2018-06-13 17:42:33 +02:00
parent 14398f49c1
commit 43b46a171f
22 changed files with 707 additions and 109 deletions
--- a/plugins/Expert.java
+++ b/plugins/Expert.java
@@ -114,11 +114,25 @@ public class Expert extends Panel {
        jLabel2 = new javax.swing.JLabel();
        spinnerSegment = new javax.swing.JSpinner();
        jLabel3 = new javax.swing.JLabel();
+        buttonMovePark = new javax.swing.JButton();
        buttonHomingHexiposi = new javax.swing.JButton();
+        buttonMoveHome = new javax.swing.JButton();
+        buttonMoveGonio = new javax.swing.JButton();
+        buttonMoveDewar = new javax.swing.JButton();
+        buttonMoveScanner = new javax.swing.JButton();
+        buttonMoveHeater = new javax.swing.JButton();
+        buttonDry = new javax.swing.JButton();
+        spinnerDryTime = new javax.swing.JSpinner();
+        jLabel6 = new javax.swing.JLabel();
+        jLabel7 = new javax.swing.JLabel();
+        spinnerDrySpeed = new javax.swing.JSpinner();
        jPanel3 = new javax.swing.JPanel();
        buttonPuckDetCheck = new javax.swing.JButton();
        buttonPuckDetStop = new javax.swing.JButton();
        buttonPuckDetStart = new javax.swing.JButton();
+        panelRobot1 = new javax.swing.JPanel();
+        buttonHeater = new javax.swing.JToggleButton();
+        buttonStream = new javax.swing.JToggleButton();

        panelRobot.setBorder(javax.swing.BorderFactory.createTitledBorder("Robot"));

@@ -141,11 +155,11 @@ public class Expert extends Panel {
        panelRobotLayout.setHorizontalGroup(
            panelRobotLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelRobotLayout.createSequentialGroup()
-                .addContainerGap(78, Short.MAX_VALUE)
-                .addGroup(panelRobotLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
-                    .addComponent(buttonEnable)
-                    .addComponent(buttonDisable))
-                .addContainerGap(79, Short.MAX_VALUE))
+                .addContainerGap(32, Short.MAX_VALUE)
+                .addComponent(buttonEnable)
+                .addGap(27, 27, 27)
+                .addComponent(buttonDisable)
+                .addContainerGap(32, Short.MAX_VALUE))
        );

        panelRobotLayout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonDisable, buttonEnable});
@@ -154,9 +168,9 @@ public class Expert extends Panel {
            panelRobotLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelRobotLayout.createSequentialGroup()
                .addContainerGap()
-                .addComponent(buttonEnable)
-                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
-                .addComponent(buttonDisable)
+                .addGroup(panelRobotLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
+                    .addComponent(buttonEnable)
+                    .addComponent(buttonDisable))
                .addContainerGap())
        );

@@ -312,7 +326,7 @@ public class Expert extends Panel {
                    .addComponent(spinnerSample, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(spinnerPuck, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(spinnerSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
-                .addContainerGap())
+                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
        );

        jPanel5Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {jLabel1, jLabel2, jLabel3});
@@ -341,6 +355,13 @@ public class Expert extends Panel {
                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
        );

+        buttonMovePark.setText("Move Park");
+        buttonMovePark.addActionListener(new java.awt.event.ActionListener() {
+            public void actionPerformed(java.awt.event.ActionEvent evt) {
+                buttonMoveParkActionPerformed(evt);
+            }
+        });
+
        buttonHomingHexiposi.setText("Homing Hexiposi");
        buttonHomingHexiposi.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
@@ -348,24 +369,95 @@ public class Expert extends Panel {
            }
        });

+        buttonMoveHome.setText("Move Home");
+        buttonMoveHome.addActionListener(new java.awt.event.ActionListener() {
+            public void actionPerformed(java.awt.event.ActionEvent evt) {
+                buttonMoveHomeActionPerformed(evt);
+            }
+        });
+
+        buttonMoveGonio.setText("Move Gonio");
+        buttonMoveGonio.addActionListener(new java.awt.event.ActionListener() {
+            public void actionPerformed(java.awt.event.ActionEvent evt) {
+                buttonMoveGonioActionPerformed(evt);
+            }
+        });
+
+        buttonMoveDewar.setText("Move Dewar");
+        buttonMoveDewar.addActionListener(new java.awt.event.ActionListener() {
+            public void actionPerformed(java.awt.event.ActionEvent evt) {
+                buttonMoveDewarActionPerformed(evt);
+            }
+        });
+
+        buttonMoveScanner.setText("Move Scanner");
+        buttonMoveScanner.addActionListener(new java.awt.event.ActionListener() {
+            public void actionPerformed(java.awt.event.ActionEvent evt) {
+                buttonMoveScannerActionPerformed(evt);
+            }
+        });
+
+        buttonMoveHeater.setText("Move Heater");
+        buttonMoveHeater.addActionListener(new java.awt.event.ActionListener() {
+            public void actionPerformed(java.awt.event.ActionEvent evt) {
+                buttonMoveHeaterActionPerformed(evt);
+            }
+        });
+
+        buttonDry.setText("Dry");
+        buttonDry.addActionListener(new java.awt.event.ActionListener() {
+            public void actionPerformed(java.awt.event.ActionEvent evt) {
+                buttonDryActionPerformed(evt);
+            }
+        });
+
+        spinnerDryTime.setModel(new javax.swing.SpinnerNumberModel(10.0d, 1.0d, 30.0d, 1.0d));
+
+        jLabel6.setText("Heat time(s):");
+
+        jLabel7.setText("Speed(%):");
+
+        spinnerDrySpeed.setModel(new javax.swing.SpinnerNumberModel(1.0d, 0.1d, 10.0d, 1.0d));
+
        javax.swing.GroupLayout panelCommandsLayout = new javax.swing.GroupLayout(panelCommands);
        panelCommands.setLayout(panelCommandsLayout);
        panelCommandsLayout.setHorizontalGroup(
            panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelCommandsLayout.createSequentialGroup()
                .addContainerGap()
-                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING, false)
-                    .addComponent(buttonHomingHexiposi, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
-                    .addComponent(buttonGetGonio, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
-                    .addComponent(buttonPutGonio, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
-                    .addComponent(buttonMount, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
-                    .addComponent(buttonUnmount, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
-                    .addComponent(buttonGetDewar, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
-                    .addComponent(buttonPutDewar, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
-                .addGap(18, 18, 18)
-                .addComponent(jPanel5, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
-                .addContainerGap())
+                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
+                    .addComponent(buttonMoveHeater, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                    .addComponent(buttonMoveGonio, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                    .addComponent(buttonMovePark, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                    .addComponent(buttonGetGonio, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                    .addComponent(buttonPutGonio, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                    .addComponent(buttonMount, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                    .addComponent(buttonUnmount, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                    .addComponent(buttonGetDewar, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                    .addComponent(buttonPutDewar, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                    .addComponent(buttonDry, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
+                .addGap(30, 30, 30)
+                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+                    .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
+                        .addComponent(buttonMoveScanner, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                        .addComponent(buttonMoveHome, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                        .addComponent(buttonMoveDewar, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                        .addComponent(jPanel5, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
+                    .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
+                        .addGroup(panelCommandsLayout.createSequentialGroup()
+                            .addComponent(jLabel7)
+                            .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
+                            .addComponent(spinnerDrySpeed, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
+                        .addGroup(panelCommandsLayout.createSequentialGroup()
+                            .addComponent(jLabel6)
+                            .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
+                            .addComponent(spinnerDryTime, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))
+                    .addComponent(buttonHomingHexiposi, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
+                .addContainerGap(30, Short.MAX_VALUE))
        );
+
+        panelCommandsLayout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonGetDewar, buttonGetGonio, buttonHomingHexiposi, buttonMount, buttonMoveDewar, buttonMoveGonio, buttonMoveHeater, buttonMoveHome, buttonMovePark, buttonMoveScanner, buttonPutDewar, buttonPutGonio, buttonUnmount});
+
        panelCommandsLayout.setVerticalGroup(
            panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelCommandsLayout.createSequentialGroup()
@@ -378,15 +470,36 @@ public class Expert extends Panel {
                        .addGap(18, 18, 18)
                        .addComponent(buttonGetDewar)
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
-                        .addComponent(buttonPutDewar)
-                        .addGap(18, 18, 18)
-                        .addComponent(buttonGetGonio)
-                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
-                        .addComponent(buttonPutGonio))
+                        .addComponent(buttonPutDewar))
                    .addComponent(jPanel5, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
                .addGap(18, 18, 18)
-                .addComponent(buttonHomingHexiposi)
-                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
+                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
+                    .addComponent(buttonGetGonio)
+                    .addComponent(buttonHomingHexiposi))
+                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
+                .addComponent(buttonPutGonio)
+                .addGap(18, 18, 18)
+                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
+                    .addComponent(buttonMovePark)
+                    .addComponent(buttonMoveHome))
+                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
+                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
+                    .addComponent(buttonMoveGonio)
+                    .addComponent(buttonMoveDewar))
+                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
+                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
+                    .addComponent(buttonMoveHeater)
+                    .addComponent(buttonMoveScanner))
+                .addGap(18, 18, 18)
+                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
+                    .addComponent(buttonDry)
+                    .addComponent(spinnerDryTime, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+                    .addComponent(jLabel6))
+                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
+                    .addComponent(spinnerDrySpeed, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+                    .addComponent(jLabel7))
+                .addContainerGap())
        );

        jPanel3.setBorder(javax.swing.BorderFactory.createTitledBorder("Puck Detection"));
@@ -419,9 +532,9 @@ public class Expert extends Panel {
            .addGroup(jPanel3Layout.createSequentialGroup()
                .addContainerGap()
                .addComponent(buttonPuckDetCheck)
-                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 11, Short.MAX_VALUE)
                .addComponent(buttonPuckDetStop)
-                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 11, Short.MAX_VALUE)
                .addComponent(buttonPuckDetStart)
                .addContainerGap())
        );
@@ -439,28 +552,71 @@ public class Expert extends Panel {
                .addContainerGap())
        );

+        panelRobot1.setBorder(javax.swing.BorderFactory.createTitledBorder("Dryer"));
+
+        buttonHeater.setText("Heater");
+        buttonHeater.addActionListener(new java.awt.event.ActionListener() {
+            public void actionPerformed(java.awt.event.ActionEvent evt) {
+                buttonHeaterActionPerformed(evt);
+            }
+        });
+
+        buttonStream.setText("Air Stream");
+        buttonStream.addActionListener(new java.awt.event.ActionListener() {
+            public void actionPerformed(java.awt.event.ActionEvent evt) {
+                buttonStreamActionPerformed(evt);
+            }
+        });
+
+        javax.swing.GroupLayout panelRobot1Layout = new javax.swing.GroupLayout(panelRobot1);
+        panelRobot1.setLayout(panelRobot1Layout);
+        panelRobot1Layout.setHorizontalGroup(
+            panelRobot1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+            .addGroup(panelRobot1Layout.createSequentialGroup()
+                .addContainerGap(24, Short.MAX_VALUE)
+                .addComponent(buttonHeater)
+                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
+                .addComponent(buttonStream)
+                .addContainerGap(25, Short.MAX_VALUE))
+        );
+
+        panelRobot1Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonHeater, buttonStream});
+
+        panelRobot1Layout.setVerticalGroup(
+            panelRobot1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+            .addGroup(panelRobot1Layout.createSequentialGroup()
+                .addContainerGap()
+                .addGroup(panelRobot1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
+                    .addComponent(buttonHeater)
+                    .addComponent(buttonStream))
+                .addContainerGap())
+        );
+
        javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this);
        this.setLayout(layout);
        layout.setHorizontalGroup(
            layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(layout.createSequentialGroup()
                .addContainerGap()
-                .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
-                    .addComponent(jPanel2, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
-                    .addComponent(panelSafety, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
-                    .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
-                        .addComponent(jPanel3, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
-                        .addComponent(panelRobot, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)))
+                .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
+                    .addComponent(panelRobot1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+                    .addComponent(panelRobot, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+                    .addComponent(jPanel3, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+                    .addComponent(jPanel2, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+                    .addComponent(panelSafety, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addGap(18, 18, 18)
                .addComponent(panelCommands, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
-                .addContainerGap(32, Short.MAX_VALUE))
+                .addContainerGap())
        );
+
+        layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {jPanel2, jPanel3, panelRobot, panelRobot1, panelSafety});
+
        layout.setVerticalGroup(
            layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(layout.createSequentialGroup()
                .addContainerGap()
-                .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
-                    .addComponent(panelCommands, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+                    .addComponent(panelCommands, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addGroup(layout.createSequentialGroup()
                        .addComponent(panelSafety, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
@@ -468,8 +624,10 @@ public class Expert extends Panel {
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                        .addComponent(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
-                        .addComponent(panelRobot, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))
-                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
+                        .addComponent(panelRobot, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
+                        .addComponent(panelRobot1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))
+                .addContainerGap(29, Short.MAX_VALUE))
        );
    }// </editor-fold>//GEN-END:initComponents

@@ -556,14 +714,61 @@ public class Expert extends Panel {
        execute("start_puck_detection()", true);
    }//GEN-LAST:event_buttonPuckDetStartActionPerformed

+    private void buttonMoveParkActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveParkActionPerformed
+        execute("move_park()");
+    }//GEN-LAST:event_buttonMoveParkActionPerformed
+
+    private void buttonMoveHomeActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveHomeActionPerformed
+        execute("move_home()");
+    }//GEN-LAST:event_buttonMoveHomeActionPerformed
+
+    private void buttonMoveGonioActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveGonioActionPerformed
+        execute("move_gonio()");
+    }//GEN-LAST:event_buttonMoveGonioActionPerformed
+
+    private void buttonMoveDewarActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveDewarActionPerformed
+        execute("move_dewar()");
+    }//GEN-LAST:event_buttonMoveDewarActionPerformed
+
+    private void buttonMoveScannerActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveScannerActionPerformed
+        execute("move_scanner()");
+    }//GEN-LAST:event_buttonMoveScannerActionPerformed
+
+    private void buttonMoveHeaterActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveHeaterActionPerformed
+        execute("move_heater()");
+    }//GEN-LAST:event_buttonMoveHeaterActionPerformed
+
+    private void buttonDryActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonDryActionPerformed
+        double dryTime = (Double) spinnerDryTime.getValue();
+        double streamTime = (Double) spinnerDrySpeed.getValue();
+        
+        execute("dry(" + dryTime + ", " + streamTime +  ")");
+    }//GEN-LAST:event_buttonDryActionPerformed
+
+    private void buttonHeaterActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonHeaterActionPerformed
+        execute("set_heater(" +  (buttonHeater.isSelected() ? "True": "False") + ")", true);
+    }//GEN-LAST:event_buttonHeaterActionPerformed
+
+    private void buttonStreamActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonStreamActionPerformed
+        execute("set_air_stream(" +  (buttonStream.isSelected()? "True": "False")+ ")", true);
+    }//GEN-LAST:event_buttonStreamActionPerformed
+
    // Variables declaration - do not modify//GEN-BEGIN:variables
    private javax.swing.JButton buttonDisable;
+    private javax.swing.JButton buttonDry;
    private javax.swing.JButton buttonEnable;
    private javax.swing.JButton buttonEnableAll;
    private javax.swing.JButton buttonGetDewar;
    private javax.swing.JButton buttonGetGonio;
+    private javax.swing.JToggleButton buttonHeater;
    private javax.swing.JButton buttonHomingHexiposi;
    private javax.swing.JButton buttonMount;
+    private javax.swing.JButton buttonMoveDewar;
+    private javax.swing.JButton buttonMoveGonio;
+    private javax.swing.JButton buttonMoveHeater;
+    private javax.swing.JButton buttonMoveHome;
+    private javax.swing.JButton buttonMovePark;
+    private javax.swing.JButton buttonMoveScanner;
    private javax.swing.JButton buttonPositionsHexiposi;
    private javax.swing.JButton buttonPuckDetCheck;
    private javax.swing.JButton buttonPuckDetStart;
@@ -572,18 +777,24 @@ public class Expert extends Panel {
    private javax.swing.JButton buttonPutGonio;
    private javax.swing.JButton buttonReleaseLocal;
    private javax.swing.JButton buttonReleasePsys;
+    private javax.swing.JToggleButton buttonStream;
    private javax.swing.JButton buttonUnmount;
    private javax.swing.JCheckBox checkForce;
    private javax.swing.JLabel jLabel1;
    private javax.swing.JLabel jLabel2;
    private javax.swing.JLabel jLabel3;
    private javax.swing.JLabel jLabel4;
+    private javax.swing.JLabel jLabel6;
+    private javax.swing.JLabel jLabel7;
    private javax.swing.JPanel jPanel2;
    private javax.swing.JPanel jPanel3;
    private javax.swing.JPanel jPanel5;
    private javax.swing.JPanel panelCommands;
    private javax.swing.JPanel panelRobot;
+    private javax.swing.JPanel panelRobot1;
    private javax.swing.JPanel panelSafety;
+    private javax.swing.JSpinner spinnerDrySpeed;
+    private javax.swing.JSpinner spinnerDryTime;
    private javax.swing.JSpinner spinnerPuck;
    private javax.swing.JSpinner spinnerSample;
    private javax.swing.JSpinner spinnerSegment;