Add jog to UI (fa14d006) · Commits · GC IGIb / Public / Spherical Parallel Joint Robot

firmware/firmware.ino

+2 −0

Original line number	Diff line number	Diff line
		@@ -73,6 +73,7 @@ void setup()

		// Wait acknowledge
		while(!Serial.available()) {
		Serial.println("Wait");
		DBG.println("Remove standstill");
		delay(250);
		}
		@@ -92,6 +93,7 @@ void setup()
		motor3.setMaxSpeed(15 * k);
		motor3.setAcceleration(30 * k);
		delay(1000);
		Serial.println("Ready");
		}

		bool parse_data(String data, float* values)

firmware/firmware.ino.old→firmware/firmware.ino.ooo

+23 −48

Original line number	Diff line number	Diff line
		@@ -77,7 +77,7 @@ void setup()
		motor3.setAcceleration(200);

		delay(1000); // Standstill for automatic tuning
		delay(100000); // Standstill to remove the Support Blocks
		delay(20000); // Standstill to remove the Support Blocks

		//----------------------------------Move to the Home-----------------------

		@@ -93,33 +93,8 @@ void setup()
		delay(1000);
		}

		bool parse_data(String data, float* values)
		{
		bool ret = true;
		int count = 0;
		// data.indexOf()

		while (count < 3) {
		int index = data.indexOf(",");
		values[count++] = data.substring(0, index).toFloat();
		data = data.substring(index + 1);
		}

		return ret;
		}

		void loop()
		{

		float new_pos[3] = {0.0};

		if (Serial.available()) {
		String data = Serial.readStringUntil('\n');
		if (!parse_data(data, new_pos)) {
		goto send_current_pos;
		}
		}

		if (Serial.available()) { // check for incoming serial data
		String RpiData = Serial.readStringUntil('\n'); // read command from serial port
		// get first target position
		@@ -217,12 +192,18 @@ void loop()
		float xactual3 = posa3 / 10.0; //motor2.getCurrentPosition()*50.0;
		float xactual4 = posa4 / 10.0; //motor3.getCurrentPosition()*50.0;
		float xactual5 = 0.0;

		if (isnan(xactual1))
		xactual1 = xactualold1;
		if (isnan(xactual2)) xactual2 = xactualold2;
		if (isnan(xactual3)) xactual3 = xactualold3;
		if (isnan(xactual4)) xactual4 = xactualold4;
		if (isnan(xactual5)) xactual5 = xactualold5;
		if (isnan(xactual2))
		xactual2 = xactualold2;
		if (isnan(xactual3))
		xactual3 = xactualold3;
		if (isnan(xactual4))
		xactual4 = xactualold4;
		if (isnan(xactual5))
		xactual5 = xactualold5;

		xactualold1 = xactual1;
		xactualold2 = xactual2;
		xactualold3 = xactual3;
		@@ -233,11 +214,16 @@ void loop()
		float vactual3 = motor2.getCurrentSpeed();
		float vactual4 = motor3.getCurrentSpeed();
		float vactual5 = 0.0;
		if (isnan(vactual1)) vactual1 = vactualold1;
		if (isnan(vactual2)) vactual2 = vactualold2;
		if (isnan(vactual3)) vactual3 = vactualold3;
		if (isnan(vactual4)) vactual4 = vactualold4;
		if (isnan(vactual5)) vactual5 = vactualold5;
		if (isnan(vactual1))
		vactual1 = vactualold1;
		if (isnan(vactual2))
		vactual2 = vactualold2;
		if (isnan(vactual3))
		vactual3 = vactualold3;
		if (isnan(vactual4))
		vactual4 = vactualold4;
		if (isnan(vactual5))
		vactual5 = vactualold5;
		vactualold1 = vactual1;
		vactualold2 = vactual2;
		vactualold3 = vactual3;
		@@ -256,15 +242,4 @@ void loop()
		Serial.print("v");
		Serial.print((abs(vactual1) + abs(vactual2) + abs(vactual3) + abs(vactual4) + abs(vactual5)) / (5 * 1000), 2);
		Serial.println("x");

		send_current_pos:

		float current_pos[3] = {
		motor1.getCurrentPosition(),
		motor2.getCurrentPosition(),
		motor3.getCurrentPosition()
		};



		}
		No newline at end of file

frontend/main.py

+62 −12

Original line number	Diff line number	Diff line
		@@ -9,11 +9,21 @@ from PyQt6.QtWidgets import (
		from PyQt6.QtGui import QCloseEvent, QImage, QPixmap
		from PyQt6.QtCore import QObject, Qt, QThread, pyqtSignal
		import time, sys
		from functools import partial
		from enum import Enum

		POS_DEFAULT = 0.0
		VEL_DEFAULT = 12.0
		ACC_DEFAULT = 18.0

		class JOG(Enum):
		RZ_NEG = 0
		RZ_POS = 1
		RY_NEG = 2
		RY_POS = 3
		RZ1_NEG = 4
		RZ1_POS = 5

		class CommThread(QThread):

		update_positions = pyqtSignal(list)
		@@ -45,38 +55,78 @@ class Window(QMainWindow, Ui_MainWindow):
		self.robot = CommThread("/dev/ttyACM0")
		self.__setup_signals()
		self.robot.start()
		time.sleep(0.5)
		self.step_size_cb.addItems(["1", "5", "10", "50"])
		self.current_pos = None
		self.store()

		def __setup_signals(self):

		# UI
		self.move_pb.pressed.connect(self.send_pos)
		self.move_pb.pressed.connect(self.move_pb_callback)
		self.home_pb.pressed.connect(self.home)
		self.store_pb.pressed.connect(self.store)
		self.step_size_cb.currentIndexChanged.connect(self.__update_spinbox_step_size)
		self.jog_rz_neg_pb.pressed.connect(partial(self.jog_callback, JOG.RZ_NEG))
		self.jog_rz_pos_pb.pressed.connect(partial(self.jog_callback, JOG.RZ_POS))
		self.jog_ry_neg_pb.pressed.connect(partial(self.jog_callback, JOG.RY_NEG))
		self.jog_ry_pos_pb.pressed.connect(partial(self.jog_callback, JOG.RY_POS))
		self.jog_rz1_neg_pb.pressed.connect(partial(self.jog_callback, JOG.RZ1_NEG))
		self.jog_rz1_pos_pb.pressed.connect(partial(self.jog_callback, JOG.RZ1_POS))

		# Thread
		self.robot.update_positions.connect(self.update_position)

		def home(self):
		def __update_spinbox_step_size(self):

		move = WorldPosition(0.0, 0.0, 0.0)
		self.robot.send_pos(move)
		self.update_sb(move)
		self.move_rx_sb.setSingleStep(int(self.step_size_cb.currentText()))
		self.move_ry_sb.setSingleStep(int(self.step_size_cb.currentText()))
		self.move_rz_sb.setSingleStep(int(self.step_size_cb.currentText()))

		def store(self):
		move = WorldPosition(-60.0, 0.0, 0.0)
		self.robot.send_pos(move)
		self.update_sb(move)
		def home(self):
		self.move(WorldPosition(0.0, 0.0, 0.0))

		def send_pos(self):
		def store(self):
		self.move(WorldPosition(-60.0, 0.0, 0.0))

		def jog_callback(self, jog: JOG):

		new_pos = self.current_pos
		step = int(self.step_size_cb.currentText())
		match jog:
		case JOG.RZ_NEG:
		new_pos.rz -= step
		case JOG.RZ_POS:
		new_pos.rz += step
		case JOG.RY_NEG:
		new_pos.ry -= step
		case JOG.RY_POS:
		new_pos.ry += step
		case JOG.RZ1_NEG:
		new_pos.rz1 -= step
		case JOG.RZ1_POS:
		new_pos.rz1 += step

		self.move(new_pos)

		def move_pb_callback(self):

		move = WorldPosition(
		float(self.move_rx_sb.value()),
		float(self.move_ry_sb.value()),
		float(self.move_rz_sb.value())
		)
		self.robot.send_pos(move)
		self.move(move)

		def move(self, new_pos: WorldPosition):

		self.current_pos = new_pos
		self.update_spinboxes(new_pos)
		self.robot.send_pos(new_pos)

		print(self.current_pos)

		def update_sb(self, pos : WorldPosition):
		def update_spinboxes(self, pos : WorldPosition):

		self.move_rx_sb.setValue(int(pos.rz))
		self.move_ry_sb.setValue(int(pos.ry))

frontend/ui/robot.ui

+137 −69

Original line number	Diff line number	Diff line
		@@ -6,8 +6,8 @@
		<rect>
		<x>0</x>
		<y>0</y>
		<width>437</width>
		<height>206</height>
		<width>503</width>
		<height>218</height>
		</rect>
		</property>
		<property name="windowTitle">
		@@ -19,13 +19,61 @@
		<rect>
		<x>10</x>
		<y>10</y>
		<width>411</width>
		<height>149</height>
		<width>481</width>
		<height>152</height>
		</rect>
		</property>
		<layout class="QGridLayout" name="gridLayout" columnstretch="1,1,1">
		<item row="1" column="2">
		<widget class="QSpinBox" name="move_rx_sb">
		<layout class="QGridLayout" name="gridLayout" columnstretch="1,1,1,1">
		<item row="0" column="0">
		<spacer name="horizontalSpacer">
		<property name="orientation">
		<enum>Qt::Horizontal</enum>
		</property>
		<property name="sizeHint" stdset="0">
		<size>
		<width>40</width>
		<height>20</height>
		</size>
		</property>
		</spacer>
		</item>
		<item row="1" column="0">
		<widget class="QLabel" name="label_3">
		<property name="text">
		<string>Rz</string>
		</property>
		</widget>
		</item>
		<item row="0" column="1">
		<widget class="QLabel" name="label_2">
		<property name="text">
		<string>Current postion</string>
		</property>
		</widget>
		</item>
		<item row="3" column="0">
		<widget class="QLabel" name="label_6">
		<property name="text">
		<string>Rz'</string>
		</property>
		</widget>
		</item>
		<item row="2" column="0">
		<widget class="QLabel" name="label_5">
		<property name="text">
		<string>Ry</string>
		</property>
		</widget>
		</item>
		<item row="4" column="1">
		<widget class="QPushButton" name="home_pb">
		<property name="text">
		<string>Home</string>
		</property>
		</widget>
		</item>
		<item row="3" column="2">
		<widget class="QSpinBox" name="move_rz_sb">
		<property name="minimum">
		<number>-180</number>
		</property>
		@@ -34,10 +82,24 @@
		</property>
		</widget>
		</item>
		<item row="0" column="2">
		<widget class="QLabel" name="label_4">
		<item row="4" column="2">
		<widget class="QPushButton" name="move_pb">
		<property name="text">
		<string>Move to</string>
		<string>Move</string>
		</property>
		</widget>
		</item>
		<item row="2" column="1">
		<widget class="QLineEdit" name="current_ry_le">
		<property name="enabled">
		<bool>false</bool>
		</property>
		</widget>
		</item>
		<item row="4" column="0">
		<widget class="QPushButton" name="store_pb">
		<property name="text">
		<string>Store</string>
		</property>
		</widget>
		</item>
		@@ -51,13 +113,6 @@
		</property>
		</widget>
		</item>
		<item row="0" column="1">
		<widget class="QLabel" name="label_2">
		<property name="text">
		<string>Current postion</string>
		</property>
		</widget>
		</item>
		<item row="1" column="1">
		<widget class="QLineEdit" name="current_rx_le">
		<property name="enabled">
		@@ -65,10 +120,20 @@
		</property>
		</widget>
		</item>
		<item row="2" column="1">
		<widget class="QLineEdit" name="current_ry_le">
		<property name="enabled">
		<bool>false</bool>
		<item row="1" column="2">
		<widget class="QSpinBox" name="move_rx_sb">
		<property name="minimum">
		<number>-180</number>
		</property>
		<property name="maximum">
		<number>180</number>
		</property>
		</widget>
		</item>
		<item row="0" column="2">
		<widget class="QLabel" name="label_4">
		<property name="text">
		<string>Move to</string>
		</property>
		</widget>
		</item>
		@@ -79,72 +144,75 @@
		</property>
		</widget>
		</item>
		<item row="3" column="0">
		<widget class="QLabel" name="label_6">
		<item row="0" column="3">
		<widget class="QLabel" name="label">
		<property name="text">
		<string>Rz'</string>
		<string>Jog</string>
		</property>
		</widget>
		</item>
		<item row="2" column="0">
		<widget class="QLabel" name="label_5">
		<property name="text">
		<string>Ry</string>
		<item row="4" column="3">
		<widget class="QComboBox" name="step_size_cb">
		<property name="currentText">
		<string/>
		</property>
		</widget>
		</item>
		<item row="1" column="0">
		<widget class="QLabel" name="label_3">
		<item row="1" column="3">
		<layout class="QHBoxLayout" name="horizontalLayout">
		<item>
		<widget class="QPushButton" name="jog_rz_neg_pb">
		<property name="text">
		<string>Rz</string>
		<string>-</string>
		</property>
		</widget>
		</item>
		<item row="3" column="2">
		<widget class="QSpinBox" name="move_rz_sb">
		<property name="minimum">
		<number>-45</number>
		</property>
		<property name="maximum">
		<number>45</number>
		<item>
		<widget class="QPushButton" name="jog_rz_pos_pb">
		<property name="text">
		<string>+</string>
		</property>
		</widget>
		</item>
		<item row="0" column="0">
		<spacer name="horizontalSpacer">
		<property name="orientation">
		<enum>Qt::Horizontal</enum>
		</property>
		<property name="sizeHint" stdset="0">
		<size>
		<width>40</width>
		<height>20</height>
		</size>
		</layout>
		</item>
		<item row="2" column="3">
		<layout class="QHBoxLayout" name="horizontalLayout_2">
		<item>
		<widget class="QPushButton" name="jog_ry_neg_pb">
		<property name="text">
		<string>-</string>
		</property>
		</spacer>
		</widget>
		</item>
		<item row="4" column="2">
		<widget class="QPushButton" name="move_pb">
		<item>
		<widget class="QPushButton" name="jog_ry_pos_pb">
		<property name="text">
		<string>Move</string>
		<string>+</string>
		</property>
		</widget>
		</item>
		<item row="4" column="1">
		<widget class="QPushButton" name="home_pb">
		</layout>
		</item>
		<item row="3" column="3">
		<layout class="QHBoxLayout" name="horizontalLayout_3">
		<item>
		<widget class="QPushButton" name="jog_rz1_neg_pb">
		<property name="text">
		<string>Home</string>
		<string>-</string>
		</property>
		</widget>
		</item>
		<item row="4" column="0">
		<widget class="QPushButton" name="store_pb">
		<item>
		<widget class="QPushButton" name="jog_rz1_pos_pb">
		<property name="text">
		<string>Store</string>
		<string>+</string>
		</property>
		</widget>
		</item>
		</layout>
		</item>
		</layout>
		</widget>
		</widget>
		<widget class="QMenuBar" name="menubar">
		@@ -152,7 +220,7 @@
		<rect>
		<x>0</x>
		<y>0</y>
		<width>437</width>
		<width>503</width>
		<height>22</height>
		</rect>
		</property>

frontend/ui/robot_ui.py

+83 −41

Original line number	Diff line number	Diff line
		@@ -12,74 +12,109 @@ from PyQt6 import QtCore, QtGui, QtWidgets
		class Ui_MainWindow(object):
		def setupUi(self, MainWindow):
		MainWindow.setObjectName("MainWindow")
		MainWindow.resize(437, 206)
		MainWindow.resize(503, 218)
		self.centralwidget = QtWidgets.QWidget(parent=MainWindow)
		self.centralwidget.setObjectName("centralwidget")
		self.gridLayoutWidget = QtWidgets.QWidget(parent=self.centralwidget)
		self.gridLayoutWidget.setGeometry(QtCore.QRect(10, 10, 411, 149))
		self.gridLayoutWidget.setGeometry(QtCore.QRect(10, 10, 481, 152))
		self.gridLayoutWidget.setObjectName("gridLayoutWidget")
		self.gridLayout = QtWidgets.QGridLayout(self.gridLayoutWidget)
		self.gridLayout.setContentsMargins(0, 0, 0, 0)
		self.gridLayout.setObjectName("gridLayout")
		self.move_rx_sb = QtWidgets.QSpinBox(parent=self.gridLayoutWidget)
		self.move_rx_sb.setMinimum(-180)
		self.move_rx_sb.setMaximum(180)
		self.move_rx_sb.setObjectName("move_rx_sb")
		self.gridLayout.addWidget(self.move_rx_sb, 1, 2, 1, 1)
		self.label_4 = QtWidgets.QLabel(parent=self.gridLayoutWidget)
		self.label_4.setObjectName("label_4")
		self.gridLayout.addWidget(self.label_4, 0, 2, 1, 1)
		self.move_ry_sb = QtWidgets.QSpinBox(parent=self.gridLayoutWidget)
		self.move_ry_sb.setMinimum(-180)
		self.move_ry_sb.setMaximum(180)
		self.move_ry_sb.setObjectName("move_ry_sb")
		self.gridLayout.addWidget(self.move_ry_sb, 2, 2, 1, 1)
		spacerItem = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Minimum)
		self.gridLayout.addItem(spacerItem, 0, 0, 1, 1)
		self.label_3 = QtWidgets.QLabel(parent=self.gridLayoutWidget)
		self.label_3.setObjectName("label_3")
		self.gridLayout.addWidget(self.label_3, 1, 0, 1, 1)
		self.label_2 = QtWidgets.QLabel(parent=self.gridLayoutWidget)
		self.label_2.setObjectName("label_2")
		self.gridLayout.addWidget(self.label_2, 0, 1, 1, 1)
		self.current_rx_le = QtWidgets.QLineEdit(parent=self.gridLayoutWidget)
		self.current_rx_le.setEnabled(False)
		self.current_rx_le.setObjectName("current_rx_le")
		self.gridLayout.addWidget(self.current_rx_le, 1, 1, 1, 1)
		self.current_ry_le = QtWidgets.QLineEdit(parent=self.gridLayoutWidget)
		self.current_ry_le.setEnabled(False)
		self.current_ry_le.setObjectName("current_ry_le")
		self.gridLayout.addWidget(self.current_ry_le, 2, 1, 1, 1)
		self.current_rz_le = QtWidgets.QLineEdit(parent=self.gridLayoutWidget)
		self.current_rz_le.setEnabled(False)
		self.current_rz_le.setObjectName("current_rz_le")
		self.gridLayout.addWidget(self.current_rz_le, 3, 1, 1, 1)
		self.label_6 = QtWidgets.QLabel(parent=self.gridLayoutWidget)
		self.label_6.setObjectName("label_6")
		self.gridLayout.addWidget(self.label_6, 3, 0, 1, 1)
		self.label_5 = QtWidgets.QLabel(parent=self.gridLayoutWidget)
		self.label_5.setObjectName("label_5")
		self.gridLayout.addWidget(self.label_5, 2, 0, 1, 1)
		self.label_3 = QtWidgets.QLabel(parent=self.gridLayoutWidget)
		self.label_3.setObjectName("label_3")
		self.gridLayout.addWidget(self.label_3, 1, 0, 1, 1)
		self.home_pb = QtWidgets.QPushButton(parent=self.gridLayoutWidget)
		self.home_pb.setObjectName("home_pb")
		self.gridLayout.addWidget(self.home_pb, 4, 1, 1, 1)
		self.move_rz_sb = QtWidgets.QSpinBox(parent=self.gridLayoutWidget)
		self.move_rz_sb.setMinimum(-45)
		self.move_rz_sb.setMaximum(45)
		self.move_rz_sb.setMinimum(-180)
		self.move_rz_sb.setMaximum(180)
		self.move_rz_sb.setObjectName("move_rz_sb")
		self.gridLayout.addWidget(self.move_rz_sb, 3, 2, 1, 1)
		spacerItem = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Minimum)
		self.gridLayout.addItem(spacerItem, 0, 0, 1, 1)
		self.move_pb = QtWidgets.QPushButton(parent=self.gridLayoutWidget)
		self.move_pb.setObjectName("move_pb")
		self.gridLayout.addWidget(self.move_pb, 4, 2, 1, 1)
		self.home_pb = QtWidgets.QPushButton(parent=self.gridLayoutWidget)
		self.home_pb.setObjectName("home_pb")
		self.gridLayout.addWidget(self.home_pb, 4, 1, 1, 1)
		self.current_ry_le = QtWidgets.QLineEdit(parent=self.gridLayoutWidget)
		self.current_ry_le.setEnabled(False)
		self.current_ry_le.setObjectName("current_ry_le")
		self.gridLayout.addWidget(self.current_ry_le, 2, 1, 1, 1)
		self.store_pb = QtWidgets.QPushButton(parent=self.gridLayoutWidget)
		self.store_pb.setObjectName("store_pb")
		self.gridLayout.addWidget(self.store_pb, 4, 0, 1, 1)
		self.move_ry_sb = QtWidgets.QSpinBox(parent=self.gridLayoutWidget)
		self.move_ry_sb.setMinimum(-180)
		self.move_ry_sb.setMaximum(180)
		self.move_ry_sb.setObjectName("move_ry_sb")
		self.gridLayout.addWidget(self.move_ry_sb, 2, 2, 1, 1)
		self.current_rx_le = QtWidgets.QLineEdit(parent=self.gridLayoutWidget)
		self.current_rx_le.setEnabled(False)
		self.current_rx_le.setObjectName("current_rx_le")
		self.gridLayout.addWidget(self.current_rx_le, 1, 1, 1, 1)
		self.move_rx_sb = QtWidgets.QSpinBox(parent=self.gridLayoutWidget)
		self.move_rx_sb.setMinimum(-180)
		self.move_rx_sb.setMaximum(180)
		self.move_rx_sb.setObjectName("move_rx_sb")
		self.gridLayout.addWidget(self.move_rx_sb, 1, 2, 1, 1)
		self.label_4 = QtWidgets.QLabel(parent=self.gridLayoutWidget)
		self.label_4.setObjectName("label_4")
		self.gridLayout.addWidget(self.label_4, 0, 2, 1, 1)
		self.current_rz_le = QtWidgets.QLineEdit(parent=self.gridLayoutWidget)
		self.current_rz_le.setEnabled(False)
		self.current_rz_le.setObjectName("current_rz_le")
		self.gridLayout.addWidget(self.current_rz_le, 3, 1, 1, 1)
		self.label = QtWidgets.QLabel(parent=self.gridLayoutWidget)
		self.label.setObjectName("label")
		self.gridLayout.addWidget(self.label, 0, 3, 1, 1)
		self.step_size_cb = QtWidgets.QComboBox(parent=self.gridLayoutWidget)
		self.step_size_cb.setCurrentText("")
		self.step_size_cb.setObjectName("step_size_cb")
		self.gridLayout.addWidget(self.step_size_cb, 4, 3, 1, 1)
		self.horizontalLayout = QtWidgets.QHBoxLayout()
		self.horizontalLayout.setObjectName("horizontalLayout")
		self.jog_rz_neg_pb = QtWidgets.QPushButton(parent=self.gridLayoutWidget)
		self.jog_rz_neg_pb.setObjectName("jog_rz_neg_pb")
		self.horizontalLayout.addWidget(self.jog_rz_neg_pb)
		self.jog_rz_pos_pb = QtWidgets.QPushButton(parent=self.gridLayoutWidget)
		self.jog_rz_pos_pb.setObjectName("jog_rz_pos_pb")
		self.horizontalLayout.addWidget(self.jog_rz_pos_pb)
		self.gridLayout.addLayout(self.horizontalLayout, 1, 3, 1, 1)
		self.horizontalLayout_2 = QtWidgets.QHBoxLayout()
		self.horizontalLayout_2.setObjectName("horizontalLayout_2")
		self.jog_ry_neg_pb = QtWidgets.QPushButton(parent=self.gridLayoutWidget)
		self.jog_ry_neg_pb.setObjectName("jog_ry_neg_pb")
		self.horizontalLayout_2.addWidget(self.jog_ry_neg_pb)
		self.jog_ry_pos_pb = QtWidgets.QPushButton(parent=self.gridLayoutWidget)
		self.jog_ry_pos_pb.setObjectName("jog_ry_pos_pb")
		self.horizontalLayout_2.addWidget(self.jog_ry_pos_pb)
		self.gridLayout.addLayout(self.horizontalLayout_2, 2, 3, 1, 1)
		self.horizontalLayout_3 = QtWidgets.QHBoxLayout()
		self.horizontalLayout_3.setObjectName("horizontalLayout_3")
		self.jog_rz1_neg_pb = QtWidgets.QPushButton(parent=self.gridLayoutWidget)
		self.jog_rz1_neg_pb.setObjectName("jog_rz1_neg_pb")
		self.horizontalLayout_3.addWidget(self.jog_rz1_neg_pb)
		self.jog_rz1_pos_pb = QtWidgets.QPushButton(parent=self.gridLayoutWidget)
		self.jog_rz1_pos_pb.setObjectName("jog_rz1_pos_pb")
		self.horizontalLayout_3.addWidget(self.jog_rz1_pos_pb)
		self.gridLayout.addLayout(self.horizontalLayout_3, 3, 3, 1, 1)
		self.gridLayout.setColumnStretch(0, 1)
		self.gridLayout.setColumnStretch(1, 1)
		self.gridLayout.setColumnStretch(2, 1)
		self.gridLayout.setColumnStretch(3, 1)
		MainWindow.setCentralWidget(self.centralwidget)
		self.menubar = QtWidgets.QMenuBar(parent=MainWindow)
		self.menubar.setGeometry(QtCore.QRect(0, 0, 437, 22))
		self.menubar.setGeometry(QtCore.QRect(0, 0, 503, 22))
		self.menubar.setObjectName("menubar")
		MainWindow.setMenuBar(self.menubar)
		self.statusbar = QtWidgets.QStatusBar(parent=MainWindow)
		@@ -92,11 +127,18 @@ class Ui_MainWindow(object):
		def retranslateUi(self, MainWindow):
		_translate = QtCore.QCoreApplication.translate
		MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
		self.label_4.setText(_translate("MainWindow", "Move to"))
		self.label_3.setText(_translate("MainWindow", "Rz"))
		self.label_2.setText(_translate("MainWindow", "Current postion"))
		self.label_6.setText(_translate("MainWindow", "Rz\'"))
		self.label_5.setText(_translate("MainWindow", "Ry"))
		self.label_3.setText(_translate("MainWindow", "Rz"))
		self.move_pb.setText(_translate("MainWindow", "Move"))
		self.home_pb.setText(_translate("MainWindow", "Home"))
		self.move_pb.setText(_translate("MainWindow", "Move"))
		self.store_pb.setText(_translate("MainWindow", "Store"))
		self.label_4.setText(_translate("MainWindow", "Move to"))
		self.label.setText(_translate("MainWindow", "Jog"))
		self.jog_rz_neg_pb.setText(_translate("MainWindow", "-"))
		self.jog_rz_pos_pb.setText(_translate("MainWindow", "+"))
		self.jog_ry_neg_pb.setText(_translate("MainWindow", "-"))
		self.jog_ry_pos_pb.setText(_translate("MainWindow", "+"))
		self.jog_rz1_neg_pb.setText(_translate("MainWindow", "-"))
		self.jog_rz1_pos_pb.setText(_translate("MainWindow", "+"))