plugins/Expert.java

@@ -7,6 +7,9 @@ import ch.psi.pshell.ui.Panel;
 import ch.psi.utils.State;
 import java.util.logging.Level;
 import java.util.logging.Logger;
+import javax.swing.JSpinner;
+import javax.swing.JTextField;
+import javax.swing.SwingConstants;
 
 /**
  *
@@ -15,6 +18,7 @@ public class Expert extends Panel {
 
     public Expert() {
         initComponents();
+        ((JSpinner.DefaultEditor)spinnerSegment.getEditor()).getTextField().setHorizontalAlignment(JTextField.RIGHT);
     }
 
     //Overridable callbacks
@@ -71,52 +75,26 @@ public class Expert extends Panel {
     // <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents
     private void initComponents() {
 
+        jPanel1 = new javax.swing.JPanel();
+        buttonEnable = new javax.swing.JButton();
+        buttonDisable = new javax.swing.JButton();
+        jPanel2 = new javax.swing.JPanel();
+        buttonHomingHexiposi = new javax.swing.JButton();
+        buttonPositionsHexiposi = new javax.swing.JButton();
+        jPanel3 = new javax.swing.JPanel();
+        buttonReleasePsys = new javax.swing.JButton();
         buttonEnableAll = new javax.swing.JButton();
+        buttonReleaseLocal = new javax.swing.JButton();
+        jPanel4 = new javax.swing.JPanel();
+        spinnerSample = new javax.swing.JSpinner();
+        checkForce = new javax.swing.JCheckBox();
         buttonMount = new javax.swing.JButton();
         jLabel1 = new javax.swing.JLabel();
         spinnerSegment = new javax.swing.JSpinner();
         jLabel2 = new javax.swing.JLabel();
         spinnerPuck = new javax.swing.JSpinner();
         jLabel3 = new javax.swing.JLabel();
-        spinnerSample = new javax.swing.JSpinner();
-        checkFirst = new javax.swing.JCheckBox();
-        jPanel1 = new javax.swing.JPanel();
-        buttonEnable = new javax.swing.JButton();
-        buttonDisable = new javax.swing.JButton();
-        buttonReleaseLocal = new javax.swing.JButton();
-        buttonReleasePsys = new javax.swing.JButton();
-        jPanel2 = new javax.swing.JPanel();
-        buttonHomingHexiposi = new javax.swing.JButton();
-        buttonPositionsHexiposi = new javax.swing.JButton();
-
-        buttonEnableAll.setText("Enable All");
-        buttonEnableAll.addActionListener(new java.awt.event.ActionListener() {
-            public void actionPerformed(java.awt.event.ActionEvent evt) {
-                buttonEnableAllActionPerformed(evt);
-            }
-        });
-
-        buttonMount.setText("Mount");
-        buttonMount.addActionListener(new java.awt.event.ActionListener() {
-            public void actionPerformed(java.awt.event.ActionEvent evt) {
-                buttonMountActionPerformed(evt);
-            }
-        });
-
-        jLabel1.setText("Segment:");
-
-        spinnerSegment.setModel(new javax.swing.SpinnerNumberModel(1, 1, 6, 1));
-
-        jLabel2.setText("Puck:");
-
-        spinnerPuck.setModel(new javax.swing.SpinnerNumberModel(1, 1, 5, 1));
-
-        jLabel3.setText("Sample:");
-
-        spinnerSample.setModel(new javax.swing.SpinnerNumberModel(1, 1, 16, 1));
-
-        checkFirst.setSelected(true);
-        checkFirst.setText("First mount");
+        buttonUnmount = new javax.swing.JButton();
 
         jPanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Robot"));
 
@@ -139,11 +117,11 @@ public class Expert extends Panel {
         jPanel1Layout.setHorizontalGroup(
             jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
             .addGroup(jPanel1Layout.createSequentialGroup()
-                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                .addContainerGap(78, Short.MAX_VALUE)
                 .addGroup(jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                     .addComponent(buttonEnable)
                     .addComponent(buttonDisable))
-                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
+                .addContainerGap(79, Short.MAX_VALUE))
         );
 
         jPanel1Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonDisable, buttonEnable});
@@ -158,20 +136,6 @@ public class Expert extends Panel {
                 .addContainerGap())
         );
 
-        buttonReleaseLocal.setText("Release Local");
-        buttonReleaseLocal.addActionListener(new java.awt.event.ActionListener() {
-            public void actionPerformed(java.awt.event.ActionEvent evt) {
-                buttonReleaseLocalActionPerformed(evt);
-            }
-        });
-
-        buttonReleasePsys.setText("Release PSYS");
-        buttonReleasePsys.addActionListener(new java.awt.event.ActionListener() {
-            public void actionPerformed(java.awt.event.ActionEvent evt) {
-                buttonReleasePsysActionPerformed(evt);
-            }
-        });
-
         jPanel2.setBorder(javax.swing.BorderFactory.createTitledBorder("Hexiposi"));
 
         buttonHomingHexiposi.setText("Homing");
@@ -192,21 +156,151 @@ public class Expert extends Panel {
         jPanel2.setLayout(jPanel2Layout);
         jPanel2Layout.setHorizontalGroup(
             jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
-            .addGroup(jPanel2Layout.createSequentialGroup()
-                .addContainerGap()
-                .addComponent(buttonHomingHexiposi)
-                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
-                .addComponent(buttonPositionsHexiposi)
-                .addContainerGap())
+            .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createSequentialGroup()
+                .addContainerGap(75, Short.MAX_VALUE)
+                .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+                    .addComponent(buttonHomingHexiposi)
+                    .addComponent(buttonPositionsHexiposi))
+                .addContainerGap(75, Short.MAX_VALUE))
         );
+
+        jPanel2Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonHomingHexiposi, buttonPositionsHexiposi});
+
         jPanel2Layout.setVerticalGroup(
             jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
             .addGroup(jPanel2Layout.createSequentialGroup()
-                .addGap(20, 20, 20)
-                .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
-                    .addComponent(buttonHomingHexiposi)
-                    .addComponent(buttonPositionsHexiposi))
-                .addContainerGap(24, Short.MAX_VALUE))
+                .addContainerGap()
+                .addComponent(buttonHomingHexiposi)
+                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
+                .addComponent(buttonPositionsHexiposi)
+                .addContainerGap())
+        );
+
+        jPanel3.setBorder(javax.swing.BorderFactory.createTitledBorder("Safety"));
+
+        buttonReleasePsys.setText("Release PSYS");
+        buttonReleasePsys.addActionListener(new java.awt.event.ActionListener() {
+            public void actionPerformed(java.awt.event.ActionEvent evt) {
+                buttonReleasePsysActionPerformed(evt);
+            }
+        });
+
+        buttonEnableAll.setText("Enable All");
+        buttonEnableAll.addActionListener(new java.awt.event.ActionListener() {
+            public void actionPerformed(java.awt.event.ActionEvent evt) {
+                buttonEnableAllActionPerformed(evt);
+            }
+        });
+
+        buttonReleaseLocal.setText("Release Local");
+        buttonReleaseLocal.addActionListener(new java.awt.event.ActionListener() {
+            public void actionPerformed(java.awt.event.ActionEvent evt) {
+                buttonReleaseLocalActionPerformed(evt);
+            }
+        });
+
+        javax.swing.GroupLayout jPanel3Layout = new javax.swing.GroupLayout(jPanel3);
+        jPanel3.setLayout(jPanel3Layout);
+        jPanel3Layout.setHorizontalGroup(
+            jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+            .addGroup(jPanel3Layout.createSequentialGroup()
+                .addContainerGap()
+                .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
+                    .addComponent(buttonEnableAll, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                    .addGroup(jPanel3Layout.createSequentialGroup()
+                        .addComponent(buttonReleasePsys)
+                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
+                        .addComponent(buttonReleaseLocal)))
+                .addContainerGap())
+        );
+        jPanel3Layout.setVerticalGroup(
+            jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+            .addGroup(jPanel3Layout.createSequentialGroup()
+                .addContainerGap()
+                .addComponent(buttonEnableAll)
+                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
+                .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
+                    .addComponent(buttonReleaseLocal)
+                    .addComponent(buttonReleasePsys))
+                .addContainerGap())
+        );
+
+        jPanel4.setBorder(javax.swing.BorderFactory.createTitledBorder("Commands"));
+
+        spinnerSample.setModel(new javax.swing.SpinnerNumberModel(1, 1, 16, 1));
+
+        checkForce.setText("Force");
+
+        buttonMount.setText("Mount");
+        buttonMount.addActionListener(new java.awt.event.ActionListener() {
+            public void actionPerformed(java.awt.event.ActionEvent evt) {
+                buttonMountActionPerformed(evt);
+            }
+        });
+
+        jLabel1.setText("Segment:");
+
+        spinnerSegment.setModel(new javax.swing.SpinnerListModel(new String[] {"A", "B", "C", "D", "E", "F"}));
+
+        jLabel2.setText("Puck:");
+
+        spinnerPuck.setModel(new javax.swing.SpinnerNumberModel(1, 1, 5, 1));
+
+        jLabel3.setText("Sample:");
+
+        buttonUnmount.setText("Unmount");
+        buttonUnmount.addActionListener(new java.awt.event.ActionListener() {
+            public void actionPerformed(java.awt.event.ActionEvent evt) {
+                buttonUnmountActionPerformed(evt);
+            }
+        });
+
+        javax.swing.GroupLayout jPanel4Layout = new javax.swing.GroupLayout(jPanel4);
+        jPanel4.setLayout(jPanel4Layout);
+        jPanel4Layout.setHorizontalGroup(
+            jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+            .addGroup(jPanel4Layout.createSequentialGroup()
+                .addContainerGap()
+                .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+                    .addComponent(buttonMount, javax.swing.GroupLayout.PREFERRED_SIZE, 106, javax.swing.GroupLayout.PREFERRED_SIZE)
+                    .addComponent(buttonUnmount, javax.swing.GroupLayout.PREFERRED_SIZE, 106, javax.swing.GroupLayout.PREFERRED_SIZE)
+                    .addComponent(checkForce))
+                .addGap(18, 18, 18)
+                .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+                    .addComponent(jLabel3)
+                    .addComponent(jLabel2)
+                    .addComponent(jLabel1))
+                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
+                .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+                    .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(13, Short.MAX_VALUE))
+        );
+
+        jPanel4Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {jLabel1, jLabel2, jLabel3});
+
+        jPanel4Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {spinnerPuck, spinnerSample, spinnerSegment});
+
+        jPanel4Layout.setVerticalGroup(
+            jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+            .addGroup(jPanel4Layout.createSequentialGroup()
+                .addContainerGap()
+                .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
+                    .addComponent(buttonMount)
+                    .addComponent(jLabel1)
+                    .addComponent(spinnerSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
+                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
+                .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
+                    .addComponent(jLabel2)
+                    .addComponent(spinnerPuck, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+                    .addComponent(buttonUnmount))
+                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
+                .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
+                    .addComponent(jLabel3)
+                    .addComponent(spinnerSample, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+                    .addComponent(checkForce))
+                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
         );
 
         javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this);
@@ -214,68 +308,28 @@ public class Expert extends Panel {
         layout.setHorizontalGroup(
             layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
             .addGroup(layout.createSequentialGroup()
-                .addGap(16, 16, 16)
+                .addContainerGap()
                 .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
-                    .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
-                        .addGroup(layout.createSequentialGroup()
-                            .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
-                                .addComponent(buttonMount, javax.swing.GroupLayout.PREFERRED_SIZE, 106, javax.swing.GroupLayout.PREFERRED_SIZE)
-                                .addGroup(layout.createSequentialGroup()
-                                    .addGap(10, 10, 10)
-                                    .addComponent(checkFirst)))
-                            .addGap(18, 18, 18)
-                            .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
-                                .addComponent(jLabel3)
-                                .addComponent(jLabel2)
-                                .addComponent(jLabel1))
-                            .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
-                            .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
-                                .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)))
-                        .addComponent(jPanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
-                        .addComponent(jPanel2, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
-                    .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
-                        .addComponent(buttonEnableAll, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
-                        .addGroup(layout.createSequentialGroup()
-                            .addComponent(buttonReleasePsys)
-                            .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
-                            .addComponent(buttonReleaseLocal))))
-                .addContainerGap(377, Short.MAX_VALUE))
+                    .addComponent(jPanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+                    .addComponent(jPanel2, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+                    .addComponent(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
+                .addGap(6, 6, 6)
+                .addComponent(jPanel4, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
         );
-
-        layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {jLabel1, jLabel2, jLabel3});
-
-        layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {spinnerPuck, spinnerSample, spinnerSegment});
-
         layout.setVerticalGroup(
             layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
             .addGroup(layout.createSequentialGroup()
                 .addContainerGap()
-                .addComponent(buttonEnableAll)
-                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
-                .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
-                    .addComponent(buttonReleaseLocal)
-                    .addComponent(buttonReleasePsys))
-                .addGap(18, 18, 18)
-                .addComponent(jPanel2, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
-                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
-                .addComponent(jPanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
-                .addGap(18, 18, 18)
-                .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
-                    .addComponent(buttonMount)
-                    .addComponent(jLabel1)
-                    .addComponent(spinnerSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
-                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
-                .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
-                    .addComponent(jLabel2)
-                    .addComponent(spinnerPuck, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
-                    .addComponent(checkFirst))
-                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
-                .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
-                    .addComponent(jLabel3)
-                    .addComponent(spinnerSample, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
-                .addContainerGap(175, Short.MAX_VALUE))
+                .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING, false)
+                    .addComponent(jPanel4, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                    .addGroup(javax.swing.GroupLayout.Alignment.LEADING, layout.createSequentialGroup()
+                        .addComponent(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
+                        .addComponent(jPanel2, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
+                        .addComponent(jPanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))
+                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
         );
     }// </editor-fold>//GEN-END:initComponents
 
@@ -284,9 +338,11 @@ public class Expert extends Panel {
     }//GEN-LAST:event_buttonEnableAllActionPerformed
 
     private void buttonMountActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMountActionPerformed
-        String cmd = checkFirst.isSelected() ? "firstmount" : "mount";
-        execute("robot.start_task('" + cmd + "'," + spinnerSegment.getValue() + "," + spinnerPuck.getValue() + "," + spinnerSample.getValue() + ")");
-        checkFirst.setSelected(false);
+        String segment = (String) spinnerSegment.getValue();
+        int puck = (Integer) spinnerPuck.getValue();
+        int sample = (Integer)  spinnerSample.getValue();
+        String force = checkForce.isSelected() ? "True" : "False";
+        execute("mount('" + segment + "'," + puck + "," + sample + ", force=" + force + ")");
         
     }//GEN-LAST:event_buttonMountActionPerformed
 
@@ -314,6 +370,14 @@ public class Expert extends Panel {
         this.showDevicePanel("hexiposi");
     }//GEN-LAST:event_buttonPositionsHexiposiActionPerformed
 
+    private void buttonUnmountActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonUnmountActionPerformed
+        String segment = (String) spinnerSegment.getValue();
+        int puck = (Integer) spinnerPuck.getValue();
+        int sample = (Integer)  spinnerSample.getValue();
+        String force = checkForce.isSelected() ? "True" : "False";
+        execute("unmount('" + segment + "'," + puck + "," + sample + ", force=" + force + ")");
+    }//GEN-LAST:event_buttonUnmountActionPerformed
+
     // Variables declaration - do not modify//GEN-BEGIN:variables
     private javax.swing.JButton buttonDisable;
     private javax.swing.JButton buttonEnable;
@@ -323,12 +387,15 @@ public class Expert extends Panel {
     private javax.swing.JButton buttonPositionsHexiposi;
     private javax.swing.JButton buttonReleaseLocal;
     private javax.swing.JButton buttonReleasePsys;
-    private javax.swing.JCheckBox checkFirst;
+    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.JPanel jPanel1;
     private javax.swing.JPanel jPanel2;
+    private javax.swing.JPanel jPanel3;
+    private javax.swing.JPanel jPanel4;
     private javax.swing.JSpinner spinnerPuck;
     private javax.swing.JSpinner spinnerSample;
     private javax.swing.JSpinner spinnerSegment;