Gripper control changed a bit, needs more work. Readouts for soil probe on gui, finished soil/rdf node.

2025-11-08 18:21:15 +00:00 · 2018-08-08 05:13:04 -07:00
parent 05b4c85ad2
commit 97cd60325d
20 changed files with 702 additions and 361 deletions
--- a/software/ros_packages/ground_station/src/Framework/ArmSystems/ArmIndication.py
+++ b/software/ros_packages/ground_station/src/Framework/ArmSystems/ArmIndication.py
@@ -106,6 +106,8 @@ class ArmIndication(QtCore.QObject):
    thumb_current_updated__signal = QtCore.pyqtSignal(int)
    middlefinger_current_updated__signal = QtCore.pyqtSignal(int)

+    gripper_reported_setpoint_updated__signal = QtCore.pyqtSignal(int)
+
    def __init__(self, shared_objects):
        super(ArmIndication, self).__init__()

@@ -153,6 +155,8 @@ class ArmIndication(QtCore.QObject):
        self.arm_controls_wrist_roll_status_label = self.right_screen.arm_controls_wrist_roll_status_label  # type:QtWidgets.QLabel
        self.arm_controls_wrist_roll_faults_label = self.right_screen.arm_controls_wrist_roll_faults_label  # type:QtWidgets.QLabel

+        self.gripper_reported_setpoint_lcd_number = self.right_screen.gripper_reported_setpoint_lcd_number  # type: QtWidgets.QLCDNumber
+
        # ########## Get the settings instance ##########
        self.settings = QtCore.QSettings()

@@ -205,6 +209,8 @@ class ArmIndication(QtCore.QObject):
        self.thumb_current_updated__signal.connect(self.thumb_current_lcd_number.display)
        self.middlefinger_current_updated__signal.connect(self.middlefinger_current_lcd_number.display)

+        self.gripper_reported_setpoint_updated__signal.connect(self.gripper_reported_setpoint_lcd_number.display)
+
    def on_arm_status_update_received__callback(self, data):
        self.base_comms_state_update_ready__signal.emit(self.process_comms_to_string(data.base_comm_status))
        self.shoulder_comms_state_update_ready__signal.emit(self.process_comms_to_string(data.shoulder_comm_status))
@@ -248,6 +254,8 @@ class ArmIndication(QtCore.QObject):
        self.thumb_current_updated__signal.emit(data.thumb_current)
        self.middlefinger_current_updated__signal.emit(data.middlefinger_current)

+        self.gripper_reported_setpoint_updated__signal.emit(data.current_finger_position)
+
    @staticmethod
    def process_faults_to_string(faults):
        fault_output = ""
--- a/software/ros_packages/ground_station/src/Framework/InputSystems/LogitechControllerControlSender.py
+++ b/software/ros_packages/ground_station/src/Framework/InputSystems/LogitechControllerControlSender.py
@@ -138,7 +138,7 @@ class LogitechJoystick(QtCore.QThread):
            events = self.gamepad.read()

            for event in events:
-                print event.code, event.state
+                # print event.code, event.state
                if event.code in self.raw_mapping_to_class_mapping:
                    self.controller_states[self.raw_mapping_to_class_mapping[event.code]] = event.state

@@ -164,7 +164,7 @@ class LogitechControllerControlSender(QtCore.QThread):
        self.shared_objects = shared_objects
        self.video_coordinator = self.shared_objects["threaded_classes"]["Video Coordinator"]
        self.right_screen = self.shared_objects["screens"]["right_screen"]
-        self.speed_limit_progress_bar = self.right_screen.speed_limit_progress_bar  # type: QtWidgets.QProgressBar
+        self.rover_speed_limit_slider = self.right_screen.rover_speed_limit_slider  # type: QtWidgets.QSlider
        self.left_drive_progress_bar = self.right_screen.left_drive_progress_bar  # type: QtWidgets.QProgressBar
        self.right_drive_progress_bar = self.right_screen.right_drive_progress_bar  # type: QtWidgets.QProgressBar

@@ -219,11 +219,11 @@ class LogitechControllerControlSender(QtCore.QThread):
        self.logger.debug("Stopping Joystick Thread")

    def connect_signals_and_slots(self):
-        self.set_speed_limit__signal.connect(self.speed_limit_progress_bar.setValue)
        self.set_left_drive_output__signal.connect(self.left_drive_progress_bar.setValue)
        self.set_right_drive_output__signal.connect(self.right_drive_progress_bar.setValue)

        self.video_coordinator.pan_tilt_selection_changed__signal.connect(self.on_pan_tilt_selection_changed__slot)
+        self.rover_speed_limit_slider.valueChanged.connect(self.on_speed_limit_slider_value_changed__slot)

    def check_and_set_pause_state(self):
        thumb_pressed = self.joystick.controller_states["start"]
@@ -238,18 +238,15 @@ class LogitechControllerControlSender(QtCore.QThread):
        self.publish_pan_tilt_control_commands()

    def publish_drive_command(self):
-        throttle_axis = 1
-        # throttle_axis = max((255 - self.joystick.controller_states["throttle_axis"]) / 255.0, THROTTLE_MIN)
-
        if self.drive_paused:
            drive_message = DriveCommandMessage()
        else:
-            drive_message = self.get_drive_message(throttle_axis)
+            drive_message = self.get_drive_message(self.speed_limit)

        left_output = abs(drive_message.drive_twist.linear.x - drive_message.drive_twist.angular.z)
        right_output = abs(drive_message.drive_twist.linear.x + drive_message.drive_twist.angular.z)

-        self.set_speed_limit__signal.emit(throttle_axis * 100)
+        self.set_speed_limit__signal.emit(self.speed_limit * 100)
        self.set_left_drive_output__signal.emit(left_output * 100)
        self.set_right_drive_output__signal.emit(right_output * 100)

@@ -303,14 +300,14 @@ class LogitechControllerControlSender(QtCore.QThread):
            pan_tilt_message.relative_tilt_adjustment = -(hat_y * CHASSIS_PAN_TILT_Y_AXIS_SCALAR)
            self.chassis_pan_tilt_command_publisher.publish(pan_tilt_message)

-    def get_drive_message(self, throttle_axis):
+    def get_drive_message(self, speed_limit):
        drive_message = DriveCommandMessage()

        left_y_axis = self.joystick.controller_states["left_y_axis"] if abs(self.joystick.controller_states["left_y_axis"]) > STICK_DEADBAND else 0
        right_y_axis = self.joystick.controller_states["right_y_axis"] if abs(self.joystick.controller_states["right_y_axis"]) > STICK_DEADBAND else 0

-        left_y_axis = throttle_axis * (-(left_y_axis - STICK_OFFSET) / STICK_MAX)
-        right_y_axis = throttle_axis * (-(right_y_axis - STICK_OFFSET) / STICK_MAX)
+        left_y_axis = speed_limit * (-(left_y_axis - STICK_OFFSET) / STICK_MAX)
+        right_y_axis = speed_limit * (-(right_y_axis - STICK_OFFSET) / STICK_MAX)

        drive_message.drive_twist.linear.x = (left_y_axis + right_y_axis) / 2.0
        drive_message.drive_twist.angular.z = (right_y_axis - left_y_axis) / 2.0
@@ -320,6 +317,9 @@ class LogitechControllerControlSender(QtCore.QThread):
    def on_pan_tilt_selection_changed__slot(self, selection):
        self.current_pan_tilt_selection = selection

+    def on_speed_limit_slider_value_changed__slot(self, value):
+        self.speed_limit = value / 100.0
+
    def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
        start_signal.connect(self.start)
        signals_and_slots_signal.connect(self.connect_signals_and_slots)
--- a/software/ros_packages/ground_station/src/Framework/InputSystems/XBOXControllerControlSender.py
+++ b/software/ros_packages/ground_station/src/Framework/InputSystems/XBOXControllerControlSender.py
@@ -29,7 +29,7 @@ ROLL_SCALAR = 0.003
 WRIST_PITCH_SCALAR = 0.003
 WRIST_ROLL_SCALAR = 0.006

-GRIPPER_MOVEMENT_SCALAR = 300
+GRIPPER_MOVEMENT_SCALAR = 1500

 LEFT_X_AXIS_DEADZONE = 1500
 LEFT_Y_AXIS_DEADZONE = 1500
@@ -180,6 +180,8 @@ class XBOXControllerControlSender(QtCore.QThread):
        "SCISSOR": 4
    }

+    PINCH_MODE_ABSOLUTE_SET_POSITION = 57740
+
    def __init__(self, shared_objects):
        super(XBOXControllerControlSender, self).__init__()

@@ -222,6 +224,7 @@ class XBOXControllerControlSender(QtCore.QThread):
        self.last_xbox_button_state = 0
        self.last_left_bumper_state = 0
        self.last_right_bumper_state = 0
+        self.last_back_button_state = 0

        self.gripper_control_mode = 0
        self.gripper_control_mode_just_changed = False
@@ -253,7 +256,8 @@ class XBOXControllerControlSender(QtCore.QThread):
                "SET": [self.gripper_mode_scissor_stylesheet_update_ready__signal],
                "UNSET": [self.gripper_mode_pinch_stylesheet_update_ready__signal,
                          self.gripper_mode_wide_stylesheet_update_ready__signal,
-                          self.gripper_mode_normal_stylesheet_update_ready__signal]
+                          self.gripper_mode_normal_stylesheet_update_ready__signal],
+                "ABS_MOVE": self.PINCH_MODE_ABSOLUTE_SET_POSITION
            }
        }

@@ -266,6 +270,7 @@ class XBOXControllerControlSender(QtCore.QThread):
            self.change_control_state_if_needed()

            if self.xbox_current_control_state == self.XBOX_CONTROL_STATES.index("ARM"):
+                self.send_gripper_home_on_back_press()
                self.process_and_send_arm_control()
            elif self.xbox_current_control_state == self.XBOX_CONTROL_STATES.index("MINING"):
                self.send_mining_commands()
@@ -331,7 +336,13 @@ class XBOXControllerControlSender(QtCore.QThread):
            for signal in signal_map["UNSET"]:
                signal.emit(COLOR_NONE)

-            self.send_new_gripper_mode = True
+            if "ABS_MOVE" in signal_map:
+                gripper_control_message = GripperControlMessage()
+                gripper_control_message.gripper_mode = self.GRIPPER_CONTROL_MODES["SCISSOR"]
+                gripper_control_message.gripper_position_absolute = signal_map["ABS_MOVE"]
+                self.gripper_control_publisher.publish(gripper_control_message)
+            else:
+                self.send_new_gripper_mode = True

            self.gripper_control_mode_just_changed = False

@@ -340,12 +351,17 @@ class XBOXControllerControlSender(QtCore.QThread):
        arm_control_message = ArmControlMessage()

        gripper_control_message = GripperControlMessage()
-        gripper_control_message.gripper_position_absolute = -1
-        gripper_control_message.gripper_mode = self.gripper_control_mode + 1

        should_publish_arm = False
        should_publish_gripper = True if self.send_new_gripper_mode else False

+        if self.send_new_gripper_mode:
+            gripper_control_message.gripper_position_absolute = 0
+        else:
+            gripper_control_message.gripper_position_absolute = -1
+
+        gripper_control_message.gripper_mode = self.gripper_control_mode + 1
+
        left_trigger = self.controller.controller_states["left_trigger"]
        right_trigger = self.controller.controller_states["right_trigger"]

@@ -386,6 +402,18 @@ class XBOXControllerControlSender(QtCore.QThread):
            self.gripper_control_publisher.publish(gripper_control_message)
            self.send_new_gripper_mode = False

+    def send_gripper_home_on_back_press(self):
+        gripper_control_message = GripperControlMessage()
+        back_state = self.controller.controller_states["back_button"]
+
+        if self.last_back_button_state == 0 and back_state == 1:
+            gripper_control_message.should_home = True
+            gripper_control_message.gripper_mode = 1
+            self.gripper_control_publisher.publish(gripper_control_message)
+            self.last_back_button_state = 1
+        elif self.last_back_button_state == 1 and back_state == 0:
+            self.last_back_button_state = 0
+
    def send_mining_commands(self):

        left_y_axis = self.controller.controller_states["left_y_axis"] if abs(
--- a/software/ros_packages/ground_station/src/Framework/MiscSystems/MiningCore.py
+++ b/software/ros_packages/ground_station/src/Framework/MiscSystems/MiningCore.py
@@ -8,6 +8,7 @@ import logging
 import rospy

 from rover_control.msg import MiningStatusMessage, MiningControlMessage
+from rover_science.msg import SoilSensorStatusMessage

 #####################################
 # Global Variables
@@ -15,6 +16,8 @@ from rover_control.msg import MiningStatusMessage, MiningControlMessage
 MINING_STATUS_TOPIC = "/rover_control/mining/status"
 MINING_CONTROL_TOPIC = "/rover_control/mining/control"

+SOIL_PROBE_TOPIC = "/rover_science/soil_probe/data"
+
 TRAVEL_POSITION_LIFT = 110
 TRAVEL_POSITION_TILT = 1023

@@ -35,6 +38,13 @@ class Mining(QtCore.QObject):

    weight_measurement_update_ready__signal = QtCore.pyqtSignal(int)

+    temp_update_ready__signal = QtCore.pyqtSignal(float)
+    moisture_update_ready__signal = QtCore.pyqtSignal(float)
+    loss_tangent_update_ready__signal = QtCore.pyqtSignal(float)
+    electrical_conductivity_update_ready__signal = QtCore.pyqtSignal(float)
+    real_dielectric_update_ready__signal = QtCore.pyqtSignal(float)
+    imaginary_dielectric_update_ready__signal = QtCore.pyqtSignal(float)
+
    def __init__(self, shared_objects):
        super(Mining, self).__init__()

@@ -54,6 +64,13 @@ class Mining(QtCore.QObject):
        self.mining_transport_move_button = self.left_screen.mining_transport_move_button  # type:QtWidgets.QPushButton
        self.mining_scoop_move_button = self.left_screen.mining_scoop_move_button  # type:QtWidgets.QPushButton

+        self.science_temp_lcd_number = self.left_screen.science_temp_lcd_number  # type:QtWidgets.QLCDNumber
+        self.science_moisture_lcd_number = self.left_screen.science_moisture_lcd_number  # type:QtWidgets.QLCDNumber
+        self.science_loss_tangent_lcd_number = self.left_screen.science_loss_tangent_lcd_number  # type:QtWidgets.QLCDNumber
+        self.science_electrical_conductivity_lcd_number = self.left_screen.science_electrical_conductivity_lcd_number  # type:QtWidgets.QLCDNumber
+        self.science_real_dielectric_lcd_number = self.left_screen.science_real_dielectric_lcd_number  # type:QtWidgets.QLCDNumber
+        self.science_imaginary_dielectric_lcd_number = self.left_screen.science_imaginary_dielectric_lcd_number  # type:QtWidgets.QLCDNumber
+
        # ########## Get the settings instance ##########
        self.settings = QtCore.QSettings()

@@ -67,6 +84,8 @@ class Mining(QtCore.QObject):
        self.mining_status_subscriber = rospy.Subscriber(MINING_STATUS_TOPIC, MiningStatusMessage,
                                                         self.mining_status_message_received__callback)

+        self.soil_probe_subscriber = rospy.Subscriber(SOIL_PROBE_TOPIC, SoilSensorStatusMessage, self.on_soil_probe_message_received__callback)
+
        self.mining_control_publisher = rospy.Publisher(MINING_CONTROL_TOPIC, MiningControlMessage, queue_size=1)

        self.connect_signals_and_slots()
@@ -85,6 +104,13 @@ class Mining(QtCore.QObject):

        self.weight_measurement_update_ready__signal.connect(self.mining_qlcdnumber.display)

+        self.temp_update_ready__signal.connect(self.science_temp_lcd_number.display)
+        self.moisture_update_ready__signal.connect(self.science_moisture_lcd_number.display)
+        self.loss_tangent_update_ready__signal.connect(self.science_loss_tangent_lcd_number.display)
+        self.electrical_conductivity_update_ready__signal.connect(self.science_electrical_conductivity_lcd_number.display)
+        self.real_dielectric_update_ready__signal.connect(self.science_real_dielectric_lcd_number.display)
+        self.imaginary_dielectric_update_ready__signal.connect(self.science_imaginary_dielectric_lcd_number.display)
+
    def on_mining_set_cal_factor_clicked__slot(self):
        message = MiningControlMessage()

@@ -141,3 +167,11 @@ class Mining(QtCore.QObject):
        self.tilt_position_update_ready__signal.emit(status.tilt_position)
        self.lift_position_update_ready__signal.emit(status.lift_position)
        self.weight_measurement_update_ready__signal.emit(status.measured_weight)
+
+    def on_soil_probe_message_received__callback(self, data):
+        self.temp_update_ready__signal.emit(data.temp_c)
+        self.moisture_update_ready__signal.emit(data.moisture)
+        self.loss_tangent_update_ready__signal.emit(data.loss_tangent)
+        self.electrical_conductivity_update_ready__signal.emit(data.soil_electrical_conductivity)
+        self.real_dielectric_update_ready__signal.emit(data.real_dielectric_permittivity)
+        self.imaginary_dielectric_update_ready__signal.emit(data.imaginary_dielectric_permittivity)
--- a/software/ros_packages/ground_station/src/Framework/MiscSystems/RDFCore.py
+++ b/software/ros_packages/ground_station/src/Framework/MiscSystems/RDFCore.py
@@ -13,7 +13,7 @@ from std_msgs.msg import Float64MultiArray
 #####################################
 # Global Variables
 #####################################
-RDF_DATA_TOPIC = "/rdf/data"
+RDF_DATA_TOPIC = "/rover_science/rdf/data"

 THREAD_HERTZ = 5

--- a/software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
+++ b/software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
@@ -1390,7 +1390,7 @@ N/A</string>
         </size>
        </property>
        <property name="currentIndex">
-         <number>1</number>
+         <number>2</number>
        </property>
        <widget class="QWidget" name="tab_5">
         <attribute name="title">
@@ -1652,7 +1652,7 @@ N/A</string>
        </widget>
        <widget class="QWidget" name="tab_3">
         <attribute name="title">
-          <string>Mining</string>
+          <string>Mining / Science</string>
         </attribute>
         <layout class="QGridLayout" name="gridLayout_8">
          <item row="5" column="0">
@@ -1721,7 +1721,7 @@ N/A</string>
           <widget class="QLabel" name="label_13">
            <property name="font">
             <font>
-              <pointsize>20</pointsize>
+              <pointsize>16</pointsize>
              <weight>75</weight>
              <bold>true</bold>
             </font>
@@ -1851,13 +1851,13 @@ N/A</string>
              <property name="minimumSize">
               <size>
                <width>300</width>
-                <height>150</height>
+                <height>75</height>
               </size>
              </property>
              <property name="maximumSize">
               <size>
                <width>300</width>
-                <height>150</height>
+                <height>75</height>
               </size>
              </property>
              <property name="font">
@@ -1905,7 +1905,7 @@ N/A</string>
            </item>
           </layout>
          </item>
-          <item row="8" column="0">
+          <item row="10" column="0">
           <spacer name="verticalSpacer">
            <property name="orientation">
             <enum>Qt::Vertical</enum>
@@ -1976,6 +1976,216 @@ N/A</string>
            </item>
           </layout>
          </item>
+          <item row="8" column="0">
+           <widget class="Line" name="line_9">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+           </widget>
+          </item>
+          <item row="9" column="0">
+           <layout class="QHBoxLayout" name="horizontalLayout_16">
+            <item>
+             <layout class="QVBoxLayout" name="verticalLayout_10">
+              <item>
+               <widget class="QLabel" name="label_20">
+                <property name="font">
+                 <font>
+                  <pointsize>16</pointsize>
+                  <weight>75</weight>
+                  <bold>true</bold>
+                 </font>
+                </property>
+                <property name="text">
+                 <string>Science Probe Data</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <layout class="QGridLayout" name="gridLayout_17">
+                <item row="0" column="0">
+                 <layout class="QVBoxLayout" name="verticalLayout_6">
+                  <item>
+                   <widget class="QLabel" name="label_21">
+                    <property name="font">
+                     <font>
+                      <pointsize>10</pointsize>
+                      <weight>75</weight>
+                      <bold>true</bold>
+                     </font>
+                    </property>
+                    <property name="text">
+                     <string>Temp °C</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QLCDNumber" name="science_temp_lcd_number">
+                    <property name="minimumSize">
+                     <size>
+                      <width>0</width>
+                      <height>35</height>
+                     </size>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
+                <item row="0" column="1">
+                 <layout class="QVBoxLayout" name="verticalLayout_11">
+                  <item>
+                   <widget class="QLabel" name="moisture_label">
+                    <property name="font">
+                     <font>
+                      <pointsize>10</pointsize>
+                      <weight>75</weight>
+                      <bold>true</bold>
+                     </font>
+                    </property>
+                    <property name="text">
+                     <string>Moisture %</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QLCDNumber" name="science_moisture_lcd_number">
+                    <property name="minimumSize">
+                     <size>
+                      <width>0</width>
+                      <height>35</height>
+                     </size>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
+                <item row="0" column="2">
+                 <layout class="QVBoxLayout" name="verticalLayout_12">
+                  <item>
+                   <widget class="QLabel" name="tangent_label">
+                    <property name="font">
+                     <font>
+                      <pointsize>10</pointsize>
+                      <weight>75</weight>
+                      <bold>true</bold>
+                     </font>
+                    </property>
+                    <property name="text">
+                     <string>Loss Tangent</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QLCDNumber" name="science_loss_tangent_lcd_number">
+                    <property name="minimumSize">
+                     <size>
+                      <width>0</width>
+                      <height>35</height>
+                     </size>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
+                <item row="1" column="0">
+                 <layout class="QVBoxLayout" name="verticalLayout_13">
+                  <item>
+                   <widget class="QLabel" name="conductivity_label">
+                    <property name="font">
+                     <font>
+                      <pointsize>10</pointsize>
+                      <weight>75</weight>
+                      <bold>true</bold>
+                     </font>
+                    </property>
+                    <property name="text">
+                     <string>Soil
+Electrical
+Conductivity</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QLCDNumber" name="science_electrical_conductivity_lcd_number">
+                    <property name="minimumSize">
+                     <size>
+                      <width>0</width>
+                      <height>35</height>
+                     </size>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
+                <item row="1" column="1">
+                 <layout class="QVBoxLayout" name="verticalLayout_16">
+                  <item>
+                   <widget class="QLabel" name="real_dielectric_label">
+                    <property name="font">
+                     <font>
+                      <pointsize>10</pointsize>
+                      <weight>75</weight>
+                      <bold>true</bold>
+                     </font>
+                    </property>
+                    <property name="text">
+                     <string>Real
+Dielectric
+Permittivity</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QLCDNumber" name="science_real_dielectric_lcd_number">
+                    <property name="minimumSize">
+                     <size>
+                      <width>0</width>
+                      <height>35</height>
+                     </size>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
+                <item row="1" column="2">
+                 <layout class="QVBoxLayout" name="verticalLayout_18">
+                  <item>
+                   <widget class="QLabel" name="imaginary_label">
+                    <property name="font">
+                     <font>
+                      <pointsize>10</pointsize>
+                      <weight>75</weight>
+                      <bold>true</bold>
+                     </font>
+                    </property>
+                    <property name="text">
+                     <string>Imaginary
+Dielectric
+Permittivity</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QLCDNumber" name="science_imaginary_dielectric_lcd_number">
+                    <property name="minimumSize">
+                     <size>
+                      <width>0</width>
+                      <height>35</height>
+                     </size>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
+               </layout>
+              </item>
+             </layout>
+            </item>
+           </layout>
+          </item>
         </layout>
        </widget>
        <widget class="QWidget" name="tab">
--- a/software/ros_packages/ground_station/src/Resources/Ui/right_screen.ui
+++ b/software/ros_packages/ground_station/src/Resources/Ui/right_screen.ui
@@ -1551,7 +1551,7 @@ Position</string>
                    </font>
                   </property>
                   <property name="text">
-                    <string>Mode Readouts</string>
+                    <string>Mode Readouts / Setpoint</string>
                   </property>
                  </widget>
                 </item>
@@ -1801,6 +1801,34 @@ Position</string>
                     </property>
                    </spacer>
                   </item>
+                   <item>
+                    <layout class="QVBoxLayout" name="verticalLayout_68">
+                     <item>
+                      <widget class="QLabel" name="label_101">
+                       <property name="font">
+                        <font>
+                         <pointsize>10</pointsize>
+                         <weight>75</weight>
+                         <bold>true</bold>
+                        </font>
+                       </property>
+                       <property name="text">
+                        <string>Reported Setpoint</string>
+                       </property>
+                      </widget>
+                     </item>
+                     <item>
+                      <widget class="QLCDNumber" name="gripper_reported_setpoint_lcd_number">
+                       <property name="minimumSize">
+                        <size>
+                         <width>0</width>
+                         <height>50</height>
+                        </size>
+                       </property>
+                      </widget>
+                     </item>
+                    </layout>
+                   </item>
                  </layout>
                 </item>
                </layout>
@@ -2201,63 +2229,52 @@ Position</string>
                     </item>
                    </layout>
                   </item>
+                  </layout>
+                 </item>
+                 <item>
+                  <layout class="QVBoxLayout" name="verticalLayout_15">
                   <item>
-                    <layout class="QVBoxLayout" name="verticalLayout_15">
-                     <item>
-                      <widget class="QLabel" name="label_3">
-                       <property name="font">
-                        <font>
-                         <pointsize>14</pointsize>
-                         <weight>75</weight>
-                         <bold>true</bold>
-                        </font>
-                       </property>
-                       <property name="text">
-                        <string>Speed Limit</string>
-                       </property>
-                       <property name="alignment">
-                        <set>Qt::AlignCenter</set>
-                       </property>
-                      </widget>
-                     </item>
-                     <item>
-                      <widget class="QProgressBar" name="speed_limit_progress_bar">
-                       <property name="sizePolicy">
-                        <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-                         <horstretch>0</horstretch>
-                         <verstretch>0</verstretch>
-                        </sizepolicy>
-                       </property>
-                       <property name="maximumSize">
-                        <size>
-                         <width>133</width>
-                         <height>16777215</height>
-                        </size>
-                       </property>
-                       <property name="maximum">
-                        <number>100</number>
-                       </property>
-                       <property name="value">
-                        <number>50</number>
-                       </property>
-                       <property name="alignment">
-                        <set>Qt::AlignCenter</set>
-                       </property>
-                       <property name="textVisible">
-                        <bool>true</bool>
-                       </property>
-                       <property name="orientation">
-                        <enum>Qt::Horizontal</enum>
-                       </property>
-                       <property name="invertedAppearance">
-                        <bool>false</bool>
-                       </property>
-                       <property name="textDirection">
-                        <enum>QProgressBar::TopToBottom</enum>
-                       </property>
-                      </widget>
-                     </item>
-                    </layout>
+                    <spacer name="verticalSpacer_3">
+                     <property name="orientation">
+                      <enum>Qt::Vertical</enum>
+                     </property>
+                     <property name="sizeHint" stdset="0">
+                      <size>
+                       <width>20</width>
+                       <height>40</height>
+                      </size>
+                     </property>
+                    </spacer>
+                   </item>
+                   <item>
+                    <widget class="QLabel" name="label_3">
+                     <property name="font">
+                      <font>
+                       <pointsize>14</pointsize>
+                       <weight>75</weight>
+                       <bold>true</bold>
+                      </font>
+                     </property>
+                     <property name="text">
+                      <string>Speed Limit</string>
+                     </property>
+                     <property name="alignment">
+                      <set>Qt::AlignCenter</set>
+                     </property>
+                    </widget>
+                   </item>
+                   <item>
+                    <widget class="QSlider" name="rover_speed_limit_slider">
+                     <property name="maximum">
+                      <number>100</number>
+                     </property>
+                     <property name="value">
+                      <number>50</number>
+                     </property>
+                     <property name="orientation">
+                      <enum>Qt::Horizontal</enum>
+                     </property>
+                    </widget>
                   </item>
                  </layout>
                 </item>