diff --git a/sources/RoboforkApp/RoboforkMenu.xaml b/sources/RoboforkApp/RoboforkMenu.xaml
index 49e2c7b..9504fcc 100644
--- a/sources/RoboforkApp/RoboforkMenu.xaml
+++ b/sources/RoboforkApp/RoboforkMenu.xaml
@@ -47,12 +47,11 @@
                                     <TreeViewItem Header="Make Root" FontSize="17" Name="btnMakeRoot" Selected="btnMenu_Selected" Unselected="btnMenu_UnselectedSet" Tag="MakeRoot"></TreeViewItem>
                                     <TreeViewItem Header="Delete Route" FontSize="17" Name="btnDeleteRoute" Selected="btnMenu_Selected" Unselected="btnMenu_UnselectedSet" Tag="DeleteRoute"></TreeViewItem>
                                 </TreeViewItem>
-                                <TreeViewItem Header="Node"  
-                                                  FontSize="17"
-                                              Name="NodeTree" 
-                                              Selected="GetNodeTree"
-                                              Unselected="SetNodeTree"
-                                              >
+                                <TreeViewItem Header="--------------------"      FontSize="17">
+                                </TreeViewItem>
+                                <TreeViewItem Header="Node" FontSize="17" Name="NodeTree" Selected="btnMenu_Selected" Unselected="btnMenu_UnselectedSet" Tag="NodeTree">
+                                    <TreeViewItem Header="Set Auto Nodes" FontSize="17" Name="btnSetAutoNodes" Selected="btnMenu_Selected" Unselected="btnMenu_UnselectedSet" Tag="SetAutoNodes"></TreeViewItem>
+                                    <TreeViewItem Header="Set Free Nodes" FontSize="17" Name="btnSetFreeNodes" Selected="btnMenu_Selected" Unselected="btnMenu_UnselectedSet" Tag="SetFreeNodes"></TreeViewItem>
                                 </TreeViewItem>
                                 <TreeViewItem Header="--------------------"      FontSize="17">
                                 </TreeViewItem>
@@ -188,7 +187,7 @@
                                           Background="White" HorizontalAlignment="Stretch">
                                         <Canvas.LayoutTransform>
                                             <!--Adjust ScaleX and ScaleY in lock-step to zoom-->
-                                            <ScaleTransform ScaleX=".67" ScaleY=".59" CenterX=".67" CenterY=".59" />
+                                            <ScaleTransform ScaleX=".8" ScaleY=".8" CenterX=".8" CenterY=".8" />
                                         </Canvas.LayoutTransform>
                                         <Grid Name="MCGrid" Background="White" ShowGridLines="True" 
                                               Width="{Binding ActualWidth, ElementName=MyDesignerCanvas}" 
diff --git a/sources/RoboforkApp/RoboforkMenu.xaml.cs b/sources/RoboforkApp/RoboforkMenu.xaml.cs
index 588da77..c6bbf5b 100644
--- a/sources/RoboforkApp/RoboforkMenu.xaml.cs
+++ b/sources/RoboforkApp/RoboforkMenu.xaml.cs
@@ -61,6 +61,14 @@ namespace RoboforkApp
                 case "DeleteRoute":
                     DoBeginDeleteRoute();
                     break;
+
+                case "SetAutoNodes":
+                    DoBeginSetAutoNotes();
+                    break;
+
+                case "SetFreeNodes":
+                    DoBeginSetFreeNotes();
+                    break;
                 default:
                     break;
             }
@@ -100,6 +108,20 @@ namespace RoboforkApp
                     break;
             }
         }
+        
+
+        private void DoBeginSetAutoNotes()
+        {
+            MyDesignerCanvas.SetAutoNodes();
+        }
+
+        private void DoBeginSetFreeNotes()
+        {
+            MyDesignerCanvas.Init();
+            MyDesignerCanvas.Operation = DesignerCanvas.OperationState.DrawSetFreeNode;
+        }
+
+
 
         private void DoBeginSetStart()
         {
diff --git a/sources/RoboforkApp/bin/Release/RboforkApp.exe b/sources/RoboforkApp/bin/Release/RboforkApp.exe
index 194b52b9cc7c532c1c5de89d127885f48c5f871d..f4f2e42b058f131f13df62674273ca151d6ea51c 100644
GIT binary patch
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diff --git a/sources/RoboforkApp/bin/Release/RboforkApp.pdb b/sources/RoboforkApp/bin/Release/RboforkApp.pdb
index 4d5b0e461d005322b9808c0797b205b9fc0dc574..d6f74e16a548f4301aa649838822f9cedbaf0ea8 100644
GIT binary patch
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diff --git a/sources/RoboforkApp/obj/Release/RboforkApp.exe b/sources/RoboforkApp/obj/Release/RboforkApp.exe
index 194b52b9cc7c532c1c5de89d127885f48c5f871d..f4f2e42b058f131f13df62674273ca151d6ea51c 100644
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diff --git a/sources/RoboforkApp/obj/Release/RboforkApp.g.resources b/sources/RoboforkApp/obj/Release/RboforkApp.g.resources
index 9048d52052011d81bcfed7c928c8b5d5254dacd2..9affcf838c93481fe969de8a813649ebea07b270 100644
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diff --git a/sources/RoboforkApp/obj/Release/RboforkApp.pdb b/sources/RoboforkApp/obj/Release/RboforkApp.pdb
index 4d5b0e461d005322b9808c0797b205b9fc0dc574..d6f74e16a548f4301aa649838822f9cedbaf0ea8 100644
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diff --git a/sources/RoboforkApp/obj/Release/RboforkApp_MarkupCompile.i.cache b/sources/RoboforkApp/obj/Release/RboforkApp_MarkupCompile.i.cache
index f11cfda..39e90de 100644
--- a/sources/RoboforkApp/obj/Release/RboforkApp_MarkupCompile.i.cache
+++ b/sources/RoboforkApp/obj/Release/RboforkApp_MarkupCompile.i.cache
@@ -16,5 +16,5 @@ E:\02_Project\Du an Anh Dai\Robofork-toan\sources\RoboforkApp\App.xaml
 12612105591
 EditNodeWindow.xaml;Resources\Brushes.xaml;Resources\DesignerItem.xaml;Resources\Expander.xaml;Resources\LangResources.xaml;Resources\ResizeChrome.xaml;Resources\ScrollBar.xaml;Resources\ScrollViewer.xaml;Resources\Slider.xaml;Resources\StatusBar.xaml;Resources\Styles.xaml;Resources\ToolBar.xaml;Resources\Toolbox.xaml;Resources\Tooltip.xaml;Resources\ZoomBox.xaml;RoboforkMenu.xaml;UserControls\ucDisplayCoordinate.xaml;UserControls\ucStartEndButton.xaml;Stencils\BasicShapes.xaml;Stencils\FlowChartSymbols.xaml;Stencils\RegelungstechnikSymbole.xaml;Stencils\SymbolStencils.xaml;MainWindow.xaml;
 
-False
+True
 
diff --git a/sources/RoboforkApp/obj/Release/RoboforkMenu.baml b/sources/RoboforkApp/obj/Release/RoboforkMenu.baml
index 4436157d8290fe282f67ef54ff6c58500ccf3429..88b3d6f6f4be1252b816867ad5b62ce31401d964 100644
GIT binary patch
delta 1080
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delta 507
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Qg6g}^<EIBnd<_iG0q5t2w*UYD

diff --git a/sources/RoboforkApp/obj/Release/RoboforkMenu.g.cs b/sources/RoboforkApp/obj/Release/RoboforkMenu.g.cs
index f0b1c93..dbb11a2 100644
--- a/sources/RoboforkApp/obj/Release/RoboforkMenu.g.cs
+++ b/sources/RoboforkApp/obj/Release/RoboforkMenu.g.cs
@@ -1,4 +1,4 @@
-#pragma checksum "..\..\RoboforkMenu.xaml" "{406ea660-64cf-4c82-b6f0-42d48172a799}" "C9703D3DF624983A80ECCEEE6ED3548E"
+#pragma checksum "..\..\RoboforkMenu.xaml" "{406ea660-64cf-4c82-b6f0-42d48172a799}" "86FF62A5AC72AD24164838CF1496E62C"
 //------------------------------------------------------------------------------
 // <auto-generated>
 //     This code was generated by a tool.
@@ -41,7 +41,7 @@ namespace RoboforkApp {
     public partial class RoboforkMenu : System.Windows.Window, System.Windows.Markup.IComponentConnector {
         
         
-        #line 45 "..\..\RoboforkMenu.xaml"
+        #line 43 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem PassplanTree;
         
@@ -49,6 +49,46 @@ namespace RoboforkApp {
         #line hidden
         
         
+        #line 44 "..\..\RoboforkMenu.xaml"
+        [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
+        internal System.Windows.Controls.TreeViewItem btnSetStart;
+        
+        #line default
+        #line hidden
+        
+        
+        #line 45 "..\..\RoboforkMenu.xaml"
+        [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
+        internal System.Windows.Controls.TreeViewItem btnSetGoal;
+        
+        #line default
+        #line hidden
+        
+        
+        #line 46 "..\..\RoboforkMenu.xaml"
+        [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
+        internal System.Windows.Controls.TreeViewItem btnSetRoute;
+        
+        #line default
+        #line hidden
+        
+        
+        #line 47 "..\..\RoboforkMenu.xaml"
+        [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
+        internal System.Windows.Controls.TreeViewItem btnMakeRoot;
+        
+        #line default
+        #line hidden
+        
+        
+        #line 48 "..\..\RoboforkMenu.xaml"
+        [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
+        internal System.Windows.Controls.TreeViewItem btnDeleteRoute;
+        
+        #line default
+        #line hidden
+        
+        
         #line 52 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem NodeTree;
@@ -57,7 +97,23 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 64 "..\..\RoboforkMenu.xaml"
+        #line 53 "..\..\RoboforkMenu.xaml"
+        [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
+        internal System.Windows.Controls.TreeViewItem btnSetAutoNodes;
+        
+        #line default
+        #line hidden
+        
+        
+        #line 54 "..\..\RoboforkMenu.xaml"
+        [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
+        internal System.Windows.Controls.TreeViewItem btnSetFreeNodes;
+        
+        #line default
+        #line hidden
+        
+        
+        #line 63 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem FK15Tree;
         
@@ -65,7 +121,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 70 "..\..\RoboforkMenu.xaml"
+        #line 69 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem VehicleAddTree;
         
@@ -73,7 +129,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 82 "..\..\RoboforkMenu.xaml"
+        #line 81 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem TaskpattermTree;
         
@@ -81,7 +137,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 88 "..\..\RoboforkMenu.xaml"
+        #line 87 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem WorkAddTree;
         
@@ -89,7 +145,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 101 "..\..\RoboforkMenu.xaml"
+        #line 100 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem ConnectTree;
         
@@ -97,7 +153,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 107 "..\..\RoboforkMenu.xaml"
+        #line 106 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem ParameterTree;
         
@@ -105,7 +161,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 117 "..\..\RoboforkMenu.xaml"
+        #line 116 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem ScheduleTree;
         
@@ -113,7 +169,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 123 "..\..\RoboforkMenu.xaml"
+        #line 122 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem LoggingTree;
         
@@ -121,7 +177,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 132 "..\..\RoboforkMenu.xaml"
+        #line 131 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem AlertTree;
         
@@ -129,7 +185,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 138 "..\..\RoboforkMenu.xaml"
+        #line 137 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem HelpTree;
         
@@ -137,7 +193,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 144 "..\..\RoboforkMenu.xaml"
+        #line 143 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem NewProjectTree;
         
@@ -145,7 +201,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 162 "..\..\RoboforkMenu.xaml"
+        #line 161 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TabControl MainTab;
         
@@ -153,7 +209,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 165 "..\..\RoboforkMenu.xaml"
+        #line 164 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TabItem TabMap;
         
@@ -161,7 +217,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 178 "..\..\RoboforkMenu.xaml"
+        #line 177 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.Grid GridMap;
         
@@ -169,7 +225,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 186 "..\..\RoboforkMenu.xaml"
+        #line 185 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal RoboforkApp.DesignerCanvas MyDesignerCanvas;
         
@@ -177,7 +233,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 193 "..\..\RoboforkMenu.xaml"
+        #line 192 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.Grid MCGrid;
         
@@ -185,7 +241,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 250 "..\..\RoboforkMenu.xaml"
+        #line 249 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.Grid grdRouteInfo;
         
@@ -193,7 +249,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 328 "..\..\RoboforkMenu.xaml"
+        #line 327 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal RoboforkApp.DesignerCanvas MyDesignerCanvasSchedule;
         
@@ -201,7 +257,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 331 "..\..\RoboforkMenu.xaml"
+        #line 330 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.Grid MCGridShedule;
         
@@ -209,7 +265,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 380 "..\..\RoboforkMenu.xaml"
+        #line 379 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TabItem TabWork;
         
@@ -217,7 +273,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 387 "..\..\RoboforkMenu.xaml"
+        #line 386 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TabItem TabSchedule;
         
@@ -264,226 +320,331 @@ namespace RoboforkApp {
             case 1:
             this.PassplanTree = ((System.Windows.Controls.TreeViewItem)(target));
             
+            #line 43 "..\..\RoboforkMenu.xaml"
+            this.PassplanTree.Selected += new System.Windows.RoutedEventHandler(this.btnMenu_Selected);
+            
+            #line default
+            #line hidden
+            
+            #line 43 "..\..\RoboforkMenu.xaml"
+            this.PassplanTree.Unselected += new System.Windows.RoutedEventHandler(this.btnMenu_UnselectedSet);
+            
+            #line default
+            #line hidden
+            return;
+            case 2:
+            this.btnSetStart = ((System.Windows.Controls.TreeViewItem)(target));
+            
+            #line 44 "..\..\RoboforkMenu.xaml"
+            this.btnSetStart.Selected += new System.Windows.RoutedEventHandler(this.btnMenu_Selected);
+            
+            #line default
+            #line hidden
+            
+            #line 44 "..\..\RoboforkMenu.xaml"
+            this.btnSetStart.Unselected += new System.Windows.RoutedEventHandler(this.btnMenu_UnselectedSet);
+            
+            #line default
+            #line hidden
+            return;
+            case 3:
+            this.btnSetGoal = ((System.Windows.Controls.TreeViewItem)(target));
+            
+            #line 45 "..\..\RoboforkMenu.xaml"
+            this.btnSetGoal.Selected += new System.Windows.RoutedEventHandler(this.btnMenu_Selected);
+            
+            #line default
+            #line hidden
+            
+            #line 45 "..\..\RoboforkMenu.xaml"
+            this.btnSetGoal.Unselected += new System.Windows.RoutedEventHandler(this.btnMenu_UnselectedSet);
+            
+            #line default
+            #line hidden
+            return;
+            case 4:
+            this.btnSetRoute = ((System.Windows.Controls.TreeViewItem)(target));
+            
+            #line 46 "..\..\RoboforkMenu.xaml"
+            this.btnSetRoute.Selected += new System.Windows.RoutedEventHandler(this.btnMenu_Selected);
+            
+            #line default
+            #line hidden
+            
             #line 46 "..\..\RoboforkMenu.xaml"
-            this.PassplanTree.Selected += new System.Windows.RoutedEventHandler(this.GetPassplanTree);
+            this.btnSetRoute.Unselected += new System.Windows.RoutedEventHandler(this.btnMenu_UnselectedSet);
             
             #line default
             #line hidden
+            return;
+            case 5:
+            this.btnMakeRoot = ((System.Windows.Controls.TreeViewItem)(target));
             
             #line 47 "..\..\RoboforkMenu.xaml"
-            this.PassplanTree.Unselected += new System.Windows.RoutedEventHandler(this.SetPassplanTree);
+            this.btnMakeRoot.Selected += new System.Windows.RoutedEventHandler(this.btnMenu_Selected);
+            
+            #line default
+            #line hidden
+            
+            #line 47 "..\..\RoboforkMenu.xaml"
+            this.btnMakeRoot.Unselected += new System.Windows.RoutedEventHandler(this.btnMenu_UnselectedSet);
             
             #line default
             #line hidden
             return;
-            case 2:
+            case 6:
+            this.btnDeleteRoute = ((System.Windows.Controls.TreeViewItem)(target));
+            
+            #line 48 "..\..\RoboforkMenu.xaml"
+            this.btnDeleteRoute.Selected += new System.Windows.RoutedEventHandler(this.btnMenu_Selected);
+            
+            #line default
+            #line hidden
+            
+            #line 48 "..\..\RoboforkMenu.xaml"
+            this.btnDeleteRoute.Unselected += new System.Windows.RoutedEventHandler(this.btnMenu_UnselectedSet);
+            
+            #line default
+            #line hidden
+            return;
+            case 7:
             this.NodeTree = ((System.Windows.Controls.TreeViewItem)(target));
             
+            #line 52 "..\..\RoboforkMenu.xaml"
+            this.NodeTree.Selected += new System.Windows.RoutedEventHandler(this.btnMenu_Selected);
+            
+            #line default
+            #line hidden
+            
+            #line 52 "..\..\RoboforkMenu.xaml"
+            this.NodeTree.Unselected += new System.Windows.RoutedEventHandler(this.btnMenu_UnselectedSet);
+            
+            #line default
+            #line hidden
+            return;
+            case 8:
+            this.btnSetAutoNodes = ((System.Windows.Controls.TreeViewItem)(target));
+            
+            #line 53 "..\..\RoboforkMenu.xaml"
+            this.btnSetAutoNodes.Selected += new System.Windows.RoutedEventHandler(this.btnMenu_Selected);
+            
+            #line default
+            #line hidden
+            
             #line 53 "..\..\RoboforkMenu.xaml"
-            this.NodeTree.Selected += new System.Windows.RoutedEventHandler(this.GetNodeTree);
+            this.btnSetAutoNodes.Unselected += new System.Windows.RoutedEventHandler(this.btnMenu_UnselectedSet);
             
             #line default
             #line hidden
+            return;
+            case 9:
+            this.btnSetFreeNodes = ((System.Windows.Controls.TreeViewItem)(target));
             
             #line 54 "..\..\RoboforkMenu.xaml"
-            this.NodeTree.Unselected += new System.Windows.RoutedEventHandler(this.SetNodeTree);
+            this.btnSetFreeNodes.Selected += new System.Windows.RoutedEventHandler(this.btnMenu_Selected);
+            
+            #line default
+            #line hidden
+            
+            #line 54 "..\..\RoboforkMenu.xaml"
+            this.btnSetFreeNodes.Unselected += new System.Windows.RoutedEventHandler(this.btnMenu_UnselectedSet);
             
             #line default
             #line hidden
             return;
-            case 3:
+            case 10:
             this.FK15Tree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 65 "..\..\RoboforkMenu.xaml"
+            #line 64 "..\..\RoboforkMenu.xaml"
             this.FK15Tree.Selected += new System.Windows.RoutedEventHandler(this.GetFK15Tree);
             
             #line default
             #line hidden
             
-            #line 66 "..\..\RoboforkMenu.xaml"
+            #line 65 "..\..\RoboforkMenu.xaml"
             this.FK15Tree.Unselected += new System.Windows.RoutedEventHandler(this.SetFK15Tree);
             
             #line default
             #line hidden
             return;
-            case 4:
+            case 11:
             this.VehicleAddTree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 71 "..\..\RoboforkMenu.xaml"
+            #line 70 "..\..\RoboforkMenu.xaml"
             this.VehicleAddTree.Selected += new System.Windows.RoutedEventHandler(this.GetVehicleAddTree);
             
             #line default
             #line hidden
             
-            #line 72 "..\..\RoboforkMenu.xaml"
+            #line 71 "..\..\RoboforkMenu.xaml"
             this.VehicleAddTree.Unselected += new System.Windows.RoutedEventHandler(this.SetVehicleAddTree);
             
             #line default
             #line hidden
             return;
-            case 5:
+            case 12:
             this.TaskpattermTree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 83 "..\..\RoboforkMenu.xaml"
+            #line 82 "..\..\RoboforkMenu.xaml"
             this.TaskpattermTree.Selected += new System.Windows.RoutedEventHandler(this.GetTaskpattermTree);
             
             #line default
             #line hidden
             
-            #line 84 "..\..\RoboforkMenu.xaml"
+            #line 83 "..\..\RoboforkMenu.xaml"
             this.TaskpattermTree.Unselected += new System.Windows.RoutedEventHandler(this.SetTaskpattermTree);
             
             #line default
             #line hidden
             return;
-            case 6:
+            case 13:
             this.WorkAddTree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 89 "..\..\RoboforkMenu.xaml"
+            #line 88 "..\..\RoboforkMenu.xaml"
             this.WorkAddTree.Selected += new System.Windows.RoutedEventHandler(this.GetWorkAddTree);
             
             #line default
             #line hidden
             
-            #line 90 "..\..\RoboforkMenu.xaml"
+            #line 89 "..\..\RoboforkMenu.xaml"
             this.WorkAddTree.Unselected += new System.Windows.RoutedEventHandler(this.SetWorkAddTree);
             
             #line default
             #line hidden
             return;
-            case 7:
+            case 14:
             this.ConnectTree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 102 "..\..\RoboforkMenu.xaml"
+            #line 101 "..\..\RoboforkMenu.xaml"
             this.ConnectTree.Selected += new System.Windows.RoutedEventHandler(this.GetConnectTree);
             
             #line default
             #line hidden
             
-            #line 103 "..\..\RoboforkMenu.xaml"
+            #line 102 "..\..\RoboforkMenu.xaml"
             this.ConnectTree.Unselected += new System.Windows.RoutedEventHandler(this.SetConnectTree);
             
             #line default
             #line hidden
             return;
-            case 8:
+            case 15:
             this.ParameterTree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 108 "..\..\RoboforkMenu.xaml"
+            #line 107 "..\..\RoboforkMenu.xaml"
             this.ParameterTree.Selected += new System.Windows.RoutedEventHandler(this.GetParameterTree);
             
             #line default
             #line hidden
             
-            #line 109 "..\..\RoboforkMenu.xaml"
+            #line 108 "..\..\RoboforkMenu.xaml"
             this.ParameterTree.Unselected += new System.Windows.RoutedEventHandler(this.SetParameterTree);
             
             #line default
             #line hidden
             return;
-            case 9:
+            case 16:
             this.ScheduleTree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 118 "..\..\RoboforkMenu.xaml"
+            #line 117 "..\..\RoboforkMenu.xaml"
             this.ScheduleTree.Selected += new System.Windows.RoutedEventHandler(this.GetScheduleTree);
             
             #line default
             #line hidden
             
-            #line 119 "..\..\RoboforkMenu.xaml"
+            #line 118 "..\..\RoboforkMenu.xaml"
             this.ScheduleTree.Unselected += new System.Windows.RoutedEventHandler(this.SetScheduleTree);
             
             #line default
             #line hidden
             return;
-            case 10:
+            case 17:
             this.LoggingTree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 124 "..\..\RoboforkMenu.xaml"
+            #line 123 "..\..\RoboforkMenu.xaml"
             this.LoggingTree.Selected += new System.Windows.RoutedEventHandler(this.GetLoggingTree);
             
             #line default
             #line hidden
             
-            #line 125 "..\..\RoboforkMenu.xaml"
+            #line 124 "..\..\RoboforkMenu.xaml"
             this.LoggingTree.Unselected += new System.Windows.RoutedEventHandler(this.SetLoggingTree);
             
             #line default
             #line hidden
             return;
-            case 11:
+            case 18:
             this.AlertTree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 133 "..\..\RoboforkMenu.xaml"
+            #line 132 "..\..\RoboforkMenu.xaml"
             this.AlertTree.Selected += new System.Windows.RoutedEventHandler(this.GetAlertTree);
             
             #line default
             #line hidden
             
-            #line 134 "..\..\RoboforkMenu.xaml"
+            #line 133 "..\..\RoboforkMenu.xaml"
             this.AlertTree.Unselected += new System.Windows.RoutedEventHandler(this.SetAlertTree);
             
             #line default
             #line hidden
             return;
-            case 12:
+            case 19:
             this.HelpTree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 139 "..\..\RoboforkMenu.xaml"
+            #line 138 "..\..\RoboforkMenu.xaml"
             this.HelpTree.Selected += new System.Windows.RoutedEventHandler(this.GetHelpTree);
             
             #line default
             #line hidden
             
-            #line 140 "..\..\RoboforkMenu.xaml"
+            #line 139 "..\..\RoboforkMenu.xaml"
             this.HelpTree.Unselected += new System.Windows.RoutedEventHandler(this.SetHelpTree);
             
             #line default
             #line hidden
             return;
-            case 13:
+            case 20:
             this.NewProjectTree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 145 "..\..\RoboforkMenu.xaml"
+            #line 144 "..\..\RoboforkMenu.xaml"
             this.NewProjectTree.Selected += new System.Windows.RoutedEventHandler(this.GetNewProjectTree);
             
             #line default
             #line hidden
             
-            #line 146 "..\..\RoboforkMenu.xaml"
+            #line 145 "..\..\RoboforkMenu.xaml"
             this.NewProjectTree.Unselected += new System.Windows.RoutedEventHandler(this.SetNewProjectTree);
             
             #line default
             #line hidden
             return;
-            case 14:
+            case 21:
             this.MainTab = ((System.Windows.Controls.TabControl)(target));
             return;
-            case 15:
+            case 22:
             this.TabMap = ((System.Windows.Controls.TabItem)(target));
             return;
-            case 16:
+            case 23:
             this.GridMap = ((System.Windows.Controls.Grid)(target));
             return;
-            case 17:
+            case 24:
             this.MyDesignerCanvas = ((RoboforkApp.DesignerCanvas)(target));
             return;
-            case 18:
+            case 25:
             this.MCGrid = ((System.Windows.Controls.Grid)(target));
             return;
-            case 19:
+            case 26:
             this.grdRouteInfo = ((System.Windows.Controls.Grid)(target));
             return;
-            case 20:
+            case 27:
             this.MyDesignerCanvasSchedule = ((RoboforkApp.DesignerCanvas)(target));
             return;
-            case 21:
+            case 28:
             this.MCGridShedule = ((System.Windows.Controls.Grid)(target));
             return;
-            case 22:
+            case 29:
             this.TabWork = ((System.Windows.Controls.TabItem)(target));
             return;
-            case 23:
+            case 30:
             this.TabSchedule = ((System.Windows.Controls.TabItem)(target));
             return;
             }
diff --git a/sources/RoboforkApp/obj/Release/RoboforkMenu.g.i.cs b/sources/RoboforkApp/obj/Release/RoboforkMenu.g.i.cs
index f0b1c93..dbb11a2 100644
--- a/sources/RoboforkApp/obj/Release/RoboforkMenu.g.i.cs
+++ b/sources/RoboforkApp/obj/Release/RoboforkMenu.g.i.cs
@@ -1,4 +1,4 @@
-#pragma checksum "..\..\RoboforkMenu.xaml" "{406ea660-64cf-4c82-b6f0-42d48172a799}" "C9703D3DF624983A80ECCEEE6ED3548E"
+#pragma checksum "..\..\RoboforkMenu.xaml" "{406ea660-64cf-4c82-b6f0-42d48172a799}" "86FF62A5AC72AD24164838CF1496E62C"
 //------------------------------------------------------------------------------
 // <auto-generated>
 //     This code was generated by a tool.
@@ -41,7 +41,7 @@ namespace RoboforkApp {
     public partial class RoboforkMenu : System.Windows.Window, System.Windows.Markup.IComponentConnector {
         
         
-        #line 45 "..\..\RoboforkMenu.xaml"
+        #line 43 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem PassplanTree;
         
@@ -49,6 +49,46 @@ namespace RoboforkApp {
         #line hidden
         
         
+        #line 44 "..\..\RoboforkMenu.xaml"
+        [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
+        internal System.Windows.Controls.TreeViewItem btnSetStart;
+        
+        #line default
+        #line hidden
+        
+        
+        #line 45 "..\..\RoboforkMenu.xaml"
+        [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
+        internal System.Windows.Controls.TreeViewItem btnSetGoal;
+        
+        #line default
+        #line hidden
+        
+        
+        #line 46 "..\..\RoboforkMenu.xaml"
+        [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
+        internal System.Windows.Controls.TreeViewItem btnSetRoute;
+        
+        #line default
+        #line hidden
+        
+        
+        #line 47 "..\..\RoboforkMenu.xaml"
+        [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
+        internal System.Windows.Controls.TreeViewItem btnMakeRoot;
+        
+        #line default
+        #line hidden
+        
+        
+        #line 48 "..\..\RoboforkMenu.xaml"
+        [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
+        internal System.Windows.Controls.TreeViewItem btnDeleteRoute;
+        
+        #line default
+        #line hidden
+        
+        
         #line 52 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem NodeTree;
@@ -57,7 +97,23 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 64 "..\..\RoboforkMenu.xaml"
+        #line 53 "..\..\RoboforkMenu.xaml"
+        [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
+        internal System.Windows.Controls.TreeViewItem btnSetAutoNodes;
+        
+        #line default
+        #line hidden
+        
+        
+        #line 54 "..\..\RoboforkMenu.xaml"
+        [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
+        internal System.Windows.Controls.TreeViewItem btnSetFreeNodes;
+        
+        #line default
+        #line hidden
+        
+        
+        #line 63 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem FK15Tree;
         
@@ -65,7 +121,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 70 "..\..\RoboforkMenu.xaml"
+        #line 69 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem VehicleAddTree;
         
@@ -73,7 +129,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 82 "..\..\RoboforkMenu.xaml"
+        #line 81 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem TaskpattermTree;
         
@@ -81,7 +137,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 88 "..\..\RoboforkMenu.xaml"
+        #line 87 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem WorkAddTree;
         
@@ -89,7 +145,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 101 "..\..\RoboforkMenu.xaml"
+        #line 100 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem ConnectTree;
         
@@ -97,7 +153,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 107 "..\..\RoboforkMenu.xaml"
+        #line 106 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem ParameterTree;
         
@@ -105,7 +161,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 117 "..\..\RoboforkMenu.xaml"
+        #line 116 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem ScheduleTree;
         
@@ -113,7 +169,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 123 "..\..\RoboforkMenu.xaml"
+        #line 122 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem LoggingTree;
         
@@ -121,7 +177,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 132 "..\..\RoboforkMenu.xaml"
+        #line 131 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem AlertTree;
         
@@ -129,7 +185,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 138 "..\..\RoboforkMenu.xaml"
+        #line 137 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem HelpTree;
         
@@ -137,7 +193,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 144 "..\..\RoboforkMenu.xaml"
+        #line 143 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TreeViewItem NewProjectTree;
         
@@ -145,7 +201,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 162 "..\..\RoboforkMenu.xaml"
+        #line 161 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TabControl MainTab;
         
@@ -153,7 +209,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 165 "..\..\RoboforkMenu.xaml"
+        #line 164 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TabItem TabMap;
         
@@ -161,7 +217,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 178 "..\..\RoboforkMenu.xaml"
+        #line 177 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.Grid GridMap;
         
@@ -169,7 +225,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 186 "..\..\RoboforkMenu.xaml"
+        #line 185 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal RoboforkApp.DesignerCanvas MyDesignerCanvas;
         
@@ -177,7 +233,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 193 "..\..\RoboforkMenu.xaml"
+        #line 192 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.Grid MCGrid;
         
@@ -185,7 +241,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 250 "..\..\RoboforkMenu.xaml"
+        #line 249 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.Grid grdRouteInfo;
         
@@ -193,7 +249,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 328 "..\..\RoboforkMenu.xaml"
+        #line 327 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal RoboforkApp.DesignerCanvas MyDesignerCanvasSchedule;
         
@@ -201,7 +257,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 331 "..\..\RoboforkMenu.xaml"
+        #line 330 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.Grid MCGridShedule;
         
@@ -209,7 +265,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 380 "..\..\RoboforkMenu.xaml"
+        #line 379 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TabItem TabWork;
         
@@ -217,7 +273,7 @@ namespace RoboforkApp {
         #line hidden
         
         
-        #line 387 "..\..\RoboforkMenu.xaml"
+        #line 386 "..\..\RoboforkMenu.xaml"
         [System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
         internal System.Windows.Controls.TabItem TabSchedule;
         
@@ -264,226 +320,331 @@ namespace RoboforkApp {
             case 1:
             this.PassplanTree = ((System.Windows.Controls.TreeViewItem)(target));
             
+            #line 43 "..\..\RoboforkMenu.xaml"
+            this.PassplanTree.Selected += new System.Windows.RoutedEventHandler(this.btnMenu_Selected);
+            
+            #line default
+            #line hidden
+            
+            #line 43 "..\..\RoboforkMenu.xaml"
+            this.PassplanTree.Unselected += new System.Windows.RoutedEventHandler(this.btnMenu_UnselectedSet);
+            
+            #line default
+            #line hidden
+            return;
+            case 2:
+            this.btnSetStart = ((System.Windows.Controls.TreeViewItem)(target));
+            
+            #line 44 "..\..\RoboforkMenu.xaml"
+            this.btnSetStart.Selected += new System.Windows.RoutedEventHandler(this.btnMenu_Selected);
+            
+            #line default
+            #line hidden
+            
+            #line 44 "..\..\RoboforkMenu.xaml"
+            this.btnSetStart.Unselected += new System.Windows.RoutedEventHandler(this.btnMenu_UnselectedSet);
+            
+            #line default
+            #line hidden
+            return;
+            case 3:
+            this.btnSetGoal = ((System.Windows.Controls.TreeViewItem)(target));
+            
+            #line 45 "..\..\RoboforkMenu.xaml"
+            this.btnSetGoal.Selected += new System.Windows.RoutedEventHandler(this.btnMenu_Selected);
+            
+            #line default
+            #line hidden
+            
+            #line 45 "..\..\RoboforkMenu.xaml"
+            this.btnSetGoal.Unselected += new System.Windows.RoutedEventHandler(this.btnMenu_UnselectedSet);
+            
+            #line default
+            #line hidden
+            return;
+            case 4:
+            this.btnSetRoute = ((System.Windows.Controls.TreeViewItem)(target));
+            
+            #line 46 "..\..\RoboforkMenu.xaml"
+            this.btnSetRoute.Selected += new System.Windows.RoutedEventHandler(this.btnMenu_Selected);
+            
+            #line default
+            #line hidden
+            
             #line 46 "..\..\RoboforkMenu.xaml"
-            this.PassplanTree.Selected += new System.Windows.RoutedEventHandler(this.GetPassplanTree);
+            this.btnSetRoute.Unselected += new System.Windows.RoutedEventHandler(this.btnMenu_UnselectedSet);
             
             #line default
             #line hidden
+            return;
+            case 5:
+            this.btnMakeRoot = ((System.Windows.Controls.TreeViewItem)(target));
             
             #line 47 "..\..\RoboforkMenu.xaml"
-            this.PassplanTree.Unselected += new System.Windows.RoutedEventHandler(this.SetPassplanTree);
+            this.btnMakeRoot.Selected += new System.Windows.RoutedEventHandler(this.btnMenu_Selected);
+            
+            #line default
+            #line hidden
+            
+            #line 47 "..\..\RoboforkMenu.xaml"
+            this.btnMakeRoot.Unselected += new System.Windows.RoutedEventHandler(this.btnMenu_UnselectedSet);
             
             #line default
             #line hidden
             return;
-            case 2:
+            case 6:
+            this.btnDeleteRoute = ((System.Windows.Controls.TreeViewItem)(target));
+            
+            #line 48 "..\..\RoboforkMenu.xaml"
+            this.btnDeleteRoute.Selected += new System.Windows.RoutedEventHandler(this.btnMenu_Selected);
+            
+            #line default
+            #line hidden
+            
+            #line 48 "..\..\RoboforkMenu.xaml"
+            this.btnDeleteRoute.Unselected += new System.Windows.RoutedEventHandler(this.btnMenu_UnselectedSet);
+            
+            #line default
+            #line hidden
+            return;
+            case 7:
             this.NodeTree = ((System.Windows.Controls.TreeViewItem)(target));
             
+            #line 52 "..\..\RoboforkMenu.xaml"
+            this.NodeTree.Selected += new System.Windows.RoutedEventHandler(this.btnMenu_Selected);
+            
+            #line default
+            #line hidden
+            
+            #line 52 "..\..\RoboforkMenu.xaml"
+            this.NodeTree.Unselected += new System.Windows.RoutedEventHandler(this.btnMenu_UnselectedSet);
+            
+            #line default
+            #line hidden
+            return;
+            case 8:
+            this.btnSetAutoNodes = ((System.Windows.Controls.TreeViewItem)(target));
+            
+            #line 53 "..\..\RoboforkMenu.xaml"
+            this.btnSetAutoNodes.Selected += new System.Windows.RoutedEventHandler(this.btnMenu_Selected);
+            
+            #line default
+            #line hidden
+            
             #line 53 "..\..\RoboforkMenu.xaml"
-            this.NodeTree.Selected += new System.Windows.RoutedEventHandler(this.GetNodeTree);
+            this.btnSetAutoNodes.Unselected += new System.Windows.RoutedEventHandler(this.btnMenu_UnselectedSet);
             
             #line default
             #line hidden
+            return;
+            case 9:
+            this.btnSetFreeNodes = ((System.Windows.Controls.TreeViewItem)(target));
             
             #line 54 "..\..\RoboforkMenu.xaml"
-            this.NodeTree.Unselected += new System.Windows.RoutedEventHandler(this.SetNodeTree);
+            this.btnSetFreeNodes.Selected += new System.Windows.RoutedEventHandler(this.btnMenu_Selected);
+            
+            #line default
+            #line hidden
+            
+            #line 54 "..\..\RoboforkMenu.xaml"
+            this.btnSetFreeNodes.Unselected += new System.Windows.RoutedEventHandler(this.btnMenu_UnselectedSet);
             
             #line default
             #line hidden
             return;
-            case 3:
+            case 10:
             this.FK15Tree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 65 "..\..\RoboforkMenu.xaml"
+            #line 64 "..\..\RoboforkMenu.xaml"
             this.FK15Tree.Selected += new System.Windows.RoutedEventHandler(this.GetFK15Tree);
             
             #line default
             #line hidden
             
-            #line 66 "..\..\RoboforkMenu.xaml"
+            #line 65 "..\..\RoboforkMenu.xaml"
             this.FK15Tree.Unselected += new System.Windows.RoutedEventHandler(this.SetFK15Tree);
             
             #line default
             #line hidden
             return;
-            case 4:
+            case 11:
             this.VehicleAddTree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 71 "..\..\RoboforkMenu.xaml"
+            #line 70 "..\..\RoboforkMenu.xaml"
             this.VehicleAddTree.Selected += new System.Windows.RoutedEventHandler(this.GetVehicleAddTree);
             
             #line default
             #line hidden
             
-            #line 72 "..\..\RoboforkMenu.xaml"
+            #line 71 "..\..\RoboforkMenu.xaml"
             this.VehicleAddTree.Unselected += new System.Windows.RoutedEventHandler(this.SetVehicleAddTree);
             
             #line default
             #line hidden
             return;
-            case 5:
+            case 12:
             this.TaskpattermTree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 83 "..\..\RoboforkMenu.xaml"
+            #line 82 "..\..\RoboforkMenu.xaml"
             this.TaskpattermTree.Selected += new System.Windows.RoutedEventHandler(this.GetTaskpattermTree);
             
             #line default
             #line hidden
             
-            #line 84 "..\..\RoboforkMenu.xaml"
+            #line 83 "..\..\RoboforkMenu.xaml"
             this.TaskpattermTree.Unselected += new System.Windows.RoutedEventHandler(this.SetTaskpattermTree);
             
             #line default
             #line hidden
             return;
-            case 6:
+            case 13:
             this.WorkAddTree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 89 "..\..\RoboforkMenu.xaml"
+            #line 88 "..\..\RoboforkMenu.xaml"
             this.WorkAddTree.Selected += new System.Windows.RoutedEventHandler(this.GetWorkAddTree);
             
             #line default
             #line hidden
             
-            #line 90 "..\..\RoboforkMenu.xaml"
+            #line 89 "..\..\RoboforkMenu.xaml"
             this.WorkAddTree.Unselected += new System.Windows.RoutedEventHandler(this.SetWorkAddTree);
             
             #line default
             #line hidden
             return;
-            case 7:
+            case 14:
             this.ConnectTree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 102 "..\..\RoboforkMenu.xaml"
+            #line 101 "..\..\RoboforkMenu.xaml"
             this.ConnectTree.Selected += new System.Windows.RoutedEventHandler(this.GetConnectTree);
             
             #line default
             #line hidden
             
-            #line 103 "..\..\RoboforkMenu.xaml"
+            #line 102 "..\..\RoboforkMenu.xaml"
             this.ConnectTree.Unselected += new System.Windows.RoutedEventHandler(this.SetConnectTree);
             
             #line default
             #line hidden
             return;
-            case 8:
+            case 15:
             this.ParameterTree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 108 "..\..\RoboforkMenu.xaml"
+            #line 107 "..\..\RoboforkMenu.xaml"
             this.ParameterTree.Selected += new System.Windows.RoutedEventHandler(this.GetParameterTree);
             
             #line default
             #line hidden
             
-            #line 109 "..\..\RoboforkMenu.xaml"
+            #line 108 "..\..\RoboforkMenu.xaml"
             this.ParameterTree.Unselected += new System.Windows.RoutedEventHandler(this.SetParameterTree);
             
             #line default
             #line hidden
             return;
-            case 9:
+            case 16:
             this.ScheduleTree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 118 "..\..\RoboforkMenu.xaml"
+            #line 117 "..\..\RoboforkMenu.xaml"
             this.ScheduleTree.Selected += new System.Windows.RoutedEventHandler(this.GetScheduleTree);
             
             #line default
             #line hidden
             
-            #line 119 "..\..\RoboforkMenu.xaml"
+            #line 118 "..\..\RoboforkMenu.xaml"
             this.ScheduleTree.Unselected += new System.Windows.RoutedEventHandler(this.SetScheduleTree);
             
             #line default
             #line hidden
             return;
-            case 10:
+            case 17:
             this.LoggingTree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 124 "..\..\RoboforkMenu.xaml"
+            #line 123 "..\..\RoboforkMenu.xaml"
             this.LoggingTree.Selected += new System.Windows.RoutedEventHandler(this.GetLoggingTree);
             
             #line default
             #line hidden
             
-            #line 125 "..\..\RoboforkMenu.xaml"
+            #line 124 "..\..\RoboforkMenu.xaml"
             this.LoggingTree.Unselected += new System.Windows.RoutedEventHandler(this.SetLoggingTree);
             
             #line default
             #line hidden
             return;
-            case 11:
+            case 18:
             this.AlertTree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 133 "..\..\RoboforkMenu.xaml"
+            #line 132 "..\..\RoboforkMenu.xaml"
             this.AlertTree.Selected += new System.Windows.RoutedEventHandler(this.GetAlertTree);
             
             #line default
             #line hidden
             
-            #line 134 "..\..\RoboforkMenu.xaml"
+            #line 133 "..\..\RoboforkMenu.xaml"
             this.AlertTree.Unselected += new System.Windows.RoutedEventHandler(this.SetAlertTree);
             
             #line default
             #line hidden
             return;
-            case 12:
+            case 19:
             this.HelpTree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 139 "..\..\RoboforkMenu.xaml"
+            #line 138 "..\..\RoboforkMenu.xaml"
             this.HelpTree.Selected += new System.Windows.RoutedEventHandler(this.GetHelpTree);
             
             #line default
             #line hidden
             
-            #line 140 "..\..\RoboforkMenu.xaml"
+            #line 139 "..\..\RoboforkMenu.xaml"
             this.HelpTree.Unselected += new System.Windows.RoutedEventHandler(this.SetHelpTree);
             
             #line default
             #line hidden
             return;
-            case 13:
+            case 20:
             this.NewProjectTree = ((System.Windows.Controls.TreeViewItem)(target));
             
-            #line 145 "..\..\RoboforkMenu.xaml"
+            #line 144 "..\..\RoboforkMenu.xaml"
             this.NewProjectTree.Selected += new System.Windows.RoutedEventHandler(this.GetNewProjectTree);
             
             #line default
             #line hidden
             
-            #line 146 "..\..\RoboforkMenu.xaml"
+            #line 145 "..\..\RoboforkMenu.xaml"
             this.NewProjectTree.Unselected += new System.Windows.RoutedEventHandler(this.SetNewProjectTree);
             
             #line default
             #line hidden
             return;
-            case 14:
+            case 21:
             this.MainTab = ((System.Windows.Controls.TabControl)(target));
             return;
-            case 15:
+            case 22:
             this.TabMap = ((System.Windows.Controls.TabItem)(target));
             return;
-            case 16:
+            case 23:
             this.GridMap = ((System.Windows.Controls.Grid)(target));
             return;
-            case 17:
+            case 24:
             this.MyDesignerCanvas = ((RoboforkApp.DesignerCanvas)(target));
             return;
-            case 18:
+            case 25:
             this.MCGrid = ((System.Windows.Controls.Grid)(target));
             return;
-            case 19:
+            case 26:
             this.grdRouteInfo = ((System.Windows.Controls.Grid)(target));
             return;
-            case 20:
+            case 27:
             this.MyDesignerCanvasSchedule = ((RoboforkApp.DesignerCanvas)(target));
             return;
-            case 21:
+            case 28:
             this.MCGridShedule = ((System.Windows.Controls.Grid)(target));
             return;
-            case 22:
+            case 29:
             this.TabWork = ((System.Windows.Controls.TabItem)(target));
             return;
-            case 23:
+            case 30:
             this.TabSchedule = ((System.Windows.Controls.TabItem)(target));
             return;
             }