Merge branch 'master' of https://github.com/OSURoboticsClub/Rover_2017_2018

software/ros_packages/ground_station/src/Framework/StatusSystems/StatusCore.py

@@ -17,8 +17,29 @@ MISC_TOPIC_NAME = "/rover_status/misc_status"
 
 
 class SensorCore(QtCore.QThread):
+    # ########## create signals for slots ##########
     jetson_cpu_update_ready__signal = QtCore.pyqtSignal(str)
     jetson_cpu_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
+    jetson_emmc_update_ready__signal = QtCore.pyqtSignal(str)
+    jetson_emmc_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
+    jetson_gpu_temp_update_ready__signal = QtCore.pyqtSignal(str)
+    jetson_gpu_temp_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
+    jetson_ram_update_ready__signal = QtCore.pyqtSignal(str)
+    jetson_ram_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
+
+    bogie_connection_1_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
+    bogie_connection_2_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
+    bogie_connection_3_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
+
+    camera_zed_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
+    camera_under_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
+    camera_chassis_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
+    camera_main_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
+
+    gps_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
+
+    frsky_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
+
 
     def __init__(self, shared_objects):
         super(SensorCore, self).__init__()
@@ -29,9 +50,10 @@ class SensorCore(QtCore.QThread):
         self.shared_objects = shared_objects
         self.screen_main_window = self.shared_objects["screens"]["left_screen"]
 
-        self.cpu_read = self.screen_main_window.lineEdit  # type: QtWidgets.QLabel
-        self.ram_read = self.screen_main_window.lineEdit_2  # type: QtWidgets.QLabel
+        # self.cpu_read = self.screen_main_window.lineEdit  # type: QtWidgets.QLabel
+        # self.ram_read = self.screen_main_window.lineEdit_2  # type: QtWidgets.QLabel
 
+        # ########## set vars to gui elements
         self.rover_conn = self.screen_main_window.rover  # type: QtWidgets.QLabel
         self.frsky = self.screen_main_window.frsky  # type: QtWidgets.QLabel
         self.nav_mouse = self.screen_main_window.nav_mouse  # type: QtWidgets.QLabel
@@ -47,8 +69,10 @@ class SensorCore(QtCore.QThread):
         self.clock = self.screen_main_window.clock  # type: QtWidgets.QLCDNumber
         self.cpu = self.screen_main_window.cpu  # type: QtWidgets.QLabel
         self.ram = self.screen_main_window.ram  # type: QtWidgets.QLabel
+        self.gpu_temp = self.screen_main_window.gpu_temp  # type: QtWidgets.QLabel
+        self.emmc = self.screen_main_window.emmc  # type: QtWidgets.QLabel
 
-        # Subscription examples on pulling data from system_statuses_node.py
+        # ########## subscriptions pulling data from system_statuses_node.py ##########
         self.camera_status = rospy.Subscriber(CAMERA_TOPIC_NAME, CameraStatuses, self.__camera_callback)
         self.bogie_status = rospy.Subscriber(BOGIE_TOPIC_NAME, BogieStatuses, self.__bogie_callback)
         self.frsky_status = rospy.Subscriber(FRSKY_TOPIC_NAME, FrSkyStatus, self.__frsky_callback)
@@ -72,32 +96,40 @@ class SensorCore(QtCore.QThread):
         self.camera_msg.camera_main_navigation = data.camera_main_navigation
 
         if self.camera_msg.camera_zed is False:
-            self.zed.setStyleSheet("background-color: red;")
+            # self.zed.setStyleSheet("background-color: red;")
+            self.camera_zed_stylesheet_change_ready__signal.emit("background-color: darkred;")
         else:
-            self.zed.setStyleSheet("background-color: darkgreen;")
+            # self.zed.setStyleSheet("background-color: darkgreen;")
+            self.camera_zed_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
 
         if self.camera_msg.camera_undercarriage is False:
-            self.under_cam.setStyleSheet("background-color: red;")
+            # self.under_cam.setStyleSheet("background-color: darkred;")
+            self.camera_under_stylesheet_change_ready__signal.emit("background-color: darkred;")
         else:
-            self.under_cam.setStyleSheet("background-color: darkgreen;")
+            # self.under_cam.setStyleSheet("background-color: darkgreen;")
+            self.camera_under_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
 
         if self.camera_msg.camera_chassis is False:
-            self.chassis_cam.setStyleSheet("background-color: red;")
+            # self.chassis_cam.setStyleSheet("background-color: darkred;")
+            self.camera_chassis_stylesheet_change_ready__signal.emit("background-color: darkred;")
         else:
-            self.chassis_cam.setStyleSheet("background-color: darkgreen;")
+            # self.chassis_cam.setStyleSheet("background-color: darkgreen;")
+            self.camera_chassis_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
 
         if self.camera_msg.camera_main_navigation is False:
-            self.main_cam.setStyleSheet("background-color: red;")
+            # self.main_cam.setStyleSheet("background-color: darkred;")
+            self.camera_main_stylesheet_change_ready__signal.emit("background-color: darkred;")
         else:
-            self.main_cam.setStyleSheet("background-color: darkgreen;")
+            # self.main_cam.setStyleSheet("background-color: darkgreen;")
+            self.camera_main_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
 
     def __frsky_callback(self, data):
         self.FrSky_msg.FrSky_controller_connection_status = data.FrSky_controller_connection_status
 
         if self.FrSky_msg.FrSky_controller_connection_status is False:
-            self.frsky.setStyleSheet("background-color: red;")
+            self.frsky_stylesheet_change_ready__signal.emit("background-color: darkred;")
         else:
-            self.frsky.setStyleSheet("background-color: darkgreen;")
+            self.frsky_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
 
     def __bogie_callback(self, data):
         self.bogie_msg.bogie_connection_1 = data.bogie_connection_1
@@ -105,19 +137,25 @@ class SensorCore(QtCore.QThread):
         self.bogie_msg.bogie_connection_3 = data.bogie_connection_3
 
         if self.bogie_msg.bogie_connection_1 is False:
-            self.bogie_right.setStyleSheet("background-color: red;")
+            # self.bogie_right.setStyleSheet("background-color: darkred;")
+            self.bogie_connection_1_stylesheet_change_ready__signal.emit("background-color: darkred;")
         else:
-            self.bogie_right.setStyleSheet("background-color: darkgreen;")
+            # self.bogie_right.setStyleSheet("background-color: darkgreen;")
+            self.bogie_connection_1_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
 
         if self.bogie_msg.bogie_connection_2 is False:
-            self.bogie_left.setStyleSheet("background-color: red;")
+            # self.bogie_left.setStyleSheet("background-color: darkred;")
+            self.bogie_connection_2_stylesheet_change_ready__signal.emit("background-color: darkred;")
         else:
-            self.bogie_left.setStyleSheet("background-color: darkgreen;")
+            # self.bogie_left.setStyleSheet("background-color: darkgreen;")
+            self.bogie_connection_2_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
 
         if self.bogie_msg.bogie_connection_3 is False:
-            self.bogie_rear.setStyleSheet("background-color: red;")
+            # self.bogie_rear.setStyleSheet("background-color: darkred;")
+            self.bogie_connection_3_stylesheet_change_ready__signal.emit("background-color: darkred;")
         else:
-            self.bogie_rear.setStyleSheet("background-color: darkgreen;")
+            # self.bogie_rear.setStyleSheet("background-color: darkgreen;")
+            self.bogie_connection_3_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
 
     def __jetson_callback(self, data):
         self.jetson_msg.jetson_CPU = data.jetson_CPU
@@ -128,35 +166,48 @@ class SensorCore(QtCore.QThread):
 
         if self.jetson_msg.jetson_CPU > 79:
             self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: orange;")
-            # self.cpu.setStyleSheet("background-color: orange;")
         elif self.jetson_msg.jetson_CPU > 89:
-            self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: red;")
-            # self.cpu.setStyleSheet("background-color: red;")
+            self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: darkred;")
         else:
             self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
-            # self.cpu.setStyleSheet("background-color: darkgreen;")
 
-        # self.jetson_msg.jetson_RAM = data.jetson_RAM
-        # self.ram.setText(str(self.jetson_msg.jetson_RAM))
-        # if self.jetson_msg.jetson_RAM > 79:
-        #     self.ram.setStyleSheet("background-color: orange;")
-        # elif self.jetson_msg.jetson_RAM > 89:
-        #     self.ram.setStyleSheet("background-color: red;")
-        # else:
-        #     self.ram.setStyleSheet("background-color: darkgreen;")
-        #
-        # self.jetson_msg.jetson_EMMC = data.jetson_EMMC
-        # self.jetson_msg.jetson_NVME_SSD = data.jetson_NVME_SSD
-        #rospy.loginfo(self.jetson_msg)
+        self.jetson_ram_update_ready__signal.emit(str(self.jetson_msg.jetson_RAM))
+
+        if self.jetson_msg.jetson_RAM > 79:
+            self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: orange;")
+        elif self.jetson_msg.jetson_RAM > 89:
+            self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: darkred;")
+        else:
+            self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
+
+        self.jetson_gpu_temp_update_ready__signal.emit(str(self.jetson_msg.jetson_GPU_temp))
+
+        if self.jetson_msg.jetson_GPU_temp > 64:
+            self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: orange;")
+        elif self.jetson_msg.jetson_GPU_temp > 79:
+            self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: darkred;")
+        else:
+            self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
+
+        self.jetson_emmc_update_ready__signal.emit(str(self.jetson_msg.jetson_EMMC))
+
+        if self.jetson_msg.jetson_EMMC > 79:
+            self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: orange;")
+        elif self.jetson_msg.jetson_EMMC > 89:
+            self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: darkred;")
+        else:
+            self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: darkgreen")
 
     def __gps_callback(self, data):
         self.GPS_msg.UTC_GPS_time = data.UTC_GPS_time
         self.GPS_msg.GPS_connection_status = data.GPS_connection_status
 
         if self.GPS_msg.GPS_connection_status is False:
-            self.gps.setStyleSheet("background-color: red")
+            # self.gps.setStyleSheet("background-color: darkred")
+            self.gps_stylesheet_change_ready__signal.emit("background-color: darkred;")
         else:
-            self.gps.setStyleSheet("background-color: darkgreen;")
+            # self.gps.setStyleSheet("background-color: darkgreen;")
+            self.gps_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
 
     def __misc_callback(self, data):
         self.misc_msg.arm_connection_status = data.arm_connection_status
@@ -177,6 +228,21 @@ class SensorCore(QtCore.QThread):
     def connect_signals_and_slots(self):
         self.jetson_cpu_update_ready__signal.connect(self.cpu.setText)
         self.jetson_cpu_stylesheet_change_ready__signal.connect(self.cpu.setStyleSheet)
+        self.jetson_ram_update_ready__signal.connect(self.ram.setText)
+        self.jetson_ram_stylesheet_change_ready__signal(self.ram.setStyleSheet)
+        self.jetson_emmc_update_ready__signal.connect(self.emmc.setText)
+        self.jetson_emmc_stylesheet_change_ready__signal.connect(self.emmc.setStyleSheet)
+        self.jetson_gpu_temp_update_ready__signal.connect(self.gpu_temp.setText)
+        self.jetson_gpu_temp_stylesheet_change_ready__signal(self.gpu_temp.setStyleSheet)
+        self.bogie_connection_1_stylesheet_change_ready__signal.connect(self.bogie_right.setStyleSheet)
+        self.bogie_connection_2_stylesheet_change_ready__signal.connect(self.bogie_left.setStyleSheet)
+        self.bogie_connection_3_stylesheet_change_ready__signal.connect(self.bogie_rear.setStyleSheet)
+        self.camera_zed_stylesheet_change_ready__signal.connect(self.zed.setStyleSheet)
+        self.camera_under_stylesheet_change_ready__signal.connect(self.under_cam.setStyleSheet)
+        self.camera_chassis_stylesheet_change_ready__signal.connect(self.chassis_cam.setStyleSheet)
+        self.camera_main_stylesheet_change_ready__signal.connect(self.main_cam.setStyleSheet)
+        self.gps_stylesheet_change_ready__signal.connect(self.gps.setStyleSheet)
+        self.frsky_stylesheet_change_ready__signal.connect(self.frsky.setStyleSheet)
 
     def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
         start_signal.connect(self.start)

software/ros_packages/ground_station/src/Resources/Ui/right_screen.ui

@@ -858,225 +858,354 @@
               <number>0</number>
              </property>
              <item>
-              <widget class="QLabel" name="label">
-               <property name="font">
-                <font>
-                 <pointsize>22</pointsize>
-                 <weight>75</weight>
-                 <bold>true</bold>
-                </font>
-               </property>
-               <property name="text">
-                <string>Current Speed</string>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignCenter</set>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_2">
-               <property name="spacing">
-                <number>0</number>
-               </property>
+              <layout class="QVBoxLayout" name="verticalLayout_9">
                <item>
-                <widget class="QLabel" name="current_speed_label">
-                 <property name="font">
-                  <font>
-                   <pointsize>22</pointsize>
-                  </font>
+                <layout class="QVBoxLayout" name="verticalLayout_10">
+                 <property name="spacing">
+                  <number>0</number>
                  </property>
-                 <property name="text">
-                  <string>0.0</string>
-                 </property>
-                 <property name="alignment">
-                  <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                 </property>
-                </widget>
+                 <item>
+                  <layout class="QHBoxLayout" name="horizontalLayout_2">
+                   <item>
+                    <layout class="QVBoxLayout" name="verticalLayout_14">
+                     <item>
+                      <widget class="QLabel" name="label_5">
+                       <property name="font">
+                        <font>
+                         <pointsize>15</pointsize>
+                         <weight>75</weight>
+                         <bold>true</bold>
+                        </font>
+                       </property>
+                       <property name="text">
+                        <string>Current Speed</string>
+                       </property>
+                       <property name="alignment">
+                        <set>Qt::AlignCenter</set>
+                       </property>
+                      </widget>
+                     </item>
+                     <item>
+                      <layout class="QHBoxLayout" name="horizontalLayout_8">
+                       <property name="spacing">
+                        <number>0</number>
+                       </property>
+                       <item>
+                        <widget class="QLabel" name="current_speed_label">
+                         <property name="font">
+                          <font>
+                           <pointsize>14</pointsize>
+                          </font>
+                         </property>
+                         <property name="text">
+                          <string>0.0</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>
+                           <pointsize>14</pointsize>
+                          </font>
+                         </property>
+                         <property name="text">
+                          <string>m/s</string>
+                         </property>
+                        </widget>
+                       </item>
+                      </layout>
+                     </item>
+                     <item>
+                      <spacer name="verticalSpacer_2">
+                       <property name="orientation">
+                        <enum>Qt::Vertical</enum>
+                       </property>
+                       <property name="sizeHint" stdset="0">
+                        <size>
+                         <width>20</width>
+                         <height>40</height>
+                        </size>
+                       </property>
+                      </spacer>
+                     </item>
+                    </layout>
+                   </item>
+                   <item>
+                    <layout class="QVBoxLayout" name="verticalLayout_15">
+                     <item>
+                      <widget class="QLabel" name="label_3">
+                       <property name="font">
+                        <font>
+                         <pointsize>15</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="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>
+                     <item>
+                      <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>
+                    </layout>
+                   </item>
+                  </layout>
+                 </item>
+                 <item>
+                  <widget class="QLabel" name="label_6">
+                   <property name="font">
+                    <font>
+                     <pointsize>15</pointsize>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>Tank Drive Output</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <layout class="QFormLayout" name="formLayout">
+                   <property name="fieldGrowthPolicy">
+                    <enum>QFormLayout::ExpandingFieldsGrow</enum>
+                   </property>
+                   <property name="horizontalSpacing">
+                    <number>6</number>
+                   </property>
+                   <item row="0" column="0">
+                    <widget class="QLabel" name="label_13">
+                     <property name="font">
+                      <font>
+                       <weight>75</weight>
+                       <bold>true</bold>
+                      </font>
+                     </property>
+                     <property name="text">
+                      <string> Left</string>
+                     </property>
+                    </widget>
+                   </item>
+                   <item row="0" column="1">
+                    <widget class="QProgressBar" name="left_drive_progress_bar">
+                     <property name="styleSheet">
+                      <string notr="true">background-color:darkred;</string>
+                     </property>
+                     <property name="minimum">
+                      <number>0</number>
+                     </property>
+                     <property name="maximum">
+                      <number>100</number>
+                     </property>
+                     <property name="value">
+                      <number>0</number>
+                     </property>
+                     <property name="textVisible">
+                      <bool>true</bool>
+                     </property>
+                    </widget>
+                   </item>
+                   <item row="1" column="0">
+                    <widget class="QLabel" name="label_14">
+                     <property name="font">
+                      <font>
+                       <weight>75</weight>
+                       <bold>true</bold>
+                      </font>
+                     </property>
+                     <property name="text">
+                      <string>Right</string>
+                     </property>
+                    </widget>
+                   </item>
+                   <item row="1" column="1">
+                    <widget class="QProgressBar" name="right_drive_progress_bar">
+                     <property name="styleSheet">
+                      <string notr="true">background-color:darkred;</string>
+                     </property>
+                     <property name="minimum">
+                      <number>0</number>
+                     </property>
+                     <property name="maximum">
+                      <number>100</number>
+                     </property>
+                     <property name="value">
+                      <number>0</number>
+                     </property>
+                     <property name="textVisible">
+                      <bool>true</bool>
+                     </property>
+                    </widget>
+                   </item>
+                  </layout>
+                 </item>
+                </layout>
                </item>
                <item>
-                <widget class="QLabel" name="label_7">
-                 <property name="font">
-                  <font>
-                   <pointsize>22</pointsize>
-                  </font>
+                <spacer name="verticalSpacer_4">
+                 <property name="orientation">
+                  <enum>Qt::Vertical</enum>
                  </property>
-                 <property name="text">
-                  <string>m/s</string>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>20</width>
+                   <height>40</height>
+                  </size>
                  </property>
-                </widget>
+                </spacer>
+               </item>
+               <item>
+                <layout class="QVBoxLayout" name="verticalLayout_11">
+                 <property name="spacing">
+                  <number>0</number>
+                 </property>
+                 <item>
+                  <widget class="QLabel" name="label_4">
+                   <property name="font">
+                    <font>
+                     <pointsize>15</pointsize>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>IMU Data</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <layout class="QHBoxLayout" name="horizontalLayout_6">
+                   <property name="spacing">
+                    <number>0</number>
+                   </property>
+                   <item>
+                    <layout class="QVBoxLayout" name="verticalLayout_12">
+                     <property name="spacing">
+                      <number>0</number>
+                     </property>
+                     <item>
+                      <widget class="QDial" name="dial_3">
+                       <property name="minimum">
+                        <number>-100</number>
+                       </property>
+                       <property name="maximum">
+                        <number>100</number>
+                       </property>
+                      </widget>
+                     </item>
+                     <item>
+                      <widget class="QLabel" name="label">
+                       <property name="font">
+                        <font>
+                         <weight>75</weight>
+                         <bold>true</bold>
+                        </font>
+                       </property>
+                       <property name="text">
+                        <string>Pitch</string>
+                       </property>
+                       <property name="alignment">
+                        <set>Qt::AlignCenter</set>
+                       </property>
+                      </widget>
+                     </item>
+                    </layout>
+                   </item>
+                   <item>
+                    <layout class="QVBoxLayout" name="verticalLayout_13">
+                     <property name="spacing">
+                      <number>0</number>
+                     </property>
+                     <item>
+                      <widget class="QDial" name="dial_4">
+                       <property name="minimum">
+                        <number>-100</number>
+                       </property>
+                       <property name="maximum">
+                        <number>100</number>
+                       </property>
+                       <property name="invertedAppearance">
+                        <bool>false</bool>
+                       </property>
+                       <property name="wrapping">
+                        <bool>true</bool>
+                       </property>
+                      </widget>
+                     </item>
+                     <item>
+                      <widget class="QLabel" name="label_15">
+                       <property name="font">
+                        <font>
+                         <weight>75</weight>
+                         <bold>true</bold>
+                        </font>
+                       </property>
+                       <property name="text">
+                        <string>Roll</string>
+                       </property>
+                       <property name="alignment">
+                        <set>Qt::AlignCenter</set>
+                       </property>
+                      </widget>
+                     </item>
+                    </layout>
+                   </item>
+                  </layout>
+                 </item>
+                </layout>
                </item>
               </layout>
              </item>
-             <item>
-              <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>22</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="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>
-             <item>
-              <spacer name="verticalSpacer_4">
-               <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_4">
-               <property name="font">
-                <font>
-                 <pointsize>22</pointsize>
-                 <weight>75</weight>
-                 <bold>true</bold>
-                </font>
-               </property>
-               <property name="text">
-                <string>Tank Drive Output</string>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignCenter</set>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <layout class="QFormLayout" name="formLayout">
-               <property name="horizontalSpacing">
-                <number>6</number>
-               </property>
-               <item row="0" column="0">
-                <widget class="QLabel" name="label_5">
-                 <property name="font">
-                  <font>
-                   <weight>75</weight>
-                   <bold>true</bold>
-                  </font>
-                 </property>
-                 <property name="text">
-                  <string> Left</string>
-                 </property>
-                </widget>
-               </item>
-               <item row="0" column="1">
-                <widget class="QProgressBar" name="left_drive_progress_bar">
-                 <property name="styleSheet">
-                  <string notr="true">background-color:darkred;</string>
-                 </property>
-                 <property name="minimum">
-                  <number>0</number>
-                 </property>
-                 <property name="maximum">
-                  <number>100</number>
-                 </property>
-                 <property name="value">
-                  <number>0</number>
-                 </property>
-                 <property name="textVisible">
-                  <bool>true</bool>
-                 </property>
-                </widget>
-               </item>
-               <item row="1" column="0">
-                <widget class="QLabel" name="label_6">
-                 <property name="font">
-                  <font>
-                   <weight>75</weight>
-                   <bold>true</bold>
-                  </font>
-                 </property>
-                 <property name="text">
-                  <string>Right</string>
-                 </property>
-                </widget>
-               </item>
-               <item row="1" column="1">
-                <widget class="QProgressBar" name="right_drive_progress_bar">
-                 <property name="styleSheet">
-                  <string notr="true">background-color:darkred;</string>
-                 </property>
-                 <property name="minimum">
-                  <number>0</number>
-                 </property>
-                 <property name="maximum">
-                  <number>100</number>
-                 </property>
-                 <property name="value">
-                  <number>0</number>
-                 </property>
-                 <property name="textVisible">
-                  <bool>true</bool>
-                 </property>
-                </widget>
-               </item>
-              </layout>
-             </item>
-             <item>
-              <spacer name="verticalSpacer_2">
-               <property name="orientation">
-                <enum>Qt::Vertical</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>40</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
             </layout>
            </widget>
           </item>