MainWindow.xaml

<Window
        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
        xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
        xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
        xmlns:CommandoDash="clr-namespace:CommandoDash"
        xmlns:local="clr-namespace:CommandoDash"
        xmlns:MyNamespace="clr-namespace:CommandoDash;assembly=CommandoDash"
        xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes" x:Class="CommandoDash.MainWindow"
        xmlns:ed="http://schemas.microsoft.com/expression/2010/drawing"    
        mc:Ignorable="d"
        Icon="Images/favicon-16x16.png"
        Title="MainWindow" Height="840" Width="1920" ResizeMode="NoResize"
        WindowStartupLocation="Manual" Left="0" Top="0"
        WindowStyle="None" BorderThickness="0" Background="#FF92C822">

    <Window.Resources>
        <!-- Default Colors -->
        <Color x:Key="BaseGray">#FF2A2A2A</Color>
        <Brush x:Key="CommandoRed">#FF0000</Brush>
        <Brush x:Key="CommandoNavy">#0004B6</Brush>
        <Brush x:Key="CommandoMetalGray">#BCBEC0</Brush>
        <Brush x:Key="PanelGrey">#FF454545</Brush>
        <Brush x:Key="TextBoxBackground">#FFB1B1B1</Brush>

        <!-- CurrentDraw Colors -->
        <Brush x:Key="CurrentTextForeground">#FF0000</Brush>
        <Brush x:Key="CurrentProgressForeground">#FF363636</Brush>
        <Brush x:Key="CurrentProgressBorder">#FF404040</Brush>
        <LinearGradientBrush x:Key="CurrentProgressBackground">
            <GradientStop Color="Red" Offset="0" />
            <GradientStop Color="#FF92C822" Offset="0.5" />
            <GradientStop Color="Green" Offset="1" />
        </LinearGradientBrush>
        <Brush x:Key="PowerDisabled">#FFBB0E00</Brush>
        <Brush x:Key="PowerEnabled">#FFBB0E00</Brush>
        <Brush x:Key="PowerBorder">#FF343435</Brush>

        <!-- Border Colors -->
        <Brush x:Key="AutoButtonBorder">#FFC5CBF9</Brush>

        <!-- Tab Colors -->
        <Brush x:Key="TabBorderColor">#FF404040</Brush>
        <Brush x:Key="ControlBorderColor">#FF404040</Brush>
        <Brush x:Key="DisabledTabColor">#FFC5CBF9</Brush>
        <Color x:Key="TabSelectedColor">#FF525252</Color>

        <!-- Button Colors -->
        <Brush x:Key="ButtonBackground">#FF343435</Brush>
        <Brush x:Key="ButtonPressed">#FF343435</Brush>
        <Brush x:Key="ButtonHovered">#FF525252</Brush>
        <Brush x:Key="AutoButtonBase">#FF901C1C</Brush>
        <Brush x:Key="AutoButtonHovered">#FFA42424</Brush>
        <Brush x:Key="AutoButtonPressed">#FF581010</Brush>
        <Brush x:Key="AutoButtonActive">#FF0000</Brush>

        <!-- Status Blocks Colors -->
        <Brush x:Key="SolenoidDisabled">#FF740900</Brush>
        <Brush x:Key="SolenoidEnabled">#FF00CD0C</Brush>
        <Brush x:Key="SolenoidBorder">#FF343435</Brush>
        <Brush x:Key="LimeSeesTarget">#FF149562</Brush>
        <Brush x:Key="LimeDefault">#FF083A26</Brush>
        <Brush x:Key="LimeBorder">#FF343435</Brush>
        <Brush x:Key="HoundRedHounding">#FFCC1311</Brush>
        <Brush x:Key="HoundRedDefault">#FF500A09</Brush>
        <Brush x:Key="HoundRedBorder">#FF343435</Brush>
        <Brush x:Key="HoundBlueHounding">#FF0270EA</Brush>
        <Brush x:Key="HoundBlueDefault">#FF032954</Brush>
        <Brush x:Key="HoundBlueBorder">#FF343435</Brush>
        <Brush x:Key="IndexDisabled">#FF740900</Brush>
        <Brush x:Key="IndexBlueEnabled">#FF0270EA</Brush>
        <Brush x:Key="IndexRedEnabled">#FFCC1311</Brush>
        <Brush x:Key="IndexBorder">Black</Brush>

        <!-- Default Styles -->
        <Style TargetType="{x:Type Label}">
            <Setter Property="Foreground" Value="White"/>
        </Style>
        <Style TargetType="{x:Type TextBox}">
            <Setter Property="FontSize" Value="14"/>
            <Setter Property="Background" Value="#FFB1B1B1"/>
            <Setter Property="BorderBrush" Value="{x:Null}"/>
        </Style>
        <Style TargetType="{x:Type ProgressBar}">
            <Setter Property="Width" Value="350"/>
            <Setter Property="Height" Value="25"/>
            <Setter Property="Value" Value="15"/>
            <Setter Property="Minimum" Value="0"/>
            <Setter Property="Maximum" Value="40"/>
            <Setter Property="Background" Value="{StaticResource CurrentProgressBackground}"/>
            <Setter Property="BorderBrush" Value="{StaticResource CurrentProgressBorder}"/>
            <Setter Property="Foreground" Value="{StaticResource CurrentProgressForeground}"/>
            <Setter Property="RenderTransformOrigin" Value="0.5,0.5"/>
        </Style>

        <!-- Image Styles -->
        <Style TargetType="{x:Type Image}" x:Key="IndexCargoImages">
            <Setter Property="Width" Value="60"/>
            <Setter Property="Height" Value="60"/>
            <Setter Property="Source" Value="/Images/Blue_Cargo.png"/>
            <Setter Property="Visibility" Value="Hidden"/>
        </Style>
        <Style TargetType="{x:Type Image}" x:Key="IndexCargoTransferImages">
            <Setter Property="Width" Value="60"/>
            <Setter Property="Height" Value="60"/>
            <Setter Property="Source" Value="/Images/Blue_Cargo.png"/>
            <Setter Property="Visibility" Value="Hidden"/>
            <Setter Property="Opacity" Value="0.5"/>
        </Style>

        <!-- TextBlock/Box Styles -->
        <Style TargetType="{x:Type local:StatusTextBlock}" x:Key="StatusTextBlocks">
            <Setter Property="Height" Value="92"/>
            <!--1.428-->
            <Setter Property="Width" Value="130"/>
            <Setter Property="FontSize" Value="16"/>
            <Setter Property="Foreground" Value="White"/>
            <Setter Property="Background" Value="{StaticResource ButtonBackground}"/>
            <Setter Property="IsEnabled" Value="False"/>
            <Setter Property="Template">
                <Setter.Value>
                    <ControlTemplate TargetType="{x:Type local:StatusTextBlock}">
                        <Border x:Name="Border" Background="{TemplateBinding Background}" BorderBrush="{TemplateBinding BorderBrush}" BorderThickness="2">
                            <ContentPresenter Content="{TemplateBinding Text}" HorizontalAlignment="Center" VerticalAlignment="Center"/>
                        </Border>
                    </ControlTemplate>
                </Setter.Value>
            </Setter>
            <Style.Triggers>
                <Trigger Property="IsActive" Value="True">
                    <Setter Property="Background" Value="{Binding ActiveBrush, RelativeSource={RelativeSource Self}}"/>
                </Trigger>
                <Trigger Property="IsActive" Value="False">
                    <Setter Property="Background" Value="{Binding InactiveBrush, RelativeSource={RelativeSource Self}}"/>
                </Trigger>
            </Style.Triggers>
        </Style>
        <Style TargetType="{x:Type local:StatusTextBlock}" x:Key="ReadyToShootStatus">
            <Setter Property="FontSize" Value="18"/>
            <Setter Property="Foreground" Value="White"/>
            <Setter Property="Background" Value="{StaticResource ButtonBackground}"/>
            <Setter Property="IsEnabled" Value="False"/>
            <Setter Property="Template">
                <Setter.Value>
                    <ControlTemplate TargetType="{x:Type local:StatusTextBlock}">
                        <Border x:Name="Border" Background="{TemplateBinding Background}" BorderBrush="{TemplateBinding BorderBrush}" BorderThickness="2">
                            <ContentPresenter Content="{TemplateBinding Text}" HorizontalAlignment="Center" VerticalAlignment="Center"/>
                        </Border>
                    </ControlTemplate>
                </Setter.Value>
            </Setter>
            <Style.Triggers>
                <Trigger Property="IsActive" Value="True">
                    <Setter Property="Background" Value="{Binding ActiveBrush, RelativeSource={RelativeSource Self}}"/>
                </Trigger>
                <Trigger Property="IsActive" Value="False">
                    <Setter Property="Background" Value="{Binding InactiveBrush, RelativeSource={RelativeSource Self}}"/>
                </Trigger>
            </Style.Triggers>
        </Style>
        <Style TargetType="{x:Type local:StatusTextBlock}" x:Key="PowerStatusBlocks">
            <Setter Property="FontSize" Value="14"/>
            <Setter Property="Width" Value="55"/>
            <Setter Property="Height" Value="23"/>
            <Setter Property="Foreground" Value="White"/>
            <Setter Property="Background" Value="{StaticResource ButtonBackground}"/>
            <Setter Property="IsEnabled" Value="False"/>
            <Setter Property="Template">
                <Setter.Value>
                    <ControlTemplate TargetType="{x:Type local:StatusTextBlock}">
                        <Border x:Name="Border" Background="{TemplateBinding Background}" BorderBrush="{TemplateBinding BorderBrush}" BorderThickness="1">
                            <ContentPresenter Content="{TemplateBinding Text}" HorizontalAlignment="Center" VerticalAlignment="Center"/>
                        </Border>
                    </ControlTemplate>
                </Setter.Value>
            </Setter>
            <Style.Triggers>
                <Trigger Property="IsActive" Value="True">
                    <Setter Property="Background" Value="{Binding ActiveBrush, RelativeSource={RelativeSource Self}}"/>
                </Trigger>
                <Trigger Property="IsActive" Value="False">
                    <Setter Property="Background" Value="{Binding InactiveBrush, RelativeSource={RelativeSource Self}}"/>
                </Trigger>
            </Style.Triggers>
        </Style>
        <Style TargetType="{x:Type TextBlock}" x:Key="CurrentDrawBlock">
            <Setter Property="FontSize" Value="18"/>
            <Setter Property="Foreground" Value="{StaticResource CurrentTextForeground}"/>
            <Setter Property="FontWeight" Value="SemiBold"/>
            <Setter Property="Height" Value="25"/>
            <Setter Property="Width" Value="37"/>
            <Setter Property="FontSize" Value="20"/>
            <Setter Property="TextAlignment" Value="Center"/>
        </Style>
        <Style TargetType="{x:Type local:StatusTextBlock}" x:Key="IndexStatusBlocks">
            <Setter Property="FontSize" Value="14"/>
            <Setter Property="Width" Value="30"/>
            <Setter Property="Height" Value="30"/>
            <Setter Property="Foreground" Value="White"/>
            <Setter Property="Background" Value="{StaticResource ButtonBackground}"/>
            <Setter Property="IsEnabled" Value="False"/>
            <Setter Property="ActiveBrush" Value="{StaticResource IndexBlueEnabled}"/>
            <Setter Property="InactiveBrush" Value="{x:Null}"/>
            <Setter Property="BorderBrush" Value="{StaticResource IndexBorder}"/>
            <Setter Property="BorderThickness" Value="1"/>
            <Setter Property="Template">
                <Setter.Value>
                    <ControlTemplate TargetType="{x:Type local:StatusTextBlock}">
                        <Grid>
                            <Ellipse x:Name="InsideEllipse" StrokeDashArray="3" StrokeDashCap="Round" Grid.Row="1" Width="{TemplateBinding Width}" Height="{TemplateBinding Height}" Fill="{TemplateBinding Background}" Stroke="{TemplateBinding BorderBrush}" StrokeThickness="{TemplateBinding BorderThickness}" />
                        </Grid>
                        <ControlTemplate.Triggers>
                            <Trigger Property="IsActive" Value="True">
                                <Setter TargetName="InsideEllipse" Property="StrokeDashArray" Value="0"/>
                            </Trigger>
                        </ControlTemplate.Triggers>
                    </ControlTemplate>
                </Setter.Value>
            </Setter>
            <Style.Triggers>
                <Trigger Property="IsActive" Value="True">
                    <Setter Property="Background" Value="{Binding ActiveBrush, RelativeSource={RelativeSource Self}}"/>
                </Trigger>
                <Trigger Property="IsActive" Value="False">
                    <Setter Property="Background" Value="{Binding InactiveBrush, RelativeSource={RelativeSource Self}}"/>
                </Trigger>
            </Style.Triggers>
        </Style>
        <Style TargetType="{x:Type TextBox}" x:Key="PIDSmallBoxes">
            <Setter Property="FontSize" Value="16"/>
            <Setter Property="Height" Value="30"/>
            <Setter Property="Width" Value="54"/>
            <Setter Property="TextAlignment" Value="Left"/>
        </Style>
        <Style TargetType="{x:Type TextBox}" x:Key="PIDBigBoxes">
            <Setter Property="FontSize" Value="16"/>
            <Setter Property="Height" Value="30"/>
            <Setter Property="Width" Value="116"/>
            <Setter Property="TextAlignment" Value="Left"/>
        </Style>

        <!-- Button Styles -->
        <Style TargetType="{x:Type Button}" x:Key="WindowButtons">
            <Setter Property="Background" Value="#FF2A2A2A"/>
            <Setter Property="Width" Value="32"/>
            <Setter Property="Height" Value="32"/>
            <Setter Property="Margin" Value="0"/>
            <Setter Property="Template">
                <Setter.Value>
                    <ControlTemplate TargetType="{x:Type Button}">
                        <Border Background="{TemplateBinding Background}">
                            <ContentPresenter HorizontalAlignment="Center" VerticalAlignment="Center"/>
                        </Border>
                    </ControlTemplate>
                </Setter.Value>
            </Setter>
            <Style.Triggers>
                <Trigger Property="IsMouseOver" Value="True">
                    <Setter Property="Background" Value="#FF525252"/>
                </Trigger>
            </Style.Triggers>
        </Style>
        <Style TargetType="{x:Type Button}" x:Key="RefreshButton">
            <Setter Property="Background" Value="#FF2A2A2A"/>
            <Setter Property="Width" Value="19"/>
            <Setter Property="Height" Value="19"/>
            <Setter Property="Margin" Value="0"/>
            <Setter Property="Template">
                <Setter.Value>
                    <ControlTemplate TargetType="{x:Type Button}">
                        <Border Background="{TemplateBinding Background}">
                            <ContentPresenter HorizontalAlignment="Center" VerticalAlignment="Center" Margin="2"/>
                        </Border>
                    </ControlTemplate>
                </Setter.Value>
            </Setter>
            <Style.Triggers>
                <Trigger Property="IsMouseOver" Value="True">
                    <Setter Property="Background" Value="#FF525252"/>
                </Trigger>
                <Trigger Property="IsPressed" Value="True">
                    <Setter Property="Background" Value="{StaticResource ButtonPressed}"/>
                </Trigger>
            </Style.Triggers>
        </Style>
        <Style TargetType="{x:Type Button}" x:Key="CameraConnectionButton">
            <Setter Property="Background" Value="{StaticResource ButtonBackground}"/>
            <Setter Property="Foreground" Value="White"/>
            <Setter Property="TextElement.FontSize" Value="10"/>
            <Setter Property="Margin" Value="0"/>
            <Setter Property="Template">
                <Setter.Value>
                    <ControlTemplate TargetType="{x:Type Button}">
                        <Border BorderThickness="1" BorderBrush="{StaticResource TabBorderColor}" Background="{TemplateBinding Background}">
                            <ContentPresenter Margin="3.5" HorizontalAlignment="Center" VerticalAlignment="Center"/>
                        </Border>
                    </ControlTemplate>
                </Setter.Value>
            </Setter>
            <Style.Triggers>
                <Trigger Property="IsMouseOver" Value="True">
                    <Setter Property="Background" Value="{StaticResource ButtonHovered}"/>
                </Trigger>
                <Trigger Property="IsPressed" Value="True">
                    <Setter Property="Background" Value="{StaticResource ButtonPressed}"/>
                </Trigger>
            </Style.Triggers>
        </Style>
        <Style TargetType="{x:Type RadioButton}" x:Key="CameraRadioButtons">
            <Setter Property="Foreground" Value="White"/>
            <Setter Property="FontSize" Value="12"/>
            <Setter Property="GroupName" Value="CameraRadioGroup"/>
        </Style>
        <Style TargetType="{x:Type RadioButton}" x:Key="AutoSelectionButtons">
            <Setter Property="Background" Value="{StaticResource AutoButtonBase}"/>
            <Setter Property="FontSize" Value="16"/>
            <Setter Property="Width" Value="100"/>
            <Setter Property="Height" Value="35"/>
            <Setter Property="GroupName" Value="AutoRadioGroup"/>
            <Setter Property="Template">
                <Setter.Value>
                    <ControlTemplate TargetType="{x:Type RadioButton}">
                        <Border Background="{TemplateBinding Background}" BorderBrush="{StaticResource AutoButtonBorder}" BorderThickness="1">
                            <ContentPresenter Margin="3.5" HorizontalAlignment="Center" VerticalAlignment="Center"/>
                        </Border>
                    </ControlTemplate>
                </Setter.Value>
            </Setter>
            <Style.Triggers>
                <Trigger Property="IsChecked" Value="True">
                    <Setter Property="Background" Value="{StaticResource AutoButtonActive}"/>
                </Trigger>
                <MultiTrigger>
                    <MultiTrigger.Conditions>
                        <Condition Property="IsMouseOver" Value="True"/>
                        <Condition Property="IsChecked" Value="False"/>
                    </MultiTrigger.Conditions>
                    <Setter Property="Background" Value="{StaticResource AutoButtonHovered}"/>
                </MultiTrigger>
                <Trigger Property="IsPressed" Value="True">
                    <Setter Property="Background" Value="{StaticResource AutoButtonPressed}"/>
                </Trigger>
            </Style.Triggers>
        </Style>
        <Style TargetType="{x:Type RadioButton}" x:Key="AutoSelectionButtonsAL">
            <Setter Property="Background" Value="{StaticResource AutoButtonBase}"/>
            <Setter Property="FontSize" Value="16"/>
            <Setter Property="Width" Value="100"/>
            <Setter Property="Height" Value="35"/>
            <Setter Property="GroupName" Value="AutoRadioGroupAL"/>
            <Setter Property="Template">
                <Setter.Value>
                    <ControlTemplate TargetType="{x:Type RadioButton}">
                        <Border Background="{TemplateBinding Background}" BorderBrush="{StaticResource AutoButtonBorder}" BorderThickness="1">
                            <ContentPresenter Margin="3.5" HorizontalAlignment="Center" VerticalAlignment="Center"/>
                        </Border>
                    </ControlTemplate>
                </Setter.Value>
            </Setter>
            <Style.Triggers>
                <Trigger Property="IsChecked" Value="True">
                    <Setter Property="Background" Value="{StaticResource AutoButtonActive}"/>
                </Trigger>
                <MultiTrigger>
                    <MultiTrigger.Conditions>
                        <Condition Property="IsMouseOver" Value="True"/>
                        <Condition Property="IsChecked" Value="False"/>
                    </MultiTrigger.Conditions>
                    <Setter Property="Background" Value="{StaticResource AutoButtonHovered}"/>
                </MultiTrigger>
                <Trigger Property="IsPressed" Value="True">
                    <Setter Property="Background" Value="{StaticResource AutoButtonPressed}"/>
                </Trigger>
            </Style.Triggers>
        </Style>

        <!-- Tab Styles -->
        <Style TargetType="{x:Type TabItem}" x:Key="TabItemBase">
            <Setter Property="BorderThickness" Value="0"/>
            <Setter Property="Template">
                <Setter.Value>
                    <ControlTemplate TargetType="{x:Type TabItem}">
                        <Border x:Name="Border" VerticalAlignment="Bottom" BorderThickness="1,1,1,0" BorderBrush="{DynamicResource TabBorderColor}">
                            <Grid x:Name="TabGrid">
                                <ContentPresenter x:Name="ContentPresenter"
                                              VerticalAlignment="Center"
                                              HorizontalAlignment="Center"
                                              ContentSource="Header"
                                              Margin="4,1,4,1"/>
                            </Grid>
                        </Border>
                        <ControlTemplate.Triggers>
                            <Trigger Property="IsSelected" Value="True">
                                <Setter TargetName="Border" Property="Background" Value="#FFB1B1B1"/>
                                <Setter TargetName="Border" Property="Width" Value="Auto"/>
                                <Setter TargetName="Border" Property="Height" Value="21"/>
                            </Trigger>
                            <Trigger Property="IsSelected" Value="False">
                                <Setter TargetName="Border" Property="Background" Value="#FF525252"/>
                                <Setter TargetName="Border" Property="Width" Value="Auto"/>
                                <Setter TargetName="Border" Property="Height" Value="19"/>
                            </Trigger>
                        </ControlTemplate.Triggers>
                    </ControlTemplate>
                </Setter.Value>
            </Setter>
        </Style>
        <Style TargetType="{x:Type TabControl}" x:Key="TabControlBase">
            <Setter Property="BorderThickness" Value="2"/>
            <Setter Property="BorderBrush" Value="{StaticResource ControlBorderColor}"/>
            <Setter Property="Padding" Value="0"/>
        </Style>
    </Window.Resources>

    <Border BorderThickness="0" BorderBrush="#FF2A2A2A">
        <Grid Background="#FF2A2A2A">
            <Grid.ColumnDefinitions>
                <ColumnDefinition Width="Auto"/>
                <ColumnDefinition Width="20"/>
                <ColumnDefinition Width="20"/>
                <ColumnDefinition Width="20"/>
                <ColumnDefinition Width="20"/>
                <ColumnDefinition Width="20"/>
                <ColumnDefinition Width="20"/>
                <ColumnDefinition Width="20"/>
                <ColumnDefinition Width="*"/>
                <ColumnDefinition Width="*"/>
                <ColumnDefinition Width="*"/>
                <ColumnDefinition Width="264*"/>
                <ColumnDefinition Width="32"/>
                <ColumnDefinition Width="32"/>
                <ColumnDefinition Width="32"/>
            </Grid.ColumnDefinitions>
            <Grid.RowDefinitions>
                <RowDefinition Height="32"/>
                <RowDefinition Height="15*"/>
                <RowDefinition Height="391*"/>
                <RowDefinition Height="*"/>
                <RowDefinition Height="*"/>
                <RowDefinition Height="*"/>
                <RowDefinition Height="*"/>
                <RowDefinition Height="*"/>
            </Grid.RowDefinitions>

            <!-- Base Robot Status indicators -->
            <StatusBar x:Name="robotStatus" Width="40" Height="40" Background="Red" Margin="5,5,15,0" Grid.Column="1" Grid.ColumnSpan="3" Grid.RowSpan="2" VerticalAlignment="Top"/>
            <Label Content="Robot IP" Grid.Column="3" Margin="8,3,16,6" RenderTransformOrigin="0.37,0.469" Foreground="White" Grid.ColumnSpan="4"/>
            <TextBlock x:Name="robotModeBlock" TextAlignment="Center" Grid.Column="11" HorizontalAlignment="Left" Margin="47,12,0,0" TextWrapping="Wrap" Text="DISCONNECTED" VerticalAlignment="Top" Width="130" Height="26" FontSize="18" Grid.RowSpan="2"/>
            <Label Content="Robot&#xA;Mode" Grid.Column="11" HorizontalAlignment="Left" VerticalAlignment="Top" Width="42" Margin="0,5,0,0" Grid.RowSpan="2" Foreground="White" Height="40"/>
            <TextBox x:Name="robotIPInput" KeyDown="robotIPInput_KeyDown" Text="10.58.89.2" Grid.Column="3" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="11,23,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="105" Height="22" FontSize="14" Grid.ColumnSpan="8" Background="#FFB1B1B1" BorderBrush="{x:Null}" Grid.RowSpan="2"/>


            <!-- Window interaction buttons -->
            <Button x:Name="minimizeBtn" Style="{StaticResource WindowButtons}" Grid.Column="12" Grid.Row="0" Click="minimizeBtn_Click">
                <Image Source="/subtract.png" />
            </Button>
            <Button x:Name="makeResizeBtn" Style="{StaticResource WindowButtons}" Grid.Column="13" Grid.Row="0" Click="makeResizeBtn_Click">
                <Image Source="/restore-down.png" />
            </Button>
            <Button x:Name="closeBtn" Style="{StaticResource WindowButtons}" Grid.Column="14" Grid.Row="0" Click="closeBtn_Click">
                <Image Source="/close.png" />
            </Button>

            <!-- Tabs -->
            <TabControl Style="{DynamicResource TabControlBase}" Grid.Column="1" Grid.Row="1" Grid.ColumnSpan="14" Margin="5,30,5,5" Grid.RowSpan="2">
                <TabItem Header="DriveTime" Style="{DynamicResource TabItemBase}" BorderBrush="#FF2A2A2A">
                    <Grid Background="#FF2A2A2A">
                        <!-- DriveTime -->
                        <Grid.ColumnDefinitions>
                            <ColumnDefinition Width="995*"/>
                            <ColumnDefinition Width="911*"/>
                        </Grid.ColumnDefinitions>
                        <Border Height="501" Margin="149,10,42,0" VerticalAlignment="Top" Background="Black">
                            <Image x:Name="cameraStream" />
                        </Border>

                        <!-- Camera Connection -->
                        <Rectangle Margin="9,34,851,578" Fill="{StaticResource ResourceKey=PanelGrey}"/>
                        <Label Content="Camera Connection" HorizontalAlignment="Left" Margin="10,34,0,0" VerticalAlignment="Top" Foreground="#FFFEFEFE" Height="28" FontSize="14" FontWeight="SemiBold"/>
                        <TextBox x:Name="CameraURIInput" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="17,87,0,0" TextWrapping="NoWrap" VerticalAlignment="Top" Width="120" Height="22" FontSize="12" Background="#FFB1B1B1" BorderBrush="{x:Null}" TextAlignment="Center" KeyDown="CameraURIInput_KeyDown"/>
                        <Label Content="Camera URI" HorizontalAlignment="Left" Margin="46,67,0,0" VerticalAlignment="Top" FontSize="10"/>
                        <Button x:Name="RestartCameraConnection" Content="Restart Camera Connection" Style="{StaticResource CameraConnectionButton}" HorizontalAlignment="Left" Margin="12,123,0,0" VerticalAlignment="Top" Height="27" Click="RestartCameraConnection_Click"/>

                        <!-- Camera Selector -->
                        <Rectangle Margin="9,186,851,293" Fill="{StaticResource ResourceKey=PanelGrey}"/>
                        <Label Content="Camera Selector" HorizontalAlignment="Left" Margin="20,186,0,0" VerticalAlignment="Top" Foreground="#FFFEFEFE" Height="28" FontSize="14" FontWeight="SemiBold"/>
                        <RadioButton x:Name="IntakeCamRadio" Style="{StaticResource CameraRadioButtons}" Content="IntakeCam"  HorizontalAlignment="Left" Margin="21,227,0,0" VerticalAlignment="Top" Checked="IntakeCamRadio_Checked"/>
                        <RadioButton x:Name="ShooterCamRadio" Style="{StaticResource CameraRadioButtons}" Content="ShooterCam" Unchecked="ShooterCamRadio_Unchecked" HorizontalAlignment="Left" Margin="21,275,0,0" VerticalAlignment="Top" Checked="ShooterCamRadio_Checked"/>
                        <RadioButton x:Name="OverlayCamRadio" Style="{StaticResource CameraRadioButtons}" Content="IntakeWithOverlay" HorizontalAlignment="Left" Margin="21,323,0,0" VerticalAlignment="Top" Checked="OverlayCamRadio_Checked"/>
                        <RadioButton x:Name="IntakeThreshRadio" Style="{StaticResource CameraRadioButtons}" Content="IntakeThreshold" HorizontalAlignment="Left" Margin="21,371,0,0" VerticalAlignment="Top" Checked="IntakeThreshRadio_Checked"/>
                        <RadioButton x:Name="ShooterThreshRadio" Style="{StaticResource CameraRadioButtons}" Content="ShooterThreshold" HorizontalAlignment="Left" Margin="21,419,0,0" VerticalAlignment="Top" Checked="ShooterThreshRadio_Checked"/>

                        <!-- Auto Selection Section -->
                        <Rectangle Margin="34,539,491,29" Fill="{StaticResource ResourceKey=PanelGrey}"/>
                        <RadioButton x:Name="TaxiRadio" Style="{StaticResource AutoSelectionButtons}" Content="Taxi" Click="TaxiRadio_Clicked" HorizontalAlignment="Left" Margin="63,572,0,0" VerticalAlignment="Top" RenderTransformOrigin="0.515,-0.229"/>
                        <RadioButton x:Name="SpareRadio" Style="{StaticResource AutoSelectionButtons}" Content="Spare" Click="SpareRadio_Clicked" HorizontalAlignment="Left" Margin="63,658,0,0" VerticalAlignment="Top" RenderTransformOrigin="0.495,0.114"/>
                        <RadioButton x:Name="IdealRadio" Style="{StaticResource AutoSelectionButtons}" Content="IdealAuto" Click="IdealRadio_Clicked" HorizontalAlignment="Left" Margin="219,630,0,0" VerticalAlignment="Top"/>
                        <RadioButton x:Name="SecondRadio" Style="{StaticResource AutoSelectionButtons}" Content="DoubleShot" Click="DoubleShotRadio_Clicked" HorizontalAlignment="Left" Margin="376,651,0,0" VerticalAlignment="Top"/>
                        <RadioButton x:Name="FullSendRadio" Style="{StaticResource AutoSelectionButtons}" Content="FullSend" Click="FullSendRadio_Clicked"  HorizontalAlignment="Left" Margin="376,572,0,0" VerticalAlignment="Top" RenderTransformOrigin="-0.005,-0.186"/>
                        <Border Background="{StaticResource TextBoxBackground}" HorizontalAlignment="Left" Margin="218,592,0,0" VerticalAlignment="Top" Height="18" Width="102">
                            <TextBlock x:Name="RioAutoBox" Text="RIOData" VerticalAlignment="Center" Margin="4,0,4,0" Background="{Binding Mode=OneWay, Source={StaticResource TextBoxBackground}}" TextAlignment="Center"/>
                        </Border>
                        <Label Content="RIO Reported Auto" HorizontalAlignment="Left" Margin="214,570,0,0" VerticalAlignment="Top"/>
                        <Image x:Name="AutoLayoutImage" HorizontalAlignment="Left" Height="192" Margin="559,527,0,0" VerticalAlignment="Top" Width="384" Source="/FRC 2022 PathPlanner Field - Ideal.png"/>
                        <Label Content="Autonomous Selection" HorizontalAlignment="Left" Margin="182,539,0,0" VerticalAlignment="Top" Foreground="#FFFEFEFE" Height="28" FontSize="16" FontWeight="SemiBold"/>


                        <!-- Index Status -->
                        <Image x:Name="IndexCargo1Image" Style="{StaticResource IndexCargoImages}" Grid.Column="1" HorizontalAlignment="Left" Margin="485,49,0,0" VerticalAlignment="Top"/>
                        <Image x:Name="IndexCargo2Image" Style="{StaticResource IndexCargoImages}" Grid.Column="1" HorizontalAlignment="Left" Margin="511,98,0,0" VerticalAlignment="Top"/>
                        <Image x:Name="IntakeCargoImage" Style="{StaticResource IndexCargoImages}" Grid.Column="1" HorizontalAlignment="Left" Margin="649,132,0,0" VerticalAlignment="Top"/>
                        <Image x:Name="IntakeCargoTransfer" Style="{StaticResource IndexCargoTransferImages}" Grid.Column="1" HorizontalAlignment="Left" Margin="580,128,0,0" VerticalAlignment="Top"/>
                        <Image x:Name="VerticalCargoTransfer" Style="{StaticResource IndexCargoTransferImages}" Grid.Column="1" HorizontalAlignment="Left" Margin="491,79,0,0" VerticalAlignment="Top"/>
                        <Image Grid.Column="1" Margin="433,8,184,489" Source="/Images/5889-Index-Robot-PNG (3).png" Stretch="Fill"/>
                        <Image Grid.Column="1" HorizontalAlignment="Left" Height="180" Margin="527,0,0,0" VerticalAlignment="Top" Width="76" Source="/Images/Climb Arm Blue NoBackground.png" Stretch="Fill" RenderTransformOrigin="0.503,0.922">
                            <Image.RenderTransform>
                                <TransformGroup>
                                    <ScaleTransform/>
                                    <SkewTransform/>
                                    <RotateTransform x:Name="ClimbArmAngle" Angle="-5"/>
                                    <TranslateTransform/>
                                </TransformGroup>
                            </Image.RenderTransform>
                        </Image>
                        <Rectangle Margin="776,19,41,520" Fill="{StaticResource ResourceKey=PanelGrey}" Grid.Column="1"/>
                        <Label Grid.Column="1" Content="Index Status" HorizontalAlignment="Left" Margin="779,19,0,0" VerticalAlignment="Top" FontSize="14" FontFamily="Segoe UI Semibold"/>
                        <local:StatusTextBlock x:Name="IndexSpot1SB" Style="{StaticResource IndexStatusBlocks}" Grid.Column="1" HorizontalAlignment="Left" Margin="808,68,0,0" TextWrapping="Wrap" Text="StatusTextBlock" VerticalAlignment="Top"/>
                        <local:StatusTextBlock x:Name="IndexSpot2SB" Style="{StaticResource IndexStatusBlocks}" Grid.Column="1" HorizontalAlignment="Left" Margin="808,121,0,0" TextWrapping="Wrap" Text="StatusTextBlock" VerticalAlignment="Top"/>
                        <local:StatusTextBlock x:Name="IntakeSpotSB" Style="{StaticResource IndexStatusBlocks}" Grid.Column="1" HorizontalAlignment="Left" Margin="808,170,0,0" TextWrapping="Wrap" Text="StatusTextBlock" VerticalAlignment="Top"/>
                        <Label Grid.Column="1" Content="Index 1" HorizontalAlignment="Left" Margin="799,44,0,0" VerticalAlignment="Top"/>
                        <Label Grid.Column="1" Content="Index 2" HorizontalAlignment="Left" Margin="799,96,0,0" VerticalAlignment="Top"/>
                        <Label Grid.Column="1" Content="Intake" HorizontalAlignment="Left" Margin="802,147,0,0" VerticalAlignment="Top"/>


                        <!-- Solenoid Status -->
                        <local:StatusTextBlock x:Name="IntakeSolSB" Style="{StaticResource ResourceKey=StatusTextBlocks}" ActiveBrush="{StaticResource SolenoidEnabled}" InactiveBrush="{StaticResource SolenoidDisabled}" BorderBrush="{StaticResource SolenoidBorder}"  Margin="35,504,746,140" Text="Intake" Grid.Column="1"/>
                        <local:StatusTextBlock x:Name="MidSolSB" Style="{StaticResource ResourceKey=StatusTextBlocks}" ActiveBrush="{StaticResource SolenoidEnabled}" InactiveBrush="{StaticResource SolenoidDisabled}" BorderBrush="{StaticResource SolenoidBorder}" Margin="170,505,611,139" Text="Mid" Grid.Column="1"/>
                        <local:StatusTextBlock x:Name="TraversalSolSB" Style="{StaticResource ResourceKey=StatusTextBlocks}" ActiveBrush="{StaticResource SolenoidEnabled}" InactiveBrush="{StaticResource SolenoidDisabled}" BorderBrush="{StaticResource SolenoidBorder}" Margin="100,601,681,43" Grid.Column="1" Text="Traversal"/>


                        <!-- Vision Status -->
                        <local:StatusTextBlock x:Name="LimeSeesTargetSB" Style="{StaticResource ResourceKey=StatusTextBlocks}" ActiveBrush="{StaticResource LimeSeesTarget}" InactiveBrush="{StaticResource LimeDefault}" BorderBrush="{StaticResource LimeBorder}" Margin="536,252,245,392" Grid.Column="1" Text="Seeing HUB"/>
                        <local:StatusTextBlock x:Name="LimeTrackingTargetSB" Style="{StaticResource ResourceKey=StatusTextBlocks}" ActiveBrush="{StaticResource LimeSeesTarget}" InactiveBrush="{StaticResource LimeDefault}" BorderBrush="{StaticResource LimeBorder}" Margin="675,252,106,392" Grid.Column="1" Text="Auto Aiming"/>
                        <local:StatusTextBlock x:Name="HoundSeesTargetSB" Style="{StaticResource ResourceKey=StatusTextBlocks}" ActiveBrush="{StaticResource HoundBlueHounding}" InactiveBrush="{StaticResource HoundBlueDefault}" BorderBrush="{StaticResource HoundBlueBorder}" Margin="471,354,310,290" Grid.Column="1" Text="Seeing Cargo"/>
                        <local:StatusTextBlock x:Name="HoundHoundingTargetSB" Style="{StaticResource ResourceKey=StatusTextBlocks}" ActiveBrush="{StaticResource HoundBlueHounding}" InactiveBrush="{StaticResource HoundBlueDefault}" BorderBrush="{StaticResource HoundBlueBorder}" Margin="610,354,171,290" Grid.Column="1" Text="Hounding"/>

                        <!-- Robot Status -->
                        <Rectangle Margin="974,229,550,280" Fill="{StaticResource ResourceKey=PanelGrey}" Grid.ColumnSpan="2"/>
                        <Label Content="Shooter Status" HorizontalAlignment="Left" Margin="112,227,0,0" VerticalAlignment="Top" Foreground="#FFFEFEFE" Height="46" FontSize="16" FontWeight="SemiBold" Grid.Column="1" Width="116"/>
                        <local:StatusTextBlock x:Name="ReadyToFireSB" Style="{StaticResource ResourceKey=ReadyToShootStatus}" ActiveBrush="{StaticResource SolenoidEnabled}" InactiveBrush="{StaticResource SolenoidDisabled}" BorderBrush="{StaticResource SolenoidBorder}"  Margin="2,270,734,307" Grid.Column="1" Text="READY TO FIRE"/>
                        <TextBox x:Name="ManualCycleBox" Text="0" Grid.Column="1" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="195,275,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="140" Height="40" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Grid.Column="1" Content="Manual Cycle Speed" HorizontalAlignment="Left" Margin="191,251,0,0" VerticalAlignment="Top" FontSize="14"/>
                        <TextBox x:Name="VectorMapBox" Text="0" Grid.Column="1" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="195,335,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="140" Height="40" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Grid.Column="1" Content="Current Vector Map" HorizontalAlignment="Left" Margin="191,311,0,0" VerticalAlignment="Top" FontSize="14"/>
                        <TextBox x:Name="ShooterRPMBox" Text="0" Grid.Column="1" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="195,395,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="140" Height="40" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Grid.Column="1" Content="Shooter RPM" HorizontalAlignment="Left" Margin="191,371,0,0" VerticalAlignment="Top" FontSize="14"/>


                        <!-- Gyro and IsCentric -->
                        <local:StatusTextBlock x:Name="IsCentricSB" Style="{StaticResource ResourceKey=ReadyToShootStatus}" ActiveBrush="{StaticResource SolenoidEnabled}" InactiveBrush="{StaticResource SolenoidDisabled}" BorderBrush="{StaticResource SolenoidBorder}"  Margin="226,60,572,563" Text="Centric-&#xD;&#xA;Mode" Grid.Column="1"/>
                        <Ellipse Stroke="DimGray" StrokeThickness="12" Margin="5,40,745,530" RenderTransformOrigin="0.5,0.5" Grid.Column="1" Height="161" Width="161"/>
                        <Ellipse Stroke="Red" StrokeThickness="12" Margin="5,40,745,530" RenderTransformOrigin="0.5,0.5" Grid.Column="1" Height="161" Width="161">
                            <Ellipse.Clip>
                                <RectangleGeometry Rect="0,0,60,60"/>
                                <!-- x: 0, y: 0, width: 50, height: 100-->
                            </Ellipse.Clip>
                            <Ellipse.RenderTransform>
                                <RotateTransform x:Name="GyroAngleEllipseAngle" Angle="45"/>
                            </Ellipse.RenderTransform>
                        </Ellipse>
                        <Label Content="Robot Angle" HorizontalAlignment="Left" Margin="31,11,0,0" VerticalAlignment="Top" Width="110" RenderTransformOrigin="0.5,0.5" FontSize="18" Height="37" Grid.Column="1"/>
                        <TextBlock x:Name="GyroAngleText" HorizontalAlignment="Left" Margin="45,97,0,0" TextWrapping="Wrap" Text="0°" VerticalAlignment="Top" Height="48" Width="92" FontSize="36" TextAlignment="Center" Foreground="White" Grid.Column="1"/>


                        <!-- Current Draw -->
                        <Rectangle Margin="397,473,17,17" Fill="{StaticResource ResourceKey=PanelGrey}" Grid.Column="1"/>
                        <Label Grid.Column="1" Content="Drive" HorizontalAlignment="Left" Margin="407,498,0,0" VerticalAlignment="Top" Height="32" Width="74" FontSize="18" RenderTransformOrigin="0.5,0.5"/>
                        <Label Grid.Column="1" Content="Subsystem Current Draws" HorizontalAlignment="Left" Margin="555,473,0,0" VerticalAlignment="Top"  FontSize="16" FontWeight="SemiBold" Height="38" Width="196"/>
                        <TextBlock x:Name="DrivePowerText" Style="{StaticResource CurrentDrawBlock}" Grid.Column="1" HorizontalAlignment="Left" Margin="485,501,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Text="0A"/>
                        <Label Grid.Column="1" Content="Shooter" HorizontalAlignment="Left" Margin="407,525,0,0" VerticalAlignment="Top" Height="32" Width="82" FontSize="18" RenderTransformOrigin="0.5,0.5" AutomationProperties.IsRequiredForForm="True"/>
                        <TextBlock x:Name="ShooterPowerText" Style="{StaticResource CurrentDrawBlock}" Grid.Column="1" HorizontalAlignment="Left" Margin="485,528,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Text="0A"/>
                        <Label Grid.Column="1" Content="Intake" HorizontalAlignment="Left" Margin="407,552,0,0" VerticalAlignment="Top" Height="32" Width="74" FontSize="18" RenderTransformOrigin="0.5,0.5"/>
                        <TextBlock x:Name="IntakePowerText" Style="{StaticResource CurrentDrawBlock}" Grid.Column="1" HorizontalAlignment="Left" Margin="485,555,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Text="0A"/>
                        <Label Grid.Column="1" Content="Index" HorizontalAlignment="Left" Margin="407,579,0,0" VerticalAlignment="Top" Height="32" Width="74" FontSize="18" RenderTransformOrigin="0.5,0.5"/>
                        <TextBlock x:Name="IndexPowerText" Style="{StaticResource CurrentDrawBlock}" Grid.Column="1" HorizontalAlignment="Left" Margin="485,582,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Text="0A"/>
                        <Label Grid.Column="1" Content="Transfer" HorizontalAlignment="Left" Margin="407,606,0,0" VerticalAlignment="Top" Height="31" Width="74" FontSize="18" RenderTransformOrigin="0.5,0.5"/>
                        <TextBlock x:Name="TransferPowerText" Style="{StaticResource CurrentDrawBlock}" Grid.Column="1" HorizontalAlignment="Left" Margin="485,609,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Text="0A"/>
                        <Label Grid.Column="1" Content="VRM" HorizontalAlignment="Left" Margin="407,633,0,0" VerticalAlignment="Top" Height="33" Width="74" FontSize="18" RenderTransformOrigin="0.5,0.5" />
                        <TextBlock x:Name="VRMPowerText" Style="{StaticResource CurrentDrawBlock}" Grid.Column="1" HorizontalAlignment="Left" Margin="485,636,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Text="0A"/>
                        <ProgressBar x:Name="DrivePowerProgress" Grid.Column="1" HorizontalAlignment="Left" Margin="523,503,0,0" VerticalAlignment="Top">
                            <ProgressBar.RenderTransform>
                                <RotateTransform Angle="180"/>
                            </ProgressBar.RenderTransform>
                        </ProgressBar>
                        <ProgressBar x:Name="ShooterPowerProgress" Grid.Column="1" HorizontalAlignment="Left" Margin="523,530,0,0" VerticalAlignment="Top">
                            <ProgressBar.RenderTransform>
                                <RotateTransform Angle="180"/>
                            </ProgressBar.RenderTransform>
                        </ProgressBar>
                        <ProgressBar x:Name="IntakePowerProgress" Grid.Column="1" HorizontalAlignment="Left" Margin="523,557,0,0" VerticalAlignment="Top">
                            <ProgressBar.RenderTransform>
                                <RotateTransform Angle="180"/>
                            </ProgressBar.RenderTransform>
                        </ProgressBar>
                        <ProgressBar x:Name="IndexPowerProgress" Grid.Column="1" HorizontalAlignment="Left" Margin="523,584,0,0" VerticalAlignment="Top">
                            <ProgressBar.RenderTransform>
                                <RotateTransform Angle="180"/>
                            </ProgressBar.RenderTransform>
                        </ProgressBar>
                        <ProgressBar x:Name="TransferPowerProgress" Grid.Column="1" HorizontalAlignment="Left" Margin="523,611,0,0" VerticalAlignment="Top">
                            <ProgressBar.RenderTransform>
                                <RotateTransform Angle="180"/>
                            </ProgressBar.RenderTransform>
                        </ProgressBar>
                        <ProgressBar x:Name="VRMPowerProgress" Grid.Column="1" HorizontalAlignment="Left" Margin="523,638,0,0" VerticalAlignment="Top">
                            <ProgressBar.RenderTransform>
                                <RotateTransform Angle="180"/>
                            </ProgressBar.RenderTransform>
                        </ProgressBar>
                        <Label Grid.Column="1" Content="Total Power Draw" HorizontalAlignment="Left" Margin="555,664,0,0" VerticalAlignment="Top" Height="32" Width="114"/>
                        <Label Grid.Column="1" Content="Battery Voltage" HorizontalAlignment="Left" Margin="567,689,0,0" VerticalAlignment="Top" Height="30" Width="102"/>
                        <local:StatusTextBlock x:Name="BatteryVolatgeSB" Style="{StaticResource ResourceKey=PowerStatusBlocks}" ActiveBrush="{StaticResource PowerEnabled}" InactiveBrush="{StaticResource PowerDisabled}" BorderBrush="{StaticResource PowerBorder}"  Margin="661,692,195,21" Grid.Column="1" Text="300A"/>
                        <local:StatusTextBlock x:Name="TotalCurrentSB" Style="{StaticResource ResourceKey=PowerStatusBlocks}" ActiveBrush="{StaticResource PowerEnabled}" InactiveBrush="{StaticResource PowerDisabled}" BorderBrush="{StaticResource PowerBorder}"  Margin="661,668,195,45" Grid.Column="1" Text="12.7V"/>
                    </Grid>
                </TabItem>
                <TabItem Header="AutoLayouts"  Style="{DynamicResource TabItemBase}">
                    <Grid Background="#FF2A2A2A">
                        <Grid.ColumnDefinitions>
                            <ColumnDefinition Width="1136"/>
                            <ColumnDefinition Width="1883*"/>
                        </Grid.ColumnDefinitions>
                        <Grid.RowDefinitions>
                            <RowDefinition Height="567"/>
                            <RowDefinition Height="*"/>
                        </Grid.RowDefinitions>

                        <!-- Field -->
                        <Border BorderThickness="0" x:Name="Field" RenderTransformOrigin="0.5,0.5" Grid.Row="0" Grid.Column="0" HorizontalAlignment="Left" VerticalAlignment="Center" Height="567" Width="1136">
                            <Border.Background>
                                <ImageBrush ImageSource="/FRC 2022 Offical Field.png">
                                    <ImageBrush.RelativeTransform>
                                        <ScaleTransform x:Name="FieldImageScale" CenterX="0.5" CenterY="0.5" ScaleY="-1"/>
                                    </ImageBrush.RelativeTransform>
                                </ImageBrush>
                            </Border.Background>
                            <Border.RenderTransform>
                                <ScaleTransform ScaleY="-1"/>
                            </Border.RenderTransform>
                            <Grid>
                                <Rectangle x:Name="RobotRectangle" RenderTransformOrigin="0.5,0.5" HorizontalAlignment="Left" Height="36" Stroke="White" VerticalAlignment="Top" Width="46" Fill="#FF00FF1B" Margin="-23,-18,0,0">
                                    <Rectangle.RenderTransform>
                                        <TransformGroup>
                                            <RotateTransform x:Name="RobotRotateTransform" Angle="0"/>
                                        </TransformGroup>
                                    </Rectangle.RenderTransform>
                                </Rectangle>
                                <Rectangle  x:Name="CargoRectangle" VerticalAlignment="Top" HorizontalAlignment="Left" RenderTransformOrigin="0.5,0.5" Height="30" Width="30" Margin="-15,-15,0,0">
                                    <Rectangle.Fill>
                                        <ImageBrush x:Name="FieldCargo" ImageSource="Images/Blue_Cargo.png"/>
                                    </Rectangle.Fill>
                                </Rectangle>
                            </Grid>
                        </Border>

                        <!-- Robot Position Updates -->
                        <Rectangle Margin="11,16,595,331" Fill="{StaticResource ResourceKey=PanelGrey}" RenderTransformOrigin="0.5,0.5" Grid.Column="1"/>
                        <Label Content="Robot Position" HorizontalAlignment="Left" Margin="35,16,0,0" VerticalAlignment="Top" Foreground="#FFFEFEFE" Height="28" FontSize="16" FontWeight="SemiBold" Grid.Column="1"/>
                        <TextBox x:Name="RobotXText" Text="0.0m" IsEnabled="False" Grid.Column="1" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="26,68,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="134" Height="30" FontSize="14" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <TextBox x:Name="RobotYText" Text="0.0m" IsEnabled="False" Grid.Column="1" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="26,128,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="134" Height="30" FontSize="14" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <TextBox x:Name="RobotRText" Text="0.0°" IsEnabled="False" Grid.Column="1" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="26,188,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="134" Height="30" FontSize="14" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Grid.Column="1" Content="Robot X" HorizontalAlignment="Left" Margin="67,47,0,0" VerticalAlignment="Top"/>
                        <Label Grid.Column="1" Content="Robot Y" HorizontalAlignment="Left" Margin="67,107,0,0" VerticalAlignment="Top"/>
                        <Label Grid.Column="1" Content="Robot Heading" HorizontalAlignment="Left" Margin="48,167,0,0" VerticalAlignment="Top"/>

                        <!-- Cargo Position Updates-->
                        <Rectangle Margin="11,251,595,155" Fill="{StaticResource ResourceKey=PanelGrey}" RenderTransformOrigin="0.5,0.5" Grid.Column="1"/>
                        <Label Content="Cargo Position" HorizontalAlignment="Left" Margin="35,251,0,0" VerticalAlignment="Top" Foreground="#FFFEFEFE" Height="33" FontSize="16" FontWeight="SemiBold" Grid.Column="1"/>
                        <TextBox x:Name="CargoXText" Text="0.0m" IsEnabled="False" Grid.Column="1" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="26,303,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="134" Height="30" FontSize="14" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <TextBox x:Name="CargoYText" Text="0.0m" IsEnabled="False" Grid.Column="1" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="26,363,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="134" Height="30" FontSize="14" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Grid.Column="1" Content="Cargo X" HorizontalAlignment="Left" Margin="67,282,0,0" VerticalAlignment="Top"/>
                        <Label Grid.Column="1" Content="Cargo Y" HorizontalAlignment="Left" Margin="67,342,0,0" VerticalAlignment="Top"/>

                        <!-- Auto Selection Panel-->
                        <Rectangle Margin="247,40,60,362" Fill="{StaticResource ResourceKey=PanelGrey}" RenderTransformOrigin="0.5,0.5" Grid.Column="1"/>
                        <RadioButton x:Name="TaxiRadioAL" Style="{StaticResource AutoSelectionButtonsAL}" Content="Taxi" Click="TaxiRadioAL_Clicked" HorizontalAlignment="Left" Margin="267,73,0,0" VerticalAlignment="Top" RenderTransformOrigin="0.515,-0.229" Grid.Column="1"/>
                        <RadioButton x:Name="SpareRadioAL" Style="{StaticResource AutoSelectionButtonsAL}" Content="Spare" Click="SpareRadioAL_Clicked" HorizontalAlignment="Left" Margin="267,153,0,0" VerticalAlignment="Top" RenderTransformOrigin="0.495,0.114" Grid.Column="1"/>
                        <RadioButton x:Name="IdealRadioAL" Style="{StaticResource AutoSelectionButtonsAL}" Content="IdealAuto" Click="IdealRadioAL_Clicked" HorizontalAlignment="Left" Margin="424,117,0,0" VerticalAlignment="Top" Grid.Column="1"/>
                        <RadioButton x:Name="SecondRadioAL" Style="{StaticResource AutoSelectionButtonsAL}" Content="DoubleShot" Click="DoubleShotRadioAL_Clicked" HorizontalAlignment="Left" Margin="580,152,0,0" VerticalAlignment="Top" Grid.Column="1"/>
                        <RadioButton x:Name="FullSendRadioAL" Style="{StaticResource AutoSelectionButtonsAL}" Content="FullSend" Click="FullSendRadioAL_Clicked"  HorizontalAlignment="Left" Margin="580,73,0,0" VerticalAlignment="Top" RenderTransformOrigin="-0.005,-0.186" Grid.Column="1"/>
                        <Border Background="{StaticResource TextBoxBackground}" HorizontalAlignment="Left" Margin="422,93,0,0" VerticalAlignment="Top" Height="18" Width="102" Grid.Column="1">
                            <TextBlock x:Name="RioAutoBoxAL" Text="RIOData" VerticalAlignment="Center" Margin="4,0,4,0" Background="{Binding Mode=OneWay, Source={StaticResource TextBoxBackground}}" TextAlignment="Center"/>
                        </Border>
                        <Label Content="RIO Reported Auto" HorizontalAlignment="Left" Margin="419,68,0,0" VerticalAlignment="Top" Grid.Column="1"/>
                        <Image x:Name="AutoLayoutImageAL" HorizontalAlignment="Left" Height="264" Margin="247,230,0,0" VerticalAlignment="Top" Width="463" Source="/FRC 2022 PathPlanner Field - Ideal.png" Grid.Column="1"/>
                        <Label Content="Autonomous Selection" HorizontalAlignment="Left" Margin="386,40,0,0" VerticalAlignment="Top" Foreground="#FFFEFEFE" Height="28" FontSize="16" FontWeight="SemiBold" Grid.Column="1"/>
                    </Grid>
                </TabItem>
                <TabItem Header="PIDTuning" Style="{DynamicResource TabItemBase}">
                    <Grid Background="#FF2A2A2A">
                        <!-- Shooter PID -->
                        <Rectangle Margin="25,25,1707,429" Fill="{StaticResource ResourceKey=PanelGrey}" RenderTransformOrigin="0.5,0.5"/>
                        <Label Content="Shooter Flywheel PID" HorizontalAlignment="Left" Margin="30,25,0,0" VerticalAlignment="Top" Foreground="#FFFEFEFE" Height="46" FontSize="16" FontWeight="SemiBold" Width="164"/>
                        <TextBox x:Name="shooterPBox" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="53,83,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="P" HorizontalAlignment="Left" Margin="50,59,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>
                        <TextBox x:Name="shooterDBox" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="117,83,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="D" HorizontalAlignment="Left" Margin="114,59,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>
                        <TextBox x:Name="shooterKsBox" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="53,133,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <TextBox x:Name="shooterKvBox" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="116,133,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Button x:Name="updateShooterPIDBtn" Content="Update Values" Style="{StaticResource CameraConnectionButton}" HorizontalAlignment="Left" Margin="52,268,0,0" VerticalAlignment="Top" Height="28" Width="120" FontSize="12" Click="updateShooterPIDBtn_Click"/>
                        <TextBox x:Name="shooterOutputBox" Text="0" Style="{StaticResource PIDBigBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="54,184,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Current Output" HorizontalAlignment="Left" Margin="66,162,0,0" VerticalAlignment="Top" RenderTransformOrigin="1.158,0.431"/>
                        <TextBox x:Name="shooterSetpointBox" Text="0" Style="{StaticResource PIDBigBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="54,231,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Current Setpoint" HorizontalAlignment="Left" Margin="63,209,0,0" VerticalAlignment="Top" RenderTransformOrigin="1.158,0.431"/>
                        <Label Content="Ks" HorizontalAlignment="Left" Margin="50,108,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>
                        <Label Content="Kv" HorizontalAlignment="Left" Margin="114,108,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>

                        <!-- Drive Wheel PID -->
                        <Rectangle Margin="241,25,1491,429" Fill="{StaticResource ResourceKey=PanelGrey}" RenderTransformOrigin="0.5,0.5"/>
                        <Label Content="Drive Wheel PID" HorizontalAlignment="Left" Margin="262,25,0,0" VerticalAlignment="Top" Foreground="#FFFEFEFE" Height="46" FontSize="16" FontWeight="SemiBold" Width="130"/>
                        <TextBox x:Name="shooterPBox_Copy" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="269,83,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="P" HorizontalAlignment="Left" Margin="266,59,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>
                        <TextBox x:Name="shooterDBox_Copy" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="333,83,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="D" HorizontalAlignment="Left" Margin="330,59,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>
                        <TextBox x:Name="shooterKsBox_Copy" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="269,133,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <TextBox x:Name="shooterKvBox_Copy" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="332,133,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Button x:Name="updateShooterPIDBtn_Copy" Content="Update Values" Style="{StaticResource CameraConnectionButton}" HorizontalAlignment="Left" Margin="268,268,0,0" VerticalAlignment="Top" Height="28" Click="RestartCameraConnection_Click" Width="120" FontSize="12"/>
                        <TextBox x:Name="shooterOutputBox_Copy2" Text="0" Style="{StaticResource PIDBigBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="270,184,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Current Output" HorizontalAlignment="Left" Margin="282,162,0,0" VerticalAlignment="Top" RenderTransformOrigin="1.158,0.431"/>
                        <TextBox x:Name="shooterOutputBox_Copy3" Text="0" Style="{StaticResource PIDBigBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="270,231,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Current Setpoint" HorizontalAlignment="Left" Margin="279,209,0,0" VerticalAlignment="Top" RenderTransformOrigin="1.158,0.431"/>
                        <Label Content="Ks" HorizontalAlignment="Left" Margin="266,108,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>
                        <Label Content="Kv" HorizontalAlignment="Left" Margin="330,108,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>

                        <!-- Drive X PID -->
                        <Rectangle Margin="453,25,1279,480" Fill="{StaticResource ResourceKey=PanelGrey}" RenderTransformOrigin="0.5,0.5"/>
                        <Label Content="Drive X PID" HorizontalAlignment="Left" Margin="492,25,0,0" VerticalAlignment="Top" Foreground="#FFFEFEFE" Height="46" FontSize="16" FontWeight="SemiBold" Width="94"/>
                        <TextBox x:Name="shooterPBox_Copy2" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="482,83,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="P" HorizontalAlignment="Left" Margin="479,59,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>
                        <TextBox x:Name="shooterDBox_Copy2" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="546,83,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="D" HorizontalAlignment="Left" Margin="543,59,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>
                        <Button x:Name="updateShooterPIDBtn_Copy2" Content="Update Values" Style="{StaticResource CameraConnectionButton}" HorizontalAlignment="Left" Margin="480,216,0,0" VerticalAlignment="Top" Height="28" Click="RestartCameraConnection_Click" Width="120" FontSize="12"/>
                        <TextBox x:Name="shooterOutputBox_Copy4" Text="0" Style="{StaticResource PIDBigBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="482,132,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Current Output" HorizontalAlignment="Left" Margin="494,110,0,0" VerticalAlignment="Top" RenderTransformOrigin="1.158,0.431"/>
                        <TextBox x:Name="shooterOutputBox_Copy5" Text="0" Style="{StaticResource PIDBigBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="482,179,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Current Setpoint" HorizontalAlignment="Left" Margin="491,157,0,0" VerticalAlignment="Top" RenderTransformOrigin="1.158,0.431"/>
                        <Rectangle Margin="670,25,1062,480" Fill="{StaticResource ResourceKey=PanelGrey}" RenderTransformOrigin="0.5,0.5"/>
                        <Label Content="Drive Y PID" HorizontalAlignment="Left" Margin="709,25,0,0" VerticalAlignment="Top" Foreground="#FFFEFEFE" Height="46" FontSize="16" FontWeight="SemiBold" Width="94"/>
                        <TextBox x:Name="shooterPBox_Copy3" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="699,83,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="P" HorizontalAlignment="Left" Margin="696,59,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>
                        <TextBox x:Name="shooterDBox_Copy3" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="763,83,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="D" HorizontalAlignment="Left" Margin="760,59,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>
                        <Button x:Name="updateShooterPIDBtn_Copy3" Content="Update Values" Style="{StaticResource CameraConnectionButton}" HorizontalAlignment="Left" Margin="697,216,0,0" VerticalAlignment="Top" Height="28" Click="RestartCameraConnection_Click" Width="120" FontSize="12"/>
                        <TextBox x:Name="shooterOutputBox_Copy6" Text="0" Style="{StaticResource PIDBigBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="699,132,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Current Output" HorizontalAlignment="Left" Margin="711,110,0,0" VerticalAlignment="Top" RenderTransformOrigin="1.158,0.431"/>
                        <TextBox x:Name="shooterOutputBox_Copy7" Text="0" Style="{StaticResource PIDBigBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="699,179,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Current Setpoint" HorizontalAlignment="Left" Margin="708,157,0,0" VerticalAlignment="Top" RenderTransformOrigin="1.158,0.431"/>
                        <Rectangle Margin="884,25,848,480" Fill="{StaticResource ResourceKey=PanelGrey}" RenderTransformOrigin="0.5,0.5"/>
                        <Label Content="Drive R PID" HorizontalAlignment="Left" Margin="924,25,0,0" VerticalAlignment="Top" Foreground="#FFFEFEFE" Height="46" FontSize="16" FontWeight="SemiBold" Width="94"/>
                        <TextBox x:Name="shooterPBox_Copy4" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="914,83,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="P" HorizontalAlignment="Left" Margin="910,59,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>
                        <TextBox x:Name="shooterDBox_Copy4" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="978,83,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="D" HorizontalAlignment="Left" Margin="974,59,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>
                        <Button x:Name="updateShooterPIDBtn_Copy4" Content="Update Values" Style="{StaticResource CameraConnectionButton}" HorizontalAlignment="Left" Margin="912,216,0,0" VerticalAlignment="Top" Height="28" Click="RestartCameraConnection_Click" Width="120" FontSize="12"/>
                        <TextBox x:Name="shooterOutputBox_Copy8" Text="0" Style="{StaticResource PIDBigBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="914,132,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Current Output" HorizontalAlignment="Left" Margin="926,110,0,0" VerticalAlignment="Top" RenderTransformOrigin="1.158,0.431"/>
                        <TextBox x:Name="shooterOutputBox_Copy9" Text="0" Style="{StaticResource PIDBigBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="914,179,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Current Setpoint" HorizontalAlignment="Left" Margin="922,157,0,0" VerticalAlignment="Top" RenderTransformOrigin="1.158,0.431"/>
                        <Rectangle Margin="25,350,1707,154" Fill="{StaticResource ResourceKey=PanelGrey}" RenderTransformOrigin="0.5,0.5"/>
                        <Label Content="AutoAim PID" HorizontalAlignment="Left" Margin="59,350,0,0" VerticalAlignment="Top" Foreground="#FFFEFEFE" Height="46" FontSize="16" FontWeight="SemiBold" Width="106"/>
                        <TextBox x:Name="shooterPBox_Copy5" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="55,408,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="P" HorizontalAlignment="Left" Margin="51,384,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>
                        <TextBox x:Name="shooterDBox_Copy5" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="119,408,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="D" HorizontalAlignment="Left" Margin="115,384,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>
                        <Button x:Name="updateShooterPIDBtn_Copy5" Content="Update Values" Style="{StaticResource CameraConnectionButton}" HorizontalAlignment="Left" Margin="53,542,0,0" VerticalAlignment="Top" Height="28" Click="RestartCameraConnection_Click" Width="120" FontSize="12"/>
                        <TextBox x:Name="shooterOutputBox_Copy10" Text="0" Style="{StaticResource PIDBigBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="55,458,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Current Output" HorizontalAlignment="Left" Margin="67,436,0,0" VerticalAlignment="Top" RenderTransformOrigin="1.158,0.431"/>
                        <TextBox x:Name="shooterOutputBox_Copy11" Text="0" Style="{StaticResource PIDBigBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="55,504,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Current Setpoint" HorizontalAlignment="Left" Margin="63,482,0,0" VerticalAlignment="Top" RenderTransformOrigin="1.158,0.431"/>

                        <!-- Hound X PID -->
                        <Rectangle Margin="241,350,1491,154" Fill="{StaticResource ResourceKey=PanelGrey}" RenderTransformOrigin="0.5,0.5"/>
                        <Label Content="Hound X PID" HorizontalAlignment="Left" Margin="275,350,0,0" VerticalAlignment="Top" Foreground="#FFFEFEFE" Height="46" FontSize="16" FontWeight="SemiBold" Width="105"/>
                        <TextBox x:Name="houndXPBox" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="271,408,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="P" HorizontalAlignment="Left" Margin="267,384,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>
                        <TextBox x:Name="houndXDBox" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="335,408,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="D" HorizontalAlignment="Left" Margin="331,384,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>
                        <Button x:Name="updateHoundXPIDBtn" Content="Update Values" Style="{StaticResource CameraConnectionButton}" HorizontalAlignment="Left" Margin="269,542,0,0" VerticalAlignment="Top" Height="28" Width="120" FontSize="12" Click="updateHoundXPIDBtn_Click"/>
                        <TextBox x:Name="houndXOutputBox" Text="0" Style="{StaticResource PIDBigBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="271,458,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Current Output" HorizontalAlignment="Left" Margin="283,436,0,0" VerticalAlignment="Top" RenderTransformOrigin="1.158,0.431"/>
                        <TextBox x:Name="houndXSetpointBox" Text="0" Style="{StaticResource PIDBigBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="271,504,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Current Setpoint" HorizontalAlignment="Left" Margin="279,482,0,0" VerticalAlignment="Top" RenderTransformOrigin="1.158,0.431"/>

                        <!-- Hound Y PID -->
                        <Rectangle Margin="452,350,1280,154" Fill="{StaticResource ResourceKey=PanelGrey}" RenderTransformOrigin="0.5,0.5"/>
                        <Label Content="Hound Y PID" HorizontalAlignment="Left" Margin="487,350,0,0" VerticalAlignment="Top" Foreground="#FFFEFEFE" Height="46" FontSize="16" FontWeight="SemiBold" Width="104"/>
                        <TextBox x:Name="houndYPBox" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="482,408,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="P" HorizontalAlignment="Left" Margin="478,384,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>
                        <TextBox x:Name="houndYDBox" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="546,408,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="D" HorizontalAlignment="Left" Margin="542,384,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>
                        <Button x:Name="updateHoundYPIDBtn" Content="Update Values" Style="{StaticResource CameraConnectionButton}" HorizontalAlignment="Left" Margin="480,542,0,0" VerticalAlignment="Top" Height="28" Width="120" FontSize="12" Click="updateHoundYPIDBtn_Click"/>
                        <TextBox x:Name="houndYOutputBox" Text="0" Style="{StaticResource PIDBigBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="482,458,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Current Output" HorizontalAlignment="Left" Margin="494,436,0,0" VerticalAlignment="Top" RenderTransformOrigin="1.158,0.431"/>
                        <TextBox x:Name="houndYSetpointBox" Text="0" Style="{StaticResource PIDBigBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="482,504,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Current Setpoint" HorizontalAlignment="Left" Margin="490,482,0,0" VerticalAlignment="Top" RenderTransformOrigin="1.158,0.431"/>

                        <!-- Hound R PID -->
                        <Rectangle Margin="669,350,1063,154" Fill="{StaticResource ResourceKey=PanelGrey}" RenderTransformOrigin="0.5,0.5"/>
                        <Label Content="Hound R PID" HorizontalAlignment="Left" Margin="703,350,0,0" VerticalAlignment="Top" Foreground="#FFFEFEFE" Height="46" FontSize="16" FontWeight="SemiBold" Width="106"/>
                        <TextBox x:Name="houndRPBox" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="699,408,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="P" HorizontalAlignment="Left" Margin="695,384,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>
                        <TextBox x:Name="houndRDBox" Text="0" Style="{StaticResource PIDSmallBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="763,408,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="D" HorizontalAlignment="Left" Margin="759,384,0,0" VerticalAlignment="Top" FontSize="14" RenderTransformOrigin="1.158,0.431"/>
                        <Button x:Name="updateHoundRPIDBtn" Content="Update Values" Style="{StaticResource CameraConnectionButton}" HorizontalAlignment="Left" Margin="697,542,0,0" VerticalAlignment="Top" Height="28" Width="120" FontSize="12" Click="updateHoundRPIDBtn_Click"/>
                        <TextBox x:Name="houndROutputBox" Text="0" Style="{StaticResource PIDBigBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="699,458,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Current Output" HorizontalAlignment="Left" Margin="711,436,0,0" VerticalAlignment="Top" RenderTransformOrigin="1.158,0.431"/>
                        <TextBox x:Name="houndRSetpointBox" Text="0" Style="{StaticResource PIDBigBoxes}" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="699,504,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Current Setpoint" HorizontalAlignment="Left" Margin="707,482,0,0" VerticalAlignment="Top" RenderTransformOrigin="1.158,0.431"/>

                        <!-- Vector Map Tuning -->
                        <Rectangle Margin="1136,25,29,281" Fill="{StaticResource ResourceKey=PanelGrey}" RenderTransformOrigin="0.5,0.5"/>

                        <!-- Shooter Active Info -->
                        <Label Content="Vector Map Tuning" HorizontalAlignment="Left" Margin="1390,27,0,0" VerticalAlignment="Top" Foreground="#FFFEFEFE" Height="46" FontSize="24" FontWeight="SemiBold" Width="222"/>
                        <TextBox x:Name="ManualCycleBox_Copy" Text="0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1218,112,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="140" Height="40" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Manual Cycle Speed" HorizontalAlignment="Left" Margin="1214,88,0,0" VerticalAlignment="Top" FontSize="14"/>
                        <TextBox x:Name="VectorMapBox_Copy" Text="0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1658,112,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="140" Height="40" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Current Vector Map" HorizontalAlignment="Left" Margin="1654,88,0,0" VerticalAlignment="Top" FontSize="14"/>
                        <TextBox x:Name="ShooterRPMBox_Copy" Text="0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1448,112,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="140" Height="40" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <Label Content="Shooter RPM" HorizontalAlignment="Left" Margin="1444,88,0,0" VerticalAlignment="Top" FontSize="14"/>

                        <!-- 0-2 Vector Map -->
                        <TextBox x:Name="ZeroTo2RPMBox" Text="0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1281,218,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="91" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" KeyDown="ZeroTo2RPMBox_KeyDown" />
                        <Label Content="Vector Map  | Target RPM" HorizontalAlignment="Left" Margin="1150,174,0,0" VerticalAlignment="Top" Foreground="#FFFEFEFE" Height="46" FontSize="20" FontWeight="SemiBold" Width="243"/>
                        <TextBox x:Name="ZeroTo2MapBox" IsEnabled="False" Text="0.0 - 2.0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1150,218,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="122" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <TextBox x:Name="TwoTo2Pt5RPMBox" Text="0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1281,266,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="91" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" KeyDown="TwoTo2Pt5RPMBox_KeyDown" />
                        <TextBox x:Name="TwoTo2Pt5MapBox" IsEnabled="False" Text="2.0 - 2.5" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1150,266,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="122" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <TextBox x:Name="TwoPt5To3RPMBox" Text="0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1281,314,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="91" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" KeyDown="TwoPt5To3RPMBox_KeyDown" />
                        <TextBox x:Name="TwoPt5To3MapBox" IsEnabled="False" Text="2.5 - 3" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1150,314,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="122" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <TextBox x:Name="ThreeTo3Pt5RPMBox" Text="0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1281,362,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="91" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" KeyDown="ThreeTo3Pt5RPMBox_KeyDown" />
                        <TextBox x:Name="ThreeTo3Pt5MapBox" IsEnabled="False" Text="3.0 - 3.5" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1150,362,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="122" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <TextBox x:Name="ThreePt5To4RPMBox" Text="0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1281,408,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="91" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" KeyDown="ThreePt5To4RPMBox_KeyDown" />
                        <TextBox x:Name="ThreePt5To4MapBox" IsEnabled="False" Text="3.5 - 4.0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1150,408,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="122" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" />

                        <!-- 2-4 Vector Map -->
                        <TextBox x:Name="FourTo4Pt5RPMBox" Text="0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1521,218,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="91" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" KeyDown="FourTo4Pt5RPMBox_KeyDown" />
                        <Label Content="Vector Map  | Target RPM" HorizontalAlignment="Left" Margin="1390,174,0,0" VerticalAlignment="Top" Foreground="#FFFEFEFE" Height="46" FontSize="20" FontWeight="SemiBold" Width="243"/>
                        <TextBox x:Name="FourTo4Pt5MapBox" IsEnabled="False" Text="4.0 - 4.5" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1390,218,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="122" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <TextBox x:Name="FourPt5To5RPMBox" Text="0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1521,266,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="91" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" KeyDown="FourPt5To5RPMBox_KeyDown" />
                        <TextBox x:Name="FourPt5To5MapBox" IsEnabled="False" Text="4.5 - 5.0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1390,266,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="122" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <TextBox x:Name="FiveTo5Pt5RPMBox" Text="0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1521,314,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="91" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" KeyDown="FiveTo5Pt5RPMBox_KeyDown" />
                        <TextBox x:Name="FiveTo5Pt5MapBox" IsEnabled="False" Text="5.0 - 5.5" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1390,314,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="122" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <TextBox x:Name="FivePt5To6RPMBox" Text="0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1521,362,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="91" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" KeyDown="FivePt5To6RPMBox_KeyDown" />
                        <TextBox x:Name="FivePt5To6MapBox" IsEnabled="False" Text="5.5 - 6.0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1390,362,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="122" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" />

                        <!-- 4-6 Vector Map -->
                        <TextBox x:Name="SixTo6Pt25RPMBox" Text="0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1765,218,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="91" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" KeyDown="SixTo6Pt25RPMBox_KeyDown" />
                        <Label Content="Vector Map  | Target RPM" HorizontalAlignment="Left" Margin="1634,174,0,0" VerticalAlignment="Top" Foreground="#FFFEFEFE" Height="46" FontSize="20" FontWeight="SemiBold" Width="243"/>
                        <TextBox x:Name="SixTo6Pt25MapBox" IsEnabled="False" Text="6.0 - 6.25" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1634,218,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="122" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <TextBox x:Name="SixPt25To6Pt5RPMBox" Text="0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1764,266,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="92" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" KeyDown="SixPt25To6Pt5RPMBox_KeyDown" />
                        <TextBox x:Name="SixPt25To6Pt5MapBox" IsEnabled="False" Text="6.25 - 6.5" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1634,266,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="122" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <TextBox x:Name="SixPt5To7RPMBox" Text="0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1765,312,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="91" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" KeyDown="SixPt5To7RPMBox_KeyDown" />
                        <TextBox x:Name="SixPt5To7MapBox" IsEnabled="False" Text="6.5 - 7.0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1634,312,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="122" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <TextBox x:Name="SevenTo7Pt5RPMBox" Text="0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1765,360,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="91" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" KeyDown="SevenTo7Pt5RPMBox_KeyDown" />
                        <TextBox x:Name="SevenTo7Pt5MapBox" IsEnabled="False" Text="7.0 - 7.5" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1634,360,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="122" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        <TextBox x:Name="SevenPt5To8RPMBox" Text="0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1765,408,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="91" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" KeyDown="SevenPt5To8RPMBox_KeyDown" />
                        <TextBox x:Name="SevenPt5To8MapBox" IsEnabled="False" Text="7.5 - 8.0" VerticalContentAlignment="Center" HorizontalAlignment="Left" Margin="1634,408,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="122" Height="36" FontSize="20" Background="#FFB1B1B1" BorderBrush="{x:Null}" />
                        
                    </Grid>
                </TabItem>
                <TabItem Header="Feedback"  Style="{DynamicResource TabItemBase}">
                    <Grid Background="#FF2A2A2A">

                    </Grid>
                </TabItem>
            </TabControl>
            <Button x:Name="refreshBtn" Style="{DynamicResource RefreshButton}" Click="refreshBtn_Click" Grid.Column="14" HorizontalAlignment="Center" Margin="0,4,0,0" VerticalAlignment="Top" Grid.Row="2">
                <Image Source="/refresh_icon.png" />
            </Button>
            <Image Margin="757,3,823,0" VerticalAlignment="Top" Source="/gear-white-transparent_85x90.png.png" Grid.Column="11" Grid.RowSpan="3" Width="85" Height="80"/>
            <Grid Grid.Row="2"/>

        </Grid>
    </Border>
</Window>