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offset na calibragem do motor DT hard coded

This commit is contained in:
Diego Freitas 2026-08-11 19:39:00 -03:00
parent a7f04f4016
commit b72d0c4666
1 changed files with 5 additions and 3 deletions
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8
AgroBase/AgroBase/Models/Modules/DirecionalModel.cs
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@ -473,7 +473,9 @@ namespace AgroBase.Models.Modules
_sentido = _sentido == Sentido.Horario ? Sentido.Antihorario : Sentido.Horario;
Variaveis.MostrarLog($"[DirecionalModel] [ReferenciaMotorRelativo] [DIR {Mod_ID}] - Invertendo Sentido de Giro para {_sentido.ToString()}");
_anguloSP = CalcularCentroCompensado(AnguloEntrada, AnguloSaida, _sentido);
double offset = Mod_ID == "DT" ? -2 : 0;
_anguloSP = CalcularCentroCompensado(AnguloEntrada, AnguloSaida, _sentido, offset);
}
verificacoesAngulo++;
@ -501,7 +503,7 @@ namespace AgroBase.Models.Modules
return VelocidadeGiro;
}
private double CalcularCentroCompensado(double entrada, double saida, Sentido sentido)
private double CalcularCentroCompensado(double entrada, double saida, Sentido sentido, double offset)
{
double centro = (entrada + saida) / 2.0;
double folga = Math.Abs(entrada - saida);
@ -511,7 +513,7 @@ namespace AgroBase.Models.Modules
double compensacao = 0; // (folga / 2.0) * direcao;
double centroCompensado = centro + compensacao;
double centroCompensado = centro + compensacao + offset;
Variaveis.MostrarLog($"[DirecionalModel] [CalcularCentroCompensado] [DIR {Mod_ID}] - Folga: {folga}, Entrada: {entrada}, Saida: {saida}, Centro: {centro}, Compensacao: {compensacao}, Centro Compensado: {centroCompensado}");