Merge branch 'Enfileiramento' of bitbucket.org:zendioninc/agrobot_base into direcional
This commit is contained in:
Diego Freitas
commit
872a38b6e8
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|
|
@ -2,6 +2,14 @@
|
|||
"Version": 1,
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||||
"WorkspaceRootPath": "C:\\ZendionINC\\agrobot_base\\AgroBase\\",
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"Documents": [
|
||||
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|
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|
||||
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||||
"RelativeMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|solutionrelative:agrobase\\forms\\frmkinect.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}|Form"
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"AbsoluteMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|c:\\zendioninc\\agrobot_base\\agrobase\\agrobase\\forms\\frmpinout.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
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|
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|
|
@ -19,12 +27,37 @@
|
|||
{
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"$type": "Document",
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"DocumentIndex": 0,
|
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"Title": "frmKinect.cs",
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"DocumentMoniker": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Forms\\frmKinect.cs",
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"RelativeDocumentMoniker": "AgroBase\\Forms\\frmKinect.cs",
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"ToolTip": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Forms\\frmKinect.cs",
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},
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{
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"$type": "Document",
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||||
"DocumentIndex": 1,
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"Title": "frmKinect.cs [Design]",
|
||||
"DocumentMoniker": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Forms\\frmKinect.cs",
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"RelativeDocumentMoniker": "AgroBase\\Forms\\frmKinect.cs",
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},
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||||
"$type": "Document",
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"DocumentIndex": 2,
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"Title": "frmPinout.cs",
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"RelativeDocumentMoniker": "AgroBase\\Forms\\frmPinout.cs",
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"ToolTip": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Forms\\frmPinout.cs",
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"RelativeToolTip": "AgroBase\\Forms\\frmPinout.cs",
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File diff suppressed because one or more lines are too long
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@ -87,6 +87,7 @@
|
|||
<SpecificVersion>False</SpecificVersion>
|
||||
<HintPath>.\Microsoft.DirectX.DirectInput.dll</HintPath>
|
||||
</Reference>
|
||||
<Reference Include="Microsoft.Kinect, Version=1.8.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35, processorArchitecture=MSIL" />
|
||||
<Reference Include="MQTTnet, Version=3.1.1.0, Culture=neutral, PublicKeyToken=b69712f52770c0a7, processorArchitecture=MSIL">
|
||||
<HintPath>..\packages\MQTTnet.3.1.1\lib\net461\MQTTnet.dll</HintPath>
|
||||
</Reference>
|
||||
|
|
@ -210,6 +211,12 @@
|
|||
<Compile Include="Forms\frmGPS.Designer.cs">
|
||||
<DependentUpon>frmGPS.cs</DependentUpon>
|
||||
</Compile>
|
||||
<Compile Include="Forms\frmKinect.cs">
|
||||
<SubType>Form</SubType>
|
||||
</Compile>
|
||||
<Compile Include="Forms\frmKinect.Designer.cs">
|
||||
<DependentUpon>frmKinect.cs</DependentUpon>
|
||||
</Compile>
|
||||
<Compile Include="Forms\frmMapa.cs">
|
||||
<SubType>Form</SubType>
|
||||
</Compile>
|
||||
|
|
@ -529,6 +536,9 @@
|
|||
<EmbeddedResource Include="Forms\frmGPS.resx">
|
||||
<DependentUpon>frmGPS.cs</DependentUpon>
|
||||
</EmbeddedResource>
|
||||
<EmbeddedResource Include="Forms\frmKinect.resx">
|
||||
<DependentUpon>frmKinect.cs</DependentUpon>
|
||||
</EmbeddedResource>
|
||||
<EmbeddedResource Include="Forms\frmMapa.resx">
|
||||
<DependentUpon>frmMapa.cs</DependentUpon>
|
||||
</EmbeddedResource>
|
||||
|
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|
|||
|
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@ -0,0 +1,109 @@
|
|||
namespace AgroBase.Forms
|
||||
{
|
||||
partial class frmKinect
|
||||
{
|
||||
/// <summary>
|
||||
/// Required designer variable.
|
||||
/// </summary>
|
||||
private System.ComponentModel.IContainer components = null;
|
||||
|
||||
/// <summary>
|
||||
/// Clean up any resources being used.
|
||||
/// </summary>
|
||||
/// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
|
||||
protected override void Dispose(bool disposing)
|
||||
{
|
||||
if (disposing && (components != null))
|
||||
{
|
||||
components.Dispose();
|
||||
}
|
||||
base.Dispose(disposing);
|
||||
}
|
||||
|
||||
#region Windows Form Designer generated code
|
||||
|
||||
/// <summary>
|
||||
/// Required method for Designer support - do not modify
|
||||
/// the contents of this method with the code editor.
|
||||
/// </summary>
|
||||
private void InitializeComponent()
|
||||
{
|
||||
this.picProfundidade = new System.Windows.Forms.PictureBox();
|
||||
this.picRGB = new System.Windows.Forms.PictureBox();
|
||||
this.trackBarAngle = new System.Windows.Forms.TrackBar();
|
||||
this.gridDados = new System.Windows.Forms.DataGridView();
|
||||
((System.ComponentModel.ISupportInitialize)(this.picProfundidade)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.picRGB)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.trackBarAngle)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.gridDados)).BeginInit();
|
||||
this.SuspendLayout();
|
||||
//
|
||||
// picProfundidade
|
||||
//
|
||||
this.picProfundidade.Location = new System.Drawing.Point(12, 57);
|
||||
this.picProfundidade.Name = "picProfundidade";
|
||||
this.picProfundidade.Size = new System.Drawing.Size(666, 569);
|
||||
this.picProfundidade.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
|
||||
this.picProfundidade.TabIndex = 0;
|
||||
this.picProfundidade.TabStop = false;
|
||||
//
|
||||
// picRGB
|
||||
//
|
||||
this.picRGB.Location = new System.Drawing.Point(694, 57);
|
||||
this.picRGB.Name = "picRGB";
|
||||
this.picRGB.Size = new System.Drawing.Size(476, 396);
|
||||
this.picRGB.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
|
||||
this.picRGB.TabIndex = 1;
|
||||
this.picRGB.TabStop = false;
|
||||
//
|
||||
// trackBarAngle
|
||||
//
|
||||
this.trackBarAngle.Location = new System.Drawing.Point(694, 459);
|
||||
this.trackBarAngle.Name = "trackBarAngle";
|
||||
this.trackBarAngle.Orientation = System.Windows.Forms.Orientation.Vertical;
|
||||
this.trackBarAngle.Size = new System.Drawing.Size(56, 167);
|
||||
this.trackBarAngle.TabIndex = 2;
|
||||
this.trackBarAngle.TickFrequency = 5;
|
||||
this.trackBarAngle.TickStyle = System.Windows.Forms.TickStyle.Both;
|
||||
this.trackBarAngle.Scroll += new System.EventHandler(this.trackBarAngle_Scroll);
|
||||
//
|
||||
// gridDados
|
||||
//
|
||||
this.gridDados.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
|
||||
this.gridDados.Location = new System.Drawing.Point(1188, 57);
|
||||
this.gridDados.Name = "gridDados";
|
||||
this.gridDados.RowHeadersWidth = 51;
|
||||
this.gridDados.RowTemplate.Height = 24;
|
||||
this.gridDados.Size = new System.Drawing.Size(360, 569);
|
||||
this.gridDados.TabIndex = 4;
|
||||
//
|
||||
// frmKinect
|
||||
//
|
||||
this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F);
|
||||
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
|
||||
this.ClientSize = new System.Drawing.Size(1560, 657);
|
||||
this.Controls.Add(this.gridDados);
|
||||
this.Controls.Add(this.trackBarAngle);
|
||||
this.Controls.Add(this.picRGB);
|
||||
this.Controls.Add(this.picProfundidade);
|
||||
this.Name = "frmKinect";
|
||||
this.Text = "frmKinect";
|
||||
this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.frmKinect_FormClosing);
|
||||
this.Load += new System.EventHandler(this.frmKinect_Load);
|
||||
((System.ComponentModel.ISupportInitialize)(this.picProfundidade)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.picRGB)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.trackBarAngle)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.gridDados)).EndInit();
|
||||
this.ResumeLayout(false);
|
||||
this.PerformLayout();
|
||||
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
private System.Windows.Forms.PictureBox picProfundidade;
|
||||
private System.Windows.Forms.PictureBox picRGB;
|
||||
private System.Windows.Forms.TrackBar trackBarAngle;
|
||||
private System.Windows.Forms.DataGridView gridDados;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,426 @@
|
|||
using Microsoft.Kinect;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Drawing;
|
||||
using System.Drawing.Imaging;
|
||||
using System.Linq;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Windows.Forms;
|
||||
|
||||
namespace AgroBase.Forms
|
||||
{
|
||||
public partial class frmKinect : Form
|
||||
{
|
||||
private KinectSensor kinectSensor;
|
||||
|
||||
|
||||
double dt = 0.5;
|
||||
double[] velocidade = new double[3];
|
||||
double[] aceleracaoAnterior = new double[3];
|
||||
DateTime UltimaLeitura = DateTime.Now;
|
||||
DateTime UltimaLeituraObstaculo = DateTime.Now;
|
||||
List<Obstaculo> Obstaculos = new List<Obstaculo>();
|
||||
|
||||
|
||||
public frmKinect()
|
||||
{
|
||||
InitializeComponent();
|
||||
}
|
||||
|
||||
private void frmKinect_Load(object sender, EventArgs e)
|
||||
{
|
||||
// Inicialize o Kinect Sensor
|
||||
kinectSensor = KinectSensor.KinectSensors.FirstOrDefault();
|
||||
|
||||
if (kinectSensor != null)
|
||||
{
|
||||
// Habilitar a câmera RGB
|
||||
kinectSensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
|
||||
|
||||
// Habilitar a câmera de profundidade
|
||||
kinectSensor.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);
|
||||
|
||||
// Associar eventos de captura de imagem
|
||||
kinectSensor.AllFramesReady += KinectSensor_AllFramesReady;
|
||||
|
||||
// Iniciar o sensor
|
||||
kinectSensor.Start();
|
||||
|
||||
|
||||
|
||||
trackBarAngle.Maximum = kinectSensor.MaxElevationAngle;
|
||||
trackBarAngle.Minimum = kinectSensor.MinElevationAngle;
|
||||
trackBarAngle.Value = kinectSensor.ElevationAngle;
|
||||
|
||||
gridDados.Columns.Clear();
|
||||
gridDados.Rows.Clear();
|
||||
gridDados.Columns.Add("clDado", "Dado");
|
||||
gridDados.Columns.Add("clValor", "Valor");
|
||||
gridDados.Rows.Add(new string[] { "Elevação", "0" });
|
||||
gridDados.Rows.Add(new string[] { "Acelerômetro X", "0" });
|
||||
gridDados.Rows.Add(new string[] { "Acelerômetro Y", "0" });
|
||||
gridDados.Rows.Add(new string[] { "Acelerômetro Z", "0" });
|
||||
gridDados.Rows.Add(new string[] { "Inclinação Frontal", "0" });
|
||||
gridDados.Rows.Add(new string[] { "Inclinação Lateral", "0" });
|
||||
gridDados.Rows.Add(new string[] { "Giro Lateral", "0" });
|
||||
gridDados.Rows.Add(new string[] { "Velocidade X", "0" });
|
||||
gridDados.Rows.Add(new string[] { "Velocidade Y", "0" });
|
||||
gridDados.Rows.Add(new string[] { "Velocidade Z", "0" });
|
||||
gridDados.Rows.Add(new string[] { "Colisão", "Não" });
|
||||
}
|
||||
else
|
||||
{
|
||||
MessageBox.Show("Kinect não detectado.");
|
||||
}
|
||||
}
|
||||
|
||||
private void KinectSensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
|
||||
{
|
||||
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
|
||||
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
|
||||
{
|
||||
if (colorFrame == null || depthFrame == null)
|
||||
return;
|
||||
|
||||
// Converter os quadros para Bitmaps
|
||||
Bitmap colorBitmap = ConvertColorFrameToBitmap(colorFrame);
|
||||
Bitmap depthBitmap = ConvertDepthFrameToBitmap(depthFrame);
|
||||
|
||||
// Exibir os Bitmaps nos Picture Boxes
|
||||
picRGB.Image = colorBitmap;
|
||||
//picProfundidade.Image = depthBitmap;
|
||||
|
||||
AtualizarGrid();
|
||||
|
||||
// Detectar obstáculos
|
||||
|
||||
Obstaculos = DetectarObstaculos(depthFrame);
|
||||
// Desenhar border boxes nos obstáculos detectados
|
||||
using (Graphics g = Graphics.FromImage(depthBitmap))
|
||||
{
|
||||
foreach (var obstaculo in Obstaculos)
|
||||
{
|
||||
DesenharBorderBox(g, obstaculo, depthFrame.Width, depthFrame.Height, picProfundidade);
|
||||
}
|
||||
}
|
||||
|
||||
picProfundidade.Image = depthBitmap;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
private void AtualizarGrid()
|
||||
{
|
||||
if (UltimaLeitura.AddSeconds(dt) > DateTime.Now || kinectSensor.Status != KinectStatus.Connected)
|
||||
{
|
||||
return;
|
||||
}
|
||||
UltimaLeitura = DateTime.Now;
|
||||
|
||||
var a = kinectSensor.CoordinateMapper;
|
||||
|
||||
var Acelerometro = kinectSensor.AccelerometerGetCurrentReading();
|
||||
|
||||
double pitch = Math.Atan2(Acelerometro.Y, Math.Sqrt(Math.Pow(Acelerometro.X, 2) + Math.Pow(Acelerometro.Z, 2))) * (180 / Math.PI);
|
||||
double roll = Math.Atan2(Acelerometro.X, Math.Sqrt(Math.Pow(Acelerometro.Y, 2) + Math.Pow(Acelerometro.Z, 2))) * (180 / Math.PI);
|
||||
double yaw = Math.Atan2(Acelerometro.Z, Math.Sqrt(Math.Pow(Acelerometro.X, 2) + Math.Pow(Acelerometro.Y, 2))) * (180 / Math.PI);
|
||||
|
||||
aceleracaoAnterior[0] = Acelerometro.X;
|
||||
aceleracaoAnterior[1] = Acelerometro.Y;
|
||||
aceleracaoAnterior[2] = Acelerometro.Z;
|
||||
|
||||
// Loop para calcular a velocidade em cada eixo
|
||||
velocidade[0] += (Acelerometro.X + aceleracaoAnterior[0]) / 2 * dt;
|
||||
velocidade[1] += (Acelerometro.Y + aceleracaoAnterior[1]) / 2 * dt;
|
||||
velocidade[2] += (Acelerometro.Z + aceleracaoAnterior[2]) / 2 * dt;
|
||||
|
||||
double totalAcceleration = Math.Sqrt(Math.Pow(Acelerometro.X, 2) + Math.Pow(Acelerometro.Y, 2) + Math.Pow(Acelerometro.Z, 2));
|
||||
double threshold = 1.2;
|
||||
|
||||
gridDados.Rows[0].Cells[1].Value = kinectSensor.ElevationAngle;
|
||||
gridDados.Rows[1].Cells[1].Value = Acelerometro.X;
|
||||
gridDados.Rows[2].Cells[1].Value = Acelerometro.Y;
|
||||
gridDados.Rows[3].Cells[1].Value = Acelerometro.Z;
|
||||
gridDados.Rows[4].Cells[1].Value = pitch;
|
||||
gridDados.Rows[5].Cells[1].Value = roll;
|
||||
gridDados.Rows[6].Cells[1].Value = yaw;
|
||||
gridDados.Rows[7].Cells[1].Value = velocidade[0];
|
||||
gridDados.Rows[8].Cells[1].Value = velocidade[1];
|
||||
gridDados.Rows[9].Cells[1].Value = velocidade[2];
|
||||
gridDados.Rows[10].Cells[1].Value = totalAcceleration > threshold ? "Sim" : "Não";
|
||||
}
|
||||
|
||||
private void frmKinect_FormClosing(object sender, FormClosingEventArgs e)
|
||||
{
|
||||
if (kinectSensor != null)
|
||||
{
|
||||
kinectSensor.Stop();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
private Bitmap ConvertColorFrameToBitmap(ColorImageFrame colorFrame)
|
||||
{
|
||||
if (colorFrame == null)
|
||||
return null;
|
||||
|
||||
// Criar um array para os pixels de cor
|
||||
byte[] pixels = new byte[colorFrame.PixelDataLength];
|
||||
|
||||
// Copiar os pixels do quadro para o array
|
||||
colorFrame.CopyPixelDataTo(pixels);
|
||||
|
||||
// Criar um bitmap
|
||||
Bitmap bitmap = new Bitmap(colorFrame.Width, colorFrame.Height, PixelFormat.Format32bppRgb);
|
||||
|
||||
// Bloquear o bitmap para escrita
|
||||
BitmapData bitmapData = bitmap.LockBits(new Rectangle(0, 0, colorFrame.Width, colorFrame.Height), ImageLockMode.WriteOnly, bitmap.PixelFormat);
|
||||
|
||||
// Copiar os pixels para o bitmap
|
||||
IntPtr ptr = bitmapData.Scan0;
|
||||
Marshal.Copy(pixels, 0, ptr, pixels.Length);
|
||||
|
||||
// Desbloquear o bitmap
|
||||
bitmap.UnlockBits(bitmapData);
|
||||
|
||||
return bitmap;
|
||||
}
|
||||
|
||||
private Bitmap ConvertDepthFrameToBitmap(DepthImageFrame depthFrame)
|
||||
{
|
||||
if (depthFrame == null)
|
||||
return null;
|
||||
|
||||
// Criar um array para os pixels de profundidade
|
||||
short[] depthPixels = new short[depthFrame.PixelDataLength];
|
||||
|
||||
// Copiar os pixels do quadro para o array
|
||||
depthFrame.CopyPixelDataTo(depthPixels);
|
||||
|
||||
// Criar um bitmap
|
||||
Bitmap bitmap = new Bitmap(depthFrame.Width, depthFrame.Height, PixelFormat.Format32bppRgb);
|
||||
|
||||
// Definir as cores para a imagem de profundidade
|
||||
Color[] depthColors = new Color[depthPixels.Length];
|
||||
|
||||
// Mapear os valores de profundidade para as cores
|
||||
for (int i = 0; i < depthPixels.Length; i++)
|
||||
{
|
||||
// Obter o valor de profundidade em metros
|
||||
float depthInMeters = (float)depthPixels[i] / 1000.0f;
|
||||
|
||||
// Mapear o valor de profundidade para uma cor de escala de cinza
|
||||
byte intensity = (byte)(255 - (255 * Math.Min(1.0f, depthInMeters / 4.0f)));
|
||||
|
||||
// Criar uma cor de escala de cinza
|
||||
depthColors[i] = Color.FromArgb(intensity, intensity, intensity);
|
||||
}
|
||||
|
||||
// Bloquear o bitmap para escrita
|
||||
BitmapData bitmapData = bitmap.LockBits(new Rectangle(0, 0, depthFrame.Width, depthFrame.Height), ImageLockMode.WriteOnly, bitmap.PixelFormat);
|
||||
|
||||
// Copiar os pixels para o bitmap
|
||||
byte[] pixelData = new byte[depthColors.Length * 4]; // RGBA (4 bytes por pixel)
|
||||
for (int i = 0; i < depthColors.Length; i++)
|
||||
{
|
||||
pixelData[i * 4] = depthColors[i].R;
|
||||
pixelData[i * 4 + 1] = depthColors[i].G;
|
||||
pixelData[i * 4 + 2] = depthColors[i].B;
|
||||
pixelData[i * 4 + 3] = 255; // Alpha
|
||||
}
|
||||
Marshal.Copy(pixelData, 0, bitmapData.Scan0, pixelData.Length);
|
||||
|
||||
// Desbloquear o bitmap
|
||||
bitmap.UnlockBits(bitmapData);
|
||||
|
||||
return bitmap;
|
||||
}
|
||||
|
||||
private void trackBarAngle_Scroll(object sender, EventArgs e)
|
||||
{
|
||||
if (kinectSensor != null && kinectSensor.Status == KinectStatus.Connected)
|
||||
{
|
||||
try
|
||||
{
|
||||
kinectSensor.ElevationAngle = trackBarAngle.Value;
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
MessageBox.Show("O Kinect não está conectado ou não está em um estado adequado.");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
private List<Obstaculo> DetectarObstaculos(DepthImageFrame depthFrame)
|
||||
{
|
||||
if (UltimaLeituraObstaculo.AddSeconds(dt) > DateTime.Now || kinectSensor.Status != KinectStatus.Connected)
|
||||
{
|
||||
return Obstaculos;
|
||||
}
|
||||
UltimaLeituraObstaculo = DateTime.Now;
|
||||
|
||||
// Pré-processamento: Converter dados brutos em matriz 2D
|
||||
float[,] depthMatrix = ConvertDepthFrameToMatrix(depthFrame);
|
||||
|
||||
// Segmentação: Aplicar limiarização adaptativa para identificar obstáculos
|
||||
float limiarDeProfundidade = 3000f; // 3 metros
|
||||
float[,] segmentedMatrix = AplicarLimiarizacao(depthMatrix, limiarDeProfundidade);
|
||||
|
||||
// Agrupamento: Identificar regiões contíguas que representam obstáculos
|
||||
List<Obstaculo> _Obstaculos = IdentificarObstaculos(depthMatrix, segmentedMatrix);
|
||||
|
||||
return _Obstaculos;
|
||||
}
|
||||
|
||||
private float[,] ConvertDepthFrameToMatrix(DepthImageFrame depthFrame)
|
||||
{
|
||||
// Inicializar a matriz 2D com as dimensões do frame de profundidade
|
||||
int width = depthFrame.Width;
|
||||
int height = depthFrame.Height;
|
||||
float[,] depthMatrix = new float[width, height];
|
||||
short[] rawDepthData = new short[depthFrame.PixelDataLength];
|
||||
depthFrame.CopyPixelDataTo(rawDepthData);
|
||||
|
||||
for (int i = 0; i < rawDepthData.Length; i++)
|
||||
{
|
||||
int x = i % width;
|
||||
int y = i / width;
|
||||
depthMatrix[x, y] = (rawDepthData[i] >> DepthImageFrame.PlayerIndexBitmaskWidth) / 1000.0f;
|
||||
}
|
||||
|
||||
return depthMatrix;
|
||||
}
|
||||
|
||||
private float[,] AplicarLimiarizacao(float[,] depthMatrix, float limiar)
|
||||
{
|
||||
int width = depthMatrix.GetLength(0);
|
||||
int height = depthMatrix.GetLength(1);
|
||||
float[,] segmentedMatrix = new float[width, height];
|
||||
|
||||
for (int x = 0; x < width; x++)
|
||||
{
|
||||
for (int y = 0; y < height; y++)
|
||||
{
|
||||
float distancia = depthMatrix[x, y];
|
||||
// Aplicar limiar: Se a profundidade for menor que o limiar, considerar como obstáculo (1), senão como fundo (0)
|
||||
segmentedMatrix[x, y] = distancia > 0 && distancia < limiar ? 1 : 0;
|
||||
}
|
||||
}
|
||||
|
||||
return segmentedMatrix;
|
||||
}
|
||||
|
||||
private List<Obstaculo> IdentificarObstaculos(float[,] depthMatrix, float[,] segmentedMatrix)
|
||||
{
|
||||
int width = segmentedMatrix.GetLength(0);
|
||||
int height = segmentedMatrix.GetLength(1);
|
||||
bool[,] visited = new bool[width, height];
|
||||
List<Obstaculo> obstaculos = new List<Obstaculo>();
|
||||
|
||||
for (int x = 0; x < width; x++)
|
||||
{
|
||||
for (int y = 0; y < height; y++)
|
||||
{
|
||||
if (segmentedMatrix[x, y] == 1 && !visited[x, y])
|
||||
{
|
||||
Obstaculo obstaculo = ExplorarObstaculo(depthMatrix, segmentedMatrix, visited, x, y, width, height);
|
||||
if (obstaculo != null)
|
||||
{
|
||||
obstaculos.Add(obstaculo);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return obstaculos;
|
||||
}
|
||||
|
||||
private Obstaculo ExplorarObstaculo(float[,] depths, float[,] matrix, bool[,] visited, int startX, int startY, int width, int height)
|
||||
{
|
||||
Queue<(int, int)> pixels = new Queue<(int, int)>();
|
||||
pixels.Enqueue((startX, startY));
|
||||
visited[startX, startY] = true;
|
||||
|
||||
int minX = startX, maxX = startX, minY = startY, maxY = startY;
|
||||
float totalDepth = 0;
|
||||
int count = 0;
|
||||
|
||||
while (pixels.Count > 0)
|
||||
{
|
||||
(int x, int y) = pixels.Dequeue();
|
||||
totalDepth += depths[x, y];
|
||||
count++;
|
||||
|
||||
minX = Math.Min(minX, x);
|
||||
maxX = Math.Max(maxX, x);
|
||||
minY = Math.Min(minY, y);
|
||||
maxY = Math.Max(maxY, y);
|
||||
|
||||
// Verificar vizinhos
|
||||
for (int nx = Math.Max(x - 1, 0); nx <= Math.Min(x + 1, width - 1); nx++)
|
||||
{
|
||||
for (int ny = Math.Max(y - 1, 0); ny <= Math.Min(y + 1, height - 1); ny++)
|
||||
{
|
||||
if (matrix[nx, ny] == 1 && !visited[nx, ny])
|
||||
{
|
||||
pixels.Enqueue((nx, ny));
|
||||
visited[nx, ny] = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (count > 0) // Verifica se realmente encontrou um obstáculo
|
||||
{
|
||||
return new Obstaculo
|
||||
{
|
||||
X = minX,
|
||||
Y = minY,
|
||||
Width = maxX - minX + 1,
|
||||
Height = maxY - minY + 1,
|
||||
Distance = totalDepth / count // Média da profundidade
|
||||
};
|
||||
}
|
||||
|
||||
return null;
|
||||
}
|
||||
|
||||
|
||||
private void DesenharBorderBox(Graphics g, Obstaculo obstaculo, int originalWidth, int originalHeight, PictureBox picBox)
|
||||
{
|
||||
// Calcular o fator de escala
|
||||
float scaleX = (float)picBox.Width / originalWidth;
|
||||
float scaleY = (float)picBox.Height / originalHeight;
|
||||
|
||||
// Ajustar as coordenadas e dimensões do obstáculo de acordo com a escala
|
||||
int adjustedX = (int)(obstaculo.X * scaleX);
|
||||
int adjustedY = (int)(obstaculo.Y * scaleY);
|
||||
int adjustedWidth = (int)(obstaculo.Width * scaleX);
|
||||
int adjustedHeight = (int)(obstaculo.Height * scaleY);
|
||||
|
||||
// Definir a cor e a espessura da linha da border box
|
||||
Pen pen = new Pen(Color.Red, 2);
|
||||
|
||||
// Desenhar o retângulo ao redor do obstáculo
|
||||
g.DrawRectangle(pen, adjustedX, adjustedY, adjustedWidth, adjustedHeight);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
class Obstaculo
|
||||
{
|
||||
public int X { get; set; }
|
||||
public int Y { get; set; }
|
||||
public int Width { get; set; }
|
||||
public int Height { get; set; }
|
||||
public float Distance { get; set; }
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,120 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<root>
|
||||
<!--
|
||||
Microsoft ResX Schema
|
||||
|
||||
Version 2.0
|
||||
|
||||
The primary goals of this format is to allow a simple XML format
|
||||
that is mostly human readable. The generation and parsing of the
|
||||
various data types are done through the TypeConverter classes
|
||||
associated with the data types.
|
||||
|
||||
Example:
|
||||
|
||||
... ado.net/XML headers & schema ...
|
||||
<resheader name="resmimetype">text/microsoft-resx</resheader>
|
||||
<resheader name="version">2.0</resheader>
|
||||
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
|
||||
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
|
||||
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
|
||||
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
|
||||
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
|
||||
<value>[base64 mime encoded serialized .NET Framework object]</value>
|
||||
</data>
|
||||
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
|
||||
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
|
||||
<comment>This is a comment</comment>
|
||||
</data>
|
||||
|
||||
There are any number of "resheader" rows that contain simple
|
||||
name/value pairs.
|
||||
|
||||
Each data row contains a name, and value. The row also contains a
|
||||
type or mimetype. Type corresponds to a .NET class that support
|
||||
text/value conversion through the TypeConverter architecture.
|
||||
Classes that don't support this are serialized and stored with the
|
||||
mimetype set.
|
||||
|
||||
The mimetype is used for serialized objects, and tells the
|
||||
ResXResourceReader how to depersist the object. This is currently not
|
||||
extensible. For a given mimetype the value must be set accordingly:
|
||||
|
||||
Note - application/x-microsoft.net.object.binary.base64 is the format
|
||||
that the ResXResourceWriter will generate, however the reader can
|
||||
read any of the formats listed below.
|
||||
|
||||
mimetype: application/x-microsoft.net.object.binary.base64
|
||||
value : The object must be serialized with
|
||||
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
|
||||
: and then encoded with base64 encoding.
|
||||
|
||||
mimetype: application/x-microsoft.net.object.soap.base64
|
||||
value : The object must be serialized with
|
||||
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
|
||||
: and then encoded with base64 encoding.
|
||||
|
||||
mimetype: application/x-microsoft.net.object.bytearray.base64
|
||||
value : The object must be serialized into a byte array
|
||||
: using a System.ComponentModel.TypeConverter
|
||||
: and then encoded with base64 encoding.
|
||||
-->
|
||||
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
|
||||
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
|
||||
<xsd:element name="root" msdata:IsDataSet="true">
|
||||
<xsd:complexType>
|
||||
<xsd:choice maxOccurs="unbounded">
|
||||
<xsd:element name="metadata">
|
||||
<xsd:complexType>
|
||||
<xsd:sequence>
|
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" />
|
||||
</xsd:sequence>
|
||||
<xsd:attribute name="name" use="required" type="xsd:string" />
|
||||
<xsd:attribute name="type" type="xsd:string" />
|
||||
<xsd:attribute name="mimetype" type="xsd:string" />
|
||||
<xsd:attribute ref="xml:space" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
<xsd:element name="assembly">
|
||||
<xsd:complexType>
|
||||
<xsd:attribute name="alias" type="xsd:string" />
|
||||
<xsd:attribute name="name" type="xsd:string" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
<xsd:element name="data">
|
||||
<xsd:complexType>
|
||||
<xsd:sequence>
|
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
|
||||
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
|
||||
</xsd:sequence>
|
||||
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
|
||||
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
|
||||
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
|
||||
<xsd:attribute ref="xml:space" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
<xsd:element name="resheader">
|
||||
<xsd:complexType>
|
||||
<xsd:sequence>
|
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
|
||||
</xsd:sequence>
|
||||
<xsd:attribute name="name" type="xsd:string" use="required" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
</xsd:choice>
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
</xsd:schema>
|
||||
<resheader name="resmimetype">
|
||||
<value>text/microsoft-resx</value>
|
||||
</resheader>
|
||||
<resheader name="version">
|
||||
<value>2.0</value>
|
||||
</resheader>
|
||||
<resheader name="reader">
|
||||
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
|
||||
</resheader>
|
||||
<resheader name="writer">
|
||||
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
|
||||
</resheader>
|
||||
</root>
|
||||
|
|
@ -90,6 +90,7 @@ namespace AgroBase
|
|||
this.btnIniciarOperacao = new System.Windows.Forms.Button();
|
||||
this.lblModoOperacao = new System.Windows.Forms.Label();
|
||||
this.cmbModoOperacao = new System.Windows.Forms.ComboBox();
|
||||
this.btnKinect = new System.Windows.Forms.Button();
|
||||
this.gpbAcoes.SuspendLayout();
|
||||
this.erroStrip.SuspendLayout();
|
||||
this.pnlLateral.SuspendLayout();
|
||||
|
|
@ -114,11 +115,11 @@ namespace AgroBase
|
|||
this.gpbAcoes.Controls.Add(this.erroStrip);
|
||||
this.gpbAcoes.Controls.Add(this.pnlLateral);
|
||||
this.gpbAcoes.Dock = System.Windows.Forms.DockStyle.Right;
|
||||
this.gpbAcoes.Location = new System.Drawing.Point(441, 0);
|
||||
this.gpbAcoes.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.gpbAcoes.Location = new System.Drawing.Point(588, 0);
|
||||
this.gpbAcoes.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbAcoes.Name = "gpbAcoes";
|
||||
this.gpbAcoes.Padding = new System.Windows.Forms.Padding(2);
|
||||
this.gpbAcoes.Size = new System.Drawing.Size(587, 609);
|
||||
this.gpbAcoes.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbAcoes.Size = new System.Drawing.Size(783, 750);
|
||||
this.gpbAcoes.TabIndex = 0;
|
||||
this.gpbAcoes.TabStop = false;
|
||||
this.gpbAcoes.Text = "Conexão";
|
||||
|
|
@ -128,17 +129,17 @@ namespace AgroBase
|
|||
this.erroStrip.ImageScalingSize = new System.Drawing.Size(20, 20);
|
||||
this.erroStrip.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
|
||||
this.lblStripErro});
|
||||
this.erroStrip.Location = new System.Drawing.Point(2, 585);
|
||||
this.erroStrip.Location = new System.Drawing.Point(3, 722);
|
||||
this.erroStrip.Name = "erroStrip";
|
||||
this.erroStrip.Padding = new System.Windows.Forms.Padding(1, 0, 10, 0);
|
||||
this.erroStrip.Size = new System.Drawing.Size(583, 22);
|
||||
this.erroStrip.Padding = new System.Windows.Forms.Padding(1, 0, 13, 0);
|
||||
this.erroStrip.Size = new System.Drawing.Size(777, 26);
|
||||
this.erroStrip.TabIndex = 1;
|
||||
this.erroStrip.Text = "statusStrip1";
|
||||
//
|
||||
// lblStripErro
|
||||
//
|
||||
this.lblStripErro.Name = "lblStripErro";
|
||||
this.lblStripErro.Size = new System.Drawing.Size(49, 17);
|
||||
this.lblStripErro.Size = new System.Drawing.Size(62, 20);
|
||||
this.lblStripErro.Text = "Iniciado";
|
||||
//
|
||||
// pnlLateral
|
||||
|
|
@ -152,18 +153,19 @@ namespace AgroBase
|
|||
this.pnlLateral.Controls.Add(this.gpbNovoDispositivo);
|
||||
this.pnlLateral.Controls.Add(this.btnNovoDispositivo);
|
||||
this.pnlLateral.Dock = System.Windows.Forms.DockStyle.Fill;
|
||||
this.pnlLateral.Location = new System.Drawing.Point(2, 15);
|
||||
this.pnlLateral.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.pnlLateral.Location = new System.Drawing.Point(3, 17);
|
||||
this.pnlLateral.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.pnlLateral.Name = "pnlLateral";
|
||||
this.pnlLateral.Size = new System.Drawing.Size(583, 592);
|
||||
this.pnlLateral.Size = new System.Drawing.Size(777, 731);
|
||||
this.pnlLateral.TabIndex = 0;
|
||||
//
|
||||
// chbConexaoautomatica
|
||||
//
|
||||
this.chbConexaoautomatica.AutoSize = true;
|
||||
this.chbConexaoautomatica.Location = new System.Drawing.Point(172, 28);
|
||||
this.chbConexaoautomatica.Location = new System.Drawing.Point(229, 34);
|
||||
this.chbConexaoautomatica.Margin = new System.Windows.Forms.Padding(4, 4, 4, 4);
|
||||
this.chbConexaoautomatica.Name = "chbConexaoautomatica";
|
||||
this.chbConexaoautomatica.Size = new System.Drawing.Size(123, 17);
|
||||
this.chbConexaoautomatica.Size = new System.Drawing.Size(152, 20);
|
||||
this.chbConexaoautomatica.TabIndex = 21;
|
||||
this.chbConexaoautomatica.Text = "Conexão automática";
|
||||
this.chbConexaoautomatica.UseVisualStyleBackColor = true;
|
||||
|
|
@ -171,11 +173,11 @@ namespace AgroBase
|
|||
// gpbDispositivos
|
||||
//
|
||||
this.gpbDispositivos.Controls.Add(this.lstDisponiveis);
|
||||
this.gpbDispositivos.Location = new System.Drawing.Point(161, 78);
|
||||
this.gpbDispositivos.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.gpbDispositivos.Location = new System.Drawing.Point(215, 96);
|
||||
this.gpbDispositivos.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbDispositivos.Name = "gpbDispositivos";
|
||||
this.gpbDispositivos.Padding = new System.Windows.Forms.Padding(2);
|
||||
this.gpbDispositivos.Size = new System.Drawing.Size(413, 133);
|
||||
this.gpbDispositivos.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbDispositivos.Size = new System.Drawing.Size(551, 164);
|
||||
this.gpbDispositivos.TabIndex = 3;
|
||||
this.gpbDispositivos.TabStop = false;
|
||||
this.gpbDispositivos.Text = "Dispositivos disponíveis";
|
||||
|
|
@ -183,20 +185,20 @@ namespace AgroBase
|
|||
// lstDisponiveis
|
||||
//
|
||||
this.lstDisponiveis.HideSelection = false;
|
||||
this.lstDisponiveis.Location = new System.Drawing.Point(11, 20);
|
||||
this.lstDisponiveis.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.lstDisponiveis.Location = new System.Drawing.Point(15, 25);
|
||||
this.lstDisponiveis.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.lstDisponiveis.Name = "lstDisponiveis";
|
||||
this.lstDisponiveis.Size = new System.Drawing.Size(252, 102);
|
||||
this.lstDisponiveis.Size = new System.Drawing.Size(335, 125);
|
||||
this.lstDisponiveis.TabIndex = 0;
|
||||
this.lstDisponiveis.UseCompatibleStateImageBehavior = false;
|
||||
this.lstDisponiveis.View = System.Windows.Forms.View.List;
|
||||
//
|
||||
// btnRemover
|
||||
//
|
||||
this.btnRemover.Location = new System.Drawing.Point(87, 50);
|
||||
this.btnRemover.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnRemover.Location = new System.Drawing.Point(116, 62);
|
||||
this.btnRemover.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnRemover.Name = "btnRemover";
|
||||
this.btnRemover.Size = new System.Drawing.Size(62, 23);
|
||||
this.btnRemover.Size = new System.Drawing.Size(83, 28);
|
||||
this.btnRemover.TabIndex = 12;
|
||||
this.btnRemover.Text = "Remover";
|
||||
this.btnRemover.UseVisualStyleBackColor = true;
|
||||
|
|
@ -205,10 +207,9 @@ namespace AgroBase
|
|||
// lblDispositivos
|
||||
//
|
||||
this.lblDispositivos.AutoSize = true;
|
||||
this.lblDispositivos.Location = new System.Drawing.Point(20, 10);
|
||||
this.lblDispositivos.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblDispositivos.Location = new System.Drawing.Point(27, 12);
|
||||
this.lblDispositivos.Name = "lblDispositivos";
|
||||
this.lblDispositivos.Size = new System.Drawing.Size(63, 13);
|
||||
this.lblDispositivos.Size = new System.Drawing.Size(81, 16);
|
||||
this.lblDispositivos.TabIndex = 11;
|
||||
this.lblDispositivos.Text = "Dispositivos";
|
||||
//
|
||||
|
|
@ -216,10 +217,10 @@ namespace AgroBase
|
|||
//
|
||||
this.cmbDispositivos.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
|
||||
this.cmbDispositivos.FormattingEnabled = true;
|
||||
this.cmbDispositivos.Location = new System.Drawing.Point(22, 26);
|
||||
this.cmbDispositivos.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.cmbDispositivos.Location = new System.Drawing.Point(29, 32);
|
||||
this.cmbDispositivos.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.cmbDispositivos.Name = "cmbDispositivos";
|
||||
this.cmbDispositivos.Size = new System.Drawing.Size(128, 21);
|
||||
this.cmbDispositivos.Size = new System.Drawing.Size(169, 24);
|
||||
this.cmbDispositivos.TabIndex = 10;
|
||||
this.cmbDispositivos.SelectedIndexChanged += new System.EventHandler(this.cmbDispositivos_SelectedIndexChanged);
|
||||
//
|
||||
|
|
@ -231,11 +232,11 @@ namespace AgroBase
|
|||
this.gpbNovoDispositivo.Controls.Add(this.lblDescricao);
|
||||
this.gpbNovoDispositivo.Controls.Add(this.lblTipo);
|
||||
this.gpbNovoDispositivo.Enabled = false;
|
||||
this.gpbNovoDispositivo.Location = new System.Drawing.Point(16, 78);
|
||||
this.gpbNovoDispositivo.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.gpbNovoDispositivo.Location = new System.Drawing.Point(21, 96);
|
||||
this.gpbNovoDispositivo.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbNovoDispositivo.Name = "gpbNovoDispositivo";
|
||||
this.gpbNovoDispositivo.Padding = new System.Windows.Forms.Padding(2);
|
||||
this.gpbNovoDispositivo.Size = new System.Drawing.Size(141, 133);
|
||||
this.gpbNovoDispositivo.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbNovoDispositivo.Size = new System.Drawing.Size(188, 164);
|
||||
this.gpbNovoDispositivo.TabIndex = 9;
|
||||
this.gpbNovoDispositivo.TabStop = false;
|
||||
this.gpbNovoDispositivo.Text = "Novo Dispositivo";
|
||||
|
|
@ -244,18 +245,18 @@ namespace AgroBase
|
|||
//
|
||||
this.cmbTipos.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
|
||||
this.cmbTipos.FormattingEnabled = true;
|
||||
this.cmbTipos.Location = new System.Drawing.Point(7, 37);
|
||||
this.cmbTipos.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.cmbTipos.Location = new System.Drawing.Point(9, 46);
|
||||
this.cmbTipos.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.cmbTipos.Name = "cmbTipos";
|
||||
this.cmbTipos.Size = new System.Drawing.Size(128, 21);
|
||||
this.cmbTipos.Size = new System.Drawing.Size(169, 24);
|
||||
this.cmbTipos.TabIndex = 2;
|
||||
//
|
||||
// btnSalvar
|
||||
//
|
||||
this.btnSalvar.Location = new System.Drawing.Point(7, 101);
|
||||
this.btnSalvar.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnSalvar.Location = new System.Drawing.Point(9, 124);
|
||||
this.btnSalvar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnSalvar.Name = "btnSalvar";
|
||||
this.btnSalvar.Size = new System.Drawing.Size(127, 20);
|
||||
this.btnSalvar.Size = new System.Drawing.Size(169, 25);
|
||||
this.btnSalvar.TabIndex = 9;
|
||||
this.btnSalvar.Text = "Salvar";
|
||||
this.btnSalvar.UseVisualStyleBackColor = true;
|
||||
|
|
@ -263,38 +264,36 @@ namespace AgroBase
|
|||
//
|
||||
// txtDescricao
|
||||
//
|
||||
this.txtDescricao.Location = new System.Drawing.Point(7, 76);
|
||||
this.txtDescricao.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.txtDescricao.Location = new System.Drawing.Point(9, 94);
|
||||
this.txtDescricao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.txtDescricao.Name = "txtDescricao";
|
||||
this.txtDescricao.Size = new System.Drawing.Size(128, 20);
|
||||
this.txtDescricao.Size = new System.Drawing.Size(169, 22);
|
||||
this.txtDescricao.TabIndex = 3;
|
||||
//
|
||||
// lblDescricao
|
||||
//
|
||||
this.lblDescricao.AutoSize = true;
|
||||
this.lblDescricao.Location = new System.Drawing.Point(4, 60);
|
||||
this.lblDescricao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblDescricao.Location = new System.Drawing.Point(5, 74);
|
||||
this.lblDescricao.Name = "lblDescricao";
|
||||
this.lblDescricao.Size = new System.Drawing.Size(55, 13);
|
||||
this.lblDescricao.Size = new System.Drawing.Size(69, 16);
|
||||
this.lblDescricao.TabIndex = 2;
|
||||
this.lblDescricao.Text = "Descrição";
|
||||
//
|
||||
// lblTipo
|
||||
//
|
||||
this.lblTipo.AutoSize = true;
|
||||
this.lblTipo.Location = new System.Drawing.Point(4, 20);
|
||||
this.lblTipo.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblTipo.Location = new System.Drawing.Point(5, 25);
|
||||
this.lblTipo.Name = "lblTipo";
|
||||
this.lblTipo.Size = new System.Drawing.Size(28, 13);
|
||||
this.lblTipo.Size = new System.Drawing.Size(35, 16);
|
||||
this.lblTipo.TabIndex = 0;
|
||||
this.lblTipo.Text = "Tipo";
|
||||
//
|
||||
// btnNovoDispositivo
|
||||
//
|
||||
this.btnNovoDispositivo.Location = new System.Drawing.Point(22, 50);
|
||||
this.btnNovoDispositivo.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnNovoDispositivo.Location = new System.Drawing.Point(29, 62);
|
||||
this.btnNovoDispositivo.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnNovoDispositivo.Name = "btnNovoDispositivo";
|
||||
this.btnNovoDispositivo.Size = new System.Drawing.Size(60, 23);
|
||||
this.btnNovoDispositivo.Size = new System.Drawing.Size(80, 28);
|
||||
this.btnNovoDispositivo.TabIndex = 8;
|
||||
this.btnNovoDispositivo.Text = "Novo dispositivo";
|
||||
this.btnNovoDispositivo.UseVisualStyleBackColor = true;
|
||||
|
|
@ -309,41 +308,41 @@ namespace AgroBase
|
|||
this.lblStripOperacao,
|
||||
this.lblStripOperacaoStatus,
|
||||
this.lblStripMqtt});
|
||||
this.generalStrip.Location = new System.Drawing.Point(0, 587);
|
||||
this.generalStrip.Location = new System.Drawing.Point(0, 724);
|
||||
this.generalStrip.Name = "generalStrip";
|
||||
this.generalStrip.Padding = new System.Windows.Forms.Padding(1, 0, 10, 0);
|
||||
this.generalStrip.Size = new System.Drawing.Size(441, 22);
|
||||
this.generalStrip.Padding = new System.Windows.Forms.Padding(1, 0, 13, 0);
|
||||
this.generalStrip.Size = new System.Drawing.Size(588, 26);
|
||||
this.generalStrip.TabIndex = 1;
|
||||
this.generalStrip.Text = "statusStrip1";
|
||||
//
|
||||
// lblStripJoystick
|
||||
//
|
||||
this.lblStripJoystick.Name = "lblStripJoystick";
|
||||
this.lblStripJoystick.Size = new System.Drawing.Size(129, 17);
|
||||
this.lblStripJoystick.Size = new System.Drawing.Size(161, 20);
|
||||
this.lblStripJoystick.Text = "Joystick: Desconectado";
|
||||
//
|
||||
// lblStripJoystickComando
|
||||
//
|
||||
this.lblStripJoystickComando.Name = "lblStripJoystickComando";
|
||||
this.lblStripJoystickComando.Size = new System.Drawing.Size(16, 17);
|
||||
this.lblStripJoystickComando.Size = new System.Drawing.Size(18, 20);
|
||||
this.lblStripJoystickComando.Text = "...";
|
||||
//
|
||||
// lblStripOperacao
|
||||
//
|
||||
this.lblStripOperacao.Name = "lblStripOperacao";
|
||||
this.lblStripOperacao.Size = new System.Drawing.Size(104, 17);
|
||||
this.lblStripOperacao.Size = new System.Drawing.Size(130, 20);
|
||||
this.lblStripOperacao.Text = "Operação: Manual";
|
||||
//
|
||||
// lblStripOperacaoStatus
|
||||
//
|
||||
this.lblStripOperacaoStatus.Name = "lblStripOperacaoStatus";
|
||||
this.lblStripOperacaoStatus.Size = new System.Drawing.Size(74, 17);
|
||||
this.lblStripOperacaoStatus.Size = new System.Drawing.Size(94, 20);
|
||||
this.lblStripOperacaoStatus.Text = "Não iniciado";
|
||||
//
|
||||
// lblStripMqtt
|
||||
//
|
||||
this.lblStripMqtt.Name = "lblStripMqtt";
|
||||
this.lblStripMqtt.Size = new System.Drawing.Size(119, 15);
|
||||
this.lblStripMqtt.Size = new System.Drawing.Size(150, 20);
|
||||
this.lblStripMqtt.Text = "MQTT: Desconectado";
|
||||
//
|
||||
// gpbMovimentacao
|
||||
|
|
@ -352,11 +351,11 @@ namespace AgroBase
|
|||
this.gpbMovimentacao.Controls.Add(this.trkKmh);
|
||||
this.gpbMovimentacao.Controls.Add(this.trkRPM);
|
||||
this.gpbMovimentacao.Controls.Add(this.lblRPM);
|
||||
this.gpbMovimentacao.Location = new System.Drawing.Point(9, 63);
|
||||
this.gpbMovimentacao.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.gpbMovimentacao.Location = new System.Drawing.Point(12, 78);
|
||||
this.gpbMovimentacao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbMovimentacao.Name = "gpbMovimentacao";
|
||||
this.gpbMovimentacao.Padding = new System.Windows.Forms.Padding(2);
|
||||
this.gpbMovimentacao.Size = new System.Drawing.Size(330, 85);
|
||||
this.gpbMovimentacao.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbMovimentacao.Size = new System.Drawing.Size(440, 105);
|
||||
this.gpbMovimentacao.TabIndex = 2;
|
||||
this.gpbMovimentacao.TabStop = false;
|
||||
this.gpbMovimentacao.Text = "Controle Movimentação";
|
||||
|
|
@ -364,20 +363,19 @@ namespace AgroBase
|
|||
// lblKmh
|
||||
//
|
||||
this.lblKmh.AutoSize = true;
|
||||
this.lblKmh.Location = new System.Drawing.Point(166, 20);
|
||||
this.lblKmh.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblKmh.Location = new System.Drawing.Point(221, 25);
|
||||
this.lblKmh.Name = "lblKmh";
|
||||
this.lblKmh.Size = new System.Drawing.Size(100, 13);
|
||||
this.lblKmh.Size = new System.Drawing.Size(122, 16);
|
||||
this.lblKmh.TabIndex = 23;
|
||||
this.lblKmh.Text = "Velocidade: 3 km/h";
|
||||
//
|
||||
// trkKmh
|
||||
//
|
||||
this.trkKmh.Location = new System.Drawing.Point(168, 37);
|
||||
this.trkKmh.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.trkKmh.Location = new System.Drawing.Point(224, 46);
|
||||
this.trkKmh.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.trkKmh.Maximum = 34;
|
||||
this.trkKmh.Name = "trkKmh";
|
||||
this.trkKmh.Size = new System.Drawing.Size(158, 45);
|
||||
this.trkKmh.Size = new System.Drawing.Size(211, 56);
|
||||
this.trkKmh.TabIndex = 22;
|
||||
this.trkKmh.TickFrequency = 2;
|
||||
this.trkKmh.Value = 3;
|
||||
|
|
@ -385,12 +383,12 @@ namespace AgroBase
|
|||
//
|
||||
// trkRPM
|
||||
//
|
||||
this.trkRPM.Location = new System.Drawing.Point(4, 37);
|
||||
this.trkRPM.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.trkRPM.Location = new System.Drawing.Point(5, 46);
|
||||
this.trkRPM.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.trkRPM.Maximum = 500;
|
||||
this.trkRPM.Minimum = 5;
|
||||
this.trkRPM.Name = "trkRPM";
|
||||
this.trkRPM.Size = new System.Drawing.Size(158, 45);
|
||||
this.trkRPM.Size = new System.Drawing.Size(211, 56);
|
||||
this.trkRPM.TabIndex = 20;
|
||||
this.trkRPM.TickFrequency = 20;
|
||||
this.trkRPM.Value = 5;
|
||||
|
|
@ -399,20 +397,19 @@ namespace AgroBase
|
|||
// lblRPM
|
||||
//
|
||||
this.lblRPM.AutoSize = true;
|
||||
this.lblRPM.Location = new System.Drawing.Point(2, 20);
|
||||
this.lblRPM.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblRPM.Location = new System.Drawing.Point(3, 25);
|
||||
this.lblRPM.Name = "lblRPM";
|
||||
this.lblRPM.Size = new System.Drawing.Size(43, 13);
|
||||
this.lblRPM.Size = new System.Drawing.Size(50, 16);
|
||||
this.lblRPM.TabIndex = 21;
|
||||
this.lblRPM.Text = "RPM: 5";
|
||||
//
|
||||
// tkbAngulo
|
||||
//
|
||||
this.tkbAngulo.Location = new System.Drawing.Point(4, 95);
|
||||
this.tkbAngulo.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.tkbAngulo.Location = new System.Drawing.Point(5, 117);
|
||||
this.tkbAngulo.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.tkbAngulo.Maximum = 180;
|
||||
this.tkbAngulo.Name = "tkbAngulo";
|
||||
this.tkbAngulo.Size = new System.Drawing.Size(314, 45);
|
||||
this.tkbAngulo.Size = new System.Drawing.Size(419, 56);
|
||||
this.tkbAngulo.TabIndex = 17;
|
||||
this.tkbAngulo.TickFrequency = 5;
|
||||
this.tkbAngulo.ValueChanged += new System.EventHandler(this.tkbRampa_ValueChanged);
|
||||
|
|
@ -420,31 +417,29 @@ namespace AgroBase
|
|||
// lblAngulo
|
||||
//
|
||||
this.lblAngulo.AutoSize = true;
|
||||
this.lblAngulo.Location = new System.Drawing.Point(2, 79);
|
||||
this.lblAngulo.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblAngulo.Location = new System.Drawing.Point(3, 97);
|
||||
this.lblAngulo.Name = "lblAngulo";
|
||||
this.lblAngulo.Size = new System.Drawing.Size(56, 13);
|
||||
this.lblAngulo.Size = new System.Drawing.Size(67, 16);
|
||||
this.lblAngulo.TabIndex = 16;
|
||||
this.lblAngulo.Text = "Angulo: 0º";
|
||||
//
|
||||
// lblVelocidade
|
||||
//
|
||||
this.lblVelocidade.AutoSize = true;
|
||||
this.lblVelocidade.Location = new System.Drawing.Point(2, 19);
|
||||
this.lblVelocidade.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblVelocidade.Location = new System.Drawing.Point(3, 23);
|
||||
this.lblVelocidade.Name = "lblVelocidade";
|
||||
this.lblVelocidade.Size = new System.Drawing.Size(80, 13);
|
||||
this.lblVelocidade.Size = new System.Drawing.Size(102, 16);
|
||||
this.lblVelocidade.TabIndex = 15;
|
||||
this.lblVelocidade.Text = "Velocidade: 1%";
|
||||
//
|
||||
// tkbVelocidade
|
||||
//
|
||||
this.tkbVelocidade.Location = new System.Drawing.Point(4, 35);
|
||||
this.tkbVelocidade.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.tkbVelocidade.Location = new System.Drawing.Point(5, 43);
|
||||
this.tkbVelocidade.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.tkbVelocidade.Maximum = 100;
|
||||
this.tkbVelocidade.Minimum = 1;
|
||||
this.tkbVelocidade.Name = "tkbVelocidade";
|
||||
this.tkbVelocidade.Size = new System.Drawing.Size(314, 45);
|
||||
this.tkbVelocidade.Size = new System.Drawing.Size(419, 56);
|
||||
this.tkbVelocidade.TabIndex = 14;
|
||||
this.tkbVelocidade.TickFrequency = 5;
|
||||
this.tkbVelocidade.Value = 1;
|
||||
|
|
@ -452,10 +447,10 @@ namespace AgroBase
|
|||
//
|
||||
// btnVer
|
||||
//
|
||||
this.btnVer.Location = new System.Drawing.Point(256, 20);
|
||||
this.btnVer.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnVer.Location = new System.Drawing.Point(341, 25);
|
||||
this.btnVer.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnVer.Name = "btnVer";
|
||||
this.btnVer.Size = new System.Drawing.Size(63, 20);
|
||||
this.btnVer.Size = new System.Drawing.Size(84, 25);
|
||||
this.btnVer.TabIndex = 13;
|
||||
this.btnVer.Text = "Ver";
|
||||
this.btnVer.UseVisualStyleBackColor = true;
|
||||
|
|
@ -463,10 +458,10 @@ namespace AgroBase
|
|||
//
|
||||
// btnJoyAtt
|
||||
//
|
||||
this.btnJoyAtt.Location = new System.Drawing.Point(121, 20);
|
||||
this.btnJoyAtt.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnJoyAtt.Location = new System.Drawing.Point(161, 25);
|
||||
this.btnJoyAtt.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnJoyAtt.Name = "btnJoyAtt";
|
||||
this.btnJoyAtt.Size = new System.Drawing.Size(63, 20);
|
||||
this.btnJoyAtt.Size = new System.Drawing.Size(84, 25);
|
||||
this.btnJoyAtt.TabIndex = 12;
|
||||
this.btnJoyAtt.Text = "Atualizar";
|
||||
this.btnJoyAtt.UseVisualStyleBackColor = true;
|
||||
|
|
@ -474,10 +469,10 @@ namespace AgroBase
|
|||
//
|
||||
// btnJoyEdt
|
||||
//
|
||||
this.btnJoyEdt.Location = new System.Drawing.Point(188, 20);
|
||||
this.btnJoyEdt.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnJoyEdt.Location = new System.Drawing.Point(251, 25);
|
||||
this.btnJoyEdt.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnJoyEdt.Name = "btnJoyEdt";
|
||||
this.btnJoyEdt.Size = new System.Drawing.Size(63, 20);
|
||||
this.btnJoyEdt.Size = new System.Drawing.Size(84, 25);
|
||||
this.btnJoyEdt.TabIndex = 11;
|
||||
this.btnJoyEdt.Text = "Editar";
|
||||
this.btnJoyEdt.UseVisualStyleBackColor = true;
|
||||
|
|
@ -487,10 +482,10 @@ namespace AgroBase
|
|||
//
|
||||
this.cmbJoysticks.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
|
||||
this.cmbJoysticks.FormattingEnabled = true;
|
||||
this.cmbJoysticks.Location = new System.Drawing.Point(4, 21);
|
||||
this.cmbJoysticks.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.cmbJoysticks.Location = new System.Drawing.Point(5, 26);
|
||||
this.cmbJoysticks.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.cmbJoysticks.Name = "cmbJoysticks";
|
||||
this.cmbJoysticks.Size = new System.Drawing.Size(112, 21);
|
||||
this.cmbJoysticks.Size = new System.Drawing.Size(148, 24);
|
||||
this.cmbJoysticks.TabIndex = 3;
|
||||
//
|
||||
// timerDispositivos
|
||||
|
|
@ -505,11 +500,11 @@ namespace AgroBase
|
|||
| System.Windows.Forms.AnchorStyles.Right)));
|
||||
this.gpbSensoriamento.Controls.Add(this.lblSenMotores);
|
||||
this.gpbSensoriamento.Controls.Add(this.gridSenMotores);
|
||||
this.gpbSensoriamento.Location = new System.Drawing.Point(9, 413);
|
||||
this.gpbSensoriamento.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.gpbSensoriamento.Location = new System.Drawing.Point(12, 508);
|
||||
this.gpbSensoriamento.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbSensoriamento.Name = "gpbSensoriamento";
|
||||
this.gpbSensoriamento.Padding = new System.Windows.Forms.Padding(2);
|
||||
this.gpbSensoriamento.Size = new System.Drawing.Size(428, 172);
|
||||
this.gpbSensoriamento.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbSensoriamento.Size = new System.Drawing.Size(571, 212);
|
||||
this.gpbSensoriamento.TabIndex = 13;
|
||||
this.gpbSensoriamento.TabStop = false;
|
||||
this.gpbSensoriamento.Text = "Sensoriamento";
|
||||
|
|
@ -517,10 +512,9 @@ namespace AgroBase
|
|||
// lblSenMotores
|
||||
//
|
||||
this.lblSenMotores.AutoSize = true;
|
||||
this.lblSenMotores.Location = new System.Drawing.Point(9, 19);
|
||||
this.lblSenMotores.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblSenMotores.Location = new System.Drawing.Point(12, 23);
|
||||
this.lblSenMotores.Name = "lblSenMotores";
|
||||
this.lblSenMotores.Size = new System.Drawing.Size(45, 13);
|
||||
this.lblSenMotores.Size = new System.Drawing.Size(56, 16);
|
||||
this.lblSenMotores.TabIndex = 1;
|
||||
this.lblSenMotores.Text = "Motores";
|
||||
//
|
||||
|
|
@ -530,20 +524,20 @@ namespace AgroBase
|
|||
| System.Windows.Forms.AnchorStyles.Left)
|
||||
| System.Windows.Forms.AnchorStyles.Right)));
|
||||
this.gridSenMotores.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
|
||||
this.gridSenMotores.Location = new System.Drawing.Point(4, 35);
|
||||
this.gridSenMotores.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.gridSenMotores.Location = new System.Drawing.Point(5, 43);
|
||||
this.gridSenMotores.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gridSenMotores.Name = "gridSenMotores";
|
||||
this.gridSenMotores.RowHeadersWidth = 51;
|
||||
this.gridSenMotores.RowTemplate.Height = 24;
|
||||
this.gridSenMotores.Size = new System.Drawing.Size(419, 132);
|
||||
this.gridSenMotores.Size = new System.Drawing.Size(559, 162);
|
||||
this.gridSenMotores.TabIndex = 0;
|
||||
//
|
||||
// btnDiagnosticos
|
||||
//
|
||||
this.btnDiagnosticos.Location = new System.Drawing.Point(4, 17);
|
||||
this.btnDiagnosticos.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnDiagnosticos.Location = new System.Drawing.Point(5, 21);
|
||||
this.btnDiagnosticos.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnDiagnosticos.Name = "btnDiagnosticos";
|
||||
this.btnDiagnosticos.Size = new System.Drawing.Size(84, 20);
|
||||
this.btnDiagnosticos.Size = new System.Drawing.Size(112, 25);
|
||||
this.btnDiagnosticos.TabIndex = 14;
|
||||
this.btnDiagnosticos.Text = "Diagnósticos";
|
||||
this.btnDiagnosticos.UseVisualStyleBackColor = true;
|
||||
|
|
@ -551,10 +545,10 @@ namespace AgroBase
|
|||
//
|
||||
// btnAcompanhamento
|
||||
//
|
||||
this.btnAcompanhamento.Location = new System.Drawing.Point(4, 42);
|
||||
this.btnAcompanhamento.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnAcompanhamento.Location = new System.Drawing.Point(5, 52);
|
||||
this.btnAcompanhamento.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnAcompanhamento.Name = "btnAcompanhamento";
|
||||
this.btnAcompanhamento.Size = new System.Drawing.Size(84, 20);
|
||||
this.btnAcompanhamento.Size = new System.Drawing.Size(112, 25);
|
||||
this.btnAcompanhamento.TabIndex = 15;
|
||||
this.btnAcompanhamento.Text = "Plotagem";
|
||||
this.btnAcompanhamento.UseVisualStyleBackColor = true;
|
||||
|
|
@ -562,10 +556,10 @@ namespace AgroBase
|
|||
//
|
||||
// btnAtuCamera
|
||||
//
|
||||
this.btnAtuCamera.Location = new System.Drawing.Point(4, 67);
|
||||
this.btnAtuCamera.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnAtuCamera.Location = new System.Drawing.Point(5, 82);
|
||||
this.btnAtuCamera.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnAtuCamera.Name = "btnAtuCamera";
|
||||
this.btnAtuCamera.Size = new System.Drawing.Size(84, 20);
|
||||
this.btnAtuCamera.Size = new System.Drawing.Size(112, 25);
|
||||
this.btnAtuCamera.TabIndex = 16;
|
||||
this.btnAtuCamera.Text = "Ver solo";
|
||||
this.btnAtuCamera.UseVisualStyleBackColor = true;
|
||||
|
|
@ -573,10 +567,10 @@ namespace AgroBase
|
|||
//
|
||||
// btnMapas
|
||||
//
|
||||
this.btnMapas.Location = new System.Drawing.Point(4, 118);
|
||||
this.btnMapas.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnMapas.Location = new System.Drawing.Point(5, 145);
|
||||
this.btnMapas.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnMapas.Name = "btnMapas";
|
||||
this.btnMapas.Size = new System.Drawing.Size(84, 20);
|
||||
this.btnMapas.Size = new System.Drawing.Size(112, 25);
|
||||
this.btnMapas.TabIndex = 17;
|
||||
this.btnMapas.Text = "Mapas";
|
||||
this.btnMapas.UseVisualStyleBackColor = true;
|
||||
|
|
@ -584,10 +578,10 @@ namespace AgroBase
|
|||
//
|
||||
// btnSenCamera
|
||||
//
|
||||
this.btnSenCamera.Location = new System.Drawing.Point(4, 93);
|
||||
this.btnSenCamera.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnSenCamera.Location = new System.Drawing.Point(5, 114);
|
||||
this.btnSenCamera.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnSenCamera.Name = "btnSenCamera";
|
||||
this.btnSenCamera.Size = new System.Drawing.Size(84, 20);
|
||||
this.btnSenCamera.Size = new System.Drawing.Size(112, 25);
|
||||
this.btnSenCamera.TabIndex = 18;
|
||||
this.btnSenCamera.Text = "Ver caminho";
|
||||
this.btnSenCamera.UseVisualStyleBackColor = true;
|
||||
|
|
@ -599,11 +593,11 @@ namespace AgroBase
|
|||
this.gpbJoystick.Controls.Add(this.btnJoyEdt);
|
||||
this.gpbJoystick.Controls.Add(this.btnJoyAtt);
|
||||
this.gpbJoystick.Controls.Add(this.btnVer);
|
||||
this.gpbJoystick.Location = new System.Drawing.Point(9, 10);
|
||||
this.gpbJoystick.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.gpbJoystick.Location = new System.Drawing.Point(12, 12);
|
||||
this.gpbJoystick.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbJoystick.Name = "gpbJoystick";
|
||||
this.gpbJoystick.Padding = new System.Windows.Forms.Padding(2);
|
||||
this.gpbJoystick.Size = new System.Drawing.Size(330, 49);
|
||||
this.gpbJoystick.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbJoystick.Size = new System.Drawing.Size(440, 60);
|
||||
this.gpbJoystick.TabIndex = 18;
|
||||
this.gpbJoystick.TabStop = false;
|
||||
this.gpbJoystick.Text = "Joystick";
|
||||
|
|
@ -614,17 +608,18 @@ namespace AgroBase
|
|||
this.gpbControleDirecional.Controls.Add(this.tkbAngulo);
|
||||
this.gpbControleDirecional.Controls.Add(this.lblAngulo);
|
||||
this.gpbControleDirecional.Controls.Add(this.lblVelocidade);
|
||||
this.gpbControleDirecional.Location = new System.Drawing.Point(9, 154);
|
||||
this.gpbControleDirecional.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.gpbControleDirecional.Location = new System.Drawing.Point(12, 190);
|
||||
this.gpbControleDirecional.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbControleDirecional.Name = "gpbControleDirecional";
|
||||
this.gpbControleDirecional.Padding = new System.Windows.Forms.Padding(2);
|
||||
this.gpbControleDirecional.Size = new System.Drawing.Size(330, 149);
|
||||
this.gpbControleDirecional.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbControleDirecional.Size = new System.Drawing.Size(440, 183);
|
||||
this.gpbControleDirecional.TabIndex = 19;
|
||||
this.gpbControleDirecional.TabStop = false;
|
||||
this.gpbControleDirecional.Text = "Controle Direcional";
|
||||
//
|
||||
// gpbAtalhos
|
||||
//
|
||||
this.gpbAtalhos.Controls.Add(this.btnKinect);
|
||||
this.gpbAtalhos.Controls.Add(this.btnSimulador);
|
||||
this.gpbAtalhos.Controls.Add(this.btnSonar);
|
||||
this.gpbAtalhos.Controls.Add(this.btnAtuCalibragem);
|
||||
|
|
@ -635,21 +630,21 @@ namespace AgroBase
|
|||
this.gpbAtalhos.Controls.Add(this.btnSenCamera);
|
||||
this.gpbAtalhos.Controls.Add(this.btnAtuCamera);
|
||||
this.gpbAtalhos.Controls.Add(this.btnMapas);
|
||||
this.gpbAtalhos.Location = new System.Drawing.Point(344, 10);
|
||||
this.gpbAtalhos.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.gpbAtalhos.Location = new System.Drawing.Point(459, 12);
|
||||
this.gpbAtalhos.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbAtalhos.Name = "gpbAtalhos";
|
||||
this.gpbAtalhos.Padding = new System.Windows.Forms.Padding(2);
|
||||
this.gpbAtalhos.Size = new System.Drawing.Size(93, 292);
|
||||
this.gpbAtalhos.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbAtalhos.Size = new System.Drawing.Size(124, 359);
|
||||
this.gpbAtalhos.TabIndex = 20;
|
||||
this.gpbAtalhos.TabStop = false;
|
||||
this.gpbAtalhos.Text = "Atalhos";
|
||||
//
|
||||
// btnSimulador
|
||||
//
|
||||
this.btnSimulador.Location = new System.Drawing.Point(4, 236);
|
||||
this.btnSimulador.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnSimulador.Location = new System.Drawing.Point(5, 290);
|
||||
this.btnSimulador.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnSimulador.Name = "btnSimulador";
|
||||
this.btnSimulador.Size = new System.Drawing.Size(84, 20);
|
||||
this.btnSimulador.Size = new System.Drawing.Size(112, 25);
|
||||
this.btnSimulador.TabIndex = 23;
|
||||
this.btnSimulador.Text = "Simulador";
|
||||
this.btnSimulador.UseVisualStyleBackColor = true;
|
||||
|
|
@ -657,10 +652,10 @@ namespace AgroBase
|
|||
//
|
||||
// btnSonar
|
||||
//
|
||||
this.btnSonar.Location = new System.Drawing.Point(4, 213);
|
||||
this.btnSonar.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnSonar.Location = new System.Drawing.Point(5, 262);
|
||||
this.btnSonar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnSonar.Name = "btnSonar";
|
||||
this.btnSonar.Size = new System.Drawing.Size(84, 20);
|
||||
this.btnSonar.Size = new System.Drawing.Size(112, 25);
|
||||
this.btnSonar.TabIndex = 22;
|
||||
this.btnSonar.Text = "Sonar";
|
||||
this.btnSonar.UseVisualStyleBackColor = true;
|
||||
|
|
@ -668,10 +663,10 @@ namespace AgroBase
|
|||
//
|
||||
// btnAtuCalibragem
|
||||
//
|
||||
this.btnAtuCalibragem.Location = new System.Drawing.Point(4, 189);
|
||||
this.btnAtuCalibragem.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnAtuCalibragem.Location = new System.Drawing.Point(5, 233);
|
||||
this.btnAtuCalibragem.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnAtuCalibragem.Name = "btnAtuCalibragem";
|
||||
this.btnAtuCalibragem.Size = new System.Drawing.Size(84, 20);
|
||||
this.btnAtuCalibragem.Size = new System.Drawing.Size(112, 25);
|
||||
this.btnAtuCalibragem.TabIndex = 21;
|
||||
this.btnAtuCalibragem.Text = "Atuador";
|
||||
this.btnAtuCalibragem.UseVisualStyleBackColor = true;
|
||||
|
|
@ -679,10 +674,10 @@ namespace AgroBase
|
|||
//
|
||||
// btnContornos
|
||||
//
|
||||
this.btnContornos.Location = new System.Drawing.Point(4, 166);
|
||||
this.btnContornos.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnContornos.Location = new System.Drawing.Point(5, 204);
|
||||
this.btnContornos.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnContornos.Name = "btnContornos";
|
||||
this.btnContornos.Size = new System.Drawing.Size(84, 20);
|
||||
this.btnContornos.Size = new System.Drawing.Size(112, 25);
|
||||
this.btnContornos.TabIndex = 20;
|
||||
this.btnContornos.Text = "Contornos";
|
||||
this.btnContornos.UseVisualStyleBackColor = true;
|
||||
|
|
@ -690,10 +685,10 @@ namespace AgroBase
|
|||
//
|
||||
// btnGPS
|
||||
//
|
||||
this.btnGPS.Location = new System.Drawing.Point(4, 142);
|
||||
this.btnGPS.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnGPS.Location = new System.Drawing.Point(5, 175);
|
||||
this.btnGPS.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnGPS.Name = "btnGPS";
|
||||
this.btnGPS.Size = new System.Drawing.Size(84, 20);
|
||||
this.btnGPS.Size = new System.Drawing.Size(112, 25);
|
||||
this.btnGPS.TabIndex = 19;
|
||||
this.btnGPS.Text = "GPS";
|
||||
this.btnGPS.UseVisualStyleBackColor = true;
|
||||
|
|
@ -707,21 +702,21 @@ namespace AgroBase
|
|||
this.gpbOperacao.Controls.Add(this.btnIniciarOperacao);
|
||||
this.gpbOperacao.Controls.Add(this.lblModoOperacao);
|
||||
this.gpbOperacao.Controls.Add(this.cmbModoOperacao);
|
||||
this.gpbOperacao.Location = new System.Drawing.Point(9, 307);
|
||||
this.gpbOperacao.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.gpbOperacao.Location = new System.Drawing.Point(12, 378);
|
||||
this.gpbOperacao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbOperacao.Name = "gpbOperacao";
|
||||
this.gpbOperacao.Padding = new System.Windows.Forms.Padding(2);
|
||||
this.gpbOperacao.Size = new System.Drawing.Size(428, 101);
|
||||
this.gpbOperacao.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbOperacao.Size = new System.Drawing.Size(571, 124);
|
||||
this.gpbOperacao.TabIndex = 21;
|
||||
this.gpbOperacao.TabStop = false;
|
||||
this.gpbOperacao.Text = "Operação";
|
||||
//
|
||||
// btnIHM
|
||||
//
|
||||
this.btnIHM.Location = new System.Drawing.Point(296, 63);
|
||||
this.btnIHM.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnIHM.Location = new System.Drawing.Point(395, 78);
|
||||
this.btnIHM.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnIHM.Name = "btnIHM";
|
||||
this.btnIHM.Size = new System.Drawing.Size(122, 33);
|
||||
this.btnIHM.Size = new System.Drawing.Size(163, 41);
|
||||
this.btnIHM.TabIndex = 16;
|
||||
this.btnIHM.Text = "IHM";
|
||||
this.btnIHM.UseVisualStyleBackColor = true;
|
||||
|
|
@ -729,10 +724,10 @@ namespace AgroBase
|
|||
//
|
||||
// btnConfigurarOperacao
|
||||
//
|
||||
this.btnConfigurarOperacao.Location = new System.Drawing.Point(121, 63);
|
||||
this.btnConfigurarOperacao.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnConfigurarOperacao.Location = new System.Drawing.Point(161, 78);
|
||||
this.btnConfigurarOperacao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnConfigurarOperacao.Name = "btnConfigurarOperacao";
|
||||
this.btnConfigurarOperacao.Size = new System.Drawing.Size(122, 33);
|
||||
this.btnConfigurarOperacao.Size = new System.Drawing.Size(163, 41);
|
||||
this.btnConfigurarOperacao.TabIndex = 15;
|
||||
this.btnConfigurarOperacao.Text = "Configurar Operação";
|
||||
this.btnConfigurarOperacao.UseVisualStyleBackColor = true;
|
||||
|
|
@ -741,20 +736,20 @@ namespace AgroBase
|
|||
// chbDebugMode
|
||||
//
|
||||
this.chbDebugMode.AutoSize = true;
|
||||
this.chbDebugMode.Location = new System.Drawing.Point(134, 40);
|
||||
this.chbDebugMode.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.chbDebugMode.Location = new System.Drawing.Point(179, 49);
|
||||
this.chbDebugMode.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.chbDebugMode.Name = "chbDebugMode";
|
||||
this.chbDebugMode.Size = new System.Drawing.Size(109, 17);
|
||||
this.chbDebugMode.Size = new System.Drawing.Size(135, 20);
|
||||
this.chbDebugMode.TabIndex = 14;
|
||||
this.chbDebugMode.Text = "Modo Depuração";
|
||||
this.chbDebugMode.UseVisualStyleBackColor = true;
|
||||
//
|
||||
// btnIniciarOperacao
|
||||
//
|
||||
this.btnIniciarOperacao.Location = new System.Drawing.Point(7, 63);
|
||||
this.btnIniciarOperacao.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnIniciarOperacao.Location = new System.Drawing.Point(9, 78);
|
||||
this.btnIniciarOperacao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnIniciarOperacao.Name = "btnIniciarOperacao";
|
||||
this.btnIniciarOperacao.Size = new System.Drawing.Size(109, 33);
|
||||
this.btnIniciarOperacao.Size = new System.Drawing.Size(145, 41);
|
||||
this.btnIniciarOperacao.TabIndex = 13;
|
||||
this.btnIniciarOperacao.Text = "Iniciar Operação";
|
||||
this.btnIniciarOperacao.UseVisualStyleBackColor = true;
|
||||
|
|
@ -763,10 +758,9 @@ namespace AgroBase
|
|||
// lblModoOperacao
|
||||
//
|
||||
this.lblModoOperacao.AutoSize = true;
|
||||
this.lblModoOperacao.Location = new System.Drawing.Point(4, 22);
|
||||
this.lblModoOperacao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblModoOperacao.Location = new System.Drawing.Point(5, 27);
|
||||
this.lblModoOperacao.Name = "lblModoOperacao";
|
||||
this.lblModoOperacao.Size = new System.Drawing.Size(34, 13);
|
||||
this.lblModoOperacao.Size = new System.Drawing.Size(42, 16);
|
||||
this.lblModoOperacao.TabIndex = 13;
|
||||
this.lblModoOperacao.Text = "Modo";
|
||||
//
|
||||
|
|
@ -774,18 +768,29 @@ namespace AgroBase
|
|||
//
|
||||
this.cmbModoOperacao.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
|
||||
this.cmbModoOperacao.FormattingEnabled = true;
|
||||
this.cmbModoOperacao.Location = new System.Drawing.Point(7, 38);
|
||||
this.cmbModoOperacao.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.cmbModoOperacao.Location = new System.Drawing.Point(9, 47);
|
||||
this.cmbModoOperacao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.cmbModoOperacao.Name = "cmbModoOperacao";
|
||||
this.cmbModoOperacao.Size = new System.Drawing.Size(110, 21);
|
||||
this.cmbModoOperacao.Size = new System.Drawing.Size(145, 24);
|
||||
this.cmbModoOperacao.TabIndex = 13;
|
||||
this.cmbModoOperacao.SelectedIndexChanged += new System.EventHandler(this.cmbModoOperacao_SelectedIndexChanged);
|
||||
//
|
||||
// btnKinect
|
||||
//
|
||||
this.btnKinect.Location = new System.Drawing.Point(5, 319);
|
||||
this.btnKinect.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnKinect.Name = "btnKinect";
|
||||
this.btnKinect.Size = new System.Drawing.Size(112, 25);
|
||||
this.btnKinect.TabIndex = 24;
|
||||
this.btnKinect.Text = "Kinect";
|
||||
this.btnKinect.UseVisualStyleBackColor = true;
|
||||
this.btnKinect.Click += new System.EventHandler(this.btnKinect_Click);
|
||||
//
|
||||
// frmPrincipal
|
||||
//
|
||||
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
|
||||
this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F);
|
||||
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
|
||||
this.ClientSize = new System.Drawing.Size(1028, 609);
|
||||
this.ClientSize = new System.Drawing.Size(1371, 750);
|
||||
this.Controls.Add(this.gpbOperacao);
|
||||
this.Controls.Add(this.gpbAtalhos);
|
||||
this.Controls.Add(this.gpbControleDirecional);
|
||||
|
|
@ -794,7 +799,7 @@ namespace AgroBase
|
|||
this.Controls.Add(this.gpbSensoriamento);
|
||||
this.Controls.Add(this.generalStrip);
|
||||
this.Controls.Add(this.gpbAcoes);
|
||||
this.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.Name = "frmPrincipal";
|
||||
this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
|
||||
this.Text = "Agro Base";
|
||||
|
|
@ -894,6 +899,7 @@ namespace AgroBase
|
|||
private System.Windows.Forms.Button btnAtuCalibragem;
|
||||
private System.Windows.Forms.Button btnSonar;
|
||||
private System.Windows.Forms.Button btnSimulador;
|
||||
private System.Windows.Forms.Button btnKinect;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -319,5 +319,11 @@ namespace AgroBase
|
|||
frmSimulacaoMapaGPS frm = new frmSimulacaoMapaGPS();
|
||||
frm.Show();
|
||||
}
|
||||
|
||||
private void btnKinect_Click(object sender, EventArgs e)
|
||||
{
|
||||
frmKinect frmKinect = new frmKinect();
|
||||
frmKinect.Show();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -213,7 +213,10 @@ namespace AgroBase.Comum
|
|||
|
||||
public void AdicionarMensagemFila(string Dados)
|
||||
{
|
||||
FilaService.AdicionarMensagemFila(Dispositivo, Dados);
|
||||
if (PortaCOM() != "")
|
||||
{
|
||||
FilaService.AdicionarMensagemFila(Dispositivo, Dados);
|
||||
}
|
||||
}
|
||||
|
||||
public Control InstanciarDispositivo(int index)
|
||||
|
|
|
|||
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Load Diff
File diff suppressed because one or more lines are too long
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|
|
@ -1 +1 @@
|
|||
8e2d0b7a37f6d69cae4c2fdfb49e5efe7022e4017728fe2df6b21acde94e1f59
|
||||
95c797dbe9373c4dcf5956870d3069604dc75d1e01e8901cbe99102cd73c9f40
|
||||
|
|
|
|||
|
|
@ -441,4 +441,7 @@ C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3pl
|
|||
C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\Debug\AgroBase.exe.config
|
||||
C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\Debug\AgroBase.exe
|
||||
C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\Debug\AgroBase.pdb
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.csproj.CopyComplete
|
||||
C:\ZendionINC\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.Forms.frmKinect.resources
|
||||
C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\Debug\Microsoft.Kinect.dll
|
||||
C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\Debug\Microsoft.Kinect.xml
|
||||
C:\ZendionINC\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.csproj.Up2Date
|
||||
|
|
|
|||
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
|
@ -0,0 +1,58 @@
|
|||
#include <Wire.h>
|
||||
|
||||
#define AS5600_ADDRESS 0x36 // Endereço I2C do AS5600
|
||||
int pino = 34;
|
||||
int _Angulo_Offset = 0;
|
||||
|
||||
void setup() {
|
||||
Serial.begin(115200);
|
||||
pinMode(pino, INPUT);
|
||||
Wire.begin();
|
||||
}
|
||||
|
||||
void loop() {
|
||||
int16_t angle = 0; //readAS5600Angle();
|
||||
double angle2 = AferirPosicao();
|
||||
Serial.print("Ângulo I2C: ");
|
||||
Serial.print(angle);
|
||||
Serial.print(", Ângulo PWM: ");
|
||||
Serial.println(angle2);
|
||||
|
||||
delay(1000); // Espera 1 segundo antes de fazer a próxima leitura
|
||||
}
|
||||
|
||||
int16_t readAS5600Angle() {
|
||||
Wire.beginTransmission(AS5600_ADDRESS); // Inicia comunicação com o sensor
|
||||
Wire.write(0x0E); // Endereço do registro que contém o valor do ângulo
|
||||
Wire.endTransmission(false); // Termina a transmissão
|
||||
|
||||
// Inicia a transmissão para leitura de dados
|
||||
Wire.requestFrom(AS5600_ADDRESS, 2); // Lê 2 bytes (16 bits) do registro de ângulo
|
||||
|
||||
// Espera até que os dados estejam disponíveis
|
||||
while (Wire.available() < 2) {
|
||||
delay(1);
|
||||
}
|
||||
|
||||
// Lê os dados
|
||||
uint16_t rawData = Wire.read();
|
||||
rawData = rawData << 8 | Wire.read(); // Junta os bytes para formar um inteiro
|
||||
|
||||
// Converte o valor para um ângulo em graus
|
||||
float angle = rawData * 360.0 / 4096.0;
|
||||
|
||||
return angle;
|
||||
}
|
||||
|
||||
double AferirPosicao() {
|
||||
// Lê o valor analógico do pino conectado à saída analógica do AS5600
|
||||
int sensorValue = analogRead(pino);
|
||||
// Converte a leitura para ângulo (0V a 3.3V corresponde a 0 a 360 graus)
|
||||
double _angulo = (sensorValue / 4095.0) * 360.0;
|
||||
// Ajusta o ângulo com o offset
|
||||
double angulo_com_offset = _angulo - _Angulo_Offset; // Considerando que o offset pode ser positivo ou negativo
|
||||
// Normaliza o ângulo para o intervalo de -180 a 180 graus
|
||||
while (angulo_com_offset > 180) angulo_com_offset -= 360;
|
||||
while (angulo_com_offset < -180) angulo_com_offset += 360;
|
||||
return angulo_com_offset;
|
||||
}
|
||||
|
|
@ -0,0 +1,29 @@
|
|||
import pygame
|
||||
from pykinect import nui
|
||||
|
||||
# Inicialize o pygame
|
||||
pygame.init()
|
||||
|
||||
# Crie uma janela
|
||||
screen = pygame.display.set_mode((640, 480), pygame.HWSURFACE | pygame.DOUBLEBUF, 32)
|
||||
|
||||
# Inicialize o Kinect
|
||||
kinect = nui.Runtime()
|
||||
|
||||
# Loop principal
|
||||
while True:
|
||||
# Verifique se há eventos de saída
|
||||
for event in pygame.event.get():
|
||||
if event.type == pygame.QUIT:
|
||||
kinect.close()
|
||||
pygame.quit()
|
||||
quit()
|
||||
|
||||
# Obtenha uma imagem da câmera RGB
|
||||
video = kinect.video_stream.get_next_frame()
|
||||
if video:
|
||||
frame_surface = pygame.image.frombuffer(video.image.bits, (video.image.width, video.image.height), "RGB").convert()
|
||||
screen.blit(frame_surface, (0, 0))
|
||||
|
||||
# Atualize a tela
|
||||
pygame.display.update()
|
||||
Loading…
Reference in New Issue