diff --git a/BPASmartClient.MorkF/Control_MorkF.cs b/BPASmartClient.MorkF/Control_MorkF.cs
index 49d6486b..6106123a 100644
--- a/BPASmartClient.MorkF/Control_MorkF.cs
+++ b/BPASmartClient.MorkF/Control_MorkF.cs
@@ -175,6 +175,9 @@ namespace BPASmartClient.MorkF
                 MaterialCoordinate.GetInstance().frying1 = materialCoordinate.frying1;
                 MaterialCoordinate.GetInstance().frying2 = materialCoordinate.frying2;
                 MaterialCoordinate.GetInstance().materialHeight = materialCoordinate.materialHeight;
+                MaterialCoordinate.GetInstance().MaterialOneX = materialCoordinate.MaterialOneX;
+                MaterialCoordinate.GetInstance().MaterialTwoX = materialCoordinate.MaterialTwoX;
+                MaterialCoordinate.GetInstance().MaterialThreeX = materialCoordinate.MaterialThreeX;
             }
             ////菜品库编号与坐标系对象存储
             //SaveMaterialCoordinate();
@@ -1291,7 +1294,7 @@ namespace BPASmartClient.MorkF
                 return false;
             }
 
-            if(x < moveX)
+            if (x < moveX)
             {
                 MessageLog.GetInstance.ShowEx("错误：传感器距离转坐标值大于当前x轴坐标");
                 return false;
@@ -1315,7 +1318,6 @@ namespace BPASmartClient.MorkF
             }
 
 #endif
-
             //伸出爪子
             PawExtend();
 
@@ -1323,13 +1325,42 @@ namespace BPASmartClient.MorkF
             Electromagnetism(new List<bool> { false });
             Thread.Sleep(500);
 
-            //菜品盒子出菜品库，往上移动一个盒子的距离
-            if (!SetArmPosition(x - moveX - materialBoxHeight, y))
+
+            int heightDifferent = 0;
+            //根据x轴所在坐标系，计算高度差。
+            if( (x > 0 && x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["1"].X)&&
+                (MaterialCoordinate.GetInstance().MaterialOneX > 0 && MaterialCoordinate.GetInstance().MaterialOneX < x))
+            {
+                //菜品盒子出菜品库，往上移动一个盒子的距离
+                if (!SetArmPosition(MaterialCoordinate.GetInstance().MaterialOneX, y))
+                {
+                    return false;
+                }
+            }
+            else if( (x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["10"].X && x > MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["1"].X)&&
+                (MaterialCoordinate.GetInstance().MaterialTwoX > 0 && MaterialCoordinate.GetInstance().MaterialTwoX < x))
+            {
+                //菜品盒子出菜品库，往上移动一个盒子的距离
+                if (!SetArmPosition(MaterialCoordinate.GetInstance().MaterialTwoX, y))
+                {
+                    return false;
+                }
+            }
+            else if ((x > MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["10"].X && x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["20"].X) &&
+                (MaterialCoordinate.GetInstance().MaterialThreeX > 0 && MaterialCoordinate.GetInstance().MaterialThreeX < x))
+            {
+                //菜品盒子出菜品库，往上移动一个盒子的距离
+                if (!SetArmPosition(MaterialCoordinate.GetInstance().MaterialThreeX, y))
+                {
+                    return false;
+                }
+            }
+            else
             {
+                MessageLog.GetInstance.ShowEx("错误：未设置当前菜品库出菜位置");
                 return false;
             }
 
-
 #if true
             //爪子去2号位放菜
             if (!PawToPoint2())
@@ -1337,16 +1368,19 @@ namespace BPASmartClient.MorkF
                 return false;
             }
 #endif
-            ////判断炒锅是否可以放盒
-            //for (int i = 0; materialSleepCount > i && !morkFs[fryIndex].FryPot1_HOBTPut; i++)
-            //{
-            //    Thread.Sleep(materialSleepTime);
-            //    if (i >= materialSleepCount - 1)
-            //    {
-            //        MessageLog.GetInstance.Show("等待炒锅允许放盒超时");
-            //        return;
-            //    }
-            //}
+            //收缩爪子
+            PawShrink();
+
+            //判断炒锅是否可以放盒
+            for (int i = 0; materialSleepCount > i && !morkFs[fryIndex].FryPot1_HOBTPut; i++)
+            {
+                Thread.Sleep(materialSleepTime);
+                if (i >= materialSleepCount - 1)
+                {
+                    MessageLog.GetInstance.Show("等待炒锅允许放盒超时");
+                    return false;
+                }
+            }
 
             //关闭启磁吸
             MagnetOff(fryNum);
@@ -1379,6 +1413,9 @@ namespace BPASmartClient.MorkF
             }
 #endif
 
+            //伸出爪子
+            PawExtend();
+
             //开启磁吸
             MagnetOn(fryNum);
 
@@ -1388,15 +1425,15 @@ namespace BPASmartClient.MorkF
             Electromagnetism(new List<bool> { true });
             Thread.Sleep(300);
 
+            //收缩爪子
+            PawShrink();
+
             //设置到炒锅i出菜处
             if (!SetArmPosition(x + materialToFryDistance, y))
             {
                 return false;
             }
 
-            //收缩爪子
-            PawShrink();
-
 #if true
             //爪子回到2号位
             if (!PawToPoint2())
@@ -1404,6 +1441,9 @@ namespace BPASmartClient.MorkF
                 return false;
             }
 #endif
+
+            //开启电磁阀
+            Electromagnetism(new List<bool> { false });
             if (morkFs.ContainsKey(fryNum))
             {
                 morkFs[fryNum].GetMaterialComplete = true;
@@ -1458,7 +1498,7 @@ namespace BPASmartClient.MorkF
 
                     int surplus = 0;
                     //根据距离算出菜品余量
-                    Laser2CoordinateState state = LaserDistance2MaterialCount(laserHigh, out surplus);
+                    Laser2CoordinateState state = LaserDistance2MaterialCount(laserHigh, item.Value.X, out surplus);
                     if (state != Laser2CoordinateState.MaterialNormal || state != Laser2CoordinateState.MaterialEmpty)
                     {
                         return false;
@@ -1488,136 +1528,47 @@ namespace BPASmartClient.MorkF
         public Laser2CoordinateState LaserDistance2Coordinate(int distance, int x, out int x_high)
         {
             x_high = 0;
-            int heightDifferent = 0;
+            //int heightDifferent = 0;
             int boxCount = 0;
-            //传感器高度小于6，无法移出，菜品库满
-            if (distance < 60)
-            {
-                MessageLog.GetInstance.ShowEx("错误：传感器距离不满足出菜高度");
-                return Laser2CoordinateState.MaterialOverdo;
-            }
+            ////传感器高度小于6，无法移出，菜品库满
+            //if (distance < 60)
+            //{
+            //    MessageLog.GetInstance.ShowEx("错误：传感器距离不满足出菜高度");
+            //    return Laser2CoordinateState.MaterialOverdo;
+            //}
             try
             {
-                if (x > 0 && x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["1"].X)
-                {
-                    heightDifferent = MaterialCoordinate.GetInstance().distance_1 - distance;
-                    ////菜盒放多了
-                    //if (heightDifferent < 10)
-                    //{
-                    //    return Laser2CoordinateState.MaterialOverdo;
-                    //}
-                    //else if (distance >= 10 && distance < 15)
-                    //{
-                    //    x_high = 11441;
-                    //    return Laser2CoordinateState.MaterialNormal;
-                    //}
-                    //else if (distance >= 15 && distance < 19)
-                    //{
-                    //    x_high = 5720;
-                    //    return Laser2CoordinateState.MaterialNormal;
-                    //}
-                    //else if (distance >= 19 && distance < 23)
-                    //{
-                    //    x_high = 0;
-                    //    return Laser2CoordinateState.MaterialNormal;
-                    //}
-                    //else
-                    //{
-                    //    return Laser2CoordinateState.MaterialEmpty;
-                    //}
-                }
-                else if (x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["10"].X && x > MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["1"].X)
-                {
-                    heightDifferent = MaterialCoordinate.GetInstance().distance_2 - distance;
-                    ////菜盒放多了
-                    //if (distance < 6)
-                    //{
-                    //    return Laser2CoordinateState.MaterialOverdo;
-                    //}
-                    //else if (distance >= 6 && distance < 10)
-                    //{
-                    //    x_high = 24882;
-                    //    return Laser2CoordinateState.MaterialNormal;
-                    //}
-                    //else if (distance >= 10 && distance < 15)
-                    //{
-                    //    x_high = 18661;
-                    //    return Laser2CoordinateState.MaterialNormal;
-                    //}
-                    //else if (distance >= 15 && distance < 19)
-                    //{
-                    //    x_high = 12441;
-                    //    return Laser2CoordinateState.MaterialNormal;
-                    //}
-                    //else if (distance >= 19 && distance < 23)
-                    //{
-                    //    x_high = 6220;
-                    //    return Laser2CoordinateState.MaterialNormal;
-                    //}
-                    //else if (distance >= 23 && distance < 28)
-                    //{
-                    //    x_high = 0;
-                    //    return Laser2CoordinateState.MaterialNormal;
-                    //}
-                    //else
-                    //{
-                    //    return Laser2CoordinateState.MaterialEmpty;
-                    //}
-                }
-                else if (x > MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["10"].X && x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["20"].X)
-                {
-                    heightDifferent = MaterialCoordinate.GetInstance().distance_3 - distance;
-                    ////菜盒放多了
-                    //if (distance < 7)
-                    //{
-                    //    return Laser2CoordinateState.MaterialOverdo;
-                    //}
-                    //else if (distance >= 7 && distance < 12)
-                    //{
-                    //    x_high = 24882;
-                    //    return Laser2CoordinateState.MaterialNormal;
-                    //}
-                    //else if (distance >= 12 && distance < 17)
-                    //{
-                    //    x_high = 18661;
-                    //    return Laser2CoordinateState.MaterialNormal;
-                    //}
-                    //else if (distance >= 17 && distance < 21)
-                    //{
-                    //    x_high = 12441;
-                    //    return Laser2CoordinateState.MaterialNormal;
-                    //}
-                    //else if (distance >= 21 && distance < 26)
-                    //{
-                    //    x_high = 6220;
-                    //    return Laser2CoordinateState.MaterialNormal;
-                    //}
-                    //else if (distance >= 26 && distance < 30)
-                    //{
-                    //    x_high = 0;
-                    //    return Laser2CoordinateState.MaterialNormal;
-                    //}
-                    //else
-                    //{
-                    //    return Laser2CoordinateState.MaterialEmpty;
-                    //}
-                }
-                else
-                {
-
-                    return Laser2CoordinateState.MaterialOverdo;
-                }
-                //盒子高度为45，但是需要考虑到误差，因此除以50
-                boxCount = heightDifferent / 50;
-                if (heightDifferent <= 20)
+                ////根据x轴所在坐标系，计算高度差。
+                //if (x > 0 && x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["1"].X)
+                //{
+                //    heightDifferent = MaterialCoordinate.GetInstance().distance_1 - distance;
+                //}
+                //else if (x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["10"].X && x > MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["1"].X)
+                //{
+                //    heightDifferent = MaterialCoordinate.GetInstance().distance_2 - distance;
+                //}
+                //else if (x > MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["10"].X && x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["20"].X)
+                //{
+                //    heightDifferent = MaterialCoordinate.GetInstance().distance_3 - distance;
+                //}
+                //else
+                //{
+                //    return Laser2CoordinateState.MaterialOverdo;
+                //}
+                ////盒子高度为45，但是需要考虑到误差，因此除以50
+                //boxCount = heightDifferent / 50;
+                //if (heightDifferent <= 20)
+                //{
+                //    MessageLog.GetInstance.ShowEx("错误：菜品量为空");
+                //    return Laser2CoordinateState.MaterialEmpty;
+                //}
+                Laser2CoordinateState laser2CoordinateState = LaserDistance2MaterialCount(distance, x, out boxCount);
+                if (laser2CoordinateState == Laser2CoordinateState.MaterialNormal)
                 {
-                    MessageLog.GetInstance.ShowEx("错误：菜品量为空");
-                    return Laser2CoordinateState.MaterialEmpty;
+                    //盒子高度计算除去起始位置的那个盒子
+                    x_high = (boxCount - 1) * materialBoxHeight;
                 }
-
-                //盒子高度计算除去起始位置的那个盒子
-                x_high = boxCount * materialBoxHeight;
-                return Laser2CoordinateState.MaterialNormal;
+                return laser2CoordinateState;
 
             }
             catch(Exception ex)
@@ -1632,46 +1583,94 @@ namespace BPASmartClient.MorkF
         /// <param name="distance"></param>
         /// <param name="x"></param>
         /// <returns></returns>
-        public Laser2CoordinateState LaserDistance2MaterialCount(int distance, out int count)
+        public Laser2CoordinateState LaserDistance2MaterialCount(int distance, int x, out int count)
         {
             count = 0;
             try
             {
-                //菜盒放多了
-                if (distance < 6)
+                //传感器高度小于80mm，无法移出，菜品库满
+                if (distance < 80)
                 {
+                    MessageLog.GetInstance.ShowEx("错误：传感器距离不满足出菜高度");
                     return Laser2CoordinateState.MaterialOverdo;
                 }
-                else if (distance >= 6 && distance < 10)
+                
+                int heightDifferent = 0;
+                //根据x轴所在坐标系，计算高度差。
+                if (x > 0 && x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["1"].X)
                 {
-                    count = 5;
-                    return Laser2CoordinateState.MaterialNormal;
+                    heightDifferent = MaterialCoordinate.GetInstance().distance_1 - distance;
                 }
-                else if (distance >= 10 && distance < 14)
+                else if (x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["10"].X && x > MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["1"].X)
                 {
-                    count = 4;
-                    return Laser2CoordinateState.MaterialNormal;
+                    heightDifferent = MaterialCoordinate.GetInstance().distance_2 - distance;
                 }
-                else if (distance >= 14 && distance < 19)
+                else if (x > MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["10"].X && x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["20"].X)
                 {
-                    count = 3;
-                    return Laser2CoordinateState.MaterialNormal;
+                    heightDifferent = MaterialCoordinate.GetInstance().distance_3 - distance;
+                }
+                else
+                {
+                    return Laser2CoordinateState.MaterialOverdo;
                 }
-                else if (distance >= 19 && distance < 23)
+                //盒子高度为45，但是需要考虑到误差，不足35，则认为为空
+                int boxCount = heightDifferent / 35;
+                count = boxCount;
+                if (count == 0)
                 {
-                    count = 2;
-                    return Laser2CoordinateState.MaterialNormal;
+                    MessageLog.GetInstance.Show("菜品库为空");
+                    return Laser2CoordinateState.MaterialEmpty;
                 }
-                else if (distance >= 23 && distance < 28)
+                else if(count > 6)
                 {
-                    count = 1;
-                    return Laser2CoordinateState.MaterialNormal;
+                    MessageLog.GetInstance.Show("菜品库数量超量");
+                    return Laser2CoordinateState.MaterialOverdo;
                 }
                 else
                 {
-                    count = 0;
-                    return Laser2CoordinateState.MaterialEmpty;
+                    return Laser2CoordinateState.MaterialNormal;
                 }
+                //if (heightDifferent <= 20)
+                //{
+                //    MessageLog.GetInstance.ShowEx("错误：菜品量为空");
+                //    return Laser2CoordinateState.MaterialEmpty;
+                //}
+
+                ////菜盒放多了
+                //if (distance < 6)
+                //{
+                //    return Laser2CoordinateState.MaterialOverdo;
+                //}
+                //else if (distance >= 6 && distance < 10)
+                //{
+                //    count = 5;
+                //    return Laser2CoordinateState.MaterialNormal;
+                //}
+                //else if (distance >= 10 && distance < 14)
+                //{
+                //    count = 4;
+                //    return Laser2CoordinateState.MaterialNormal;
+                //}
+                //else if (distance >= 14 && distance < 19)
+                //{
+                //    count = 3;
+                //    return Laser2CoordinateState.MaterialNormal;
+                //}
+                //else if (distance >= 19 && distance < 23)
+                //{
+                //    count = 2;
+                //    return Laser2CoordinateState.MaterialNormal;
+                //}
+                //else if (distance >= 23 && distance < 28)
+                //{
+                //    count = 1;
+                //    return Laser2CoordinateState.MaterialNormal;
+                //}
+                //else
+                //{
+                //    count = 0;
+                //    return Laser2CoordinateState.MaterialEmpty;
+                //}
             }
             catch (Exception ex)
             {
@@ -1884,7 +1883,9 @@ namespace BPASmartClient.MorkF
             }
             int i = 0;
 
-            if(isMaterial)
+            MessageLog.GetInstance.Show("倒菜启动开始");
+
+            if (isMaterial)
             {
                 //判断是否完成取菜
                 for (i = 0; i < materialSleepCount  && !morkFs[num].GetMaterialComplete; i++)
@@ -2341,7 +2342,7 @@ namespace BPASmartClient.MorkF
                 //遍历炒锅，找到合适、空闲的炒锅
                 for(int i = 0;i<morkFs.Count;i++)
                 {
-                    if (/*morkFs[i].AutoMode && morkFs[i].FryPot1_InitialComplete &&*/ ml_morkf.InitialComplete &&
+                    if (morkFs[i].AutoMode && morkFs[i].FryPot1_InitialComplete && ml_morkf.InitialComplete &&
                         !morkFs[i].FryWorking)//炒锅在自动状态&&初始化完成&&菜品库初始化&&是否在炒菜中
                     {
                         Thread.Sleep(5000);
@@ -2464,45 +2465,45 @@ namespace BPASmartClient.MorkF
                                                     //炒锅取菜状态置为未取到
                                                     morkFs[i].GetMaterialComplete = false;
 
-                                                    //if(testi % 2==0)
-                                                    //{
-                                                    //    MaterialInfo materialInfo = new MaterialInfo();
-                                                    //    materialInfo.Loc = "5";
-                                                    //    materialInfo.Qty = 10;
-                                                    //    materialInfo.Name = "肉片";
-                                                    //    materialInfo.Id = "1232131";
-                                                    //    materialOperationQuenes.Enqueue(new MaterialOperation { materialInfo = materialInfo, fryNum = i });
-                                                    //}
-                                                    //else
-                                                    //{
-                                                    //    MaterialInfo materialInfo = new MaterialInfo();
-                                                    //    materialInfo.Loc = "24";
-                                                    //    materialInfo.Qty = 10;
-                                                    //    materialInfo.Name = "青椒";
-                                                    //    materialInfo.Id = "1232131";
-                                                    //    materialOperationQuenes.Enqueue(new MaterialOperation { materialInfo = materialInfo, fryNum = i });
-                                                    //}
-                                                    //testi++;
-
-                                                    if (potActions.MaterialLists != null)
+                                                    if (testi % 2 == 0)
                                                     {
-                                                        foreach (var item in potActions.MaterialLists)
-                                                        {
-                                                            //通过ID获取有效的菜品对象
-                                                            MaterialInfo materialInfo = MaterialSurplusOperation.GetInstance().GetVailedMaterial(item.MaterialId);
-                                                            if (materialInfo == null)
-                                                            {
-                                                                MessageLog.GetInstance.ShowEx($"炒锅{i}获取菜品[{item.MaterialId}]失败，库存不足");
-                                                                continue;
-                                                            }
-
-                                                            materialOperationQuenes.Enqueue(new MaterialOperation { materialInfo = materialInfo, fryNum = i });
-                                                        }
+                                                        MaterialInfo materialInfo = new MaterialInfo();
+                                                        materialInfo.Loc = "5";
+                                                        materialInfo.Qty = 10;
+                                                        materialInfo.Name = "肉片";
+                                                        materialInfo.Id = "1232131";
+                                                        materialOperationQuenes.Enqueue(new MaterialOperation { materialInfo = materialInfo, fryNum = i });
                                                     }
                                                     else
                                                     {
-                                                        MessageLog.GetInstance.ShowEx($"炒锅{i}获取菜品失败，菜品列表为空");
+                                                        MaterialInfo materialInfo = new MaterialInfo();
+                                                        materialInfo.Loc = "24";
+                                                        materialInfo.Qty = 10;
+                                                        materialInfo.Name = "青椒";
+                                                        materialInfo.Id = "1232131";
+                                                        materialOperationQuenes.Enqueue(new MaterialOperation { materialInfo = materialInfo, fryNum = i });
                                                     }
+                                                    testi++;
+
+                                                    //if (potActions.MaterialLists != null)
+                                                    //{
+                                                    //    foreach (var item in potActions.MaterialLists)
+                                                    //    {
+                                                    //        //通过ID获取有效的菜品对象
+                                                    //        MaterialInfo materialInfo = MaterialSurplusOperation.GetInstance().GetVailedMaterial(item.MaterialId);
+                                                    //        if (materialInfo == null)
+                                                    //        {
+                                                    //            MessageLog.GetInstance.ShowEx($"炒锅{i}获取菜品[{item.MaterialId}]失败，库存不足");
+                                                    //            continue;
+                                                    //        }
+
+                                                    //        materialOperationQuenes.Enqueue(new MaterialOperation { materialInfo = materialInfo, fryNum = i });
+                                                    //    }
+                                                    //}
+                                                    //else
+                                                    //{
+                                                    //    MessageLog.GetInstance.ShowEx($"炒锅{i}获取菜品失败，菜品列表为空");
+                                                    //}
                                                     MessageLog.GetInstance.Show(potActions.Actions);
                                                     break;
                                                 case nameof(StirFryPotActionEnum.开启搅拌):
diff --git a/BPASmartClient.MorkF/Model/MaterialCoordinate.cs b/BPASmartClient.MorkF/Model/MaterialCoordinate.cs
index 51bb3fbd..6bf20f3b 100644
--- a/BPASmartClient.MorkF/Model/MaterialCoordinate.cs
+++ b/BPASmartClient.MorkF/Model/MaterialCoordinate.cs
@@ -49,6 +49,12 @@ namespace BPASmartClient.MorkF.Model
 
         public Coordinate materialHeight { get; set; } = new Coordinate() { X = 0, Y = 0 };
 
+        public int MaterialOneX { get; set; } = -1;
+
+        public int MaterialTwoX { get; set; } = -1;
+
+        public int MaterialThreeX { get; set; } = -1;
+
         public int distance_1 { get; set; } = 0;
         public int distance_2 { get; set; } = 0;
         public int distance_3 { get; set; } = 0;
diff --git a/BPASmartClient.MorkF/View/MaterialCalibration.xaml b/BPASmartClient.MorkF/View/MaterialCalibration.xaml
index b99c8085..2cf13469 100644
--- a/BPASmartClient.MorkF/View/MaterialCalibration.xaml
+++ b/BPASmartClient.MorkF/View/MaterialCalibration.xaml
@@ -653,53 +653,106 @@
                     </Grid>
                 </GroupBox>
                 <GroupBox Grid.Row="3" Header="菜品库特殊点位" FontSize="15" Foreground="Aqua" VerticalAlignment="Center" >
-                    <WrapPanel>
-                        <Grid>
-                            <Grid.RowDefinitions>
-                                <RowDefinition Height="1*"/>
-                                <RowDefinition Height="1*"/>
-                            </Grid.RowDefinitions>
-                            <RadioButton Content="菜品库高度测量" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionMaterialHeight}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
-                            <Grid Grid.Row="1">
-                                <WrapPanel>
-                                    <TextBlock Text="x轴：" Margin="10,0"/>
-                                    <TextBox Grid.Column="1" Text="{Binding MaterialHeightX}" Width="100"/>
-                                    <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
-                                    <TextBox Grid.Column="3" Text="{Binding MaterialHeightY}" Width="100"/>
-                                </WrapPanel>
-                            </Grid>
-                        </Grid>
-                        <Grid>
-                            <Grid.RowDefinitions>
-                                <RowDefinition Height="1*"/>
-                                <RowDefinition Height="1*"/>
-                            </Grid.RowDefinitions>
-                            <RadioButton Content="炒锅1菜品交互位置" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionFrying1}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
-                            <Grid Grid.Row="1">
-                                <WrapPanel>
-                                    <TextBlock Text="x轴：" Margin="10,0"/>
-                                    <TextBox Grid.Column="1" Text="{Binding Frying1X}" Width="100"/>
-                                    <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
-                                    <TextBox Grid.Column="3" Text="{Binding Frying1Y}" Width="100"/>
-                                </WrapPanel>
-                            </Grid>
-                        </Grid>
-                        <Grid>
-                            <Grid.RowDefinitions>
-                                <RowDefinition Height="1*"/>
-                                <RowDefinition Height="1*"/>
-                            </Grid.RowDefinitions>
-                            <RadioButton Content="炒锅2菜品交互位置" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionFrying2}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
-                            <Grid Grid.Row="1">
-                                <WrapPanel>
-                                    <TextBlock Text="x轴：" Margin="10,0"/>
-                                    <TextBox Grid.Column="1" Text="{Binding Frying2X}" Width="100"/>
-                                    <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
-                                    <TextBox Grid.Column="3" Text="{Binding Frying2Y}" Width="100"/>
-                                </WrapPanel>
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="*"/>
+                            <RowDefinition Height="*"/>
+                        </Grid.RowDefinitions>
+                        <WrapPanel>
+                            <Grid>
+                                <Grid.RowDefinitions>
+                                    <RowDefinition Height="1*"/>
+                                    <RowDefinition Height="1*"/>
+                                </Grid.RowDefinitions>
+                                <RadioButton Content="菜品库高度测量" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionMaterialHeight}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                                <Grid Grid.Row="1">
+                                    <WrapPanel>
+                                        <TextBlock Text="x轴：" Margin="10,0"/>
+                                        <TextBox Grid.Column="1" Text="{Binding MaterialHeightX}" Width="100"/>
+                                        <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                                        <TextBox Grid.Column="3" Text="{Binding MaterialHeightY}" Width="100"/>
+                                    </WrapPanel>
+                                </Grid>
+                            </Grid>
+                            <Grid>
+                                <Grid.RowDefinitions>
+                                    <RowDefinition Height="1*"/>
+                                    <RowDefinition Height="1*"/>
+                                </Grid.RowDefinitions>
+                                <RadioButton Content="炒锅1菜品交互位置" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionFrying1}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                                <Grid Grid.Row="1">
+                                    <WrapPanel>
+                                        <TextBlock Text="x轴：" Margin="10,0"/>
+                                        <TextBox Grid.Column="1" Text="{Binding Frying1X}" Width="100"/>
+                                        <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                                        <TextBox Grid.Column="3" Text="{Binding Frying1Y}" Width="100"/>
+                                    </WrapPanel>
+                                </Grid>
+                            </Grid>
+                            <Grid>
+                                <Grid.RowDefinitions>
+                                    <RowDefinition Height="1*"/>
+                                    <RowDefinition Height="1*"/>
+                                </Grid.RowDefinitions>
+                                <RadioButton Content="炒锅2菜品交互位置" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionFrying2}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                                <Grid Grid.Row="1">
+                                    <WrapPanel>
+                                        <TextBlock Text="x轴：" Margin="10,0"/>
+                                        <TextBox Grid.Column="1" Text="{Binding Frying2X}" Width="100"/>
+                                        <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                                        <TextBox Grid.Column="3" Text="{Binding Frying2Y}" Width="100"/>
+                                    </WrapPanel>
+                                </Grid>
+                            </Grid>
+                        </WrapPanel>
+                        <WrapPanel Grid.Row="1">
+                            <Grid>
+                                <Grid.RowDefinitions>
+                                    <RowDefinition Height="1*"/>
+                                    <RowDefinition Height="1*"/>
+                                </Grid.RowDefinitions>
+                                <RadioButton Content="第一层菜品库出菜位置" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionMaterialOne}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                                <Grid Grid.Row="1">
+                                    <WrapPanel>
+                                        <TextBlock Text="x轴：" Margin="10,0"/>
+                                        <TextBox Grid.Column="1" Text="{Binding MaterialOneX}" Width="100"/>
+                                        <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                                        <TextBox Grid.Column="3" Text="0" IsEnabled="False" Width="100"/>
+                                    </WrapPanel>
+                                </Grid>
                             </Grid>
-                        </Grid>
-                    </WrapPanel>
+                            <Grid>
+                                <Grid.RowDefinitions>
+                                    <RowDefinition Height="1*"/>
+                                    <RowDefinition Height="1*"/>
+                                </Grid.RowDefinitions>
+                                <RadioButton Content="第二层菜品库出菜位置" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionMaterialTwo}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                                <Grid Grid.Row="1">
+                                    <WrapPanel>
+                                        <TextBlock Text="x轴：" Margin="10,0"/>
+                                        <TextBox Grid.Column="1" Text="{Binding MaterialTwoX}" Width="100"/>
+                                        <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                                        <TextBox Grid.Column="3" Text="0" IsEnabled="False" Width="100"/>
+                                    </WrapPanel>
+                                </Grid>
+                            </Grid>
+                            <Grid>
+                                <Grid.RowDefinitions>
+                                    <RowDefinition Height="1*"/>
+                                    <RowDefinition Height="1*"/>
+                                </Grid.RowDefinitions>
+                                <RadioButton Content="第三层菜品库出菜位置" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionMaterialThree}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                                <Grid Grid.Row="1">
+                                    <WrapPanel>
+                                        <TextBlock Text="x轴：" Margin="10,0"/>
+                                        <TextBox Grid.Column="1" Text="{Binding MaterialThreeX}" Width="100"/>
+                                        <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                                        <TextBox Grid.Column="3" Text="0" IsEnabled="False" Width="100"/>
+                                    </WrapPanel>
+                                </Grid>
+                            </Grid>
+                        </WrapPanel>
+                    </Grid>
                 </GroupBox>
                 <GroupBox Grid.Row="4" Header="操作" FontSize="15" Foreground="Aqua" VerticalAlignment="Center" >
                     <Grid >
diff --git a/BPASmartClient.MorkF/ViewModel/MaterialCalibrationViewModel.cs b/BPASmartClient.MorkF/ViewModel/MaterialCalibrationViewModel.cs
index c64ce452..eaec03ca 100644
--- a/BPASmartClient.MorkF/ViewModel/MaterialCalibrationViewModel.cs
+++ b/BPASmartClient.MorkF/ViewModel/MaterialCalibrationViewModel.cs
@@ -255,6 +255,24 @@ namespace BPASmartClient.MorkF.ViewModel
         public int Frying2Y { get { return _Frying2Y; } set { _Frying2Y = value; OnPropertyChanged(); } }
         private int _Frying2Y;
         #endregion
+        #region 第一层菜品库出菜位置
+        public bool PositionMaterialOne { get { return _PositionMaterialOne; } set { _PositionMaterialOne = value; OnPropertyChanged(); } }
+        private bool _PositionMaterialOne;
+        public int MaterialOneX { get { return _MaterialOneX; } set { _MaterialOneX = value; OnPropertyChanged(); } }
+        private int _MaterialOneX;
+        #endregion
+        #region 第二层菜品库出菜位置
+        public bool PositionMaterialTwo { get { return _PositionMaterialTwo; } set { _PositionMaterialTwo = value; OnPropertyChanged(); } }
+        private bool _PositionMaterialTwo;
+        public int MaterialTwoX { get { return _MaterialTwoX; } set { _MaterialTwoX = value; OnPropertyChanged(); } }
+        private int _MaterialTwoX;
+        #endregion
+        #region 第三层菜品库出菜位置
+        public bool PositionMaterialThree { get { return _PositionMaterialThree; } set { _PositionMaterialThree = value; OnPropertyChanged(); } }
+        private bool _PositionMaterialThree;
+        public int MaterialThreeX { get { return _MaterialThreeX; } set { _MaterialThreeX = value; OnPropertyChanged(); } }
+        private int _MaterialThreeX;
+        #endregion
         #region 菜品库各传感器高度临时值
         public int Distance_1 { get { return _Distance_1; } set { _Distance_1 = value; OnPropertyChanged(); } }
         private int _Distance_1;
@@ -478,6 +496,9 @@ namespace BPASmartClient.MorkF.ViewModel
             materialCoordinate.distance_1 = Distance_1;
             materialCoordinate.distance_2 = Distance_2;
             materialCoordinate.distance_3 = Distance_3;
+            materialCoordinate.MaterialOneX = MaterialOneX;
+            materialCoordinate.MaterialTwoX = MaterialTwoX;
+            materialCoordinate.MaterialThreeX = MaterialThreeX;
 
             Json<MaterialCoordinate>.Data = materialCoordinate;
             Json<MaterialCoordinate>.Save();
@@ -486,6 +507,9 @@ namespace BPASmartClient.MorkF.ViewModel
             MaterialCoordinate.GetInstance().frying2 = materialCoordinate.frying2;
             MaterialCoordinate.GetInstance().materialHeight = materialCoordinate.materialHeight;
             MaterialCoordinate.GetInstance().dicNoMaterialCoordinate = materialCoordinate.dicNoMaterialCoordinate;
+            MaterialCoordinate.GetInstance().MaterialOneX = materialCoordinate.MaterialOneX;
+            MaterialCoordinate.GetInstance().MaterialTwoX = materialCoordinate.MaterialTwoX;
+            MaterialCoordinate.GetInstance().MaterialThreeX = materialCoordinate.MaterialThreeX;
         }
 
         /// <summary>
@@ -650,6 +674,9 @@ namespace BPASmartClient.MorkF.ViewModel
                 }
             }
 
+            MaterialOneX = materialCoordinate.MaterialOneX;
+            MaterialTwoX = materialCoordinate.MaterialTwoX;
+            MaterialThreeX = materialCoordinate.MaterialThreeX;
             MaterialHeightX = materialCoordinate.materialHeight.X;
             MaterialHeightY = materialCoordinate.materialHeight.Y;
             Frying1X = materialCoordinate.frying1.X;
@@ -786,9 +813,18 @@ namespace BPASmartClient.MorkF.ViewModel
                     Frying1Y = Frying1Y + OperationY;
                     break;
                 case "Frying2":
-                    Frying2X = Frying1X + OperationX;
+                    Frying2X = Frying2X + OperationX;
                     Frying2Y = Frying2Y + OperationY;
                     break;
+                case "MaterialOne":
+                    MaterialOneX = MaterialOneX + OperationX;
+                    break;
+                case "MaterialTwo":
+                    MaterialTwoX = MaterialTwoX + OperationX;
+                    break;
+                case "MaterialThree":
+                    MaterialThreeX = MaterialThreeX + OperationX;
+                    break;
                 default:
                     break;
             }
@@ -802,7 +838,7 @@ namespace BPASmartClient.MorkF.ViewModel
             if (!PositionOne && !PositionTwo && !PositionThree && !PositionFour && !PositionFive && !PositionSix && !PositionSeven && !PositionEight && !PositionNine
             && !PositionTen && !PositionEleven && !PositionTwelve && !PositionThirteen && !PositionFourteen && !PositionFifteen && !PositionSixteen && !PositionSeventeen && !PositionEighteen
             && !PositionNineteen && !PositionTwenty && !PositionTwentyOne && !PositionTwentyTwo && !PositionTwentyThree && !PositionTwentyFour && !PositionTwentyFive && !PositionTwentySix && !PositionTwentySeven
-            && !PositionMaterialHeight && !PositionFrying1 && !PositionFrying2)
+            && !PositionMaterialHeight && !PositionFrying1 && !PositionFrying2 && !PositionMaterialOne && !PositionMaterialThree &&!PositionMaterialTwo)
             {
                 MessageBox.Show("未选择点位");
                 return;
@@ -928,6 +964,18 @@ namespace BPASmartClient.MorkF.ViewModel
             {
                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "Frying2", Frying2X + OperationX, Frying2Y + OperationY });//设定机械臂当前位置
             }
+            if(PositionMaterialOne)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "MaterialOne", MaterialOneX + OperationX, 0 });//设定机械臂当前位置
+            }
+            if (PositionMaterialTwo)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "MaterialTwo", MaterialTwoX + OperationX, 0 });//设定机械臂当前位置
+            }
+            if (PositionMaterialThree)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "MaterialThree", MaterialThreeX + OperationX, 0 });//设定机械臂当前位置
+            }
         }
 
         public MaterialCalibrationViewModel()