void mtsIntuitiveResearchKitArmQtWidget::setupUi(void)
{
QVBoxLayout * mainLayout = new QVBoxLayout;
QHBoxLayout * topLayout = new QHBoxLayout;
mainLayout->addLayout(topLayout);
// 3D position
QFRPositionWidget = new vctQtWidgetFrameDoubleRead(vctQtWidgetRotationDoubleRead::OPENGL_WIDGET);
topLayout->addWidget(QFRPositionWidget, 0, 0);
// timing
QVBoxLayout * timingLayout = new QVBoxLayout();
QMIntervalStatistics = new mtsQtWidgetIntervalStatistics();
timingLayout->addWidget(QMIntervalStatistics);
timingLayout->addStretch();
topLayout->addLayout(timingLayout);
// state
QHBoxLayout * stateLayout = new QHBoxLayout;
mainLayout->addLayout(stateLayout);
QCBEnableDirectControl = new QCheckBox("Direct control");
stateLayout->addWidget(QCBEnableDirectControl);
QPBHome = new QPushButton("Home");
stateLayout->addWidget(QPBHome);
QLabel * stateLabel = new QLabel("State:");
stateLayout->addWidget(stateLabel);
QLEState = new QLineEdit("");
QLEState->setReadOnly(true);
stateLayout->addWidget(QLEState);
// messages
QTEMessages = new QTextEdit();
QTEMessages->setReadOnly(true);
QTEMessages->ensureCursorVisible();
mainLayout->addWidget(QTEMessages);
setLayout(mainLayout);
setWindowTitle("Manipulator");
resize(sizeHint());
connect(this, SIGNAL(SignalAppendMessage(QString)),
QTEMessages, SLOT(append(QString)));
connect(this, SIGNAL(SignalSetColor(QColor)),
QTEMessages, SLOT(setTextColor(QColor)));
connect(QTEMessages, SIGNAL(textChanged()),
this, SLOT(SlotTextChanged()));
connect(QCBEnableDirectControl, SIGNAL(toggled(bool)),
this, SLOT(SlotEnableDirectControl(bool)));
connect(QPBHome, SIGNAL(clicked()),
this, SLOT(SlotHome()));
// set initial values
QCBEnableDirectControl->setChecked(DirectControl);
SlotEnableDirectControl(DirectControl);
}
////------------ Private Methods ----------------
void mtsPIDQtWidget::setupUi(void)
{
QFont font;
font.setBold(true);
font.setPointSize(12);
const double maximum = 30000;
QGridLayout * gridLayout = new QGridLayout();
gridLayout->setSpacing(1);
int row = 0;
QLabel * currentPosLabel = new QLabel("Current position (deg)");
currentPosLabel->setAlignment(Qt::AlignRight);
gridLayout->addWidget(currentPosLabel, row, 0);
QVRCurrentPositionWidget = new vctQtWidgetDynamicVectorDoubleRead();
QVRCurrentPositionWidget->SetPrecision(3);
gridLayout->addWidget(QVRCurrentPositionWidget, row, 1);
row++;
QLabel * desiredPosLabel = new QLabel("Desired position (deg)");
desiredPosLabel->setAlignment(Qt::AlignRight);
gridLayout->addWidget(desiredPosLabel, row, 0);
QVWDesiredPositionWidget = new vctQtWidgetDynamicVectorDoubleWrite(vctQtWidgetDynamicVectorDoubleWrite::SPINBOX_WIDGET);
QVWDesiredPositionWidget->SetStep(0.1);
QVWDesiredPositionWidget->SetRange(-360.0, 360.0);
gridLayout->addWidget(QVWDesiredPositionWidget, row, 1);
row++;
QLabel * currentEffortLabel = new QLabel("Current effort (Nm)");
currentEffortLabel->setAlignment(Qt::AlignRight);
gridLayout->addWidget(currentEffortLabel, row, 0);
QVRCurrentEffortWidget = new vctQtWidgetDynamicVectorDoubleRead();
QVRCurrentEffortWidget->SetPrecision(3);
gridLayout->addWidget(QVRCurrentEffortWidget, row, 1);
row++;
QLabel * desiredEffortLabel = new QLabel("Desired effort (Nm)");
desiredEffortLabel->setAlignment(Qt::AlignRight);
gridLayout->addWidget(desiredEffortLabel, row, 0);
QVWDesiredEffortWidget = new vctQtWidgetDynamicVectorDoubleRead();
QVWDesiredEffortWidget->SetPrecision(3);
gridLayout->addWidget(QVWDesiredEffortWidget, row, 1);
row++;
QLabel * pLabel = new QLabel("PGain");
pLabel->setAlignment(Qt::AlignRight);
gridLayout->addWidget(pLabel);
QVWPGainWidget = new vctQtWidgetDynamicVectorDoubleWrite(vctQtWidgetDynamicVectorDoubleWrite::SPINBOX_WIDGET);
QVWPGainWidget->SetStep(0.01);
QVWPGainWidget->SetPrecision(3);
QVWPGainWidget->SetRange(-maximum, maximum);
gridLayout->addWidget(QVWPGainWidget, row, 1);
row++;
QLabel * dLabel = new QLabel("DGain");
dLabel->setAlignment(Qt::AlignRight);
gridLayout->addWidget(dLabel);
QVWDGainWidget = new vctQtWidgetDynamicVectorDoubleWrite(vctQtWidgetDynamicVectorDoubleWrite::SPINBOX_WIDGET);
QVWDGainWidget->SetStep(0.01);
QVWDGainWidget->SetPrecision(3);
QVWDGainWidget->SetRange(-maximum, maximum);
gridLayout->addWidget(QVWDGainWidget, row, 1);
row++;
QLabel * iLabel = new QLabel("IGain");
iLabel->setAlignment(Qt::AlignRight);
gridLayout->addWidget(iLabel);
QVWIGainWidget = new vctQtWidgetDynamicVectorDoubleWrite(vctQtWidgetDynamicVectorDoubleWrite::SPINBOX_WIDGET);
QVWIGainWidget->SetStep(0.001);
QVWIGainWidget->SetPrecision(5);
QVWIGainWidget->SetRange(-maximum, maximum);
gridLayout->addWidget(QVWIGainWidget, row, 1);
row++;
// plot
QHBoxLayout * plotLayout = new QHBoxLayout;
// plot control
QVBoxLayout * plotButtonsLayout = new QVBoxLayout;
// - pick axis to display
QLabel * plotIndexLabel = new QLabel("Index");
plotButtonsLayout->addWidget(plotIndexLabel);
QSBPlotIndex = new QSpinBox();
QSBPlotIndex->setRange(0, NumberOfAxis);
plotButtonsLayout->addWidget(QSBPlotIndex);
// legend
QLabel * label;
QPalette palette;
palette.setColor(QPalette::Window, Qt::black);
label = new QLabel("Current position");
label->setAutoFillBackground(true);
palette.setColor(QPalette::WindowText, Qt::red);
label->setPalette(palette);
plotButtonsLayout->addWidget(label);
label = new QLabel("Desired position");
label->setAutoFillBackground(true);
palette.setColor(QPalette::WindowText, Qt::green);
label->setPalette(palette);
plotButtonsLayout->addWidget(label);
label = new QLabel("Current velocity");
label->setAutoFillBackground(true);
palette.setColor(QPalette::WindowText, Qt::gray);
label->setPalette(palette);
plotButtonsLayout->addWidget(label);
label = new QLabel("Current effort");
label->setAutoFillBackground(true);
palette.setColor(QPalette::WindowText, Qt::cyan);
label->setPalette(palette);
plotButtonsLayout->addWidget(label);
label = new QLabel("Desired effort");
label->setAutoFillBackground(true);
palette.setColor(QPalette::WindowText, Qt::white);
label->setPalette(palette);
plotButtonsLayout->addWidget(label);
plotButtonsLayout->addStretch();
plotLayout->addLayout(plotButtonsLayout);
// plotting area
QVPlot = new vctPlot2DOpenGLQtWidget();
vctPlot2DBase::Scale * scalePosition = QVPlot->AddScale("positions");
CurrentPositionSignal = scalePosition->AddSignal("current");
CurrentPositionSignal->SetColor(vctDouble3(1.0, 0.0, 0.0));
DesiredPositionSignal = scalePosition->AddSignal("desired");
DesiredPositionSignal->SetColor(vctDouble3(0.0, 1.0, 0.0));
vctPlot2DBase::Scale * scaleVelocity = QVPlot->AddScale("velocities");
CurrentVelocitySignal = scaleVelocity->AddSignal("current");
CurrentVelocitySignal->SetColor(vctDouble3(0.5, 0.5, 0.5));
vctPlot2DBase::Scale * scaleEffort = QVPlot->AddScale("efforts");
CurrentEffortSignal = scaleEffort->AddSignal("-current");
CurrentEffortSignal->SetColor(vctDouble3(0.0, 1.0, 1.0));
DesiredEffortSignal = scaleEffort->AddSignal("-desired");
DesiredEffortSignal->SetColor(vctDouble3(1.0, 1.0, 1.0));
QVPlot->setSizePolicy(QSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding));
plotLayout->addWidget(QVPlot);
// control
QCBEnableDirectControl = new QCheckBox("Direct control");
QCBEnablePID = new QCheckBox("Enable PID");
QCBEnableTorqueMode = new QCheckBox("Enable torque mode");
QPBMaintainPosition = new QPushButton("Maintain position");
QPBZeroPosition = new QPushButton("Zero position");
QPBResetPIDGain = new QPushButton("Reset PID gains");
QHBoxLayout * controlLayout = new QHBoxLayout;
controlLayout->addWidget(QCBEnableDirectControl);
controlLayout->addWidget(QCBEnablePID);
controlLayout->addWidget(QCBEnableTorqueMode);
controlLayout->addWidget(QPBMaintainPosition);
controlLayout->addWidget(QPBZeroPosition);
controlLayout->addWidget(QPBResetPIDGain);
controlLayout->addStretch();
QGroupBox * controlGroupBox = new QGroupBox("Control");
controlGroupBox->setLayout(controlLayout);
connect(QCBEnableDirectControl, SIGNAL(toggled(bool)), this, SLOT(SlotEnableDirectControl(bool)));
connect(QCBEnablePID, SIGNAL(clicked(bool)), this, SLOT(SlotEnablePID(bool)));
connect(this, SIGNAL(SignalEnablePID(bool)), this, SLOT(SlotEnableEventHandler(bool)));
connect(QCBEnableTorqueMode, SIGNAL(toggled(bool)), this, SLOT(SlotEnableTorqueMode(bool)));
connect(QPBMaintainPosition, SIGNAL(clicked()), this, SLOT(SlotMaintainPosition()));
connect(QPBZeroPosition, SIGNAL(clicked()), this, SLOT(SlotZeroPosition()));
connect(QPBResetPIDGain, SIGNAL(clicked()), this, SLOT(SlotResetPIDGain()));
connect(QSBPlotIndex, SIGNAL(valueChanged(int)), this, SLOT(SlotPlotIndex(int)));
// main layout
QVBoxLayout * mainLayout = new QVBoxLayout;
mainLayout->addLayout(gridLayout);
mainLayout->addLayout(plotLayout);
mainLayout->addWidget(controlGroupBox);
setLayout(mainLayout);
setWindowTitle(this->GetName().c_str());
setMinimumWidth(750);
resize(sizeHint());
// connect signals & slots
connect(QVWDesiredPositionWidget, SIGNAL(valueChanged()), this, SLOT(SlotPositionChanged()));
connect(QVWPGainWidget, SIGNAL(valueChanged()), this, SLOT(SlotPGainChanged()));
connect(QVWDGainWidget, SIGNAL(valueChanged()), this, SLOT(SlotDGainChanged()));
connect(QVWIGainWidget, SIGNAL(valueChanged()), this, SLOT(SlotIGainChanged()));
// set initial values
QCBEnableDirectControl->setChecked(DirectControl);
SlotEnableDirectControl(DirectControl);
}
void mtsRobotIO1394QtWidget::setupUi(void)
{
QFont font;
font.setBold(true);
// Power commands
QVBoxLayout * powerLayout = new QVBoxLayout;
QFrame * powerFrame = new QFrame;
QLabel * powerTitle = new QLabel("Power");
powerTitle->setFont(font);
powerTitle->setAlignment(Qt::AlignCenter);
powerLayout->addWidget(powerTitle);
QCBEnableAll = new QCheckBox("Enable all");
powerLayout->addWidget(QCBEnableAll);
QCBEnableAmps = new QCheckBox("Enable boards");
powerLayout->addWidget(QCBEnableAmps);
powerLayout->addSpacing(5);
QLAmpStatus = new QLabel("Actuators ON");
QLAmpStatus->setAlignment(Qt::AlignCenter);
powerLayout->addWidget(QLAmpStatus);
QLPowerStatus = new QLabel("Boards ON");
QLPowerStatus->setAlignment(Qt::AlignCenter);
powerLayout->addWidget(QLPowerStatus);
powerLayout->addStretch();
powerFrame->setLayout(powerLayout);
powerFrame->setFrameStyle(QFrame::StyledPanel | QFrame::Sunken);
// watchdog commands
QVBoxLayout * watchdogLayout = new QVBoxLayout;
QFrame * watchdogFrame = new QFrame;
QLabel * watchdogTitle = new QLabel("Watchdog");
watchdogTitle->setFont(font);
watchdogTitle->setAlignment(Qt::AlignCenter);
watchdogLayout->addWidget(watchdogTitle);
QHBoxLayout * watchdogSetLayout = new QHBoxLayout;
{
QLabel * wdogLabel = new QLabel("Wdog period (ms)");
QSBWatchdogPeriod = new QDoubleSpinBox;
QSBWatchdogPeriod->setMaximum(340.0); // max wdog_period = 340 ms
QSBWatchdogPeriod->setMinimum(0.0);
QSBWatchdogPeriod->setSingleStep(0.05);
QSBWatchdogPeriod->setValue(cmnInternalTo_ms(WatchdogPeriodInSeconds));
watchdogSetLayout->addWidget(wdogLabel);
watchdogSetLayout->addWidget(QSBWatchdogPeriod);
}
watchdogLayout->addLayout(watchdogSetLayout);
watchdogLayout->addSpacing(5);
QLSafetyRelay = new QLabel("Safety relay ON");
QLSafetyRelay->setAlignment(Qt::AlignCenter);
watchdogLayout->addWidget(QLSafetyRelay);
QLWatchdog = new QLabel("Watchdog Timeout FALSE");
QLWatchdog->setAlignment(Qt::AlignCenter);
QLWatchdog->setStyleSheet("QLabel { background-color: green }");
watchdogLayout->addWidget(QLWatchdog);
QLWatchdogLastTimeout = new QLabel("Last timeout: n/a");
QLWatchdogLastTimeout->setAlignment(Qt::AlignCenter);
watchdogLayout->addWidget(QLWatchdogLastTimeout);
watchdogLayout->addStretch();
watchdogFrame->setLayout(watchdogLayout);
watchdogFrame->setFrameStyle(QFrame::StyledPanel | QFrame::Sunken);
// Encoder commands
QVBoxLayout * encoderLayout = new QVBoxLayout;
QFrame * encoderFrame = new QFrame;
QLabel * encoderTitle = new QLabel("Encoders");
encoderTitle->setFont(font);
encoderTitle->setAlignment(Qt::AlignCenter);
encoderLayout->addWidget(encoderTitle);
QPBResetEncAll = new QPushButton("Reset all");
encoderLayout->addWidget(QPBResetEncAll);
QPBBiasEncAll = new QPushButton("Bias from potentiometers");
encoderLayout->addWidget(QPBBiasEncAll);
encoderLayout->addStretch();
encoderFrame->setLayout(encoderLayout);
encoderFrame->setFrameStyle(QFrame::StyledPanel | QFrame::Sunken);
// Current comands
QVBoxLayout * currentLayout = new QVBoxLayout;
QFrame * currentFrame = new QFrame;
QLabel * currentTitle = new QLabel("Current");
currentTitle->setFont(font);
currentTitle->setAlignment(Qt::AlignCenter);
currentLayout->addWidget(currentTitle);
QCBEnableDirectControl = new QCheckBox("Direct control");
currentLayout->addWidget(QCBEnableDirectControl);
currentLayout->addStretch();
QLabel * serialTitle = new QLabel("Serial Number");
serialTitle->setFont(font);
serialTitle->setAlignment(Qt::AlignCenter);
currentLayout->addWidget(serialTitle);
QLSerialNumber = new QLabel("-----");
QLSerialNumber->setAlignment(Qt::AlignCenter);
currentLayout->addWidget(QLSerialNumber);
currentLayout->addStretch();
currentFrame->setLayout(currentLayout);
currentFrame->setFrameStyle(QFrame::StyledPanel | QFrame::Sunken);
// Timing
QVBoxLayout * timingLayout = new QVBoxLayout;
QFrame * timingFrame = new QFrame;
QLabel * timingTitle = new QLabel("Timing");
timingTitle->setFont(font);
timingTitle->setAlignment(Qt::AlignCenter);
timingLayout->addWidget(timingTitle);
QMIntervalStatistics = new mtsQtWidgetIntervalStatistics();
timingLayout->addWidget(QMIntervalStatistics);
timingLayout->addStretch();
timingFrame->setLayout(timingLayout);
timingFrame->setFrameStyle(QFrame::StyledPanel | QFrame::Sunken);
// Commands layout
QHBoxLayout * commandLayout = new QHBoxLayout;
commandLayout->addWidget(powerFrame);
commandLayout->addWidget(watchdogFrame);
commandLayout->addWidget(encoderFrame);
commandLayout->addWidget(currentFrame);
commandLayout->addWidget(timingFrame);
// Feedbacks Label
QGridLayout * gridLayout = new QGridLayout;
gridLayout->setSpacing(1);
int row = 0;
if (NumberOfActuators != 0) {
vctBoolVec defaultEnable(NumberOfActuators, false);
vctDoubleVec defaultCurrent(NumberOfActuators, 0.0);
gridLayout->addWidget(new QLabel("Actuator power"), row, 0);
QVWActuatorCurrentEnableEachWidget = new vctQtWidgetDynamicVectorBoolWrite();
QVWActuatorCurrentEnableEachWidget->SetValue(defaultEnable);
gridLayout->addWidget(QVWActuatorCurrentEnableEachWidget, row, 1);
row++;
gridLayout->addWidget(new QLabel("Desired current (mA)"), row, 0);
QVWActuatorCurrentSpinBoxWidget = new vctQtWidgetDynamicVectorDoubleWrite(vctQtWidgetDynamicVectorDoubleWrite::SPINBOX_WIDGET);
QVWActuatorCurrentSpinBoxWidget->SetValue(defaultCurrent);
gridLayout->addWidget(QVWActuatorCurrentSpinBoxWidget, row, 1);
row++;
QPBResetCurrentAll = new QPushButton("Reset current");
gridLayout->addWidget(QPBResetCurrentAll, row, 0);
QVWActuatorCurrentSliderWidget = new vctQtWidgetDynamicVectorDoubleWrite(vctQtWidgetDynamicVectorDoubleWrite::SLIDER_WIDGET);
QVWActuatorCurrentSliderWidget->SetValue(defaultCurrent);
gridLayout->addWidget(QVWActuatorCurrentSliderWidget, row, 1);
row++;
gridLayout->addWidget(new QLabel("Current feedback (mA)"), row, 0);
QVRActuatorCurrentFeedbackWidget = new vctQtWidgetDynamicVectorDoubleRead();
gridLayout->addWidget(QVRActuatorCurrentFeedbackWidget, row, 1);
row++;
gridLayout->addWidget(new QLabel("Joint positions (deg)"), row, 0);
QVRJointPositionWidget = new vctQtWidgetDynamicVectorDoubleRead();
gridLayout->addWidget(QVRJointPositionWidget, row, 1);
row++;
gridLayout->addWidget(new QLabel("Actuator positions (deg)"), row, 0);
QVRActuatorPositionWidget = new vctQtWidgetDynamicVectorDoubleRead();
gridLayout->addWidget(QVRActuatorPositionWidget, row, 1);
row++;
gridLayout->addWidget(new QLabel("Velocities (deg/s)"), row, 0);
QVRActuatorVelocityWidget = new vctQtWidgetDynamicVectorDoubleRead();
gridLayout->addWidget(QVRActuatorVelocityWidget, row, 1);
row++;
gridLayout->addWidget(new QLabel("Analog inputs (V)"), row, 0);
QVRPotVoltsWidget = new vctQtWidgetDynamicVectorDoubleRead();
gridLayout->addWidget(QVRPotVoltsWidget, row, 1);
row++;
gridLayout->addWidget(new QLabel("Potentiometers (deg)"), row, 0);
QVRPotPositionWidget = new vctQtWidgetDynamicVectorDoubleRead();
gridLayout->addWidget(QVRPotPositionWidget, row, 1);
row++;
gridLayout->addWidget(new QLabel("Amp temperature (C)"), row, 0);
QVRActuatorAmpTemperature = new vctQtWidgetDynamicVectorDoubleRead();
gridLayout->addWidget(QVRActuatorAmpTemperature, row, 1);
row++;
}
if (NumberOfBrakes != 0) {
vctBoolVec defaultEnable(NumberOfBrakes, false);
gridLayout->addWidget(new QLabel("Brakes"), row, 0);
QHBoxLayout * brakeButtonsLayout = new QHBoxLayout();
QPBBrakeRelease = new QPushButton("Release");
brakeButtonsLayout->addWidget(QPBBrakeRelease);
QPBBrakeEngage = new QPushButton("Engage");
brakeButtonsLayout->addWidget(QPBBrakeEngage);
gridLayout->addLayout(brakeButtonsLayout, row, 1);
row++;
gridLayout->addWidget(new QLabel("Brake power"), row, 0);
QVWBrakeCurrentEnableEachWidget = new vctQtWidgetDynamicVectorBoolWrite();
QVWBrakeCurrentEnableEachWidget->SetValue(defaultEnable);
gridLayout->addWidget(QVWBrakeCurrentEnableEachWidget, row, 1);
row++;
gridLayout->addWidget(new QLabel("Current desired (mA)"), row, 0);
QVRBrakeCurrentCommandWidget = new vctQtWidgetDynamicVectorDoubleRead();
gridLayout->addWidget(QVRBrakeCurrentCommandWidget, row, 1);
row++;
gridLayout->addWidget(new QLabel("Current feedback (mA)"), row, 0);
QVRBrakeCurrentFeedbackWidget = new vctQtWidgetDynamicVectorDoubleRead();
gridLayout->addWidget(QVRBrakeCurrentFeedbackWidget, row, 1);
row++;
gridLayout->addWidget(new QLabel("Amp temperature (C)"), row, 0);
QVRBrakeAmpTemperature = new vctQtWidgetDynamicVectorDoubleRead();
gridLayout->addWidget(QVRBrakeAmpTemperature, row, 1);
row++;
}
// main layout
QVBoxLayout * mainLayout = new QVBoxLayout;
mainLayout->addLayout(commandLayout);
mainLayout->addLayout(gridLayout);
mainLayout->addStretch();
setLayout(mainLayout);
setWindowTitle(QString(this->GetName().c_str()));
resize(sizeHint());
// connect signals & slots
connect(QCBEnableAmps, SIGNAL(toggled(bool)), this, SLOT(SlotEnableAmps(bool)));
connect(QCBEnableAll, SIGNAL(toggled(bool)), this, SLOT(SlotEnableAll(bool)));
connect(QCBEnableDirectControl, SIGNAL(toggled(bool)), this, SLOT(SlotEnableDirectControl(bool)));
connect(QPBResetCurrentAll, SIGNAL(clicked()), this, SLOT(SlotResetCurrentAll()));
connect(QPBResetEncAll, SIGNAL(clicked()), this, SLOT(SlotResetEncodersAll()));
connect(QPBBiasEncAll, SIGNAL(clicked()), this, SLOT(SlotBiasEncodersAll()));
connect(QSBWatchdogPeriod, SIGNAL(valueChanged(double)),
this, SLOT(SlotWatchdogPeriod(double)));
connect(QVWActuatorCurrentEnableEachWidget, SIGNAL(valueChanged()), this, SLOT(SlotActuatorAmpEnable()));
connect(QVWActuatorCurrentSpinBoxWidget, SIGNAL(valueChanged()), this, SLOT(SlotActuatorCurrentValueChanged()));
connect(QVWActuatorCurrentSliderWidget, SIGNAL(valueChanged()), this, SLOT(SlotSliderActuatorCurrentValueChanged()));
if (NumberOfBrakes != 0) {
connect(QPBBrakeRelease, SIGNAL(clicked()), this, SLOT(SlotBrakeRelease()));
connect(QPBBrakeEngage, SIGNAL(clicked()), this, SLOT(SlotBrakeEngage()));
connect(QVWBrakeCurrentEnableEachWidget, SIGNAL(valueChanged()), this, SLOT(SlotBrakeAmpEnable()));
}
// connect cisstMultiTask events
connect(this, SIGNAL(SignalPowerStatus(bool)), this, SLOT(SlotPowerStatus(bool)));
connect(this, SIGNAL(SignalWatchdogStatus(bool)), this, SLOT(SlotWatchdogStatus(bool)));
// set initial value
QCBEnableAmps->setChecked(false);
QCBEnableAll->setChecked(false);
QCBEnableDirectControl->setChecked(DirectControl);
SlotEnableDirectControl(DirectControl);
}
