diff --git a/BPASmartClient.MorkF/Control_MorkF.cs b/BPASmartClient.MorkF/Control_MorkF.cs
index 49ec2bcd..abff1ff1 100644
--- a/BPASmartClient.MorkF/Control_MorkF.cs
+++ b/BPASmartClient.MorkF/Control_MorkF.cs
@@ -14,6 +14,7 @@ using System.Text;
 using System.Collections.Concurrent;
 using System.Windows.Documents;
 using BPASmartClient.Business;
+using Microsoft.CodeAnalysis;
 
 namespace BPASmartClient.MorkF
 {
@@ -466,11 +467,32 @@ namespace BPASmartClient.MorkF
                     {
                         if (list_int.Count == 2)
                         {
-                            SetNowPosition(list_int[0], list_int[1]);
+                            SetArmPosition(list_int[0], list_int[1]);
                         }
                     }
                 }), "SetNowPosition");
             }), "SetNowPosition");
+            ActionManage.GetInstance.Register(new Action<object>((list) =>
+            {
+                ThreadManage.GetInstance().Start(new Action(() =>
+                {
+                    if (list is List<object> list_object)
+                    {
+                        if (list_object.Count != 3)
+                        {
+                            return;
+                        }
+
+                        if (list_object[0] is string No && list_object[1] is int x && list_object[2] is int y)
+                        {
+                            if (SetArmPosition(x, y))
+                            {
+                                ActionManage.GetInstance.Send("CalibrationCallBack", new List<string> { No });//设定机械臂当前位置
+                            }
+                        }
+                    }
+                }), "CalibrationCoordination");
+            }), "CalibrationCoordination");
             #endregion
             //ActionManage.GetInstance.Register(PLCInite, "InitCommand");
             #region 配料控制
diff --git a/BPASmartClient.MorkF/View/MaterialCalibration.xaml b/BPASmartClient.MorkF/View/MaterialCalibration.xaml
new file mode 100644
index 00000000..ce2e698a
--- /dev/null
+++ b/BPASmartClient.MorkF/View/MaterialCalibration.xaml
@@ -0,0 +1,685 @@
+<UserControl x:Class="BPASmartClient.MorkF.View.MaterialCalibration"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:local="clr-namespace:BPASmartClient.MorkF.View"
+             xmlns:vm="clr-namespace:BPASmartClient.MorkF.ViewModel"
+             mc:Ignorable="d" 
+             d:DesignHeight="1200" d:DesignWidth="1300">
+    <UserControl.DataContext>
+        <vm:MaterialCalibrationViewModel/>
+    </UserControl.DataContext>
+    <UserControl.Resources>
+        <ResourceDictionary>
+            <ResourceDictionary.MergedDictionaries>
+                <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/GenricStyle.xaml" />
+                <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/MyStyle.xaml" />
+            </ResourceDictionary.MergedDictionaries>
+
+            <!--#region 用户输入框样式-->
+            <Style x:Key="UserTextBoxStyle" TargetType="TextBox">
+                <!--<Setter Property="Background" Value="Transparent" />-->
+                <Setter Property="CaretBrush" Value="#009DFF" />
+                <Setter Property="Template">
+                    <Setter.Value>
+                        <ControlTemplate TargetType="TextBox">
+                            <Border
+                            x:Name="border"
+                            
+                            BorderBrush="{TemplateBinding BorderBrush}"
+                            BorderThickness="{TemplateBinding BorderThickness}"
+                            CornerRadius="5"
+                            SnapsToDevicePixels="true">
+                                <Grid>
+                                    <TextBlock
+                                    Name="markText"
+                                    Grid.Column="1"
+                                    Margin="10,0"
+                                    HorizontalAlignment="Left"
+                                    VerticalAlignment="Center"
+                                    FontSize="{TemplateBinding FontSize}"
+                                    Foreground="#a2c2e8"
+                                    Text="数据有效值为1-100"
+                                    Visibility="Collapsed" />
+
+
+                                    <ScrollViewer
+                                    x:Name="PART_ContentHost"
+                                    Grid.Column="1"
+                                    MinHeight="20"
+                                    VerticalAlignment="Center"
+                                    SnapsToDevicePixels="{TemplateBinding SnapsToDevicePixels}" />
+                                </Grid>
+
+                            </Border>
+
+                            <ControlTemplate.Triggers>
+                                <Trigger Property="IsEnabled" Value="false">
+                                    <Setter TargetName="border" Property="Opacity" Value="0.56" />
+                                </Trigger>
+                                <Trigger Property="IsMouseOver" Value="true">
+                                    <Setter TargetName="border" Property="BorderBrush" Value="#FF7EB4EA" />
+                                </Trigger>
+                                <Trigger Property="IsKeyboardFocused" Value="true">
+                                    <Setter TargetName="border" Property="BorderBrush" Value="#FF569DE5" />
+                                </Trigger>
+                                <DataTrigger Binding="{Binding Path=Text, RelativeSource={RelativeSource Mode=self}}" Value="">
+                                    <Setter TargetName="markText" Property="Visibility" Value="Visible" />
+                                </DataTrigger>
+                            </ControlTemplate.Triggers>
+
+                        </ControlTemplate>
+                    </Setter.Value>
+                </Setter>
+            </Style>
+            <!--#endregion-->
+
+        </ResourceDictionary>
+    </UserControl.Resources>
+
+    <Grid>
+        <Grid.RowDefinitions>
+            <RowDefinition></RowDefinition>
+            <RowDefinition></RowDefinition>
+            <RowDefinition></RowDefinition>
+            <RowDefinition Height="300" ></RowDefinition>
+        </Grid.RowDefinitions>
+
+        <GroupBox Grid.Row="0" Header="菜品库第一层" FontSize="15" Foreground="Aqua" VerticalAlignment="Center" >
+            <Grid Height="150">
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="*"/>
+                </Grid.RowDefinitions>
+                <WrapPanel Orientation="Horizontal">
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置1" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionOne}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding OneX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding OneY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置2" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionTwo}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding TwoX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding TwoY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置3" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionThree}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding ThreeX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding ThreeY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                </WrapPanel>
+
+                <WrapPanel Grid.Row="1" Orientation="Horizontal">
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置4" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionFour}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding FourX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding FourY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置5" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionFive}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding FiveX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding FiveY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置6" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionSix}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding SixX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding SixY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                </WrapPanel>
+                <WrapPanel Grid.Row="2" Orientation="Horizontal">
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置7" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionSeven}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding SevenX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding SevenY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置8" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionEight}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding EightX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding EightY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置9" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionNine}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding NineX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding NineY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                </WrapPanel>
+            </Grid>
+        </GroupBox>
+
+        <GroupBox Grid.Row="1" Header="菜品库第二层" FontSize="15" Foreground="Aqua" VerticalAlignment="Center" >
+            <Grid Height="150">
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="*"/>
+                </Grid.RowDefinitions>
+                <WrapPanel Orientation="Horizontal">
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置10" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionTen}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding TenX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding TenY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置11" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionEleven}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding ElevenX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding ElevenY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置12" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionTwelve}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding TwelveX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding TwelveY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                </WrapPanel>
+
+                <WrapPanel Grid.Row="1" Orientation="Horizontal">
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置13" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionThirteen}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding ThirteenX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding ThirteenY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置14" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionFourteen}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding FourteenX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding FourteenY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置15" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionFifteen}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding FifteenX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding FifteenY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                </WrapPanel>
+                <WrapPanel Grid.Row="2" Orientation="Horizontal">
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置16" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionSixteen}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding SixteenX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding SixteenY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置17" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionSeventeen}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding SeventeenX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding SeventeenY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置18" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionEighteen}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding EighteenX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding EighteenY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                </WrapPanel>
+            </Grid>
+        </GroupBox>
+
+        <GroupBox Grid.Row="2" Header="菜品库第三层" FontSize="15" Foreground="Aqua" VerticalAlignment="Center" >
+            <Grid Height="150">
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="*"/>
+                </Grid.RowDefinitions>
+                <WrapPanel Orientation="Horizontal">
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置19" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionNineteen}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding NineteenX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding NineteenY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置20" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionTwenty}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding TwentyX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding TwentyY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置21" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionTwentyOne}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding TwentyOneX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding TwentyOneY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                </WrapPanel>
+
+                <WrapPanel Grid.Row="1" Orientation="Horizontal">
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置22" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionTwentyTwo}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding TwentyTwoX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding TwentyTwoY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置23" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionTwentyThree}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding TwentyThreeX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding TwentyThreeY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置24" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionTwentyFour}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding TwentyFourX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding TwentyFourY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                </WrapPanel>
+                <WrapPanel Grid.Row="2" Orientation="Horizontal">
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置25" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionTwentyFive}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding TwentyFiveX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding TwentyFiveY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置26" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionTwentySix}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding TwentySixX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding SeventeenY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1*"/>
+                        </Grid.RowDefinitions>
+                        <RadioButton Content="位置27" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionTwentySeven}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                                <ColumnDefinition  Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="x轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="1" Text="{Binding TwentySevenX}" Width="100"/>
+                            <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
+                            <TextBox Grid.Column="3" Text="{Binding TwentySevenY}" Width="100"/>
+                        </Grid>
+                    </Grid>
+                </WrapPanel>
+            </Grid>
+        </GroupBox>
+
+
+        <GroupBox Grid.Row="3" Header="操作" FontSize="15" Foreground="Aqua" VerticalAlignment="Center" >
+            <Grid>
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="1*"/>
+                    <RowDefinition Height="1*"/>
+                    <RowDefinition Height="1*"/>
+                    <RowDefinition Height="1*"/>
+                </Grid.RowDefinitions>
+                <WrapPanel>
+                    <TextBlock Text="移动系数："></TextBlock>
+                    <TextBox
+                 Style="{DynamicResource UserTextBoxStyle}"
+                 Foreground="#a2c2e8" Text="{Binding Str}"/>
+                </WrapPanel>
+                <WrapPanel Grid.Row="1">
+                    <TextBlock Text="移动方式："></TextBlock>
+                    <RadioButton Content="上" Margin="5,0" IsChecked="{Binding Up}" GroupName="ArmRun"/>
+                    <RadioButton Content="下" Margin="5,0" IsChecked="{Binding Down}" GroupName="ArmRun"/>
+                    <RadioButton Content="左" Margin="5,0 " IsChecked="{Binding Left}" GroupName="ArmRun"/>
+                    <RadioButton Content="右" Margin="5,0 " IsChecked="{Binding Right}" GroupName="ArmRun"/>
+                    <RadioButton Content="定点" Margin="5,0 " IsChecked="{Binding Point}" GroupName="ArmRun"/>
+                    <Button Content="移动" Command="{Binding SetNowPosition}"/>
+                </WrapPanel>
+                <WrapPanel Grid.Row="2">
+                    <Button Content="自动计算" Margin="20,0,50,0" Command="{Binding AutoCalculation}"/>
+                    <Button Content="保存" Margin="20,0,50,0" Command="{Binding SaveCoordinate}"/>
+                    <Button Content="读取" Command="{Binding ReadCoordinate}"/>
+                </WrapPanel>
+            </Grid>
+        </GroupBox>
+    </Grid>
+</UserControl>
diff --git a/BPASmartClient.MorkF/View/MaterialCalibration.xaml.cs b/BPASmartClient.MorkF/View/MaterialCalibration.xaml.cs
new file mode 100644
index 00000000..fcc977b2
--- /dev/null
+++ b/BPASmartClient.MorkF/View/MaterialCalibration.xaml.cs
@@ -0,0 +1,28 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace BPASmartClient.MorkF.View
+{
+    /// <summary>
+    /// MaterialCalibration.xaml 的交互逻辑
+    /// </summary>
+    public partial class MaterialCalibration : UserControl
+    {
+        public MaterialCalibration()
+        {
+            InitializeComponent();
+        }
+    }
+}
diff --git a/BPASmartClient.MorkF/ViewModel/MaterialCalibrationViewModel.cs b/BPASmartClient.MorkF/ViewModel/MaterialCalibrationViewModel.cs
new file mode 100644
index 00000000..e2e799ba
--- /dev/null
+++ b/BPASmartClient.MorkF/ViewModel/MaterialCalibrationViewModel.cs
@@ -0,0 +1,931 @@
+using BPASmartClient.Helper;
+using BPASmartClient.MorkF.Model;
+using Google.Protobuf.WellKnownTypes;
+using Microsoft.Toolkit.Mvvm.ComponentModel;
+using Microsoft.Toolkit.Mvvm.Input;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+
+namespace BPASmartClient.MorkF.ViewModel
+{
+    internal class MaterialCalibrationViewModel : ObservableObject
+    {
+        #region 菜品库控制
+        #region 点位1
+        public bool PositionOne { get { return _PositionOne; } set { _PositionOne = value; OnPropertyChanged(); } }
+        private bool _PositionOne;
+        public int OneX { get { return _OneX; } set { _OneX = value; OnPropertyChanged(); } }
+        private int _OneX;
+        public int OneY { get { return _OneY; } set { _OneY = value; OnPropertyChanged(); } }
+        private int _OneY;
+        #endregion
+        #region 点位2
+        public bool PositionTwo { get { return _PositionTwo; } set { _PositionTwo = value; OnPropertyChanged(); } }
+        private bool _PositionTwo;
+        public int TwoX { get { return _TwoX; } set { _TwoX = value; OnPropertyChanged(); } }
+        private int _TwoX;
+        public int TwoY { get { return _TwoY; } set { _TwoY = value; OnPropertyChanged(); } }
+        private int _TwoY;
+        #endregion
+        #region 点位3
+        public bool PositionThree { get { return _PositionThree; } set { _PositionThree = value; OnPropertyChanged(); } }
+        private bool _PositionThree;
+        public int ThreeX { get { return _ThreeX; } set { _ThreeX = value; OnPropertyChanged(); } }
+        private int _ThreeX;
+        public int ThreeY { get { return _ThreeY; } set { _ThreeY = value; OnPropertyChanged(); } }
+        private int _ThreeY;
+        #endregion
+        #region 点位4
+        public bool PositionFour { get { return _PositionFour; } set { _PositionFour = value; OnPropertyChanged(); } }
+        private bool _PositionFour;
+        public int FourX { get { return _FourX; } set { _FourX = value; OnPropertyChanged(); } }
+        private int _FourX;
+        public int FourY { get { return _FourY; } set { _FourY = value; OnPropertyChanged(); } }
+        private int _FourY;
+        #endregion
+        #region 点位5
+        public bool PositionFive { get { return _PositionFive; } set { _PositionFive = value; OnPropertyChanged(); } }
+        private bool _PositionFive;
+        public int FiveX { get { return _FiveX; } set { _FiveX = value; OnPropertyChanged(); } }
+        private int _FiveX;
+        public int FiveY { get { return _FiveY; } set { _FiveY = value; OnPropertyChanged(); } }
+        private int _FiveY;
+        #endregion
+        #region 点位6
+        public bool PositionSix { get { return _PositionSix; } set { _PositionSix = value; OnPropertyChanged(); } }
+        private bool _PositionSix;
+        public int SixX { get { return _SixX; } set { _SixX = value; OnPropertyChanged(); } }
+        private int _SixX;
+        public int SixY { get { return _SixY; } set { _SixY = value; OnPropertyChanged(); } }
+        private int _SixY;
+        #endregion
+        #region 点位7
+        public bool PositionSeven { get { return _PositionSeven; } set { _PositionSeven = value; OnPropertyChanged(); } }
+        private bool _PositionSeven;
+        public int SevenX { get { return _SevenX; } set { _SevenX = value; OnPropertyChanged(); } }
+        private int _SevenX;
+        public int SevenY { get { return _SevenY; } set { _SevenY = value; OnPropertyChanged(); } }
+        private int _SevenY;
+        #endregion
+        #region 点位8
+        public bool PositionEight { get { return _PositionEight; } set { _PositionEight = value; OnPropertyChanged(); } }
+        private bool _PositionEight;
+        public int EightX { get { return _EightX; } set { _EightX = value; OnPropertyChanged(); } }
+        private int _EightX;
+        public int EightY { get { return _EightY; } set { _EightY = value; OnPropertyChanged(); } }
+        private int _EightY;
+        #endregion
+        #region 点位9
+        public bool PositionNine { get { return _PositionNine; } set { _PositionNine = value; OnPropertyChanged(); } }
+        private bool _PositionNine;
+        public int NineX { get { return _NineX; } set { _NineX = value; OnPropertyChanged(); } }
+        private int _NineX;
+        public int NineY { get { return _NineY; } set { _NineY = value; OnPropertyChanged(); } }
+        private int _NineY;
+        #endregion
+        #region 点位10
+        public bool PositionTen { get { return _PositionTen; } set { _PositionTen = value; OnPropertyChanged(); } }
+        private bool _PositionTen;
+        public int TenX { get { return _TenX; } set { _TenX = value; OnPropertyChanged(); } }
+        private int _TenX;
+        public int TenY { get { return _TenY; } set { _TenY = value; OnPropertyChanged(); } }
+        private int _TenY;
+        #endregion
+        #region 点位11
+        public bool PositionEleven { get { return _PositionEleven; } set { _PositionEleven = value; OnPropertyChanged(); } }
+        private bool _PositionEleven;
+        public int ElevenX { get { return _ElevenX; } set { _ElevenX = value; OnPropertyChanged(); } }
+        private int _ElevenX;
+        public int ElevenY { get { return _ElevenY; } set { _ElevenY = value; OnPropertyChanged(); } }
+        private int _ElevenY;
+        #endregion
+        #region 点位12
+        public bool PositionTwelve { get { return _PositionTwelve; } set { _PositionTwelve = value; OnPropertyChanged(); } }
+        private bool _PositionTwelve;
+        public int TwelveX { get { return _TwelveX; } set { _TwelveX = value; OnPropertyChanged(); } }
+        private int _TwelveX;
+        public int TwelveY { get { return _TwelveY; } set { _TwelveY = value; OnPropertyChanged(); } }
+        private int _TwelveY;
+        #endregion
+        #region 点位13
+        public bool PositionThirteen { get { return _PositionThirteen; } set { _PositionThirteen = value; OnPropertyChanged(); } }
+        private bool _PositionThirteen;
+        public int ThirteenX { get { return _ThirteenX; } set { _ThirteenX = value; OnPropertyChanged(); } }
+        private int _ThirteenX;
+        public int ThirteenY { get { return _ThirteenY; } set { _ThirteenY = value; OnPropertyChanged(); } }
+        private int _ThirteenY;
+        #endregion
+        #region 点位14
+        public bool PositionFourteen { get { return _PositionFourteen; } set { _PositionFourteen = value; OnPropertyChanged(); } }
+        private bool _PositionFourteen;
+        public int FourteenX { get { return _FourteenX; } set { _FourteenX = value; OnPropertyChanged(); } }
+        private int _FourteenX;
+        public int FourteenY { get { return _FourteenY; } set { _FourteenY = value; OnPropertyChanged(); } }
+        private int _FourteenY;
+        #endregion
+        #region 点位15
+        public bool PositionFifteen { get { return _PositionFifteen; } set { _PositionFifteen = value; OnPropertyChanged(); } }
+        private bool _PositionFifteen;
+        public int FifteenX { get { return _FifteenX; } set { _FifteenX = value; OnPropertyChanged(); } }
+        private int _FifteenX;
+        public int FifteenY { get { return _FifteenY; } set { _FifteenY = value; OnPropertyChanged(); } }
+        private int _FifteenY;
+        #endregion
+        #region 点位16
+        public bool PositionSixteen { get { return _PositionSixteen; } set { _PositionSixteen = value; OnPropertyChanged(); } }
+        private bool _PositionSixteen;
+        public int SixteenX { get { return _SixteenX; } set { _SixteenX = value; OnPropertyChanged(); } }
+        private int _SixteenX;
+        public int SixteenY { get { return _SixteenY; } set { _SixteenY = value; OnPropertyChanged(); } }
+        private int _SixteenY;
+        #endregion
+        #region 点位17
+        public bool PositionSeventeen { get { return _PositionSeventeen; } set { _PositionSeventeen = value; OnPropertyChanged(); } }
+        private bool _PositionSeventeen;
+        public int SeventeenX { get { return _SeventeenX; } set { _SeventeenX = value; OnPropertyChanged(); } }
+        private int _SeventeenX;
+        public int SeventeenY { get { return _SeventeenY; } set { _SeventeenY = value; OnPropertyChanged(); } }
+        private int _SeventeenY;
+        #endregion
+        #region 点位18
+        public bool PositionEighteen { get { return _PositionEighteen; } set { _PositionEighteen = value; OnPropertyChanged(); } }
+        private bool _PositionEighteen;
+        public int EighteenX { get { return _EighteenX; } set { _EighteenX = value; OnPropertyChanged(); } }
+        private int _EighteenX;
+        public int EighteenY { get { return _EighteenY; } set { _EighteenY = value; OnPropertyChanged(); } }
+        private int _EighteenY;
+        #endregion
+        #region 点位19
+        public bool PositionNineteen { get { return _PositionNineteen; } set { _PositionNineteen = value; OnPropertyChanged(); } }
+        private bool _PositionNineteen;
+        public int NineteenX { get { return _NineteenX; } set { _NineteenX = value; OnPropertyChanged(); } }
+        private int _NineteenX;
+        public int NineteenY { get { return _NineteenY; } set { _NineteenY = value; OnPropertyChanged(); } }
+        private int _NineteenY;
+        #endregion
+        #region 点位20
+        public bool PositionTwenty { get { return _PositionTwenty; } set { _PositionTwenty = value; OnPropertyChanged(); } }
+        private bool _PositionTwenty;
+        public int TwentyX { get { return _TwentyX; } set { _TwentyX = value; OnPropertyChanged(); } }
+        private int _TwentyX;
+        public int TwentyY { get { return _TwentyY; } set { _TwentyY = value; OnPropertyChanged(); } }
+        private int _TwentyY;
+        #endregion
+        #region 点位21
+        public bool PositionTwentyOne { get { return _PositionTwentyOne; } set { _PositionTwentyOne = value; OnPropertyChanged(); } }
+        private bool _PositionTwentyOne;
+        public int TwentyOneX { get { return _TwentyOneX; } set { _TwentyOneX = value; OnPropertyChanged(); } }
+        private int _TwentyOneX;
+        public int TwentyOneY { get { return _TwentyOneY; } set { _TwentyOneY = value; OnPropertyChanged(); } }
+        private int _TwentyOneY;
+        #endregion
+        #region 点位22
+        public bool PositionTwentyTwo { get { return _PositionTwentyTwo; } set { _PositionTwentyTwo = value; OnPropertyChanged(); } }
+        private bool _PositionTwentyTwo;
+        public int TwentyTwoX { get { return _TwentyTwoX; } set { _TwentyTwoX = value; OnPropertyChanged(); } }
+        private int _TwentyTwoX;
+        public int TwentyTwoY { get { return _TwentyTwoY; } set { _TwentyTwoY = value; OnPropertyChanged(); } }
+        private int _TwentyTwoY;
+        #endregion
+        #region 点位23
+        public bool PositionTwentyThree { get { return _PositionTwentyThree; } set { _PositionTwentyThree = value; OnPropertyChanged(); } }
+        private bool _PositionTwentyThree;
+        public int TwentyThreeX { get { return _TwentyThreeX; } set { _TwentyThreeX = value; OnPropertyChanged(); } }
+        private int _TwentyThreeX;
+        public int TwentyThreeY { get { return _TwentyThreeY; } set { _TwentyThreeY = value; OnPropertyChanged(); } }
+        private int _TwentyThreeY;
+        #endregion
+        #region 点位24
+        public bool PositionTwentyFour { get { return _PositionTwentyFour; } set { _PositionTwentyFour = value; OnPropertyChanged(); } }
+        private bool _PositionTwentyFour;
+        public int TwentyFourX { get { return _TwentyFourX; } set { _TwentyFourX = value; OnPropertyChanged(); } }
+        private int _TwentyFourX;
+        public int TwentyFourY { get { return _TwentyFourY; } set { _TwentyFourY = value; OnPropertyChanged(); } }
+        private int _TwentyFourY;
+        #endregion
+        #region 点位25
+        public bool PositionTwentyFive { get { return _PositionTwentyFive; } set { _PositionTwentyFive = value; OnPropertyChanged(); } }
+        private bool _PositionTwentyFive;
+        public int TwentyFiveX { get { return _TwentyFiveX; } set { _TwentyFiveX = value; OnPropertyChanged(); } }
+        private int _TwentyFiveX;
+        public int TwentyFiveY { get { return _TwentyFiveY; } set { _TwentyFiveY = value; OnPropertyChanged(); } }
+        private int _TwentyFiveY;
+        #endregion
+        #region 点位26
+        public bool PositionTwentySix { get { return _PositionTwentySix; } set { _PositionTwentySix = value; OnPropertyChanged(); } }
+        private bool _PositionTwentySix;
+        public int TwentySixX { get { return _TwentySixX; } set { _TwentySixX = value; OnPropertyChanged(); } }
+        private int _TwentySixX;
+        public int TwentySixY { get { return _TwentySixY; } set { _TwentySixY = value; OnPropertyChanged(); } }
+        private int _TwentySixY;
+        #endregion
+        #region 点位27
+        public bool PositionTwentySeven { get { return _PositionTwentySeven; } set { _PositionTwentySeven = value; OnPropertyChanged(); } }
+        private bool _PositionTwentySeven;
+        public int TwentySevenX { get { return _TwentySevenX; } set { _TwentySevenX = value; OnPropertyChanged(); } }
+        private int _TwentySevenX;
+        public int TwentySevenY { get { return _TwentySevenY; } set { _TwentySevenY = value; OnPropertyChanged(); } }
+        private int _TwentySevenY;
+        #endregion
+
+        public bool Up { get { return _Up; } set { _Up = value; OnPropertyChanged(); } }
+        private bool _Up;
+
+        public bool Down { get { return _Down; } set { _Down = value; OnPropertyChanged(); } }
+        private bool _Down;
+
+        public bool Left { get { return _Left; } set { _Left = value; OnPropertyChanged(); } }
+        private bool _Left;
+
+        public bool Right { get { return _Right; } set { _Right = value; OnPropertyChanged(); } }
+        private bool _Right;
+
+        public bool Point { get { return _Point; } set { _Point = value; OnPropertyChanged(); } }
+        private bool _Point;
+
+        public string Str { get { return _str; }set { _str = value;OnPropertyChanged(); } }
+
+        private string _str;
+
+        /// <summary>
+        /// 操作时，x轴移动的距离
+        /// </summary>
+        public int OperationX { get; set; } = 0;
+
+        /// <summary>
+        /// 操作时，y轴移动的距离
+        /// </summary>
+        public int OperationY { get; set; } = 0;
+
+        /// <summary>
+        /// Y轴大菜品库的间隙
+        /// </summary>
+        private const int bigMaterialClearanceY = 9000;
+
+        /// <summary>
+        /// Y轴小菜品库的间隙
+        /// </summary>
+        private const int smartMaterialClearanceY = 15000;
+
+        /// <summary>
+        /// X轴菜品库的间隙
+        /// </summary>
+        private const int materialClearanceX = 34500;
+
+        /// <summary>
+        /// 移动系数
+        /// </summary>
+        public int Factor = 1;
+
+        /// <summary>
+        /// 移动基础点位
+        /// </summary>
+        private int BasicPosition { get; set; } = 100;
+
+        public RelayCommand SetNowPosition { get; set; }//设置机械臂当前坐标
+
+        public RelayCommand SaveCoordinate { get; set; }//设置机械臂基于当前坐标往左移动
+
+        public RelayCommand ReadCoordinate { get; set; }//设置机械臂基于当前坐标往右移动
+
+        public RelayCommand AutoCalculation { get; set; }//设置机械臂基于当前坐标往上移动
+
+        public RelayCommand SetNowDownPosition { get; set; }//设置机械臂基于当前坐标往下移动
+
+        private static object saveMaterialCoordinateLock = new object();
+        /// <summary>
+        /// 保存当前的坐标系
+        /// </summary>
+        public void SaveMaterialCoordinate()
+        {
+            MaterialCoordinate materialCoordinate = new MaterialCoordinate();
+
+            foreach(var dicNoMaterialCoordinate in materialCoordinate.dicNoMaterialCoordinate)
+            {
+                switch(dicNoMaterialCoordinate.Key)
+                {
+                    case "1":
+                        dicNoMaterialCoordinate.Value.X = OneX;
+                        dicNoMaterialCoordinate.Value.Y = OneY;
+                        break;
+                    case "2":
+                        dicNoMaterialCoordinate.Value.X = TwoX;
+                        dicNoMaterialCoordinate.Value.Y = TwoY;
+                        break;
+                    case "3":
+                        dicNoMaterialCoordinate.Value.X = ThreeX;
+                        dicNoMaterialCoordinate.Value.Y = ThreeY;
+                        break;
+                    case "4":
+                        dicNoMaterialCoordinate.Value.X = FourX;
+                        dicNoMaterialCoordinate.Value.Y = FourY;
+                        break;
+                    case "5":
+                        dicNoMaterialCoordinate.Value.X = FiveX;
+                        dicNoMaterialCoordinate.Value.Y = FiveY;
+                        break;
+                    case "6":
+                        dicNoMaterialCoordinate.Value.X = SixX;
+                        dicNoMaterialCoordinate.Value.Y = SixY;
+                        break;
+                    case "7":
+                        dicNoMaterialCoordinate.Value.X = SevenX;
+                        dicNoMaterialCoordinate.Value.Y = SevenY;
+                        break;
+                    case "8":
+                        dicNoMaterialCoordinate.Value.X = EightX;
+                        dicNoMaterialCoordinate.Value.Y = EightY;
+                        break;
+                    case "9":
+                        dicNoMaterialCoordinate.Value.X = NineX;
+                        dicNoMaterialCoordinate.Value.Y = NineY;
+                        break;
+                    case "10":
+                        dicNoMaterialCoordinate.Value.X = TenX;
+                        dicNoMaterialCoordinate.Value.Y = TenY;
+                        break;
+                    case "11":
+                        dicNoMaterialCoordinate.Value.X = ElevenX;
+                        dicNoMaterialCoordinate.Value.Y = ElevenY;
+                        break;
+                    case "12":
+                        dicNoMaterialCoordinate.Value.X = TwelveX;
+                        dicNoMaterialCoordinate.Value.Y = TwelveY;
+                        break;
+                    case "13":
+                        dicNoMaterialCoordinate.Value.X = ThirteenX;
+                        dicNoMaterialCoordinate.Value.Y = ThirteenY;
+                        break;
+                    case "14":
+                        dicNoMaterialCoordinate.Value.X = FourteenX;
+                        dicNoMaterialCoordinate.Value.Y = FourteenY;
+                        break;
+                    case "15":
+                        dicNoMaterialCoordinate.Value.X = FifteenX;
+                        dicNoMaterialCoordinate.Value.Y = FifteenY;
+                        break;
+                    case "16":
+                        dicNoMaterialCoordinate.Value.X = SixteenX;
+                        dicNoMaterialCoordinate.Value.Y = SixteenY;
+                        break;
+                    case "17":
+                        dicNoMaterialCoordinate.Value.X = SeventeenX;
+                        dicNoMaterialCoordinate.Value.Y = SeventeenY;
+                        break;
+                    case "18":
+                        dicNoMaterialCoordinate.Value.X = EighteenX;
+                        dicNoMaterialCoordinate.Value.Y = EighteenY;
+                        break;
+                    case "19":
+                        dicNoMaterialCoordinate.Value.X = NineteenX;
+                        dicNoMaterialCoordinate.Value.Y = NineteenY;
+                        break;
+                    case "20":
+                        dicNoMaterialCoordinate.Value.X = TwentyX;
+                        dicNoMaterialCoordinate.Value.Y = TwentyY;
+                        break;
+                    case "21":
+                        dicNoMaterialCoordinate.Value.X = TwentyOneX;
+                        dicNoMaterialCoordinate.Value.Y = TwentyOneY;
+                        break;
+                    case "22":
+                        dicNoMaterialCoordinate.Value.X = TwentyTwoX;
+                        dicNoMaterialCoordinate.Value.Y = TwentyTwoY;
+                        break;
+                    case "23":
+                        dicNoMaterialCoordinate.Value.X = TwentyThreeX;
+                        dicNoMaterialCoordinate.Value.Y = TwentyThreeX;
+                        break;
+                    case "24":
+                        dicNoMaterialCoordinate.Value.X = TwentyFourX;
+                        dicNoMaterialCoordinate.Value.Y = TwentyFourY;
+                        break;
+                    case "25":
+                        dicNoMaterialCoordinate.Value.X = TwentyFiveX;
+                        dicNoMaterialCoordinate.Value.Y = TwentyFiveY;
+                        break;
+                    case "26":
+                        dicNoMaterialCoordinate.Value.X = TwentySixX;
+                        dicNoMaterialCoordinate.Value.Y = TwentySixY;
+                        break;
+                    case "27":
+                        dicNoMaterialCoordinate.Value.X = TwentySevenX;
+                        dicNoMaterialCoordinate.Value.Y = TwentySevenY;
+                        break;
+                    default:
+                        break;
+                }
+            }
+
+            Json<MaterialCoordinate>.Data = materialCoordinate;
+            Json<MaterialCoordinate>.Save();
+        }
+
+        /// <summary>
+        /// 读取坐标系
+        /// </summary>
+        /// <returns></returns>
+        private MaterialCoordinate ReadMaterialCoordinate()
+        {
+            try
+            {
+                Json<MaterialCoordinate>.Read();
+                MaterialCoordinate materialCoordinate = Json<MaterialCoordinate>.Data;
+                return materialCoordinate;
+            }
+            catch (Exception ex)
+            {
+                return null;
+            }
+        }
+
+        private void PhysicalMaterialCoordinate()
+        {
+            MaterialCoordinate materialCoordinate = ReadMaterialCoordinate();
+
+            if (materialCoordinate.dicNoMaterialCoordinate.Count == 27)
+            {
+                foreach (var dicNoMaterialCoordinate in materialCoordinate.dicNoMaterialCoordinate)
+                {
+                    switch (dicNoMaterialCoordinate.Key)
+                    {
+                        case "1":
+                            OneX = dicNoMaterialCoordinate.Value.X;
+                            OneY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "2":
+                            TwoX = dicNoMaterialCoordinate.Value.X;
+                            TwoY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "3":
+                            ThreeX = dicNoMaterialCoordinate.Value.X;
+                            ThreeY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "4":
+                            FourX = dicNoMaterialCoordinate.Value.X;
+                            FourY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "5":
+                            FiveX = dicNoMaterialCoordinate.Value.X;
+                            FiveY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "6":
+                            SixX = dicNoMaterialCoordinate.Value.X;
+                            SixY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "7":
+                            SevenX = dicNoMaterialCoordinate.Value.X;
+                            SevenY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "8":
+                            EightX = dicNoMaterialCoordinate.Value.X;
+                            EightY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "9":
+                            NineX = dicNoMaterialCoordinate.Value.X;
+                            NineY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "10":
+                            TenX = dicNoMaterialCoordinate.Value.X;
+                            TenY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "11":
+                            ElevenX = dicNoMaterialCoordinate.Value.X;
+                            ElevenY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "12":
+                            TwelveX = dicNoMaterialCoordinate.Value.X;
+                            TwelveY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "13":
+                            ThirteenX = dicNoMaterialCoordinate.Value.X;
+                            ThirteenY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "14":
+                            FourteenX = dicNoMaterialCoordinate.Value.X;
+                            FourteenY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "15":
+                            FifteenX = dicNoMaterialCoordinate.Value.X;
+                            FifteenY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "16":
+                            SixteenX = dicNoMaterialCoordinate.Value.X;
+                            SixteenY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "17":
+                            SeventeenX = dicNoMaterialCoordinate.Value.X;
+                            SeventeenY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "18":
+                            EighteenX = dicNoMaterialCoordinate.Value.X;
+                            EighteenY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "19":
+                            NineteenX = dicNoMaterialCoordinate.Value.X;
+                            NineteenY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "20":
+                            TwentyX = dicNoMaterialCoordinate.Value.X;
+                            TwentyY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "21":
+                            TwentyOneX = dicNoMaterialCoordinate.Value.X;
+                            TwentyOneY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "22":
+                            TwentyTwoX = dicNoMaterialCoordinate.Value.X;
+                            TwentyTwoY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "23":
+                            TwentyThreeX = dicNoMaterialCoordinate.Value.X;
+                            TwentyThreeY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "24":
+                            TwentyFourX = dicNoMaterialCoordinate.Value.X;
+                            TwentyFourY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "25":
+                            TwentyFiveX = dicNoMaterialCoordinate.Value.X;
+                            TwentyFiveY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "26":
+                            TwentySixX = dicNoMaterialCoordinate.Value.X;
+                            TwentySixY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        case "27":
+                            TwentySevenX = dicNoMaterialCoordinate.Value.X;
+                            TwentySevenY = dicNoMaterialCoordinate.Value.Y;
+                            break;
+                        default:
+                            break;
+                    }
+                }
+            }
+
+        }
+
+        private void Calibration(string Num)
+        {
+            switch (Num)
+            {
+                case "1":
+                    OneX = OneX + OperationX;
+                    OneY = OneY + OperationX;
+                    break;
+                case "2":
+                    TwoX = TwoX + OperationX;
+                    TwoY = TwoY + OperationY;
+                    break;
+                case "3":
+                    ThreeX = ThreeX + OperationX;
+                    ThreeY = ThreeY + OperationY;
+                    break;
+                case "4":
+                    FourX = FourX + OperationX;
+                    FourY = FourY + OperationY;
+                    break;
+                case "5":
+                    FiveX = FiveX + OperationX;
+                    FiveY = FiveY + OperationY;
+                    break;
+                case "6":
+                    SixX = SixX + OperationX;
+                    SixY = SixY + OperationY;
+                    break;
+                case "7":
+                    SevenX = SevenX + OperationX;
+                    SevenY = SevenY + OperationY;
+                    break;
+                case "8":
+                    EightX = EightX + OperationX;
+                    EightY = EightY + OperationY;
+                    break;
+                case "9":
+                    NineX = NineX + OperationX;
+                    NineY = NineY + OperationY;
+                    break;
+                case "10":
+                    TenX = TenX + OperationX;
+                    TenY = TenY + OperationY;
+                    break;
+                case "11":
+                    ElevenX = ElevenX + OperationX;
+                    ElevenY = ElevenY + OperationY;
+                    break;
+                case "12":
+                    TwelveX = TwelveX + OperationX;
+                    TwelveY = TwelveY + OperationY;
+                    break;
+                case "13":
+                    ThirteenX = ThirteenX + OperationX;
+                    ThirteenY = ThirteenY + OperationY;
+                    break;
+                case "14":
+                    FourteenX = FourteenX + OperationX;
+                    FourteenY = FourteenY + OperationY;
+                    break;
+                case "15":
+                    FifteenX = FifteenX + OperationX;
+                    FifteenY = FifteenY + OperationY;
+                    break;
+                case "16":
+                    SixteenX = SixteenX + OperationX;
+                    SixteenY = SixteenY + OperationY;
+                    break;
+                case "17":
+                    SeventeenX = SeventeenX + OperationX;
+                    SeventeenY = SeventeenY + OperationY;
+                    break;
+                case "18":
+                    EighteenX = EighteenX + OperationX;
+                    EighteenY = EighteenY + OperationY;
+                    break;
+                case "19":
+                    NineteenX = NineteenX + OperationX;
+                    NineteenY = NineteenY + OperationY;
+                    break;
+                case "20":
+                    TwentyX = TwentyX + OperationX;
+                    TwentyY = TwentyY + OperationY;
+                    break;
+                case "21":
+                    TwentyOneX = TwentyOneX + OperationX;
+                    TwentyOneY = TwentyOneY + OperationY;
+                    break;
+                case "22":
+                    TwentyTwoX = TwentyTwoX + OperationX;
+                    TwentyTwoY = TwentyTwoY + OperationY;
+                    break;
+                case "23":
+                    TwentyThreeX = TwentyThreeX + OperationX;
+                    TwentyThreeY = TwentyThreeY + OperationY;
+                    break;
+                case "24":
+                    TwentyFourX = TwentyFourX + OperationX;
+                    TwentyFourY = TwentyFourY + OperationY;
+                    break;
+                case "25":
+                    TwentyFiveX = TwentyFiveX + OperationX;
+                    TwentyFiveY = TwentyFiveY + OperationY;
+                    break;
+                case "26":
+                    TwentySixX = TwentySixX + OperationX;
+                    TwentySixY = TwentySixY + OperationY;
+                    break;
+                case "27":
+                    TwentySevenX = TwentySevenX + OperationX;
+                    TwentySevenY = TwentySevenY + OperationY;
+                    break;
+                default:
+                    break;
+            }
+            OperationX = 0;
+            OperationY = 0;
+        }
+
+        private void SetPosition()
+        {
+            //判断是否有选择下发的设备
+            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)
+            {
+                MessageBox.Show("未选择点位");
+                return;
+            }
+
+            if (PositionOne)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> {"1", OneX + OperationX, OneY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionTwo)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "2", TwoX + OperationX, TwoY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionThree)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "3", + OperationX, ThreeY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionFour)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "4", FourX + OperationX, FourY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionFive)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "5", FiveX + OperationX, FiveY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionSix)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "6", SixX + OperationX, SixY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionSeven)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "7", SevenX + OperationX, SevenY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionEight)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "8", EightX + OperationX, EightY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionNine)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "9", NineX + OperationX, NineY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionTen)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "10", TenX + OperationX, TenY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionEleven)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "11", ElevenX + OperationX, ElevenY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionTwelve)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "12", TwelveX + OperationX, TwelveY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionThirteen)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "13", ThirteenX + OperationX, ThirteenY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionFourteen)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "14", FourteenX + OperationX, FourteenY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionFifteen)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "15", FifteenX + OperationX, FifteenY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionSixteen)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "16", SixteenX + OperationX, SixteenY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionSeventeen)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "17", SeventeenX + OperationX, SeventeenY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionEighteen)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "18", EighteenX + OperationX, EighteenY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionNineteen)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "19", NineteenX + OperationX, NineteenY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionTwenty)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "20", TwentyX + OperationX, TwentyY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionTwentyOne)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "21", TwentyOneX + OperationX, TwentyOneY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionTwentyTwo)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "22", TwentyTwoX + OperationX, TwentyTwoY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionTwentyThree)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "23", TwentyThreeX + OperationX, TwentyThreeY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionTwentyFour)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "24", TwentyFourX + OperationX, TwentyFourY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionTwentyFive)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "25", TwentyFiveX + OperationX, TwentyFiveY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionTwentySix)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "26", TwentySixX + OperationX, TwentySixY + OperationY });//设定机械臂当前位置
+            }
+            if (PositionTwentySeven)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "27", TwentySevenX + OperationX, TwentySevenY + OperationY });//设定机械臂当前位置
+            }
+        }
+
+        public MaterialCalibrationViewModel()
+        {
+            PhysicalMaterialCoordinate();
+            ActionManage.GetInstance.Register(new Action<object>((o) =>
+            {
+                ThreadManage.GetInstance().Start(new Action(() =>
+                {
+                    if(o is List<string> nums)
+                    {
+                        Calibration(nums[0]);
+                    }
+                }), "CalibrationCallBack");
+            }), "CalibrationCallBack");
+            SetNowPosition = new RelayCommand(() =>
+            {
+                if(!Point && !Left && !Right && !Down && !Up)
+                {
+                    MessageBox.Show("请选择需要移动的方式");
+                    return;
+                }
+
+                if (!Point)
+                {
+                    if (!int.TryParse(Str, out Factor))
+                    {
+                        Factor = 1;
+                    }
+                    if(Factor > 100 || Factor<0)
+                    {
+                        MessageBox.Show("请输入有效系数");
+                        return;
+                    }
+                }
+
+                if(Left)
+                {
+                    OperationX = -1 * BasicPosition * Factor;
+                }
+                else if(Right)
+                {
+                    OperationX = BasicPosition * Factor;
+                }
+                else if(Down)
+                {
+                    OperationY = BasicPosition * Factor;
+                }
+                else if(Up)
+                {
+                    OperationY = -1 * BasicPosition * Factor;
+                }
+                else
+                {
+                    OperationX = 0;
+                    OperationY = 0;
+                }
+                SetPosition();
+            });
+            SaveCoordinate = new RelayCommand(() =>
+            {
+                SaveMaterialCoordinate();
+            });
+            ReadCoordinate = new RelayCommand(() =>
+            {
+                PhysicalMaterialCoordinate();
+            });
+            AutoCalculation = new RelayCommand(() =>
+            {
+                AutoCalculationCoordination();
+            });
+        }
+
+        /// <summary>
+        /// 自动计算坐标
+        /// </summary>
+        private void AutoCalculationCoordination()
+        {
+            #region 菜品库一层计算
+            //X轴改变
+            TwoX = ThreeX = FourX = FiveX = SixX = SevenX = EightX = NineX = OneX;
+            TwoY = OneY + smartMaterialClearanceY;
+            ThreeY = OneY + 2*smartMaterialClearanceY;
+            FourY = OneY + 2 * smartMaterialClearanceY + bigMaterialClearanceY;
+            FiveY = OneY + 3 * smartMaterialClearanceY + bigMaterialClearanceY;
+            SixY = OneY + 4 * smartMaterialClearanceY + bigMaterialClearanceY;
+            SevenY = OneY + 4 * smartMaterialClearanceY + 2*bigMaterialClearanceY;
+            EightY = OneY + 5 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;
+            NineY = OneY + 6 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;
+            #endregion 
+            #region 菜品库二层计算
+            //X轴改变
+            TenX = ElevenX = TwelveX = ThirteenX = FourteenX = FifteenX = SixteenX = SeventeenX = EighteenX = (OneX + materialClearanceX);
+            TenY = OneY;
+            ElevenY = OneY + smartMaterialClearanceY;
+            TwelveY = OneY + 2 * smartMaterialClearanceY;
+            ThirteenY = OneY + 2 * smartMaterialClearanceY + bigMaterialClearanceY;
+            FourteenY = OneY + 3 * smartMaterialClearanceY + bigMaterialClearanceY;
+            FifteenY = OneY + 4 * smartMaterialClearanceY + bigMaterialClearanceY;
+            SixteenY = OneY + 4 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;
+            SeventeenY = OneY + 5 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;
+            EighteenY = OneY + 6 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;
+            #endregion 
+            #region 菜品库三层计算
+            //X轴改变
+            NineteenX = TwentyX = TwentyOneX = TwentyTwoX = TwentyThreeX = TwentyFourX = TwentyFiveX = TwentySixX = TwentySevenX = (OneX + 2 * materialClearanceX);
+            NineteenY = OneY;
+            TwentyY = OneY + smartMaterialClearanceY;
+            TwentyOneY = OneY + 2 * smartMaterialClearanceY;
+            TwentyTwoY = OneY + 2 * smartMaterialClearanceY + bigMaterialClearanceY;
+            TwentyThreeY = OneY + 3 * smartMaterialClearanceY + bigMaterialClearanceY;
+            TwentyFourY = OneY + 4 * smartMaterialClearanceY + bigMaterialClearanceY;
+            TwentyFiveY = OneY + 4 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;
+            TwentySixY = OneY + 5 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;
+            TwentySevenY = OneY + 6 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;
+            #endregion 
+        }
+
+        #endregion
+
+    }
+}
diff --git a/BPASmartClient/AssemblyInfo.cs b/BPASmartClient/AssemblyInfo.cs
index 8b5504ec..c099e144 100644
--- a/BPASmartClient/AssemblyInfo.cs
+++ b/BPASmartClient/AssemblyInfo.cs
@@ -2,9 +2,9 @@ using System.Windows;
 
 [assembly: ThemeInfo(
     ResourceDictionaryLocation.None, //where theme specific resource dictionaries are located
-                                     //(used if a resource is not found in the page,
+                                     //(used if Factor resource is not found in the page,
                                      // or application resource dictionaries)
     ResourceDictionaryLocation.SourceAssembly //where the generic resource dictionary is located
-                                              //(used if a resource is not found in the page,
+                                              //(used if Factor resource is not found in the page,
                                               // app, or any theme specific resource dictionaries)
 )]