OP-1222 Changed servo calibarion to contain min, max and center on the same page.

ground/openpilotgcs/src/plugins/setupwizard/pages/airframestabfixedwingpage.cpp

@@ -33,7 +33,6 @@ AirframeStabFixedwingPage::AirframeStabFixedwingPage(SetupWizard *wizard, QWidge
     ui(new Ui::AirframeStabFixedwingPage)
 {
     ui->setupUi(this);
-    setFinalPage(true);
 }
 
 AirframeStabFixedwingPage::~AirframeStabFixedwingPage()

ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp

@@ -46,6 +46,15 @@ OutputCalibrationPage::OutputCalibrationPage(SetupWizard *wizard, QWidget *paren
     m_vehicleScene = new QGraphicsScene(this);
     ui->vehicleView->setScene(m_vehicleScene);
 
+    connect(ui->motorNeutralButton, SIGNAL(toggled(bool)), this, SLOT(on_motorNeutralButton_toggled(bool)));
+    connect(ui->motorNeutralSlider, SIGNAL(valueChanged(int)), this, SLOT(on_motorNeutralSlider_valueChanged(int)));
+
+    connect(ui->servoButton, SIGNAL(toggled(bool)), this, SLOT(on_servoButton_toggled(bool)));
+    connect(ui->servoMinAngleSlider, SIGNAL(valueChanged(int)), this, SLOT(on_servoMinAngleSlider_valueChanged(int)));
+    connect(ui->servoCenterAngleSlider, SIGNAL(valueChanged(int)), this, SLOT(on_servoCenterAngleSlider_valueChanged(int)));
+    connect(ui->servoMaxAngleSlider, SIGNAL(valueChanged(int)), this, SLOT(on_servoMaxAngleSlider_valueChanged(int)));
+
+    connect(ui->reverseCheckbox, SIGNAL(toggled(bool)), this, SLOT(on_reverseCheckbox_toggled(bool)));
 }
 
 OutputCalibrationPage::~OutputCalibrationPage()
@@ -108,17 +117,17 @@ void OutputCalibrationPage::setupVehicle()
 
         // The m_wizardIndexes array contains the index of the QStackedWidget
         // in the page to use for each step.
-        m_wizardIndexes << 0 << 1 << 1 << 1 << 2 << 3 << 4;
+        m_wizardIndexes << 0 << 1 << 1 << 1 << 2;
 
         // All element ids to load from the svg file and manage.
         m_vehicleElementIds << "tri" << "tri-frame" << "tri-m1" << "tri-m2" << "tri-m3" << "tri-s1";
 
         // The index of the elementId to highlight ( not dim ) for each step
         // this is the index in the m_vehicleElementIds - 1.
-        m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 4 << 4;
+        m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
 
         // The channel number to configure for each step.
-        m_channelIndex << 0 << 0 << 1 << 2 << 3 << 3 << 3;
+        m_channelIndex << 0 << 0 << 1 << 2 << 3;
 
         setupActuatorMinMaxAndNeutral(0, 2, 3);
 
@@ -174,34 +183,34 @@ void OutputCalibrationPage::setupVehicle()
     // Fixed Wing
     case SetupWizard::FIXED_WING_DUAL_AILERON:
         loadSVGFile(FIXEDWING_SVG_FILE);
-        m_wizardIndexes << 0 << 1 << 2 << 3 << 4 << 2 << 3 << 4 << 2 << 3 << 4 << 2 << 3 << 4;
+        m_wizardIndexes << 0 << 1 << 2 << 2 << 2 << 2;
         m_vehicleElementIds << "aileron" << "aileron-frame" << "aileron-motor" << "aileron-ail-left" << "aileron-ail-right" << "aileron-rudder" << "aileron-elevator";
-        m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 2 << 2 << 3 << 3 << 3 << 4 << 4 << 4 << 5 << 5 << 5;
+        m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5;
-        m_channelIndex << 0 << 2 << 0 << 0 << 0 << 1 << 1 << 1 << 3 << 3 << 3 << 4 << 4 << 4;
+        m_channelIndex << 0 << 2 << 0 << 1 << 3 << 4;
 
-        setupActuatorMinMaxAndNeutral(3, 3, 5);
+        setupActuatorMinMaxAndNeutral(2, 2, 5);
 
         getWizard()->setActuatorSettings(m_actuatorSettings);
         break;
     case SetupWizard::FIXED_WING_AILERON:
         loadSVGFile(FIXEDWING_SVG_FILE);
-        m_wizardIndexes << 0 << 1 << 2 << 3 << 4 << 2 << 3 << 4 << 2 << 3 << 4;
+        m_wizardIndexes << 0 << 1 << 2 << 2 << 2;
         m_vehicleElementIds << "aileron-single" << "ail2-frame" << "ail2-motor" << "ail2-aileron" << "ail2-rudder" << "ail2-elevator";
-        m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 2 << 2 << 3 << 3 << 3 << 4 << 4 << 4;
+        m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
-        m_channelIndex << 0 << 2 << 0 << 0 << 0 << 4 << 4 << 4 << 1 << 1 << 1;
+        m_channelIndex << 0 << 2 << 0 << 4 << 1;
 
-        setupActuatorMinMaxAndNeutral(3, 3, 4);
+        setupActuatorMinMaxAndNeutral(2, 2, 4);
 
         getWizard()->setActuatorSettings(m_actuatorSettings);
         break;
     case SetupWizard::FIXED_WING_ELEVON:
         loadSVGFile(FIXEDWING_SVG_FILE);
-        m_wizardIndexes << 0 << 1 << 2 << 3 << 4 << 2 << 3 << 4;
+        m_wizardIndexes << 0 << 1 << 2 << 2;
         m_vehicleElementIds << "elevon" << "elevon-frame" << "elevon-motor" << "elevon-left" << "elevon-right";
-        m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 2 << 2 << 3 << 3 << 3;
+        m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3;
-        m_channelIndex << 0 << 2 << 0 << 0 << 0 << 1 << 1 << 1;
+        m_channelIndex << 0 << 2 << 0 << 1;
 
-        setupActuatorMinMaxAndNeutral(3, 3, 3);
+        setupActuatorMinMaxAndNeutral(2, 2, 3);
 
         getWizard()->setActuatorSettings(m_actuatorSettings);
         break;
@@ -283,13 +292,16 @@ void OutputCalibrationPage::setWizardPage()
         if (currentPageIndex == 1) {
             ui->motorNeutralSlider->setValue(m_actuatorSettings[currentChannel].channelNeutral);
         } else if (currentPageIndex == 2) {
-            ui->servoCenterSlider->setValue(m_actuatorSettings[currentChannel].channelNeutral);
+            enableServoSliders(false);
-        } else if (currentPageIndex == 3) {
+            if (ui->reverseCheckbox->isChecked()) {
-            ui->servoMinAngleSlider->setMaximum(m_actuatorSettings[currentChannel].channelNeutral);
+                ui->servoMaxAngleSlider->setValue(m_actuatorSettings[currentChannel].channelMax);
-            ui->servoMinAngleSlider->setValue(m_actuatorSettings[currentChannel].channelMin);
+                ui->servoCenterAngleSlider->setValue(m_actuatorSettings[currentChannel].channelNeutral);
-        } else if (currentPageIndex == 4) {
+                ui->servoMinAngleSlider->setValue(m_actuatorSettings[currentChannel].channelMin);
-            ui->servoMaxAngleSlider->setMinimum(m_actuatorSettings[currentChannel].channelNeutral);
+            } else {
-            ui->servoMaxAngleSlider->setValue(m_actuatorSettings[currentChannel].channelMax);
+                ui->servoMinAngleSlider->setValue(m_actuatorSettings[currentChannel].channelMin);
+                ui->servoCenterAngleSlider->setValue(m_actuatorSettings[currentChannel].channelNeutral);
+                ui->servoMaxAngleSlider->setValue(m_actuatorSettings[currentChannel].channelMax);
+            }
         }
     }
     setupVehicleHighlightedPart();
@@ -360,6 +372,7 @@ void OutputCalibrationPage::enableButtons(bool enable)
 void OutputCalibrationPage::on_motorNeutralButton_toggled(bool checked)
 {
     ui->motorNeutralButton->setText(checked ? tr("Stop") : tr("Start"));
+    ui->motorNeutralSlider->setEnabled(checked);
     quint16 channel = getCurrentChannel();
     quint16 safeValue = m_actuatorSettings[channel].channelNeutral;
     onStartButtonToggle(ui->motorNeutralButton, channel, m_actuatorSettings[channel].channelNeutral, safeValue, ui->motorNeutralSlider);
@@ -370,6 +383,7 @@ void OutputCalibrationPage::onStartButtonToggle(QAbstractButton *button, quint16
     if (button->isChecked()) {
         if (checkAlarms()) {
             enableButtons(false);
+            enableServoSliders(true);
             m_calibrationUtil->startChannelOutput(channel, safeValue);
             slider->setValue(value);
             m_calibrationUtil->setChannelOutputValue(value);
@@ -378,11 +392,20 @@ void OutputCalibrationPage::onStartButtonToggle(QAbstractButton *button, quint16
         }
     } else {
         m_calibrationUtil->stopChannelOutput();
+        enableServoSliders(false);
         enableButtons(true);
     }
     debugLogChannelValues();
 }
 
+void OutputCalibrationPage::enableServoSliders(bool enabled)
+{
+    ui->servoCenterAngleSlider->setEnabled(enabled);
+    ui->servoMinAngleSlider->setEnabled(enabled);
+    ui->servoMaxAngleSlider->setEnabled(enabled);
+    ui->reverseCheckbox->setEnabled(!enabled);
+}
+
 bool OutputCalibrationPage::checkAlarms()
 {
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
@@ -434,68 +457,103 @@ void OutputCalibrationPage::on_motorNeutralSlider_valueChanged(int value)
     }
 }
 
-void OutputCalibrationPage::on_servoCenterButton_toggled(bool checked)
+void OutputCalibrationPage::on_servoButton_toggled(bool checked)
 {
-    ui->servoCenterButton->setText(checked ? tr("Stop") : tr("Start"));
+    ui->servoButton->setText(checked ? tr("Stop") : tr("Start"));
     quint16 channel   = getCurrentChannel();
-    quint16 safeValue = m_actuatorSettings[channel].channelNeutral;
+    quint16 safeValue = m_actuatorSettings[channel].channelNeutral;    
-    onStartButtonToggle(ui->servoCenterButton, channel, safeValue, safeValue, ui->servoCenterSlider);
+    onStartButtonToggle(ui->servoButton, channel, safeValue, safeValue, ui->servoCenterAngleSlider);
 }
 
-void OutputCalibrationPage::on_servoCenterSlider_valueChanged(int position)
+void OutputCalibrationPage::on_servoCenterAngleSlider_valueChanged(int position)
 {
     Q_UNUSED(position);
-    if (ui->servoCenterButton->isChecked()) {
+    quint16 value   = ui->servoCenterAngleSlider->value();
-        quint16 value   = ui->servoCenterSlider->value();
+    m_calibrationUtil->setChannelOutputValue(value);
-        m_calibrationUtil->setChannelOutputValue(value);
+    quint16 channel = getCurrentChannel();
-        quint16 channel = getCurrentChannel();
+    m_actuatorSettings[channel].channelNeutral = value;
-        m_actuatorSettings[channel].channelNeutral = value;
 
-        // Adjust min and max
+    // Adjust min and max
-        if (value < m_actuatorSettings[channel].channelMin) {
+    if (ui->reverseCheckbox->isChecked()) {
-            m_actuatorSettings[channel].channelMin = value;
+        if (value >= m_actuatorSettings[channel].channelMin) {
+            ui->servoMinAngleSlider->setValue(value);
         }
-        if (value > m_actuatorSettings[channel].channelMax) {
+        if (value <= m_actuatorSettings[channel].channelMax) {
-            m_actuatorSettings[channel].channelMax = value;
+            ui->servoMaxAngleSlider->setValue(value);
+        }
+    } else {
+        if (value <= m_actuatorSettings[channel].channelMin) {
+            ui->servoMinAngleSlider->setValue(value);
+        }
+        if (value >= m_actuatorSettings[channel].channelMax) {
+            ui->servoMaxAngleSlider->setValue(value);
         }
-        debugLogChannelValues();
     }
-}
+    debugLogChannelValues();
-
-void OutputCalibrationPage::on_servoMinAngleButton_toggled(bool checked)
-{
-    ui->servoMinAngleButton->setText(checked ? tr("Stop") : tr("Start"));
-    quint16 channel   = getCurrentChannel();
-    quint16 safeValue = m_actuatorSettings[channel].channelNeutral;
-    onStartButtonToggle(ui->servoMinAngleButton, channel, m_actuatorSettings[channel].channelMin, safeValue, ui->servoMinAngleSlider);
 }
 
 void OutputCalibrationPage::on_servoMinAngleSlider_valueChanged(int position)
 {
     Q_UNUSED(position);
-    if (ui->servoMinAngleButton->isChecked()) {
+    quint16 value = ui->servoMinAngleSlider->value();
-        quint16 value = ui->servoMinAngleSlider->value();
+    m_calibrationUtil->setChannelOutputValue(value);
-        m_calibrationUtil->setChannelOutputValue(value);
+    m_actuatorSettings[getCurrentChannel()].channelMin = value;
-        m_actuatorSettings[getCurrentChannel()].channelMin = value;
-        debugLogChannelValues();
-    }
-}
 
-void OutputCalibrationPage::on_servoMaxAngleButton_toggled(bool checked)
+    // Adjust neutral and max
-{
+    if (ui->reverseCheckbox->isChecked()) {
-    ui->servoMaxAngleButton->setText(checked ? tr("Stop") : tr("Start"));
+        if(value <= m_actuatorSettings[getCurrentChannel()].channelNeutral) {
-    quint16 channel   = getCurrentChannel();
+            ui->servoCenterAngleSlider->setValue(value);
-    quint16 safeValue = m_actuatorSettings[channel].channelNeutral;
+        }
-    onStartButtonToggle(ui->servoMaxAngleButton, channel, m_actuatorSettings[channel].channelMax, safeValue, ui->servoMaxAngleSlider);
+        if(value <= m_actuatorSettings[getCurrentChannel()].channelMax) {
+            ui->servoMaxAngleSlider->setValue(value);
+        }
+    } else {
+        if(value >= m_actuatorSettings[getCurrentChannel()].channelNeutral) {
+            ui->servoCenterAngleSlider->setValue(value);
+        }
+        if(value >= m_actuatorSettings[getCurrentChannel()].channelMax) {
+            ui->servoMaxAngleSlider->setValue(value);
+        }
+    }
+    debugLogChannelValues();
 }
 
 void OutputCalibrationPage::on_servoMaxAngleSlider_valueChanged(int position)
 {
     Q_UNUSED(position);
-    if (ui->servoMaxAngleButton->isChecked()) {
+    quint16 value = ui->servoMaxAngleSlider->value();
-        quint16 value = ui->servoMaxAngleSlider->value();
+    m_calibrationUtil->setChannelOutputValue(value);
-        m_calibrationUtil->setChannelOutputValue(value);
+    m_actuatorSettings[getCurrentChannel()].channelMax = value;
-        m_actuatorSettings[getCurrentChannel()].channelMax = value;
+
-        debugLogChannelValues();
+    // Adjust neutral and min
+    if (ui->reverseCheckbox->isChecked()) {
+        if(value >= m_actuatorSettings[getCurrentChannel()].channelNeutral) {
+            ui->servoCenterAngleSlider->setValue(value);
+        }
+        if(value >= m_actuatorSettings[getCurrentChannel()].channelMin) {
+            ui->servoMinAngleSlider->setValue(value);
+        }
+    } else {
+        if(value <= m_actuatorSettings[getCurrentChannel()].channelNeutral) {
+            ui->servoCenterAngleSlider->setValue(value);
+        }
+        if(value <= m_actuatorSettings[getCurrentChannel()].channelMin) {
+            ui->servoMinAngleSlider->setValue(value);
+        }
     }
+    debugLogChannelValues();
+}
+
+void OutputCalibrationPage::on_reverseCheckbox_toggled(bool checked)
+{
+    if (m_actuatorSettings[getCurrentChannel()].channelMax > m_actuatorSettings[getCurrentChannel()].channelMin) {
+        quint16 oldMax = m_actuatorSettings[getCurrentChannel()].channelMax;
+        m_actuatorSettings[getCurrentChannel()].channelMax = m_actuatorSettings[getCurrentChannel()].channelMin;
+        m_actuatorSettings[getCurrentChannel()].channelMin = oldMax;
+    } else if (m_actuatorSettings[getCurrentChannel()].channelMax < m_actuatorSettings[getCurrentChannel()].channelMin) {
+        quint16 oldMax = m_actuatorSettings[getCurrentChannel()].channelMax;
+        m_actuatorSettings[getCurrentChannel()].channelMax = m_actuatorSettings[getCurrentChannel()].channelMin;
+        m_actuatorSettings[getCurrentChannel()].channelMin = oldMax;
+    }
+    setWizardPage();
 }

ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.h

@@ -65,14 +65,11 @@ private slots:
     void on_motorNeutralButton_toggled(bool checked);
     void on_motorNeutralSlider_valueChanged(int value);
 
-    void on_servoCenterButton_toggled(bool checked);
+    void on_servoButton_toggled(bool checked);
-    void on_servoCenterSlider_valueChanged(int position);
+    void on_servoCenterAngleSlider_valueChanged(int position);
-
-    void on_servoMinAngleButton_toggled(bool checked);
     void on_servoMinAngleSlider_valueChanged(int position);
-
-    void on_servoMaxAngleButton_toggled(bool checked);
     void on_servoMaxAngleSlider_valueChanged(int position);
+    void on_reverseCheckbox_toggled(bool checked);
 
 private:
     void setupVehicle();
@@ -81,6 +78,7 @@ private:
     void setupVehicleHighlightedPart();
     void setWizardPage();
     void enableButtons(bool enable);
+    void enableServoSliders(bool enabled);
     void onStartButtonToggle(QAbstractButton *button, quint16 channel, quint16 value, quint16 safeValue, QSlider *slider);
     bool checkAlarms();
     void debugLogChannelValues();

ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.ui

@@ -31,10 +31,29 @@
      </property>
     </widget>
    </item>
+   <item row="1" column="1">
+    <widget class="QGraphicsView" name="vehicleView">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>200</width>
+       <height>200</height>
+      </size>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::NoFrame</enum>
+     </property>
+    </widget>
+   </item>
    <item row="1" column="0">
     <widget class="QStackedWidget" name="calibrationStack">
      <property name="currentIndex">
-      <number>4</number>
+      <number>2</number>
      </property>
      <widget class="QWidget" name="intro">
       <layout class="QVBoxLayout" name="verticalLayout_3">
@@ -133,7 +152,7 @@ p, li { white-space: pre-wrap; }
        <item>
         <widget class="QLabel" name="label_6">
          <property name="text">
-          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This step calibrates&lt;span style=&quot; font-weight:600;&quot;&gt; the center position of the servo&lt;/span&gt;. To set the center position for this servo, press the Start button below and slide the slider to center the servo. &lt;/p&gt;&lt;p&gt;When done press button again to stop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This step calibrates&lt;span style=&quot; font-weight:600;&quot;&gt; the minimum, center and maximum angle of the servo&lt;/span&gt;. To set the angles for this servo, press the Start button below and slide the slider for the angle to set. The servo will follow the sliders position. &lt;br/&gt;When done press button again to stop.&lt;/p&gt;&lt;p&gt;Check Reverse to reverse servo action.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
          </property>
          <property name="alignment">
           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
@@ -144,47 +163,435 @@ p, li { white-space: pre-wrap; }
         </widget>
        </item>
        <item>
-        <widget class="QSlider" name="servoCenterSlider">
+        <spacer name="verticalSpacer">
-         <property name="enabled">
-          <bool>false</bool>
-         </property>
-         <property name="minimum">
-          <number>600</number>
-         </property>
-         <property name="maximum">
-          <number>2400</number>
-         </property>
-         <property name="singleStep">
-          <number>1</number>
-         </property>
-         <property name="pageStep">
-          <number>10</number>
-         </property>
-         <property name="value">
-          <number>1500</number>
-         </property>
-         <property name="tracking">
-          <bool>true</bool>
-         </property>
          <property name="orientation">
-          <enum>Qt::Horizontal</enum>
+          <enum>Qt::Vertical</enum>
          </property>
-         <property name="invertedAppearance">
+         <property name="sizeHint" stdset="0">
-          <bool>false</bool>
+          <size>
-         </property>
+           <width>20</width>
-         <property name="invertedControls">
+           <height>40</height>
-          <bool>false</bool>
+          </size>
-         </property>
-         <property name="tickPosition">
-          <enum>QSlider::TicksBelow</enum>
-         </property>
-         <property name="tickInterval">
-          <number>40</number>
          </property>
+        </spacer>
+       </item>
+       <item>
+        <widget class="QWidget" name="widget" native="true">
+         <layout class="QFormLayout" name="formLayout">
+          <property name="horizontalSpacing">
+           <number>6</number>
+          </property>
+          <property name="verticalSpacing">
+           <number>6</number>
+          </property>
+          <property name="leftMargin">
+           <number>0</number>
+          </property>
+          <property name="topMargin">
+           <number>0</number>
+          </property>
+          <property name="rightMargin">
+           <number>0</number>
+          </property>
+          <property name="bottomMargin">
+           <number>0</number>
+          </property>
+          <item row="0" column="1">
+           <widget class="QSlider" name="servoMinAngleSlider">
+            <property name="styleSheet">
+             <string notr="true">QSlider::groove:horizontal {
+    border: 1px solid rgb(196, 196, 196);
+    background: white;
+    height: 6px;
+    border-radius: 2px;
+    margin 10px 10px;
+}
+
+QSlider::add-page:horizontal {
+    background: #fff;
+    border: 1px solid #777;
+    height: 1px;
+    border-radius: 4px;
+}
+
+QSlider::add-page:horizontal:disabled {
+    background: #eee;
+    border: 1px solid #999;
+    width: 1px;
+    border-radius: 4px;
+}
+
+QSlider::sub-page:horizontal {
+    background: rgb(78, 147, 246);
+    border: 1px solid #777;
+    height: 1px;
+    border-radius: 4px;
+}
+
+QSlider::sub-page:horizontal:disabled {
+    background: #ccc;
+    border: 1px solid #999;
+    width: 1px;
+    border-radius: 4px;
+}
+
+QSlider::handle:horizontal {
+    background: rgb(196, 196, 196);
+    width: 18px;
+    height: 28px;
+    margin: -2px 0;
+    border-radius: 3px;
+    border: 1px solid #777;
+}
+
+QSlider::groove:vertical {
+    border: 1px solid rgb(196, 196, 196);
+    background: white;
+    width: 6px;
+    border-radius: 2px;
+    margin 0px -10px;
+    margin-top: 5px;
+    margin-bottom: 5px;
+}
+
+QSlider::sub-page:vertical {
+    background: #fff;
+    border: 1px solid #777;
+    width: 1px;
+    border-radius: 4px;
+}
+
+QSlider::sub-page:vertical:disabled {
+    background: #eee;
+    border: 1px solid #999;
+    width: 1px;
+    border-radius: 4px;
+}
+
+QSlider::add-page:vertical {
+    background: rgb(78, 147, 246);
+    border: 1px solid #777;
+    width: 1px;
+    border-radius: 4px;
+}
+
+QSlider::add-page:vertical:disabled {
+    background: #ccc;
+    border: 1px solid #999;
+    width: 1px;
+    border-radius: 4px;
+}
+
+QSlider::handle:vertical {
+    background: rgb(196, 196, 196);
+    width: 18px;
+    margin: -6 -6;
+    border-radius: 3px;
+    border: 1px solid #777;
+}
+
+QSlider::handle:vertical:hover {
+    background: qlineargradient(x1:0, y1:0, x2:1, y2:1, stop:0 #fff, stop:1 #ddd);
+    border: 1px solid #444;
+    border-radius: 4px;
+}
+
+QSlider::handle:horizontal:hover {
+    background: qlineargradient(x1:0, y1:0, x2:1, y2:1, stop:0 #fff, stop:1 #ddd);
+    border: 1px solid #444;
+    border-radius: 4px;
+}</string>
+            </property>
+            <property name="minimum">
+             <number>600</number>
+            </property>
+            <property name="maximum">
+             <number>2400</number>
+            </property>
+            <property name="value">
+             <number>1500</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QSlider" name="servoCenterAngleSlider">
+            <property name="styleSheet">
+             <string notr="true">QSlider::groove:horizontal {
+    border: 1px solid rgb(196, 196, 196);
+    background: white;
+    height: 6px;
+    border-radius: 2px;
+    margin 10px 10px;
+}
+
+QSlider::add-page:horizontal {
+    background: rgb(78, 147, 246);
+    border: 1px solid #777;
+    height: 1px;
+    border-radius: 4px;
+}
+
+QSlider::add-page:horizontal:disabled {
+    background: #eee;
+    border: 1px solid #999;
+    width: 1px;
+    border-radius: 4px;
+}
+
+QSlider::sub-page:horizontal {
+    background: rgb(78, 147, 246);
+    border: 1px solid #777;
+    height: 1px;
+    border-radius: 4px;
+}
+
+QSlider::sub-page:horizontal:disabled {
+    background: #eee;
+    border: 1px solid #999;
+    width: 1px;
+    border-radius: 4px;
+}
+
+QSlider::handle:horizontal {
+    background: rgb(196, 196, 196);
+    width: 18px;
+    height: 28px;
+    margin: -2px 0;
+    border-radius: 3px;
+    border: 1px solid #777;
+}
+
+QSlider::groove:vertical {
+    border: 1px solid rgb(196, 196, 196);
+    background: white;
+    width: 6px;
+    border-radius: 2px;
+    margin 0px -10px;
+    margin-top: 5px;
+    margin-bottom: 5px;
+}
+
+QSlider::sub-page:vertical {
+    background: #fff;
+    border: 1px solid #777;
+    width: 1px;
+    border-radius: 4px;
+}
+
+QSlider::sub-page:vertical:disabled {
+    background: #eee;
+    border: 1px solid #999;
+    width: 1px;
+    border-radius: 4px;
+}
+
+QSlider::add-page:vertical {
+    background: rgb(78, 147, 246);
+    border: 1px solid #777;
+    width: 1px;
+    border-radius: 4px;
+}
+
+QSlider::add-page:vertical:disabled {
+    background: #ccc;
+    border: 1px solid #999;
+    width: 1px;
+    border-radius: 4px;
+}
+
+QSlider::handle:vertical {
+    background: rgb(196, 196, 196);
+    width: 18px;
+    margin: -6 -6;
+    border-radius: 3px;
+    border: 1px solid #777;
+}
+
+QSlider::handle:vertical:hover {
+    background: qlineargradient(x1:0, y1:0, x2:1, y2:1, stop:0 #fff, stop:1 #ddd);
+    border: 1px solid #444;
+    border-radius: 4px;
+}
+
+QSlider::handle:horizontal:hover {
+    background: qlineargradient(x1:0, y1:0, x2:1, y2:1, stop:0 #fff, stop:1 #ddd);
+    border: 1px solid #444;
+    border-radius: 4px;
+}</string>
+            </property>
+            <property name="minimum">
+             <number>600</number>
+            </property>
+            <property name="maximum">
+             <number>2400</number>
+            </property>
+            <property name="value">
+             <number>1500</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QSlider" name="servoMaxAngleSlider">
+            <property name="styleSheet">
+             <string notr="true">QSlider::groove:horizontal {
+    border: 1px solid rgb(196, 196, 196);
+    background: white;
+    height: 6px;
+    border-radius: 2px;
+    margin 10px 10px;
+}
+
+QSlider::sub-page:horizontal {
+    background: #fff;
+    border: 1px solid #777;
+    height: 1px;
+    border-radius: 4px;
+}
+
+QSlider::sub-page:horizontal:disabled {
+    background: #eee;
+    border: 1px solid #999;
+    width: 1px;
+    border-radius: 4px;
+}
+
+QSlider::add-page:horizontal {
+    background: rgb(78, 147, 246);
+    border: 1px solid #777;
+    height: 1px;
+    border-radius: 4px;
+}
+
+QSlider::add-page:horizontal:disabled {
+    background: #ccc;
+    border: 1px solid #999;
+    width: 1px;
+    border-radius: 4px;
+}
+
+QSlider::handle:horizontal {
+    background: rgb(196, 196, 196);
+    width: 18px;
+    height: 28px;
+    margin: -2px 0;
+    border-radius: 3px;
+    border: 1px solid #777;
+}
+
+QSlider::groove:vertical {
+    border: 1px solid rgb(196, 196, 196);
+    background: white;
+    width: 6px;
+    border-radius: 2px;
+    margin 0px -10px;
+    margin-top: 5px;
+    margin-bottom: 5px;
+}
+
+QSlider::sub-page:vertical {
+    background: #fff;
+    border: 1px solid #777;
+    width: 1px;
+    border-radius: 4px;
+}
+
+QSlider::sub-page:vertical:disabled {
+    background: #eee;
+    border: 1px solid #999;
+    width: 1px;
+    border-radius: 4px;
+}
+
+QSlider::add-page:vertical {
+    background: rgb(78, 147, 246);
+    border: 1px solid #777;
+    width: 1px;
+    border-radius: 4px;
+}
+
+QSlider::add-page:vertical:disabled {
+    background: #ccc;
+    border: 1px solid #999;
+    width: 1px;
+    border-radius: 4px;
+}
+
+QSlider::handle:vertical {
+    background: rgb(196, 196, 196);
+    width: 18px;
+    margin: -6 -6;
+    border-radius: 3px;
+    border: 1px solid #777;
+}
+
+QSlider::handle:vertical:hover {
+    background: qlineargradient(x1:0, y1:0, x2:1, y2:1, stop:0 #fff, stop:1 #ddd);
+    border: 1px solid #444;
+    border-radius: 4px;
+}
+
+QSlider::handle:horizontal:hover {
+    background: qlineargradient(x1:0, y1:0, x2:1, y2:1, stop:0 #fff, stop:1 #ddd);
+    border: 1px solid #444;
+    border-radius: 4px;
+}</string>
+            </property>
+            <property name="minimum">
+             <number>600</number>
+            </property>
+            <property name="maximum">
+             <number>2400</number>
+            </property>
+            <property name="value">
+             <number>1500</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="invertedAppearance">
+             <bool>false</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="0" colspan="2">
+           <widget class="QCheckBox" name="reverseCheckbox">
+            <property name="text">
+             <string>Reverse</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="0">
+           <widget class="QLabel" name="label">
+            <property name="text">
+             <string>Min</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_5">
+            <property name="text">
+             <string>Center</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_7">
+            <property name="text">
+             <string>Max</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
         </widget>
        </item>
        <item>
-        <widget class="QPushButton" name="servoCenterButton">
+        <widget class="QPushButton" name="servoButton">
          <property name="text">
           <string>Start</string>
          </property>
@@ -198,234 +605,10 @@ p, li { white-space: pre-wrap; }
        </item>
       </layout>
      </widget>
-     <widget class="QWidget" name="servoMin">
-      <layout class="QVBoxLayout" name="verticalLayout">
-       <item>
-        <widget class="QLabel" name="label_7">
-         <property name="text">
-          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;To save the servo and other hardware from damage we have to set the max and min angles for the servo. &lt;/p&gt;&lt;p&gt;To set &lt;span style=&quot; font-weight:600;&quot;&gt;the minimum angle for the servo&lt;/span&gt;, press the Start button below and select the top slider and slide it to the left until min angle is reached.&lt;/p&gt;&lt;p&gt;When done press button again to stop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
-         </property>
-         <property name="wordWrap">
-          <bool>true</bool>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QSlider" name="servoMinAngleSlider">
-         <property name="enabled">
-          <bool>false</bool>
-         </property>
-         <property name="minimum">
-          <number>600</number>
-         </property>
-         <property name="maximum">
-          <number>2400</number>
-         </property>
-         <property name="singleStep">
-          <number>1</number>
-         </property>
-         <property name="pageStep">
-          <number>10</number>
-         </property>
-         <property name="value">
-          <number>1500</number>
-         </property>
-         <property name="tracking">
-          <bool>true</bool>
-         </property>
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-         <property name="invertedAppearance">
-          <bool>false</bool>
-         </property>
-         <property name="invertedControls">
-          <bool>false</bool>
-         </property>
-         <property name="tickPosition">
-          <enum>QSlider::TicksBelow</enum>
-         </property>
-         <property name="tickInterval">
-          <number>40</number>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="servoMinAngleButton">
-         <property name="text">
-          <string>Start</string>
-         </property>
-         <property name="checkable">
-          <bool>true</bool>
-         </property>
-         <property name="checked">
-          <bool>false</bool>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </widget>
-     <widget class="QWidget" name="servoMax">
-      <layout class="QVBoxLayout" name="verticalLayout_2">
-       <item>
-        <widget class="QLabel" name="label_8">
-         <property name="text">
-          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;To set &lt;span style=&quot; font-weight:600;&quot;&gt;the maximum angle for the servo&lt;/span&gt;, press the Start button below and select the top slider and slide it to the right until max angle is reached.&lt;/p&gt;&lt;p&gt;When done press button again to stop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
-         </property>
-         <property name="wordWrap">
-          <bool>true</bool>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QSlider" name="servoMaxAngleSlider">
-         <property name="enabled">
-          <bool>false</bool>
-         </property>
-         <property name="minimum">
-          <number>600</number>
-         </property>
-         <property name="maximum">
-          <number>2400</number>
-         </property>
-         <property name="singleStep">
-          <number>1</number>
-         </property>
-         <property name="pageStep">
-          <number>10</number>
-         </property>
-         <property name="value">
-          <number>1500</number>
-         </property>
-         <property name="tracking">
-          <bool>true</bool>
-         </property>
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-         <property name="invertedAppearance">
-          <bool>false</bool>
-         </property>
-         <property name="invertedControls">
-          <bool>false</bool>
-         </property>
-         <property name="tickPosition">
-          <enum>QSlider::TicksBelow</enum>
-         </property>
-         <property name="tickInterval">
-          <number>40</number>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="servoMaxAngleButton">
-         <property name="text">
-          <string>Start</string>
-         </property>
-         <property name="checkable">
-          <bool>true</bool>
-         </property>
-         <property name="checked">
-          <bool>false</bool>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </widget>
-    </widget>
-   </item>
-   <item row="1" column="1">
-    <widget class="QGraphicsView" name="vehicleView">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>200</width>
-       <height>200</height>
-      </size>
-     </property>
-     <property name="frameShape">
-      <enum>QFrame::NoFrame</enum>
-     </property>
     </widget>
    </item>
   </layout>
  </widget>
  <resources/>
- <connections>
+ <connections/>
-  <connection>
-   <sender>motorNeutralButton</sender>
-   <signal>toggled(bool)</signal>
-   <receiver>motorNeutralSlider</receiver>
-   <slot>setEnabled(bool)</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>147</x>
-     <y>291</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>150</x>
-     <y>249</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>servoMinAngleButton</sender>
-   <signal>toggled(bool)</signal>
-   <receiver>servoMinAngleSlider</receiver>
-   <slot>setEnabled(bool)</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>147</x>
-     <y>291</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>150</x>
-     <y>249</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>servoMaxAngleButton</sender>
-   <signal>toggled(bool)</signal>
-   <receiver>servoMaxAngleSlider</receiver>
-   <slot>setEnabled(bool)</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>147</x>
-     <y>291</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>150</x>
-     <y>249</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>servoCenterButton</sender>
-   <signal>toggled(bool)</signal>
-   <receiver>servoCenterSlider</receiver>
-   <slot>setEnabled(bool)</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>147</x>
-     <y>291</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>150</x>
-     <y>249</y>
-    </hint>
-   </hints>
-  </connection>
- </connections>
 </ui>