<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>pb</class>
<widget class="QWidget" name="pb">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>866</width>
<height>542</height>
</rect>
</property>
<property name="windowTitle">
<string>UPBot 图形化配置工具</string>
</property>
<layout class="QGridLayout" name="gridLayout_2" rowstretch="1,0">
<item row="0" column="0">
<widget class="Line" name="line_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
<number>1</number>
</property>
<widget class="QWidget" name="tab_3">
<attribute name="title">
<string>Tab 1</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_25" stretch="0,0">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_5" stretch="0,1,0,8">
<property name="leftMargin">
<number>10</number>
</property>
<item>
<widget class="QLabel" name="label_2">
<property name="text">
<string>Model Name</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QComboBox" name="combox_model"/>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_6" stretch="0,1,8,8">
<property name="leftMargin">
<number>10</number>
</property>
<item>
<widget class="QLabel" name="label_3">
<property name="text">
<string>IMU Type</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QComboBox" name="combox_imu_type"/>
</item>
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</item>
<item>
<widget class="Line" name="line_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="1" column="1">
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="leftMargin">
<number>10</number>
</property>
<property name="rightMargin">
<number>10</number>
</property>
<item>
<widget class="QLabel" name="label_6">
<property name="text">
<string>MotorRatio</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="slider_motor_ratio">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_motor_ratio">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_3" stretch="0,16,0">
<property name="leftMargin">
<number>10</number>
</property>
<property name="rightMargin">
<number>10</number>
</property>
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>Diameter</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="slider_wheel_diameter">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_wheel_diameter">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_4" stretch="0,16,0">
<property name="leftMargin">
<number>10</number>
</property>
<property name="rightMargin">
<number>10</number>
</property>
<item>
<widget class="QLabel" name="label_4">
<property name="text">
<string>Encoder</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="slider_encoder">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_encoder_res">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="1">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="leftMargin">
<number>10</number>
</property>
<property name="rightMargin">
<number>10</number>
</property>
<item>
<widget class="QLabel" name="label_5">
<property name="text">
<string>WheelTrack</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="slider_wheel_track">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_wheel_track">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</item>
<item>
<widget class="Line" name="line_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QGroupBox" name="groupBox">
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="title">
<string>Reverse Direction Flag</string>
</property>
<property name="flat">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_26">
<item>
<layout class="QGridLayout" name="gridLayout_4">
<property name="leftMargin">
<number>5</number>
</property>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_motor1">
<property name="text">
<string>Motor1 </string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QCheckBox" name="checkBox_motor2">
<property name="text">
<string>Motor2</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QCheckBox" name="checkBox_motor3">
<property name="text">
<string>Motor3</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QCheckBox" name="checkBox_motor4">
<property name="text">
<string>Motor4</string>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QCheckBox" name="checkBox_encoder1">
<property name="text">
<string>Encoder1</string>
</property>
</widget>
</item>
<item row="0" column="5">
<widget class="QCheckBox" name="checkBox_encoder2">
<property name="text">
<string>Encoder2</string>
</property>
</widget>
</item>
<item row="0" column="6">
<widget class="QCheckBox" name="checkBox_encoder3">
<property name="text">
<string>Encoder3</string>
</property>
</widget>
</item>
<item row="0" column="7">
<widget class="QCheckBox" name="checkBox_encoder4">
<property name="text">
<string>Encoder4</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_24">
<item>
<widget class="QGroupBox" name="groupBox_3">
<property name="title">
<string>PID</string>
</property>
<layout class="QGridLayout" name="gridLayout_5">
<item row="2" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_20">
<property name="leftMargin">
<number>10</number>
</property>
<item>
<widget class="QLabel" name="label_16">
<property name="text">
<string>KI</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="slider_ki">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_ki">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="3" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_21">
<property name="leftMargin">
<number>10</number>
</property>
<item>
<widget class="QLabel" name="label_17">
<property name="text">
<string>KD</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="slider_kd">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_kd">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_22">
<property name="leftMargin">
<number>10</number>
</property>
<item>
<widget class="QLabel" name="label_15">
<property name="text">
<string>KP</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="slider_kp">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_kp">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="4" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_23">
<property name="leftMargin">
<number>10</number>
</property>
<item>
<widget class="QLabel" name="label_18">
<property name="text">
<string>KO</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="slider_ko">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_ko">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_15">
<property name="leftMargin">
<number>10</number>
</property>
<item>
<widget class="QLabel" name="label_19">
<property name="text">
<string>Interval</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="slider_pid_interval">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_pid_interval">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
<string>Speed Limit</string>
</property>
<layout class="QGridLayout" name="gridLayout_3">
<item row="3" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_17">
<property name="leftMargin">
<number>10</number>
</property>
<item>
<widget class="QLabel" name="label_22">
<property name="text">
<string>VY</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="slider_vy_max">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_vy_max">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="2" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_18">
<property name="leftMargin">
<number>10</number>
</property>
<item>
<widget class="QLabel" name="label_21">
<property name="text">
<string>VX</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="slider_vx_max">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_vx_max">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="4" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_19">
<property name="leftMargin">
<number>10</number>
</property>
<item>
<widget class="QLabel" name="label_23">
<property name="text">
<string>VA</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="slider_va_max">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_va_max">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_16">
<property name="leftMargin">
<number>10</number>
</property>
<item>
<widget class="QLabel" name="label_20">
<property name="text">
<string>CMD Time</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="slider_cmd_lasttime">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_cmd_lasttime">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
</layout>
</item>
<item>
<widget class="Line" name="line_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_29" stretch="20,3,1,3,1,3,1,3,1">
<item>
<spacer name="horizontalSpacer_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QComboBox" name="comboBox_support_model"/>
</item>
<item>
<spacer name="horizontalSpacer_7">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="pushButton_load">
<property name="text">
<string>Load</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_9">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="pushButton_set">
<property name="text">
<string>Set</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_8">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="pushButton_read">
<property name="text">
<string>Read</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_6">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</widget>
<widget class="QWidget" name="tab_4">
<attribute name="title">
<string>Tab 2</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<widget class="QGroupBox" name="groupBox_4">
<property name="title">
<string>Motor</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_5" stretch="0,0,0,0,0">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_7" stretch="1,10,1,2,1,1">
<item>
<widget class="QLabel" name="label_7">
<property name="text">
<string>Motor1</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="slider_set_pwm1">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_set_pwm1">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_10">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label_10">
<property name="text">
<string>Feedback</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_feedback1">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_8" stretch="1,10,1,2,1,1">
<item>
<widget class="QLabel" name="label_8">
<property name="text">
<string>Motor2</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="slider_set_pwm2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_set_pwm2">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_11">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label_11">
<property name="text">
<string>Feedback</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_feedback2">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_9" stretch="1,10,1,2,1,1">
<item>
<widget class="QLabel" name="label_9">
<property name="text">
<string>Motor3</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="slider_set_pwm3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_set_pwm3">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_12">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label_12">
<property name="text">
<string>Feedback</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_feedback3">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_10" stretch="0,10,1,2,1,1">
<item>
<widget class="QLabel" name="label_13">
<property name="text">
<string>Motor4</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="slider_set_pwm4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_set_pwm4">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_13">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label_14">
<property name="text">
<string>Feedback</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_feedback4">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_11">
<item>
<spacer name="horizontalSpacer_14">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="pushButton_start">
<property name="text">
<string>start</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_stop">
<property name="text">
<string>stop</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_6">
<property name="title">
<string>PID Debug</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_7">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_13">
<item>
<widget class="QLabel" name="label_25">
<property name="text">
<string>Input</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_input_1">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_input_2">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_input_3">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_input_4">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_14">
<item>
<widget class="QLabel" name="label_27">
<property name="text">
<string>Feedback</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_output_1">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_output_2">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_output_3">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_output_4">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_27">
<item>
<widget class="QLabel" name="label_29">
<property name="text">
<string>VY</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_30">
<property name="text">
<string>VY</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_31">
<property name="text">
<string>VA</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_start_2">
<property name="text">
<string>start</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_stop_2">
<property name="text">
<string>stop</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_5">
<property name="title">
<string>IMU</string>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_12">
<item>
<layout class="QGridLayout" name="gridLayout_6">
<item row="2" column="0">
<widget class="QLabel" name="label_28">
<property name="text">
<string>MAGN</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_magn_y">
<property name="text">
<string>0.000</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_26">
<property name="text">
<string>GYRO</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_24">
<property name="text">
<string>ACC</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_acc_z">
<property name="text">
<string>0.000</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_acc_y">
<property name="text">
<string>0.000</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_gyro_x">
<property name="text">
<string>0.000</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLabel" name="label_gyro_z">
<property name="text">
<string>0.000</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_gyro_y">
<property name="text">
<string>0.000</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QLabel" name="label_magn_z">
<property name="text">
<string>0.000</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_acc_x">
<property name="text">
<string>0.000</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_magn_x">
<property name="text">
<string>0.000</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="horizontalSpacer_15">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>615</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections>
<connection>
<sender>slider_wheel_diameter</sender>
<signal>valueChanged(int)</signal>
<receiver>label_wheel_diameter</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>218</x>
<y>98</y>
</hint>
<hint type="destinationlabel">
<x>395</x>
<y>98</y>
</hint>
</hints>
</connection>
<connection>
<sender>slider_wheel_track</sender>
<signal>valueChanged(int)</signal>
<receiver>label_wheel_track</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>651</x>
<y>98</y>
</hint>
<hint type="destinationlabel">
<x>820</x>
<y>98</y>
</hint>
</hints>
</connection>
<connection>
<sender>slider_encoder</sender>
<signal>valueChanged(int)</signal>
<receiver>label_encoder_res</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>214</x>
<y>142</y>
</hint>
<hint type="destinationlabel">
<x>395</x>
<y>142</y>
</hint>
</hints>
</connection>
<connection>
<sender>slider_motor_ratio</sender>
<signal>valueChanged(int)</signal>
<receiver>label_motor_ratio</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>651</x>
<y>142</y>
</hint>
<hint type="destinationlabel">
<x>820</x>
<y>142</y>
</hint>
</hints>
</connection>
<connection>
<sender>slider_pid_interval</sender>
<signal>valueChanged(int)</signal>
<receiver>label_pid_interval</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>246</x>
<y>330</y>
</hint>
<hint type="destinationlabel">
<x>412</x>
<y>330</y>
</hint>
</hints>
</connection>
<connection>
<sender>slider_kd</sender>
<signal>valueChanged(int)</signal>
<receiver>label_kd</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>230</x>
<y>418</y>
</hint>
<hint type="destinationlabel">
<x>412</x>
<y>418</y>
</hint>
</hints>
</connection>
<connection>
<sender>slider_kp</sender>
<signal>valueChanged(int)</signal>
<receiver>label_kp</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>229</x>
<y>359</y>
</hint>
<hint type="destinationlabel">
<x>412</x>
<y>359</y>
</hint>
</hints>
</connection>
<connection>
<sender>slider_ko</sender>
<signal>valueChanged(int)</signal>
<receiver>label_ko</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>230</x>
<y>447</y>
</hint>
<hint type="destinationlabel">
<x>412</x>
<y>447</y>
</hint>
</hints>
</connection>
<connection>
<sender>slider_ki</sender>
<signal>valueChanged(int)</signal>
<receiver>label_ki</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>226</x>
<y>388</y>
</hint>
<hint type="destinationlabel">
<x>412</x>
<y>388</y>
</hint>
</hints>
</connection>
<connection>
<sender>slider_cmd_lasttime</sender>
<signal>valueChanged(int)</signal>
<receiver>label_cmd_lasttime</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>681</x>
<y>334</y>
</hint>
<hint type="destinationlabel">
<x>838</x>
<y>334</y>
</hint>
</hints>
</connection>
<connection>
<sender>slider_va_max</sender>
<signal>valueChanged(int)</signal>
<receiver>label_va_max</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>655</x>
<y>443</y>
</hint>
<hint type="destinationlabel">
<x>838</x>
<y>443</y>
</hint>
</hints>
</connection>
<connection>
<sender>slider_vy_max</sender>
<signal>valueChanged(int)</signal>
<receiver>label_vy_max</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>655</x>
<y>407</y>
</hint>
<hint type="destinationlabel">
<x>838</x>
<y>407</y>
</hint>
</hints>
</connection>
<connection>
<sender>slider_vx_max</sender>
<signal>valueChanged(int)</signal>
<receiver>label_vx_max</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>656</x>
<y>370</y>
</hint>
<hint type="destinationlabel">
<x>838</x>
<y>370</y>
</hint>
</hints>
</connection>
<connection>
<sender>slider_set_pwm1</sender>
<signal>valueChanged(int)</signal>
<receiver>label_set_pwm1</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>313</x>
<y>142</y>
</hint>
<hint type="destinationlabel">
<x>525</x>
<y>142</y>
</hint>
</hints>
</connection>
<connection>
<sender>slider_set_pwm2</sender>
<signal>valueChanged(int)</signal>
<receiver>label_set_pwm2</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>322</x>
<y>165</y>
</hint>
<hint type="destinationlabel">
<x>528</x>
<y>165</y>
</hint>
</hints>
</connection>
<connection>
<sender>slider_set_pwm3</sender>
<signal>valueChanged(int)</signal>
<receiver>label_set_pwm3</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>322</x>
<y>199</y>
</hint>
<hint type="destinationlabel">
<x>528</x>
<y>199</y>
</hint>
</hints>
</connection>
<connection>
<sender>slider_set_pwm4</sender>
<signal>valueChanged(int)</signal>
<receiver>label_set_pwm4</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>322</x>
<y>232</y>
</hint>
<hint type="destinationlabel">
<x>528</x>
<y>232</y>
</hint>
</hints>
</connection>
</connections>
</ui>