def __init__(self, endpoint, modules):
QWidget.__init__(self)
self.ui = Ui_JointMotorDlg()
self.ui.setupUi(self)
self.t = 0.
self.ic = Ice.initialize(sys.argv)
self.mods = modules
self.prx = self.ic.stringToProxy(endpoint)
self.proxy = self.mods['RoboCompJointMotor'].JointMotorPrx.checkedCast(self.prx)
self.show;
#Init spinboxes values
map = self.proxy.getAllMotorState()
self.ui.sbNeck.setValue(map['neck'].pos)
self.ui.sbLeftPan.setValue(map['leftPan'].pos)
self.ui.sbRightPan.setValue(map['rightPan'].pos)
self.ui.sbTilt.setValue(map['tilt'].pos)
self.connect( self.ui.sbNeck , SIGNAL('valueChanged(double)'), self.ChangeNeck );
self.connect( self.ui.sbTilt , SIGNAL('valueChanged(double)'), self.ChangeTilt );
self.connect( self.ui.sbLeftPan , SIGNAL('valueChanged(double)'), self.ChangeLeftPan );
self.connect( self.ui.sbRightPan , SIGNAL('valueChanged(double)'), self.ChangeRightPan );
#self.connect( self.ui.pbSaccadic, SIGNAL('clicked()'), self.doSaccadic );
self.job()
