperty}" 
                        BorderThickness="5" 
                        Command="{Binding SteeringMoveCommand}"
                        CommandParameter="CW" >
                            <StackPanel>
                                <materialDesign:PackIcon Kind="ArrowLeft" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                                <TextBlock Text="Steering Left" VerticalAlignment="Stretch" HorizontalAlignment="Center" FontSize="20"/>
                            </StackPanel>
                        </Button>

                        <Button Margin="0,30" Width="150"
                        HorizontalAlignment="Stretch" 
                        Height="Auto" 
                        BorderBrush="{Binding SteeringRightBrushProperty}" 
                        BorderThickness="5" 
                        Command="{Binding SteeringMoveCommand}"
                        CommandParameter="CCW">
                            <StackPanel>
                                <materialDesign:PackIcon Kind="ArrowRight" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                                <TextBlock Text="Steering Right" VerticalAlignment="Stretch" HorizontalAlignment="Center" FontSize="18"/>
                            </StackPanel>
                        </Button>
                    </StackPanel>


                    -->
                <!--Jog Button-->
                <!--
                    <RepeatButton
                            Margin="5"
                            Grid.Row="0" 
                            Grid.Column="2"
                            HorizontalAlignment="Right"
                            Width="120"
                            Height="auto"
                            Command="{Binding JogCommand}" CommandParameter="-"
                            >
                        <StackPanel>
                            <materialDesign:PackIcon Kind="MinusBoxOutline" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="30" Width="auto"/>
                            <TextBlock><Run Text="BackWard" FontSize="20"/></TextBlock>
                        </StackPanel>
                    </RepeatButton>

                    <Button
                            Margin="5"
                            Grid.Row="0" 
                            Grid.Column="3"
                            HorizontalAlignment="Center"
                            Height="auto"
                            Command="{Binding JogVelPopupCommand}" CommandParameter="-">
                        <StackPanel>
                            <TextBlock HorizontalAlignment="Center"><Run Text="Jog Velocity"/></TextBlock>
                            <TextBlock HorizontalAlignment="Center"><Run Text="{Binding JogVelocity, StringFormat={}{0:0.000}, FallbackValue=0.00}" FontSize="20" Foreground="Orange"/></TextBlock>
                        </StackPanel>
                    </Button>

                    <RepeatButton
                            Margin="5"
                            Grid.Row="0" 
                            Grid.Column="4"
                            HorizontalAlignment="Left"
                            Width="120"
                            Height="auto"
                            Command="{Binding JogCommand}" CommandParameter="+">
                        <StackPanel>
                            <materialDesign:PackIcon Kind="PlusBoxOutline" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="30" Width="auto"/>
                            <TextBlock><Run Text="Forward" FontSize="20"/></TextBlock>
                        </StackPanel>
                    </RepeatButton>
                </Grid>-->

                <!--Steering Control-->
                <Grid Grid.Row="2">

                </Grid>
            </Grid>

            <!--Sub Drive Menu-->
            <!--<Grid Grid.Column="1" Background="#37474f" Grid.RowSpan="2">
            <StackPanel Orientation="Vertical" VerticalAlignment="Top">
                <Button Margin="7, 10" HorizontalAlignment="Stretch" Height="60" BorderBrush="Gray" BorderThickness="2" 
                        Command="{Binding PositionAddCommand}">
                    <StackPanel>
                        <materialDesign:PackIcon Kind="PowerSettings" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                        <TextBlock Text="Add" VerticalAlignment="Stretch" HorizontalAlignment="Center"/>
                    </StackPanel>
                </Button>

                <Button Margin="7, 10" HorizontalAlignment="Stretch" Height="60" BorderBrush="Gray" BorderThickness="2" 
                        Command="{Binding PositionDeleteCommand}">
                    <StackPanel>
                        <materialDesign:PackIcon Kind="PowerSettings" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                        <TextBlock Text="Delete" VerticalAlignment="Stretch" HorizontalAlignment="Center"/>
                    </StackPanel>
                </Button>

            </StackPanel>

            <StackPanel Grid.Column="1" VerticalAlignment="Center" Orientation="Vertical"
                        Margin="0,130,0,0">
                <Button Margin="7" HorizontalAlignment="Stretch" Height="60" BorderBrush="Gray" BorderThickness="2" 
                        Command="{Binding CurrentToTargetCommand}">
                    <StackPanel>
                        <materialDesign:PackIcon Kind="PowerSettings" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                        <TextBlock Text="Current To" VerticalAlignment="Stretch" HorizontalAlignment="Center"/>
                        <TextBlock Text="Target" VerticalAlignment="Stretch" HorizontalAlignment="Center"/>
                    </StackPanel>
                </Button>

                <Button Margin="10,0,10,10" HorizontalAlignment="Stretch" Height="90" BorderBrush="Gray" BorderThickness="2" 
                        Command="{Binding MoveToCommand}">
                    <StackPanel>
                        <materialDesign:PackIcon Kind="PowerSettings" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                        <TextBlock Text="Move To" VerticalAlignment="Stretch" HorizontalAlignment="Center" FontSize="20"/>
                    </StackPanel>
                </Button>
            </StackPanel>
        </Grid>-->

            <!--Right Drive Menu-->
            <Grid Grid.Column="2" Background="#263238" Grid.RowSpan="2">
                <Border Margin="1,1,0,1" BorderBrush="#FF00FFD3" BorderThickness="2" VerticalAlignment="Stretch" HorizontalAlignment="Left" Width="128"/>
                <StackPanel VerticalAlignment="Top">
                    <Button Background="{Binding DriveOnStateBrush, FallbackValue=DodgerBlue}" Margin="10,10,10,5" HorizontalAlignment="Stretch" Height="90" BorderBrush="Gray" BorderThickness="2" Command="{Binding ServoOnCommand}">
                        <StackPanel>
                            <materialDesign:PackIcon Kind="PowerSettings" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                            <TextBlock Text="Servo On" VerticalAlignment="Stretch" HorizontalAlignment="Center" FontSize="19"/>
                        </StackPanel>
                    </Button>

                    <Button Margin="10,10,10,5" HorizontalAlignment="Stretch" Height="90" BorderBrush="Gray" BorderThickness="2" Command="{Binding ServoOffCommand}">
                        <StackPanel>
                            <materialDesign:PackIcon Kind="PowerPlugOff" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                            <TextBlock Text="Servo Off" VerticalAlignment="Stretch" HorizontalAlignment="Center" FontSize="18"/>
                        </StackPanel>
                    </Button>

                    <Button Margin="10,10,10,5" HorizontalAlignment="Stretch" Height="90" BorderBrush="Gray" BorderThickness="2" Command="{Binding FaultResetCommand}">
                        <StackPanel>
                            <materialDesign:PackIcon Kind="CircleArrows" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                            <TextBlock Text="Fault Reset" FontSize="16" VerticalAlignment="Stretch" HorizontalAlignment="Center"/>
                        </StackPanel>
                    </Button>

                    <Button Margin="10,100,10,5" HorizontalAlignment="Stretch" Height="90" BorderBrush="Gray" BorderThickness="2" 
                        Command="{Binding MoveToCommand}">
                        <StackPanel>
                            <!--<materialDesign:PackIcon Kind="MoveResizeVariant" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>-->
                            <TextBlock Text="Move To" VerticalAlignment="Stretch" HorizontalAlignment="Center" FontSize="20"/>
                        </StackPanel>
                    </Button>

                    <!--<Button Margin="10,10,10,5" HorizontalAlignment="Stretch" Height="90" BorderBrush="Gray" BorderThickness="2" Command="{Binding OriginCommand}">
                    <StackPanel>
                        <materialDesign:PackIcon Kind="Origin" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                        <TextBlock Text="Origin" VerticalAlignment="Stretch" HorizontalAlignment="Center" FontSize="20"/>
                    </StackPanel>
                </Button>-->
                </StackPanel>

                <StackPanel VerticalAlignment="Bottom">
                    <!--<Button Margin="10,0,10,10" HorizontalAlignment="Stretch" Height="90" BorderBrush="Gray" BorderThickness="2" 
                        Command="{Binding PositionSaveCommand}">
                        <StackPanel>
                            <materialDesign:PackIcon Kind="ContentSave" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                            <TextBlock Text="Save" VerticalAlignment="Stretch" HorizontalAlignment="Center" FontSize="20"/>
                        </StackPanel>
                    </Button>-->

                    <Button Margin="10,0,10,10" HorizontalAlignment="Stretch" Height="90" BorderBrush="Gray" BorderThickness="2" Command="{Binding CloseDialogCommand}" CommandParameter="true">
                        <StackPanel>
                            <materialDesign:PackIcon Kind="ExitToApp" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                            <TextBlock Text="Close" VerticalAlignment="Stretch" HorizontalAlignment="Center" FontSize="20"/>
                        </StackPanel>
                    </Button>
                </StackPanel>
            </Grid>
        </Grid>
    </Border>

</UserControl>