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iorodeo committed fd896ac Draft

Worked on demo gui.

  • Participants
  • Parent commits 7bd728f

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Files changed (4)

demo_gui/bin/flyherder_demo_gui.py

+from 

demo_gui/demo_gui/flyherder_gui.py

         self.maxPos = {'x':0,'y':0}
         self.isHomed = False
         self.isInitialized = False
-        self.isSeparationSet = False
         self.moveSpeed = self.moveSpeedLineEdit.text()
         self.homeSpeed = self.homeSpeedLineEdit.text()
         self.moveSpeedValidator = QtGui.QIntValidator(MIN_SPEED,MAX_SPEED,self.moveSpeedLineEdit)
                 continue
         except Exception, e:
             QtGui.QMessageBox.critical(self,'Error', str(e))
-        self.isSeparationSet = False
         self.isHomed = False
         self.homePushButton.setEnabled(False)
         self.stopPushButton.setEnabled(False)
             if (int(xSep)<MIN_SEP_MM) or (int(ySep)<MIN_SEP_MM):
                 QtGui.QMessageBox.warning(self,'Warning','Please check separation values...')
                 return
-
             try:
                 self.dev.setMaxSeparation(self.maxPos)        
-                if not self.isSeparationSet:
-                    self.isSeparationSet = True
-                    self.homePushButton.setEnabled(True)
-                    self.stopPushButton.setEnabled(True)
             except Exception, e:
                 QtGui.QMessageBox.critical(self,'Error', str(e).title())
 
             self.statusbar.showMessage('Connected: Enabling...')
             self.pwrCheckBox.setEnabled(False)
             self.powerOnDrive()
-            self.settingsGroupBox.setEnabled(True)
-            self.xSepLineEdit.setFocus()
-            self.xSepLineEdit.setCursorPosition(0)
-            self.xSepLineEdit.selectAll()
+            self.paramGroupBox.setEnabled(True)
             self.pwrCheckBox.setEnabled(True)
-            self.statusbar.showMessage('Connected: Enabled (not Homed)')
-            self.orientGroupBox.setEnabled(True)
+            self.statusbar.showMessage('Connected: Power On, Not Homed')
             self.moveGroupBox.setEnabled(False)
+            self.positionGroupBox.setEnabled(True)
             self.movePushButton.setEnabled(False)
-            self.stopPushButton.setEnabled(False)
-            self.homePushButton.setEnabled(False)
+            self.homePushButton.setEnabled(True)
+            self.stopPushButton.setEnabled(True)
         else:
             self.powerOffDrive()
-            self.statusbar.showMessage('Connected: Disabled')
-            self.settingsGroupBox.setEnabled(False)
-            self.orientGroupBox.setEnabled(False)
+            self.statusbar.showMessage('Connected: Power Off')
+            self.paramGroupBox.setEnabled(False)
             self.moveGroupBox.setEnabled(False)
             self.movePushButton.setEnabled(False)
 
         except IOError, e:
             msgTitle = 'Unable to stop:'
             QtGui.QMessageBox.warning(self,msgTitle, e)           
-            self.statusbar.showMessage('Connected: Drive On')
+            if self.isHomed:
+                self.statusbar.showMessage('Connected: Power On, Homed')
+            else:
+                self.statusbar.showMessage('Connected: Power On, Not Homed')
 
     def timer_Callback(self):
         try:
             QtGui.QMessageBox.warning(self,msgTitle, e)           
 
     def setWidgetDisabledOnRun(self):
-        self.settingsGroupBox.setEnabled(False)
+        self.paramGroupBox.setEnabled(False)
         self.connectPushButton.setEnabled(False)
         self.movePushButton.setEnabled(False)
         self.homePushButton.setEnabled(False)
         self.setPosLineEditsEnabled(False)
 
     def setWidgetEnabledOnStop(self):
-        self.settingsGroupBox.setEnabled(True)
+        self.paramGroupBox.setEnabled(True)
         self.connectPushButton.setEnabled(True)
         self.homePushButton.setEnabled(True)
         if self.isHomed:
+            self.moveGroupBox.setEnabled(True)
             self.movePushButton.setEnabled(True)
-            self.statusbar.showMessage('Connected: Enabled (Homed)')
+            self.statusbar.showMessage('Connected: Power On, Homed')
             self.setPosLineEditsEnabled(True)
 
     def setPosLineEditsEnabled(self,b):
     def setWidgetEnabledOnDisconnect(self):
         self.pwrCheckBox.setChecked(False)
         self.portLineEdit.setEnabled(True)
-        self.settingsGroupBox.setEnabled(False)
         self.pwrCheckBox.setEnabled(False)
-        self.orientGroupBox.setEnabled(False)
         self.moveGroupBox.setEnabled(False)
+        self.paramGroupBox.setEnabled(False)
         self.positionGroupBox.setEnabled(False)
         self.connectPushButton.setText('Connect')
         self.statusbar.showMessage('Not Connected')
 
     def setWidgetEnabledOnConnect(self):
         self.portLineEdit.setEnabled(False)
+        self.paramGroupBox.setEnabled(True)
         self.pwrCheckBox.setEnabled(True)
-        self.statusbar.showMessage('Connected: Disabled')
+        self.statusbar.showMessage('Connected: Power Off')
 
     def cleanUpAndCloseDevice(self):
         self.powerOffDrive()

demo_gui/demo_gui/flyherder_gui.ui

    <rect>
     <x>0</x>
     <y>0</y>
-    <width>629</width>
-    <height>764</height>
+    <width>633</width>
+    <height>473</height>
    </rect>
   </property>
   <property name="sizePolicy">
    <string>FlyHerder Demo GUI v1.0</string>
   </property>
   <widget class="QWidget" name="centralwidget">
-   <layout class="QHBoxLayout" name="horizontalLayout_4">
+   <layout class="QVBoxLayout" name="verticalLayout_9">
     <item>
-     <widget class="QWidget" name="widget_9" native="true">
-      <property name="sizePolicy">
-       <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-        <horstretch>0</horstretch>
-        <verstretch>0</verstretch>
-       </sizepolicy>
+     <widget class="QTabWidget" name="tabWidget">
+      <property name="currentIndex">
+       <number>0</number>
       </property>
-      <layout class="QVBoxLayout" name="verticalLayout_6">
-       <item>
-        <widget class="QGroupBox" name="commGroupBox">
-         <property name="title">
-          <string>Communication</string>
-         </property>
-         <layout class="QVBoxLayout" name="verticalLayout_4">
-          <item>
-           <widget class="QWidget" name="widget" native="true">
-            <layout class="QHBoxLayout" name="horizontalLayout_2">
-             <item>
-              <widget class="QLabel" name="label">
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                </font>
-               </property>
-               <property name="text">
-                <string>Serial Port</string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLineEdit" name="portLineEdit">
-               <property name="sizePolicy">
-                <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-                 <horstretch>0</horstretch>
-                 <verstretch>0</verstretch>
-                </sizepolicy>
-               </property>
-               <property name="minimumSize">
-                <size>
-                 <width>200</width>
-                 <height>0</height>
-                </size>
-               </property>
-               <property name="maximumSize">
-                <size>
-                 <width>400</width>
-                 <height>16777215</height>
-                </size>
-               </property>
-               <property name="focusPolicy">
-                <enum>Qt::ClickFocus</enum>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QPushButton" name="connectPushButton">
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                </font>
-               </property>
-               <property name="text">
-                <string>Connect</string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <spacer name="horizontalSpacer_2">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>40</width>
-                 <height>20</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-            </layout>
-           </widget>
-          </item>
-         </layout>
-        </widget>
-       </item>
-       <item>
-        <widget class="Line" name="line">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QGroupBox" name="settingsGroupBox">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="font">
-          <font>
-           <family>Sans Serif</family>
-          </font>
-         </property>
-         <property name="title">
-          <string>Settings</string>
-         </property>
-         <layout class="QVBoxLayout" name="verticalLayout_3">
-          <item>
-           <widget class="QWidget" name="widget_2" native="true">
-            <layout class="QHBoxLayout" name="horizontalLayout_10">
-             <item>
-              <widget class="QCheckBox" name="pwrCheckBox">
-               <property name="enabled">
-                <bool>true</bool>
-               </property>
-               <property name="text">
-                <string>Drive Power</string>
-               </property>
-               <property name="checked">
-                <bool>false</bool>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QCheckBox" name="boundsCheckBox">
-               <property name="sizePolicy">
-                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                 <horstretch>0</horstretch>
-                 <verstretch>0</verstretch>
-                </sizepolicy>
-               </property>
-               <property name="text">
-                <string>Bound Check</string>
-               </property>
-               <property name="checked">
-                <bool>true</bool>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <spacer name="horizontalSpacer_6">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>40</width>
-                 <height>20</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-            </layout>
-           </widget>
-          </item>
-          <item>
-           <widget class="QWidget" name="widget_3" native="true">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <layout class="QHBoxLayout" name="horizontalLayout_15">
-             <item>
-              <widget class="QLabel" name="label_2">
-               <property name="sizePolicy">
-                <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                 <horstretch>0</horstretch>
-                 <verstretch>0</verstretch>
-                </sizepolicy>
-               </property>
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                </font>
-               </property>
-               <property name="text">
-                <string>Move Speed </string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLineEdit" name="moveSpeedLineEdit">
-               <property name="sizePolicy">
-                <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                 <horstretch>0</horstretch>
-                 <verstretch>0</verstretch>
-                </sizepolicy>
-               </property>
-               <property name="minimumSize">
-                <size>
-                 <width>70</width>
-                 <height>0</height>
-                </size>
-               </property>
-               <property name="maximumSize">
-                <size>
-                 <width>70</width>
-                 <height>16777215</height>
-                </size>
-               </property>
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                </font>
-               </property>
-               <property name="text">
-                <string>10</string>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_5">
-               <property name="sizePolicy">
-                <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-                 <horstretch>0</horstretch>
-                 <verstretch>0</verstretch>
-                </sizepolicy>
-               </property>
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                </font>
-               </property>
-               <property name="text">
-                <string>1&amp;ndash;90 [mm/s]</string>
-               </property>
-               <property name="textFormat">
-                <enum>Qt::RichText</enum>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <spacer name="horizontalSpacer_15">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>20</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_3">
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                </font>
-               </property>
-               <property name="text">
-                <string>Separation (x-axis)</string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLineEdit" name="xSepLineEdit">
-               <property name="sizePolicy">
-                <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                 <horstretch>0</horstretch>
-                 <verstretch>0</verstretch>
-                </sizepolicy>
-               </property>
-               <property name="minimumSize">
-                <size>
-                 <width>70</width>
-                 <height>0</height>
-                </size>
-               </property>
-               <property name="maximumSize">
-                <size>
-                 <width>70</width>
-                 <height>16777215</height>
-                </size>
-               </property>
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                </font>
-               </property>
-               <property name="text">
-                <string>200</string>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_7">
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                </font>
-               </property>
-               <property name="text">
-                <string>[mm]</string>
-               </property>
-               <property name="textFormat">
-                <enum>Qt::RichText</enum>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <spacer name="horizontalSpacer_3">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>40</width>
-                 <height>20</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-            </layout>
-           </widget>
-          </item>
-          <item>
-           <widget class="QWidget" name="widget_4" native="true">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <layout class="QHBoxLayout" name="horizontalLayout_16">
-             <item>
-              <widget class="QLabel" name="label_6">
-               <property name="sizePolicy">
-                <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                 <horstretch>0</horstretch>
-                 <verstretch>0</verstretch>
-                </sizepolicy>
-               </property>
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                </font>
-               </property>
-               <property name="text">
-                <string>Home Speed</string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLineEdit" name="homeSpeedLineEdit">
-               <property name="sizePolicy">
-                <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                 <horstretch>0</horstretch>
-                 <verstretch>0</verstretch>
-                </sizepolicy>
-               </property>
-               <property name="minimumSize">
-                <size>
-                 <width>70</width>
-                 <height>0</height>
-                </size>
-               </property>
-               <property name="maximumSize">
-                <size>
-                 <width>70</width>
-                 <height>16777215</height>
-                </size>
-               </property>
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                </font>
-               </property>
-               <property name="text">
-                <string>10</string>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_17">
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                </font>
-               </property>
-               <property name="text">
-                <string>1&amp;ndash;90 [mm/s]</string>
-               </property>
-               <property name="textFormat">
-                <enum>Qt::RichText</enum>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <spacer name="horizontalSpacer_14">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>20</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_4">
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                </font>
-               </property>
-               <property name="text">
-                <string>Separation (y-axis)</string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLineEdit" name="ySepLineEdit">
-               <property name="sizePolicy">
-                <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                 <horstretch>0</horstretch>
-                 <verstretch>0</verstretch>
-                </sizepolicy>
-               </property>
-               <property name="minimumSize">
-                <size>
-                 <width>70</width>
-                 <height>0</height>
-                </size>
-               </property>
-               <property name="maximumSize">
-                <size>
-                 <width>70</width>
-                 <height>16777215</height>
-                </size>
-               </property>
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                </font>
-               </property>
-               <property name="text">
-                <string>200</string>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_15">
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                </font>
-               </property>
-               <property name="text">
-                <string>[mm]</string>
-               </property>
-               <property name="textFormat">
-                <enum>Qt::RichText</enum>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <spacer name="horizontalSpacer_4">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>40</width>
-                 <height>20</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-            </layout>
-           </widget>
-          </item>
-         </layout>
-        </widget>
-       </item>
-       <item>
-        <widget class="Line" name="line_2">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QGroupBox" name="orientGroupBox">
-         <property name="title">
-          <string>Axis Orientation</string>
-         </property>
-         <layout class="QVBoxLayout" name="verticalLayout_2">
-          <item>
-           <widget class="QWidget" name="stepsWidget_6" native="true">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <layout class="QHBoxLayout" name="horizontalLayout_3">
-             <item>
-              <widget class="QLabel" name="label_34">
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                 <pointsize>11</pointsize>
-                </font>
-               </property>
-               <property name="text">
-                <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+      <widget class="QWidget" name="setupTab">
+       <attribute name="title">
+        <string>Device Setup</string>
+       </attribute>
+       <layout class="QVBoxLayout" name="verticalLayout_2">
+        <item>
+         <widget class="QWidget" name="widget_9" native="true">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout_6">
+           <item>
+            <widget class="QGroupBox" name="commGroupBox">
+             <property name="title">
+              <string>Communication</string>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_4">
+              <item>
+               <widget class="QWidget" name="widget" native="true">
+                <layout class="QHBoxLayout" name="horizontalLayout_2">
+                 <item>
+                  <widget class="QLabel" name="label">
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>Serial Port</string>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLineEdit" name="portLineEdit">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>200</width>
+                     <height>0</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>400</width>
+                     <height>16777215</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::ClickFocus</enum>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QPushButton" name="connectPushButton">
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>Connect</string>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <spacer name="horizontalSpacer_2">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                </layout>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="Line" name="line">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="paramGroupBox">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="font">
+              <font>
+               <family>Sans Serif</family>
+              </font>
+             </property>
+             <property name="title">
+              <string>Parameters</string>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_3">
+              <item>
+               <widget class="QWidget" name="widget_2" native="true">
+                <layout class="QHBoxLayout" name="horizontalLayout_10">
+                 <item>
+                  <widget class="QCheckBox" name="boundsCheckBox">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="text">
+                    <string>Bound Check</string>
+                   </property>
+                   <property name="checked">
+                    <bool>true</bool>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <spacer name="horizontalSpacer_6">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                </layout>
+               </widget>
+              </item>
+              <item>
+               <widget class="QWidget" name="widget_3" native="true">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <layout class="QHBoxLayout" name="horizontalLayout_15">
+                 <item>
+                  <widget class="QLabel" name="label_2">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>Move Speed </string>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLineEdit" name="moveSpeedLineEdit">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>70</width>
+                     <height>0</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>70</width>
+                     <height>16777215</height>
+                    </size>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>10</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLabel" name="label_5">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>1&amp;ndash;90 [mm/s]</string>
+                   </property>
+                   <property name="textFormat">
+                    <enum>Qt::RichText</enum>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <spacer name="horizontalSpacer_15">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>20</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item>
+                  <widget class="QLabel" name="label_3">
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>Separation (x-axis)</string>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLineEdit" name="xSepLineEdit">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>70</width>
+                     <height>0</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>70</width>
+                     <height>16777215</height>
+                    </size>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>200</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLabel" name="label_7">
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>[mm]</string>
+                   </property>
+                   <property name="textFormat">
+                    <enum>Qt::RichText</enum>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <spacer name="horizontalSpacer_3">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                </layout>
+               </widget>
+              </item>
+              <item>
+               <widget class="QWidget" name="widget_4" native="true">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <layout class="QHBoxLayout" name="horizontalLayout_16">
+                 <item>
+                  <widget class="QLabel" name="label_6">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>Home Speed</string>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLineEdit" name="homeSpeedLineEdit">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>70</width>
+                     <height>0</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>70</width>
+                     <height>16777215</height>
+                    </size>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>10</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLabel" name="label_17">
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>1&amp;ndash;90 [mm/s]</string>
+                   </property>
+                   <property name="textFormat">
+                    <enum>Qt::RichText</enum>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <spacer name="horizontalSpacer_14">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>20</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item>
+                  <widget class="QLabel" name="label_4">
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>Separation (y-axis)</string>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLineEdit" name="ySepLineEdit">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>70</width>
+                     <height>0</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>70</width>
+                     <height>16777215</height>
+                    </size>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>200</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLabel" name="label_15">
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>[mm]</string>
+                   </property>
+                   <property name="textFormat">
+                    <enum>Qt::RichText</enum>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <spacer name="horizontalSpacer_4">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                </layout>
+               </widget>
+              </item>
+              <item>
+               <widget class="QWidget" name="stepsWidget_6" native="true">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <layout class="QHBoxLayout" name="horizontalLayout_3">
+                 <item>
+                  <widget class="QLabel" name="label_8">
+                   <property name="text">
+                    <string>Axis Orientation (check to reverse) </string>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <spacer name="horizontalSpacer_8">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>15</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item>
+                  <widget class="QLabel" name="label_34">
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                     <pointsize>11</pointsize>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Sans Serif'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Impact'; font-size:18pt;&quot;&gt;x&lt;/span&gt;&lt;span style=&quot; font-family:'Impact'; font-size:18pt; vertical-align:sub;&quot;&gt;0&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-               </property>
-               <property name="textFormat">
-                <enum>Qt::RichText</enum>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QCheckBox" name="orientCheckBox_0">
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                </font>
-               </property>
-               <property name="contextMenuPolicy">
-                <enum>Qt::NoContextMenu</enum>
-               </property>
-               <property name="accessibleName">
-                <string>x0</string>
-               </property>
-               <property name="text">
-                <string/>
-               </property>
-               <property name="checked">
-                <bool>true</bool>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_20">
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                 <pointsize>11</pointsize>
-                </font>
-               </property>
-               <property name="text">
-                <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+                   </property>
+                   <property name="textFormat">
+                    <enum>Qt::RichText</enum>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QCheckBox" name="orientCheckBox_0">
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                    </font>
+                   </property>
+                   <property name="contextMenuPolicy">
+                    <enum>Qt::NoContextMenu</enum>
+                   </property>
+                   <property name="accessibleName">
+                    <string>x0</string>
+                   </property>
+                   <property name="text">
+                    <string/>
+                   </property>
+                   <property name="checked">
+                    <bool>true</bool>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLabel" name="label_20">
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                     <pointsize>11</pointsize>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Impact'; font-size:18pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y&lt;span style=&quot; vertical-align:sub;&quot;&gt;0&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-               </property>
-               <property name="textFormat">
-                <enum>Qt::RichText</enum>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QCheckBox" name="orientCheckBox_1">
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                </font>
-               </property>
-               <property name="accessibleName">
-                <string>y0</string>
-               </property>
-               <property name="text">
-                <string/>
-               </property>
-               <property name="checked">
-                <bool>true</bool>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_13">
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                 <pointsize>11</pointsize>
-                </font>
-               </property>
-               <property name="text">
-                <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+                   </property>
+                   <property name="textFormat">
+                    <enum>Qt::RichText</enum>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QCheckBox" name="orientCheckBox_1">
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                    </font>
+                   </property>
+                   <property name="accessibleName">
+                    <string>y0</string>
+                   </property>
+                   <property name="text">
+                    <string/>
+                   </property>
+                   <property name="checked">
+                    <bool>true</bool>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLabel" name="label_13">
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                     <pointsize>11</pointsize>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Impact'; font-size:18pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;x&lt;span style=&quot; vertical-align:sub;&quot;&gt;1&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-               </property>
-               <property name="textFormat">
-                <enum>Qt::RichText</enum>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QCheckBox" name="orientCheckBox_2">
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                </font>
-               </property>
-               <property name="accessibleName">
-                <string>x1</string>
-               </property>
-               <property name="text">
-                <string/>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_21">
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                 <pointsize>11</pointsize>
-                </font>
-               </property>
-               <property name="text">
-                <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+                   </property>
+                   <property name="textFormat">
+                    <enum>Qt::RichText</enum>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QCheckBox" name="orientCheckBox_2">
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                    </font>
+                   </property>
+                   <property name="accessibleName">
+                    <string>x1</string>
+                   </property>
+                   <property name="text">
+                    <string/>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLabel" name="label_21">
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                     <pointsize>11</pointsize>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Impact'; font-size:18pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y&lt;span style=&quot; vertical-align:sub;&quot;&gt;1&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-               </property>
-               <property name="textFormat">
-                <enum>Qt::RichText</enum>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QCheckBox" name="orientCheckBox_3">
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                </font>
-               </property>
-               <property name="accessibleName">
-                <string>y1</string>
-               </property>
-               <property name="text">
-                <string/>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_12">
-               <property name="text">
-                <string>(check to reverse) </string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <spacer name="horizontalSpacer_16">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>40</width>
-                 <height>20</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-            </layout>
-           </widget>
-          </item>
-         </layout>
-         <zorder>label_34</zorder>
-         <zorder>orientCheckBox_0</zorder>
-         <zorder>label_20</zorder>
-         <zorder>orientCheckBox_1</zorder>
-         <zorder>label_13</zorder>
-         <zorder>orientCheckBox_2</zorder>
-         <zorder>label_21</zorder>
-         <zorder>orientCheckBox_3</zorder>
-         <zorder>horizontalSpacer_16</zorder>
-         <zorder>stepsWidget_6</zorder>
-        </widget>
-       </item>
-       <item>
-        <widget class="Line" name="line_3">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QGroupBox" name="moveGroupBox">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="font">
-          <font>
-           <family>Sans Serif</family>
-          </font>
-         </property>
-         <property name="title">
-          <string>Move To Position [mm]</string>
-         </property>
-         <layout class="QVBoxLayout" name="verticalLayout">
-          <item>
-           <widget class="QWidget" name="stepsWidget_5" native="true">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <layout class="QHBoxLayout" name="horizontalLayout_5">
-             <item>
-              <widget class="QLabel" name="label_35">
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                 <pointsize>11</pointsize>
-                </font>
-               </property>
-               <property name="text">
-                <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+                   </property>
+                   <property name="textFormat">
+                    <enum>Qt::RichText</enum>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QCheckBox" name="orientCheckBox_3">
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                    </font>
+                   </property>
+                   <property name="accessibleName">
+                    <string>y1</string>
+                   </property>
+                   <property name="text">
+                    <string/>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <spacer name="horizontalSpacer_16">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                </layout>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>10</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </item>
+       </layout>
+      </widget>
+      <widget class="QWidget" name="controlTab">
+       <attribute name="title">
+        <string>Motion Controls</string>
+       </attribute>
+       <layout class="QVBoxLayout" name="verticalLayout_8">
+        <item>
+         <widget class="QWidget" name="widget_7" native="true">
+          <layout class="QHBoxLayout" name="horizontalLayout">
+           <item>
+            <widget class="QCheckBox" name="pwrCheckBox">
+             <property name="enabled">
+              <bool>true</bool>
+             </property>
+             <property name="text">
+              <string>Drive Power</string>
+             </property>
+             <property name="checked">
+              <bool>false</bool>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <spacer name="horizontalSpacer_7">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>457</width>
+               <height>20</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </item>
+        <item>
+         <widget class="QWidget" name="widget_6" native="true">
+          <layout class="QVBoxLayout" name="verticalLayout_7">
+           <item>
+            <widget class="QGroupBox" name="moveGroupBox">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="font">
+              <font>
+               <family>Sans Serif</family>
+              </font>
+             </property>
+             <property name="title">
+              <string>Move To Position [mm]</string>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout">
+              <item>
+               <widget class="QWidget" name="stepsWidget_5" native="true">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <layout class="QHBoxLayout" name="horizontalLayout_5">
+                 <item>
+                  <widget class="QLabel" name="label_35">
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                     <pointsize>11</pointsize>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Sans Serif'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Impact'; font-size:18pt;&quot;&gt;x&lt;/span&gt;&lt;span style=&quot; font-family:'Impact'; font-size:18pt; vertical-align:sub;&quot;&gt;0&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-               </property>
-               <property name="textFormat">
-                <enum>Qt::RichText</enum>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLineEdit" name="posLineEdit_0">
-               <property name="sizePolicy">
-                <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                 <horstretch>0</horstretch>
-                 <verstretch>0</verstretch>
-                </sizepolicy>
-               </property>
-               <property name="minimumSize">
-                <size>
-                 <width>100</width>
-                 <height>0</height>
-                </size>
-               </property>
-               <property name="maximumSize">
-                <size>
-                 <width>100</width>
-                 <height>16777215</height>
-                </size>
-               </property>
-               <property name="font">
-                <font>
-                 <pointsize>10</pointsize>
-                </font>
-               </property>
-               <property name="accessibleName">
-                <string>x0</string>
-               </property>
-               <property name="layoutDirection">
-                <enum>Qt::LeftToRight</enum>
-               </property>
-               <property name="text">
-                <string>-1</string>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_22">
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                 <pointsize>11</pointsize>
-                </font>
-               </property>
-               <property name="text">
-                <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+                   </property>
+                   <property name="textFormat">
+                    <enum>Qt::RichText</enum>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLineEdit" name="posLineEdit_0">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>100</width>
+                     <height>0</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>100</width>
+                     <height>16777215</height>
+                    </size>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <pointsize>10</pointsize>
+                    </font>
+                   </property>
+                   <property name="accessibleName">
+                    <string>x0</string>
+                   </property>
+                   <property name="layoutDirection">
+                    <enum>Qt::LeftToRight</enum>
+                   </property>
+                   <property name="text">
+                    <string>-1</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLabel" name="label_22">
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                     <pointsize>11</pointsize>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Impact'; font-size:18pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y&lt;span style=&quot; vertical-align:sub;&quot;&gt;0&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-               </property>
-               <property name="textFormat">
-                <enum>Qt::RichText</enum>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLineEdit" name="posLineEdit_1">
-               <property name="sizePolicy">
-                <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                 <horstretch>0</horstretch>
-                 <verstretch>0</verstretch>
-                </sizepolicy>
-               </property>
-               <property name="minimumSize">
-                <size>
-                 <width>100</width>
-                 <height>0</height>
-                </size>
-               </property>
-               <property name="maximumSize">
-                <size>
-                 <width>100</width>
-                 <height>16777215</height>
-                </size>
-               </property>
-               <property name="font">
-                <font>
-                 <pointsize>10</pointsize>
-                </font>
-               </property>
-               <property name="accessibleName">
-                <string>y0</string>
-               </property>
-               <property name="layoutDirection">
-                <enum>Qt::LeftToRight</enum>
-               </property>
-               <property name="text">
-                <string>-1</string>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_24">
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                 <pointsize>11</pointsize>
-                </font>
-               </property>
-               <property name="text">
-                <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+                   </property>
+                   <property name="textFormat">
+                    <enum>Qt::RichText</enum>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLineEdit" name="posLineEdit_1">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>100</width>
+                     <height>0</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>100</width>
+                     <height>16777215</height>
+                    </size>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <pointsize>10</pointsize>
+                    </font>
+                   </property>
+                   <property name="accessibleName">
+                    <string>y0</string>
+                   </property>
+                   <property name="layoutDirection">
+                    <enum>Qt::LeftToRight</enum>
+                   </property>
+                   <property name="text">
+                    <string>-1</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLabel" name="label_24">
+                   <property name="font">
+                    <font>
+                     <family>Sans Serif</family>
+                     <pointsize>11</pointsize>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Impact'; font-size:18pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;x&lt;span style=&quot; vertical-align:sub;&quot;&gt;1&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-               </property>
-               <property name="textFormat">
-                <enum>Qt::RichText</enum>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLineEdit" name="posLineEdit_2">
-               <property name="sizePolicy">
-                <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                 <horstretch>0</horstretch>
-                 <verstretch>0</verstretch>
-                </sizepolicy>
-               </property>
-               <property name="minimumSize">
-                <size>
-                 <width>100</width>
-                 <height>0</height>
-                </size>
-               </property>
-               <property name="maximumSize">
-                <size>
-                 <width>100</width>
-                 <height>16777215</height>
-                </size>
-               </property>
-               <property name="font">
-                <font>
-                 <pointsize>10</pointsize>
-                </font>
-               </property>
-               <property name="accessibleName">
-                <string>x1</string>
-               </property>
-               <property name="layoutDirection">
-                <enum>Qt::LeftToRight</enum>
-               </property>
-               <property name="text">
-                <string>-1</string>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_23">
-               <property name="font">
-                <font>
-                 <family>Sans Serif</family>
-                 <pointsize>11</pointsize>
-                </font>
-               </property>
-               <property name="text">
-                <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+                   </property>
+                   <property name="textFormat">
+                    <enum>Qt::RichText</enum>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLineEdit" name="posLineEdit_2">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>100</width>
+                     <height>0</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>100</width>
+                     <height>16777215</height>
+                    </size>
+                   </property>
+                   <property name="font">
+                    <font>