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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(); diff --git a/AgroBase/AgroBase/Models/UltrasonicA05Model.cs b/AgroBase/AgroBase/Models/UltrasonicA05Model.cs index 593af6d18..25608ca62 100644 --- a/AgroBase/AgroBase/Models/UltrasonicA05Model.cs +++ b/AgroBase/AgroBase/Models/UltrasonicA05Model.cs @@ -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) { diff --git a/AgroBase/AgroBase/Models/Variaveis.cs b/AgroBase/AgroBase/Models/Variaveis.cs index daaed2c8f..7ed3a2ca7 100644 --- a/AgroBase/AgroBase/Models/Variaveis.cs +++ b/AgroBase/AgroBase/Models/Variaveis.cs @@ -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 diff --git a/AgroBase/AgroBase/Services/GPSService.cs b/AgroBase/AgroBase/Services/GPSService.cs index 69bf42b7f..594d0c37b 100644 --- a/AgroBase/AgroBase/Services/GPSService.cs +++ b/AgroBase/AgroBase/Services/GPSService.cs @@ -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 diff --git a/AgroBase/AgroBase/bin/Debug/OpenHardwareMonitorLib.sys b/AgroBase/AgroBase/bin/Debug/OpenHardwareMonitorLib.sys deleted file mode 100644 index 197c255ad..000000000 Binary files a/AgroBase/AgroBase/bin/Debug/OpenHardwareMonitorLib.sys and /dev/null differ diff --git a/AgroBase/AgroBase/obj/Debug/DesignTimeResolveAssemblyReferences.cache b/AgroBase/AgroBase/obj/Debug/DesignTimeResolveAssemblyReferences.cache index 5fcda0498..c2fa08af6 100644 Binary files a/AgroBase/AgroBase/obj/Debug/DesignTimeResolveAssemblyReferences.cache and b/AgroBase/AgroBase/obj/Debug/DesignTimeResolveAssemblyReferences.cache differ