diff --git a/Servo/include/ServoController.h b/Servo/include/ServoController.h
index 36573be..9ea6c9e 100644
--- a/Servo/include/ServoController.h
+++ b/Servo/include/ServoController.h
@@ -6,49 +6,48 @@
 
 class ServoController
 {
-
 private:
-    ModbusWrapper _modbusWrapper;
-    const int SRV_START_ANGLE_INT_PART_REG = 2000;
-    const int SRV_STOP_ANGLE_INT_PART_REG = 2001;
-    const int SRV_AZIMUTH_SPEED_REG = 2002;
-    const int SRV_APPLY_SETTING_REG = 2004;
-    const int SRV_START_STOP_REG = 2005;
-    const int SRV_ZERO_OFFSET_ANGLE = 2007;
-    const int SRV_START_ANGLE_FRAC_PART_REG = 2010;
-    const int SRV_STOP_ANGLE_FRAC_PART_REG = 2011;
-    const int SRV_CALIBRATE_REG = 2013;
-    const int SRV_ENABLE_DRIVE_REG = 2017;
-    const int SRV_AZIMUTH_REG = 2030;
-
-    const int SRV_ANGLE_FACTOR = 100;
-    const int SRV_SPEED_FACTOR = 1000;
-    const quint16 SRV_APPLY_SETTING_VAL = 1000;
-    const quint16 SRV_CALIBRATION_VAL = 13576;
-
-    void apply();
-    void enableDrive();
-    void setStartStop(bool start);
-    void setStartAngle(double angle);
-    void setStopAngle(double angle);
-    void setSpeed(double speed);
-    void changeMode(double startAngle, double stopAngle, double speed);
-    ModbusConfig initiateConfig();
+	ModbusWrapper _modbusWrapper;
+	const int SRV_START_ANGLE_INT_PART_REG = 2000;
+	const int SRV_STOP_ANGLE_INT_PART_REG = 2001;
+	const int SRV_AZIMUTH_SPEED_REG = 2002;
+	const int SRV_APPLY_SETTING_REG = 2003;//2004;
+	const int SRV_START_STOP_REG = 2004; //2005;
+	const int SRV_ZERO_OFFSET_ANGLE = 2005; //2007;
+	const int SRV_START_ANGLE_FRAC_PART_REG = 2006; //2010;
+	const int SRV_STOP_ANGLE_FRAC_PART_REG = 2007; //2011;
+	const int SRV_CALIBRATE_REG = 2008;  //2013;
+	const int SRV_ENABLE_DRIVE_REG = 2009; //2017;
+	const int SRV_AZIMUTH_REG = 2010; //2030;
+
+	const double SRV_ANGLE_FACTOR = 100.0;
+	const double SRV_SPEED_FACTOR = 1000.0;
+	const quint16 SRV_APPLY_SETTING_VAL = 176;
+	const quint16 SRV_CALIBRATION_VAL = 13576;
+
+	void apply();
+	void enableDrive();
+	void setStartStop(bool start);
+	void setStartAngle(double angle);
+	void setStopAngle(double angle);
+	void setSpeed(double speed);
+	void changeMode(double startAngle, double stopAngle, double speed);
+	ModbusConfig initiateConfig(QString serialPort);
 
 public:
-    void init();
-    void startMoving();
-    void stopMoving();
-    void resetAzimuth();
-    void fix(double angle);
-    void sector(double startAngle, double stopAngle, double speed);
-
-    double getSpeed();
-    double getStopAngle();
-    double getStartAngle();
-    double getAngleOffset();
-    void setAngleOffset(double offset);
-    double getAzimuth();
+	void init(QString serialPort);
+	void startMoving();
+	void stopMoving();
+	void resetAzimuth();
+	void fix(double angle);
+	void sector(double startAngle, double stopAngle, double speed);
+
+	double getSpeed();
+	double getStopAngle();
+	double getStartAngle();
+	double getAngleOffset();
+	void setAngleOffset(double offset);
+	double getAzimuth();
 };
 
-#endif // SERVOCONTROLLER_H
+#endif //SERVOCONTROLLER_H
diff --git a/Servo/src/ServoController.cpp b/Servo/src/ServoController.cpp
index cb7627f..6dce790 100644
--- a/Servo/src/ServoController.cpp
+++ b/Servo/src/ServoController.cpp
@@ -1,143 +1,157 @@
 #include "ServoController.h"
 
-ModbusConfig ServoController::initiateConfig()
+ModbusConfig ServoController::initiateConfig(QString serialPort)
 {
-    ModbusConfig _config;
-    _config.baud =QSerialPort::Baud19200;
-    _config.parity = QSerialPort::EvenParity;
-    _config.dataBits = QSerialPort::Data8;
-    _config.stopBits = QSerialPort::OneStop;
-    _config.responseTime = 2000;
-    return _config;
+	ModbusConfig _config;
+	_config.baud = QSerialPort::Baud19200;
+	_config.parity = QSerialPort::EvenParity;
+	_config.dataBits = QSerialPort::Data8;
+	_config.stopBits = QSerialPort::OneStop;
+	_config.responseTime = 2000;
+	_config.serialPort = serialPort;
+	_config.clientAddress = 1;
+
+	return _config;
 }
 
 /*************************************************************************************************/
 void ServoController::apply()
 {
-    _modbusWrapper.setSingleRegister(SRV_APPLY_SETTING_REG, SRV_APPLY_SETTING_VAL);
+	_modbusWrapper.setSingleRegister(SRV_APPLY_SETTING_REG, SRV_APPLY_SETTING_VAL);
 }
 
 /*************************************************************************************************/
 void ServoController::enableDrive()
 {
-    _modbusWrapper.setSingleRegister(SRV_ENABLE_DRIVE_REG, 3);
-    apply();
+	_modbusWrapper.setSingleRegister(SRV_ENABLE_DRIVE_REG, 3);
+	apply();
 }
 
 /*************************************************************************************************/
 void ServoController::setStartStop(bool start)
 {
-    _modbusWrapper.setSingleRegister(SRV_START_STOP_REG, start ? 3 : 0);
-    apply();
+	_modbusWrapper.setSingleRegister(SRV_START_STOP_REG, start ? 3 : 0);
+	apply();
 }
 
 /*************************************************************************************************/
 void ServoController::setStartAngle(double angle)
 {
-    _modbusWrapper.setSingleRegister(SRV_START_ANGLE_INT_PART_REG, static_cast<quint16>(angle));
-    _modbusWrapper.setSingleRegister(SRV_START_ANGLE_FRAC_PART_REG, static_cast<quint16>((angle - (static_cast<int>(angle))) * 100));
+	_modbusWrapper.setSingleRegister(SRV_START_ANGLE_INT_PART_REG, static_cast<quint16>(angle));
+	_modbusWrapper.setSingleRegister(SRV_START_ANGLE_FRAC_PART_REG,
+									 static_cast<quint16>((angle - (static_cast<int>(angle))) *
+														  100));
 }
 
 /*************************************************************************************************/
 void ServoController::setStopAngle(double angle)
 {
-    _modbusWrapper.setSingleRegister(SRV_STOP_ANGLE_INT_PART_REG, static_cast<quint16>(angle));
-    _modbusWrapper.setSingleRegister(SRV_STOP_ANGLE_FRAC_PART_REG, static_cast<quint16>((angle - (static_cast<int>(angle))) * 100));
+	_modbusWrapper.setSingleRegister(SRV_STOP_ANGLE_INT_PART_REG, static_cast<quint16>(angle));
+	_modbusWrapper.setSingleRegister(SRV_STOP_ANGLE_FRAC_PART_REG,
+									 static_cast<quint16>((angle - (static_cast<int>(angle))) *
+														  100));
 }
 
 /*************************************************************************************************/
 void ServoController::setSpeed(double speed)
 {
-    _modbusWrapper.setSingleRegister(SRV_AZIMUTH_SPEED_REG, static_cast<quint16>(speed * SRV_SPEED_FACTOR));
+	_modbusWrapper.setSingleRegister(SRV_AZIMUTH_SPEED_REG,
+									 static_cast<quint16>(speed * SRV_SPEED_FACTOR));
 }
 
 /*************************************************************************************************/
 void ServoController::changeMode(double startAngle, double stopAngle, double speed)
 {
-    setStartAngle(startAngle);
-    setStopAngle(stopAngle);
-    setSpeed(speed);
-    setStartStop(true);
-    enableDrive();
-    apply();
+	setStartAngle(startAngle);
+	setStopAngle(stopAngle);
+	setSpeed(speed);
+	setStartStop(true);
+	enableDrive();
+	apply();
 }
 
 /*************************************************************************************************/
-void ServoController::init()
+void ServoController::init(QString serialPort)
 {
-    _modbusWrapper.init();
-    _modbusWrapper.connectToDevice(initiateConfig());
+	_modbusWrapper.init();
+	_modbusWrapper.connectToDevice(initiateConfig(serialPort));
 }
 
 /*************************************************************************************************/
 void ServoController::startMoving()
 {
-    setStartStop(true);
+	setStartStop(true);
 }
 
 /*************************************************************************************************/
 void ServoController::stopMoving()
 {
-    setStartStop(false);
+	setStartStop(false);
 }
 
 /*************************************************************************************************/
 void ServoController::resetAzimuth()
 {
-    _modbusWrapper.setSingleRegister(SRV_CALIBRATE_REG, SRV_CALIBRATION_VAL);
+	_modbusWrapper.setSingleRegister(SRV_CALIBRATE_REG, SRV_CALIBRATION_VAL);
 }
 
 /*************************************************************************************************/
 void ServoController::fix(double angle)
 {
-    changeMode(angle, angle, 5 / 6.0);
+	changeMode(angle, angle, 5 / 6.0);
 }
 
 /*************************************************************************************************/
 void ServoController::sector(double startAngle, double stopAngle, double speed)
 {
-    changeMode(startAngle, stopAngle, speed);
+	changeMode(startAngle, stopAngle, speed);
 }
 
 /*************************************************************************************************/
 double ServoController::getSpeed()
 {
-    auto speedVector = _modbusWrapper.getHoldingRegister(SRV_AZIMUTH_SPEED_REG, 1);
-    return (speedVector[0] / SRV_SPEED_FACTOR);
+	auto speedVector = _modbusWrapper.getHoldingRegister(SRV_AZIMUTH_SPEED_REG, 1);
+
+	return (speedVector[0] / SRV_SPEED_FACTOR);
 }
 
 /*************************************************************************************************/
 double ServoController::getStopAngle()
 {
-    auto speedVector1 = _modbusWrapper.getHoldingRegister(SRV_STOP_ANGLE_INT_PART_REG, 1);
-    auto speedVector2 = _modbusWrapper.getHoldingRegister(SRV_STOP_ANGLE_FRAC_PART_REG, 1);
-    return ((speedVector1[0] + speedVector2[0]) / SRV_ANGLE_FACTOR);
+	auto speedVector1 = _modbusWrapper.getHoldingRegister(SRV_STOP_ANGLE_INT_PART_REG, 1);
+	auto speedVector2 = _modbusWrapper.getHoldingRegister(SRV_STOP_ANGLE_FRAC_PART_REG, 1);
+
+	return ((speedVector1[0] + speedVector2[0]) / SRV_ANGLE_FACTOR);
 }
 
 /*************************************************************************************************/
 double ServoController::getStartAngle()
 {
-    auto speedVector1 = _modbusWrapper.getHoldingRegister(SRV_START_ANGLE_INT_PART_REG, 1);
-    auto speedVector2 = _modbusWrapper.getHoldingRegister(SRV_START_ANGLE_FRAC_PART_REG, 1);
-    return ((speedVector1[0] + speedVector2[0]) / SRV_ANGLE_FACTOR);
+	auto speedVector1 = _modbusWrapper.getHoldingRegister(SRV_START_ANGLE_INT_PART_REG, 1);
+	auto speedVector2 = _modbusWrapper.getHoldingRegister(SRV_START_ANGLE_FRAC_PART_REG, 1);
+
+	return ((speedVector1[0] + speedVector2[0]) / SRV_ANGLE_FACTOR);
 }
 
 /*************************************************************************************************/
 double ServoController::getAngleOffset()
 {
-    auto angleOffsetVector = _modbusWrapper.getHoldingRegister(SRV_ZERO_OFFSET_ANGLE, 1);
-    return (angleOffsetVector[0] / SRV_ANGLE_FACTOR);
+	auto angleOffsetVector = _modbusWrapper.getHoldingRegister(SRV_ZERO_OFFSET_ANGLE, 1);
+
+	return (angleOffsetVector[0] / SRV_ANGLE_FACTOR);
 }
 
 /*************************************************************************************************/
 void ServoController::setAngleOffset(double offset)
 {
-    _modbusWrapper.setSingleRegister(SRV_ZERO_OFFSET_ANGLE, static_cast<quint16>(offset * SRV_ANGLE_FACTOR));
+	_modbusWrapper.setSingleRegister(SRV_ZERO_OFFSET_ANGLE,
+									 static_cast<quint16>(offset * SRV_ANGLE_FACTOR));
 }
 
 /*************************************************************************************************/
 double ServoController::getAzimuth()
 {
-    auto azimuthVector = _modbusWrapper.getHoldingRegister(SRV_AZIMUTH_REG, 1);
-    return (azimuthVector[0] / SRV_ANGLE_FACTOR);
+	auto azimuthVector = _modbusWrapper.getHoldingRegister(SRV_AZIMUTH_REG, 1);
+
+	return (azimuthVector[0] / SRV_ANGLE_FACTOR);
 }
diff --git a/Test/MainWindow.cpp b/Test/MainWindow.cpp
index f124647..8f1d563 100644
--- a/Test/MainWindow.cpp
+++ b/Test/MainWindow.cpp
@@ -17,6 +17,7 @@ MainWindow::MainWindow(QWidget* parent)
 MainWindow::~MainWindow()
 {
 	delete ui;
+	timer->stop();
 }
 
 /*************************************************************************************************/
@@ -196,12 +197,11 @@ void MainWindow::on_writeMultiRegister_clicked()
 void MainWindow::on_init_clicked()
 {
 	try {
-		_servoControler.init();
+		_servoControler.init(ui->serialPortServo->text());
 		timer = new QTimer();
-		timer->setInterval(2000);
+		timer->setInterval(1000);
 		timer->start();
 		connect(timer, &QTimer::timeout, this, &MainWindow::handleGetRequestFromServo);
-		timer->stop();
 	}
 	catch(ServoException exp)
 	{
@@ -279,7 +279,7 @@ void MainWindow::on_sectorSpeed_clicked()
 void MainWindow::on_fix_clicked()
 {
 	try {
-		_servoControler.fix(ui->speed->text().toDouble());
+		_servoControler.fix(ui->startAngle->text().toDouble());
 	}
 	catch(ServoException exp)
 	{
diff --git a/Test/MainWindow.ui b/Test/MainWindow.ui
index 87b564d..706f62d 100644
--- a/Test/MainWindow.ui
+++ b/Test/MainWindow.ui
@@ -33,9 +33,9 @@
      <widget class="QPushButton" name="connect">
       <property name="geometry">
        <rect>
-        <x>40</x>
+        <x>30</x>
         <y>10</y>
-        <width>89</width>
+        <width>141</width>
         <height>25</height>
        </rect>
       </property>
@@ -47,7 +47,7 @@
       <property name="geometry">
        <rect>
         <x>20</x>
-        <y>420</y>
+        <y>460</y>
         <width>761</width>
         <height>91</height>
        </rect>
@@ -230,7 +230,7 @@ background-color: rgb(186, 178, 158);</string>
      <widget class="QComboBox" name="writeTable">
       <property name="geometry">
        <rect>
-        <x>250</x>
+        <x>260</x>
         <y>10</y>
         <width>86</width>
         <height>25</height>
@@ -421,7 +421,7 @@ background-color: rgb(186, 178, 158);</string>
         <x>40</x>
         <y>50</y>
         <width>301</width>
-        <height>341</height>
+        <height>331</height>
        </rect>
       </property>
       <property name="title">
@@ -431,7 +431,7 @@ background-color: rgb(186, 178, 158);</string>
        <property name="geometry">
         <rect>
          <x>16</x>
-         <y>120</y>
+         <y>110</y>
          <width>281</width>
          <height>181</height>
         </rect>
@@ -441,7 +441,7 @@ background-color: rgb(186, 178, 158);</string>
        <property name="geometry">
         <rect>
          <x>110</x>
-         <y>310</y>
+         <y>300</y>
          <width>80</width>
          <height>25</height>
         </rect>
@@ -506,7 +506,7 @@ background-color: rgb(186, 178, 158);</string>
        <property name="geometry">
         <rect>
          <x>20</x>
-         <y>100</y>
+         <y>90</y>
          <width>126</width>
          <height>17</height>
         </rect>
@@ -519,7 +519,7 @@ background-color: rgb(186, 178, 158);</string>
      <widget class="QLabel" name="label_6">
       <property name="geometry">
        <rect>
-        <x>200</x>
+        <x>210</x>
         <y>10</y>
         <width>41</width>
         <height>25</height>
@@ -539,7 +539,7 @@ background-color: rgb(186, 178, 158);</string>
        <rect>
         <x>30</x>
         <y>20</y>
-        <width>471</width>
+        <width>671</width>
         <height>71</height>
        </rect>
       </property>
@@ -549,7 +549,7 @@ background-color: rgb(186, 178, 158);</string>
       <widget class="QPushButton" name="ResetAzimuth">
        <property name="geometry">
         <rect>
-         <x>340</x>
+         <x>542</x>
          <y>30</y>
          <width>111</width>
          <height>25</height>
@@ -562,7 +562,7 @@ background-color: rgb(186, 178, 158);</string>
       <widget class="QPushButton" name="init">
        <property name="geometry">
         <rect>
-         <x>28</x>
+         <x>230</x>
          <y>30</y>
          <width>61</width>
          <height>25</height>
@@ -575,7 +575,7 @@ background-color: rgb(186, 178, 158);</string>
       <widget class="QPushButton" name="startMoving">
        <property name="geometry">
         <rect>
-         <x>110</x>
+         <x>312</x>
          <y>30</y>
          <width>91</width>
          <height>25</height>
@@ -588,7 +588,7 @@ background-color: rgb(186, 178, 158);</string>
       <widget class="QPushButton" name="stopMoving">
        <property name="geometry">
         <rect>
-         <x>210</x>
+         <x>412</x>
          <y>30</y>
          <width>91</width>
          <height>25</height>
@@ -598,6 +598,29 @@ background-color: rgb(186, 178, 158);</string>
         <string>StopMoving</string>
        </property>
       </widget>
+      <widget class="QLabel" name="label_19">
+       <property name="geometry">
+        <rect>
+         <x>10</x>
+         <y>30</y>
+         <width>81</width>
+         <height>25</height>
+        </rect>
+       </property>
+       <property name="text">
+        <string>SerialPort:</string>
+       </property>
+      </widget>
+      <widget class="QLineEdit" name="serialPortServo">
+       <property name="geometry">
+        <rect>
+         <x>90</x>
+         <y>30</y>
+         <width>121</width>
+         <height>25</height>
+        </rect>
+       </property>
+      </widget>
      </widget>
      <widget class="QGroupBox" name="groupBox_12">
       <property name="geometry">