diff --git a/BrainATUMtome/mainwindow.cpp b/BrainATUMtome/mainwindow.cpp
index 49d64fc..1e2668a 100644
--- a/BrainATUMtome/mainwindow.cpp
+++ b/BrainATUMtome/mainwindow.cpp
@@ -3,7 +3,9 @@
 
 MainWindow::MainWindow(QWidget *parent) :
     QMainWindow(parent),
-    ui(new Ui::MainWindow)
+    ui(new Ui::MainWindow),
+    m_epos_velocity_lower(0),
+    m_epos_velocity_upper(0)
 {
     ui->setupUi(this);
 }
@@ -12,3 +14,83 @@ MainWindow::~MainWindow()
 {
     delete ui;
 }
+
+
+void MainWindow::configure_epos()
+{
+    auto checkVelocity = new QIntValidator(100, 15000, this);
+    ui->lineEdit_epos_lower_rpm->setValidator(checkVelocity);
+    ui->lineEdit_epos_upper_rpm->setValidator(checkVelocity);
+
+}
+
+
+void MainWindow::on_lineEdit_epos_lower_rpm_editingFinished()
+{
+    qDebug() << "FINISHED";
+}
+
+
+void MainWindow::on_radioButton_epos_lower_off_toggled(bool checked)
+{
+    if (!checked)
+        return;
+    qDebug() << "OFF " << checked;
+    ui->radioButton_epos_tension_on->toggle();
+}
+
+void MainWindow::on_radioButton_epos_lower_ccw_toggled(bool checked)
+{
+    if (!checked)
+        return;
+    emit ui->lineEdit_epos_lower_rpm->editingFinished();
+    qDebug() << "CCW " << checked;
+}
+
+void MainWindow::on_radioButton_epos_lower_cw_toggled(bool checked)
+{
+    if (!checked)
+        return;
+    emit ui->lineEdit_epos_lower_rpm->editingFinished();
+    qDebug() << "CW " << checked;
+}
+
+void MainWindow::on_lineEdit_epos_upper_rpm_editingFinished()
+{
+
+}
+
+void MainWindow::on_radioButton_epos_upper_off_toggled(bool checked)
+{
+
+}
+
+void MainWindow::on_radioButton_epos_upper_ccw_toggled(bool checked)
+{
+
+}
+
+void MainWindow::on_radioButton_epos_upper_cw_toggled(bool checked)
+{
+
+}
+
+void MainWindow::on_radioButton_epos_tension_off_toggled(bool checked)
+{
+    qDebug() << "TENSION_OFF " << checked;
+}
+
+void MainWindow::on_radioButton_epos_tension_on_toggled(bool checked)
+{
+    qDebug() << "TENSION_ON " << checked;
+}
+
+void MainWindow::on_radioButton_epos_sync_off_toggled(bool checked)
+{
+
+}
+
+void MainWindow::on_radioButton_epos_sync_on_toggled(bool checked)
+{
+
+}
diff --git a/BrainATUMtome/mainwindow.h b/BrainATUMtome/mainwindow.h
index 9353441..e2c5360 100644
--- a/BrainATUMtome/mainwindow.h
+++ b/BrainATUMtome/mainwindow.h
@@ -2,6 +2,7 @@
 #define MAINWINDOW_H
 
 #include <QMainWindow>
+#include <QDebug>
 
 namespace Ui {
 class MainWindow;
@@ -15,8 +16,34 @@ class MainWindow : public QMainWindow
     explicit MainWindow(QWidget *parent = nullptr);
     ~MainWindow();
 
+private slots:
+
+    void on_lineEdit_epos_lower_rpm_editingFinished();
+    void on_radioButton_epos_lower_off_toggled(bool checked);
+    void on_radioButton_epos_lower_ccw_toggled(bool checked);
+    void on_radioButton_epos_lower_cw_toggled(bool checked);
+
+    void on_lineEdit_epos_upper_rpm_editingFinished();
+    void on_radioButton_epos_upper_off_toggled(bool checked);
+    void on_radioButton_epos_upper_ccw_toggled(bool checked);
+    void on_radioButton_epos_upper_cw_toggled(bool checked);
+
+    void on_radioButton_epos_tension_off_toggled(bool checked);
+    void on_radioButton_epos_tension_on_toggled(bool checked);
+
+    void on_radioButton_epos_sync_off_toggled(bool checked);
+    void on_radioButton_epos_sync_on_toggled(bool checked);
+
 private:
     Ui::MainWindow *ui;
+    int m_epos_velocity_lower;
+    int m_epos_velocity_upper;
+
+    void configure_epos();
+
+signals:
+    void uirequest_epos_velocity(int motorid, int velocity);
+    void uirequest_epos_tension(bool state);
 };
 
 #endif // MAINWINDOW_H
diff --git a/BrainATUMtome/mainwindow.ui b/BrainATUMtome/mainwindow.ui
index 6050363..93c7c08 100644
--- a/BrainATUMtome/mainwindow.ui
+++ b/BrainATUMtome/mainwindow.ui
@@ -1,24 +1,183 @@
+<?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
  <class>MainWindow</class>
- <widget class="QMainWindow" name="MainWindow" >
-  <property name="geometry" >
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>400</width>
-    <height>300</height>
+    <width>574</width>
+    <height>413</height>
    </rect>
   </property>
-  <property name="windowTitle" >
+  <property name="windowTitle">
    <string>MainWindow</string>
   </property>
-  <widget class="QMenuBar" name="menuBar" />
-  <widget class="QToolBar" name="mainToolBar" />
-  <widget class="QWidget" name="centralWidget" />
-  <widget class="QStatusBar" name="statusBar" />
+  <widget class="QWidget" name="centralWidget">
+   <widget class="QGroupBox" name="groupBox_epos">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>20</y>
+      <width>376</width>
+      <height>254</height>
+     </rect>
+    </property>
+    <property name="title">
+     <string>EPOS</string>
+    </property>
+    <layout class="QGridLayout" name="gridLayout">
+     <item row="0" column="0" colspan="2">
+      <widget class="QGroupBox" name="groupBox_epos_lower">
+       <property name="title">
+        <string>MotorLower</string>
+       </property>
+       <layout class="QHBoxLayout" name="horizontalLayout">
+        <item>
+         <widget class="QRadioButton" name="radioButton_epos_lower_cw">
+          <property name="text">
+           <string>CW</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QRadioButton" name="radioButton_epos_lower_ccw">
+          <property name="text">
+           <string>CCW</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QRadioButton" name="radioButton_epos_lower_off">
+          <property name="text">
+           <string>OFF</string>
+          </property>
+          <property name="checked">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLineEdit" name="lineEdit_epos_lower_rpm">
+          <property name="text">
+           <string>1000</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_epos_lower_rpm">
+          <property name="text">
+           <string>rpm</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </widget>
+     </item>
+     <item row="1" column="0" colspan="2">
+      <widget class="QGroupBox" name="groupBox_epos_upper">
+       <property name="title">
+        <string>MotorUpper</string>
+       </property>
+       <layout class="QHBoxLayout" name="horizontalLayout_2">
+        <item>
+         <widget class="QRadioButton" name="radioButton_epos_upper_cw">
+          <property name="text">
+           <string>CW</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QRadioButton" name="radioButton_epos_upper_ccw">
+          <property name="text">
+           <string>CCW</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QRadioButton" name="radioButton_epos_upper_off">
+          <property name="text">
+           <string>OFF</string>
+          </property>
+          <property name="checked">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLineEdit" name="lineEdit_epos_upper_rpm">
+          <property name="text">
+           <string>1000</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_epos_upper_rpm">
+          <property name="text">
+           <string>rpm</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </widget>
+     </item>
+     <item row="2" column="0">
+      <widget class="QGroupBox" name="groupBox_epos_tension">
+       <property name="title">
+        <string>Tension</string>
+       </property>
+       <layout class="QHBoxLayout" name="horizontalLayout_3">
+        <item>
+         <widget class="QRadioButton" name="radioButton_epos_tension_on">
+          <property name="text">
+           <string>ON</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QRadioButton" name="radioButton_epos_tension_off">
+          <property name="text">
+           <string>OFF</string>
+          </property>
+          <property name="checked">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </widget>
+     </item>
+     <item row="2" column="1">
+      <widget class="QGroupBox" name="groupBox_epos_sync">
+       <property name="title">
+        <string>Sync</string>
+       </property>
+       <layout class="QHBoxLayout" name="horizontalLayout_4">
+        <item>
+         <widget class="QRadioButton" name="radioButton_epos_sync_on">
+          <property name="text">
+           <string>ON</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QRadioButton" name="radioButton_epos_sync_off">
+          <property name="text">
+           <string>OFF</string>
+          </property>
+          <property name="checked">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </widget>
+     </item>
+    </layout>
+   </widget>
+  </widget>
  </widget>
- <layoutDefault spacing="6" margin="11" />
- <pixmapfunction></pixmapfunction>
+ <layoutdefault spacing="6" margin="11"/>
  <resources/>
  <connections/>
 </ui>