Merge lp:~jil26/fabathome-model1/FabInterpreter2 into lp:~jil26/fabathome-model1/FabInterpreter

[Jeffrey Lipton]

[CTI_Brazil (ctibrazil)]

Merge fix some important issues and i approve!

review: Approve

Unmerged revisions

10. By Jeffrey Lipton on 2010-04-18

Fixed crashes related to loading config files.
Added reloading of previous config files

=== modified file 'software/projects/FabInterpreter v0/FabAtHomePrinter.cpp'
--- software/projects/FabInterpreter v0/FabAtHomePrinter.cpp	2010-03-17 08:58:21 +0000
+++ software/projects/FabInterpreter v0/FabAtHomePrinter.cpp	2010-04-18 18:41:19 +0000
@@ -172,7 +172,9 @@
           {
                return "Axis "+name+" references motor "+motorName+" which has not been loaded.";
           }
-          if(name.compare("Y") == 0 || name.compare("Z") == 0)
+
+		  //THIS IS WHERE YOU REVERSE THE AXIS
+          if(name.compare("Y") == 0 /*|| name.compare("Z") == 0 */) //CHANGE MADE in v0.1 z should now be pos for down neg for up
           {
                motor->second.setReversed(true);
           }
@@ -388,7 +390,7 @@
      //Move the platform down.
      pausePathPoints.clear();
      pausePathPoints.push_back(start);
-     pausePathPoints.push_back(Point(start.x, start.y, start.z - PLATFORM_DELTA));
+     pausePathPoints.push_back(Point(start.x, start.y, start.z + PLATFORM_DELTA));
      executePath(Path(NULL,pausePathPoints),NULL,false);
      paused = true;
      printing = false;
@@ -397,7 +399,7 @@
      paused = false;
      //Move the platform up.
      pausePathPoints.clear();
-     pausePathPoints.push_back(Point(start.x, start.y, start.z - PLATFORM_DELTA));
+     pausePathPoints.push_back(Point(start.x, start.y, start.z + PLATFORM_DELTA));
      pausePathPoints.push_back(start);
      executePath(Path(NULL,pausePathPoints),NULL,false);
 }
@@ -407,8 +409,8 @@
      vector<Point> setupPathPoints(4);
      setupPathPoints.clear();
 	setupPathPoints.push_back(start);
-	setupPathPoints.push_back(Point(start.x, start.y, start.z - clearance));
-	setupPathPoints.push_back(Point(end.x, end.y, start.z - clearance));
+	setupPathPoints.push_back(Point(start.x, start.y, start.z + clearance));
+	setupPathPoints.push_back(Point(end.x, end.y, start.z + clearance));
 	setupPathPoints.push_back(end);
      executePath(Path(NULL,setupPathPoints),NULL,false);
 }
@@ -519,7 +521,7 @@
           fabricationThread->ReportProgress(i);
 	//Execution has stopped.  Move the platform down.
 	Point start(axes["X"].motor->getPosition(), axes["Y"].motor->getPosition(), axes["Z"].motor->getPosition()); //The current position.
-	Point end(start.x, start.y, start.z - PLATFORM_DELTA);
+	Point end(start.x, start.y, start.z + PLATFORM_DELTA);
      executeSetupPath(start,end,0);
      printing = false;
 }
@@ -680,6 +682,37 @@
           }
      }
 }
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void FabAtHomePrinter::savePreviousConfigName(string name) {
+
+	ofstream myfile;
+	myfile.open ("PreviousConfigFilePath.txt");
+	myfile << "\\\\Previous File Config Path.\n";
+
+	myfile <<name;
+	myfile.close();
+}
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+string FabAtHomePrinter::loadPreviousConfigName() {
+  ifstream myfile;
+  myfile.open("PreviousConfigFilePath.txt");
+  if (myfile.is_open())
+  {
+	  string header;
+
+	  string path;
+
+	  std::getline(myfile,header);
+	  std::getline(myfile,path);
+
+	  return(path);
+  }
+
+  return("ERROR");
+}
+
+
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 bool FabAtHomePrinter::cleanUp()
 {
 
=== modified file 'software/projects/FabInterpreter v0/FabAtHomePrinter.h'
--- software/projects/FabInterpreter v0/FabAtHomePrinter.h	2010-03-17 08:58:21 +0000
+++ software/projects/FabInterpreter v0/FabAtHomePrinter.h	2010-04-18 18:41:19 +0000
@@ -98,6 +98,14 @@
           //Returns: "" iff successful or an error message.
           string loadFabFile(string filePath);
 
+		//save config filePath
+		  static void savePreviousConfigName(string name);
+
+		  //load config filePath
+		  static string loadPreviousConfigName();
+
+
+
           //Initialize the printer.
           //Returns: "" if successful or an error message if failed.
           string initialize(const string& configFilePath);
@@ -106,6 +114,7 @@
           //Requires: !isPrinting() || isPaused() and the bay and material calibration have been loaded.
           void equipBay(const string& bayName, const string& materialCalibrationName);
 
+
           //Execute all paths which are currently loaded.
           //A call to this function returns when the print has finished.
           //If fabricationThread != NULL, messages will periodically be stored in displayText
 
=== modified file 'software/projects/FabInterpreter v0/FabInterpreter.suo'
 Binary files software/projects/FabInterpreter v0/FabInterpreter.suo	2010-03-17 19:51:28 +0000 and software/projects/FabInterpreter v0/FabInterpreter.suo	2010-04-18 18:41:19 +0000 differ
=== modified file 'software/projects/FabInterpreter v0/Form1.cpp'
--- software/projects/FabInterpreter v0/Form1.cpp	2010-03-17 08:58:21 +0000
+++ software/projects/FabInterpreter v0/Form1.cpp	2010-04-18 18:41:19 +0000
@@ -1,15 +1,70 @@
 #include "stdafx.h"
 #include "Form1.h"
 
+#include <map>
+#include <utility>
+
+static map<string, string, LessThanString> commandMap; //A map from the commands to their paramters
+
 [STAThread]
 
 int APIENTRY _tWinMain(HINSTANCE hInstance,
-                     HINSTANCE hPrevInstance,
-                     LPTSTR    lpCmdLine,
-                     int       nCmdShow)
+					   HINSTANCE hPrevInstance,
+					   LPTSTR    lpCmdLine,
+					   int       nCmdShow)
 {
-     System::Threading::Thread::CurrentThread->ApartmentState = System::Threading::ApartmentState::STA;
-     Util::runTestCases(); //Test helper functions for bugs.
+	System::Threading::Thread::CurrentThread->ApartmentState = System::Threading::ApartmentState::STA;
+	Util::runTestCases(); //Test helper functions for bugs.
+
+	//store the commands into a string
+	string commands = lpCmdLine;
+
+	//parse the string into a map of parmaters
+	//--config "C:\thisisthefilepath"
+	//--fabfile "C:\thisisthefilepath" 
+
+	//outputs commands to file (debugging retuine)
+	
+
+	std::stringstream os(commands);          //a standard stringstream which parses 's'
+	std::string temp;                 //a temporary string
+	//std::cout <<"s is: " <<s <<std::endl;
+
+
+	string counter = "command#";
+	while (os >> temp) { //the stringstream makes temp a token
+		 string commandName =  temp;
+		if (os >> temp) {
+			string commandParam = temp;
+			commandMap[commandName] = commandParam;
+		}
+		//std::cout <<temp <<std::endl;   //and deletes that token from itself
+		counter  = counter + "#";
+	}
+
+	ofstream myfile;
+	myfile.open ("commands.txt");
+	myfile << "Commands with paramters.\n";
+
+	for( map<string,string,LessThanString>::iterator i = commandMap.begin(); i != commandMap.end(); ++i)
+	{
+		myfile << (*i).first << ": " << (*i).second << endl;
+	}
+	myfile.close();
+
+	//opens Form1 (main interface)
 	Application::Run(new Form1());
+	
+
 	return 0;
 }
+
+class LessThanString
+{
+public:
+	//Returns: true iff a comes before b lexicographically.
+	bool operator()(const string& a, const string& b) const
+	{
+		return (a.compare(b) < 0);
+	}
+};
 
=== modified file 'software/projects/FabInterpreter v0/Form1.h'
--- software/projects/FabInterpreter v0/Form1.h	2010-03-17 09:07:33 +0000
+++ software/projects/FabInterpreter v0/Form1.h	2010-04-18 18:41:19 +0000
@@ -3,6 +3,10 @@
 
 
 #include "FabAtHomePrinter.h"
+
+#include <iostream>
+#include <fstream>
+
 using namespace System;
 using namespace System::ComponentModel;
 using namespace System::Collections;
@@ -47,9 +51,12 @@
 {	
 
 public:
-	Form1(void)
+	Form1() 
 	{
 		InitializeComponent();
+
+		//execute any command line commands
+		//Form1::loadConfigHelper(commandMap.find("--config")); 
 	}
 
 protected:
@@ -90,28 +97,6 @@
 public: 
 
 
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
 private: System::ComponentModel::BackgroundWorker*  FabricationThread;
 private: System::Windows::Forms::TextBox*  bayVelocity1;
 
@@ -159,25 +144,12 @@
 private: System::Windows::Forms::TextBox*  bayCommandedPosition0;
 
 
-
-
-
-
-
-
-
 private: System::Windows::Forms::Label*  bayLabel0;
 private: System::Windows::Forms::Label*  bayLabel1;
 private: System::Windows::Forms::VScrollBar*  bayScroll1;
 
 
 
-
-
-
-
-
-
 private: System::Windows::Forms::VScrollBar*  bayScroll0;
 
 
@@ -228,6 +200,8 @@
 private: System::Windows::Forms::Label*  bayLabel2;
 private: System::Windows::Forms::Panel*  fs;
 private: System::Windows::Forms::OpenFileDialog*  openFileDialog1;
+private: System::Windows::Forms::Button*  LoadPreviousConfig;
+
 
 
 
@@ -266,909 +240,924 @@
 	/// Required method for Designer support - do not modify
 	/// the contents of this method with the code editor.
 	/// </summary>
-	void InitializeComponent(void)
+	void InitializeComponent()
 	{
-          this->components = (new System::ComponentModel::Container());
-          this->InitButton = (new System::Windows::Forms::Button());
-          this->MoveButton = (new System::Windows::Forms::Button());
-          this->ExitButton = (new System::Windows::Forms::Button());
-          this->XLabel = (new System::Windows::Forms::Label());
-          this->YLabel = (new System::Windows::Forms::Label());
-          this->ZLabel = (new System::Windows::Forms::Label());
-          this->XDisplay = (new System::Windows::Forms::TextBox());
-          this->YDisplay = (new System::Windows::Forms::TextBox());
-          this->ZDisplay = (new System::Windows::Forms::TextBox());
-          this->ExecuteButton = (new System::Windows::Forms::Button());
-          this->ResetPosButton = (new System::Windows::Forms::Button());
-          this->LoadFileButton = (new System::Windows::Forms::Button());
-          this->ExecutePathLabel = (new System::Windows::Forms::TextBox());
-          this->bayVelocity0 = (new System::Windows::Forms::TextBox());
-          this->label4 = (new System::Windows::Forms::Label());
-          this->bayVelocity1 = (new System::Windows::Forms::TextBox());
-          this->bayScroll1 = (new System::Windows::Forms::VScrollBar());
-          this->bayScroll0 = (new System::Windows::Forms::VScrollBar());
-          this->bayLabel1 = (new System::Windows::Forms::Label());
-          this->bayLabel0 = (new System::Windows::Forms::Label());
-          this->bayCommandedPosition1 = (new System::Windows::Forms::TextBox());
-          this->bayCommandedPosition0 = (new System::Windows::Forms::TextBox());
-          this->FabricationThread = (new System::ComponentModel::BackgroundWorker());
-          this->ForceStopButton = (new System::Windows::Forms::Button());
-          this->panel1 = (new System::Windows::Forms::Panel());
-          this->PathProgressBar = (new System::Windows::Forms::ProgressBar());
-          this->CancelFabButton = (new System::Windows::Forms::Button());
-          this->PauseFabButton = (new System::Windows::Forms::Button());
-          this->RedoPathButton = (new System::Windows::Forms::Button());
-          this->Timer = (new System::Windows::Forms::Timer(this->components));
-          this->panel2 = (new System::Windows::Forms::Panel());
-          this->bayMaterialCalibration2 = (new System::Windows::Forms::ComboBox());
-          this->bayAcceleration2 = (new System::Windows::Forms::TextBox());
-          this->bayVelocity2 = (new System::Windows::Forms::TextBox());
-          this->bayMotorPosition2 = (new System::Windows::Forms::TextBox());
-          this->bayPositionIncrement2 = (new System::Windows::Forms::TextBox());
-          this->bayScroll2 = (new System::Windows::Forms::VScrollBar());
-          this->bayCommandedPosition2 = (new System::Windows::Forms::TextBox());
-          this->bayLabel2 = (new System::Windows::Forms::Label());
-          this->label5 = (new System::Windows::Forms::Label());
-          this->bayMaterialCalibration1 = (new System::Windows::Forms::ComboBox());
-          this->bayMaterialCalibration0 = (new System::Windows::Forms::ComboBox());
-          this->XAccelerationField = (new System::Windows::Forms::TextBox());
-          this->YAccelerationField = (new System::Windows::Forms::TextBox());
-          this->ZAccelerationField = (new System::Windows::Forms::TextBox());
-          this->bayAcceleration1 = (new System::Windows::Forms::TextBox());
-          this->bayAcceleration0 = (new System::Windows::Forms::TextBox());
-          this->label1 = (new System::Windows::Forms::Label());
-          this->XVelocityField = (new System::Windows::Forms::TextBox());
-          this->YVelocityField = (new System::Windows::Forms::TextBox());
-          this->ZVelocityField = (new System::Windows::Forms::TextBox());
-          this->bayMotorPosition1 = (new System::Windows::Forms::TextBox());
-          this->bayMotorPosition0 = (new System::Windows::Forms::TextBox());
-          this->bayPositionIncrement1 = (new System::Windows::Forms::TextBox());
-          this->bayPositionIncrement0 = (new System::Windows::Forms::TextBox());
-          this->zScroll = (new System::Windows::Forms::VScrollBar());
-          this->yScroll = (new System::Windows::Forms::VScrollBar());
-          this->xScroll = (new System::Windows::Forms::VScrollBar());
-          this->CommandedLabel = (new System::Windows::Forms::Label());
-          this->RealTimeLabel = (new System::Windows::Forms::Label());
-          this->ZIncrementField = (new System::Windows::Forms::TextBox());
-          this->YIncrementField = (new System::Windows::Forms::TextBox());
-          this->XIncrementField = (new System::Windows::Forms::TextBox());
-          this->label2 = (new System::Windows::Forms::Label());
-          this->IncrementLabel = (new System::Windows::Forms::Label());
-          this->ZCommandedField = (new System::Windows::Forms::TextBox());
-          this->YCommandedField = (new System::Windows::Forms::TextBox());
-          this->XCommandedField = (new System::Windows::Forms::TextBox());
-          this->PosDisplayThread = (new System::ComponentModel::BackgroundWorker());
-          this->panel3 = (new System::Windows::Forms::Panel());
-          this->panel4 = (new System::Windows::Forms::Panel());
-          this->fs = (new System::Windows::Forms::Panel());
-          this->openFileDialog1 = (new System::Windows::Forms::OpenFileDialog());
-          this->panel1->SuspendLayout();
-          this->panel2->SuspendLayout();
-          this->panel3->SuspendLayout();
-          this->panel4->SuspendLayout();
-          this->fs->SuspendLayout();
-          this->SuspendLayout();
-          // 
-          // InitButton
-          // 
-          this->InitButton->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
-               (System::Byte)0));
-          this->InitButton->Location = System::Drawing::Point(0, 0);
-          this->InitButton->Name = S"InitButton";
-          this->InitButton->Size = System::Drawing::Size(115, 50);
-          this->InitButton->TabIndex = 0;
-          this->InitButton->Text = S"Initialize";
-          this->InitButton->Click += new System::EventHandler(this, &Form1::InitButton_Click);
-          // 
-          // MoveButton
-          // 
-          this->MoveButton->Enabled = false;
-          this->MoveButton->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
-               (System::Byte)0));
-          this->MoveButton->Location = System::Drawing::Point(307, 184);
-          this->MoveButton->Name = S"MoveButton";
-          this->MoveButton->Size = System::Drawing::Size(201, 48);
-          this->MoveButton->TabIndex = 3;
-          this->MoveButton->Text = S"Move To Position ";
-          this->MoveButton->Click += new System::EventHandler(this, &Form1::MoveButton_Click);
-          // 
-          // ExitButton
-          // 
-          this->ExitButton->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
-               (System::Byte)0));
-          this->ExitButton->Location = System::Drawing::Point(0, 69);
-          this->ExitButton->Name = S"ExitButton";
-          this->ExitButton->Size = System::Drawing::Size(164, 70);
-          this->ExitButton->TabIndex = 5;
-          this->ExitButton->Text = S"Exit";
-          this->ExitButton->Click += new System::EventHandler(this, &Form1::ExitButton_Click);
-          // 
-          // XLabel
-          // 
-          this->XLabel->Location = System::Drawing::Point(8, 31);
-          this->XLabel->Name = S"XLabel";
-          this->XLabel->Size = System::Drawing::Size(63, 16);
-          this->XLabel->TabIndex = 7;
-          this->XLabel->Text = S"Not Loaded";
-          this->XLabel->TextAlign = System::Drawing::ContentAlignment::MiddleRight;
-          // 
-          // YLabel
-          // 
-          this->YLabel->Location = System::Drawing::Point(8, 57);
-          this->YLabel->Name = S"YLabel";
-          this->YLabel->Size = System::Drawing::Size(63, 16);
-          this->YLabel->TabIndex = 8;
-          this->YLabel->Text = S"Not Loaded";
-          this->YLabel->TextAlign = System::Drawing::ContentAlignment::MiddleRight;
-          // 
-          // ZLabel
-          // 
-          this->ZLabel->Location = System::Drawing::Point(8, 82);
-          this->ZLabel->Name = S"ZLabel";
-          this->ZLabel->Size = System::Drawing::Size(63, 16);
-          this->ZLabel->TabIndex = 11;
-          this->ZLabel->Text = S"Not Loaded";
-          this->ZLabel->TextAlign = System::Drawing::ContentAlignment::MiddleRight;
-          // 
-          // XDisplay
-          // 
-          this->XDisplay->Enabled = false;
-          this->XDisplay->Location = System::Drawing::Point(429, 30);
-          this->XDisplay->Name = S"XDisplay";
-          this->XDisplay->ReadOnly = true;
-          this->XDisplay->Size = System::Drawing::Size(100, 20);
-          this->XDisplay->TabIndex = 13;
-          this->XDisplay->Text = S"0.000000";
-          this->XDisplay->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // YDisplay
-          // 
-          this->YDisplay->Enabled = false;
-          this->YDisplay->Location = System::Drawing::Point(429, 56);
-          this->YDisplay->Name = S"YDisplay";
-          this->YDisplay->ReadOnly = true;
-          this->YDisplay->Size = System::Drawing::Size(100, 20);
-          this->YDisplay->TabIndex = 14;
-          this->YDisplay->Text = S"0.000000";
-          this->YDisplay->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // ZDisplay
-          // 
-          this->ZDisplay->Enabled = false;
-          this->ZDisplay->Location = System::Drawing::Point(429, 83);
-          this->ZDisplay->Name = S"ZDisplay";
-          this->ZDisplay->ReadOnly = true;
-          this->ZDisplay->Size = System::Drawing::Size(100, 20);
-          this->ZDisplay->TabIndex = 17;
-          this->ZDisplay->Text = S"0.000000";
-          this->ZDisplay->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // ExecuteButton
-          // 
-          this->ExecuteButton->Enabled = false;
-          this->ExecuteButton->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
-               (System::Byte)0));
-          this->ExecuteButton->Location = System::Drawing::Point(123, 0);
-          this->ExecuteButton->Name = S"ExecuteButton";
-          this->ExecuteButton->Size = System::Drawing::Size(117, 40);
-          this->ExecuteButton->TabIndex = 19;
-          this->ExecuteButton->Text = S"Execute";
-          this->ExecuteButton->Click += new System::EventHandler(this, &Form1::ExecuteButton_Click);
-          // 
-          // ResetPosButton
-          // 
-          this->ResetPosButton->Enabled = false;
-          this->ResetPosButton->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
-               (System::Byte)0));
-          this->ResetPosButton->Location = System::Drawing::Point(514, 184);
-          this->ResetPosButton->Name = S"ResetPosButton";
-          this->ResetPosButton->Size = System::Drawing::Size(168, 48);
-          this->ResetPosButton->TabIndex = 20;
-          this->ResetPosButton->Text = S"Reset Position";
-          this->ResetPosButton->Click += new System::EventHandler(this, &Form1::ResetPosButton_Click);
-          // 
-          // LoadFileButton
-          // 
-          this->LoadFileButton->Enabled = false;
-          this->LoadFileButton->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
-               (System::Byte)0));
-          this->LoadFileButton->Location = System::Drawing::Point(0, 0);
-          this->LoadFileButton->Name = S"LoadFileButton";
-          this->LoadFileButton->Size = System::Drawing::Size(117, 41);
-          this->LoadFileButton->TabIndex = 21;
-          this->LoadFileButton->Text = S"Load";
-          this->LoadFileButton->Click += new System::EventHandler(this, &Form1::LoadFileButton_Click);
-          // 
-          // ExecutePathLabel
-          // 
-          this->ExecutePathLabel->Location = System::Drawing::Point(247, 10);
-          this->ExecutePathLabel->Name = S"ExecutePathLabel";
-          this->ExecutePathLabel->ReadOnly = true;
-          this->ExecutePathLabel->Size = System::Drawing::Size(458, 20);
-          this->ExecutePathLabel->TabIndex = 24;
-          // 
-          // bayVelocity0
-          // 
-          this->bayVelocity0->Enabled = false;
-          this->bayVelocity0->Location = System::Drawing::Point(77, 106);
-          this->bayVelocity0->Name = S"bayVelocity0";
-          this->bayVelocity0->Size = System::Drawing::Size(100, 20);
-          this->bayVelocity0->TabIndex = 28;
-          this->bayVelocity0->Text = S"1.000000";
-          this->bayVelocity0->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // label4
-          // 
-          this->label4->AutoSize = true;
-          this->label4->Location = System::Drawing::Point(74, 12);
-          this->label4->Name = S"label4";
-          this->label4->Size = System::Drawing::Size(79, 13);
-          this->label4->TabIndex = 47;
-          this->label4->Text = S"Velocity (mm/s)";
-          // 
-          // bayVelocity1
-          // 
-          this->bayVelocity1->Enabled = false;
-          this->bayVelocity1->Location = System::Drawing::Point(77, 132);
-          this->bayVelocity1->Name = S"bayVelocity1";
-          this->bayVelocity1->Size = System::Drawing::Size(100, 20);
-          this->bayVelocity1->TabIndex = 32;
-          this->bayVelocity1->Text = S"1.000000";
-          this->bayVelocity1->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // bayScroll1
-          // 
-          this->bayScroll1->AccessibleRole = System::Windows::Forms::AccessibleRole::ScrollBar;
-          this->bayScroll1->Enabled = false;
-          this->bayScroll1->LargeChange = 1;
-          this->bayScroll1->Location = System::Drawing::Point(663, 132);
-          this->bayScroll1->Maximum = 100000000;
-          this->bayScroll1->Minimum = -100000000;
-          this->bayScroll1->Name = S"bayScroll1";
-          this->bayScroll1->Size = System::Drawing::Size(19, 20);
-          this->bayScroll1->TabIndex = 46;
-          this->bayScroll1->Scroll += new System::Windows::Forms::ScrollEventHandler(this, &Form1::Tool2Scroll_Scroll);
-          // 
-          // bayScroll0
-          // 
-          this->bayScroll0->AccessibleRole = System::Windows::Forms::AccessibleRole::ScrollBar;
-          this->bayScroll0->Enabled = false;
-          this->bayScroll0->LargeChange = 1;
-          this->bayScroll0->Location = System::Drawing::Point(663, 106);
-          this->bayScroll0->Maximum = 100000000;
-          this->bayScroll0->Minimum = -100000000;
-          this->bayScroll0->Name = S"bayScroll0";
-          this->bayScroll0->Size = System::Drawing::Size(19, 20);
-          this->bayScroll0->TabIndex = 45;
-          this->bayScroll0->Scroll += new System::Windows::Forms::ScrollEventHandler(this, &Form1::Tool1Scroll_Scroll);
-          // 
-          // bayLabel1
-          // 
-          this->bayLabel1->Anchor = System::Windows::Forms::AnchorStyles::Right;
-          this->bayLabel1->Location = System::Drawing::Point(8, 133);
-          this->bayLabel1->Name = S"bayLabel1";
-          this->bayLabel1->Size = System::Drawing::Size(63, 16);
-          this->bayLabel1->TabIndex = 36;
-          this->bayLabel1->Text = S"Not Loaded";
-          this->bayLabel1->TextAlign = System::Drawing::ContentAlignment::MiddleRight;
-          // 
-          // bayLabel0
-          // 
-          this->bayLabel0->Anchor = System::Windows::Forms::AnchorStyles::Right;
-          this->bayLabel0->Location = System::Drawing::Point(8, 107);
-          this->bayLabel0->Name = S"bayLabel0";
-          this->bayLabel0->Size = System::Drawing::Size(63, 16);
-          this->bayLabel0->TabIndex = 35;
-          this->bayLabel0->Text = S"Not Loaded";
-          this->bayLabel0->TextAlign = System::Drawing::ContentAlignment::MiddleRight;
-          // 
-          // bayCommandedPosition1
-          // 
-          this->bayCommandedPosition1->Enabled = false;
-          this->bayCommandedPosition1->Location = System::Drawing::Point(535, 132);
-          this->bayCommandedPosition1->Name = S"bayCommandedPosition1";
-          this->bayCommandedPosition1->Size = System::Drawing::Size(128, 20);
-          this->bayCommandedPosition1->TabIndex = 34;
-          this->bayCommandedPosition1->Text = S"0.000000";
-          this->bayCommandedPosition1->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // bayCommandedPosition0
-          // 
-          this->bayCommandedPosition0->Enabled = false;
-          this->bayCommandedPosition0->Location = System::Drawing::Point(535, 106);
-          this->bayCommandedPosition0->Name = S"bayCommandedPosition0";
-          this->bayCommandedPosition0->Size = System::Drawing::Size(128, 20);
-          this->bayCommandedPosition0->TabIndex = 33;
-          this->bayCommandedPosition0->Text = S"0.000000";
-          this->bayCommandedPosition0->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // FabricationThread
-          // 
-          this->FabricationThread->WorkerReportsProgress = true;
-          this->FabricationThread->DoWork += new System::ComponentModel::DoWorkEventHandler(this, &Form1::FabricationThread_DoWork);
-          this->FabricationThread->RunWorkerCompleted += new System::ComponentModel::RunWorkerCompletedEventHandler(this, &Form1::FabricationThread_WorkerCompleted);
-          this->FabricationThread->ProgressChanged += new System::ComponentModel::ProgressChangedEventHandler(this, &Form1::FabricationThread_ProgressChanged);
-          // 
-          // ForceStopButton
-          // 
-          this->ForceStopButton->Enabled = false;
-          this->ForceStopButton->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
-               (System::Byte)0));
-          this->ForceStopButton->Location = System::Drawing::Point(473, 3);
-          this->ForceStopButton->Name = S"ForceStopButton";
-          this->ForceStopButton->Size = System::Drawing::Size(231, 46);
-          this->ForceStopButton->TabIndex = 34;
-          this->ForceStopButton->Text = S"Force Stop";
-          this->ForceStopButton->UseVisualStyleBackColor = true;
-          this->ForceStopButton->Click += new System::EventHandler(this, &Form1::ForceStopButton_Click);
-          // 
-          // panel1
-          // 
-          this->panel1->Controls->Add(this->PathProgressBar);
-          this->panel1->Controls->Add(this->CancelFabButton);
-          this->panel1->Controls->Add(this->PauseFabButton);
-          this->panel1->Controls->Add(this->ForceStopButton);
-          this->panel1->Location = System::Drawing::Point(9, 364);
-          this->panel1->Name = S"panel1";
-          this->panel1->Size = System::Drawing::Size(717, 92);
-          this->panel1->TabIndex = 37;
-          // 
-          // PathProgressBar
-          // 
-          this->PathProgressBar->Location = System::Drawing::Point(5, 55);
-          this->PathProgressBar->Maximum = 1000;
-          this->PathProgressBar->Name = S"PathProgressBar";
-          this->PathProgressBar->Size = System::Drawing::Size(697, 23);
-          this->PathProgressBar->Style = System::Windows::Forms::ProgressBarStyle::Continuous;
-          this->PathProgressBar->TabIndex = 39;
-          // 
-          // CancelFabButton
-          // 
-          this->CancelFabButton->Enabled = false;
-          this->CancelFabButton->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
-               (System::Byte)0));
-          this->CancelFabButton->Location = System::Drawing::Point(246, 3);
-          this->CancelFabButton->Name = S"CancelFabButton";
-          this->CancelFabButton->Size = System::Drawing::Size(219, 46);
-          this->CancelFabButton->TabIndex = 39;
-          this->CancelFabButton->Text = S"Cancel";
-          this->CancelFabButton->UseVisualStyleBackColor = true;
-          this->CancelFabButton->Click += new System::EventHandler(this, &Form1::CancelFabButton_Click);
-          // 
-          // PauseFabButton
-          // 
-          this->PauseFabButton->Enabled = false;
-          this->PauseFabButton->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
-               (System::Byte)0));
-          this->PauseFabButton->Location = System::Drawing::Point(5, 3);
-          this->PauseFabButton->Name = S"PauseFabButton";
-          this->PauseFabButton->Size = System::Drawing::Size(235, 46);
-          this->PauseFabButton->TabIndex = 38;
-          this->PauseFabButton->Text = S"Pause";
-          this->PauseFabButton->UseVisualStyleBackColor = true;
-          this->PauseFabButton->Click += new System::EventHandler(this, &Form1::PauseFabButton_Click);
-          // 
-          // RedoPathButton
-          // 
-          this->RedoPathButton->Enabled = false;
-          this->RedoPathButton->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
-               (System::Byte)0));
-          this->RedoPathButton->Location = System::Drawing::Point(0, 0);
-          this->RedoPathButton->Name = S"RedoPathButton";
-          this->RedoPathButton->Size = System::Drawing::Size(164, 63);
-          this->RedoPathButton->TabIndex = 38;
-          this->RedoPathButton->Text = S"Redo Path";
-          this->RedoPathButton->UseVisualStyleBackColor = true;
-          this->RedoPathButton->Click += new System::EventHandler(this, &Form1::RedoPathButton_Click);
-          // 
-          // Timer
-          // 
-          this->Timer->Tick += new System::EventHandler(this, &Form1::Timer_Tick);
-          // 
-          // panel2
-          // 
-          this->panel2->Controls->Add(this->bayMaterialCalibration2);
-          this->panel2->Controls->Add(this->bayAcceleration2);
-          this->panel2->Controls->Add(this->bayVelocity2);
-          this->panel2->Controls->Add(this->bayMotorPosition2);
-          this->panel2->Controls->Add(this->bayPositionIncrement2);
-          this->panel2->Controls->Add(this->ResetPosButton);
-          this->panel2->Controls->Add(this->MoveButton);
-          this->panel2->Controls->Add(this->bayScroll2);
-          this->panel2->Controls->Add(this->bayCommandedPosition2);
-          this->panel2->Controls->Add(this->bayLabel2);
-          this->panel2->Controls->Add(this->label5);
-          this->panel2->Controls->Add(this->bayMaterialCalibration1);
-          this->panel2->Controls->Add(this->bayMaterialCalibration0);
-          this->panel2->Controls->Add(this->XAccelerationField);
-          this->panel2->Controls->Add(this->YAccelerationField);
-          this->panel2->Controls->Add(this->ZAccelerationField);
-          this->panel2->Controls->Add(this->bayAcceleration1);
-          this->panel2->Controls->Add(this->bayAcceleration0);
-          this->panel2->Controls->Add(this->label1);
-          this->panel2->Controls->Add(this->XVelocityField);
-          this->panel2->Controls->Add(this->YVelocityField);
-          this->panel2->Controls->Add(this->ZVelocityField);
-          this->panel2->Controls->Add(this->bayVelocity1);
-          this->panel2->Controls->Add(this->label4);
-          this->panel2->Controls->Add(this->bayVelocity0);
-          this->panel2->Controls->Add(this->bayMotorPosition1);
-          this->panel2->Controls->Add(this->bayMotorPosition0);
-          this->panel2->Controls->Add(this->bayPositionIncrement1);
-          this->panel2->Controls->Add(this->bayPositionIncrement0);
-          this->panel2->Controls->Add(this->bayScroll1);
-          this->panel2->Controls->Add(this->zScroll);
-          this->panel2->Controls->Add(this->bayScroll0);
-          this->panel2->Controls->Add(this->yScroll);
-          this->panel2->Controls->Add(this->bayCommandedPosition1);
-          this->panel2->Controls->Add(this->xScroll);
-          this->panel2->Controls->Add(this->bayCommandedPosition0);
-          this->panel2->Controls->Add(this->bayLabel1);
-          this->panel2->Controls->Add(this->CommandedLabel);
-          this->panel2->Controls->Add(this->bayLabel0);
-          this->panel2->Controls->Add(this->RealTimeLabel);
-          this->panel2->Controls->Add(this->ZIncrementField);
-          this->panel2->Controls->Add(this->YIncrementField);
-          this->panel2->Controls->Add(this->XIncrementField);
-          this->panel2->Controls->Add(this->label2);
-          this->panel2->Controls->Add(this->IncrementLabel);
-          this->panel2->Controls->Add(this->ZCommandedField);
-          this->panel2->Controls->Add(this->YCommandedField);
-          this->panel2->Controls->Add(this->XCommandedField);
-          this->panel2->Controls->Add(this->XLabel);
-          this->panel2->Controls->Add(this->YLabel);
-          this->panel2->Controls->Add(this->ZLabel);
-          this->panel2->Controls->Add(this->XDisplay);
-          this->panel2->Controls->Add(this->YDisplay);
-          this->panel2->Controls->Add(this->ZDisplay);
-          this->panel2->Location = System::Drawing::Point(9, 63);
-          this->panel2->Name = S"panel2";
-          this->panel2->Size = System::Drawing::Size(887, 248);
-          this->panel2->TabIndex = 42;
-          // 
-          // bayMaterialCalibration2
-          // 
-          this->bayMaterialCalibration2->DropDownStyle = System::Windows::Forms::ComboBoxStyle::DropDownList;
-          this->bayMaterialCalibration2->Enabled = false;
-          this->bayMaterialCalibration2->FormattingEnabled = true;
-          this->bayMaterialCalibration2->Location = System::Drawing::Point(700, 158);
-          this->bayMaterialCalibration2->Name = S"bayMaterialCalibration2";
-          this->bayMaterialCalibration2->Size = System::Drawing::Size(182, 21);
-          this->bayMaterialCalibration2->TabIndex = 68;
-          this->bayMaterialCalibration2->SelectedIndexChanged += new System::EventHandler(this, &Form1::bayMaterialCalibration2_SelectedIndexChanged);
-          // 
-          // bayAcceleration2
-          // 
-          this->bayAcceleration2->Enabled = false;
-          this->bayAcceleration2->Location = System::Drawing::Point(183, 158);
-          this->bayAcceleration2->Name = S"bayAcceleration2";
-          this->bayAcceleration2->Size = System::Drawing::Size(108, 20);
-          this->bayAcceleration2->TabIndex = 67;
-          this->bayAcceleration2->Text = S"100.000000";
-          this->bayAcceleration2->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // bayVelocity2
-          // 
-          this->bayVelocity2->Enabled = false;
-          this->bayVelocity2->Location = System::Drawing::Point(77, 158);
-          this->bayVelocity2->Name = S"bayVelocity2";
-          this->bayVelocity2->Size = System::Drawing::Size(100, 20);
-          this->bayVelocity2->TabIndex = 61;
-          this->bayVelocity2->Text = S"1.000000";
-          this->bayVelocity2->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // bayMotorPosition2
-          // 
-          this->bayMotorPosition2->Enabled = false;
-          this->bayMotorPosition2->Location = System::Drawing::Point(429, 158);
-          this->bayMotorPosition2->Name = S"bayMotorPosition2";
-          this->bayMotorPosition2->ReadOnly = true;
-          this->bayMotorPosition2->Size = System::Drawing::Size(100, 20);
-          this->bayMotorPosition2->TabIndex = 65;
-          this->bayMotorPosition2->Text = S"0.000000";
-          this->bayMotorPosition2->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // bayPositionIncrement2
-          // 
-          this->bayPositionIncrement2->Enabled = false;
-          this->bayPositionIncrement2->Location = System::Drawing::Point(307, 158);
-          this->bayPositionIncrement2->Name = S"bayPositionIncrement2";
-          this->bayPositionIncrement2->Size = System::Drawing::Size(116, 20);
-          this->bayPositionIncrement2->TabIndex = 66;
-          this->bayPositionIncrement2->Text = S"0.100000";
-          this->bayPositionIncrement2->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // bayScroll2
-          // 
-          this->bayScroll2->AccessibleRole = System::Windows::Forms::AccessibleRole::ScrollBar;
-          this->bayScroll2->Enabled = false;
-          this->bayScroll2->LargeChange = 1;
-          this->bayScroll2->Location = System::Drawing::Point(663, 158);
-          this->bayScroll2->Maximum = 100000000;
-          this->bayScroll2->Minimum = -100000000;
-          this->bayScroll2->Name = S"bayScroll2";
-          this->bayScroll2->Size = System::Drawing::Size(19, 20);
-          this->bayScroll2->TabIndex = 64;
-          this->bayScroll2->Scroll += new System::Windows::Forms::ScrollEventHandler(this, &Form1::bayScroll2_Scroll);
-          // 
-          // bayCommandedPosition2
-          // 
-          this->bayCommandedPosition2->Enabled = false;
-          this->bayCommandedPosition2->Location = System::Drawing::Point(535, 158);
-          this->bayCommandedPosition2->Name = S"bayCommandedPosition2";
-          this->bayCommandedPosition2->Size = System::Drawing::Size(128, 20);
-          this->bayCommandedPosition2->TabIndex = 62;
-          this->bayCommandedPosition2->Text = S"0.000000";
-          this->bayCommandedPosition2->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // bayLabel2
-          // 
-          this->bayLabel2->Anchor = System::Windows::Forms::AnchorStyles::Right;
-          this->bayLabel2->Location = System::Drawing::Point(8, 159);
-          this->bayLabel2->Name = S"bayLabel2";
-          this->bayLabel2->Size = System::Drawing::Size(63, 16);
-          this->bayLabel2->TabIndex = 63;
-          this->bayLabel2->Text = S"Not Loaded";
-          this->bayLabel2->TextAlign = System::Drawing::ContentAlignment::MiddleRight;
-          // 
-          // label5
-          // 
-          this->label5->AutoSize = true;
-          this->label5->Location = System::Drawing::Point(697, 12);
-          this->label5->Name = S"label5";
-          this->label5->Size = System::Drawing::Size(96, 13);
-          this->label5->TabIndex = 60;
-          this->label5->Text = S"Material Calibration";
-          // 
-          // bayMaterialCalibration1
-          // 
-          this->bayMaterialCalibration1->DropDownStyle = System::Windows::Forms::ComboBoxStyle::DropDownList;
-          this->bayMaterialCalibration1->Enabled = false;
-          this->bayMaterialCalibration1->FormattingEnabled = true;
-          this->bayMaterialCalibration1->Location = System::Drawing::Point(700, 132);
-          this->bayMaterialCalibration1->Name = S"bayMaterialCalibration1";
-          this->bayMaterialCalibration1->Size = System::Drawing::Size(182, 21);
-          this->bayMaterialCalibration1->TabIndex = 59;
-          this->bayMaterialCalibration1->SelectedIndexChanged += new System::EventHandler(this, &Form1::bayMaterialCalibration1_SelectedIndexChanged);
-          // 
-          // bayMaterialCalibration0
-          // 
-          this->bayMaterialCalibration0->DropDownStyle = System::Windows::Forms::ComboBoxStyle::DropDownList;
-          this->bayMaterialCalibration0->Enabled = false;
-          this->bayMaterialCalibration0->FormattingEnabled = true;
-          this->bayMaterialCalibration0->Location = System::Drawing::Point(700, 105);
-          this->bayMaterialCalibration0->Name = S"bayMaterialCalibration0";
-          this->bayMaterialCalibration0->Size = System::Drawing::Size(182, 21);
-          this->bayMaterialCalibration0->TabIndex = 58;
-          this->bayMaterialCalibration0->SelectedIndexChanged += new System::EventHandler(this, &Form1::bayMaterialCalibration0_SelectedIndexChanged);
-          // 
-          // XAccelerationField
-          // 
-          this->XAccelerationField->Enabled = false;
-          this->XAccelerationField->Location = System::Drawing::Point(183, 30);
-          this->XAccelerationField->Name = S"XAccelerationField";
-          this->XAccelerationField->Size = System::Drawing::Size(108, 20);
-          this->XAccelerationField->TabIndex = 57;
-          this->XAccelerationField->Text = S"100.000000";
-          this->XAccelerationField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // YAccelerationField
-          // 
-          this->YAccelerationField->Enabled = false;
-          this->YAccelerationField->Location = System::Drawing::Point(183, 56);
-          this->YAccelerationField->Name = S"YAccelerationField";
-          this->YAccelerationField->Size = System::Drawing::Size(108, 20);
-          this->YAccelerationField->TabIndex = 56;
-          this->YAccelerationField->Text = S"100.000000";
-          this->YAccelerationField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // ZAccelerationField
-          // 
-          this->ZAccelerationField->Enabled = false;
-          this->ZAccelerationField->Location = System::Drawing::Point(183, 81);
-          this->ZAccelerationField->Name = S"ZAccelerationField";
-          this->ZAccelerationField->Size = System::Drawing::Size(108, 20);
-          this->ZAccelerationField->TabIndex = 55;
-          this->ZAccelerationField->Text = S"100.000000";
-          this->ZAccelerationField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // bayAcceleration1
-          // 
-          this->bayAcceleration1->Enabled = false;
-          this->bayAcceleration1->Location = System::Drawing::Point(183, 132);
-          this->bayAcceleration1->Name = S"bayAcceleration1";
-          this->bayAcceleration1->Size = System::Drawing::Size(108, 20);
-          this->bayAcceleration1->TabIndex = 54;
-          this->bayAcceleration1->Text = S"100.000000";
-          this->bayAcceleration1->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // bayAcceleration0
-          // 
-          this->bayAcceleration0->Enabled = false;
-          this->bayAcceleration0->Location = System::Drawing::Point(183, 106);
-          this->bayAcceleration0->Name = S"bayAcceleration0";
-          this->bayAcceleration0->Size = System::Drawing::Size(108, 20);
-          this->bayAcceleration0->TabIndex = 53;
-          this->bayAcceleration0->Text = S"100.000000";
-          this->bayAcceleration0->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // label1
-          // 
-          this->label1->AutoSize = true;
-          this->label1->Location = System::Drawing::Point(180, 12);
-          this->label1->Name = S"label1";
-          this->label1->Size = System::Drawing::Size(111, 13);
-          this->label1->TabIndex = 52;
-          this->label1->Text = S"Acceleration (mm/s/s)";
-          // 
-          // XVelocityField
-          // 
-          this->XVelocityField->Enabled = false;
-          this->XVelocityField->Location = System::Drawing::Point(77, 30);
-          this->XVelocityField->Name = S"XVelocityField";
-          this->XVelocityField->Size = System::Drawing::Size(100, 20);
-          this->XVelocityField->TabIndex = 51;
-          this->XVelocityField->Text = S"100.000000";
-          this->XVelocityField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // YVelocityField
-          // 
-          this->YVelocityField->Enabled = false;
-          this->YVelocityField->Location = System::Drawing::Point(77, 56);
-          this->YVelocityField->Name = S"YVelocityField";
-          this->YVelocityField->Size = System::Drawing::Size(100, 20);
-          this->YVelocityField->TabIndex = 50;
-          this->YVelocityField->Text = S"100.000000";
-          this->YVelocityField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // ZVelocityField
-          // 
-          this->ZVelocityField->Enabled = false;
-          this->ZVelocityField->Location = System::Drawing::Point(77, 81);
-          this->ZVelocityField->Name = S"ZVelocityField";
-          this->ZVelocityField->Size = System::Drawing::Size(100, 20);
-          this->ZVelocityField->TabIndex = 49;
-          this->ZVelocityField->Text = S"100.000000";
-          this->ZVelocityField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // bayMotorPosition1
-          // 
-          this->bayMotorPosition1->Enabled = false;
-          this->bayMotorPosition1->Location = System::Drawing::Point(429, 132);
-          this->bayMotorPosition1->Name = S"bayMotorPosition1";
-          this->bayMotorPosition1->ReadOnly = true;
-          this->bayMotorPosition1->Size = System::Drawing::Size(100, 20);
-          this->bayMotorPosition1->TabIndex = 47;
-          this->bayMotorPosition1->Text = S"0.000000";
-          this->bayMotorPosition1->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // bayMotorPosition0
-          // 
-          this->bayMotorPosition0->Enabled = false;
-          this->bayMotorPosition0->Location = System::Drawing::Point(429, 106);
-          this->bayMotorPosition0->Name = S"bayMotorPosition0";
-          this->bayMotorPosition0->ReadOnly = true;
-          this->bayMotorPosition0->Size = System::Drawing::Size(100, 20);
-          this->bayMotorPosition0->TabIndex = 46;
-          this->bayMotorPosition0->Text = S"0.000000";
-          this->bayMotorPosition0->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // bayPositionIncrement1
-          // 
-          this->bayPositionIncrement1->Enabled = false;
-          this->bayPositionIncrement1->Location = System::Drawing::Point(307, 132);
-          this->bayPositionIncrement1->Name = S"bayPositionIncrement1";
-          this->bayPositionIncrement1->Size = System::Drawing::Size(116, 20);
-          this->bayPositionIncrement1->TabIndex = 48;
-          this->bayPositionIncrement1->Text = S"0.100000";
-          this->bayPositionIncrement1->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // bayPositionIncrement0
-          // 
-          this->bayPositionIncrement0->Enabled = false;
-          this->bayPositionIncrement0->Location = System::Drawing::Point(307, 106);
-          this->bayPositionIncrement0->Name = S"bayPositionIncrement0";
-          this->bayPositionIncrement0->Size = System::Drawing::Size(116, 20);
-          this->bayPositionIncrement0->TabIndex = 47;
-          this->bayPositionIncrement0->Text = S"0.100000";
-          this->bayPositionIncrement0->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // zScroll
-          // 
-          this->zScroll->AccessibleRole = System::Windows::Forms::AccessibleRole::ScrollBar;
-          this->zScroll->Enabled = false;
-          this->zScroll->LargeChange = 1;
-          this->zScroll->Location = System::Drawing::Point(663, 81);
-          this->zScroll->Maximum = 100000000;
-          this->zScroll->Minimum = -100000000;
-          this->zScroll->Name = S"zScroll";
-          this->zScroll->Size = System::Drawing::Size(19, 20);
-          this->zScroll->TabIndex = 46;
-          this->zScroll->Scroll += new System::Windows::Forms::ScrollEventHandler(this, &Form1::ZScroll_Scroll);
-          // 
-          // yScroll
-          // 
-          this->yScroll->AccessibleRole = System::Windows::Forms::AccessibleRole::ScrollBar;
-          this->yScroll->Enabled = false;
-          this->yScroll->LargeChange = 1;
-          this->yScroll->Location = System::Drawing::Point(663, 56);
-          this->yScroll->Maximum = 100000000;
-          this->yScroll->Minimum = -100000000;
-          this->yScroll->Name = S"yScroll";
-          this->yScroll->Size = System::Drawing::Size(19, 20);
-          this->yScroll->TabIndex = 45;
-          this->yScroll->Scroll += new System::Windows::Forms::ScrollEventHandler(this, &Form1::YScroll_Scroll);
-          // 
-          // xScroll
-          // 
-          this->xScroll->AccessibleRole = System::Windows::Forms::AccessibleRole::ScrollBar;
-          this->xScroll->Enabled = false;
-          this->xScroll->LargeChange = 1;
-          this->xScroll->Location = System::Drawing::Point(663, 30);
-          this->xScroll->Maximum = 100000000;
-          this->xScroll->Minimum = -100000000;
-          this->xScroll->Name = S"xScroll";
-          this->xScroll->Size = System::Drawing::Size(19, 20);
-          this->xScroll->TabIndex = 44;
-          this->xScroll->Scroll += new System::Windows::Forms::ScrollEventHandler(this, &Form1::XScroll_Scroll);
-          // 
-          // CommandedLabel
-          // 
-          this->CommandedLabel->AutoSize = true;
-          this->CommandedLabel->Location = System::Drawing::Point(532, 12);
-          this->CommandedLabel->Name = S"CommandedLabel";
-          this->CommandedLabel->Size = System::Drawing::Size(131, 13);
-          this->CommandedLabel->TabIndex = 36;
-          this->CommandedLabel->Text = S"Commanded Position (mm)";
-          // 
-          // RealTimeLabel
-          // 
-          this->RealTimeLabel->AutoSize = true;
-          this->RealTimeLabel->Location = System::Drawing::Point(426, 12);
-          this->RealTimeLabel->Name = S"RealTimeLabel";
-          this->RealTimeLabel->Size = System::Drawing::Size(99, 13);
-          this->RealTimeLabel->TabIndex = 35;
-          this->RealTimeLabel->Text = S"Motor Position (mm)";
-          // 
-          // ZIncrementField
-          // 
-          this->ZIncrementField->Enabled = false;
-          this->ZIncrementField->Location = System::Drawing::Point(307, 83);
-          this->ZIncrementField->Name = S"ZIncrementField";
-          this->ZIncrementField->Size = System::Drawing::Size(116, 20);
-          this->ZIncrementField->TabIndex = 34;
-          this->ZIncrementField->Text = S"0.500000";
-          this->ZIncrementField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // YIncrementField
-          // 
-          this->YIncrementField->Enabled = false;
-          this->YIncrementField->Location = System::Drawing::Point(307, 56);
-          this->YIncrementField->Name = S"YIncrementField";
-          this->YIncrementField->Size = System::Drawing::Size(116, 20);
-          this->YIncrementField->TabIndex = 33;
-          this->YIncrementField->Text = S"1.500000";
-          this->YIncrementField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // XIncrementField
-          // 
-          this->XIncrementField->Enabled = false;
-          this->XIncrementField->Location = System::Drawing::Point(308, 30);
-          this->XIncrementField->Name = S"XIncrementField";
-          this->XIncrementField->Size = System::Drawing::Size(115, 20);
-          this->XIncrementField->TabIndex = 32;
-          this->XIncrementField->Text = S"1.500000";
-          this->XIncrementField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // label2
-          // 
-          this->label2->AutoSize = true;
-          this->label2->Enabled = false;
-          this->label2->Location = System::Drawing::Point(456, 18);
-          this->label2->Name = S"label2";
-          this->label2->Size = System::Drawing::Size(0, 13);
-          this->label2->TabIndex = 31;
-          // 
-          // IncrementLabel
-          // 
-          this->IncrementLabel->AutoSize = true;
-          this->IncrementLabel->Location = System::Drawing::Point(304, 12);
-          this->IncrementLabel->Name = S"IncrementLabel";
-          this->IncrementLabel->Size = System::Drawing::Size(119, 13);
-          this->IncrementLabel->TabIndex = 30;
-          this->IncrementLabel->Text = S"Position Increment (mm)";
-          // 
-          // ZCommandedField
-          // 
-          this->ZCommandedField->Enabled = false;
-          this->ZCommandedField->Location = System::Drawing::Point(535, 81);
-          this->ZCommandedField->Name = S"ZCommandedField";
-          this->ZCommandedField->Size = System::Drawing::Size(128, 20);
-          this->ZCommandedField->TabIndex = 29;
-          this->ZCommandedField->Text = S"0.000000";
-          this->ZCommandedField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // YCommandedField
-          // 
-          this->YCommandedField->Enabled = false;
-          this->YCommandedField->Location = System::Drawing::Point(535, 56);
-          this->YCommandedField->Name = S"YCommandedField";
-          this->YCommandedField->Size = System::Drawing::Size(128, 20);
-          this->YCommandedField->TabIndex = 28;
-          this->YCommandedField->Text = S"0.000000";
-          this->YCommandedField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // XCommandedField
-          // 
-          this->XCommandedField->Enabled = false;
-          this->XCommandedField->Location = System::Drawing::Point(535, 30);
-          this->XCommandedField->Name = S"XCommandedField";
-          this->XCommandedField->Size = System::Drawing::Size(128, 20);
-          this->XCommandedField->TabIndex = 27;
-          this->XCommandedField->Text = S"0.000000";
-          this->XCommandedField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
-          // 
-          // PosDisplayThread
-          // 
-          this->PosDisplayThread->WorkerReportsProgress = true;
-          this->PosDisplayThread->DoWork += new System::ComponentModel::DoWorkEventHandler(this, &Form1::PosDisplayThread_DoWork);
-          this->PosDisplayThread->ProgressChanged += new System::ComponentModel::ProgressChangedEventHandler(this, &Form1::PosDisplayThread_ProgressChanged);
-          // 
-          // panel3
-          // 
-          this->panel3->Controls->Add(this->InitButton);
-          this->panel3->Location = System::Drawing::Point(9, 7);
-          this->panel3->Name = S"panel3";
-          this->panel3->Size = System::Drawing::Size(887, 50);
-          this->panel3->TabIndex = 43;
-          // 
-          // panel4
-          // 
-          this->panel4->Controls->Add(this->ExecutePathLabel);
-          this->panel4->Controls->Add(this->LoadFileButton);
-          this->panel4->Controls->Add(this->ExecuteButton);
-          this->panel4->Location = System::Drawing::Point(9, 317);
-          this->panel4->Name = S"panel4";
-          this->panel4->Size = System::Drawing::Size(717, 41);
-          this->panel4->TabIndex = 44;
-          // 
-          // fs
-          // 
-          this->fs->Controls->Add(this->ExitButton);
-          this->fs->Controls->Add(this->RedoPathButton);
-          this->fs->Location = System::Drawing::Point(732, 317);
-          this->fs->Name = S"fs";
-          this->fs->Size = System::Drawing::Size(164, 139);
-          this->fs->TabIndex = 45;
-          // 
-          // openFileDialog1
-          // 
-          this->openFileDialog1->FileName = S"openFileDialog1";
-          this->openFileDialog1->InitialDirectory = S"C:\\Documents and Settings\\FabAdmin\\Desktop\\SVN- [e-mail]\\software\\projects\\printers\\fabathome-model2\\Fab@Home Interpreter\\Printers";
-          // 
-          // Form1
-          // 
-          this->AutoScaleBaseSize = System::Drawing::Size(5, 13);
-          this->ClientSize = System::Drawing::Size(904, 465);
-          this->Controls->Add(this->fs);
-          this->Controls->Add(this->panel4);
-          this->Controls->Add(this->panel3);
-          this->Controls->Add(this->panel2);
-          this->Controls->Add(this->panel1);
-          this->Name = S"Form1";
-          this->StartPosition = System::Windows::Forms::FormStartPosition::CenterScreen;
-          this->Text = S"Fab@Home Interpreter";
-          this->Closing += new System::ComponentModel::CancelEventHandler(this, &Form1::Form1_Closing);
-          this->panel1->ResumeLayout(false);
-          this->panel2->ResumeLayout(false);
-          this->panel2->PerformLayout();
-          this->panel3->ResumeLayout(false);
-          this->panel4->ResumeLayout(false);
-          this->panel4->PerformLayout();
-          this->fs->ResumeLayout(false);
-          this->ResumeLayout(false);
+		this->components = (new System::ComponentModel::Container());
+		this->InitButton = (new System::Windows::Forms::Button());
+		this->MoveButton = (new System::Windows::Forms::Button());
+		this->ExitButton = (new System::Windows::Forms::Button());
+		this->XLabel = (new System::Windows::Forms::Label());
+		this->YLabel = (new System::Windows::Forms::Label());
+		this->ZLabel = (new System::Windows::Forms::Label());
+		this->XDisplay = (new System::Windows::Forms::TextBox());
+		this->YDisplay = (new System::Windows::Forms::TextBox());
+		this->ZDisplay = (new System::Windows::Forms::TextBox());
+		this->ExecuteButton = (new System::Windows::Forms::Button());
+		this->ResetPosButton = (new System::Windows::Forms::Button());
+		this->LoadFileButton = (new System::Windows::Forms::Button());
+		this->ExecutePathLabel = (new System::Windows::Forms::TextBox());
+		this->bayVelocity0 = (new System::Windows::Forms::TextBox());
+		this->label4 = (new System::Windows::Forms::Label());
+		this->bayVelocity1 = (new System::Windows::Forms::TextBox());
+		this->bayScroll1 = (new System::Windows::Forms::VScrollBar());
+		this->bayScroll0 = (new System::Windows::Forms::VScrollBar());
+		this->bayLabel1 = (new System::Windows::Forms::Label());
+		this->bayLabel0 = (new System::Windows::Forms::Label());
+		this->bayCommandedPosition1 = (new System::Windows::Forms::TextBox());
+		this->bayCommandedPosition0 = (new System::Windows::Forms::TextBox());
+		this->FabricationThread = (new System::ComponentModel::BackgroundWorker());
+		this->ForceStopButton = (new System::Windows::Forms::Button());
+		this->panel1 = (new System::Windows::Forms::Panel());
+		this->PathProgressBar = (new System::Windows::Forms::ProgressBar());
+		this->CancelFabButton = (new System::Windows::Forms::Button());
+		this->PauseFabButton = (new System::Windows::Forms::Button());
+		this->RedoPathButton = (new System::Windows::Forms::Button());
+		this->Timer = (new System::Windows::Forms::Timer(this->components));
+		this->panel2 = (new System::Windows::Forms::Panel());
+		this->bayMaterialCalibration2 = (new System::Windows::Forms::ComboBox());
+		this->bayAcceleration2 = (new System::Windows::Forms::TextBox());
+		this->bayVelocity2 = (new System::Windows::Forms::TextBox());
+		this->bayMotorPosition2 = (new System::Windows::Forms::TextBox());
+		this->bayPositionIncrement2 = (new System::Windows::Forms::TextBox());
+		this->bayScroll2 = (new System::Windows::Forms::VScrollBar());
+		this->bayCommandedPosition2 = (new System::Windows::Forms::TextBox());
+		this->bayLabel2 = (new System::Windows::Forms::Label());
+		this->label5 = (new System::Windows::Forms::Label());
+		this->bayMaterialCalibration1 = (new System::Windows::Forms::ComboBox());
+		this->bayMaterialCalibration0 = (new System::Windows::Forms::ComboBox());
+		this->XAccelerationField = (new System::Windows::Forms::TextBox());
+		this->YAccelerationField = (new System::Windows::Forms::TextBox());
+		this->ZAccelerationField = (new System::Windows::Forms::TextBox());
+		this->bayAcceleration1 = (new System::Windows::Forms::TextBox());
+		this->bayAcceleration0 = (new System::Windows::Forms::TextBox());
+		this->label1 = (new System::Windows::Forms::Label());
+		this->XVelocityField = (new System::Windows::Forms::TextBox());
+		this->YVelocityField = (new System::Windows::Forms::TextBox());
+		this->ZVelocityField = (new System::Windows::Forms::TextBox());
+		this->bayMotorPosition1 = (new System::Windows::Forms::TextBox());
+		this->bayMotorPosition0 = (new System::Windows::Forms::TextBox());
+		this->bayPositionIncrement1 = (new System::Windows::Forms::TextBox());
+		this->bayPositionIncrement0 = (new System::Windows::Forms::TextBox());
+		this->zScroll = (new System::Windows::Forms::VScrollBar());
+		this->yScroll = (new System::Windows::Forms::VScrollBar());
+		this->xScroll = (new System::Windows::Forms::VScrollBar());
+		this->CommandedLabel = (new System::Windows::Forms::Label());
+		this->RealTimeLabel = (new System::Windows::Forms::Label());
+		this->ZIncrementField = (new System::Windows::Forms::TextBox());
+		this->YIncrementField = (new System::Windows::Forms::TextBox());
+		this->XIncrementField = (new System::Windows::Forms::TextBox());
+		this->label2 = (new System::Windows::Forms::Label());
+		this->IncrementLabel = (new System::Windows::Forms::Label());
+		this->ZCommandedField = (new System::Windows::Forms::TextBox());
+		this->YCommandedField = (new System::Windows::Forms::TextBox());
+		this->XCommandedField = (new System::Windows::Forms::TextBox());
+		this->PosDisplayThread = (new System::ComponentModel::BackgroundWorker());
+		this->panel3 = (new System::Windows::Forms::Panel());
+		this->LoadPreviousConfig = (new System::Windows::Forms::Button());
+		this->panel4 = (new System::Windows::Forms::Panel());
+		this->fs = (new System::Windows::Forms::Panel());
+		this->openFileDialog1 = (new System::Windows::Forms::OpenFileDialog());
+		this->panel1->SuspendLayout();
+		this->panel2->SuspendLayout();
+		this->panel3->SuspendLayout();
+		this->panel4->SuspendLayout();
+		this->fs->SuspendLayout();
+		this->SuspendLayout();
+		// 
+		// InitButton
+		// 
+		this->InitButton->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
+			(System::Byte)0));
+		this->InitButton->Location = System::Drawing::Point(229, 1);
+		this->InitButton->Name = S"InitButton";
+		this->InitButton->Size = System::Drawing::Size(218, 50);
+		this->InitButton->TabIndex = 0;
+		this->InitButton->Text = S"Load New Config";
+		this->InitButton->Click += new System::EventHandler(this, &Form1::InitButton_Click);
+		// 
+		// MoveButton
+		// 
+		this->MoveButton->Enabled = false;
+		this->MoveButton->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
+			(System::Byte)0));
+		this->MoveButton->Location = System::Drawing::Point(307, 184);
+		this->MoveButton->Name = S"MoveButton";
+		this->MoveButton->Size = System::Drawing::Size(201, 48);
+		this->MoveButton->TabIndex = 3;
+		this->MoveButton->Text = S"Move To Position ";
+		this->MoveButton->Click += new System::EventHandler(this, &Form1::MoveButton_Click);
+		// 
+		// ExitButton
+		// 
+		this->ExitButton->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
+			(System::Byte)0));
+		this->ExitButton->Location = System::Drawing::Point(0, 69);
+		this->ExitButton->Name = S"ExitButton";
+		this->ExitButton->Size = System::Drawing::Size(164, 70);
+		this->ExitButton->TabIndex = 5;
+		this->ExitButton->Text = S"Exit";
+		this->ExitButton->Click += new System::EventHandler(this, &Form1::ExitButton_Click);
+		// 
+		// XLabel
+		// 
+		this->XLabel->Location = System::Drawing::Point(8, 31);
+		this->XLabel->Name = S"XLabel";
+		this->XLabel->Size = System::Drawing::Size(63, 16);
+		this->XLabel->TabIndex = 7;
+		this->XLabel->Text = S"Not Loaded";
+		this->XLabel->TextAlign = System::Drawing::ContentAlignment::MiddleRight;
+		// 
+		// YLabel
+		// 
+		this->YLabel->Location = System::Drawing::Point(8, 57);
+		this->YLabel->Name = S"YLabel";
+		this->YLabel->Size = System::Drawing::Size(63, 16);
+		this->YLabel->TabIndex = 8;
+		this->YLabel->Text = S"Not Loaded";
+		this->YLabel->TextAlign = System::Drawing::ContentAlignment::MiddleRight;
+		// 
+		// ZLabel
+		// 
+		this->ZLabel->Location = System::Drawing::Point(8, 82);
+		this->ZLabel->Name = S"ZLabel";
+		this->ZLabel->Size = System::Drawing::Size(63, 16);
+		this->ZLabel->TabIndex = 11;
+		this->ZLabel->Text = S"Not Loaded";
+		this->ZLabel->TextAlign = System::Drawing::ContentAlignment::MiddleRight;
+		// 
+		// XDisplay
+		// 
+		this->XDisplay->Enabled = false;
+		this->XDisplay->Location = System::Drawing::Point(429, 30);
+		this->XDisplay->Name = S"XDisplay";
+		this->XDisplay->ReadOnly = true;
+		this->XDisplay->Size = System::Drawing::Size(100, 20);
+		this->XDisplay->TabIndex = 13;
+		this->XDisplay->Text = S"0.000000";
+		this->XDisplay->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// YDisplay
+		// 
+		this->YDisplay->Enabled = false;
+		this->YDisplay->Location = System::Drawing::Point(429, 56);
+		this->YDisplay->Name = S"YDisplay";
+		this->YDisplay->ReadOnly = true;
+		this->YDisplay->Size = System::Drawing::Size(100, 20);
+		this->YDisplay->TabIndex = 14;
+		this->YDisplay->Text = S"0.000000";
+		this->YDisplay->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// ZDisplay
+		// 
+		this->ZDisplay->Enabled = false;
+		this->ZDisplay->Location = System::Drawing::Point(429, 83);
+		this->ZDisplay->Name = S"ZDisplay";
+		this->ZDisplay->ReadOnly = true;
+		this->ZDisplay->Size = System::Drawing::Size(100, 20);
+		this->ZDisplay->TabIndex = 17;
+		this->ZDisplay->Text = S"0.000000";
+		this->ZDisplay->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// ExecuteButton
+		// 
+		this->ExecuteButton->Enabled = false;
+		this->ExecuteButton->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
+			(System::Byte)0));
+		this->ExecuteButton->Location = System::Drawing::Point(123, 0);
+		this->ExecuteButton->Name = S"ExecuteButton";
+		this->ExecuteButton->Size = System::Drawing::Size(117, 40);
+		this->ExecuteButton->TabIndex = 19;
+		this->ExecuteButton->Text = S"Execute";
+		this->ExecuteButton->Click += new System::EventHandler(this, &Form1::ExecuteButton_Click);
+		// 
+		// ResetPosButton
+		// 
+		this->ResetPosButton->Enabled = false;
+		this->ResetPosButton->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
+			(System::Byte)0));
+		this->ResetPosButton->Location = System::Drawing::Point(514, 184);
+		this->ResetPosButton->Name = S"ResetPosButton";
+		this->ResetPosButton->Size = System::Drawing::Size(168, 48);
+		this->ResetPosButton->TabIndex = 20;
+		this->ResetPosButton->Text = S"Reset Position";
+		this->ResetPosButton->Click += new System::EventHandler(this, &Form1::ResetPosButton_Click);
+		// 
+		// LoadFileButton
+		// 
+		this->LoadFileButton->Enabled = false;
+		this->LoadFileButton->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
+			(System::Byte)0));
+		this->LoadFileButton->Location = System::Drawing::Point(0, 0);
+		this->LoadFileButton->Name = S"LoadFileButton";
+		this->LoadFileButton->Size = System::Drawing::Size(117, 41);
+		this->LoadFileButton->TabIndex = 21;
+		this->LoadFileButton->Text = S"Load";
+		this->LoadFileButton->Click += new System::EventHandler(this, &Form1::LoadFileButton_Click);
+		// 
+		// ExecutePathLabel
+		// 
+		this->ExecutePathLabel->Location = System::Drawing::Point(247, 10);
+		this->ExecutePathLabel->Name = S"ExecutePathLabel";
+		this->ExecutePathLabel->ReadOnly = true;
+		this->ExecutePathLabel->Size = System::Drawing::Size(458, 20);
+		this->ExecutePathLabel->TabIndex = 24;
+		// 
+		// bayVelocity0
+		// 
+		this->bayVelocity0->Enabled = false;
+		this->bayVelocity0->Location = System::Drawing::Point(77, 106);
+		this->bayVelocity0->Name = S"bayVelocity0";
+		this->bayVelocity0->Size = System::Drawing::Size(100, 20);
+		this->bayVelocity0->TabIndex = 28;
+		this->bayVelocity0->Text = S"1.000000";
+		this->bayVelocity0->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// label4
+		// 
+		this->label4->AutoSize = true;
+		this->label4->Location = System::Drawing::Point(74, 12);
+		this->label4->Name = S"label4";
+		this->label4->Size = System::Drawing::Size(79, 13);
+		this->label4->TabIndex = 47;
+		this->label4->Text = S"Velocity (mm/s)";
+		// 
+		// bayVelocity1
+		// 
+		this->bayVelocity1->Enabled = false;
+		this->bayVelocity1->Location = System::Drawing::Point(77, 132);
+		this->bayVelocity1->Name = S"bayVelocity1";
+		this->bayVelocity1->Size = System::Drawing::Size(100, 20);
+		this->bayVelocity1->TabIndex = 32;
+		this->bayVelocity1->Text = S"1.000000";
+		this->bayVelocity1->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// bayScroll1
+		// 
+		this->bayScroll1->AccessibleRole = System::Windows::Forms::AccessibleRole::ScrollBar;
+		this->bayScroll1->Enabled = false;
+		this->bayScroll1->LargeChange = 1;
+		this->bayScroll1->Location = System::Drawing::Point(663, 132);
+		this->bayScroll1->Maximum = 100000000;
+		this->bayScroll1->Minimum = -100000000;
+		this->bayScroll1->Name = S"bayScroll1";
+		this->bayScroll1->Size = System::Drawing::Size(19, 20);
+		this->bayScroll1->TabIndex = 46;
+		this->bayScroll1->Scroll += new System::Windows::Forms::ScrollEventHandler(this, &Form1::Tool2Scroll_Scroll);
+		// 
+		// bayScroll0
+		// 
+		this->bayScroll0->AccessibleRole = System::Windows::Forms::AccessibleRole::ScrollBar;
+		this->bayScroll0->Enabled = false;
+		this->bayScroll0->LargeChange = 1;
+		this->bayScroll0->Location = System::Drawing::Point(663, 106);
+		this->bayScroll0->Maximum = 100000000;
+		this->bayScroll0->Minimum = -100000000;
+		this->bayScroll0->Name = S"bayScroll0";
+		this->bayScroll0->Size = System::Drawing::Size(19, 20);
+		this->bayScroll0->TabIndex = 45;
+		this->bayScroll0->Scroll += new System::Windows::Forms::ScrollEventHandler(this, &Form1::Tool1Scroll_Scroll);
+		// 
+		// bayLabel1
+		// 
+		this->bayLabel1->Anchor = System::Windows::Forms::AnchorStyles::Right;
+		this->bayLabel1->Location = System::Drawing::Point(8, 133);
+		this->bayLabel1->Name = S"bayLabel1";
+		this->bayLabel1->Size = System::Drawing::Size(63, 16);
+		this->bayLabel1->TabIndex = 36;
+		this->bayLabel1->Text = S"Not Loaded";
+		this->bayLabel1->TextAlign = System::Drawing::ContentAlignment::MiddleRight;
+		// 
+		// bayLabel0
+		// 
+		this->bayLabel0->Anchor = System::Windows::Forms::AnchorStyles::Right;
+		this->bayLabel0->Location = System::Drawing::Point(8, 107);
+		this->bayLabel0->Name = S"bayLabel0";
+		this->bayLabel0->Size = System::Drawing::Size(63, 16);
+		this->bayLabel0->TabIndex = 35;
+		this->bayLabel0->Text = S"Not Loaded";
+		this->bayLabel0->TextAlign = System::Drawing::ContentAlignment::MiddleRight;
+		// 
+		// bayCommandedPosition1
+		// 
+		this->bayCommandedPosition1->Enabled = false;
+		this->bayCommandedPosition1->Location = System::Drawing::Point(535, 132);
+		this->bayCommandedPosition1->Name = S"bayCommandedPosition1";
+		this->bayCommandedPosition1->Size = System::Drawing::Size(128, 20);
+		this->bayCommandedPosition1->TabIndex = 34;
+		this->bayCommandedPosition1->Text = S"0.000000";
+		this->bayCommandedPosition1->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// bayCommandedPosition0
+		// 
+		this->bayCommandedPosition0->Enabled = false;
+		this->bayCommandedPosition0->Location = System::Drawing::Point(535, 106);
+		this->bayCommandedPosition0->Name = S"bayCommandedPosition0";
+		this->bayCommandedPosition0->Size = System::Drawing::Size(128, 20);
+		this->bayCommandedPosition0->TabIndex = 33;
+		this->bayCommandedPosition0->Text = S"0.000000";
+		this->bayCommandedPosition0->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// FabricationThread
+		// 
+		this->FabricationThread->WorkerReportsProgress = true;
+		this->FabricationThread->DoWork += new System::ComponentModel::DoWorkEventHandler(this, &Form1::FabricationThread_DoWork);
+		this->FabricationThread->RunWorkerCompleted += new System::ComponentModel::RunWorkerCompletedEventHandler(this, &Form1::FabricationThread_WorkerCompleted);
+		this->FabricationThread->ProgressChanged += new System::ComponentModel::ProgressChangedEventHandler(this, &Form1::FabricationThread_ProgressChanged);
+		// 
+		// ForceStopButton
+		// 
+		this->ForceStopButton->Enabled = false;
+		this->ForceStopButton->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
+			(System::Byte)0));
+		this->ForceStopButton->Location = System::Drawing::Point(473, 3);
+		this->ForceStopButton->Name = S"ForceStopButton";
+		this->ForceStopButton->Size = System::Drawing::Size(231, 46);
+		this->ForceStopButton->TabIndex = 34;
+		this->ForceStopButton->Text = S"Force Stop";
+		this->ForceStopButton->UseVisualStyleBackColor = true;
+		this->ForceStopButton->Click += new System::EventHandler(this, &Form1::ForceStopButton_Click);
+		// 
+		// panel1
+		// 
+		this->panel1->Controls->Add(this->PathProgressBar);
+		this->panel1->Controls->Add(this->CancelFabButton);
+		this->panel1->Controls->Add(this->PauseFabButton);
+		this->panel1->Controls->Add(this->ForceStopButton);
+		this->panel1->Location = System::Drawing::Point(9, 364);
+		this->panel1->Name = S"panel1";
+		this->panel1->Size = System::Drawing::Size(717, 92);
+		this->panel1->TabIndex = 37;
+		// 
+		// PathProgressBar
+		// 
+		this->PathProgressBar->Location = System::Drawing::Point(5, 55);
+		this->PathProgressBar->Maximum = 1000;
+		this->PathProgressBar->Name = S"PathProgressBar";
+		this->PathProgressBar->Size = System::Drawing::Size(697, 23);
+		this->PathProgressBar->Style = System::Windows::Forms::ProgressBarStyle::Continuous;
+		this->PathProgressBar->TabIndex = 39;
+		// 
+		// CancelFabButton
+		// 
+		this->CancelFabButton->Enabled = false;
+		this->CancelFabButton->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
+			(System::Byte)0));
+		this->CancelFabButton->Location = System::Drawing::Point(246, 3);
+		this->CancelFabButton->Name = S"CancelFabButton";
+		this->CancelFabButton->Size = System::Drawing::Size(219, 46);
+		this->CancelFabButton->TabIndex = 39;
+		this->CancelFabButton->Text = S"Cancel";
+		this->CancelFabButton->UseVisualStyleBackColor = true;
+		this->CancelFabButton->Click += new System::EventHandler(this, &Form1::CancelFabButton_Click);
+		// 
+		// PauseFabButton
+		// 
+		this->PauseFabButton->Enabled = false;
+		this->PauseFabButton->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
+			(System::Byte)0));
+		this->PauseFabButton->Location = System::Drawing::Point(5, 3);
+		this->PauseFabButton->Name = S"PauseFabButton";
+		this->PauseFabButton->Size = System::Drawing::Size(235, 46);
+		this->PauseFabButton->TabIndex = 38;
+		this->PauseFabButton->Text = S"Pause";
+		this->PauseFabButton->UseVisualStyleBackColor = true;
+		this->PauseFabButton->Click += new System::EventHandler(this, &Form1::PauseFabButton_Click);
+		// 
+		// RedoPathButton
+		// 
+		this->RedoPathButton->Enabled = false;
+		this->RedoPathButton->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
+			(System::Byte)0));
+		this->RedoPathButton->Location = System::Drawing::Point(0, 0);
+		this->RedoPathButton->Name = S"RedoPathButton";
+		this->RedoPathButton->Size = System::Drawing::Size(164, 63);
+		this->RedoPathButton->TabIndex = 38;
+		this->RedoPathButton->Text = S"Redo Path";
+		this->RedoPathButton->UseVisualStyleBackColor = true;
+		this->RedoPathButton->Click += new System::EventHandler(this, &Form1::RedoPathButton_Click);
+		// 
+		// Timer
+		// 
+		this->Timer->Tick += new System::EventHandler(this, &Form1::Timer_Tick);
+		// 
+		// panel2
+		// 
+		this->panel2->Controls->Add(this->bayMaterialCalibration2);
+		this->panel2->Controls->Add(this->bayAcceleration2);
+		this->panel2->Controls->Add(this->bayVelocity2);
+		this->panel2->Controls->Add(this->bayMotorPosition2);
+		this->panel2->Controls->Add(this->bayPositionIncrement2);
+		this->panel2->Controls->Add(this->ResetPosButton);
+		this->panel2->Controls->Add(this->MoveButton);
+		this->panel2->Controls->Add(this->bayScroll2);
+		this->panel2->Controls->Add(this->bayCommandedPosition2);
+		this->panel2->Controls->Add(this->bayLabel2);
+		this->panel2->Controls->Add(this->label5);
+		this->panel2->Controls->Add(this->bayMaterialCalibration1);
+		this->panel2->Controls->Add(this->bayMaterialCalibration0);
+		this->panel2->Controls->Add(this->XAccelerationField);
+		this->panel2->Controls->Add(this->YAccelerationField);
+		this->panel2->Controls->Add(this->ZAccelerationField);
+		this->panel2->Controls->Add(this->bayAcceleration1);
+		this->panel2->Controls->Add(this->bayAcceleration0);
+		this->panel2->Controls->Add(this->label1);
+		this->panel2->Controls->Add(this->XVelocityField);
+		this->panel2->Controls->Add(this->YVelocityField);
+		this->panel2->Controls->Add(this->ZVelocityField);
+		this->panel2->Controls->Add(this->bayVelocity1);
+		this->panel2->Controls->Add(this->label4);
+		this->panel2->Controls->Add(this->bayVelocity0);
+		this->panel2->Controls->Add(this->bayMotorPosition1);
+		this->panel2->Controls->Add(this->bayMotorPosition0);
+		this->panel2->Controls->Add(this->bayPositionIncrement1);
+		this->panel2->Controls->Add(this->bayPositionIncrement0);
+		this->panel2->Controls->Add(this->bayScroll1);
+		this->panel2->Controls->Add(this->zScroll);
+		this->panel2->Controls->Add(this->bayScroll0);
+		this->panel2->Controls->Add(this->yScroll);
+		this->panel2->Controls->Add(this->bayCommandedPosition1);
+		this->panel2->Controls->Add(this->xScroll);
+		this->panel2->Controls->Add(this->bayCommandedPosition0);
+		this->panel2->Controls->Add(this->bayLabel1);
+		this->panel2->Controls->Add(this->CommandedLabel);
+		this->panel2->Controls->Add(this->bayLabel0);
+		this->panel2->Controls->Add(this->RealTimeLabel);
+		this->panel2->Controls->Add(this->ZIncrementField);
+		this->panel2->Controls->Add(this->YIncrementField);
+		this->panel2->Controls->Add(this->XIncrementField);
+		this->panel2->Controls->Add(this->label2);
+		this->panel2->Controls->Add(this->IncrementLabel);
+		this->panel2->Controls->Add(this->ZCommandedField);
+		this->panel2->Controls->Add(this->YCommandedField);
+		this->panel2->Controls->Add(this->XCommandedField);
+		this->panel2->Controls->Add(this->XLabel);
+		this->panel2->Controls->Add(this->YLabel);
+		this->panel2->Controls->Add(this->ZLabel);
+		this->panel2->Controls->Add(this->XDisplay);
+		this->panel2->Controls->Add(this->YDisplay);
+		this->panel2->Controls->Add(this->ZDisplay);
+		this->panel2->Location = System::Drawing::Point(9, 63);
+		this->panel2->Name = S"panel2";
+		this->panel2->Size = System::Drawing::Size(887, 248);
+		this->panel2->TabIndex = 42;
+		// 
+		// bayMaterialCalibration2
+		// 
+		this->bayMaterialCalibration2->DropDownStyle = System::Windows::Forms::ComboBoxStyle::DropDownList;
+		this->bayMaterialCalibration2->Enabled = false;
+		this->bayMaterialCalibration2->FormattingEnabled = true;
+		this->bayMaterialCalibration2->Location = System::Drawing::Point(700, 158);
+		this->bayMaterialCalibration2->Name = S"bayMaterialCalibration2";
+		this->bayMaterialCalibration2->Size = System::Drawing::Size(182, 21);
+		this->bayMaterialCalibration2->TabIndex = 68;
+		this->bayMaterialCalibration2->SelectedIndexChanged += new System::EventHandler(this, &Form1::bayMaterialCalibration2_SelectedIndexChanged);
+		// 
+		// bayAcceleration2
+		// 
+		this->bayAcceleration2->Enabled = false;
+		this->bayAcceleration2->Location = System::Drawing::Point(183, 158);
+		this->bayAcceleration2->Name = S"bayAcceleration2";
+		this->bayAcceleration2->Size = System::Drawing::Size(108, 20);
+		this->bayAcceleration2->TabIndex = 67;
+		this->bayAcceleration2->Text = S"100.000000";
+		this->bayAcceleration2->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// bayVelocity2
+		// 
+		this->bayVelocity2->Enabled = false;
+		this->bayVelocity2->Location = System::Drawing::Point(77, 158);
+		this->bayVelocity2->Name = S"bayVelocity2";
+		this->bayVelocity2->Size = System::Drawing::Size(100, 20);
+		this->bayVelocity2->TabIndex = 61;
+		this->bayVelocity2->Text = S"1.000000";
+		this->bayVelocity2->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// bayMotorPosition2
+		// 
+		this->bayMotorPosition2->Enabled = false;
+		this->bayMotorPosition2->Location = System::Drawing::Point(429, 158);
+		this->bayMotorPosition2->Name = S"bayMotorPosition2";
+		this->bayMotorPosition2->ReadOnly = true;
+		this->bayMotorPosition2->Size = System::Drawing::Size(100, 20);
+		this->bayMotorPosition2->TabIndex = 65;
+		this->bayMotorPosition2->Text = S"0.000000";
+		this->bayMotorPosition2->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// bayPositionIncrement2
+		// 
+		this->bayPositionIncrement2->Enabled = false;
+		this->bayPositionIncrement2->Location = System::Drawing::Point(307, 158);
+		this->bayPositionIncrement2->Name = S"bayPositionIncrement2";
+		this->bayPositionIncrement2->Size = System::Drawing::Size(116, 20);
+		this->bayPositionIncrement2->TabIndex = 66;
+		this->bayPositionIncrement2->Text = S"0.100000";
+		this->bayPositionIncrement2->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// bayScroll2
+		// 
+		this->bayScroll2->AccessibleRole = System::Windows::Forms::AccessibleRole::ScrollBar;
+		this->bayScroll2->Enabled = false;
+		this->bayScroll2->LargeChange = 1;
+		this->bayScroll2->Location = System::Drawing::Point(663, 158);
+		this->bayScroll2->Maximum = 100000000;
+		this->bayScroll2->Minimum = -100000000;
+		this->bayScroll2->Name = S"bayScroll2";
+		this->bayScroll2->Size = System::Drawing::Size(19, 20);
+		this->bayScroll2->TabIndex = 64;
+		this->bayScroll2->Scroll += new System::Windows::Forms::ScrollEventHandler(this, &Form1::bayScroll2_Scroll);
+		// 
+		// bayCommandedPosition2
+		// 
+		this->bayCommandedPosition2->Enabled = false;
+		this->bayCommandedPosition2->Location = System::Drawing::Point(535, 158);
+		this->bayCommandedPosition2->Name = S"bayCommandedPosition2";
+		this->bayCommandedPosition2->Size = System::Drawing::Size(128, 20);
+		this->bayCommandedPosition2->TabIndex = 62;
+		this->bayCommandedPosition2->Text = S"0.000000";
+		this->bayCommandedPosition2->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// bayLabel2
+		// 
+		this->bayLabel2->Anchor = System::Windows::Forms::AnchorStyles::Right;
+		this->bayLabel2->Location = System::Drawing::Point(8, 159);
+		this->bayLabel2->Name = S"bayLabel2";
+		this->bayLabel2->Size = System::Drawing::Size(63, 16);
+		this->bayLabel2->TabIndex = 63;
+		this->bayLabel2->Text = S"Not Loaded";
+		this->bayLabel2->TextAlign = System::Drawing::ContentAlignment::MiddleRight;
+		// 
+		// label5
+		// 
+		this->label5->AutoSize = true;
+		this->label5->Location = System::Drawing::Point(697, 12);
+		this->label5->Name = S"label5";
+		this->label5->Size = System::Drawing::Size(96, 13);
+		this->label5->TabIndex = 60;
+		this->label5->Text = S"Material Calibration";
+		// 
+		// bayMaterialCalibration1
+		// 
+		this->bayMaterialCalibration1->DropDownStyle = System::Windows::Forms::ComboBoxStyle::DropDownList;
+		this->bayMaterialCalibration1->Enabled = false;
+		this->bayMaterialCalibration1->FormattingEnabled = true;
+		this->bayMaterialCalibration1->Location = System::Drawing::Point(700, 132);
+		this->bayMaterialCalibration1->Name = S"bayMaterialCalibration1";
+		this->bayMaterialCalibration1->Size = System::Drawing::Size(182, 21);
+		this->bayMaterialCalibration1->TabIndex = 59;
+		this->bayMaterialCalibration1->SelectedIndexChanged += new System::EventHandler(this, &Form1::bayMaterialCalibration1_SelectedIndexChanged);
+		// 
+		// bayMaterialCalibration0
+		// 
+		this->bayMaterialCalibration0->DropDownStyle = System::Windows::Forms::ComboBoxStyle::DropDownList;
+		this->bayMaterialCalibration0->Enabled = false;
+		this->bayMaterialCalibration0->FormattingEnabled = true;
+		this->bayMaterialCalibration0->Location = System::Drawing::Point(700, 105);
+		this->bayMaterialCalibration0->Name = S"bayMaterialCalibration0";
+		this->bayMaterialCalibration0->Size = System::Drawing::Size(182, 21);
+		this->bayMaterialCalibration0->TabIndex = 58;
+		this->bayMaterialCalibration0->SelectedIndexChanged += new System::EventHandler(this, &Form1::bayMaterialCalibration0_SelectedIndexChanged);
+		// 
+		// XAccelerationField
+		// 
+		this->XAccelerationField->Enabled = false;
+		this->XAccelerationField->Location = System::Drawing::Point(183, 30);
+		this->XAccelerationField->Name = S"XAccelerationField";
+		this->XAccelerationField->Size = System::Drawing::Size(108, 20);
+		this->XAccelerationField->TabIndex = 57;
+		this->XAccelerationField->Text = S"100.000000";
+		this->XAccelerationField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// YAccelerationField
+		// 
+		this->YAccelerationField->Enabled = false;
+		this->YAccelerationField->Location = System::Drawing::Point(183, 56);
+		this->YAccelerationField->Name = S"YAccelerationField";
+		this->YAccelerationField->Size = System::Drawing::Size(108, 20);
+		this->YAccelerationField->TabIndex = 56;
+		this->YAccelerationField->Text = S"100.000000";
+		this->YAccelerationField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// ZAccelerationField
+		// 
+		this->ZAccelerationField->Enabled = false;
+		this->ZAccelerationField->Location = System::Drawing::Point(183, 81);
+		this->ZAccelerationField->Name = S"ZAccelerationField";
+		this->ZAccelerationField->Size = System::Drawing::Size(108, 20);
+		this->ZAccelerationField->TabIndex = 55;
+		this->ZAccelerationField->Text = S"100.000000";
+		this->ZAccelerationField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// bayAcceleration1
+		// 
+		this->bayAcceleration1->Enabled = false;
+		this->bayAcceleration1->Location = System::Drawing::Point(183, 132);
+		this->bayAcceleration1->Name = S"bayAcceleration1";
+		this->bayAcceleration1->Size = System::Drawing::Size(108, 20);
+		this->bayAcceleration1->TabIndex = 54;
+		this->bayAcceleration1->Text = S"100.000000";
+		this->bayAcceleration1->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// bayAcceleration0
+		// 
+		this->bayAcceleration0->Enabled = false;
+		this->bayAcceleration0->Location = System::Drawing::Point(183, 106);
+		this->bayAcceleration0->Name = S"bayAcceleration0";
+		this->bayAcceleration0->Size = System::Drawing::Size(108, 20);
+		this->bayAcceleration0->TabIndex = 53;
+		this->bayAcceleration0->Text = S"100.000000";
+		this->bayAcceleration0->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// label1
+		// 
+		this->label1->AutoSize = true;
+		this->label1->Location = System::Drawing::Point(180, 12);
+		this->label1->Name = S"label1";
+		this->label1->Size = System::Drawing::Size(111, 13);
+		this->label1->TabIndex = 52;
+		this->label1->Text = S"Acceleration (mm/s/s)";
+		// 
+		// XVelocityField
+		// 
+		this->XVelocityField->Enabled = false;
+		this->XVelocityField->Location = System::Drawing::Point(77, 30);
+		this->XVelocityField->Name = S"XVelocityField";
+		this->XVelocityField->Size = System::Drawing::Size(100, 20);
+		this->XVelocityField->TabIndex = 51;
+		this->XVelocityField->Text = S"100.000000";
+		this->XVelocityField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// YVelocityField
+		// 
+		this->YVelocityField->Enabled = false;
+		this->YVelocityField->Location = System::Drawing::Point(77, 56);
+		this->YVelocityField->Name = S"YVelocityField";
+		this->YVelocityField->Size = System::Drawing::Size(100, 20);
+		this->YVelocityField->TabIndex = 50;
+		this->YVelocityField->Text = S"100.000000";
+		this->YVelocityField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// ZVelocityField
+		// 
+		this->ZVelocityField->Enabled = false;
+		this->ZVelocityField->Location = System::Drawing::Point(77, 81);
+		this->ZVelocityField->Name = S"ZVelocityField";
+		this->ZVelocityField->Size = System::Drawing::Size(100, 20);
+		this->ZVelocityField->TabIndex = 49;
+		this->ZVelocityField->Text = S"100.000000";
+		this->ZVelocityField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// bayMotorPosition1
+		// 
+		this->bayMotorPosition1->Enabled = false;
+		this->bayMotorPosition1->Location = System::Drawing::Point(429, 132);
+		this->bayMotorPosition1->Name = S"bayMotorPosition1";
+		this->bayMotorPosition1->ReadOnly = true;
+		this->bayMotorPosition1->Size = System::Drawing::Size(100, 20);
+		this->bayMotorPosition1->TabIndex = 47;
+		this->bayMotorPosition1->Text = S"0.000000";
+		this->bayMotorPosition1->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// bayMotorPosition0
+		// 
+		this->bayMotorPosition0->Enabled = false;
+		this->bayMotorPosition0->Location = System::Drawing::Point(429, 106);
+		this->bayMotorPosition0->Name = S"bayMotorPosition0";
+		this->bayMotorPosition0->ReadOnly = true;
+		this->bayMotorPosition0->Size = System::Drawing::Size(100, 20);
+		this->bayMotorPosition0->TabIndex = 46;
+		this->bayMotorPosition0->Text = S"0.000000";
+		this->bayMotorPosition0->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// bayPositionIncrement1
+		// 
+		this->bayPositionIncrement1->Enabled = false;
+		this->bayPositionIncrement1->Location = System::Drawing::Point(307, 132);
+		this->bayPositionIncrement1->Name = S"bayPositionIncrement1";
+		this->bayPositionIncrement1->Size = System::Drawing::Size(116, 20);
+		this->bayPositionIncrement1->TabIndex = 48;
+		this->bayPositionIncrement1->Text = S"0.100000";
+		this->bayPositionIncrement1->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// bayPositionIncrement0
+		// 
+		this->bayPositionIncrement0->Enabled = false;
+		this->bayPositionIncrement0->Location = System::Drawing::Point(307, 106);
+		this->bayPositionIncrement0->Name = S"bayPositionIncrement0";
+		this->bayPositionIncrement0->Size = System::Drawing::Size(116, 20);
+		this->bayPositionIncrement0->TabIndex = 47;
+		this->bayPositionIncrement0->Text = S"0.100000";
+		this->bayPositionIncrement0->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// zScroll
+		// 
+		this->zScroll->AccessibleRole = System::Windows::Forms::AccessibleRole::ScrollBar;
+		this->zScroll->Enabled = false;
+		this->zScroll->LargeChange = 1;
+		this->zScroll->Location = System::Drawing::Point(663, 81);
+		this->zScroll->Maximum = 100000000;
+		this->zScroll->Minimum = -100000000;
+		this->zScroll->Name = S"zScroll";
+		this->zScroll->Size = System::Drawing::Size(19, 20);
+		this->zScroll->TabIndex = 46;
+		this->zScroll->Scroll += new System::Windows::Forms::ScrollEventHandler(this, &Form1::ZScroll_Scroll);
+		// 
+		// yScroll
+		// 
+		this->yScroll->AccessibleRole = System::Windows::Forms::AccessibleRole::ScrollBar;
+		this->yScroll->Enabled = false;
+		this->yScroll->LargeChange = 1;
+		this->yScroll->Location = System::Drawing::Point(663, 56);
+		this->yScroll->Maximum = 100000000;
+		this->yScroll->Minimum = -100000000;
+		this->yScroll->Name = S"yScroll";
+		this->yScroll->Size = System::Drawing::Size(19, 20);
+		this->yScroll->TabIndex = 45;
+		this->yScroll->Scroll += new System::Windows::Forms::ScrollEventHandler(this, &Form1::YScroll_Scroll);
+		// 
+		// xScroll
+		// 
+		this->xScroll->AccessibleRole = System::Windows::Forms::AccessibleRole::ScrollBar;
+		this->xScroll->Enabled = false;
+		this->xScroll->LargeChange = 1;
+		this->xScroll->Location = System::Drawing::Point(663, 30);
+		this->xScroll->Maximum = 100000000;
+		this->xScroll->Minimum = -100000000;
+		this->xScroll->Name = S"xScroll";
+		this->xScroll->Size = System::Drawing::Size(19, 20);
+		this->xScroll->TabIndex = 44;
+		this->xScroll->Scroll += new System::Windows::Forms::ScrollEventHandler(this, &Form1::XScroll_Scroll);
+		// 
+		// CommandedLabel
+		// 
+		this->CommandedLabel->AutoSize = true;
+		this->CommandedLabel->Location = System::Drawing::Point(532, 12);
+		this->CommandedLabel->Name = S"CommandedLabel";
+		this->CommandedLabel->Size = System::Drawing::Size(131, 13);
+		this->CommandedLabel->TabIndex = 36;
+		this->CommandedLabel->Text = S"Commanded Position (mm)";
+		// 
+		// RealTimeLabel
+		// 
+		this->RealTimeLabel->AutoSize = true;
+		this->RealTimeLabel->Location = System::Drawing::Point(426, 12);
+		this->RealTimeLabel->Name = S"RealTimeLabel";
+		this->RealTimeLabel->Size = System::Drawing::Size(99, 13);
+		this->RealTimeLabel->TabIndex = 35;
+		this->RealTimeLabel->Text = S"Motor Position (mm)";
+		// 
+		// ZIncrementField
+		// 
+		this->ZIncrementField->Enabled = false;
+		this->ZIncrementField->Location = System::Drawing::Point(307, 83);
+		this->ZIncrementField->Name = S"ZIncrementField";
+		this->ZIncrementField->Size = System::Drawing::Size(116, 20);
+		this->ZIncrementField->TabIndex = 34;
+		this->ZIncrementField->Text = S"0.500000";
+		this->ZIncrementField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// YIncrementField
+		// 
+		this->YIncrementField->Enabled = false;
+		this->YIncrementField->Location = System::Drawing::Point(307, 56);
+		this->YIncrementField->Name = S"YIncrementField";
+		this->YIncrementField->Size = System::Drawing::Size(116, 20);
+		this->YIncrementField->TabIndex = 33;
+		this->YIncrementField->Text = S"1.500000";
+		this->YIncrementField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// XIncrementField
+		// 
+		this->XIncrementField->Enabled = false;
+		this->XIncrementField->Location = System::Drawing::Point(308, 30);
+		this->XIncrementField->Name = S"XIncrementField";
+		this->XIncrementField->Size = System::Drawing::Size(115, 20);
+		this->XIncrementField->TabIndex = 32;
+		this->XIncrementField->Text = S"1.500000";
+		this->XIncrementField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// label2
+		// 
+		this->label2->AutoSize = true;
+		this->label2->Enabled = false;
+		this->label2->Location = System::Drawing::Point(456, 18);
+		this->label2->Name = S"label2";
+		this->label2->Size = System::Drawing::Size(0, 13);
+		this->label2->TabIndex = 31;
+		// 
+		// IncrementLabel
+		// 
+		this->IncrementLabel->AutoSize = true;
+		this->IncrementLabel->Location = System::Drawing::Point(304, 12);
+		this->IncrementLabel->Name = S"IncrementLabel";
+		this->IncrementLabel->Size = System::Drawing::Size(119, 13);
+		this->IncrementLabel->TabIndex = 30;
+		this->IncrementLabel->Text = S"Position Increment (mm)";
+		// 
+		// ZCommandedField
+		// 
+		this->ZCommandedField->Enabled = false;
+		this->ZCommandedField->Location = System::Drawing::Point(535, 81);
+		this->ZCommandedField->Name = S"ZCommandedField";
+		this->ZCommandedField->Size = System::Drawing::Size(128, 20);
+		this->ZCommandedField->TabIndex = 29;
+		this->ZCommandedField->Text = S"0.000000";
+		this->ZCommandedField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// YCommandedField
+		// 
+		this->YCommandedField->Enabled = false;
+		this->YCommandedField->Location = System::Drawing::Point(535, 56);
+		this->YCommandedField->Name = S"YCommandedField";
+		this->YCommandedField->Size = System::Drawing::Size(128, 20);
+		this->YCommandedField->TabIndex = 28;
+		this->YCommandedField->Text = S"0.000000";
+		this->YCommandedField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// XCommandedField
+		// 
+		this->XCommandedField->Enabled = false;
+		this->XCommandedField->Location = System::Drawing::Point(535, 30);
+		this->XCommandedField->Name = S"XCommandedField";
+		this->XCommandedField->Size = System::Drawing::Size(128, 20);
+		this->XCommandedField->TabIndex = 27;
+		this->XCommandedField->Text = S"0.000000";
+		this->XCommandedField->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
+		// 
+		// PosDisplayThread
+		// 
+		this->PosDisplayThread->WorkerReportsProgress = true;
+		this->PosDisplayThread->DoWork += new System::ComponentModel::DoWorkEventHandler(this, &Form1::PosDisplayThread_DoWork);
+		this->PosDisplayThread->ProgressChanged += new System::ComponentModel::ProgressChangedEventHandler(this, &Form1::PosDisplayThread_ProgressChanged);
+		// 
+		// panel3
+		// 
+		this->panel3->Controls->Add(this->LoadPreviousConfig);
+		this->panel3->Controls->Add(this->InitButton);
+		this->panel3->Location = System::Drawing::Point(9, 7);
+		this->panel3->Name = S"panel3";
+		this->panel3->Size = System::Drawing::Size(887, 50);
+		this->panel3->TabIndex = 43;
+		// 
+		// LoadPreviousConfig
+		// 
+		this->LoadPreviousConfig->Font = (new System::Drawing::Font(S"Microsoft Sans Serif", 14.25F, System::Drawing::FontStyle::Bold, System::Drawing::GraphicsUnit::Point, 
+			(System::Byte)0));
+		this->LoadPreviousConfig->Location = System::Drawing::Point(0, 3);
+		this->LoadPreviousConfig->Name = S"LoadPreviousConfig";
+		this->LoadPreviousConfig->Size = System::Drawing::Size(223, 47);
+		this->LoadPreviousConfig->TabIndex = 1;
+		this->LoadPreviousConfig->Text = S"Load Previous Config";
+		this->LoadPreviousConfig->UseVisualStyleBackColor = true;
+		this->LoadPreviousConfig->Click += new System::EventHandler(this, &Form1::loadPreviousConfig);
+		// 
+		// panel4
+		// 
+		this->panel4->Controls->Add(this->ExecutePathLabel);
+		this->panel4->Controls->Add(this->LoadFileButton);
+		this->panel4->Controls->Add(this->ExecuteButton);
+		this->panel4->Location = System::Drawing::Point(9, 317);
+		this->panel4->Name = S"panel4";
+		this->panel4->Size = System::Drawing::Size(717, 41);
+		this->panel4->TabIndex = 44;
+		// 
+		// fs
+		// 
+		this->fs->Controls->Add(this->ExitButton);
+		this->fs->Controls->Add(this->RedoPathButton);
+		this->fs->Location = System::Drawing::Point(732, 317);
+		this->fs->Name = S"fs";
+		this->fs->Size = System::Drawing::Size(164, 139);
+		this->fs->TabIndex = 45;
+		// 
+		// openFileDialog1
+		// 
+		this->openFileDialog1->FileName = S"openFileDialog1";
+		this->openFileDialog1->InitialDirectory = S"C:\\Documents and Settings\\FabAdmin\\Desktop\\SVN- [e-mail]\\software\\projects\\pr" 
+			S"inters\\fabathome-model2\\Fab@Home Interpreter\\Printers";
+		// 
+		// Form1
+		// 
+		this->AutoScaleBaseSize = System::Drawing::Size(5, 13);
+		this->ClientSize = System::Drawing::Size(905, 465);
+		this->Controls->Add(this->fs);
+		this->Controls->Add(this->panel4);
+		this->Controls->Add(this->panel3);
+		this->Controls->Add(this->panel2);
+		this->Controls->Add(this->panel1);
+		this->Name = S"Form1";
+		this->StartPosition = System::Windows::Forms::FormStartPosition::CenterScreen;
+		this->Text = S"Fab@Home Interpreter";
+		this->Closing += new System::ComponentModel::CancelEventHandler(this, &Form1::Form1_Closing);
+		this->panel1->ResumeLayout(false);
+		this->panel2->ResumeLayout(false);
+		this->panel2->PerformLayout();
+		this->panel3->ResumeLayout(false);
+		this->panel4->ResumeLayout(false);
+		this->panel4->PerformLayout();
+		this->fs->ResumeLayout(false);
+		this->ResumeLayout(false);
 
-     }	
+	}	
 
 
 
@@ -1219,203 +1208,214 @@
 		 }
 		 //////////////////////////////////////////////////////////////////////////////////
 		 //***************************Main List Action Functions******************************
+
+
+private: System::Void loadConfigHelper(string filePath) {
+			  
+				
+				 string result = printer.initialize(filePath);
+				 if(result.compare("") == 0)
+				 {
+
+					 correctModule = true;
+
+					 //Show labels.
+
+					 XLabel->Text = new String("X");
+					 YLabel->Text = new String("Y");
+					 ZLabel->Text = new String("Z");
+					 int numLoadedBays = printer.numLoadedBays();
+					 if(numLoadedBays >= 1)
+					 {
+						 bayLabel0->Text = new String("Bay 0");
+					 }
+					 if(numLoadedBays >= 2)
+					 {
+						 bayLabel1->Text = new String("Bay 1");
+					 }
+					 if(numLoadedBays >= 3)
+					 {
+						 bayLabel2->Text = new String("Bay 2");
+					 }
+
+
+					 FabAtHomePrinter::savePreviousConfigName(filePath);
+
+
+					 //Modify buttons.
+					 //InitButton->Enabled = false; 
+					 LoadFileButton->Focus();
+
+					 //Start live position display
+					 enablePositionDisplay(); 
+				 }
+				 else
+				 {
+					 Util::messageBox(result);
+				 }
+				
+
+		 }
 private: void InitButton_Click(System::Object *  sender, System::EventArgs *  e)
 		 {
-
-                if(openFileDialog1->ShowDialog() == System::Windows::Forms::DialogResult::OK)
-                {
-                     string filePath = (char*)(void*)Marshal::StringToHGlobalAnsi(openFileDialog1->FileName);
-                     string result = printer.initialize(filePath);
-			      if(result.compare("") == 0)
-			      {
-                          
-				       correctModule = true;
-
-                           //Show labels.
-                           
-                           XLabel->Text = new String("X");
-                           YLabel->Text = new String("Y");
-                           ZLabel->Text = new String("Z");
-			            int numLoadedBays = printer.numLoadedBays();
-                           if(numLoadedBays >= 1)
-                           {
-                                bayLabel0->Text = new String("Bay 0");
-                           }
-                           if(numLoadedBays >= 2)
-                           {
-                                bayLabel1->Text = new String("Bay 1");
-                           }
-                           if(numLoadedBays >= 3)
-                           {
-                                bayLabel2->Text = new String("Bay 2");
-                           }
-                           
-
-
-				       //Modify buttons.
-				       //InitButton->Enabled = false;
-				       LoadFileButton->Focus();
-			            
-                           enablePositionDisplay(); //Start live position display
-			      }
-			      else
-			      {
-                          Util::messageBox(result);
-			      }
-                }
+			 if(openFileDialog1->ShowDialog() == System::Windows::Forms::DialogResult::OK)
+			 {
+			 loadConfigHelper((char*)(void*)Marshal::StringToHGlobalAnsi(openFileDialog1->FileName));
+			 }
+			
 		 }
 		 ////////////////////////////////////////////////////////////////////////////////////
 private: void toggleAxes(bool enabled)
-         {
-               XVelocityField->Enabled = enabled;
-               XAccelerationField->Enabled = enabled;
-               XIncrementField->Enabled = enabled;
-               XDisplay->Enabled = enabled;
-               XCommandedField->Enabled = enabled;
-               xScroll->Enabled = enabled;
-               YVelocityField->Enabled = enabled;
-               YAccelerationField->Enabled = enabled;
-               YIncrementField->Enabled = enabled;
-               YDisplay->Enabled = enabled;
-               YCommandedField->Enabled = enabled;
-               yScroll->Enabled = enabled;
-               ZVelocityField->Enabled = enabled;
-               ZAccelerationField->Enabled = enabled;
-               ZIncrementField->Enabled = enabled;
-               ZDisplay->Enabled = enabled;
-               ZCommandedField->Enabled = enabled;
-               zScroll->Enabled = enabled;
-          }
-          ////////////////////////////////////////////////////////////////////////////////////
+		 {
+			 XVelocityField->Enabled = enabled;
+			 XAccelerationField->Enabled = enabled;
+			 XIncrementField->Enabled = enabled;
+			 XDisplay->Enabled = enabled;
+			 XCommandedField->Enabled = enabled;
+			 xScroll->Enabled = enabled;
+			 YVelocityField->Enabled = enabled;
+			 YAccelerationField->Enabled = enabled;
+			 YIncrementField->Enabled = enabled;
+			 YDisplay->Enabled = enabled;
+			 YCommandedField->Enabled = enabled;
+			 yScroll->Enabled = enabled;
+			 ZVelocityField->Enabled = enabled;
+			 ZAccelerationField->Enabled = enabled;
+			 ZIncrementField->Enabled = enabled;
+			 ZDisplay->Enabled = enabled;
+			 ZCommandedField->Enabled = enabled;
+			 zScroll->Enabled = enabled;
+		 }
+		 ////////////////////////////////////////////////////////////////////////////////////
 private: void toggleBays(bool enabled)
-         {
-              int numLoadedBays = printer.numLoadedBays();
-              if(numLoadedBays >= 1)
-              {
-                   bayVelocity0->Enabled = enabled;
-                   bayAcceleration0->Enabled = enabled;
-                   bayPositionIncrement0->Enabled = enabled;
-                   bayMotorPosition0->Enabled = enabled;
-                   bayCommandedPosition0->Enabled = enabled;
-                   bayMaterialCalibration0->Enabled = enabled;
-                   bayScroll0->Enabled = enabled;
-              }
-              if(numLoadedBays >= 2)
-              {
-                   bayVelocity1->Enabled = enabled;
-                   bayAcceleration1->Enabled = enabled;
-                   bayPositionIncrement1->Enabled = enabled;
-                   bayMotorPosition1->Enabled = enabled;
-                   bayCommandedPosition1->Enabled = enabled;
-                   bayMaterialCalibration1->Enabled = enabled;
-                   bayScroll1->Enabled = enabled;
-              }
-              if(numLoadedBays >= 3)
-              {
-                   bayVelocity2->Enabled = enabled;
-                   bayAcceleration2->Enabled = enabled;
-                   bayPositionIncrement2->Enabled = enabled;
-                   bayMotorPosition2->Enabled = enabled;
-                   bayCommandedPosition2->Enabled = enabled;
-                   bayMaterialCalibration2->Enabled = enabled;
-                   bayScroll2->Enabled = enabled;
-              }
-         }
+		 {
+			 int numLoadedBays = printer.numLoadedBays();
+			 if(numLoadedBays >= 1)
+			 {
+				 bayVelocity0->Enabled = enabled;
+				 bayAcceleration0->Enabled = enabled;
+				 bayPositionIncrement0->Enabled = enabled;
+				 bayMotorPosition0->Enabled = enabled;
+				 bayCommandedPosition0->Enabled = enabled;
+				 bayMaterialCalibration0->Enabled = enabled;
+				 bayScroll0->Enabled = enabled;
+			 }
+			 if(numLoadedBays >= 2)
+			 {
+				 bayVelocity1->Enabled = enabled;
+				 bayAcceleration1->Enabled = enabled;
+				 bayPositionIncrement1->Enabled = enabled;
+				 bayMotorPosition1->Enabled = enabled;
+				 bayCommandedPosition1->Enabled = enabled;
+				 bayMaterialCalibration1->Enabled = enabled;
+				 bayScroll1->Enabled = enabled;
+			 }
+			 if(numLoadedBays >= 3)
+			 {
+				 bayVelocity2->Enabled = enabled;
+				 bayAcceleration2->Enabled = enabled;
+				 bayPositionIncrement2->Enabled = enabled;
+				 bayMotorPosition2->Enabled = enabled;
+				 bayCommandedPosition2->Enabled = enabled;
+				 bayMaterialCalibration2->Enabled = enabled;
+				 bayScroll2->Enabled = enabled;
+			 }
+		 }
 		 ////////////////////////////////////////////////////////////////////////////////////
 private: void MoveButton_Click(System::Object *  sender, System::EventArgs *  e)
 		 {
-			printer.axes["X"].motor->moveAbsolute(textBoxValue(XCommandedField), textBoxValue(XVelocityField), textBoxValue(XAccelerationField));	
-			printer.axes["Y"].motor->moveAbsolute(textBoxValue(YCommandedField), textBoxValue(YVelocityField), textBoxValue(YAccelerationField));
-			printer.axes["Z"].motor->moveAbsolute(textBoxValue(ZCommandedField), textBoxValue(ZVelocityField), textBoxValue(ZAccelerationField));
-			int numLoadedBays = printer.numLoadedBays();
-               if(numLoadedBays >= 1)
-               {
-			    printer.tool.bays["Bay 0"].motor->moveAbsolute(textBoxValue(bayCommandedPosition0), textBoxValue(bayVelocity0), textBoxValue(bayAcceleration0));
-        		}
-               if(numLoadedBays >= 2)
-               {
-                   printer.tool.bays["Bay 1"].motor->moveAbsolute(textBoxValue(bayCommandedPosition1), textBoxValue(bayVelocity1), textBoxValue(bayAcceleration1));
-			
-               }
-               if(numLoadedBays >= 3)
-               {
-                   printer.tool.bays["Bay 2"].motor->moveAbsolute(textBoxValue(bayCommandedPosition2), textBoxValue(bayVelocity2), textBoxValue(bayAcceleration2));			
-               }
-         }
+			 printer.axes["X"].motor->moveAbsolute(textBoxValue(XCommandedField), textBoxValue(XVelocityField), textBoxValue(XAccelerationField));	
+			 printer.axes["Y"].motor->moveAbsolute(textBoxValue(YCommandedField), textBoxValue(YVelocityField), textBoxValue(YAccelerationField));
+			 printer.axes["Z"].motor->moveAbsolute(textBoxValue(ZCommandedField), textBoxValue(ZVelocityField), textBoxValue(ZAccelerationField));
+			 int numLoadedBays = printer.numLoadedBays();
+			 if(numLoadedBays >= 1)
+			 {
+				 printer.tool.bays["Bay 0"].motor->moveAbsolute(textBoxValue(bayCommandedPosition0), textBoxValue(bayVelocity0), textBoxValue(bayAcceleration0));
+			 }
+			 if(numLoadedBays >= 2)
+			 {
+				 printer.tool.bays["Bay 1"].motor->moveAbsolute(textBoxValue(bayCommandedPosition1), textBoxValue(bayVelocity1), textBoxValue(bayAcceleration1));
+
+			 }
+			 if(numLoadedBays >= 3)
+			 {
+				 printer.tool.bays["Bay 2"].motor->moveAbsolute(textBoxValue(bayCommandedPosition2), textBoxValue(bayVelocity2), textBoxValue(bayAcceleration2));			
+			 }
+		 }
 		 ////////////////////////////////////////////////////////////////////////////////////
 private: void ResetPosButton_Click(System::Object*  sender, System::EventArgs*  e) 
 		 {
-		 	 //Reset position of all motors.
-          	 printer.axes["X"].motor->resetPosition();
-     		 printer.axes["Y"].motor->resetPosition();
+			 //Reset position of all motors.
+			 printer.axes["X"].motor->resetPosition();
+			 printer.axes["Y"].motor->resetPosition();
 			 printer.axes["Z"].motor->resetPosition();
-                XCommandedField->set_Text("0.000000");
+			 XCommandedField->set_Text("0.000000");
 			 YCommandedField->set_Text("0.000000");
 			 ZCommandedField->set_Text("0.000000");
-                int numLoadedBays = printer.numLoadedBays();
-                if(numLoadedBays >= 1)
-                {
-			     printer.tool.bays["Bay 0"].motor->resetPosition();
-                    bayCommandedPosition0->set_Text("0.000000");
-        		 }
-                if(numLoadedBays >= 2)
-                {
-                    printer.tool.bays["Bay 1"].motor->resetPosition();
-                    bayCommandedPosition1->set_Text("0.000000");
-                }
-                if(numLoadedBays >= 3)
-                {
-                    printer.tool.bays["Bay 2"].motor->resetPosition();
-                    bayCommandedPosition2->set_Text("0.000000");
-                }
+			 int numLoadedBays = printer.numLoadedBays();
+			 if(numLoadedBays >= 1)
+			 {
+				 printer.tool.bays["Bay 0"].motor->resetPosition();
+				 bayCommandedPosition0->set_Text("0.000000");
+			 }
+			 if(numLoadedBays >= 2)
+			 {
+				 printer.tool.bays["Bay 1"].motor->resetPosition();
+				 bayCommandedPosition1->set_Text("0.000000");
+			 }
+			 if(numLoadedBays >= 3)
+			 {
+				 printer.tool.bays["Bay 2"].motor->resetPosition();
+				 bayCommandedPosition2->set_Text("0.000000");
+			 }
 		 }
 		 ////////////////////////////////////////////////////////////////////////////////////
 private: void LoadFileButton_Click(System::Object *  sender, System::EventArgs *  e)
 		 {
-                if(openFileDialog1->ShowDialog() == System::Windows::Forms::DialogResult::OK)
-                {
-                     string filePath = (char*)(void*)Marshal::StringToHGlobalAnsi(openFileDialog1->FileName);
-                     string result = printer.loadFabFile(filePath);
-                     if(result.compare("") == 0)
-			      {
-				      //Update display.
-                          string info = Util::toString<int>(printer.numLoadedPaths())+" paths loaded from file "+filePath;
-				      
-				      maxProgress = printer.numLoadedPaths(); //sets the max progress to the number of paths
-                          ExecutePathLabel->set_Text(info.c_str());
-
-                          //Show the loaded material calibrations.
-                          vector<string> result;
-                          printer.loadedMaterialCalibrations(result);
-                          bayMaterialCalibration0->Items->Clear();
-                          bayMaterialCalibration1->Items->Clear();
-                          bayMaterialCalibration0->Items->Add(new System::String(""));
-                          bayMaterialCalibration1->Items->Add(new System::String(""));
-                          for(vector<string>::iterator i = result.begin(); i != result.end(); ++i)
-                          {
-                               int numLoadedBays = printer.numLoadedBays();
-                               if(numLoadedBays >= 1)
-                               {
-                                   bayMaterialCalibration0->Items->Add(new System::String(i->c_str()));
-                               }
-                               if(numLoadedBays >= 2)
-                               {
-                                   bayMaterialCalibration1->Items->Add(new System::String(i->c_str()));
-                               }
-                               if(numLoadedBays >= 3)
-                               {
-                                   bayMaterialCalibration2->Items->Add(new System::String(i->c_str()));
-                               }
-                           }
-                                               
-				      ExecuteButton->Enabled = true;
-				      ExecuteButton->Focus();
-			      }
-			      else
-			      {
-                          Util::messageBox(result);
-			      }
-                }
+			 if(openFileDialog1->ShowDialog() == System::Windows::Forms::DialogResult::OK)
+			 {
+				 string filePath = (char*)(void*)Marshal::StringToHGlobalAnsi(openFileDialog1->FileName);
+				 string result = printer.loadFabFile(filePath);
+				 if(result.compare("") == 0)
+				 {
+					 //Update display.
+					 string info = Util::toString<int>(printer.numLoadedPaths())+" paths loaded from file "+filePath;
+
+					 maxProgress = printer.numLoadedPaths(); //sets the max progress to the number of paths
+					 ExecutePathLabel->set_Text(info.c_str());
+
+					 //Show the loaded material calibrations.
+					 vector<string> result;
+					 printer.loadedMaterialCalibrations(result);
+					 bayMaterialCalibration0->Items->Clear();
+					 bayMaterialCalibration1->Items->Clear();
+					 bayMaterialCalibration0->Items->Add(new System::String(""));
+					 bayMaterialCalibration1->Items->Add(new System::String(""));
+					 for(vector<string>::iterator i = result.begin(); i != result.end(); ++i)
+					 {
+						 int numLoadedBays = printer.numLoadedBays();
+						 if(numLoadedBays >= 1)
+						 {
+							 bayMaterialCalibration0->Items->Add(new System::String(i->c_str()));
+						 }
+						 if(numLoadedBays >= 2)
+						 {
+							 bayMaterialCalibration1->Items->Add(new System::String(i->c_str()));
+						 }
+						 if(numLoadedBays >= 3)
+						 {
+							 bayMaterialCalibration2->Items->Add(new System::String(i->c_str()));
+						 }
+					 }
+
+					 ExecuteButton->Enabled = true;
+					 ExecuteButton->Focus();
+				 }
+				 else
+				 {
+					 Util::messageBox(result);
+				 }
+			 }
 		 }
 		 ////////////////////////////////////////////////////////////////////////////////////
 private: void ExecuteButton_Click(System::Object*  sender, System::EventArgs*  e) {
@@ -1435,15 +1435,15 @@
 private: void incrementCommanded(System::Windows::Forms::TextBox* incrementField, System::Windows::Forms::ScrollEventArgs* e, System::Windows::Forms::TextBox* commandedField)
 		 {
 			 string incrementString = (char*)(void*)Marshal::StringToHGlobalAnsi(incrementField->get_Text());
-                double delta = (e->get_OldValue() - e->get_NewValue()) * Util::toType<double>(incrementString);
+			 double delta = (e->get_OldValue() - e->get_NewValue()) * Util::toType<double>(incrementString);
 
 			 string commandedString = (char*)(void*)Marshal::StringToHGlobalAnsi(commandedField->get_Text());
-                double commanded = Util::toType<double>(commandedString);
+			 double commanded = Util::toType<double>(commandedString);
 
 			 double newCommanded = commanded + delta;
 
-                string newCommandedString = Util::toString<double>(newCommanded);
-                commandedField->set_Text(newCommandedString.c_str());
+			 string newCommandedString = Util::toString<double>(newCommanded);
+			 commandedField->set_Text(newCommandedString.c_str());
 			 commandedField->Update();
 		 }
 		 //////////////////////////////////////////////////////////////////////////////////////////////
@@ -1474,9 +1474,9 @@
 		 }	
 		 ///////////////////////////////////////////////////////////////////////////////////////////////////
 private: System::Void bayScroll2_Scroll(System::Object*  sender, System::Windows::Forms::ScrollEventArgs*  e) {
-               incrementCommanded(bayPositionIncrement2, e, bayCommandedPosition2);
-			printer.tool.bays["Bay 2"].motor->moveAbsolute(textBoxValue(bayCommandedPosition2), textBoxValue(bayVelocity2), textBoxValue(bayAcceleration2));
-         }
+			 incrementCommanded(bayPositionIncrement2, e, bayCommandedPosition2);
+			 printer.tool.bays["Bay 2"].motor->moveAbsolute(textBoxValue(bayCommandedPosition2), textBoxValue(bayVelocity2), textBoxValue(bayAcceleration2));
+		 }
 		 ///////////////////////////////////////////////////////////////////////////////////////////////////
 		 //**************************************Stop/Cancel/Pause Buttons***************************************
 private: void ForceStopButton_Click(System::Object*  sender, System::EventArgs*  e) {
@@ -1484,19 +1484,19 @@
 			 printer.axes["X"].motor->stop();
 			 printer.axes["Y"].motor->stop();
 			 printer.axes["Z"].motor->stop();
-                int numLoadedBays = printer.numLoadedBays();
-                if(numLoadedBays >= 1)
-                {
-			    printer.tool.bays["Bay 0"].motor->stop();
-                }
-                if(numLoadedBays >= 2)
-                {
-			    printer.tool.bays["Bay 1"].motor->stop();
-                }
-                if(numLoadedBays >= 3)
-                {
-			    printer.tool.bays["Bay 2"].motor->stop();
-                }
+			 int numLoadedBays = printer.numLoadedBays();
+			 if(numLoadedBays >= 1)
+			 {
+				 printer.tool.bays["Bay 0"].motor->stop();
+			 }
+			 if(numLoadedBays >= 2)
+			 {
+				 printer.tool.bays["Bay 1"].motor->stop();
+			 }
+			 if(numLoadedBays >= 3)
+			 {
+				 printer.tool.bays["Bay 2"].motor->stop();
+			 }
 		 }
 		 ///////////////////////////////////////////////////////////////////////////////////////////////////
 private: void RedoPathButton_Click(System::Object*  sender, System::EventArgs*  e) {
@@ -1533,66 +1533,66 @@
 		 }
 		 ///////////////////////////////////////////////////////////////////////////////////////////////////////
 private: void PosDisplayThread_ProgressChanged(System::Object* sender, System::ComponentModel::ProgressChangedEventArgs* e) {
-                static string prevState;
-                string state = printer.state();
+			 static string prevState;
+			 string state = printer.state();
 
-                if(state.compare("PAUSED") == 0)
-                {
-                     updatePosDisplay();
-                     if(prevState.compare("PRINTING") == 0)
-                     {
-                          XCommandedField->set_Text(XDisplay->get_Text());
-			           YCommandedField->set_Text(YDisplay->get_Text());
-			           ZCommandedField->set_Text(ZDisplay->get_Text());
-			           bayCommandedPosition0->set_Text(bayMotorPosition0->get_Text());
-			           bayCommandedPosition1->set_Text(bayMotorPosition1->get_Text());
-                     }
-                     toggleBays(true);
-                     toggleAxes(false);
-                     ResetPosButton->Enabled = false;
-                     MoveButton->Enabled = false;
-                     LoadFileButton->Enabled = false;
-                     ExecuteButton->Enabled = false;
-                   	 this->PauseFabButton->Enabled=true;
-		     	 this->CancelFabButton->Enabled=true;
-	     		 this->ForceStopButton->Enabled=true;
-     			 this->RedoPathButton->Enabled=true;
-                }
-                else if(state.compare("PRINTING") == 0)
-                {
-                     toggleBays(false);
-                     toggleAxes(false);
-                     ResetPosButton->Enabled = false;
-                     MoveButton->Enabled = false;
-                     LoadFileButton->Enabled = false;
-                     ExecuteButton->Enabled = false;
-			      this->PauseFabButton->Enabled=true;
-		     	 this->CancelFabButton->Enabled=true;
-	     		 this->ForceStopButton->Enabled=true;
-     			 this->RedoPathButton->Enabled=true;
-                }
-                else if(state.compare("IDLE") == 0)
-                {
-                     updatePosDisplay();
-                     if(prevState.compare("PRINTING") == 0)
-                     {
-                          XCommandedField->set_Text(XDisplay->get_Text());
-			           YCommandedField->set_Text(YDisplay->get_Text());
-			           ZCommandedField->set_Text(ZDisplay->get_Text());
-			           bayCommandedPosition0->set_Text(bayMotorPosition0->get_Text());
-			           bayCommandedPosition1->set_Text(bayMotorPosition1->get_Text());
-                     }           
-                     toggleBays(true);
-                     toggleAxes(true);
-                     ResetPosButton->Enabled = true;
-                     MoveButton->Enabled = true;
-                     LoadFileButton->Enabled = true;
-			      this->PauseFabButton->Enabled=false;
-		     	 this->CancelFabButton->Enabled=false;
-	     		 this->ForceStopButton->Enabled=false;
-     			 this->RedoPathButton->Enabled=false;
-                }
-                prevState = state;
+			 if(state.compare("PAUSED") == 0)
+			 {
+				 updatePosDisplay();
+				 if(prevState.compare("PRINTING") == 0)
+				 {
+					 XCommandedField->set_Text(XDisplay->get_Text());
+					 YCommandedField->set_Text(YDisplay->get_Text());
+					 ZCommandedField->set_Text(ZDisplay->get_Text());
+					 bayCommandedPosition0->set_Text(bayMotorPosition0->get_Text());
+					 bayCommandedPosition1->set_Text(bayMotorPosition1->get_Text());
+				 }
+				 toggleBays(true);
+				 toggleAxes(false);
+				 ResetPosButton->Enabled = false;
+				 MoveButton->Enabled = false;
+				 LoadFileButton->Enabled = false;
+				 ExecuteButton->Enabled = false;
+				 this->PauseFabButton->Enabled=true;
+				 this->CancelFabButton->Enabled=true;
+				 this->ForceStopButton->Enabled=true;
+				 this->RedoPathButton->Enabled=true;
+			 }
+			 else if(state.compare("PRINTING") == 0)
+			 {
+				 toggleBays(false);
+				 toggleAxes(false);
+				 ResetPosButton->Enabled = false;
+				 MoveButton->Enabled = false;
+				 LoadFileButton->Enabled = false;
+				 ExecuteButton->Enabled = false;
+				 this->PauseFabButton->Enabled=true;
+				 this->CancelFabButton->Enabled=true;
+				 this->ForceStopButton->Enabled=true;
+				 this->RedoPathButton->Enabled=true;
+			 }
+			 else if(state.compare("IDLE") == 0)
+			 {
+				 updatePosDisplay();
+				 if(prevState.compare("PRINTING") == 0)
+				 {
+					 XCommandedField->set_Text(XDisplay->get_Text());
+					 YCommandedField->set_Text(YDisplay->get_Text());
+					 ZCommandedField->set_Text(ZDisplay->get_Text());
+					 bayCommandedPosition0->set_Text(bayMotorPosition0->get_Text());
+					 bayCommandedPosition1->set_Text(bayMotorPosition1->get_Text());
+				 }           
+				 toggleBays(true);
+				 toggleAxes(true);
+				 ResetPosButton->Enabled = true;
+				 MoveButton->Enabled = true;
+				 LoadFileButton->Enabled = true;
+				 this->PauseFabButton->Enabled=false;
+				 this->CancelFabButton->Enabled=false;
+				 this->ForceStopButton->Enabled=false;
+				 this->RedoPathButton->Enabled=false;
+			 }
+			 prevState = state;
 		 }
 		 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 		 //*************************************Execution Threads************************************
@@ -1616,69 +1616,111 @@
 		 }
 		 /////////////////////////////////////////////////////////////////////////////////////////////////////
 private: void Timer_Tick(System::Object*  sender, System::EventArgs*  e) {
-			 
+
 		 }
 
 		 //************************************I/O Helper Functions********************************
 private: void updatePosDisplay() {
-		      string temp;	 
-                //Display the position data in text fields
-                temp = Util::toString<double>(printer.axes["X"].motor->getPosition());
-                XDisplay->set_Text(temp.c_str());
+			 string temp;	 
+			 //Display the position data in text fields
+			 temp = Util::toString<double>(printer.axes["X"].motor->getPosition());
+			 XDisplay->set_Text(temp.c_str());
 			 XDisplay->Update();
 			 temp = Util::toString<double>(printer.axes["Y"].motor->getPosition());
-                YDisplay->set_Text(temp.c_str());
+			 YDisplay->set_Text(temp.c_str());
 			 YDisplay->Update();
 			 temp = Util::toString<double>(printer.axes["Z"].motor->getPosition());
-                ZDisplay->set_Text(temp.c_str());
+			 ZDisplay->set_Text(temp.c_str());
 			 ZDisplay->Update();
-                
-                int numLoadedBays = printer.numLoadedBays();
-                if(numLoadedBays >= 1)
-                {
-                     temp = Util::toString<double>(printer.tool.bays["Bay 0"].motor->getPosition());
-                     bayMotorPosition0->set_Text(temp.c_str());
-		     	 bayMotorPosition0->Update();
-			 }
-                if(numLoadedBays >= 2)
-                {
-                     temp = Util::toString<double>(printer.tool.bays["Bay 1"].motor->getPosition());
-                     bayMotorPosition1->set_Text(temp.c_str());
-			      bayMotorPosition1->Update();
-                }
-                if(numLoadedBays >= 3)
-                {
-                     temp = Util::toString<double>(printer.tool.bays["Bay 2"].motor->getPosition());
-                     bayMotorPosition2->set_Text(temp.c_str());
-			      bayMotorPosition2->Update();
-                }
-                
+
+			 int numLoadedBays = printer.numLoadedBays();
+			 if(numLoadedBays >= 1)
+			 {
+				 temp = Util::toString<double>(printer.tool.bays["Bay 0"].motor->getPosition());
+				 bayMotorPosition0->set_Text(temp.c_str());
+				 bayMotorPosition0->Update();
+			 }
+			 if(numLoadedBays >= 2)
+			 {
+				 temp = Util::toString<double>(printer.tool.bays["Bay 1"].motor->getPosition());
+				 bayMotorPosition1->set_Text(temp.c_str());
+				 bayMotorPosition1->Update();
+			 }
+			 if(numLoadedBays >= 3)
+			 {
+				 temp = Util::toString<double>(printer.tool.bays["Bay 2"].motor->getPosition());
+				 bayMotorPosition2->set_Text(temp.c_str());
+				 bayMotorPosition2->Update();
+			 }
+
 		 }
 		 ///////////////////////////////////////////////////////////////////////////////////////////////
 private: System::Void bayMaterialCalibration0_SelectedIndexChanged(System::Object*  sender, System::EventArgs*  e)
-         {
-              string bayName = (char*)(void*)Marshal::StringToHGlobalAnsi(bayLabel0->Text);
-              string materialCalibrationName = (char*)(void*)Marshal::StringToHGlobalAnsi(bayMaterialCalibration0->Text);
-              printer.equipBay(bayName, materialCalibrationName);
-         }
-  	      ///////////////////////////////////////////////////////////////////////////////////////////////
+		 {
+			 string bayName = (char*)(void*)Marshal::StringToHGlobalAnsi(bayLabel0->Text);
+			 string materialCalibrationName = (char*)(void*)Marshal::StringToHGlobalAnsi(bayMaterialCalibration0->Text);
+			 printer.equipBay(bayName, materialCalibrationName);
+		 }
+		 ///////////////////////////////////////////////////////////////////////////////////////////////
 private: System::Void bayMaterialCalibration1_SelectedIndexChanged(System::Object*  sender, System::EventArgs*  e)
-         {
-              string bayName = (char*)(void*)Marshal::StringToHGlobalAnsi(bayLabel1->Text);
-              string materialCalibrationName = (char*)(void*)Marshal::StringToHGlobalAnsi(bayMaterialCalibration1->Text);
-              printer.equipBay(bayName, materialCalibrationName);
-         }
-            ///////////////////////////////////////////////////////////////////////////////////////////////
+		 {
+			 string bayName = (char*)(void*)Marshal::StringToHGlobalAnsi(bayLabel1->Text);
+			 string materialCalibrationName = (char*)(void*)Marshal::StringToHGlobalAnsi(bayMaterialCalibration1->Text);
+			 printer.equipBay(bayName, materialCalibrationName);
+		 }
+		 ///////////////////////////////////////////////////////////////////////////////////////////////
 private: System::Void bayMaterialCalibration2_SelectedIndexChanged(System::Object*  sender, System::EventArgs*  e) {
-              string bayName = (char*)(void*)Marshal::StringToHGlobalAnsi(bayLabel2->Text);
-              string materialCalibrationName = (char*)(void*)Marshal::StringToHGlobalAnsi(bayMaterialCalibration2->Text);
-              printer.equipBay(bayName, materialCalibrationName);
-         }
-             ///////////////////////////////////////////////////////////////////////////////////////////////
+			 string bayName = (char*)(void*)Marshal::StringToHGlobalAnsi(bayLabel2->Text);
+			 string materialCalibrationName = (char*)(void*)Marshal::StringToHGlobalAnsi(bayMaterialCalibration2->Text);
+			 printer.equipBay(bayName, materialCalibrationName);
+		 }
+		 ///////////////////////////////////////////////////////////////////////////////////////////////
+
+private: System::Void button1_Click(System::Object*  sender, System::EventArgs*  e) {
+		 }
+
+
+private: System::Void loadPreviousConfig(System::Object*  sender, System::EventArgs*  e) {
+			
+			 string filePath = FabAtHomePrinter::loadPreviousConfigName();
+			 string result = printer.initialize(filePath);
+			 if(result.compare("") == 0)
+			 {
+				 correctModule = true;
+
+				 //Show labels.
+
+				 XLabel->Text = new String("X");
+				 YLabel->Text = new String("Y");
+				 ZLabel->Text = new String("Z");
+				 int numLoadedBays = printer.numLoadedBays();
+				 if(numLoadedBays >= 1)
+				 {
+					 bayLabel0->Text = new String("Bay 0");
+				 }
+				 if(numLoadedBays >= 2)
+				 {
+					 bayLabel1->Text = new String("Bay 1");
+				 }
+				 if(numLoadedBays >= 3)
+				 {
+					 bayLabel2->Text = new String("Bay 2");
+				 }
+
+
+
+				 //Modify buttons.
+				 LoadFileButton->Focus();
+
+				 enablePositionDisplay(); //Start live position display
+			 }
+			 else
+			 {
+				 Util::messageBox(result);
+			 }
+		 }
 
 };
 
 #endif //ndef FORM1_H
 
-
-