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ajustes no calculo de erro lateral

This commit is contained in:
Diego Freitas 2024-12-18 07:25:46 -03:00
parent 8c78870898
commit 0787973169
10 changed files with 95 additions and 45 deletions
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AgroBase/.vs/AgroBase/FileContentIndex/63869697-0e9f-443f-a160-1cb6fcbd350e.vsidx → AgroBase/.vs/AgroBase/FileContentIndex/6d68d858-2459-4224-9716-f95c1b5838de.vsidx
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AgroBase/.vs/AgroBase/v17/.suo
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AgroBase/.vs/AgroBase/v17/DocumentLayout.json
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AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs
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@ -156,7 +156,7 @@ namespace AgroBase.Forms.Operacoes
lblTensao.Text = PZEMService.UltimaLeitura.Tensao.ToString("0.00") + " v";
lblCorrente.Text = PZEMService.UltimaLeitura.Corrente.ToString("0.00") + " A";
lblRPM.Text = Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.Average(x => x.MovMotor.RPM_Motor).ToString("0") + " rpm";
lblRPM.Text = Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.Average(x => x.MovMotor.RPM_Roda).ToString("0") + " rpm";
lblVelocidade.Text = Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.Average(x => x.MovMotor.VelocidadeInstantanea).ToString("0.00");
var Sonar = Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_Kinect;

2
AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs
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@ -47,7 +47,7 @@ namespace AgroBase.Models.Operacoes
// Calcule o erro lateral baseado nas distâncias entre as ruas do mapa atraves do GPS
double erroLateral = statusCarroRua == StatusCarroMapa.CaminhandoRua && false ? Variaveis.OperacaoEmAndamento.Mapa.DistanciaEsquerda - Variaveis.OperacaoEmAndamento.Mapa.DistanciaDireita : 0;
double erroLateral = statusCarroRua == StatusCarroMapa.CaminhandoRua ? Variaveis.OperacaoEmAndamento.Mapa.DistanciaEsquerda - Variaveis.OperacaoEmAndamento.Mapa.DistanciaDireita : 0;
double erroUltrassom = UltrasonicA05Helper.CalcularErroUltrassons();

16
AgroBase/AgroBase/Models/UltrasonicA05Model.cs
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@ -148,10 +148,10 @@ namespace AgroBase.Models
// Processa alinhamento lateral
if (Config.Configuracao == ConfiguracaoSensorUltrassonico.AlinhamentoLateral)
{
var sensorEsquerdoFrente = Config.Sensores.FirstOrDefault(s => s.Posicao == PosicaoSensorUltrassonico.LateralEsquerdaFrontal);
var sensorEsquerdoTras = Config.Sensores.FirstOrDefault(s => s.Posicao == PosicaoSensorUltrassonico.LateralEsquerdaTraseiro);
var sensorDireitoFrente = Config.Sensores.FirstOrDefault(s => s.Posicao == PosicaoSensorUltrassonico.LateralDireitaFrontal);
var sensorDireitoTras = Config.Sensores.FirstOrDefault(s => s.Posicao == PosicaoSensorUltrassonico.LateralDireitaTraseiro);
var sensorEsquerdoFrente = Config.Sensores.FirstOrDefault(s => s.Posicao == PosicaoSensorUltrassonico.LateralEsquerdaFrontal && s.SensorAtuado);
var sensorEsquerdoTras = Config.Sensores.FirstOrDefault(s => s.Posicao == PosicaoSensorUltrassonico.LateralEsquerdaTraseiro && s.SensorAtuado);
var sensorDireitoFrente = Config.Sensores.FirstOrDefault(s => s.Posicao == PosicaoSensorUltrassonico.LateralDireitaFrontal && s.SensorAtuado);
var sensorDireitoTras = Config.Sensores.FirstOrDefault(s => s.Posicao == PosicaoSensorUltrassonico.LateralDireitaTraseiro && s.SensorAtuado);
if (sensorEsquerdoFrente != null && sensorEsquerdoTras != null)
{
@ -170,17 +170,17 @@ namespace AgroBase.Models
}
// Verifica condições de parada e desvio
foreach (var sensor in Config.Sensores)
foreach (var sensor in Config.Sensores.Where(s => s.SensorAtuado))
{
if (sensor.Posicao == PosicaoSensorUltrassonico.NaoConectado) continue;
if (sensor.Posicao == PosicaoSensorUltrassonico.NaoConectado || (!sensor.Desvio && !sensor.Parada)) continue;
if (sensor.Parada && sensor.SensorAtuado)
if (sensor.Parada)
{
paradaNecessaria = true;
break; // Parada imediata, não precisa de mais verificações
}
if (sensor.Desvio && sensor.SensorAtuado)
if (sensor.Desvio)
{
if (sensor.Posicao == PosicaoSensorUltrassonico.LateralEsquerdaFrontal || sensor.Posicao == PosicaoSensorUltrassonico.LateralEsquerdaTraseiro)
{

4
AgroBase/AgroBase/Models/Variaveis.cs
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@ -72,8 +72,8 @@ namespace AgroBase.Models
public static class VariaveisEquipamento
{
public static double LarguraEsquerda { get; } = 40;
public static double LarguraDireita { get; } = 40;
public static double LarguraEsquerda { get; } = 60;
public static double LarguraDireita { get; } = 25;
public static double LarguraEquipamentoMm
{
get

2
AgroBase/AgroBase/Services/GPSService.cs
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@ -819,7 +819,7 @@ namespace AgroBase.Services
double difMax = 50.0; // Diferença angular máxima permitida
double pesoMaxGps = 0.7; // Peso máximo do GPS
double distanciaMaxima = 2.0; // Distância em metros para atingir pesoMaxGps
double distanciaMaxima = 1.8; // Distância em metros para atingir pesoMaxGps
bool pesoGpsCrescente = true;
// Calcula a diferença absoluta entre os ângulos nos dois sentidos

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