first commit

.gitattributes

@@ -0,0 +1,22 @@
+# Auto detect text files and perform LF normalization
+* text=auto
+
+# Custom for Visual Studio
+*.cs     diff=csharp
+*.sln    merge=union
+*.csproj merge=union
+*.vbproj merge=union
+*.fsproj merge=union
+*.dbproj merge=union
+
+# Standard to msysgit
+*.doc	 diff=astextplain
+*.DOC	 diff=astextplain
+*.docx diff=astextplain
+*.DOCX diff=astextplain
+*.dot  diff=astextplain
+*.DOT  diff=astextplain
+*.pdf  diff=astextplain
+*.PDF	 diff=astextplain
+*.rtf	 diff=astextplain
+*.RTF	 diff=astextplain

.gitignore

@@ -0,0 +1,215 @@
+#################
+## Eclipse
+#################
+
+*.pydevproject
+.project
+.metadata
+bin/
+tmp/
+*.tmp
+*.bak
+*.swp
+*~.nib
+local.properties
+.classpath
+.settings/
+.loadpath
+
+# External tool builders
+.externalToolBuilders/
+
+# Locally stored "Eclipse launch configurations"
+*.launch
+
+# CDT-specific
+.cproject
+
+# PDT-specific
+.buildpath
+
+
+#################
+## Visual Studio
+#################
+
+## Ignore Visual Studio temporary files, build results, and
+## files generated by popular Visual Studio add-ons.
+
+# User-specific files
+*.suo
+*.user
+*.sln.docstates
+
+# Build results
+
+[Dd]ebug/
+[Rr]elease/
+x64/
+build/
+[Bb]in/
+[Oo]bj/
+
+# MSTest test Results
+[Tt]est[Rr]esult*/
+[Bb]uild[Ll]og.*
+
+*_i.c
+*_p.c
+*.ilk
+*.meta
+*.obj
+*.pch
+*.pdb
+*.pgc
+*.pgd
+*.rsp
+*.sbr
+*.tlb
+*.tli
+*.tlh
+*.tmp
+*.tmp_proj
+*.log
+*.vspscc
+*.vssscc
+.builds
+*.pidb
+*.log
+*.scc
+
+# Visual C++ cache files
+ipch/
+*.aps
+*.ncb
+*.opensdf
+*.sdf
+*.cachefile
+
+# Visual Studio profiler
+*.psess
+*.vsp
+*.vspx
+
+# Guidance Automation Toolkit
+*.gpState
+
+# ReSharper is a .NET coding add-in
+_ReSharper*/
+*.[Rr]e[Ss]harper
+
+# TeamCity is a build add-in
+_TeamCity*
+
+# DotCover is a Code Coverage Tool
+*.dotCover
+
+# NCrunch
+*.ncrunch*
+.*crunch*.local.xml
+
+# Installshield output folder
+[Ee]xpress/
+
+# DocProject is a documentation generator add-in
+DocProject/buildhelp/
+DocProject/Help/*.HxT
+DocProject/Help/*.HxC
+DocProject/Help/*.hhc
+DocProject/Help/*.hhk
+DocProject/Help/*.hhp
+DocProject/Help/Html2
+DocProject/Help/html
+
+# Click-Once directory
+publish/
+
+# Publish Web Output
+*.Publish.xml
+*.pubxml
+
+# NuGet Packages Directory
+## TODO: If you have NuGet Package Restore enabled, uncomment the next line
+#packages/
+
+# Windows Azure Build Output
+csx
+*.build.csdef
+
+# Windows Store app package directory
+AppPackages/
+
+# Others
+sql/
+*.Cache
+ClientBin/
+[Ss]tyle[Cc]op.*
+~$*
+*~
+*.dbmdl
+*.[Pp]ublish.xml
+*.pfx
+*.publishsettings
+
+# RIA/Silverlight projects
+Generated_Code/
+
+# Backup & report files from converting an old project file to a newer
+# Visual Studio version. Backup files are not needed, because we have git ;-)
+_UpgradeReport_Files/
+Backup*/
+UpgradeLog*.XML
+UpgradeLog*.htm
+
+# SQL Server files
+App_Data/*.mdf
+App_Data/*.ldf
+
+#############
+## Windows detritus
+#############
+
+# Windows image file caches
+Thumbs.db
+ehthumbs.db
+
+# Folder config file
+Desktop.ini
+
+# Recycle Bin used on file shares
+$RECYCLE.BIN/
+
+# Mac crap
+.DS_Store
+
+
+#############
+## Python
+#############
+
+*.py[co]
+
+# Packages
+*.egg
+*.egg-info
+dist/
+build/
+eggs/
+parts/
+var/
+sdist/
+develop-eggs/
+.installed.cfg
+
+# Installer logs
+pip-log.txt
+
+# Unit test / coverage reports
+.coverage
+.tox
+
+#Translations
+*.mo
+
+#Mr Developer
+.mr.developer.cfg

Readme.txt

@@ -0,0 +1,36 @@
+
+Copyright 2011 by Alexander Balasch http://coolrobotprojects.blogspot.co.at/
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>
+
+this project has been inspired by:
+
+http://pleasantsoftware.com/developer/3d/spherebot/
+
+///////////////////////////////////////////////////////////////////////////////////
+
+HOW TO:
+
+1.) Upload the Arduino sketch.
+
+	(I have added an additional multiplicator to the y-Step calculation to 
+	match my spherebot to the unicorn-script coordinates. You will maybe have to
+	do the same adjustment for your Spherebot)
+
+	(You will also have to redefine your pins accordingly to your electronics design)
+
+2.) Start the Spherebot-UI.exe and connect to your Arduino
+
+Warning for custom Firmwares: 	The send file function will only work if the arduino answers each sent command with a message 
+				that contains "ok:" so that the next command is sent.

SphereBot Arduino/SphereBot.ino

@@ -0,0 +1,552 @@
+/*
+ * Copyright 2011 by Eberhard Rensch <http://pleasantsoftware.com/developer/3d>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>
+ *
+ * Part of this code is based on/inspired by the Helium Frog Delta Robot Firmware
+ * by Martin Price <http://www.HeliumFrog.com>
+ *
+ * !!!!!!!!
+ * This sketch needs the following non-standard libraries (install them in the Arduino library directory):
+ * SoftwareServo: http://www.arduino.cc/playground/ComponentLib/Servo
+ * TimerOne: http://www.arduino.cc/playground/Code/Timer1
+ * !!!!!!!!
+ */
+
+#include <TimerOne.h>
+#include <SoftwareServo.h>
+#include "StepperModel.h"
+
+
+#define TIMER_DELAY 64
+
+/*
+ * PINS
+ */
+ 
+   /*  ms1  |  ms2
+    ----------------
+      L    |  L        ->  Full Step
+      H    |  L        ->  Half Step 
+      L    |  H        ->  Quarter Step
+      H    |  H        ->  Sixteenth Step
+  */
+  
+#define XAXIS_VMS1 HIGH
+#define XAXIS_VMS2 HIGH
+#define YAXIS_VMS1 HIGH
+#define YAXIS_VMS2 HIGH
+ 
+#define YAXIS_DIR_PIN 14
+#define YAXIS_STEP_PIN 15
+#define YAXIS_ENABLE_PIN 21
+#define YAXIS_MS1_PIN 19          //don´t make this connection!! ADC6 and ADC7 can not be used as a digital pin ( I made the pull up connection manually)
+#define YAXIS_MS2_PIN 28
+//#define YAXIS_MS3_PIN 18
+#define YAXIS_ENDSTOP_PIN -1    //13    
+
+#define XAXIS_DIR_PIN 10
+#define XAXIS_STEP_PIN 8
+#define XAXIS_ENABLE_PIN 2
+#define XAXIS_MS1_PIN 3
+#define XAXIS_MS2_PIN 4
+#define XAXIS_ENDSTOP_PIN -1 // <0 0> No Endstop!
+
+#define SERVO_PIN 13
+
+/*
+ * Other Configuration
+ */
+
+#define DEFAULT_PEN_UP_POSITION 35
+#define XAXIS_MIN_STEPCOUNT -5.6*230000
+#define XAXIS_MAX_STEPCOUNT 5*230000
+#define DEFAULT_ZOOM_FACTOR 0.1808 // With a Zoom-Faktor of .65, I can print gcode for Makerbot Unicorn without changes. 
+                               // The zoom factor can be also manipulated by the propretiary code M402
+
+
+/* --------- */
+
+StepperModel xAxisStepper(XAXIS_DIR_PIN, XAXIS_STEP_PIN, XAXIS_ENABLE_PIN, XAXIS_ENDSTOP_PIN, XAXIS_MS1_PIN, XAXIS_MS2_PIN, XAXIS_VMS1, XAXIS_VMS2,
+        XAXIS_MIN_STEPCOUNT, XAXIS_MAX_STEPCOUNT, 200.0, 16);
+StepperModel rotationStepper(YAXIS_DIR_PIN, YAXIS_STEP_PIN, YAXIS_ENABLE_PIN, YAXIS_ENDSTOP_PIN, YAXIS_MS1_PIN, YAXIS_MS2_PIN, YAXIS_VMS1, YAXIS_VMS2,
+        0, 0, 200.0, 16);
+
+SoftwareServo servo;
+boolean servoEnabled=true;
+
+long intervals=0;
+volatile long intervals_remaining=0;
+volatile boolean isRunning=false;
+
+// comm variables
+const int MAX_CMD_SIZE = 256;
+char buffer[MAX_CMD_SIZE]; // buffer for serial commands
+char serial_char; // value for each byte read in from serial comms
+int serial_count = 0; // current length of command
+char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
+boolean comment_mode = false;
+// end comm variables
+
+// GCode States
+double currentOffsetX = 0.;
+double currentOffsetY = 0.;
+boolean absoluteMode = true;
+double feedrate = 300.; // mm/minute
+double zoom = DEFAULT_ZOOM_FACTOR;
+
+const double maxFeedrate = 2000.;
+// ------
+
+void setup()
+{
+    Serial.begin(115200);
+    Serial.print("EBB 1.0\n");
+    
+    clear_buffer();
+
+    servo.attach(SERVO_PIN);
+    servo.write(DEFAULT_PEN_UP_POSITION);
+    
+    if(servoEnabled)
+    {
+      for(int i=0;i<100;i++)
+      {
+          SoftwareServo::refresh();
+          delay(4);
+      }
+    }
+    
+    //--- Activate the PWM timer
+    Timer1.initialize(TIMER_DELAY); // Timer for updating pwm pins
+    Timer1.attachInterrupt(doInterrupt);
+  
+#ifdef AUTO_HOMING
+    xAxisStepper.autoHoming();
+    xAxisStepper.setTargetPosition(0.);
+    commitSteppers(maxFeedrate);
+    delay(2000);
+    xAxisStepper.enableStepper(false);
+#endif
+}
+
+void loop() // input loop, looks for manual input and then checks to see if and serial commands are coming in
+{
+  get_command(); // check for Gcodes
+  if(servoEnabled)
+    SoftwareServo::refresh();
+}
+
+//--- Interrupt-Routine: Move the steppers
+void doInterrupt()
+{
+  if(isRunning)
+  {
+      if (intervals_remaining-- == 0)
+	 isRunning = false;
+      else
+      {
+          rotationStepper.doStep(intervals);
+          xAxisStepper.doStep(intervals);
+      }
+  }
+}
+
+void commitSteppers(double speedrate)
+{
+  long deltaStepsX = xAxisStepper.delta;
+  if(deltaStepsX != 0L)
+  {
+    xAxisStepper.enableStepper(true);
+  }
+
+  long deltaStepsY = rotationStepper.delta;
+  if(deltaStepsY != 0L)
+  {
+    rotationStepper.enableStepper(true);
+  }
+  long masterSteps = (deltaStepsX>deltaStepsY)?deltaStepsX:deltaStepsY;
+
+  double deltaDistanceX = xAxisStepper.targetPosition-xAxisStepper.getCurrentPosition();
+  double deltaDistanceY = rotationStepper.targetPosition-rotationStepper.getCurrentPosition();
+  		
+  // how long is our line length?
+  double distance = sqrt(deltaDistanceX*deltaDistanceX+deltaDistanceY*deltaDistanceY);
+		  	  
+  // compute number of intervals for this move
+  double sub1 = (60000.* distance / speedrate);
+  double sub2 = sub1 * 1000.;
+  intervals = (long)sub2/TIMER_DELAY;
+
+  intervals_remaining = intervals;
+  const long negative_half_interval = -intervals / 2;
+  
+  rotationStepper.counter = negative_half_interval;
+  xAxisStepper.counter = negative_half_interval;
+
+//  Serial.print("Speedrate:");
+//  Serial.print(speedrate, 6);
+//  Serial.print(" dX:");
+//  Serial.print(deltaStepsX);
+//  Serial.print(" dY:");
+//  Serial.print(deltaStepsY);
+//  Serial.print(" masterSteps:");
+//  Serial.print(masterSteps);
+//  Serial.print(" dDistX:");
+//  Serial.print(deltaDistanceX);
+//  Serial.print(" dDistY:");	
+//  Serial.print(deltaDistanceY);
+//  Serial.print(" distance:");
+//  Serial.print(distance);
+//  Serial.print(" sub1:");
+//  Serial.print(sub1, 6);
+//  Serial.print(" sub2:");
+//  Serial.print(sub2, 6);
+//  Serial.print(" intervals:");
+//  Serial.print(intervals);
+//  Serial.print(" negative_half_interval:");
+//  Serial.println(negative_half_interval);
+//  Serial.print("Y currentStepCount:");
+//  Serial.print(rotationStepper.currentStepcount);
+//  Serial.print(" targetStepCount:");
+//  Serial.println(rotationStepper.targetStepcount);
+
+  isRunning=true;
+}
+
+void get_command() // gets commands from serial connection and then calls up subsequent functions to deal with them
+{
+  if (!isRunning && Serial.available() > 0) // each time we see something
+  {
+    serial_char = Serial.read(); // read individual byte from serial connection
+    
+    if (serial_char == '\n' || serial_char == '\r') // end of a command character
+    { 
+      buffer[serial_count]=0;
+      process_commands(buffer, serial_count);
+      clear_buffer();
+      comment_mode = false; // reset comment mode before each new command is processed
+      //Serial.write("process: command");
+    }
+    else // not end of command
+    {
+      if (serial_char == ';' || serial_char == '(') // semicolon signifies start of comment
+      {
+        comment_mode = true;
+      }
+      
+      if (comment_mode != true) // ignore if a comment has started
+      {
+        buffer[serial_count] = serial_char; // add byte to buffer string
+        serial_count++;
+        if (serial_count > MAX_CMD_SIZE) // overflow, dump and restart
+        {
+          clear_buffer();
+          Serial.flush();
+        }
+      }
+      else
+      {
+      }
+    }
+  }
+}
+
+void clear_buffer() // empties command buffer from serial connection
+{
+  serial_count = 0; // reset buffer placement
+}
+
+boolean getValue(char key, char command[], double* value)
+{  
+  // find key parameter
+  strchr_pointer = strchr(buffer, key);
+  if (strchr_pointer != NULL) // We found a key value
+  {
+    *value = (double)strtod(&command[strchr_pointer - command + 1], NULL);
+    return true;  
+  }
+  return false;
+}
+
+void check_for_version_controll(char command)
+{
+  if(command == 'v')
+  {
+    Serial.print("EBB 1.0\n");
+  }
+}
+    
+
+void process_commands(char command[], int command_length) // deals with standardized input from serial connection
+{
+  if(command_length == 1)
+  {
+    check_for_version_controll(command[0]);
+  }
+  if (command_length>0 && command[0] == 'G') // G code
+  {
+    //Serial.print("proces G: \n");
+    int codenum = (int)strtod(&command[1], NULL);
+    
+    double tempX = xAxisStepper.getCurrentPosition();
+    double tempY = rotationStepper.getCurrentPosition();
+    
+    double xVal;
+    boolean hasXVal = getValue('X', command, &xVal);
+    if(hasXVal) xVal*=zoom*1.71/2;                              //this factor is for correction to meet the unicorn coordinates    
+    double yVal;
+    boolean hasYVal = getValue('Y', command, &yVal);
+    if(hasYVal) yVal*=zoom;
+    double iVal;
+    boolean hasIVal = getValue('I', command, &iVal);
+    if(hasIVal) iVal*=zoom;
+    double jVal;
+    boolean hasJVal = getValue('J', command, &jVal);
+    if(hasJVal) jVal*=zoom;
+    double rVal;
+    boolean hasRVal = getValue('R', command, &rVal);
+    if(hasRVal) rVal*=zoom;
+    double pVal;
+    boolean hasPVal = getValue('P', command, &pVal);
+    
+    getValue('F', command, &feedrate);
+
+    xVal+=currentOffsetX;
+    yVal+=currentOffsetY;
+    
+    if(absoluteMode)
+    {
+      if(hasXVal)
+        tempX=xVal;
+      if(hasYVal)
+        tempY=yVal;
+    }
+    else
+    {
+      if(hasXVal)
+        tempX+=xVal;
+      if(hasYVal)
+        tempY+=yVal;
+    }
+    
+    switch(codenum)
+    {
+      case 0: // G0, Rapid positioning
+        xAxisStepper.setTargetPosition(tempX);
+        rotationStepper.setTargetPosition(tempY);
+        commitSteppers(maxFeedrate);
+        break;
+      case 1: // G1, linear interpolation at specified speed
+        xAxisStepper.setTargetPosition(tempX);
+        rotationStepper.setTargetPosition(tempY);
+        commitSteppers(feedrate);
+        break;
+      case 2: // G2, Clockwise arc
+      case 3: // G3, Counterclockwise arc
+        if(hasIVal && hasJVal)
+        {
+            double centerX=xAxisStepper.getCurrentPosition()+iVal;
+            double centerY=rotationStepper.getCurrentPosition()+jVal;
+            drawArc(centerX, centerY, tempX, tempY, (codenum==2));
+        }
+        else if(hasRVal)
+        {
+          //drawRadius(tempX, tempY, rVal, (codenum==2));
+        }
+        break;
+      case 4: // G4, Delay P ms
+        if(hasPVal)
+        {
+           unsigned long endDelay = millis()+ (unsigned long)pVal;
+           while(millis()<endDelay)
+           {
+              delay(1);
+              if(servoEnabled)
+                SoftwareServo::refresh();
+           }
+        }
+        break;
+      case 21: // G21 metric 
+        break;
+      case 90: // G90, Absolute Positioning
+        absoluteMode = true;
+        break;
+      case 91: // G91, Incremental Positioning
+        absoluteMode = false;
+        break;
+      case 92: // G92 homing
+        break;
+    }
+  }  
+  else if (command_length>0 && command[0] == 'M') // M code
+  {
+    //Serial.print("proces M:\n");
+    double value;
+    int codenum = (int)strtod(&command[1], NULL);
+    switch(codenum)
+    {   
+      case 18: // Disable Drives
+        xAxisStepper.resetStepper();
+        rotationStepper.resetStepper();
+        break;
+
+      case 300: // Servo Position
+        if(getValue('S', command, &value))
+        {
+          servoEnabled=true;
+          if(value<0.)
+            value=0.;
+          else if(value>180.)
+          {
+            value=DEFAULT_PEN_UP_POSITION;
+            servo.write((int)value);
+            for(int i=0;i<100;i++)
+            {
+                SoftwareServo::refresh();
+                delay(4);
+            }           
+            servoEnabled=false;
+          }
+          servo.write((int)value);
+        }
+        break;
+        
+      case 400: // Propretary: Reset X-Axis-Stepper settings to new object diameter
+        if(getValue('S', command, &value))
+        {
+          xAxisStepper.resetSteppersForObjectDiameter(value);
+          xAxisStepper.setTargetPosition(0.);
+          commitSteppers(maxFeedrate);
+          delay(2000);
+          xAxisStepper.enableStepper(false);
+        }
+        break;
+        
+      case 401: // Propretary: Reset Y-Axis-Stepper settings to new object diameter
+        if(getValue('S', command, &value))
+        {
+          rotationStepper.resetSteppersForObjectDiameter(value);
+          rotationStepper.setTargetPosition(0.);
+          commitSteppers(maxFeedrate);
+          delay(2000);
+          rotationStepper.enableStepper(false);
+        }
+        break;
+        
+     case 402: // Propretary: Reset Y-Axis-Stepper settings to new object diameter
+        if(getValue('S', command, &value))
+        {
+            zoom = value/100;
+        }
+        break;
+
+    }
+  }  
+
+//done processing commands
+if (Serial.available() <= 0) {
+Serial.print("ok:");
+Serial.println(command);
+Serial.print("\n");
+  }
+}
+
+/* This code was ported from the Makerbot/ReplicatorG java sources */
+void drawArc(double centerX, double centerY, double endpointX, double endpointY, boolean clockwise) 
+{
+  // angle variables.
+  double angleA;
+  double angleB;
+  double angle;
+  double radius;
+  double length;
+
+  // delta variables.
+  double aX;
+  double aY;
+  double bX;
+  double bY;
+
+  // figure out our deltas
+  double currentX = xAxisStepper.getCurrentPosition();
+  double currentY = rotationStepper.getCurrentPosition();
+  aX = currentX - centerX;
+  aY = currentY - centerY;
+  bX = endpointX - centerX;
+  bY = endpointY - centerY;
+
+  // Clockwise
+  if (clockwise) {
+    angleA = atan2(bY, bX);
+    angleB = atan2(aY, aX);
+  }
+  // Counterclockwise
+  else {
+    angleA = atan2(aY, aX);
+    angleB = atan2(bY, bX);
+  }
+
+  // Make sure angleB is always greater than angleA
+  // and if not add 2PI so that it is (this also takes
+  // care of the special case of angleA == angleB,
+  // ie we want a complete circle)
+  if (angleB <= angleA)
+    angleB += 2. * M_PI;
+  angle = angleB - angleA;
+		
+  // calculate a couple useful things.
+  radius = sqrt(aX * aX + aY * aY);
+  length = radius * angle;
+
+  // for doing the actual move.
+  int steps;
+  int s;
+  int step;
+
+  // Maximum of either 2.4 times the angle in radians
+  // or the length of the curve divided by the curve section constant
+  steps = (int)ceil(max(angle * 2.4, length));
+
+  // this is the real draw action.
+  double newPointX = 0.;
+  double newPointY = 0.;
+  
+  for (s = 1; s <= steps; s++) {
+    // Forwards for CCW, backwards for CW
+    if (!clockwise)
+	step = s;
+    else
+	step = steps - s;
+
+    // calculate our waypoint.
+    newPointX = centerX + radius * cos(angleA + angle * ((double) step / steps));
+    newPointY= centerY + radius	* sin(angleA + angle * ((double) step / steps));
+
+    // start the move
+    xAxisStepper.setTargetPosition(newPointX);
+    rotationStepper.setTargetPosition(newPointY);
+    commitSteppers(feedrate);
+    
+    while(isRunning)
+    {
+      delay(1);
+      if(servoEnabled)
+        SoftwareServo::refresh();
+    };
+  }
+}
+
+/* Make life easier for vim users */
+/* vim:set filetype=cpp: */

SphereBot Arduino/StepperModel.cpp

@@ -0,0 +1,179 @@
+/*
+ * Copyright 2011 by Eberhard Rensch <http://pleasantsoftware.com/developer/3d>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>
+ */
+ 
+#include "StepperModel.h"
+#include "Arduino.h"
+
+
+/*
+ * inEnablePin < 0 => No Endstop
+ */
+StepperModel::StepperModel(int inDirPin, int inStepPin, int inEnablePin, int inEndStopPin,int inMs1Pin, int inMs2Pin, bool vms1,bool vms2,
+        long minSC, long maxSC,
+        double in_kStepsPerRevolution, int in_kMicroStepping)
+{
+  kStepsPerRevolution=in_kStepsPerRevolution;
+  kMicroStepping=in_kMicroStepping;
+
+  dirPin = inDirPin;
+  stepPin = inStepPin;
+  enablePin = inEnablePin;
+  endStopPin = inEndStopPin;
+  ms1Pin = inMs1Pin;
+  ms2Pin = inMs2Pin;
+    
+  minStepCount=minSC;
+  maxStepCount=maxSC;
+  
+  pinMode(dirPin, OUTPUT);  
+  pinMode(stepPin, OUTPUT);  
+  pinMode(enablePin, OUTPUT);  
+  pinMode(ms1Pin, OUTPUT);  
+  pinMode(ms2Pin, OUTPUT); 
+  if(endStopPin>=0)
+    pinMode(endStopPin, INPUT);  
+
+  digitalWrite(dirPin, LOW);
+  digitalWrite(stepPin, LOW);
+    
+  digitalWrite(ms1Pin, vms1);    
+  digitalWrite(ms2Pin, vms2);
+ 
+  currentStepcount=0;
+  targetStepcount=0;
+
+  steps_per_mm = (int)((kStepsPerRevolution/(45.*M_PI))*kMicroStepping+0.5); // default value for a "normal" egg (45 mm diameter)
+  enableStepper(false);
+}
+
+void StepperModel::resetSteppersForObjectDiameter(double diameter)
+{
+  // Calculate the motor steps required to move per mm.
+  steps_per_mm = (int)((kStepsPerRevolution/(diameter*M_PI))*kMicroStepping+0.5);
+  if(endStopPin>=0)
+  {
+#ifdef AUTO_HOMING
+    autoHoming();
+#endif
+    enableStepper(false);
+  }
+  else
+    resetStepper();    
+}
+
+long StepperModel::getStepsForMM(double mm)
+{
+  long steps = (long)(steps_per_mm*mm);
+  
+//  Serial.print("steps for ");
+//  Serial.print(mm);
+//  Serial.print(" mm: ");
+//  Serial.println(steps);
+  
+  return steps;
+}
+
+/* Currently unused */
+/*
+void StepperModel::setTargetStepcount(long tsc)
+{
+   targetPosition = (double)tsc/steps_per_mm;
+   targetStepcount = tsc;
+   delta = targetStepcount-currentStepcount;
+   direction = true;
+   if (delta != 0) {
+     enableStepper(true);
+   }
+   if (delta < 0) {
+	delta = -delta;
+	direction = false;
+   }
+}*/
+
+void StepperModel::setTargetPosition(double pos)
+{
+   targetPosition = pos;
+   targetStepcount = getStepsForMM(targetPosition);
+   //Serial.println(targetStepcount);
+   delta = targetStepcount-currentStepcount;
+   direction = true;
+   if (delta != 0) {
+     enableStepper(true);
+   }
+   if (delta < 0) {
+	delta = -delta;
+	direction = false;
+   }
+}
+
+double StepperModel::getCurrentPosition()
+{
+    return (double)currentStepcount/steps_per_mm;
+}
+
+void StepperModel::enableStepper(bool enabled)
+{
+  digitalWrite(enablePin, !enabled);
+}
+
+void StepperModel::resetStepper()
+{
+  enableStepper(false);
+  currentStepcount=0;
+  targetStepcount=0;
+  delta=0;  
+}
+
+void StepperModel::doStep(long intervals)
+{
+  counter += delta;
+  if (counter >= 0) {
+    digitalWrite(dirPin, direction?HIGH:LOW);
+    counter -= intervals;
+    if (direction) {
+      if(maxStepCount==0 || currentStepcount<=maxStepCount)
+      {
+        digitalWrite(stepPin, HIGH);
+        currentStepcount++;
+      }
+    } else {
+      if(minStepCount==0 || currentStepcount>=minStepCount)
+      {
+        digitalWrite(stepPin, HIGH);
+        currentStepcount--;
+      }
+    }
+    digitalWrite(stepPin, LOW);
+  }
+}  
+
+#ifdef AUTO_HOMING
+void StepperModel::autoHoming()
+{
+  enableStepper(true);
+  digitalWrite(dirPin, LOW);
+ 
+  while(digitalRead(endStopPin))
+  {
+        digitalWrite(stepPin, HIGH);
+        digitalWrite(stepPin, LOW);
+        delay(1);
+  }
+
+  currentStepcount= minStepCount-16;
+}
+#endif

SphereBot Arduino/StepperModel.h

@@ -0,0 +1,75 @@
+/*
+ * Copyright 2011 by Eberhard Rensch <http://pleasantsoftware.com/developer/3d>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>
+ */
+ 
+#ifndef STEPPERMODEL
+#define STEPPERMODEL
+
+// Uncomment if You have Autohoming:
+//#define AUTO_HOMING 
+
+class StepperModel
+{
+private:
+  
+  int dirPin;
+  int stepPin;
+  int enablePin;
+  int ms1Pin;
+  int ms2Pin;
+  int endStopPin;
+  
+  long minStepCount;
+  long maxStepCount;
+  double steps_per_mm;
+
+  double kStepsPerRevolution;
+  int kMicroStepping;
+
+  volatile long currentStepcount;
+  volatile long targetStepcount;
+
+  volatile bool direction;
+ 
+  long getStepsForMM(double mm);
+ 
+public:
+  volatile long delta;
+  volatile long counter;
+  double targetPosition;
+  
+ StepperModel(int inDirPin, int inStepPin, int inEnablePin, int inEndStopPin,int inMs1Pin, int inMs2Pin,bool vms1,bool vms2,
+        long minSC, long maxSC,
+        double in_kStepsPerRevolution, int in_kMicroStepping);
+  
+  void resetSteppersForObjectDiameter(double diameter);
+  
+#ifdef AUTO_HOMING
+  void autoHoming();
+#endif
+
+  
+  void setTargetPosition(double pos);
+  double getCurrentPosition();
+  
+  void enableStepper(bool enabled);
+  
+  void resetStepper();
+  
+  void doStep(long intervals);
+};
+
+#endif

SphereBot Arduino/Utils/egg-displace.dat

@@ -0,0 +1,25 @@
+# Gnuplot Session
+#
+# Erste Spalte=x, Zweite=y
+# Ei Spitze zeigt nach rechts (positive x)
+#
+# plot "egg-displace.dat" using 1:2 title "Ei"
+#  ==> graph looks like a parabola
+# f(x)=a*x*x + b*x + c
+# fit f(x) "egg-displace.dat" using 1:2 via a,b,c
+# a=0.00795338
+# b=0.0734545
+# c=0.15711
+# plot "egg-displace.dat" using 1:2 title "Ei" with lines, f(x)
+#  ==> fits reasonable well
+-25 3
+-20 2
+-15 1
+-10 0.5
+-5 0.1
+0 0
+5 0.5
+10 1.5
+15 3
+20 5
+25 7

SphereBot Arduino/readme.txt

@@ -0,0 +1,51 @@
+v0.1
+
+This is the firmware for an EggBot-style SphereBot.
+The firmware directly interprets GCode send over the serial port.
+
+There will be more information on the SphereBot at http://pleasantsoftware.com/developer/3d (in the near future...)
+
+!!!!!!!!
+This sketch needs the following non-standard libraries (install them in the Arduino library directory):
+SoftwareServo: http://www.arduino.cc/playground/ComponentLib/Servo
+TimerOne: http://www.arduino.cc/playground/Code/Timer1
+!!!!!!!!
+
+Copyright 2011 by Eberhard Rensch <http://pleasantsoftware.com/developer/3d>
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>
+
+Part of this code is based on/inspired by the Helium Frog Delta Robot Firmware
+by Martin Price <http://www.HeliumFrog.com>
+
+To create tags File: ctags --langmap="C++:+.pde" S*
+
+
+GCode commands:
+
+G90	Absolut modus
+G91	Icremental modus:
+
+M300S0	Servo 0 degree
+M300S90	Servo 90 degree
+
+
+M18	Stepper off
+
+G0X0Y40	Rapid movement (pen 0mm, rotation 40mm)
+G1X40Y0 Slower movement (pen 40mm, rotation 0mm)
+G1Y10F660 Movement with feed 660mm/s (rotation 10mm)
+
+;	Comment
+( .. )	Comment

Spherebot_UI/Spherebot_UI.pro

@@ -0,0 +1,28 @@
+#-------------------------------------------------
+#
+# Project created by QtCreator 2013-05-30T07:01:31
+#
+#-------------------------------------------------
+
+QT       += core gui
+
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
+
+TARGET = Spherebot_UI
+TEMPLATE = app
+
+
+SOURCES += main.cpp\
+        mainwindow.cpp \
+    spherebot.cpp \
+    txthread.cpp
+
+include(3rdparty/qextserialport/src/qextserialport.pri)
+
+HEADERS  += mainwindow.h \
+    spherebot.h \
+    txthread.h
+
+FORMS    += mainwindow.ui
+
+CONFIG += static

Spherebot_UI/main.cpp

@@ -0,0 +1,13 @@
+#include "mainwindow.h"
+#include <QApplication>
+
+int main(int argc, char *argv[])
+{
+    QApplication app(argc, argv);
+    app.setOrganizationName("thunderbug1");
+    MainWindow w;
+    w.setWindowTitle("Spherebot control");
+    w.show();
+
+    return app.exec();
+}

Spherebot_UI/mainwindow.cpp

@@ -0,0 +1,350 @@
+#include "mainwindow.h"
+#include "ui_mainwindow.h"
+
+MainWindow::MainWindow(QWidget *parent) :
+    QMainWindow(parent),
+    ui(new Ui::MainWindow)
+{
+    ui->setupUi(this);
+    resetPortList();
+
+    sendState = false;
+    rxTimer = new QTimer(this);
+
+    //connect( bot.port, SIGNAL(readyRead()), this, SLOT(receiveData()) );
+    connect( rxTimer,SIGNAL(timeout()),this,SLOT(receiveData()));
+    connect( &bot, SIGNAL(dataSent(QString)),this, SLOT(sendData(QString)));
+    connect(this,SIGNAL(receivedLine(QString)),&Transceiver,SLOT(checkResponse(QString)));
+    connect(&Transceiver,SIGNAL(progressChanged(int)),this,SLOT(refreshSendProgress(int)));
+    connect(&Transceiver,SIGNAL(fileTransmitted()),this,SLOT(finishedTransmission()));
+}
+
+MainWindow::~MainWindow()
+{
+    qDebug()<<"delete main window";
+    QSettings settings(nameSettingsFile, QSettings::NativeFormat);
+    QString tmp = (ui->portBox->currentText());
+    settings.setValue("portName", tmp);
+    delete ui;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+void MainWindow::loadFile(const QString &fileName)
+{
+    QFile file(fileName);
+    if (!file.open(QFile::ReadOnly | QFile::Text)) {
+        QMessageBox::warning(this, tr("Application"),
+                             tr("Cannot read file %1:\n%2.")
+                             .arg(fileName)
+                             .arg(file.errorString()));
+        return;
+    }
+
+    statusBar()->showMessage(tr("File loaded"), 2000);
+    ui->fileTextEdit->setText(file.readAll());
+}
+
+bool MainWindow::saveFile(const QString &fileName)
+//! [44] //! [45]
+{
+    QFile file(fileName);
+    if (!file.open(QFile::WriteOnly | QFile::Text)) {
+        QMessageBox::warning(this, tr("Application"),
+                             tr("Cannot write file %1:\n%2.")
+                             .arg(fileName)
+                             .arg(file.errorString()));
+        return false;
+    }
+
+    QTextStream out(&file);
+
+    out<<ui->fileTextEdit->toPlainText();
+    statusBar()->showMessage(tr("File saved"), 2000);
+    return true;
+}
+
+void MainWindow::receiveData()
+{
+    if(bot.port->bytesAvailable())
+    {
+        //qDebug()<< "Read line";
+        QString line =bot.port->readLine(1024);
+        line.chop(1);
+        emit receivedLine(line);
+        ui->rxList->insertItem(0,line);
+    }
+}
+
+void MainWindow::refreshSendProgress(int value)
+{
+    ui->fileSendProgressBar->setValue(value);
+}
+
+void MainWindow::finishedTransmission()
+{
+    ui->sendFileButton->setText("Send File");
+    ui->controllBox->setEnabled(true);
+    ui->fileSendProgressBar->setEnabled(false);
+    statusBar()->showMessage(tr("File successfully sent"));
+    sendState = false;
+}
+
+///////////////////////////////////////////////////////////////////
+
+void MainWindow::on_connectButton_clicked()
+{
+    if(bot.isConnected())
+    {
+        //disconnect
+        rxTimer->stop();
+        bot.disconnectWithBot();
+        ui->connectButton->setChecked(false);
+        ui->connectButton->setText("Connect");
+        ui->controllBox->setEnabled(false);
+        ui->resetButton->setEnabled(true);
+        ui->portBox->setEnabled(true);
+        ui->sendFileButton->setEnabled(false);
+        ui->eggSlider->setValue(0);
+        ui->diameterSlider->setValue(DEFAULTDIAMETER);
+        ui->penSlider->setValue(0);
+        ui->servoSlider->setValue(DEFAULTPENUP);
+        ui->FeedratespinBox->setValue(DEFAULTFEEDRATE);
+        ui->fileSendProgressBar->setValue(0);
+        sendState = 0;
+        ui->sendFileButton->setText("Send File");
+    }
+    else if(bot.connectWithBot(ui->portBox->currentText()))
+    {
+        //successfully connected
+        rxTimer->start(2);
+        qDebug()<<"Start Timer";
+        ui->connectButton->setChecked(true);
+        ui->controllBox->setEnabled(true);
+        ui->portBox->setEnabled(false);
+        ui->resetButton->setEnabled(false);
+        ui->connectButton->setText("Disconnect");
+        if(!ui->fileTextEdit->toPlainText().isEmpty()) ui->sendFileButton->setEnabled(true);
+    }
+    else
+    {
+
+    }
+}
+
+
+void MainWindow::resetPortList()
+{
+    portList =serialEnumerator.getPorts();
+    ui->portBox->clear();
+    for(int i=0;i<portList.size();i++)
+    {
+        ui->portBox->addItem(portList[i].portName);
+    }
+}
+
+void MainWindow::on_resetButton_clicked()
+{
+    resetPortList();
+}
+
+void MainWindow::sendData(QString data)
+{
+    ui->txList->insertItem(0,data);
+}
+
+void MainWindow::on_sendString_editingFinished()
+{
+    if(!bot.send(ui->sendString->text()))
+    {
+        //sendData(ui->sendString->text());
+    }
+    else
+    {
+        qDebug()<<bot.port->errorString();
+        sendData("Error while sending Data!");
+    }
+}
+
+void MainWindow::on_sendButton_clicked()
+{
+    if(!bot.send(ui->sendString->text()))
+    {
+        //sendData(ui->sendString->text());
+    }
+    else
+    {
+        qDebug()<<bot.port->errorString();
+        //sendData("Error while sending Data!");
+    }
+}
+
+void MainWindow::on_servoSlider_sliderMoved(int position)
+{
+    //ui->servospinBox->setValue(position);
+    QString tmp = ("M300 S" + QString::number(position)+"\n");
+    bot.send(tmp);
+    //sendData(tmp);
+}
+
+void MainWindow::on_servospinBox_valueChanged(int arg1)
+{
+    ui->servoSlider->setValue(arg1);
+    QString tmp = ("M300 S" + QString::number(arg1)+"\n");
+    bot.send(tmp);
+}
+
+void MainWindow::on_penRotationBox_valueChanged(int arg1)
+{
+    QString tmp = ("G1 Y" + QString::number((double)arg1));
+    bot.send(tmp);
+    ui->penSlider->setValue(arg1);
+}
+
+void MainWindow::on_penSlider_valueChanged(int value)
+{
+    ui->penRotationBox->setValue(value);
+}
+
+void MainWindow::on_eggSlider_valueChanged(int value)
+{
+    ui->eggRotationBox->setValue(value);
+}
+
+void MainWindow::on_eggRotationBox_valueChanged(int arg1)
+{
+    QString tmp = ("G1 X" + QString::number((double)arg1)+"\n");
+    bot.send(tmp);
+    ui->eggSlider->setValue(arg1);
+}
+
+void MainWindow::on_loadFileButton_clicked()
+{
+    QString fileName = QFileDialog::getOpenFileName(this);
+    if (!fileName.isEmpty())
+        loadFile(fileName);
+    if(!ui->fileTextEdit->toPlainText().isEmpty())
+    {
+        setWindowTitle("Spherebot Controll      File: " + fileName);
+        ui->fileName->setText(QFileInfo(fileName).fileName());
+    }
+    else ui->sendButton->setEnabled(false);
+}
+
+
+void MainWindow::on_saveFileButton_clicked()
+{
+    saveFile(curFile);
+    ui->saveFileButton->setEnabled(false);
+}
+
+QString removeComments(QString input);
+
+void MainWindow::on_fileTextEdit_textChanged()
+{
+    ui->saveFileButton->setEnabled(true);
+    ui->outputText->setText(removeComments((ui->fileTextEdit->toPlainText())));
+    if(!ui->fileTextEdit->toPlainText().isEmpty())
+    {
+        setWindowTitle("Spherebot Controll");
+        ui->fileName->setText("");
+        if(bot.isConnected()) ui->sendFileButton->setEnabled(true);
+        else ui->sendButton->setEnabled(false);
+    }
+}
+
+
+void MainWindow::on_sendFileButton_clicked()
+{
+    QScrollBar *vScrollBar = ui->fileTextEdit->verticalScrollBar();
+    qDebug()<<"enter button code";
+    switch(sendState)
+    {
+    case 0:         //start to send
+        qDebug()<<"start sending";
+        sendState = 1;
+        ui->controllBox->setEnabled(false);
+        ui->fileSendProgressBar->setEnabled(true);
+        ui->sendFileButton->setText("Stop");
+        ui->controllBox->setEnabled(false);
+        ui->sendButton->setEnabled(false);
+        Transceiver.set(ui->fileTextEdit->toPlainText(),this->bot);
+        qDebug()<<"tx is set";
+        Transceiver.run();
+        statusBar()->showMessage(tr("Sending File"));
+        break;
+    case 1:       //stop the print
+        qDebug()<< "You have stoped sending";
+        sendState = 2;
+        ui->restartButton->setEnabled(true);
+        ui->sendFileButton->setText("Continue");
+        ui->controllBox->setEnabled(true);
+        ui->sendButton->setEnabled(true);
+        vScrollBar->setValue(Transceiver.getLineCounter());
+        Transceiver.checkSendBufferTimer->stop();
+        break;
+    case 2:      //continue
+        sendState = 1;
+        Transceiver.checkSendBufferTimer->start(SENDBUFFERINTERVAL);
+        ui->restartButton->setEnabled(false);
+        ui->sendFileButton->setText("Stop");
+        ui->controllBox->setEnabled(false);
+        ui->sendButton->setEnabled(false);
+        break;
+    }
+
+    qDebug()<<"leave button code";
+}
+
+void MainWindow::on_restartButton_clicked()
+{
+    sendState = 1;
+    ui->controllBox->setEnabled(false);
+    ui->fileSendProgressBar->setEnabled(true);
+    ui->sendFileButton->setText("Stop");
+    ui->controllBox->setEnabled(false);
+    ui->sendButton->setEnabled(false);
+    Transceiver.set(ui->fileTextEdit->toPlainText(),this->bot);
+    qDebug()<<"tx is set";
+    Transceiver.run();
+    statusBar()->showMessage(tr("Sending File"));
+}
+
+void MainWindow::on_servoFeedrateSlider_valueChanged(int value)
+{
+    QString tmp = ("G1 F" + QString::number(value)+"\n");
+    bot.send(tmp);
+}
+
+void MainWindow::on_setDiameterButton_clicked()
+{
+    QString tmp = ("M400 S" + QString::number(ui->diameterSlider->value())+"\n");
+    bot.send(tmp);
+    tmp.clear();
+    tmp = ("M401 S" + QString::number(ui->diameterSlider->value())+"\n");
+    bot.send(tmp);
+}
+
+void MainWindow::on_undoButton_clicked()
+{
+    ui->fileTextEdit->undo();
+}
+
+void MainWindow::on_redoButton_clicked()
+{
+    ui->fileTextEdit->redo();
+}
+
+void MainWindow::on_fileTextEdit_undoAvailable(bool b)
+{
+    if(b) ui->undoButton->setEnabled(true);
+    else ui->undoButton->setEnabled(false);
+}
+
+void MainWindow::on_fileTextEdit_redoAvailable(bool b)
+{
+    if(b) ui->redoButton->setEnabled(true);
+    else ui->redoButton->setEnabled(false);
+}
+
+

Spherebot_UI/mainwindow.h

@@ -0,0 +1,88 @@
+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+
+#include <QMainWindow>
+#include "spherebot.h"
+#include "qextserialenumerator.h"
+#include <QListWidget>
+#include <QListWidgetItem>
+#include <QMessageBox>
+#include <QFileDialog>
+#include <QTimer>
+#include "txthread.h"
+#include <QScrollBar>
+#include <QTextCursor>
+#include <QSettings>
+
+
+#define DEFAULTDIAMETER 20
+#define DEFAULTPENUP 35
+#define DEFAULTFEEDRATE 2000
+
+namespace Ui {
+class MainWindow;
+}
+
+class MainWindow : public QMainWindow
+{
+    Q_OBJECT
+    
+public:
+    void send_data();
+    explicit MainWindow(QWidget *parent = 0);
+    ~MainWindow();
+signals:
+    void receivedLine(QString);
+public slots:
+    void receiveData();
+    void sendData(QString data);
+    void finishedTransmission();
+    void refreshSendProgress(int value);
+
+private slots:
+    void on_connectButton_clicked();
+    void resetPortList();
+    void on_sendButton_clicked();
+    void on_resetButton_clicked();
+    void on_sendString_editingFinished();
+    void on_servoSlider_sliderMoved(int position);
+    void on_servospinBox_valueChanged(int arg1);
+    void on_penSlider_valueChanged(int value);
+    void on_eggSlider_valueChanged(int value);
+    void on_penRotationBox_valueChanged(int arg1);
+    void on_eggRotationBox_valueChanged(int arg1);
+    void on_loadFileButton_clicked();
+    void on_saveFileButton_clicked();
+    void on_fileTextEdit_textChanged();
+    void on_sendFileButton_clicked();
+    void on_servoFeedrateSlider_valueChanged(int value);
+    void on_setDiameterButton_clicked();
+
+    void on_undoButton_clicked();
+
+    void on_redoButton_clicked();
+
+    void on_fileTextEdit_undoAvailable(bool b);
+
+    void on_fileTextEdit_redoAvailable(bool b);
+
+    void on_restartButton_clicked();
+
+private:
+
+    void loadFile(const QString &fileName);
+    bool saveFile(const QString &fileName);
+    void setCurrentFile(const QString &fileName);
+    QString curFile;
+    int sendState;
+
+    QString nameSettingsFile;
+    Ui::MainWindow *ui;
+    QextSerialEnumerator serialEnumerator;
+    QList<QextPortInfo> portList;
+    spherebot bot;
+    QTimer *rxTimer;
+    txThread Transceiver;
+};
+
+#endif // MAINWINDOW_H

Spherebot_UI/mainwindow.ui

@@ -0,0 +1,826 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1427</width>
+    <height>497</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <widget class="QWidget" name="centralWidget">
+   <widget class="QGroupBox" name="controllBox">
+    <property name="enabled">
+     <bool>false</bool>
+    </property>
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>60</y>
+      <width>551</width>
+      <height>231</height>
+     </rect>
+    </property>
+    <property name="title">
+     <string/>
+    </property>
+    <property name="checkable">
+     <bool>false</bool>
+    </property>
+    <property name="checked">
+     <bool>false</bool>
+    </property>
+    <widget class="QWidget" name="layoutWidget">
+     <property name="geometry">
+      <rect>
+       <x>8</x>
+       <y>0</y>
+       <width>541</width>
+       <height>221</height>
+      </rect>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_6">
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout_15">
+        <item>
+         <widget class="QPushButton" name="setDiameterButton">
+          <property name="text">
+           <string>set Diameter</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <layout class="QHBoxLayout" name="horizontalLayout_9">
+          <item>
+           <spacer name="verticalSpacer">
+            <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="QSlider" name="diameterSlider">
+            <property name="layoutDirection">
+             <enum>Qt::LeftToRight</enum>
+            </property>
+            <property name="minimum">
+             <number>5</number>
+            </property>
+            <property name="maximum">
+             <number>120</number>
+            </property>
+            <property name="value">
+             <number>20</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Vertical</enum>
+            </property>
+            <property name="invertedAppearance">
+             <bool>false</bool>
+            </property>
+           </widget>
+          </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_7">
+          <item>
+           <widget class="QSpinBox" name="diameterpinBox">
+            <property name="minimum">
+             <number>5</number>
+            </property>
+            <property name="maximum">
+             <number>120</number>
+            </property>
+            <property name="singleStep">
+             <number>1</number>
+            </property>
+            <property name="value">
+             <number>20</number>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLabel" name="label_4">
+            <property name="text">
+             <string>Obj. Diameter</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <widget class="Line" name="line_2">
+        <property name="orientation">
+         <enum>Qt::Vertical</enum>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout_13">
+        <item>
+         <layout class="QHBoxLayout" name="horizontalLayout_11">
+          <item>
+           <spacer name="verticalSpacer_5">
+            <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="QSlider" name="servoFeedrateSlider">
+            <property name="layoutDirection">
+             <enum>Qt::LeftToRight</enum>
+            </property>
+            <property name="minimum">
+             <number>10</number>
+            </property>
+            <property name="maximum">
+             <number>6000</number>
+            </property>
+            <property name="value">
+             <number>2000</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Vertical</enum>
+            </property>
+            <property name="invertedAppearance">
+             <bool>false</bool>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <spacer name="verticalSpacer_6">
+            <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>
+         <widget class="QSpinBox" name="FeedratespinBox">
+          <property name="minimum">
+           <number>10</number>
+          </property>
+          <property name="maximum">
+           <number>6000</number>
+          </property>
+          <property name="value">
+           <number>2000</number>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_5">
+          <property name="text">
+           <string>Feedrate</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <widget class="Line" name="line">
+        <property name="orientation">
+         <enum>Qt::Vertical</enum>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout_3">
+        <item>
+         <layout class="QHBoxLayout" name="horizontalLayout_12">
+          <item>
+           <spacer name="verticalSpacer_7">
+            <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="QSlider" name="servoSlider">
+            <property name="layoutDirection">
+             <enum>Qt::LeftToRight</enum>
+            </property>
+            <property name="minimum">
+             <number>23</number>
+            </property>
+            <property name="maximum">
+             <number>120</number>
+            </property>
+            <property name="value">
+             <number>35</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Vertical</enum>
+            </property>
+            <property name="invertedAppearance">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <spacer name="verticalSpacer_8">
+            <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>
+         <widget class="QSpinBox" name="servospinBox">
+          <property name="minimum">
+           <number>23</number>
+          </property>
+          <property name="value">
+           <number>35</number>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label">
+          <property name="text">
+           <string>Servo</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout_6">
+        <item>
+         <layout class="QVBoxLayout" name="verticalLayout_5">
+          <item>
+           <layout class="QVBoxLayout" name="verticalLayout_4">
+            <item>
+             <widget class="QSlider" name="penSlider">
+              <property name="minimum">
+               <number>-112</number>
+              </property>
+              <property name="maximum">
+               <number>112</number>
+              </property>
+              <property name="singleStep">
+               <number>1</number>
+              </property>
+              <property name="value">
+               <number>0</number>
+              </property>
+              <property name="sliderPosition">
+               <number>0</number>
+              </property>
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+              <property name="invertedAppearance">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <layout class="QHBoxLayout" name="horizontalLayout_5">
+              <item>
+               <widget class="QLabel" name="penslider">
+                <property name="text">
+                 <string>Pen Rotation</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QSpinBox" name="penRotationBox">
+                <property name="minimum">
+                 <number>-112</number>
+                </property>
+                <property name="maximum">
+                 <number>112</number>
+                </property>
+                <property name="singleStep">
+                 <number>1</number>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </item>
+           </layout>
+          </item>
+          <item>
+           <widget class="QSlider" name="eggSlider">
+            <property name="minimum">
+             <number>-450</number>
+            </property>
+            <property name="maximum">
+             <number>450</number>
+            </property>
+            <property name="value">
+             <number>0</number>
+            </property>
+            <property name="sliderPosition">
+             <number>0</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <layout class="QHBoxLayout" name="horizontalLayout_4">
+            <item>
+             <widget class="QLabel" name="penslider_2">
+              <property name="text">
+               <string>Egg Rotation</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QSpinBox" name="eggRotationBox">
+              <property name="minimum">
+               <number>-450</number>
+              </property>
+              <property name="maximum">
+               <number>450</number>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </widget>
+   </widget>
+   <widget class="QWidget" name="layoutWidget">
+    <property name="geometry">
+     <rect>
+      <x>20</x>
+      <y>20</y>
+      <width>275</width>
+      <height>30</height>
+     </rect>
+    </property>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <widget class="QPushButton" name="connectButton">
+       <property name="text">
+        <string>Connect</string>
+       </property>
+       <property name="checkable">
+        <bool>false</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QComboBox" name="portBox"/>
+     </item>
+     <item>
+      <widget class="QPushButton" name="resetButton">
+       <property name="text">
+        <string>R</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </widget>
+   <widget class="QWidget" name="layoutWidget">
+    <property name="geometry">
+     <rect>
+      <x>0</x>
+      <y>0</y>
+      <width>2</width>
+      <height>2</height>
+     </rect>
+    </property>
+    <layout class="QVBoxLayout" name="verticalLayout_9"/>
+   </widget>
+   <widget class="QWidget" name="layoutWidget">
+    <property name="geometry">
+     <rect>
+      <x>0</x>
+      <y>0</y>
+      <width>2</width>
+      <height>2</height>
+     </rect>
+    </property>
+    <layout class="QVBoxLayout" name="verticalLayout_10"/>
+   </widget>
+   <widget class="QWidget" name="layoutWidget">
+    <property name="geometry">
+     <rect>
+      <x>20</x>
+      <y>290</y>
+      <width>541</width>
+      <height>155</height>
+     </rect>
+    </property>
+    <layout class="QVBoxLayout" name="verticalLayout_11">
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout_3">
+       <item>
+        <widget class="QLineEdit" name="sendString"/>
+       </item>
+       <item>
+        <widget class="QPushButton" name="sendButton">
+         <property name="text">
+          <string>Send</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout_2">
+       <item>
+        <layout class="QVBoxLayout" name="verticalLayout">
+         <item>
+          <widget class="QLabel" name="label_2">
+           <property name="text">
+            <string>Tranceived Data</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QListWidget" name="txList">
+           <property name="autoScroll">
+            <bool>false</bool>
+           </property>
+           <property name="selectionMode">
+            <enum>QAbstractItemView::NoSelection</enum>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item>
+        <layout class="QVBoxLayout" name="verticalLayout_2">
+         <item>
+          <widget class="QLabel" name="label_3">
+           <property name="text">
+            <string>Received Data</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QListWidget" name="rxList"/>
+         </item>
+        </layout>
+       </item>
+      </layout>
+     </item>
+    </layout>
+   </widget>
+   <widget class="QWidget" name="layoutWidget">
+    <property name="geometry">
+     <rect>
+      <x>570</x>
+      <y>10</y>
+      <width>461</width>
+      <height>431</height>
+     </rect>
+    </property>
+    <layout class="QVBoxLayout" name="verticalLayout_12">
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout_8">
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout_8"/>
+       </item>
+       <item>
+        <widget class="QLabel" name="fileName">
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout_10">
+         <item>
+          <widget class="QPushButton" name="undoButton">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>Undo</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QPushButton" name="redoButton">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>Redo</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item>
+        <widget class="QTextEdit" name="fileTextEdit"/>
+       </item>
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout_7">
+         <item>
+          <widget class="QPushButton" name="loadFileButton">
+           <property name="text">
+            <string>Load File</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QPushButton" name="saveFileButton">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>Save File</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QPushButton" name="sendFileButton">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>Send File</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QPushButton" name="restartButton">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>Restart</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <widget class="QProgressBar" name="fileSendProgressBar">
+       <property name="enabled">
+        <bool>false</bool>
+       </property>
+       <property name="value">
+        <number>0</number>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </widget>
+   <widget class="QTextEdit" name="outputText">
+    <property name="geometry">
+     <rect>
+      <x>1040</x>
+      <y>80</y>
+      <width>351</width>
+      <height>291</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_6">
+    <property name="geometry">
+     <rect>
+      <x>1040</x>
+      <y>60</y>
+      <width>101</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Output File</string>
+    </property>
+   </widget>
+  </widget>
+  <widget class="QToolBar" name="mainToolBar">
+   <attribute name="toolBarArea">
+    <enum>TopToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <widget class="QStatusBar" name="statusBar"/>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections>
+  <connection>
+   <sender>diameterSlider</sender>
+   <signal>valueChanged(int)</signal>
+   <receiver>diameterpinBox</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>61</x>
+     <y>178</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>71</x>
+     <y>249</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>diameterpinBox</sender>
+   <signal>valueChanged(int)</signal>
+   <receiver>diameterSlider</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>91</x>
+     <y>245</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>66</x>
+     <y>149</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>servospinBox</sender>
+   <signal>valueChanged(int)</signal>
+   <receiver>servoSlider</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>300</x>
+     <y>269</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>272</x>
+     <y>237</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>servoSlider</sender>
+   <signal>valueChanged(int)</signal>
+   <receiver>servospinBox</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>272</x>
+     <y>179</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>300</x>
+     <y>269</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>penRotationBox</sender>
+   <signal>valueChanged(int)</signal>
+   <receiver>penSlider</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>553</x>
+     <y>146</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>554</x>
+     <y>96</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>penSlider</sender>
+   <signal>valueChanged(int)</signal>
+   <receiver>penRotationBox</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>554</x>
+     <y>96</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>498</x>
+     <y>143</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>eggRotationBox</sender>
+   <signal>valueChanged(int)</signal>
+   <receiver>eggSlider</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>482</x>
+     <y>249</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>500</x>
+     <y>193</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>eggSlider</sender>
+   <signal>valueChanged(int)</signal>
+   <receiver>eggRotationBox</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>555</x>
+     <y>193</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>499</x>
+     <y>245</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>servoFeedrateSlider</sender>
+   <signal>valueChanged(int)</signal>
+   <receiver>FeedratespinBox</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>178</x>
+     <y>228</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>206</x>
+     <y>269</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>FeedratespinBox</sender>
+   <signal>valueChanged(int)</signal>
+   <receiver>servoFeedrateSlider</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>206</x>
+     <y>269</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>178</x>
+     <y>184</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>

Spherebot_UI/spherebot.cpp

@@ -0,0 +1,66 @@
+#include "spherebot.h"
+
+spherebot::spherebot(QObject *parent) :
+    QObject(parent)
+{
+    port = NULL;
+    port_connected = false;
+}
+
+bool spherebot::connectWithBot(QString portName)
+{
+    port = new QextSerialPort(portName , QextSerialPort::Polling); //we create the port
+
+
+    port->open(QIODevice::ReadWrite); //we open the port
+    if(!port->isOpen())
+    {
+        //QMessageBox::warning(this, "port error", "Impossible to open the port!");
+        return 0;
+    }
+
+    //we set the port properties
+    port->setBaudRate(BAUD115200);//modify the port settings on your own
+    port->setFlowControl(FLOW_OFF);
+    port->setParity(PAR_NONE);
+    port->setDataBits(DATA_8);
+    port->setStopBits(STOP_1);
+    port->setRts( true );
+    port->setDtr( true );
+    //port->setQueryMode( QextSerialPort::EventDriven );
+    port_connected = true;
+    return 1;
+}
+
+bool spherebot::disconnectWithBot()
+{
+    qDebug("port closed");
+    port->close();
+    port_connected = false;
+    return 1;
+}
+
+bool spherebot::send(QString cmd)
+{
+    if(port->isOpen())
+    {
+        port->flush();
+        if(cmd[cmd.size()-1] != '\n') cmd.append("\n");
+        qDebug()<<"Sending: " + cmd;
+        port->write((const char*)cmd.toUtf8(),cmd.length());
+
+    }
+    else
+    {
+        qDebug()<<port->errorString();
+        return false;
+    }
+    cmd.chop(1);
+    emit dataSent(cmd);
+    return true;
+}
+
+bool spherebot::isConnected()
+{
+    return port_connected;
+}

Spherebot_UI/spherebot.h

@@ -0,0 +1,29 @@
+#ifndef SPHEREBOT_H
+#define SPHEREBOT_H
+
+#include <QObject>
+#include <qextserialport.h>
+#include <QString>
+#include <QtGui>
+#include <iostream>
+#include <QtCore/QCoreApplication>
+
+class spherebot : public QObject
+{
+    Q_OBJECT
+public:
+    QextSerialPort *port;
+
+    bool isConnected();
+    bool send(QString cmd);
+    explicit spherebot(QObject *parent = 0);
+signals:
+    void dataSent(QString data);
+public slots:
+    bool connectWithBot(QString portName);
+    bool disconnectWithBot();
+private:
+    bool port_connected;
+};
+
+#endif // SPHEREBOT_H

Spherebot_UI/spherebot_ui_plugin_import.cpp

@@ -0,0 +1,4 @@
+// This file is autogenerated by qmake. It imports static plugin classes for
+// static plugins specified using QTPLUGIN and QT_PLUGIN_CLASS.<plugin> variables.
+#include <QtPlugin>
+Q_IMPORT_PLUGIN(QWindowsIntegrationPlugin)

Spherebot_UI/txthread.cpp

@@ -0,0 +1,100 @@
+#include "txthread.h"
+
+txThread::txThread()
+{
+    lineCounter = 0;
+    bufferCounter = 0;
+    checkSendBufferTimer = new QTimer(this);
+    connect(checkSendBufferTimer,SIGNAL(timeout()),this,SLOT(checkBuffer()));
+}
+
+txThread::~txThread()
+{
+
+}
+
+QString removeComments(QString intext)
+{
+    ////////////////////////////////////////////////remove comments
+    QString outTmp1,outTmp2;
+    bool state=1;   //1= send, 0 = ignore
+    for(int i=0;i<intext.size();i++)
+    {
+        if(intext.at(i) == '(' ) state=0;
+        if(state == 1) outTmp1.append(intext[i]);
+        if(intext.at(i) == ')' ) state=1;
+    }
+    //////////////////////////////////////////////////remove empty lines
+    for(int i=0;i<outTmp1.size();i++)
+        {
+            if(i != outTmp1.size())
+            {
+                if(outTmp1[i] == '\n' && outTmp1[i+1] == '\n') i++;
+                else outTmp2.append(outTmp1[i]);
+            }
+        }
+        ///////////////////////////////////////////////////
+    return outTmp2;
+}
+
+void txThread::set(QString intextfile,spherebot &uibot)
+{
+    lineCounter = 0;
+    bufferCounter = 0;
+    textfile.clear();
+    textfile.append(removeComments(intextfile));
+    qDebug()<<"The textfile String is: \n\n" + textfile + "\n\nENDE\n\n";
+    lineMax = textfile.count("\n");
+    bot = &uibot;
+}
+
+void txThread::run()
+{
+    qDebug()<<"entering run";
+    lineCounter = 0;
+    bufferCounter = 0;
+    drawCounter = 0;
+    checkSendBufferTimer->start(SENDBUFFERINTERVAL);
+}
+
+void txThread::checkBuffer()
+{
+    //qDebug()<<"buffer check timer timeout";
+    if(lineCounter <= lineMax)
+    {
+        //qDebug()<<"linecounter: " + QString::number(lineCounter);
+        qDebug()<<"buffercounter: " + QString::number(bufferCounter);
+        //qDebug()<<"drawcounter: " + QString::number(drawCounter);
+        if(bufferCounter <= MAXBUFFERCOUNTER)
+        {
+            QString tmp = textfile.section("\n",lineCounter,lineCounter);
+            tmp.append("\n");
+            bot->send(tmp);
+            double progress= (double) lineCounter/(double)lineMax;
+            emit progressChanged(progress*100);
+            bufferCounter++;
+            lineCounter++;
+        }
+    }
+    else
+    {
+        checkSendBufferTimer->stop();
+        emit fileTransmitted();
+    }
+}
+
+int txThread::getLineCounter()
+{
+    return lineCounter;
+}
+
+void txThread::checkResponse(QString msg)
+{
+ //   if(msg.count("G") > 1 || msg.count("M") > 1)
+    if(msg.contains("ok"))
+   {
+        qDebug()<<"processed: " + msg + "\n";
+        drawCounter++;
+        bufferCounter--;
+   }
+}

Spherebot_UI/txthread.h

@@ -0,0 +1,39 @@
+#ifndef TXTHREAD_H
+#define TXTHREAD_H
+#include <QThread>
+#include <QString>
+#include "spherebot.h"
+#include <QMessageBox>
+#include <QTimer>
+
+#define MAXBUFFERCOUNTER 1
+#define SENDBUFFERINTERVAL 30
+
+class txThread : public QThread
+{
+    Q_OBJECT
+public:
+    txThread();
+    void set(QString textfile,spherebot &bot);
+    void run();
+    ~txThread();
+    int getLineCounter();
+    QTimer *checkSendBufferTimer;
+
+signals:
+    void progressChanged(int);
+    void fileTransmitted();
+
+public slots:
+    void checkResponse(QString msg);
+    void checkBuffer();
+private:
+    QString textfile;
+    int lineCounter;
+    int lineMax;
+    int bufferCounter;
+    int drawCounter;
+    spherebot *bot;
+};
+
+#endif // TXTHREAD_H

Spherebot_UI/ui_mainwindow.h

@@ -0,0 +1,627 @@
+/********************************************************************************
+** Form generated from reading UI file 'mainwindow.ui'
+**
+** Created by: Qt User Interface Compiler version 5.0.2
+**
+** WARNING! All changes made in this file will be lost when recompiling UI file!
+********************************************************************************/
+
+#ifndef UI_MAINWINDOW_H
+#define UI_MAINWINDOW_H
+
+#include <QtCore/QVariant>
+#include <QtWidgets/QAction>
+#include <QtWidgets/QApplication>
+#include <QtWidgets/QButtonGroup>
+#include <QtWidgets/QComboBox>
+#include <QtWidgets/QFrame>
+#include <QtWidgets/QGroupBox>
+#include <QtWidgets/QHBoxLayout>
+#include <QtWidgets/QHeaderView>
+#include <QtWidgets/QLabel>
+#include <QtWidgets/QLineEdit>
+#include <QtWidgets/QListWidget>
+#include <QtWidgets/QMainWindow>
+#include <QtWidgets/QProgressBar>
+#include <QtWidgets/QPushButton>
+#include <QtWidgets/QSlider>
+#include <QtWidgets/QSpacerItem>
+#include <QtWidgets/QSpinBox>
+#include <QtWidgets/QStatusBar>
+#include <QtWidgets/QTextEdit>
+#include <QtWidgets/QToolBar>
+#include <QtWidgets/QVBoxLayout>
+#include <QtWidgets/QWidget>
+
+QT_BEGIN_NAMESPACE
+
+class Ui_MainWindow
+{
+public:
+    QWidget *centralWidget;
+    QGroupBox *controllBox;
+    QWidget *layoutWidget;
+    QHBoxLayout *horizontalLayout_6;
+    QVBoxLayout *verticalLayout_15;
+    QPushButton *setDiameterButton;
+    QHBoxLayout *horizontalLayout_9;
+    QSpacerItem *verticalSpacer;
+    QSlider *diameterSlider;
+    QSpacerItem *verticalSpacer_2;
+    QVBoxLayout *verticalLayout_7;
+    QSpinBox *diameterpinBox;
+    QLabel *label_4;
+    QFrame *line_2;
+    QVBoxLayout *verticalLayout_13;
+    QHBoxLayout *horizontalLayout_11;
+    QSpacerItem *verticalSpacer_5;
+    QSlider *servoFeedrateSlider;
+    QSpacerItem *verticalSpacer_6;
+    QSpinBox *FeedratespinBox;
+    QLabel *label_5;
+    QFrame *line;
+    QVBoxLayout *verticalLayout_3;
+    QHBoxLayout *horizontalLayout_12;
+    QSpacerItem *verticalSpacer_7;
+    QSlider *servoSlider;
+    QSpacerItem *verticalSpacer_8;
+    QSpinBox *servospinBox;
+    QLabel *label;
+    QVBoxLayout *verticalLayout_6;
+    QVBoxLayout *verticalLayout_5;
+    QVBoxLayout *verticalLayout_4;
+    QSlider *penSlider;
+    QHBoxLayout *horizontalLayout_5;
+    QLabel *penslider;
+    QSpinBox *penRotationBox;
+    QSlider *eggSlider;
+    QHBoxLayout *horizontalLayout_4;
+    QLabel *penslider_2;
+    QSpinBox *eggRotationBox;
+    QWidget *layoutWidget1;
+    QHBoxLayout *horizontalLayout;
+    QPushButton *connectButton;
+    QComboBox *portBox;
+    QPushButton *resetButton;
+    QWidget *layoutWidget2;
+    QVBoxLayout *verticalLayout_9;
+    QWidget *layoutWidget3;
+    QVBoxLayout *verticalLayout_10;
+    QWidget *layoutWidget4;
+    QVBoxLayout *verticalLayout_11;
+    QHBoxLayout *horizontalLayout_3;
+    QLineEdit *sendString;
+    QPushButton *sendButton;
+    QHBoxLayout *horizontalLayout_2;
+    QVBoxLayout *verticalLayout;
+    QLabel *label_2;
+    QListWidget *txList;
+    QVBoxLayout *verticalLayout_2;
+    QLabel *label_3;
+    QListWidget *rxList;
+    QWidget *layoutWidget5;
+    QVBoxLayout *verticalLayout_12;
+    QVBoxLayout *verticalLayout_8;
+    QHBoxLayout *horizontalLayout_8;
+    QLabel *fileName;
+    QHBoxLayout *horizontalLayout_10;
+    QPushButton *undoButton;
+    QPushButton *redoButton;
+    QTextEdit *fileTextEdit;
+    QHBoxLayout *horizontalLayout_7;
+    QPushButton *loadFileButton;
+    QPushButton *saveFileButton;
+    QPushButton *sendFileButton;
+    QPushButton *restartButton;
+    QProgressBar *fileSendProgressBar;
+    QTextEdit *outputText;
+    QLabel *label_6;
+    QToolBar *mainToolBar;
+    QStatusBar *statusBar;
+
+    void setupUi(QMainWindow *MainWindow)
+    {
+        if (MainWindow->objectName().isEmpty())
+            MainWindow->setObjectName(QStringLiteral("MainWindow"));
+        MainWindow->resize(1427, 497);
+        centralWidget = new QWidget(MainWindow);
+        centralWidget->setObjectName(QStringLiteral("centralWidget"));
+        controllBox = new QGroupBox(centralWidget);
+        controllBox->setObjectName(QStringLiteral("controllBox"));
+        controllBox->setEnabled(false);
+        controllBox->setGeometry(QRect(10, 60, 551, 231));
+        controllBox->setCheckable(false);
+        controllBox->setChecked(false);
+        layoutWidget = new QWidget(controllBox);
+        layoutWidget->setObjectName(QStringLiteral("layoutWidget"));
+        layoutWidget->setGeometry(QRect(8, 0, 541, 221));
+        horizontalLayout_6 = new QHBoxLayout(layoutWidget);
+        horizontalLayout_6->setSpacing(6);
+        horizontalLayout_6->setContentsMargins(11, 11, 11, 11);
+        horizontalLayout_6->setObjectName(QStringLiteral("horizontalLayout_6"));
+        horizontalLayout_6->setContentsMargins(0, 0, 0, 0);
+        verticalLayout_15 = new QVBoxLayout();
+        verticalLayout_15->setSpacing(6);
+        verticalLayout_15->setObjectName(QStringLiteral("verticalLayout_15"));
+        setDiameterButton = new QPushButton(layoutWidget);
+        setDiameterButton->setObjectName(QStringLiteral("setDiameterButton"));
+
+        verticalLayout_15->addWidget(setDiameterButton);
+
+        horizontalLayout_9 = new QHBoxLayout();
+        horizontalLayout_9->setSpacing(6);
+        horizontalLayout_9->setObjectName(QStringLiteral("horizontalLayout_9"));
+        verticalSpacer = new QSpacerItem(20, 40, QSizePolicy::Minimum, QSizePolicy::Expanding);
+
+        horizontalLayout_9->addItem(verticalSpacer);
+
+        diameterSlider = new QSlider(layoutWidget);
+        diameterSlider->setObjectName(QStringLiteral("diameterSlider"));
+        diameterSlider->setLayoutDirection(Qt::LeftToRight);
+        diameterSlider->setMinimum(5);
+        diameterSlider->setMaximum(120);
+        diameterSlider->setValue(20);
+        diameterSlider->setOrientation(Qt::Vertical);
+        diameterSlider->setInvertedAppearance(false);
+
+        horizontalLayout_9->addWidget(diameterSlider);
+
+        verticalSpacer_2 = new QSpacerItem(20, 40, QSizePolicy::Minimum, QSizePolicy::Expanding);
+
+        horizontalLayout_9->addItem(verticalSpacer_2);
+
+
+        verticalLayout_15->addLayout(horizontalLayout_9);
+
+        verticalLayout_7 = new QVBoxLayout();
+        verticalLayout_7->setSpacing(6);
+        verticalLayout_7->setObjectName(QStringLiteral("verticalLayout_7"));
+        diameterpinBox = new QSpinBox(layoutWidget);
+        diameterpinBox->setObjectName(QStringLiteral("diameterpinBox"));
+        diameterpinBox->setMinimum(5);
+        diameterpinBox->setMaximum(120);
+        diameterpinBox->setSingleStep(1);
+        diameterpinBox->setValue(20);
+
+        verticalLayout_7->addWidget(diameterpinBox);
+
+        label_4 = new QLabel(layoutWidget);
+        label_4->setObjectName(QStringLiteral("label_4"));
+
+        verticalLayout_7->addWidget(label_4);
+
+
+        verticalLayout_15->addLayout(verticalLayout_7);
+
+
+        horizontalLayout_6->addLayout(verticalLayout_15);
+
+        line_2 = new QFrame(layoutWidget);
+        line_2->setObjectName(QStringLiteral("line_2"));
+        line_2->setFrameShape(QFrame::VLine);
+        line_2->setFrameShadow(QFrame::Sunken);
+
+        horizontalLayout_6->addWidget(line_2);
+
+        verticalLayout_13 = new QVBoxLayout();
+        verticalLayout_13->setSpacing(6);
+        verticalLayout_13->setObjectName(QStringLiteral("verticalLayout_13"));
+        horizontalLayout_11 = new QHBoxLayout();
+        horizontalLayout_11->setSpacing(6);
+        horizontalLayout_11->setObjectName(QStringLiteral("horizontalLayout_11"));
+        verticalSpacer_5 = new QSpacerItem(20, 40, QSizePolicy::Minimum, QSizePolicy::Expanding);
+
+        horizontalLayout_11->addItem(verticalSpacer_5);
+
+        servoFeedrateSlider = new QSlider(layoutWidget);
+        servoFeedrateSlider->setObjectName(QStringLiteral("servoFeedrateSlider"));
+        servoFeedrateSlider->setLayoutDirection(Qt::LeftToRight);
+        servoFeedrateSlider->setMinimum(10);
+        servoFeedrateSlider->setMaximum(6000);
+        servoFeedrateSlider->setValue(2000);
+        servoFeedrateSlider->setOrientation(Qt::Vertical);
+        servoFeedrateSlider->setInvertedAppearance(false);
+
+        horizontalLayout_11->addWidget(servoFeedrateSlider);
+
+        verticalSpacer_6 = new QSpacerItem(20, 40, QSizePolicy::Minimum, QSizePolicy::Expanding);
+
+        horizontalLayout_11->addItem(verticalSpacer_6);
+
+
+        verticalLayout_13->addLayout(horizontalLayout_11);
+
+        FeedratespinBox = new QSpinBox(layoutWidget);
+        FeedratespinBox->setObjectName(QStringLiteral("FeedratespinBox"));
+        FeedratespinBox->setMinimum(10);
+        FeedratespinBox->setMaximum(6000);
+        FeedratespinBox->setValue(2000);
+
+        verticalLayout_13->addWidget(FeedratespinBox);
+
+        label_5 = new QLabel(layoutWidget);
+        label_5->setObjectName(QStringLiteral("label_5"));
+
+        verticalLayout_13->addWidget(label_5);
+
+
+        horizontalLayout_6->addLayout(verticalLayout_13);
+
+        line = new QFrame(layoutWidget);
+        line->setObjectName(QStringLiteral("line"));
+        line->setFrameShape(QFrame::VLine);
+        line->setFrameShadow(QFrame::Sunken);
+
+        horizontalLayout_6->addWidget(line);
+
+        verticalLayout_3 = new QVBoxLayout();
+        verticalLayout_3->setSpacing(6);
+        verticalLayout_3->setObjectName(QStringLiteral("verticalLayout_3"));
+        horizontalLayout_12 = new QHBoxLayout();
+        horizontalLayout_12->setSpacing(6);
+        horizontalLayout_12->setObjectName(QStringLiteral("horizontalLayout_12"));
+        verticalSpacer_7 = new QSpacerItem(20, 40, QSizePolicy::Minimum, QSizePolicy::Expanding);
+
+        horizontalLayout_12->addItem(verticalSpacer_7);
+
+        servoSlider = new QSlider(layoutWidget);
+        servoSlider->setObjectName(QStringLiteral("servoSlider"));
+        servoSlider->setLayoutDirection(Qt::LeftToRight);
+        servoSlider->setMinimum(23);
+        servoSlider->setMaximum(120);
+        servoSlider->setValue(35);
+        servoSlider->setOrientation(Qt::Vertical);
+        servoSlider->setInvertedAppearance(true);
+
+        horizontalLayout_12->addWidget(servoSlider);
+
+        verticalSpacer_8 = new QSpacerItem(20, 40, QSizePolicy::Minimum, QSizePolicy::Expanding);
+
+        horizontalLayout_12->addItem(verticalSpacer_8);
+
+
+        verticalLayout_3->addLayout(horizontalLayout_12);
+
+        servospinBox = new QSpinBox(layoutWidget);
+        servospinBox->setObjectName(QStringLiteral("servospinBox"));
+        servospinBox->setMinimum(23);
+        servospinBox->setValue(35);
+
+        verticalLayout_3->addWidget(servospinBox);
+
+        label = new QLabel(layoutWidget);
+        label->setObjectName(QStringLiteral("label"));
+
+        verticalLayout_3->addWidget(label);
+
+
+        horizontalLayout_6->addLayout(verticalLayout_3);
+
+        verticalLayout_6 = new QVBoxLayout();
+        verticalLayout_6->setSpacing(6);
+        verticalLayout_6->setObjectName(QStringLiteral("verticalLayout_6"));
+        verticalLayout_5 = new QVBoxLayout();
+        verticalLayout_5->setSpacing(6);
+        verticalLayout_5->setObjectName(QStringLiteral("verticalLayout_5"));
+        verticalLayout_4 = new QVBoxLayout();
+        verticalLayout_4->setSpacing(6);
+        verticalLayout_4->setObjectName(QStringLiteral("verticalLayout_4"));
+        penSlider = new QSlider(layoutWidget);
+        penSlider->setObjectName(QStringLiteral("penSlider"));
+        penSlider->setMinimum(-112);
+        penSlider->setMaximum(112);
+        penSlider->setSingleStep(1);
+        penSlider->setValue(0);
+        penSlider->setSliderPosition(0);
+        penSlider->setOrientation(Qt::Horizontal);
+        penSlider->setInvertedAppearance(true);
+
+        verticalLayout_4->addWidget(penSlider);
+
+        horizontalLayout_5 = new QHBoxLayout();
+        horizontalLayout_5->setSpacing(6);
+        horizontalLayout_5->setObjectName(QStringLiteral("horizontalLayout_5"));
+        penslider = new QLabel(layoutWidget);
+        penslider->setObjectName(QStringLiteral("penslider"));
+
+        horizontalLayout_5->addWidget(penslider);
+
+        penRotationBox = new QSpinBox(layoutWidget);
+        penRotationBox->setObjectName(QStringLiteral("penRotationBox"));
+        penRotationBox->setMinimum(-112);
+        penRotationBox->setMaximum(112);
+        penRotationBox->setSingleStep(1);
+
+        horizontalLayout_5->addWidget(penRotationBox);
+
+
+        verticalLayout_4->addLayout(horizontalLayout_5);
+
+
+        verticalLayout_5->addLayout(verticalLayout_4);
+
+        eggSlider = new QSlider(layoutWidget);
+        eggSlider->setObjectName(QStringLiteral("eggSlider"));
+        eggSlider->setMinimum(-450);
+        eggSlider->setMaximum(450);
+        eggSlider->setValue(0);
+        eggSlider->setSliderPosition(0);
+        eggSlider->setOrientation(Qt::Horizontal);
+
+        verticalLayout_5->addWidget(eggSlider);
+
+        horizontalLayout_4 = new QHBoxLayout();
+        horizontalLayout_4->setSpacing(6);
+        horizontalLayout_4->setObjectName(QStringLiteral("horizontalLayout_4"));
+        penslider_2 = new QLabel(layoutWidget);
+        penslider_2->setObjectName(QStringLiteral("penslider_2"));
+
+        horizontalLayout_4->addWidget(penslider_2);
+
+        eggRotationBox = new QSpinBox(layoutWidget);
+        eggRotationBox->setObjectName(QStringLiteral("eggRotationBox"));
+        eggRotationBox->setMinimum(-450);
+        eggRotationBox->setMaximum(450);
+
+        horizontalLayout_4->addWidget(eggRotationBox);
+
+
+        verticalLayout_5->addLayout(horizontalLayout_4);
+
+
+        verticalLayout_6->addLayout(verticalLayout_5);
+
+
+        horizontalLayout_6->addLayout(verticalLayout_6);
+
+        layoutWidget1 = new QWidget(centralWidget);
+        layoutWidget1->setObjectName(QStringLiteral("layoutWidget1"));
+        layoutWidget1->setGeometry(QRect(20, 20, 275, 30));
+        horizontalLayout = new QHBoxLayout(layoutWidget1);
+        horizontalLayout->setSpacing(6);
+        horizontalLayout->setContentsMargins(11, 11, 11, 11);
+        horizontalLayout->setObjectName(QStringLiteral("horizontalLayout"));
+        horizontalLayout->setContentsMargins(0, 0, 0, 0);
+        connectButton = new QPushButton(layoutWidget1);
+        connectButton->setObjectName(QStringLiteral("connectButton"));
+        connectButton->setCheckable(false);
+
+        horizontalLayout->addWidget(connectButton);
+
+        portBox = new QComboBox(layoutWidget1);
+        portBox->setObjectName(QStringLiteral("portBox"));
+
+        horizontalLayout->addWidget(portBox);
+
+        resetButton = new QPushButton(layoutWidget1);
+        resetButton->setObjectName(QStringLiteral("resetButton"));
+
+        horizontalLayout->addWidget(resetButton);
+
+        layoutWidget2 = new QWidget(centralWidget);
+        layoutWidget2->setObjectName(QStringLiteral("layoutWidget2"));
+        layoutWidget2->setGeometry(QRect(0, 0, 2, 2));
+        verticalLayout_9 = new QVBoxLayout(layoutWidget2);
+        verticalLayout_9->setSpacing(6);
+        verticalLayout_9->setContentsMargins(11, 11, 11, 11);
+        verticalLayout_9->setObjectName(QStringLiteral("verticalLayout_9"));
+        verticalLayout_9->setContentsMargins(0, 0, 0, 0);
+        layoutWidget3 = new QWidget(centralWidget);
+        layoutWidget3->setObjectName(QStringLiteral("layoutWidget3"));
+        layoutWidget3->setGeometry(QRect(0, 0, 2, 2));
+        verticalLayout_10 = new QVBoxLayout(layoutWidget3);
+        verticalLayout_10->setSpacing(6);
+        verticalLayout_10->setContentsMargins(11, 11, 11, 11);
+        verticalLayout_10->setObjectName(QStringLiteral("verticalLayout_10"));
+        verticalLayout_10->setContentsMargins(0, 0, 0, 0);
+        layoutWidget4 = new QWidget(centralWidget);
+        layoutWidget4->setObjectName(QStringLiteral("layoutWidget4"));
+        layoutWidget4->setGeometry(QRect(20, 290, 541, 155));
+        verticalLayout_11 = new QVBoxLayout(layoutWidget4);
+        verticalLayout_11->setSpacing(6);
+        verticalLayout_11->setContentsMargins(11, 11, 11, 11);
+        verticalLayout_11->setObjectName(QStringLiteral("verticalLayout_11"));
+        verticalLayout_11->setContentsMargins(0, 0, 0, 0);
+        horizontalLayout_3 = new QHBoxLayout();
+        horizontalLayout_3->setSpacing(6);
+        horizontalLayout_3->setObjectName(QStringLiteral("horizontalLayout_3"));
+        sendString = new QLineEdit(layoutWidget4);
+        sendString->setObjectName(QStringLiteral("sendString"));
+
+        horizontalLayout_3->addWidget(sendString);
+
+        sendButton = new QPushButton(layoutWidget4);
+        sendButton->setObjectName(QStringLiteral("sendButton"));
+
+        horizontalLayout_3->addWidget(sendButton);
+
+
+        verticalLayout_11->addLayout(horizontalLayout_3);
+
+        horizontalLayout_2 = new QHBoxLayout();
+        horizontalLayout_2->setSpacing(6);
+        horizontalLayout_2->setObjectName(QStringLiteral("horizontalLayout_2"));
+        verticalLayout = new QVBoxLayout();
+        verticalLayout->setSpacing(6);
+        verticalLayout->setObjectName(QStringLiteral("verticalLayout"));
+        label_2 = new QLabel(layoutWidget4);
+        label_2->setObjectName(QStringLiteral("label_2"));
+
+        verticalLayout->addWidget(label_2);
+
+        txList = new QListWidget(layoutWidget4);
+        txList->setObjectName(QStringLiteral("txList"));
+        txList->setAutoScroll(false);
+        txList->setSelectionMode(QAbstractItemView::NoSelection);
+
+        verticalLayout->addWidget(txList);
+
+
+        horizontalLayout_2->addLayout(verticalLayout);
+
+        verticalLayout_2 = new QVBoxLayout();
+        verticalLayout_2->setSpacing(6);
+        verticalLayout_2->setObjectName(QStringLiteral("verticalLayout_2"));
+        label_3 = new QLabel(layoutWidget4);
+        label_3->setObjectName(QStringLiteral("label_3"));
+
+        verticalLayout_2->addWidget(label_3);
+
+        rxList = new QListWidget(layoutWidget4);
+        rxList->setObjectName(QStringLiteral("rxList"));
+
+        verticalLayout_2->addWidget(rxList);
+
+
+        horizontalLayout_2->addLayout(verticalLayout_2);
+
+
+        verticalLayout_11->addLayout(horizontalLayout_2);
+
+        layoutWidget5 = new QWidget(centralWidget);
+        layoutWidget5->setObjectName(QStringLiteral("layoutWidget5"));
+        layoutWidget5->setGeometry(QRect(570, 10, 461, 431));
+        verticalLayout_12 = new QVBoxLayout(layoutWidget5);
+        verticalLayout_12->setSpacing(6);
+        verticalLayout_12->setContentsMargins(11, 11, 11, 11);
+        verticalLayout_12->setObjectName(QStringLiteral("verticalLayout_12"));
+        verticalLayout_12->setContentsMargins(0, 0, 0, 0);
+        verticalLayout_8 = new QVBoxLayout();
+        verticalLayout_8->setSpacing(6);
+        verticalLayout_8->setObjectName(QStringLiteral("verticalLayout_8"));
+        horizontalLayout_8 = new QHBoxLayout();
+        horizontalLayout_8->setSpacing(6);
+        horizontalLayout_8->setObjectName(QStringLiteral("horizontalLayout_8"));
+
+        verticalLayout_8->addLayout(horizontalLayout_8);
+
+        fileName = new QLabel(layoutWidget5);
+        fileName->setObjectName(QStringLiteral("fileName"));
+
+        verticalLayout_8->addWidget(fileName);
+
+        horizontalLayout_10 = new QHBoxLayout();
+        horizontalLayout_10->setSpacing(6);
+        horizontalLayout_10->setObjectName(QStringLiteral("horizontalLayout_10"));
+        undoButton = new QPushButton(layoutWidget5);
+        undoButton->setObjectName(QStringLiteral("undoButton"));
+        undoButton->setEnabled(false);
+
+        horizontalLayout_10->addWidget(undoButton);
+
+        redoButton = new QPushButton(layoutWidget5);
+        redoButton->setObjectName(QStringLiteral("redoButton"));
+        redoButton->setEnabled(false);
+
+        horizontalLayout_10->addWidget(redoButton);
+
+
+        verticalLayout_8->addLayout(horizontalLayout_10);
+
+        fileTextEdit = new QTextEdit(layoutWidget5);
+        fileTextEdit->setObjectName(QStringLiteral("fileTextEdit"));
+
+        verticalLayout_8->addWidget(fileTextEdit);
+
+        horizontalLayout_7 = new QHBoxLayout();
+        horizontalLayout_7->setSpacing(6);
+        horizontalLayout_7->setObjectName(QStringLiteral("horizontalLayout_7"));
+        loadFileButton = new QPushButton(layoutWidget5);
+        loadFileButton->setObjectName(QStringLiteral("loadFileButton"));
+
+        horizontalLayout_7->addWidget(loadFileButton);
+
+        saveFileButton = new QPushButton(layoutWidget5);
+        saveFileButton->setObjectName(QStringLiteral("saveFileButton"));
+        saveFileButton->setEnabled(false);
+
+        horizontalLayout_7->addWidget(saveFileButton);
+
+        sendFileButton = new QPushButton(layoutWidget5);
+        sendFileButton->setObjectName(QStringLiteral("sendFileButton"));
+        sendFileButton->setEnabled(false);
+
+        horizontalLayout_7->addWidget(sendFileButton);
+
+        restartButton = new QPushButton(layoutWidget5);
+        restartButton->setObjectName(QStringLiteral("restartButton"));
+        restartButton->setEnabled(false);
+
+        horizontalLayout_7->addWidget(restartButton);
+
+
+        verticalLayout_8->addLayout(horizontalLayout_7);
+
+
+        verticalLayout_12->addLayout(verticalLayout_8);
+
+        fileSendProgressBar = new QProgressBar(layoutWidget5);
+        fileSendProgressBar->setObjectName(QStringLiteral("fileSendProgressBar"));
+        fileSendProgressBar->setEnabled(false);
+        fileSendProgressBar->setValue(0);
+
+        verticalLayout_12->addWidget(fileSendProgressBar);
+
+        outputText = new QTextEdit(centralWidget);
+        outputText->setObjectName(QStringLiteral("outputText"));
+        outputText->setGeometry(QRect(1040, 80, 351, 291));
+        label_6 = new QLabel(centralWidget);
+        label_6->setObjectName(QStringLiteral("label_6"));
+        label_6->setGeometry(QRect(1040, 60, 101, 16));
+        MainWindow->setCentralWidget(centralWidget);
+        mainToolBar = new QToolBar(MainWindow);
+        mainToolBar->setObjectName(QStringLiteral("mainToolBar"));
+        MainWindow->addToolBar(Qt::TopToolBarArea, mainToolBar);
+        statusBar = new QStatusBar(MainWindow);
+        statusBar->setObjectName(QStringLiteral("statusBar"));
+        MainWindow->setStatusBar(statusBar);
+
+        retranslateUi(MainWindow);
+        QObject::connect(diameterSlider, SIGNAL(valueChanged(int)), diameterpinBox, SLOT(setValue(int)));
+        QObject::connect(diameterpinBox, SIGNAL(valueChanged(int)), diameterSlider, SLOT(setValue(int)));
+        QObject::connect(servospinBox, SIGNAL(valueChanged(int)), servoSlider, SLOT(setValue(int)));
+        QObject::connect(servoSlider, SIGNAL(valueChanged(int)), servospinBox, SLOT(setValue(int)));
+        QObject::connect(penRotationBox, SIGNAL(valueChanged(int)), penSlider, SLOT(setValue(int)));
+        QObject::connect(penSlider, SIGNAL(valueChanged(int)), penRotationBox, SLOT(setValue(int)));
+        QObject::connect(eggRotationBox, SIGNAL(valueChanged(int)), eggSlider, SLOT(setValue(int)));
+        QObject::connect(eggSlider, SIGNAL(valueChanged(int)), eggRotationBox, SLOT(setValue(int)));
+        QObject::connect(servoFeedrateSlider, SIGNAL(valueChanged(int)), FeedratespinBox, SLOT(setValue(int)));
+        QObject::connect(FeedratespinBox, SIGNAL(valueChanged(int)), servoFeedrateSlider, SLOT(setValue(int)));
+
+        QMetaObject::connectSlotsByName(MainWindow);
+    } // setupUi
+
+    void retranslateUi(QMainWindow *MainWindow)
+    {
+        MainWindow->setWindowTitle(QApplication::translate("MainWindow", "MainWindow", 0));
+        controllBox->setTitle(QString());
+        setDiameterButton->setText(QApplication::translate("MainWindow", "set Diameter", 0));
+        label_4->setText(QApplication::translate("MainWindow", "Obj. Diameter", 0));
+        label_5->setText(QApplication::translate("MainWindow", "Feedrate", 0));
+        label->setText(QApplication::translate("MainWindow", "Servo", 0));
+        penslider->setText(QApplication::translate("MainWindow", "Pen Rotation", 0));
+        penslider_2->setText(QApplication::translate("MainWindow", "Egg Rotation", 0));
+        connectButton->setText(QApplication::translate("MainWindow", "Connect", 0));
+        resetButton->setText(QApplication::translate("MainWindow", "R", 0));
+        sendButton->setText(QApplication::translate("MainWindow", "Send", 0));
+        label_2->setText(QApplication::translate("MainWindow", "Tranceived Data", 0));
+        label_3->setText(QApplication::translate("MainWindow", "Received Data", 0));
+        fileName->setText(QString());
+        undoButton->setText(QApplication::translate("MainWindow", "Undo", 0));
+        redoButton->setText(QApplication::translate("MainWindow", "Redo", 0));
+        loadFileButton->setText(QApplication::translate("MainWindow", "Load File", 0));
+        saveFileButton->setText(QApplication::translate("MainWindow", "Save File", 0));
+        sendFileButton->setText(QApplication::translate("MainWindow", "Send File", 0));
+        restartButton->setText(QApplication::translate("MainWindow", "Restart", 0));
+        label_6->setText(QApplication::translate("MainWindow", "Output File", 0));
+    } // retranslateUi
+
+};
+
+namespace Ui {
+    class MainWindow: public Ui_MainWindow {};
+} // namespace Ui
+
+QT_END_NAMESPACE
+
+#endif // UI_MAINWINDOW_H