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atualizacoes do sonar

This commit is contained in:
Diego Freitas 2024-04-16 10:16:07 -03:00
parent c5dd908c8c
commit 89486293fe
30 changed files with 109 additions and 137 deletions
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AgroBase/.vs/AgroBase/v17/DocumentLayout.json
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6
AgroBase/AgroBase/Forms/frmPinout.cs
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@ -160,7 +160,7 @@ namespace AgroBase.Forms
chbMCP1.Checked = Pinout.ExpansorGPIO;
txtMCP1.Text = Pinout.EnderecoExpansor;
//Funcoes.ForEach(x => Pinos.Add(Enum.GetName(typeof(FuncoesPinout), x)));
Funcoes.ForEach(x => Pinos.Add(Enum.GetName(typeof(FuncoesPinout), x)));
foreach (var Dispositivo in Dispositivos)
{
@ -171,10 +171,6 @@ namespace AgroBase.Forms
cmbs.AddRange(gpbMCP1.Controls.OfType<ComboBox>().ToList());
foreach (var cmb in cmbs)
{
if (cmb.Name.Contains("A"))
{
}
cmb.SelectedIndexChanged -= Cmb_SelectedIndexChanged;
cmb.SelectedIndexChanged += Cmb_SelectedIndexChanged;
cmb.Items.Clear();

45
AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.Designer.cs generated
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@ -34,6 +34,8 @@
this.lblDistanciaOperacao = new System.Windows.Forms.Label();
this.btnIniciarSimulacao = new System.Windows.Forms.Button();
this.gpbSonar = new System.Windows.Forms.GroupBox();
this.chbMoverObstaculo = new System.Windows.Forms.CheckBox();
this.chbSonarVirando = new System.Windows.Forms.CheckBox();
this.btnAdicionarDeteccao = new System.Windows.Forms.Button();
this.lblAnguloFinal = new System.Windows.Forms.Label();
this.txtAnguloFinal = new System.Windows.Forms.TextBox();
@ -58,8 +60,6 @@
this.pnlOrientacaoTrajeto = new System.Windows.Forms.Panel();
this.pnlSonar = new System.Windows.Forms.Panel();
this.picSonar = new System.Windows.Forms.PictureBox();
this.chbSonarVirando = new System.Windows.Forms.CheckBox();
this.chbMoverObstaculo = new System.Windows.Forms.CheckBox();
this.pnlOpcoes.SuspendLayout();
this.gpbSonar.SuspendLayout();
this.gpbGPS.SuspendLayout();
@ -142,6 +142,26 @@
this.gpbSonar.TabStop = false;
this.gpbSonar.Text = "Sonar";
//
// chbMoverObstaculo
//
this.chbMoverObstaculo.AutoSize = true;
this.chbMoverObstaculo.Location = new System.Drawing.Point(165, 43);
this.chbMoverObstaculo.Name = "chbMoverObstaculo";
this.chbMoverObstaculo.Size = new System.Drawing.Size(129, 20);
this.chbMoverObstaculo.TabIndex = 29;
this.chbMoverObstaculo.Text = "Mover obstáculo";
this.chbMoverObstaculo.UseVisualStyleBackColor = true;
//
// chbSonarVirando
//
this.chbSonarVirando.AutoSize = true;
this.chbSonarVirando.Location = new System.Drawing.Point(165, 84);
this.chbSonarVirando.Name = "chbSonarVirando";
this.chbSonarVirando.Size = new System.Drawing.Size(117, 20);
this.chbSonarVirando.TabIndex = 28;
this.chbSonarVirando.Text = "Sonar atuando";
this.chbSonarVirando.UseVisualStyleBackColor = true;
//
// btnAdicionarDeteccao
//
this.btnAdicionarDeteccao.Location = new System.Drawing.Point(93, 79);
@ -386,26 +406,6 @@
this.picSonar.TabIndex = 0;
this.picSonar.TabStop = false;
//
// chbSonarVirando
//
this.chbSonarVirando.AutoSize = true;
this.chbSonarVirando.Location = new System.Drawing.Point(165, 84);
this.chbSonarVirando.Name = "chbSonarVirando";
this.chbSonarVirando.Size = new System.Drawing.Size(117, 20);
this.chbSonarVirando.TabIndex = 28;
this.chbSonarVirando.Text = "Sonar atuando";
this.chbSonarVirando.UseVisualStyleBackColor = true;
//
// chbMoverObstaculo
//
this.chbMoverObstaculo.AutoSize = true;
this.chbMoverObstaculo.Location = new System.Drawing.Point(165, 43);
this.chbMoverObstaculo.Name = "chbMoverObstaculo";
this.chbMoverObstaculo.Size = new System.Drawing.Size(129, 20);
this.chbMoverObstaculo.TabIndex = 29;
this.chbMoverObstaculo.Text = "Mover obstáculo";
this.chbMoverObstaculo.UseVisualStyleBackColor = true;
//
// frmSimulacaoMapaGPS
//
this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F);
@ -416,6 +416,7 @@
this.Controls.Add(this.pnlOpcoes);
this.Name = "frmSimulacaoMapaGPS";
this.Text = "frmSimulacaoMapaGPS";
this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.frmSimulacaoMapaGPS_FormClosing);
this.Load += new System.EventHandler(this.frmSimulacaoMapaGPS_Load);
this.pnlOpcoes.ResumeLayout(false);
this.pnlOpcoes.PerformLayout();

7
AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs
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@ -71,6 +71,11 @@ namespace AgroBase.Forms
Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal = new SonarModel(picSonar);
}
private void frmSimulacaoMapaGPS_FormClosing(object sender, FormClosingEventArgs e)
{
tmrSonar.Stop();
}
private void btnCarregar_Click(object sender, EventArgs e)
{
Variaveis.OperacaoEmAndamento.Mapa.btnCarregar_Click((Control) sender, e);
@ -285,5 +290,7 @@ namespace AgroBase.Forms
ObjetoDetectado = !ObjetoDetectado;
btnAdicionarDeteccao.Text = ObjetoDetectado ? "Del" : "Add";
}
}
}

2
AgroBase/AgroBase/Models/MapasModel.cs
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@ -195,8 +195,6 @@ namespace AgroBase.Models
// Calcular os waypoints de desvio
var waypointsDesvio = CalcularWaypointsDesvio(posicaoAtual, obstaculo, indiceInicioDesvio);
Console.WriteLine(obstaculo);
// Determinar o intervalo de waypoints a serem removidos
int indiceFinalDesvio = EncontrarIndiceFinalDesvio(TrajetoriaDinamica, waypointsDesvio.Last(), ((double)obstaculo.DistanciaMedia / 100) + ((double)obstaculo.DeslocamentoNecessarioDesvio * 2 / 100));
int quantidadeWaypointsRemover = indiceFinalDesvio - indiceInicioDesvio;

8
AgroBase/AgroBase/Models/Modules/DirecionalModel.cs
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@ -23,9 +23,8 @@ namespace AgroBase.Models.Modules
public static int LogsManter { get; set; } = 60;
public static PinoutDataModel Pinout { get; set; }
public static List<FuncoesPinout> Funcoes { get; set; } = new List<FuncoesPinout>()
{
FuncoesPinout.SDA,
FuncoesPinout.SCL
{
FuncoesPinout.Geral,
};
public List<DirSensoriamentoMotor> Motores { get; set; }
@ -134,7 +133,8 @@ namespace AgroBase.Models.Modules
_TaxaAmostragem.ToString("00000") + ";" + // 5 ~ 9
(AA_Ref000 ? "1" : "0") + ";" + // 11
(AA_Ref090 ? "1" : "0") + ";" + // 13
(AA_Ref270 ? "1" : "0"); // 15
(AA_Ref270 ? "1" : "0") + ";" + // 15
PinoutModel.PinoProtocolo(Pinout, Funcoes); // 17 ~ 18
Config.Add(ProtocoloMOD);
return Config;
}

20
AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs
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@ -212,7 +212,7 @@ namespace AgroBase.Models.Operacoes
Controle.BicosAtuados = Variaveis.OperacaoEmAndamento.DispAtu.Dados.BicosPulverizadores;
}
public void CalcularAnguloInclinacao()
public void CalcularAnguloInclinacao(StatusCarroMapa statusCarroRua)
{
double erroOrientacao = 0.0;
double anguloCarro = ReferencialRuaGPS.AnguloCarro;
@ -236,8 +236,8 @@ namespace AgroBase.Models.Operacoes
double erroPosicaoLateral = anguloCamera;
// Combina os erros. Ajuste os pesos conforme necessário para o seu caso específico.
double pesoOrientacao = 0.3;
double pesoPosicaoLateral = 0.7;
double pesoOrientacao = statusCarroRua == StatusCarroMapa.Direcionando ? 0.95 : 0.3;
double pesoPosicaoLateral = statusCarroRua == StatusCarroMapa.Direcionando ? 0.05 : 0.7;
double erroCombinado = (erroOrientacao * pesoOrientacao) + (erroPosicaoLateral * pesoPosicaoLateral);
var statusAtual = ReferencialRuaGPS.StatusAtual;
@ -254,10 +254,10 @@ namespace AgroBase.Models.Operacoes
public void CalculaDadosMovimentacaoAutonoma()
{
CalcularAnguloInclinacao();
var statusAtual = ReferencialRuaGPS.StatusAtual;
CalcularAnguloInclinacao(statusAtual);
if (statusAtual == StatusCarroMapa.Parado)
{
var BicosNaoAtuados = new List<AtuadorBicoModel>(Variaveis.OperacaoEmAndamento.DispAtu.Dados.BicosPulverizadores);
@ -268,7 +268,14 @@ namespace AgroBase.Models.Operacoes
}
else if (statusAtual == StatusCarroMapa.Direcionando)
{
Controle.RPM = Controle.RPM_Max;
if (Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.DesvioNecessario)
{
Controle.RPM = Controle.RPM_Min;
}
else
{
Controle.RPM = Controle.RPM_Max;
}
}
else if (statusAtual == StatusCarroMapa.EntrandoRua)
{
@ -300,7 +307,6 @@ namespace AgroBase.Models.Operacoes
Controle.RPM = 0;
CalcularManobra();
}
}
public void CalcularManobra()

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AgroBase/AgroBase/bin/Debug/parametersAtu.par
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@ -1 +1 @@
{"Conectado":false,"QuantidadeBicos":4,"DensidadeHerbicida":1.05,"CapacidadeReservatorio":30.0,"AtuacaoNivelAlto":true,"BicosPulverizadores":[{"ID":"B01","Posicao":1,"Atuado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":7.087499508697463},{"ID":"B02","Posicao":2,"Atuado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":16.642426432560772},{"ID":"B03","Posicao":3,"Atuado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":18.103588945512129},{"ID":"B04","Posicao":4,"Atuado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":18.437319738098896},{"ID":"B05","Posicao":5,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B06","Posicao":6,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B07","Posicao":7,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B08","Posicao":8,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B09","Posicao":9,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B10","Posicao":10,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0}],"BombaPressurizadora":{"ID":"BOMBA","BombaAtuada":false,"Ligado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[14,35,36,37,5],"PressaoSP":85.0,"Pressao":0.06,"Potencia":0.0},"Sensores":[{"LogGrafico":[],"ID":"FLXLN","Prioridade":23,"Descricao":"Fluxo na linha principal","Componente":198,"Aferir":true,"DelayAmostragem":300,"Inicializado":false,"Testando":false,"Funcoes":[25],"Parametros":[],"UnidadeMedida":"mL/s","Leituras":[0.0,0.0],"ValorMinimo":0.0,"ValorMaximo":25222.0,"LimiteMaximo":0.0,"LimiteMinimo":0.0},{"LogGrafico":[],"ID":"MASRS","Prioridade":3,"Descricao":"Massa do reservatório de herbicida","Componente":532,"Aferir":true,"DelayAmostragem":1000,"Inicializado":false,"Testando":false,"Funcoes":[22,23],"Parametros":[],"UnidadeMedida":"Kg","Leituras":[1124810.37],"ValorMinimo":-1.281631101976581E+32,"ValorMaximo":2.8836731440342142E+24,"LimiteMaximo":50.0,"LimiteMinimo":5.0},{"LogGrafico":[],"ID":"PRSLN","Prioridade":3,"Descricao":"Pressão na linha principal","Componente":333,"Aferir":true,"DelayAmostragem":1000,"Inicializado":false,"Testando":false,"Funcoes":[24],"Parametros":[["Vmin","000.00"],["Vmax","004.50"],["Pmax","174.04"]],"UnidadeMedida":"psi","Leituras":[0.06],"ValorMinimo":0.0,"ValorMaximo":127.63,"LimiteMaximo":120.0,"LimiteMinimo":60.0}],"PercentualInicioPulverizacao":0.3,"ScriptDeteccaoErvas":"green-detector.py","_MassaRef":0.8,"_MassaLeituraRef":40876.37,"_MassaLeituraExtra":1895800.0,"_MassaLeitura":1124810.37,"MassaReservatorio":15.089199554657128,"VolumeReservatorio":14.370666242530598,"PercentualReservatorio":47.902220808435324,"VolumeVazaoAferido":102.0,"_FluxoMlRef":102.0,"_FluxoPulsoRef":80.0,"_LeituraPulsos":0,"_LeituraPeriodo":0,"VazaoFluxoMLpS":0.0,"VolumeVazaoML":362.66307215324855,"_PressaoVmin":0.0,"_PressaoVmax":4.5,"_PressaoMax":174.045,"_LeituraPressao":857.0,"PressaoLinha":0.06,"PressaoLinhaCalc":26.71098437118437}
{"Conectado":false,"QuantidadeBicos":4,"DensidadeHerbicida":1.05,"CapacidadeReservatorio":30.0,"AtuacaoNivelAlto":true,"BicosPulverizadores":[{"ID":"B01","Posicao":1,"Atuado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":34.42987713140743},{"ID":"B02","Posicao":2,"Atuado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":14.876485059544191},{"ID":"B03","Posicao":3,"Atuado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":18.103588945512129},{"ID":"B04","Posicao":4,"Atuado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":18.437319738098896},{"ID":"B05","Posicao":5,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B06","Posicao":6,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B07","Posicao":7,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B08","Posicao":8,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B09","Posicao":9,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B10","Posicao":10,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0}],"BombaPressurizadora":{"ID":"BOMBA","BombaAtuada":false,"Ligado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[14,35,36,37,5],"PressaoSP":85.0,"Pressao":82.01,"Potencia":0.0},"Sensores":[{"LogGrafico":[],"ID":"FLXLN","Prioridade":23,"Descricao":"Fluxo na linha principal","Componente":198,"Aferir":true,"DelayAmostragem":300,"Inicializado":false,"Testando":false,"Funcoes":[25],"Parametros":[],"UnidadeMedida":"mL/s","Leituras":[0.0,0.0],"ValorMinimo":0.0,"ValorMaximo":25222.0,"LimiteMaximo":0.0,"LimiteMinimo":0.0},{"LogGrafico":[],"ID":"MASRS","Prioridade":3,"Descricao":"Massa do reservatório de herbicida","Componente":532,"Aferir":true,"DelayAmostragem":1000,"Inicializado":false,"Testando":false,"Funcoes":[22,23],"Parametros":[],"UnidadeMedida":"Kg","Leituras":[1117263.12],"ValorMinimo":-1.281631101976581E+32,"ValorMaximo":2.8836731440342142E+24,"LimiteMaximo":50.0,"LimiteMinimo":5.0},{"LogGrafico":[],"ID":"PRSLN","Prioridade":3,"Descricao":"Pressão na linha principal","Componente":333,"Aferir":true,"DelayAmostragem":1000,"Inicializado":false,"Testando":false,"Funcoes":[24],"Parametros":[["Vmin","000.00"],["Vmax","004.50"],["Pmax","174.04"]],"UnidadeMedida":"psi","Leituras":[82.01],"ValorMinimo":0.0,"ValorMaximo":127.63,"LimiteMaximo":120.0,"LimiteMinimo":60.0}],"PercentualInicioPulverizacao":0.3,"ScriptDeteccaoErvas":"green-detector.py","_MassaRef":0.8,"_MassaLeituraRef":40876.37,"_MassaLeituraExtra":1895800.0,"_MassaLeitura":1117263.12,"MassaReservatorio":15.236908365395459,"VolumeReservatorio":14.511341300376627,"PercentualReservatorio":48.371137667922085,"VolumeVazaoAferido":102.0,"_FluxoMlRef":102.0,"_FluxoPulsoRef":80.0,"_LeituraPulsos":0,"_LeituraPeriodo":0,"VazaoFluxoMLpS":0.0,"VolumeVazaoML":4886.8707027305372,"_PressaoVmin":0.0,"_PressaoVmax":4.5,"_PressaoMax":174.045,"_LeituraPressao":2631.0,"PressaoLinha":82.01,"PressaoLinhaCalc":82.0030336996337}

2
AgroBase/AgroBase/bin/Debug/parametersDir.par
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AgroBase/AgroBase/bin/Debug/pinoutDir.pin
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AgroBase/AgroBase/obj/Debug/AgroBase.csproj.GenerateResource.cache
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AgroBase/AgroBase/obj/Debug/AgroBase.pdb
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11
Firmware/Atuador/Atuador_v5/Atuador_v5.ino
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@ -783,8 +783,6 @@ void ProcessarProtocolo(String Protocolo, F_Code _funcao) {
int prioridade = ((String)Protocolo[20] + (String)Protocolo[21]).toInt();
TiposBarramentos pinoB = (TiposBarramentos)((String)Protocolo[23]).toInt();
int pino = ((String)Protocolo[24] + (String)Protocolo[25]).toInt();
TiposBarramentos pino2B = (TiposBarramentos)((String)Protocolo[27]).toInt();
int pino2 = ((String)Protocolo[28] + (String)Protocolo[29]).toInt();
switch (componente) {
case sFLX: {
@ -806,6 +804,9 @@ void ProcessarProtocolo(String Protocolo, F_Code _funcao) {
case sMAS: {
SensorMassa* _sensor = SMPorID(ID);
if (sensor_ativado) {
TiposBarramentos pino2B = (TiposBarramentos)((String)Protocolo[27]).toInt();
int pino2 = ((String)Protocolo[28] + (String)Protocolo[29]).toInt();
if (Conectar) {
_sensor->_pinoDT = PinoModel(pino, pinoB, _INPUT, DIGITAL);
_sensor->_pinoSCK = PinoModel(pino2, pino2B, _INPUT, DIGITAL);
@ -823,9 +824,9 @@ void ProcessarProtocolo(String Protocolo, F_Code _funcao) {
case sPRS: {
SensorPressao* _sensor = SPPorID(ID);
if (sensor_ativado) {
double Vmin = ((String)Protocolo[31] + (String)Protocolo[32] + (String)Protocolo[33] + (String)Protocolo[34] + (String)Protocolo[35] + (String)Protocolo[36]).toDouble();
double Vmax = ((String)Protocolo[38] + (String)Protocolo[39] + (String)Protocolo[40] + (String)Protocolo[41] + (String)Protocolo[42] + (String)Protocolo[43]).toDouble();
double Pmax = ((String)Protocolo[45] + (String)Protocolo[46] + (String)Protocolo[47] + (String)Protocolo[48] + (String)Protocolo[49] + (String)Protocolo[50]).toDouble();
double Vmin = ((String)Protocolo[27] + (String)Protocolo[28] + (String)Protocolo[29] + (String)Protocolo[30] + (String)Protocolo[31] + (String)Protocolo[32]).toDouble();
double Vmax = ((String)Protocolo[34] + (String)Protocolo[35] + (String)Protocolo[36] + (String)Protocolo[37] + (String)Protocolo[38] + (String)Protocolo[39]).toDouble();
double Pmax = ((String)Protocolo[41] + (String)Protocolo[42] + (String)Protocolo[43] + (String)Protocolo[44] + (String)Protocolo[45] + (String)Protocolo[46]).toDouble();
if (Conectar) {
_sensor->_Vmin = Vmin;
_sensor->_Vmax = Vmax;

11
Firmware/Direcional/Direcional_v5/Direcional_v5.ino
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@ -24,7 +24,7 @@ double _Margem = 0.5;
int dutyCycle = 512;
double _frequencia = 4000;
PinoModel _pinoGeral;
class Motor {
public:
@ -463,7 +463,7 @@ Motor* MotorPorID(String ID) {
void setup() {
Serial.begin(_baudRate);
iniciarMCP(D_Code, 8, 18, 0x20, false);
//iniciarMCP(D_Code, 8, 18, 0x20, false);
}
void loop() {
@ -490,6 +490,13 @@ void ProcessarProtocolo(String Protocolo, F_Code _funcao) {
AA_Ref000 = (String)Protocolo[11] == "1";
AA_Ref090 = (String)Protocolo[13] == "1";
AA_Ref270 = (String)Protocolo[15] == "1";
TiposBarramentos _barramento = (TiposBarramentos)((String)Protocolo[17]).toInt();
int _num = ((String)Protocolo[18] + (String)Protocolo[19]).toInt();
_pinoGeral = PinoModel(_num, _barramento, _OUTPUT);
if (_pinoGeral.Definido()) {
_pinoGeral.set(true);
}
vTaskDelay(pdMS_TO_TICKS(100));