added a lot more settings to the robot tab (acceleration, offsets, calibration points, etc)

robot.cpp

@@ -1,4 +1,9 @@
+#include <vector>
+
 #include "robot.h"
+#include "mainwindow.h"
+
+extern MainWindow *mwindow;
 
 GCode::GCode(QByteArray c) :
 	cmd(c)
@@ -16,88 +21,242 @@ GCode & GCode::arg(char param, int v)
 
 GCode & GCode::arg(char param, double v)
 {
+	QByteArray arg;
 
+	arg += param;
+	arg += QByteArray::number(v);
+
+	args += arg;
 }
 
 GCode::operator QByteArray()
 {
 	QByteArray ret;
 
+	ret += cmd;
 
+	if (args.size()) {
+		ret += " ";
+
+		for (QByteArray arg : args) {
+			ret += arg;
+
+			if (arg != args.last())
+				ret += " ";
+		}
+	}
+
+	return ret;
 }
 
-/********************************************/
+/************ GCode Factories ***************/
 
-Robot::Robot()
+GCode GCode::moveZ(double z)
 {
-
+	return GCode("G0")
-}
-
-void Robot::prolog()
-{
-	home();
-	calibrate();
-}
-
-void Robot::epilog()
-{
-	home();
-}
-
-void Robot::home()
-{
-	queue << GCode("G28");
-}
-
-void Robot::calibrate()
-{
-	queue << GCode("G29");
-}
-
-void Robot::stop()
-{
-	queue << GCode("M124");
-}
-
-void Robot::moveZ(double z)
-{
-	queue << GCode("G0")
 				.arg('Z', z);
 }
 
-void Robot::moveXY(Point2f pos)
+GCode GCode::moveXY(Point2f pos)
 {
-	queue << GCode("G0")
+	return GCode("G0")
 				.arg('X', pos.x)
 				.arg('Y', pos.y);
 }
 
-void Robot::move(Point3f pos)
+GCode GCode::move(Point3f pos)
 {
-	queue << GCode("G0")
+	return GCode("G0")
 				.arg('X', pos.x)
 				.arg('Y', pos.y)
 				.arg('Z', pos.z);
 }
 
+GCode GCode::home()
+{
+	return GCode("G28");
+}
+
+GCode GCode::calibrate()
+{
+	return GCode("G29");
+}
+
+GCode GCode::stop()
+{
+	return GCode("M124");
+}
+
+GCode GCode::comment(QString c)
+{
+//	return GCode(";" + c);
+}
+
+/****************** Robot *******************/
+
+Robot::Robot(Pattern *pa, PathPlanner *pp) :
+	pattern(pa),
+	planner(pp)
+{ }
+
+void Robot::connect(QHostAddress addr, int port, QString key)
+{
+	Q_UNUSED(addr)
+	Q_UNUSED(port)
+	Q_UNUSED(key)
+}
+
+void Robot::save(QString fileName)
+{
+	QFile file(fileName);
+	file.open(QFile::WriteOnly);
+	if (!file.isWritable()) {
+		qCritical() << "Failed to open file: " << fileName;
+		return;
+	}
+
+	processPath();
+
+	while (!queue.isEmpty()) {
+		QByteArray gco = queue.dequeue();
+		file.write(gco);
+		qDebug() << "GCode: " << gco;
+	}
+
+	file.close();
+}
+
+void Robot::home()
+{
+	// FIXME: send GCode to OctoPrint
+}
+
+void Robot::calibrate()
+{
+	// FIXME: send GCode to OctoPrint
+}
+
+void Robot::start()
+{
+	// FIXME: send GCode to OctoPrint
+}
+
+void Robot::stop()
+{
+	// FIXME: send GCode to OctoPrint
+}
+
 void Robot::moveDelta(Point3f delta)
 {
 	queue << GCode("G91");
-	move(delta);
+	queue << GCode::move(delta);
 	queue << GCode("G90");
 }
 
-void Robot::processPath(PathResult *path)
+void Robot::prolog()
 {
+	queue << GCode::home();
+	queue << GCode::calibrate();
+}
+
+void Robot::epilog()
+{
+	queue << GCode::home();
+}
+
+void Robot::processPath()
+{
+	Image *img = mwindow->getCurrentImage();
+	if (!img)
+		return;
+
+	PathResult *path = dynamic_cast<PathResult*>(img->getResult(planner));
+	if (!path)
+		return;
+
 	queue.clear();
 
 	prolog();
 
+	int i = 0;
+	double distance = 0;
+	double time = 0;
+
 	for (Pad pad : *path) {
-		moveZ(5.0);
+		Point2f p = map(pad.center);
-		moveXY(pad.center);
+
-		moveZ(0.0);
+		/* Check Bed Bounds */
+		if (bedShape == BED_RECTANGULAR) {
+			if (p.x > bedSize.width ||
+				p.y > bedSize.height ||
+				p.x < 0 ||
+				p.y < 0
+			) {
+				qCritical() << "Pad outside of bed: " << toQt(p);
+				return;
+			}
+		}
+		else if (bedShape == BED_CIRCULAR) {
+			if (pow(p.x / bedSize.width, 2) + pow(p.y / bedSize.height, 2) > 1) {
+				qCritical() << "Pad outside of bed: " << toQt(p);
+				return;
+			}
+		}
+
+		queue << GCode::comment(QString("Pad %1: x=%2, y=%3").arg(i).arg(pad.center.x).arg(pad.center.y));
+		queue << GCode::moveZ(zOffset + zSwing);
+		queue << GCode::moveXY(p);
+		queue << GCode::moveZ(zOffset);
+
+		i++;
 	}
 
 	epilog();
+
+	qDebug() << "Finished G-Code processing: distance = " << distance << "time = " << time;
 }
+
+Point2f Robot::map(Point2f p)
+{
+	//Point2f a = affine * Point3f(p.x, p.y, 1);
+
+	//return Point3f(a.x, a.y, zOffset);
+}
+
+Point2f Robot::unmap(Point2f p)
+{
+	//return affine.inv() * Point2f(p.x, p.y);
+}
+
+void Robot::updateTransformation()
+{
+	std::vector<Point2f> src(calibPoints, calibPoints+3);
+	std::vector<Point2f> dst;
+
+	Image *img = mwindow->getCurrentImage();
+	if (!img)
+		return;
+
+	PatternResult *pat = dynamic_cast<PatternResult*>(img->getResult(pattern));
+	if (!pat)
+		return;
+
+	dst = pat->getPoints();
+
+	qDebug() << "Mapping: " << toQt(src[0]) << "=>" << toQt(dst[0]) << ", "
+							<< toQt(src[1]) << "=>" << toQt(dst[1]) << ", "
+							<< toQt(src[2]) << "=>" << toQt(dst[2]);
+
+	affine = getAffineTransform(src, dst);
+
+	qDebug() << "Affine: " << toQTransform(affine);
+}
+
+void Robot::setCalibPoints(Point2f p[3])
+{
+	for (int i = 0; i < 3; i++)
+		calibPoints[i] = p[i];
+
+	updateTransformation();
+}
+

robot.h

@@ -4,8 +4,10 @@
 #include <opencv2/core.hpp>
 
 #include <QQueue>
+#include <QHostAddress>
 
 #include <filters/pathplanner.h>
+#include "filters/pattern.h"
 
 using namespace cv;
 
@@ -17,6 +19,15 @@ class GCode
 		GCode & arg(char param, int v);
 		GCode & arg(char param, double v);
 
+		/* Factories */
+		static GCode home();
+		static GCode moveZ(double z);
+		static GCode moveXY(Point2f pos);
+		static GCode move(Point3f pos);
+		static GCode calibrate();
+		static GCode stop();
+		static GCode comment(QString c);
+
 		operator QByteArray();
 
 	protected:
@@ -24,41 +35,69 @@ class GCode
 		QList<QByteArray> args;
 };
 
-class Robot
+class Robot : public QObject
 {
+		Q_OBJECT
+
 	public:
-		Robot();
+		enum BedShape {
+			BED_CIRCULAR,
+			BED_RECTANGULAR
+		};
+
+		Robot(Pattern *pa, PathPlanner *pp);
 
 		void prolog();
 		void epilog();
 
-		void home();
+		void processPath();
-		void calibrate();
-		void stop();
 
-		void moveZ(double z);
-		void moveXY(Point2f pos);
-		void move(Point3f pos);
 		void moveDelta(Point3f delta);
 
-		void processPath(PathResult *path);
+		/* Transformation between Robot / Image coordinates */
-
-		void save();
-
 		Point2f map(Point2f);
 		Point2f unmap(Point2f);
 
-		/* Getter */
+	public slots:
-		QByteArray getGCode();
+		/* Setters */
+		void setCalibPoints(Point2f p[3]);
+		void setPattern(Pattern *p) { pattern = p; }
+		void setPath(PathPlanner *p) { planner = p; }
 
-		/* Setting */
+		void setAccel(Point3f a) { accel = a; }
-		void setCalibPoint();
+		void setOffsetZ(double o) { zOffset = o; }
+		void setSwingZ(double s) { zSwing = s; }
+
+		void setBedShape(enum BedShape s) { bedShape = s; }
+		void setBedSize(Size2f s) { bedSize = s; }
+
+		void home();
+		void calibrate();
+		void stop();
+		void start();
+		void save(QString fileName);
+		void connect(QHostAddress addr, int port, QString key);
+
+		void updateTransformation();
+
+	signals:
+		void connected();
+		void finished();
 
 	protected:
-		Point2f calibPoints[4];
+		Point2f calibPoints[3];
+		Mat affine;
+		double zOffset;
+		double zSwing;
+		Point3f accel;
+
+		enum BedShape bedShape;
+		Size2f bedSize;
+
+		Pattern *pattern;
+		PathPlanner *planner;
 
 		QQueue<GCode> queue;
-
 };
 
 #endif // ROBOT_H

tabrobot.cpp

@@ -1,11 +1,102 @@
+#include <QGridLayout>
+#include <QFileDialog>
+
+#include <opencv2/core.hpp>
+
+#include "mainwindow.h"
 #include "tabrobot.h"
 #include "ui_tabrobot.h"
+#include "robot.h"
+
+using namespace cv;
+
+extern MainWindow *mwindow;
+extern Robot *robot;
 
 TabRobot::TabRobot(QWidget *parent) :
 	QWidget(parent),
 	ui(new Ui::TabRobot)
 {
 	ui->setupUi(this);
+
+	/* Connect signals */
+	connect(ui->btnStart,		&QPushButton::clicked,			robot,	&Robot::start);
+	connect(ui->btnAbort,		&QPushButton::clicked,			robot,	&Robot::stop);
+	connect(ui->btnCalibrate,	&QPushButton::clicked,			robot,	&Robot::calibrate);
+	connect(ui->btnHome,		&QPushButton::clicked,			robot,	&Robot::home);
+	connect(ui->btnSave,		&QPushButton::clicked,			this,	&TabRobot::saveFilePicker);
+	connect(ui->btnConnect,		&QPushButton::clicked,			this,	&TabRobot::connectOctoPrint);
+	connect(ui->inpAccelXY,		SIGNAL(valueChanged()),			this,	SLOT(setAccel()));
+	connect(ui->inpAccelZ,		SIGNAL(valueChanged()),			this,	SLOT(setAccel()));
+	connect(ui->inpBedSizeX,	SIGNAL(valueChanged()),			this,	SLOT(setBedSize()));
+	connect(ui->inpSwingZ,		SIGNAL(valueChanged(double)),	robot,	SLOT(setSwingZ(double)));
+	connect(ui->inpOffsetZ,		SIGNAL(valueChanged(double)),	robot,	SLOT(setOffsetZ(double)));
+	connect(ui->cmbBedShape,	SIGNAL(currentIndexChanged(int)),robot,	SLOT(setBedShape(int)));
+
+	/* Complete Ui */
+	QGridLayout *l = qobject_cast<QGridLayout*>(ui->wdgCalibPoints->layout());
+	if (!l)
+		return;
+
+	for (int i = 0; i < 3; i++) {
+		for (int j = 0; j < 2; j++) {
+			QDoubleSpinBox *s = new QDoubleSpinBox(ui->wdgCalibPoints);
+
+			s->setRange(-15, +15);
+			l->addWidget(s, j+1, i+2);
+
+			connect(s, SIGNAL(valueChanged()), this, SLOT(updateCalibPoints));
+
+			calibWdgs[i][j] = s;
+		}
+	}
+}
+
+void TabRobot::saveFilePicker()
+{
+	QString path = QFileDialog::getSaveFileName(mwindow,
+		tr("Save GCode"), QString(),
+		tr("GCode File (*.gco *.gcode *.g *gc)"));
+
+	robot->save(path);
+}
+
+void TabRobot::connectOctoPrint()
+{
+	robot->connect(QHostAddress(ui->inpHost->text()), ui->inpPort->text().toUInt(), ui->inpApiKey->text());
+}
+
+void TabRobot::setAccel()
+{
+	Point3f accel(
+		ui->inpAccelXY->value(),
+		ui->inpAccelXY->value(),
+		ui->inpAccelZ->value()
+	);
+
+	robot->setAccel(accel);
+}
+
+void TabRobot::setBedSize()
+{
+	Size2f size(
+		ui->inpBedSizeX->value(),
+		ui->inpBedSizeY->value()
+	);
+
+	robot->setBedSize(size);
+}
+
+void TabRobot::updateCalibPoints()
+{
+	Point2f calibPoints[3];
+
+	for (int i = 0; i < 3; i++) {
+			calibPoints[i].x = calibWdgs[i][0]->value();
+			calibPoints[i].x = calibWdgs[i][0]->value();
+	}
+
+	robot->setCalibPoints(calibPoints);
 }
 
 TabRobot::~TabRobot()

tabrobot.h

@@ -2,6 +2,7 @@
 #define TABROBOT_H
 
 #include <QWidget>
+#include <QDoubleSpinBox>
 
 namespace Ui {
 class TabRobot;
@@ -15,6 +16,16 @@ class TabRobot : public QWidget
 		explicit TabRobot(QWidget *parent = 0);
 		~TabRobot();
 
+	protected slots:
+		void saveFilePicker();
+		void connectOctoPrint();
+		void updateCalibPoints();
+		void setAccel();
+		void setBedSize();
+
+	protected:
+		QDoubleSpinBox *calibWdgs[3][2];
+
 	private:
 		Ui::TabRobot *ui;
 };

tabrobot.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>542</width>
-    <height>502</height>
+    <height>670</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -330,29 +330,6 @@
          <property name="bottomMargin">
           <number>0</number>
          </property>
-         <item>
-          <widget class="QPushButton" name="btnCalibrate">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="minimumSize">
-            <size>
-             <width>0</width>
-             <height>0</height>
-            </size>
-           </property>
-           <property name="text">
-            <string>Calibrate</string>
-           </property>
-           <property name="icon">
-            <iconset resource="images.qrc">
-             <normaloff>:/icons/resources/calibrate.png</normaloff>:/icons/resources/calibrate.png</iconset>
-           </property>
-          </widget>
-         </item>
          <item>
           <widget class="QPushButton" name="btnStart">
            <property name="sizePolicy">
@@ -388,7 +365,30 @@
           </widget>
          </item>
          <item>
-          <widget class="QPushButton" name="pushButton">
+          <widget class="QPushButton" name="btnCalibrate">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>0</width>
+             <height>0</height>
+            </size>
+           </property>
+           <property name="text">
+            <string>Calibrate</string>
+           </property>
+           <property name="icon">
+            <iconset resource="images.qrc">
+             <normaloff>:/icons/resources/calibrate.png</normaloff>:/icons/resources/calibrate.png</iconset>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QPushButton" name="btnSave">
            <property name="text">
             <string>Save GCode</string>
            </property>
@@ -404,24 +404,172 @@
      </layout>
     </widget>
    </item>
+   <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="QWidget" name="wdgSettings" native="true">
-     <layout class="QFormLayout" name="formLayout">
+     <layout class="QGridLayout" name="gridLayout_3">
-      <property name="fieldGrowthPolicy">
+      <item row="5" column="1">
-       <enum>QFormLayout::FieldsStayAtSizeHint</enum>
+       <widget class="QWidget" name="wdgCalibPoints" native="true">
-      </property>
+        <layout class="QGridLayout" name="gridLayout_2">
-      <property name="labelAlignment">
+         <property name="leftMargin">
-       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          <number>0</number>
-      </property>
+         </property>
-      <item row="3" column="0">
+         <property name="topMargin">
-       <widget class="QLabel" name="lblHostPort">
+          <number>0</number>
+         </property>
+         <property name="rightMargin">
+          <number>0</number>
+         </property>
+         <property name="bottomMargin">
+          <number>0</number>
+         </property>
+         <item row="1" column="1">
+          <widget class="QLabel" name="lblX">
+           <property name="maximumSize">
+            <size>
+             <width>16</width>
+             <height>16777215</height>
+            </size>
+           </property>
+           <property name="text">
+            <string>x</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="3">
+          <widget class="QLabel" name="lblPoint2">
+           <property name="text">
+            <string>2</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="4">
+          <widget class="QLabel" name="lblPoint3">
+           <property name="text">
+            <string>3</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="1">
+          <widget class="QLabel" name="lblY">
+           <property name="maximumSize">
+            <size>
+             <width>16</width>
+             <height>16777215</height>
+            </size>
+           </property>
+           <property name="text">
+            <string>y</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="3" column="1">
+          <widget class="QLabel" name="lblZ">
+           <property name="maximumSize">
+            <size>
+             <width>16</width>
+             <height>16777215</height>
+            </size>
+           </property>
+           <property name="text">
+            <string>z</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="2">
+          <widget class="QLabel" name="lblPoint1">
+           <property name="text">
+            <string>1</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="3" column="2" colspan="3">
+          <widget class="QDoubleSpinBox" name="inpOffsetZ">
+           <property name="maximumSize">
+            <size>
+             <width>16777215</width>
+             <height>16777215</height>
+            </size>
+           </property>
+           <property name="value">
+            <double>0.800000000000000</double>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+      </item>
+      <item row="9" column="1">
+       <widget class="QWidget" name="widget_2" native="true">
+        <layout class="QHBoxLayout" name="horizontalLayout_3">
+         <property name="leftMargin">
+          <number>0</number>
+         </property>
+         <property name="topMargin">
+          <number>0</number>
+         </property>
+         <property name="rightMargin">
+          <number>0</number>
+         </property>
+         <property name="bottomMargin">
+          <number>0</number>
+         </property>
+        </layout>
+       </widget>
+      </item>
+      <item row="6" column="0">
+       <widget class="QLabel" name="lblAccel">
         <property name="text">
-         <string>OctoPrint Server</string>
+         <string>Acceleration</string>
         </property>
        </widget>
       </item>
-      <item row="3" column="1">
+      <item row="4" column="0">
-       <widget class="QWidget" name="widget_4" native="true">
+       <widget class="QLabel" name="lblBedSize">
+        <property name="text">
+         <string>Bed Size</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QDoubleSpinBox" name="inpSwingZ">
+        <property name="value">
+         <double>6.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QWidget" name="wdgConnect" native="true">
         <layout class="QHBoxLayout" name="horizontalLayout_2">
          <property name="leftMargin">
           <number>0</number>
@@ -496,19 +644,73 @@
         </layout>
        </widget>
       </item>
-      <item row="4" column="0">
+      <item row="6" column="1">
-       <widget class="QLabel" name="lblApiKey">
+       <widget class="QWidget" name="widget" native="true">
-        <property name="text">
+        <layout class="QGridLayout" name="gridLayout_4">
-         <string>OctoPrint Key</string>
+         <property name="leftMargin">
-        </property>
+          <number>0</number>
+         </property>
+         <property name="topMargin">
+          <number>0</number>
+         </property>
+         <property name="rightMargin">
+          <number>0</number>
+         </property>
+         <property name="bottomMargin">
+          <number>0</number>
+         </property>
+         <item row="0" column="1">
+          <widget class="QDoubleSpinBox" name="inpAccelXY">
+           <property name="maximum">
+            <double>6000.000000000000000</double>
+           </property>
+           <property name="value">
+            <double>1500.000000000000000</double>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0">
+          <widget class="QLabel" name="label_2">
+           <property name="maximumSize">
+            <size>
+             <width>16</width>
+             <height>16777215</height>
+            </size>
+           </property>
+           <property name="text">
+            <string>xy</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="0">
+          <widget class="QLabel" name="label">
+           <property name="maximumSize">
+            <size>
+             <width>16</width>
+             <height>16777215</height>
+            </size>
+           </property>
+           <property name="text">
+            <string>z</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="1">
+          <widget class="QDoubleSpinBox" name="inpAccelZ">
+           <property name="maximum">
+            <double>6000.000000000000000</double>
+           </property>
+           <property name="value">
+            <double>1500.000000000000000</double>
+           </property>
+          </widget>
+         </item>
+        </layout>
        </widget>
       </item>
       <item row="4" column="1">
-       <widget class="QLineEdit" name="lineEdit_2"/>
+       <widget class="QWidget" name="widget_3" native="true">
-      </item>
+        <layout class="QGridLayout" name="gridLayout_5">
-      <item row="5" column="1">
-       <widget class="QWidget" name="wdgCalibPoints" native="true">
-        <layout class="QGridLayout" name="gridLayout_2">
          <property name="leftMargin">
           <number>0</number>
          </property>
@@ -522,166 +724,51 @@
           <number>0</number>
          </property>
          <item row="1" column="1">
-          <widget class="QLineEdit" name="inpY1"/>
+          <widget class="QDoubleSpinBox" name="inpBedSizeY">
-         </item>
+           <property name="value">
-         <item row="0" column="2">
+            <double>17.000000000000000</double>
-          <widget class="QLabel" name="lblZ">
-           <property name="text">
-            <string>z</string>
-           </property>
-           <property name="alignment">
-            <set>Qt::AlignCenter</set>
            </property>
           </widget>
          </item>
-         <item row="1" column="2">
+         <item row="0" column="1">
-          <widget class="QLineEdit" name="inpZ1"/>
+          <widget class="QDoubleSpinBox" name="inpBedSizeX">
-         </item>
+           <property name="value">
-         <item row="4" column="0">
+            <double>17.000000000000000</double>
-          <widget class="QLineEdit" name="inpX4"/>
+           </property>
-         </item>
+          </widget>
-         <item row="2" column="1">
-          <widget class="QLineEdit" name="inpY2"/>
-         </item>
-         <item row="1" column="0">
-          <widget class="QLineEdit" name="inpX1"/>
          </item>
          <item row="0" column="0">
-          <widget class="QLabel" name="lblX">
+          <widget class="QLabel" name="lblBedSizeX">
+           <property name="maximumSize">
+            <size>
+             <width>16</width>
+             <height>16777215</height>
+            </size>
+           </property>
            <property name="text">
             <string>x</string>
            </property>
-           <property name="alignment">
-            <set>Qt::AlignCenter</set>
-           </property>
           </widget>
          </item>
-         <item row="2" column="2">
+         <item row="1" column="0">
-          <widget class="QLineEdit" name="inpZ2"/>
+          <widget class="QLabel" name="lblBedSizeY">
-         </item>
+           <property name="maximumSize">
-         <item row="4" column="2">
+            <size>
-          <widget class="QLineEdit" name="inpZ4"/>
+             <width>16</width>
-         </item>
+             <height>16777215</height>
-         <item row="3" column="0">
+            </size>
-          <widget class="QLineEdit" name="inpX3"/>
+           </property>
-         </item>
-         <item row="3" column="1">
-          <widget class="QLineEdit" name="inpY3"/>
-         </item>
-         <item row="2" column="0">
-          <widget class="QLineEdit" name="inpX2"/>
-         </item>
-         <item row="3" column="2">
-          <widget class="QLineEdit" name="inpZ3"/>
-         </item>
-         <item row="4" column="1">
-          <widget class="QLineEdit" name="inpY4"/>
-         </item>
-         <item row="0" column="1">
-          <widget class="QLabel" name="lblY">
            <property name="text">
             <string>y</string>
            </property>
-           <property name="alignment">
-            <set>Qt::AlignCenter</set>
-           </property>
-          </widget>
-         </item>
-         <item row="1" column="3">
-          <widget class="QPushButton" name="pushButton_2">
-           <property name="minimumSize">
-            <size>
-             <width>24</width>
-             <height>24</height>
-            </size>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>24</width>
-             <height>24</height>
-            </size>
-           </property>
-           <property name="text">
-            <string/>
-           </property>
-           <property name="icon">
-            <iconset resource="images.qrc">
-             <normaloff>:/icons/resources/start-here.png</normaloff>:/icons/resources/start-here.png</iconset>
-           </property>
-          </widget>
-         </item>
-         <item row="2" column="3">
-          <widget class="QPushButton" name="pushButton_3">
-           <property name="minimumSize">
-            <size>
-             <width>24</width>
-             <height>24</height>
-            </size>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>24</width>
-             <height>24</height>
-            </size>
-           </property>
-           <property name="text">
-            <string/>
-           </property>
-           <property name="icon">
-            <iconset resource="images.qrc">
-             <normaloff>:/icons/resources/start-here.png</normaloff>:/icons/resources/start-here.png</iconset>
-           </property>
-          </widget>
-         </item>
-         <item row="3" column="3">
-          <widget class="QPushButton" name="pushButton_4">
-           <property name="minimumSize">
-            <size>
-             <width>24</width>
-             <height>24</height>
-            </size>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>24</width>
-             <height>24</height>
-            </size>
-           </property>
-           <property name="text">
-            <string/>
-           </property>
-           <property name="icon">
-            <iconset resource="images.qrc">
-             <normaloff>:/icons/resources/start-here.png</normaloff>:/icons/resources/start-here.png</iconset>
-           </property>
-          </widget>
-         </item>
-         <item row="4" column="3">
-          <widget class="QPushButton" name="pushButton_5">
-           <property name="minimumSize">
-            <size>
-             <width>24</width>
-             <height>24</height>
-            </size>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>24</width>
-             <height>24</height>
-            </size>
-           </property>
-           <property name="text">
-            <string/>
-           </property>
-           <property name="icon">
-            <iconset resource="images.qrc">
-             <normaloff>:/icons/resources/start-here.png</normaloff>:/icons/resources/start-here.png</iconset>
-           </property>
           </widget>
          </item>
         </layout>
        </widget>
       </item>
+      <item row="1" column="1">
+       <widget class="QLineEdit" name="inpApiKey"/>
+      </item>
       <item row="5" column="0">
        <widget class="QLabel" name="lblCalibPoints">
         <property name="text">
@@ -689,6 +776,56 @@
         </property>
        </widget>
       </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="lblApiKey">
+        <property name="text">
+         <string>OctoPrint Key</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="0">
+       <widget class="QLabel" name="lblHostPort">
+        <property name="text">
+         <string>OctoPrint Server</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="lblSwingZ">
+        <property name="text">
+         <string>z Swing</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="0">
+       <widget class="QLabel" name="lblBedShape">
+        <property name="text">
+         <string>Bed Shape</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="1">
+       <widget class="QComboBox" name="cmbBedShape">
+        <item>
+         <property name="text">
+          <string comment="1">Circular</string>
+         </property>
+         <property name="icon">
+          <iconset resource="images.qrc">
+           <normaloff>:/icons/resources/bed_circ.png</normaloff>:/icons/resources/bed_circ.png</iconset>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string comment="0">Rectangular</string>
+         </property>
+         <property name="icon">
+          <iconset resource="images.qrc">
+           <normaloff>:/icons/resources/bed_rect.png</normaloff>:/icons/resources/bed_rect.png</iconset>
+         </property>
+        </item>
+       </widget>
+      </item>
      </layout>
     </widget>
    </item>