Zendion/agrobot_base
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agrobot_base
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ajustes no controle do driver

This commit is contained in:
Diego Freitas 2024-06-04 13:57:23 -03:00
parent 9f5afbd698
commit e56deab0ed
29 changed files with 541 additions and 345 deletions
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AgroBase/.vs/AgroBase/FileContentIndex/c66b2bce-481e-4f3c-a4fd-cc760aa95680.vsidx
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AgroBase/.vs/AgroBase/FileContentIndex/d2cabf38-662c-45fd-a7ae-fa7473423ed7.vsidx Normal file
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AgroBase/.vs/AgroBase/v17/.suo
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AgroBase/.vs/AgroBase/v17/DocumentLayout.json
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332
AgroBase/AgroBase/Forms/frmAcompanhamento.Designer.cs generated
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@ -29,18 +29,18 @@ namespace AgroBase.Forms
/// </summary>
private void InitializeComponent()
{
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea1 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend1 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series1 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea2 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend2 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series2 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea3 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend3 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series3 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea4 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend4 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series4 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea5 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend5 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series5 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea6 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend6 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series6 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea7 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend7 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series7 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea8 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend8 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series8 = new System.Windows.Forms.DataVisualization.Charting.Series();
this.pnlFundo = new System.Windows.Forms.Panel();
this.lblB12V = new System.Windows.Forms.Label();
this.lblB7V2 = new System.Windows.Forms.Label();
@ -94,6 +94,7 @@ namespace AgroBase.Forms
this.lblEFM_Sentido = new System.Windows.Forms.Label();
this.lblEFM_SentidoSP = new System.Windows.Forms.Label();
this.lblEFM_RPMSP = new System.Windows.Forms.Label();
this.lblEFM_Tensao = new System.Windows.Forms.Label();
this.lblEFM_Velocidade = new System.Windows.Forms.Label();
this.lblEFM_RPM = new System.Windows.Forms.Label();
this.btnDTReverter = new System.Windows.Forms.Button();
@ -105,30 +106,29 @@ namespace AgroBase.Forms
this.lblDTA = new System.Windows.Forms.Label();
this.lblDTA_SP = new System.Windows.Forms.Label();
this.btnDTReferenciar = new System.Windows.Forms.Button();
this.lblM3 = new System.Windows.Forms.Label();
this.lblM_DT = new System.Windows.Forms.Label();
this.picDT = new System.Windows.Forms.PictureBox();
this.lblDFA_SentidoSP = new System.Windows.Forms.Label();
this.lblDFA_Sentido = new System.Windows.Forms.Label();
this.lblDFA = new System.Windows.Forms.Label();
this.lblDFA_SP = new System.Windows.Forms.Label();
this.btnDFReferenciar = new System.Windows.Forms.Button();
this.lblM4 = new System.Windows.Forms.Label();
this.lblM_DF = new System.Windows.Forms.Label();
this.picDF = new System.Windows.Forms.PictureBox();
this.lblETA_SentidoSP = new System.Windows.Forms.Label();
this.lblETA_Sentido = new System.Windows.Forms.Label();
this.lblETA = new System.Windows.Forms.Label();
this.lblETA_SP = new System.Windows.Forms.Label();
this.btnETReferenciar = new System.Windows.Forms.Button();
this.lblM2 = new System.Windows.Forms.Label();
this.lblM_ET = new System.Windows.Forms.Label();
this.picET = new System.Windows.Forms.PictureBox();
this.lblEFA_SentidoSP = new System.Windows.Forms.Label();
this.lblEFA_Sentido = new System.Windows.Forms.Label();
this.lblEFA = new System.Windows.Forms.Label();
this.lblEFA_SP = new System.Windows.Forms.Label();
this.btnEFReferenciar = new System.Windows.Forms.Button();
this.lblM1 = new System.Windows.Forms.Label();
this.lblM_EF = new System.Windows.Forms.Label();
this.picEF = new System.Windows.Forms.PictureBox();
this.lblEFM_Tensao = new System.Windows.Forms.Label();
this.pnlFundo.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.chartET)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.chartDT)).BeginInit();
@ -209,41 +209,41 @@ namespace AgroBase.Forms
this.pnlFundo.Controls.Add(this.lblDTA);
this.pnlFundo.Controls.Add(this.lblDTA_SP);
this.pnlFundo.Controls.Add(this.btnDTReferenciar);
this.pnlFundo.Controls.Add(this.lblM3);
this.pnlFundo.Controls.Add(this.lblM_DT);
this.pnlFundo.Controls.Add(this.picDT);
this.pnlFundo.Controls.Add(this.lblDFA_SentidoSP);
this.pnlFundo.Controls.Add(this.lblDFA_Sentido);
this.pnlFundo.Controls.Add(this.lblDFA);
this.pnlFundo.Controls.Add(this.lblDFA_SP);
this.pnlFundo.Controls.Add(this.btnDFReferenciar);
this.pnlFundo.Controls.Add(this.lblM4);
this.pnlFundo.Controls.Add(this.lblM_DF);
this.pnlFundo.Controls.Add(this.picDF);
this.pnlFundo.Controls.Add(this.lblETA_SentidoSP);
this.pnlFundo.Controls.Add(this.lblETA_Sentido);
this.pnlFundo.Controls.Add(this.lblETA);
this.pnlFundo.Controls.Add(this.lblETA_SP);
this.pnlFundo.Controls.Add(this.btnETReferenciar);
this.pnlFundo.Controls.Add(this.lblM2);
this.pnlFundo.Controls.Add(this.lblM_ET);
this.pnlFundo.Controls.Add(this.picET);
this.pnlFundo.Controls.Add(this.lblEFA_SentidoSP);
this.pnlFundo.Controls.Add(this.lblEFA_Sentido);
this.pnlFundo.Controls.Add(this.lblEFA);
this.pnlFundo.Controls.Add(this.lblEFA_SP);
this.pnlFundo.Controls.Add(this.btnEFReferenciar);
this.pnlFundo.Controls.Add(this.lblM1);
this.pnlFundo.Controls.Add(this.lblM_EF);
this.pnlFundo.Controls.Add(this.picEF);
this.pnlFundo.Dock = System.Windows.Forms.DockStyle.Fill;
this.pnlFundo.Location = new System.Drawing.Point(0, 0);
this.pnlFundo.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.pnlFundo.Name = "pnlFundo";
this.pnlFundo.Size = new System.Drawing.Size(1924, 922);
this.pnlFundo.Size = new System.Drawing.Size(1957, 998);
this.pnlFundo.TabIndex = 0;
//
// lblB12V
//
this.lblB12V.AutoSize = true;
this.lblB12V.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblB12V.Location = new System.Drawing.Point(853, 807);
this.lblB12V.Location = new System.Drawing.Point(874, 827);
this.lblB12V.Name = "lblB12V";
this.lblB12V.Size = new System.Drawing.Size(167, 15);
this.lblB12V.TabIndex = 177;
@ -253,7 +253,7 @@ namespace AgroBase.Forms
//
this.lblB7V2.AutoSize = true;
this.lblB7V2.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblB7V2.Location = new System.Drawing.Point(853, 791);
this.lblB7V2.Location = new System.Drawing.Point(874, 806);
this.lblB7V2.Name = "lblB7V2";
this.lblB7V2.Size = new System.Drawing.Size(167, 15);
this.lblB7V2.TabIndex = 176;
@ -263,7 +263,7 @@ namespace AgroBase.Forms
//
this.lblB5V.AutoSize = true;
this.lblB5V.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblB5V.Location = new System.Drawing.Point(853, 776);
this.lblB5V.Location = new System.Drawing.Point(874, 786);
this.lblB5V.Name = "lblB5V";
this.lblB5V.Size = new System.Drawing.Size(160, 15);
this.lblB5V.TabIndex = 175;
@ -273,7 +273,7 @@ namespace AgroBase.Forms
//
this.lblB3V.AutoSize = true;
this.lblB3V.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblB3V.Location = new System.Drawing.Point(852, 761);
this.lblB3V.Location = new System.Drawing.Point(874, 767);
this.lblB3V.Name = "lblB3V";
this.lblB3V.Size = new System.Drawing.Size(160, 15);
this.lblB3V.TabIndex = 174;
@ -283,7 +283,7 @@ namespace AgroBase.Forms
//
this.lblTemperatura.AutoSize = true;
this.lblTemperatura.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblTemperatura.Location = new System.Drawing.Point(1060, 746);
this.lblTemperatura.Location = new System.Drawing.Point(848, 597);
this.lblTemperatura.Name = "lblTemperatura";
this.lblTemperatura.Size = new System.Drawing.Size(43, 15);
this.lblTemperatura.TabIndex = 173;
@ -293,7 +293,7 @@ namespace AgroBase.Forms
//
this.lblTensao.AutoSize = true;
this.lblTensao.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblTensao.Location = new System.Drawing.Point(852, 746);
this.lblTensao.Location = new System.Drawing.Point(874, 751);
this.lblTensao.Name = "lblTensao";
this.lblTensao.Size = new System.Drawing.Size(178, 15);
this.lblTensao.TabIndex = 171;
@ -302,7 +302,7 @@ namespace AgroBase.Forms
// lblDistanciaParcial
//
this.lblDistanciaParcial.AutoSize = true;
this.lblDistanciaParcial.Location = new System.Drawing.Point(852, 233);
this.lblDistanciaParcial.Location = new System.Drawing.Point(873, 229);
this.lblDistanciaParcial.Name = "lblDistanciaParcial";
this.lblDistanciaParcial.Size = new System.Drawing.Size(199, 16);
this.lblDistanciaParcial.TabIndex = 170;
@ -311,7 +311,7 @@ namespace AgroBase.Forms
// lblDistanciaTotal
//
this.lblDistanciaTotal.AutoSize = true;
this.lblDistanciaTotal.Location = new System.Drawing.Point(852, 217);
this.lblDistanciaTotal.Location = new System.Drawing.Point(873, 213);
this.lblDistanciaTotal.Name = "lblDistanciaTotal";
this.lblDistanciaTotal.Size = new System.Drawing.Size(183, 16);
this.lblDistanciaTotal.TabIndex = 169;
@ -320,7 +320,7 @@ namespace AgroBase.Forms
// lblTempoEmMovimento
//
this.lblTempoEmMovimento.AutoSize = true;
this.lblTempoEmMovimento.Location = new System.Drawing.Point(852, 199);
this.lblTempoEmMovimento.Location = new System.Drawing.Point(870, 197);
this.lblTempoEmMovimento.Name = "lblTempoEmMovimento";
this.lblTempoEmMovimento.Size = new System.Drawing.Size(217, 16);
this.lblTempoEmMovimento.TabIndex = 168;
@ -329,7 +329,7 @@ namespace AgroBase.Forms
// lblTempoConectado
//
this.lblTempoConectado.AutoSize = true;
this.lblTempoConectado.Location = new System.Drawing.Point(852, 182);
this.lblTempoConectado.Location = new System.Drawing.Point(870, 181);
this.lblTempoConectado.Name = "lblTempoConectado";
this.lblTempoConectado.Size = new System.Drawing.Size(193, 16);
this.lblTempoConectado.TabIndex = 167;
@ -338,7 +338,7 @@ namespace AgroBase.Forms
// chbDTLivre
//
this.chbDTLivre.AutoSize = true;
this.chbDTLivre.Location = new System.Drawing.Point(1045, 892);
this.chbDTLivre.Location = new System.Drawing.Point(1027, 889);
this.chbDTLivre.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.chbDTLivre.Name = "chbDTLivre";
this.chbDTLivre.Size = new System.Drawing.Size(58, 20);
@ -349,7 +349,7 @@ namespace AgroBase.Forms
// chbDTControlar
//
this.chbDTControlar.AutoSize = true;
this.chbDTControlar.Location = new System.Drawing.Point(1019, 865);
this.chbDTControlar.Location = new System.Drawing.Point(1006, 867);
this.chbDTControlar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.chbDTControlar.Name = "chbDTControlar";
this.chbDTControlar.Size = new System.Drawing.Size(83, 20);
@ -360,7 +360,7 @@ namespace AgroBase.Forms
// chbETLivre
//
this.chbETLivre.AutoSize = true;
this.chbETLivre.Location = new System.Drawing.Point(852, 892);
this.chbETLivre.Location = new System.Drawing.Point(873, 889);
this.chbETLivre.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.chbETLivre.Name = "chbETLivre";
this.chbETLivre.Size = new System.Drawing.Size(58, 20);
@ -371,7 +371,7 @@ namespace AgroBase.Forms
// chbETControlar
//
this.chbETControlar.AutoSize = true;
this.chbETControlar.Location = new System.Drawing.Point(852, 865);
this.chbETControlar.Location = new System.Drawing.Point(873, 867);
this.chbETControlar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.chbETControlar.Name = "chbETControlar";
this.chbETControlar.Size = new System.Drawing.Size(83, 20);
@ -382,7 +382,7 @@ namespace AgroBase.Forms
// chbDFLivre
//
this.chbDFLivre.AutoSize = true;
this.chbDFLivre.Location = new System.Drawing.Point(1045, 106);
this.chbDFLivre.Location = new System.Drawing.Point(1027, 109);
this.chbDFLivre.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.chbDFLivre.Name = "chbDFLivre";
this.chbDFLivre.Size = new System.Drawing.Size(58, 20);
@ -393,7 +393,7 @@ namespace AgroBase.Forms
// chbDFControlar
//
this.chbDFControlar.AutoSize = true;
this.chbDFControlar.Location = new System.Drawing.Point(1019, 79);
this.chbDFControlar.Location = new System.Drawing.Point(1006, 88);
this.chbDFControlar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.chbDFControlar.Name = "chbDFControlar";
this.chbDFControlar.Size = new System.Drawing.Size(83, 20);
@ -404,7 +404,7 @@ namespace AgroBase.Forms
// chbEFLivre
//
this.chbEFLivre.AutoSize = true;
this.chbEFLivre.Location = new System.Drawing.Point(852, 106);
this.chbEFLivre.Location = new System.Drawing.Point(873, 109);
this.chbEFLivre.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.chbEFLivre.Name = "chbEFLivre";
this.chbEFLivre.Size = new System.Drawing.Size(58, 20);
@ -415,7 +415,7 @@ namespace AgroBase.Forms
// chbEFControlar
//
this.chbEFControlar.AutoSize = true;
this.chbEFControlar.Location = new System.Drawing.Point(852, 79);
this.chbEFControlar.Location = new System.Drawing.Point(873, 88);
this.chbEFControlar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.chbEFControlar.Name = "chbEFControlar";
this.chbEFControlar.Size = new System.Drawing.Size(83, 20);
@ -425,68 +425,68 @@ namespace AgroBase.Forms
//
// chartET
//
chartArea1.Name = "ChartArea1";
this.chartET.ChartAreas.Add(chartArea1);
legend1.Name = "Legend1";
this.chartET.Legends.Add(legend1);
chartArea5.Name = "ChartArea1";
this.chartET.ChartAreas.Add(chartArea5);
legend5.Name = "Legend1";
this.chartET.Legends.Add(legend5);
this.chartET.Location = new System.Drawing.Point(268, 505);
this.chartET.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.chartET.Name = "chartET";
series1.ChartArea = "ChartArea1";
series1.Legend = "Legend1";
series1.Name = "Series1";
this.chartET.Series.Add(series1);
series5.ChartArea = "ChartArea1";
series5.Legend = "Legend1";
series5.Name = "Series1";
this.chartET.Series.Add(series5);
this.chartET.Size = new System.Drawing.Size(579, 480);
this.chartET.TabIndex = 94;
this.chartET.Text = "chart1";
//
// chartDT
//
chartArea2.Name = "ChartArea1";
this.chartDT.ChartAreas.Add(chartArea2);
legend2.Name = "Legend1";
this.chartDT.Legends.Add(legend2);
chartArea6.Name = "ChartArea1";
this.chartDT.ChartAreas.Add(chartArea6);
legend6.Name = "Legend1";
this.chartDT.Legends.Add(legend6);
this.chartDT.Location = new System.Drawing.Point(1112, 505);
this.chartDT.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.chartDT.Name = "chartDT";
series2.ChartArea = "ChartArea1";
series2.Legend = "Legend1";
series2.Name = "Series1";
this.chartDT.Series.Add(series2);
series6.ChartArea = "ChartArea1";
series6.Legend = "Legend1";
series6.Name = "Series1";
this.chartDT.Series.Add(series6);
this.chartDT.Size = new System.Drawing.Size(577, 480);
this.chartDT.TabIndex = 110;
this.chartDT.Text = "chart1";
//
// chartDF
//
chartArea3.Name = "ChartArea1";
this.chartDF.ChartAreas.Add(chartArea3);
legend3.Name = "Legend1";
this.chartDF.Legends.Add(legend3);
chartArea7.Name = "ChartArea1";
this.chartDF.ChartAreas.Add(chartArea7);
legend7.Name = "Legend1";
this.chartDF.Legends.Add(legend7);
this.chartDF.Location = new System.Drawing.Point(1112, 5);
this.chartDF.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.chartDF.Name = "chartDF";
series3.ChartArea = "ChartArea1";
series3.Legend = "Legend1";
series3.Name = "Series1";
this.chartDF.Series.Add(series3);
series7.ChartArea = "ChartArea1";
series7.Legend = "Legend1";
series7.Name = "Series1";
this.chartDF.Series.Add(series7);
this.chartDF.Size = new System.Drawing.Size(577, 480);
this.chartDF.TabIndex = 109;
this.chartDF.Text = "chart1";
//
// chartEF
//
chartArea4.Name = "ChartArea1";
this.chartEF.ChartAreas.Add(chartArea4);
legend4.Name = "Legend1";
this.chartEF.Legends.Add(legend4);
chartArea8.Name = "ChartArea1";
this.chartEF.ChartAreas.Add(chartArea8);
legend8.Name = "Legend1";
this.chartEF.Legends.Add(legend8);
this.chartEF.Location = new System.Drawing.Point(268, 5);
this.chartEF.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.chartEF.Name = "chartEF";
series4.ChartArea = "ChartArea1";
series4.Legend = "Legend1";
series4.Name = "Series1";
this.chartEF.Series.Add(series4);
series8.ChartArea = "ChartArea1";
series8.Legend = "Legend1";
series8.Name = "Series1";
this.chartEF.Series.Add(series8);
this.chartEF.Size = new System.Drawing.Size(579, 480);
this.chartEF.TabIndex = 93;
this.chartEF.Text = "chart1";
@ -505,7 +505,7 @@ namespace AgroBase.Forms
// lblDTM_Corrente
//
this.lblDTM_Corrente.AutoSize = true;
this.lblDTM_Corrente.Location = new System.Drawing.Point(1697, 972);
this.lblDTM_Corrente.Location = new System.Drawing.Point(1692, 965);
this.lblDTM_Corrente.Name = "lblDTM_Corrente";
this.lblDTM_Corrente.Size = new System.Drawing.Size(80, 16);
this.lblDTM_Corrente.TabIndex = 157;
@ -514,7 +514,7 @@ namespace AgroBase.Forms
// lblDTM_Temperatura
//
this.lblDTM_Temperatura.AutoSize = true;
this.lblDTM_Temperatura.Location = new System.Drawing.Point(1697, 955);
this.lblDTM_Temperatura.Location = new System.Drawing.Point(1692, 948);
this.lblDTM_Temperatura.Name = "lblDTM_Temperatura";
this.lblDTM_Temperatura.Size = new System.Drawing.Size(112, 16);
this.lblDTM_Temperatura.TabIndex = 156;
@ -523,7 +523,7 @@ namespace AgroBase.Forms
// lblDTM_Sentido
//
this.lblDTM_Sentido.AutoSize = true;
this.lblDTM_Sentido.Location = new System.Drawing.Point(1697, 938);
this.lblDTM_Sentido.Location = new System.Drawing.Point(1694, 932);
this.lblDTM_Sentido.Name = "lblDTM_Sentido";
this.lblDTM_Sentido.Size = new System.Drawing.Size(104, 16);
this.lblDTM_Sentido.TabIndex = 155;
@ -532,7 +532,7 @@ namespace AgroBase.Forms
// lblDTM_SentidoSP
//
this.lblDTM_SentidoSP.AutoSize = true;
this.lblDTM_SentidoSP.Location = new System.Drawing.Point(1697, 921);
this.lblDTM_SentidoSP.Location = new System.Drawing.Point(1692, 916);
this.lblDTM_SentidoSP.Name = "lblDTM_SentidoSP";
this.lblDTM_SentidoSP.Size = new System.Drawing.Size(125, 16);
this.lblDTM_SentidoSP.TabIndex = 154;
@ -541,7 +541,7 @@ namespace AgroBase.Forms
// lblDTM_RPMSP
//
this.lblDTM_RPMSP.AutoSize = true;
this.lblDTM_RPMSP.Location = new System.Drawing.Point(1697, 853);
this.lblDTM_RPMSP.Location = new System.Drawing.Point(1692, 852);
this.lblDTM_RPMSP.Name = "lblDTM_RPMSP";
this.lblDTM_RPMSP.Size = new System.Drawing.Size(71, 16);
this.lblDTM_RPMSP.TabIndex = 153;
@ -550,7 +550,7 @@ namespace AgroBase.Forms
// lblDTM_Tensao
//
this.lblDTM_Tensao.AutoSize = true;
this.lblDTM_Tensao.Location = new System.Drawing.Point(1697, 903);
this.lblDTM_Tensao.Location = new System.Drawing.Point(1692, 900);
this.lblDTM_Tensao.Name = "lblDTM_Tensao";
this.lblDTM_Tensao.Size = new System.Drawing.Size(76, 16);
this.lblDTM_Tensao.TabIndex = 152;
@ -559,7 +559,7 @@ namespace AgroBase.Forms
// lblDTM_Velocidade
//
this.lblDTM_Velocidade.AutoSize = true;
this.lblDTM_Velocidade.Location = new System.Drawing.Point(1697, 887);
this.lblDTM_Velocidade.Location = new System.Drawing.Point(1692, 884);
this.lblDTM_Velocidade.Name = "lblDTM_Velocidade";
this.lblDTM_Velocidade.Size = new System.Drawing.Size(123, 16);
this.lblDTM_Velocidade.TabIndex = 151;
@ -568,7 +568,7 @@ namespace AgroBase.Forms
// lblDTM_RPM
//
this.lblDTM_RPM.AutoSize = true;
this.lblDTM_RPM.Location = new System.Drawing.Point(1697, 870);
this.lblDTM_RPM.Location = new System.Drawing.Point(1692, 868);
this.lblDTM_RPM.Name = "lblDTM_RPM";
this.lblDTM_RPM.Size = new System.Drawing.Size(50, 16);
this.lblDTM_RPM.TabIndex = 150;
@ -577,7 +577,7 @@ namespace AgroBase.Forms
// lblDFM_Corrente
//
this.lblDFM_Corrente.AutoSize = true;
this.lblDFM_Corrente.Location = new System.Drawing.Point(1697, 473);
this.lblDFM_Corrente.Location = new System.Drawing.Point(1695, 464);
this.lblDFM_Corrente.Name = "lblDFM_Corrente";
this.lblDFM_Corrente.Size = new System.Drawing.Size(80, 16);
this.lblDFM_Corrente.TabIndex = 149;
@ -586,7 +586,7 @@ namespace AgroBase.Forms
// lblDFM_Temperatura
//
this.lblDFM_Temperatura.AutoSize = true;
this.lblDFM_Temperatura.Location = new System.Drawing.Point(1697, 455);
this.lblDFM_Temperatura.Location = new System.Drawing.Point(1695, 448);
this.lblDFM_Temperatura.Name = "lblDFM_Temperatura";
this.lblDFM_Temperatura.Size = new System.Drawing.Size(112, 16);
this.lblDFM_Temperatura.TabIndex = 148;
@ -595,7 +595,7 @@ namespace AgroBase.Forms
// lblDFM_Sentido
//
this.lblDFM_Sentido.AutoSize = true;
this.lblDFM_Sentido.Location = new System.Drawing.Point(1697, 439);
this.lblDFM_Sentido.Location = new System.Drawing.Point(1694, 432);
this.lblDFM_Sentido.Name = "lblDFM_Sentido";
this.lblDFM_Sentido.Size = new System.Drawing.Size(104, 16);
this.lblDFM_Sentido.TabIndex = 147;
@ -604,7 +604,7 @@ namespace AgroBase.Forms
// lblDFM_SentidoSP
//
this.lblDFM_SentidoSP.AutoSize = true;
this.lblDFM_SentidoSP.Location = new System.Drawing.Point(1697, 422);
this.lblDFM_SentidoSP.Location = new System.Drawing.Point(1695, 416);
this.lblDFM_SentidoSP.Name = "lblDFM_SentidoSP";
this.lblDFM_SentidoSP.Size = new System.Drawing.Size(125, 16);
this.lblDFM_SentidoSP.TabIndex = 146;
@ -613,7 +613,7 @@ namespace AgroBase.Forms
// lblDFM_RPMSP
//
this.lblDFM_RPMSP.AutoSize = true;
this.lblDFM_RPMSP.Location = new System.Drawing.Point(1697, 354);
this.lblDFM_RPMSP.Location = new System.Drawing.Point(1695, 352);
this.lblDFM_RPMSP.Name = "lblDFM_RPMSP";
this.lblDFM_RPMSP.Size = new System.Drawing.Size(71, 16);
this.lblDFM_RPMSP.TabIndex = 145;
@ -622,7 +622,7 @@ namespace AgroBase.Forms
// lblDFM_Tensao
//
this.lblDFM_Tensao.AutoSize = true;
this.lblDFM_Tensao.Location = new System.Drawing.Point(1697, 405);
this.lblDFM_Tensao.Location = new System.Drawing.Point(1695, 400);
this.lblDFM_Tensao.Name = "lblDFM_Tensao";
this.lblDFM_Tensao.Size = new System.Drawing.Size(76, 16);
this.lblDFM_Tensao.TabIndex = 144;
@ -631,7 +631,7 @@ namespace AgroBase.Forms
// lblDFM_Velocidade
//
this.lblDFM_Velocidade.AutoSize = true;
this.lblDFM_Velocidade.Location = new System.Drawing.Point(1697, 388);
this.lblDFM_Velocidade.Location = new System.Drawing.Point(1695, 384);
this.lblDFM_Velocidade.Name = "lblDFM_Velocidade";
this.lblDFM_Velocidade.Size = new System.Drawing.Size(123, 16);
this.lblDFM_Velocidade.TabIndex = 143;
@ -640,7 +640,7 @@ namespace AgroBase.Forms
// lblDFM_RPM
//
this.lblDFM_RPM.AutoSize = true;
this.lblDFM_RPM.Location = new System.Drawing.Point(1697, 370);
this.lblDFM_RPM.Location = new System.Drawing.Point(1695, 368);
this.lblDFM_RPM.Name = "lblDFM_RPM";
this.lblDFM_RPM.Size = new System.Drawing.Size(50, 16);
this.lblDFM_RPM.TabIndex = 142;
@ -649,7 +649,7 @@ namespace AgroBase.Forms
// lblETM_Corrente
//
this.lblETM_Corrente.AutoSize = true;
this.lblETM_Corrente.Location = new System.Drawing.Point(13, 972);
this.lblETM_Corrente.Location = new System.Drawing.Point(12, 964);
this.lblETM_Corrente.Name = "lblETM_Corrente";
this.lblETM_Corrente.Size = new System.Drawing.Size(80, 16);
this.lblETM_Corrente.TabIndex = 141;
@ -658,7 +658,7 @@ namespace AgroBase.Forms
// lblETM_Temperatura
//
this.lblETM_Temperatura.AutoSize = true;
this.lblETM_Temperatura.Location = new System.Drawing.Point(13, 955);
this.lblETM_Temperatura.Location = new System.Drawing.Point(12, 948);
this.lblETM_Temperatura.Name = "lblETM_Temperatura";
this.lblETM_Temperatura.Size = new System.Drawing.Size(112, 16);
this.lblETM_Temperatura.TabIndex = 140;
@ -667,7 +667,7 @@ namespace AgroBase.Forms
// lblETM_Sentido
//
this.lblETM_Sentido.AutoSize = true;
this.lblETM_Sentido.Location = new System.Drawing.Point(13, 938);
this.lblETM_Sentido.Location = new System.Drawing.Point(12, 932);
this.lblETM_Sentido.Name = "lblETM_Sentido";
this.lblETM_Sentido.Size = new System.Drawing.Size(104, 16);
this.lblETM_Sentido.TabIndex = 139;
@ -676,7 +676,7 @@ namespace AgroBase.Forms
// lblETM_SentidoSP
//
this.lblETM_SentidoSP.AutoSize = true;
this.lblETM_SentidoSP.Location = new System.Drawing.Point(13, 921);
this.lblETM_SentidoSP.Location = new System.Drawing.Point(12, 916);
this.lblETM_SentidoSP.Name = "lblETM_SentidoSP";
this.lblETM_SentidoSP.Size = new System.Drawing.Size(125, 16);
this.lblETM_SentidoSP.TabIndex = 138;
@ -685,7 +685,7 @@ namespace AgroBase.Forms
// lblETM_RPMSP
//
this.lblETM_RPMSP.AutoSize = true;
this.lblETM_RPMSP.Location = new System.Drawing.Point(13, 853);
this.lblETM_RPMSP.Location = new System.Drawing.Point(12, 852);
this.lblETM_RPMSP.Name = "lblETM_RPMSP";
this.lblETM_RPMSP.Size = new System.Drawing.Size(71, 16);
this.lblETM_RPMSP.TabIndex = 137;
@ -694,7 +694,7 @@ namespace AgroBase.Forms
// lblETM_Tensao
//
this.lblETM_Tensao.AutoSize = true;
this.lblETM_Tensao.Location = new System.Drawing.Point(13, 903);
this.lblETM_Tensao.Location = new System.Drawing.Point(12, 900);
this.lblETM_Tensao.Name = "lblETM_Tensao";
this.lblETM_Tensao.Size = new System.Drawing.Size(76, 16);
this.lblETM_Tensao.TabIndex = 136;
@ -703,7 +703,7 @@ namespace AgroBase.Forms
// lblETM_Velocidade
//
this.lblETM_Velocidade.AutoSize = true;
this.lblETM_Velocidade.Location = new System.Drawing.Point(13, 887);
this.lblETM_Velocidade.Location = new System.Drawing.Point(12, 884);
this.lblETM_Velocidade.Name = "lblETM_Velocidade";
this.lblETM_Velocidade.Size = new System.Drawing.Size(123, 16);
this.lblETM_Velocidade.TabIndex = 135;
@ -712,7 +712,7 @@ namespace AgroBase.Forms
// lblETM_RPM
//
this.lblETM_RPM.AutoSize = true;
this.lblETM_RPM.Location = new System.Drawing.Point(13, 870);
this.lblETM_RPM.Location = new System.Drawing.Point(12, 868);
this.lblETM_RPM.Name = "lblETM_RPM";
this.lblETM_RPM.Size = new System.Drawing.Size(50, 16);
this.lblETM_RPM.TabIndex = 134;
@ -721,7 +721,7 @@ namespace AgroBase.Forms
// lblEFM_Corrente
//
this.lblEFM_Corrente.AutoSize = true;
this.lblEFM_Corrente.Location = new System.Drawing.Point(13, 473);
this.lblEFM_Corrente.Location = new System.Drawing.Point(14, 464);
this.lblEFM_Corrente.Name = "lblEFM_Corrente";
this.lblEFM_Corrente.Size = new System.Drawing.Size(80, 16);
this.lblEFM_Corrente.TabIndex = 133;
@ -730,7 +730,7 @@ namespace AgroBase.Forms
// lblEFM_Temperatura
//
this.lblEFM_Temperatura.AutoSize = true;
this.lblEFM_Temperatura.Location = new System.Drawing.Point(13, 455);
this.lblEFM_Temperatura.Location = new System.Drawing.Point(12, 448);
this.lblEFM_Temperatura.Name = "lblEFM_Temperatura";
this.lblEFM_Temperatura.Size = new System.Drawing.Size(112, 16);
this.lblEFM_Temperatura.TabIndex = 132;
@ -739,7 +739,7 @@ namespace AgroBase.Forms
// lblEFM_Sentido
//
this.lblEFM_Sentido.AutoSize = true;
this.lblEFM_Sentido.Location = new System.Drawing.Point(13, 439);
this.lblEFM_Sentido.Location = new System.Drawing.Point(12, 432);
this.lblEFM_Sentido.Name = "lblEFM_Sentido";
this.lblEFM_Sentido.Size = new System.Drawing.Size(104, 16);
this.lblEFM_Sentido.TabIndex = 131;
@ -748,7 +748,7 @@ namespace AgroBase.Forms
// lblEFM_SentidoSP
//
this.lblEFM_SentidoSP.AutoSize = true;
this.lblEFM_SentidoSP.Location = new System.Drawing.Point(13, 422);
this.lblEFM_SentidoSP.Location = new System.Drawing.Point(12, 416);
this.lblEFM_SentidoSP.Name = "lblEFM_SentidoSP";
this.lblEFM_SentidoSP.Size = new System.Drawing.Size(125, 16);
this.lblEFM_SentidoSP.TabIndex = 130;
@ -757,16 +757,25 @@ namespace AgroBase.Forms
// lblEFM_RPMSP
//
this.lblEFM_RPMSP.AutoSize = true;
this.lblEFM_RPMSP.Location = new System.Drawing.Point(13, 354);
this.lblEFM_RPMSP.Location = new System.Drawing.Point(12, 352);
this.lblEFM_RPMSP.Name = "lblEFM_RPMSP";
this.lblEFM_RPMSP.Size = new System.Drawing.Size(71, 16);
this.lblEFM_RPMSP.TabIndex = 129;
this.lblEFM_RPMSP.Text = "RPM SP: 0";
//
// lblEFM_Tensao
//
this.lblEFM_Tensao.AutoSize = true;
this.lblEFM_Tensao.Location = new System.Drawing.Point(12, 400);
this.lblEFM_Tensao.Name = "lblEFM_Tensao";
this.lblEFM_Tensao.Size = new System.Drawing.Size(76, 16);
this.lblEFM_Tensao.TabIndex = 128;
this.lblEFM_Tensao.Text = "Tensão: 0V";
//
// lblEFM_Velocidade
//
this.lblEFM_Velocidade.AutoSize = true;
this.lblEFM_Velocidade.Location = new System.Drawing.Point(13, 388);
this.lblEFM_Velocidade.Location = new System.Drawing.Point(12, 384);
this.lblEFM_Velocidade.Name = "lblEFM_Velocidade";
this.lblEFM_Velocidade.Size = new System.Drawing.Size(123, 16);
this.lblEFM_Velocidade.TabIndex = 127;
@ -775,7 +784,7 @@ namespace AgroBase.Forms
// lblEFM_RPM
//
this.lblEFM_RPM.AutoSize = true;
this.lblEFM_RPM.Location = new System.Drawing.Point(13, 370);
this.lblEFM_RPM.Location = new System.Drawing.Point(12, 368);
this.lblEFM_RPM.Name = "lblEFM_RPM";
this.lblEFM_RPM.Size = new System.Drawing.Size(50, 16);
this.lblEFM_RPM.TabIndex = 126;
@ -824,7 +833,7 @@ namespace AgroBase.Forms
// lblDTA_SentidoSP
//
this.lblDTA_SentidoSP.AutoSize = true;
this.lblDTA_SentidoSP.Location = new System.Drawing.Point(1697, 818);
this.lblDTA_SentidoSP.Location = new System.Drawing.Point(1692, 820);
this.lblDTA_SentidoSP.Name = "lblDTA_SentidoSP";
this.lblDTA_SentidoSP.Size = new System.Drawing.Size(125, 16);
this.lblDTA_SentidoSP.TabIndex = 121;
@ -833,7 +842,7 @@ namespace AgroBase.Forms
// lblDTA_Sentido
//
this.lblDTA_Sentido.AutoSize = true;
this.lblDTA_Sentido.Location = new System.Drawing.Point(1697, 836);
this.lblDTA_Sentido.Location = new System.Drawing.Point(1692, 836);
this.lblDTA_Sentido.Name = "lblDTA_Sentido";
this.lblDTA_Sentido.Size = new System.Drawing.Size(104, 16);
this.lblDTA_Sentido.TabIndex = 120;
@ -842,7 +851,7 @@ namespace AgroBase.Forms
// lblDTA
//
this.lblDTA.AutoSize = true;
this.lblDTA.Location = new System.Drawing.Point(1697, 802);
this.lblDTA.Location = new System.Drawing.Point(1692, 804);
this.lblDTA.Name = "lblDTA";
this.lblDTA.Size = new System.Drawing.Size(74, 16);
this.lblDTA.TabIndex = 119;
@ -851,7 +860,7 @@ namespace AgroBase.Forms
// lblDTA_SP
//
this.lblDTA_SP.AutoSize = true;
this.lblDTA_SP.Location = new System.Drawing.Point(1697, 785);
this.lblDTA_SP.Location = new System.Drawing.Point(1692, 786);
this.lblDTA_SP.Name = "lblDTA_SP";
this.lblDTA_SP.Size = new System.Drawing.Size(95, 16);
this.lblDTA_SP.TabIndex = 118;
@ -867,15 +876,15 @@ namespace AgroBase.Forms
this.btnDTReferenciar.Text = "Referenciar";
this.btnDTReferenciar.UseVisualStyleBackColor = true;
//
// lblM3
// lblM_DT
//
this.lblM3.AutoSize = true;
this.lblM3.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblM3.Location = new System.Drawing.Point(1695, 505);
this.lblM3.Name = "lblM3";
this.lblM3.Size = new System.Drawing.Size(86, 25);
this.lblM3.TabIndex = 116;
this.lblM3.Text = "M3 (DT)";
this.lblM_DT.AutoSize = true;
this.lblM_DT.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblM_DT.Location = new System.Drawing.Point(1690, 505);
this.lblM_DT.Name = "lblM_DT";
this.lblM_DT.Size = new System.Drawing.Size(86, 25);
this.lblM_DT.TabIndex = 116;
this.lblM_DT.Text = "M3 (DT) - Alm: 0";
//
// picDT
//
@ -889,7 +898,7 @@ namespace AgroBase.Forms
// lblDFA_SentidoSP
//
this.lblDFA_SentidoSP.AutoSize = true;
this.lblDFA_SentidoSP.Location = new System.Drawing.Point(1697, 320);
this.lblDFA_SentidoSP.Location = new System.Drawing.Point(1694, 320);
this.lblDFA_SentidoSP.Name = "lblDFA_SentidoSP";
this.lblDFA_SentidoSP.Size = new System.Drawing.Size(125, 16);
this.lblDFA_SentidoSP.TabIndex = 114;
@ -898,7 +907,7 @@ namespace AgroBase.Forms
// lblDFA_Sentido
//
this.lblDFA_Sentido.AutoSize = true;
this.lblDFA_Sentido.Location = new System.Drawing.Point(1697, 337);
this.lblDFA_Sentido.Location = new System.Drawing.Point(1695, 336);
this.lblDFA_Sentido.Name = "lblDFA_Sentido";
this.lblDFA_Sentido.Size = new System.Drawing.Size(104, 16);
this.lblDFA_Sentido.TabIndex = 113;
@ -907,7 +916,7 @@ namespace AgroBase.Forms
// lblDFA
//
this.lblDFA.AutoSize = true;
this.lblDFA.Location = new System.Drawing.Point(1697, 303);
this.lblDFA.Location = new System.Drawing.Point(1694, 304);
this.lblDFA.Name = "lblDFA";
this.lblDFA.Size = new System.Drawing.Size(74, 16);
this.lblDFA.TabIndex = 112;
@ -916,7 +925,7 @@ namespace AgroBase.Forms
// lblDFA_SP
//
this.lblDFA_SP.AutoSize = true;
this.lblDFA_SP.Location = new System.Drawing.Point(1697, 286);
this.lblDFA_SP.Location = new System.Drawing.Point(1695, 288);
this.lblDFA_SP.Name = "lblDFA_SP";
this.lblDFA_SP.Size = new System.Drawing.Size(95, 16);
this.lblDFA_SP.TabIndex = 111;
@ -932,15 +941,15 @@ namespace AgroBase.Forms
this.btnDFReferenciar.Text = "Referenciar";
this.btnDFReferenciar.UseVisualStyleBackColor = true;
//
// lblM4
// lblM_DF
//
this.lblM4.AutoSize = true;
this.lblM4.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblM4.Location = new System.Drawing.Point(1695, 5);
this.lblM4.Name = "lblM4";
this.lblM4.Size = new System.Drawing.Size(85, 25);
this.lblM4.TabIndex = 107;
this.lblM4.Text = "M4 (DF)";
this.lblM_DF.AutoSize = true;
this.lblM_DF.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblM_DF.Location = new System.Drawing.Point(1695, 4);
this.lblM_DF.Name = "lblM_DF";
this.lblM_DF.Size = new System.Drawing.Size(85, 25);
this.lblM_DF.TabIndex = 107;
this.lblM_DF.Text = "M4 (DF) - Alm: 0";
//
// picDF
//
@ -954,7 +963,7 @@ namespace AgroBase.Forms
// lblETA_SentidoSP
//
this.lblETA_SentidoSP.AutoSize = true;
this.lblETA_SentidoSP.Location = new System.Drawing.Point(13, 818);
this.lblETA_SentidoSP.Location = new System.Drawing.Point(12, 820);
this.lblETA_SentidoSP.Name = "lblETA_SentidoSP";
this.lblETA_SentidoSP.Size = new System.Drawing.Size(125, 16);
this.lblETA_SentidoSP.TabIndex = 105;
@ -963,7 +972,7 @@ namespace AgroBase.Forms
// lblETA_Sentido
//
this.lblETA_Sentido.AutoSize = true;
this.lblETA_Sentido.Location = new System.Drawing.Point(13, 836);
this.lblETA_Sentido.Location = new System.Drawing.Point(12, 836);
this.lblETA_Sentido.Name = "lblETA_Sentido";
this.lblETA_Sentido.Size = new System.Drawing.Size(104, 16);
this.lblETA_Sentido.TabIndex = 104;
@ -972,7 +981,7 @@ namespace AgroBase.Forms
// lblETA
//
this.lblETA.AutoSize = true;
this.lblETA.Location = new System.Drawing.Point(13, 802);
this.lblETA.Location = new System.Drawing.Point(12, 804);
this.lblETA.Name = "lblETA";
this.lblETA.Size = new System.Drawing.Size(74, 16);
this.lblETA.TabIndex = 103;
@ -981,7 +990,7 @@ namespace AgroBase.Forms
// lblETA_SP
//
this.lblETA_SP.AutoSize = true;
this.lblETA_SP.Location = new System.Drawing.Point(13, 785);
this.lblETA_SP.Location = new System.Drawing.Point(12, 786);
this.lblETA_SP.Name = "lblETA_SP";
this.lblETA_SP.Size = new System.Drawing.Size(95, 16);
this.lblETA_SP.TabIndex = 102;
@ -997,15 +1006,15 @@ namespace AgroBase.Forms
this.btnETReferenciar.Text = "Referenciar";
this.btnETReferenciar.UseVisualStyleBackColor = true;
//
// lblM2
// lblM_ET
//
this.lblM2.AutoSize = true;
this.lblM2.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblM2.Location = new System.Drawing.Point(12, 505);
this.lblM2.Name = "lblM2";
this.lblM2.Size = new System.Drawing.Size(85, 25);
this.lblM2.TabIndex = 100;
this.lblM2.Text = "M2 (ET)";
this.lblM_ET.AutoSize = true;
this.lblM_ET.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblM_ET.Location = new System.Drawing.Point(12, 505);
this.lblM_ET.Name = "lblM_ET";
this.lblM_ET.Size = new System.Drawing.Size(85, 25);
this.lblM_ET.TabIndex = 100;
this.lblM_ET.Text = "M2 (ET) - Alm: 0";
//
// picET
//
@ -1019,7 +1028,7 @@ namespace AgroBase.Forms
// lblEFA_SentidoSP
//
this.lblEFA_SentidoSP.AutoSize = true;
this.lblEFA_SentidoSP.Location = new System.Drawing.Point(13, 320);
this.lblEFA_SentidoSP.Location = new System.Drawing.Point(12, 320);
this.lblEFA_SentidoSP.Name = "lblEFA_SentidoSP";
this.lblEFA_SentidoSP.Size = new System.Drawing.Size(125, 16);
this.lblEFA_SentidoSP.TabIndex = 98;
@ -1028,7 +1037,7 @@ namespace AgroBase.Forms
// lblEFA_Sentido
//
this.lblEFA_Sentido.AutoSize = true;
this.lblEFA_Sentido.Location = new System.Drawing.Point(13, 337);
this.lblEFA_Sentido.Location = new System.Drawing.Point(12, 336);
this.lblEFA_Sentido.Name = "lblEFA_Sentido";
this.lblEFA_Sentido.Size = new System.Drawing.Size(104, 16);
this.lblEFA_Sentido.TabIndex = 97;
@ -1037,7 +1046,7 @@ namespace AgroBase.Forms
// lblEFA
//
this.lblEFA.AutoSize = true;
this.lblEFA.Location = new System.Drawing.Point(13, 303);
this.lblEFA.Location = new System.Drawing.Point(12, 304);
this.lblEFA.Name = "lblEFA";
this.lblEFA.Size = new System.Drawing.Size(74, 16);
this.lblEFA.TabIndex = 96;
@ -1046,7 +1055,7 @@ namespace AgroBase.Forms
// lblEFA_SP
//
this.lblEFA_SP.AutoSize = true;
this.lblEFA_SP.Location = new System.Drawing.Point(13, 286);
this.lblEFA_SP.Location = new System.Drawing.Point(12, 288);
this.lblEFA_SP.Name = "lblEFA_SP";
this.lblEFA_SP.Size = new System.Drawing.Size(95, 16);
this.lblEFA_SP.TabIndex = 95;
@ -1062,39 +1071,30 @@ namespace AgroBase.Forms
this.btnEFReferenciar.Text = "Referenciar";
this.btnEFReferenciar.UseVisualStyleBackColor = true;
//
// lblM1
// lblM_EF
//
this.lblM1.AutoSize = true;
this.lblM1.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblM1.Location = new System.Drawing.Point(12, 5);
this.lblM1.Name = "lblM1";
this.lblM1.Size = new System.Drawing.Size(84, 25);
this.lblM1.TabIndex = 91;
this.lblM1.Text = "M1 (EF)";
this.lblM_EF.AutoSize = true;
this.lblM_EF.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblM_EF.Location = new System.Drawing.Point(12, 9);
this.lblM_EF.Name = "lblM_EF";
this.lblM_EF.Size = new System.Drawing.Size(84, 25);
this.lblM_EF.TabIndex = 91;
this.lblM_EF.Text = "M1 (EF) - Alm: 0";
//
// picEF
//
this.picEF.Location = new System.Drawing.Point(12, 33);
this.picEF.Location = new System.Drawing.Point(12, 36);
this.picEF.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.picEF.Name = "picEF";
this.picEF.Size = new System.Drawing.Size(251, 250);
this.picEF.TabIndex = 90;
this.picEF.TabStop = false;
//
// lblEFM_Tensao
//
this.lblEFM_Tensao.AutoSize = true;
this.lblEFM_Tensao.Location = new System.Drawing.Point(13, 405);
this.lblEFM_Tensao.Name = "lblEFM_Tensao";
this.lblEFM_Tensao.Size = new System.Drawing.Size(76, 16);
this.lblEFM_Tensao.TabIndex = 128;
this.lblEFM_Tensao.Text = "Tensão: 0V";
//
// frmAcompanhamento
//
this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(1924, 922);
this.ClientSize = new System.Drawing.Size(1957, 998);
this.Controls.Add(this.pnlFundo);
this.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.Name = "frmAcompanhamento";
@ -1166,28 +1166,28 @@ namespace AgroBase.Forms
private System.Windows.Forms.Label lblDTA;
private System.Windows.Forms.Label lblDTA_SP;
private System.Windows.Forms.Button btnDTReferenciar;
private System.Windows.Forms.Label lblM3;
private System.Windows.Forms.Label lblM_DT;
private System.Windows.Forms.PictureBox picDT;
private System.Windows.Forms.Label lblDFA_SentidoSP;
private System.Windows.Forms.Label lblDFA_Sentido;
private System.Windows.Forms.Label lblDFA;
private System.Windows.Forms.Label lblDFA_SP;
private System.Windows.Forms.Button btnDFReferenciar;
private System.Windows.Forms.Label lblM4;
private System.Windows.Forms.Label lblM_DF;
private System.Windows.Forms.PictureBox picDF;
private System.Windows.Forms.Label lblETA_SentidoSP;
private System.Windows.Forms.Label lblETA_Sentido;
private System.Windows.Forms.Label lblETA;
private System.Windows.Forms.Label lblETA_SP;
private System.Windows.Forms.Button btnETReferenciar;
private System.Windows.Forms.Label lblM2;
private System.Windows.Forms.Label lblM_ET;
private System.Windows.Forms.PictureBox picET;
private System.Windows.Forms.Label lblEFA_SentidoSP;
private System.Windows.Forms.Label lblEFA_Sentido;
private System.Windows.Forms.Label lblEFA;
private System.Windows.Forms.Label lblEFA_SP;
private System.Windows.Forms.Button btnEFReferenciar;
private System.Windows.Forms.Label lblM1;
private System.Windows.Forms.Label lblM_EF;
private System.Windows.Forms.PictureBox picEF;
private System.Windows.Forms.CheckBox chbDTLivre;
private System.Windows.Forms.CheckBox chbDTControlar;

5
AgroBase/AgroBase/Forms/frmAcompanhamento.cs
View File

@ -113,6 +113,9 @@ namespace AgroBase.Forms
foreach (var Motor in DispMov.Dados.Motores.Where(x => x.Comandar))
{
Label lblTitulo = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lblM_" + Motor.ID);
lblTitulo.ForeColor = Motor.Comandar ? Motor.Inicializado ? Color.Green : Color.Red : Color.Black;
lblTitulo.Text = lblTitulo.Text.Split(' ')[0] + " (" + Motor.ID + ") - Alm: " + Motor.CodigoAlarme;
Label lblM_RPMSP = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Motor.ID + "M_RPMSP");
lblM_RPMSP.Text = "RPM SP: " + Motor.RPM_SP.ToString("0.00");
Label lblM_RPM = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Motor.ID + "M_RPM");
@ -127,7 +130,7 @@ namespace AgroBase.Forms
lblM_Temperatura.Text = "Temperatura: " + Motor.Temperatura.ToString("0.00") + "ºC";
lblM_Temperatura.ForeColor = Motor.Alarmes.Any(x => x.Tipo == S_Code.sTMP && (x.Maximo || x.Minimo)) ? Color.Red : Color.Black;
Label lblM_Corrente = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Motor.ID + "M_Corrente");
lblM_Corrente.Text = "Corrente: " + Motor.Corrente.ToString("0.00") + "A";
lblM_Corrente.Text = "Corrente: " + Motor.Corrente_Max.ToString("0.00") + "A";
Label lblM_Tensao = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Motor.ID + "M_Tensao");
lblTensao.Text = "Tensão: " + Motor.Tensao.ToString("0.00") + "V";

6
AgroBase/AgroBase/Forms/frmPrincipal.cs
View File

@ -190,6 +190,12 @@ namespace AgroBase
{
Variaveis.OperacaoEmAndamento = OperacaoModel.CarregarParametrosOperacaoPadrao((ModoOperacao)cmbModoOperacao.SelectedIndex);
}
if (Variaveis.OperacaoEmAndamento.DispMov != null && Convert.ToInt32(Variaveis.OperacaoEmAndamento.DispMov.Dados.Motores.Average(x => x.RPM_Max)) != trkRPM.Maximum)
{
trkRPM.Maximum = Convert.ToInt32(Variaveis.OperacaoEmAndamento.DispMov.Dados.Motores.Average(x => x.RPM_Max));
trkKmh.Maximum = Convert.ToInt32(MovimentacaoModel.CalculaVelocidadeRPM(trkRPM.Maximum));
}
}
private void frmPrincipal_FormClosed(object sender, FormClosedEventArgs e)

5
AgroBase/AgroBase/Models/Modules/MovimentacaoModel.cs
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@ -118,7 +118,7 @@ namespace AgroBase.Models
public List<string> ProtocoloConfiguracao(bool Conectar)
{
List<string> Config = Motores.Select(x => x.ProtocoloConfiguracaoMotor(Conectar)).ToList();
List<string> Config = Motores.Where(x => x.Comandar).Select(x => x.ProtocoloConfiguracaoMotor(Conectar)).ToList();
string ProtocoloMOD =
((int)F_Code.Cfg).ToString() + SerialService.SplitMessage +
"MD" + SerialService.SplitParams +
@ -158,12 +158,14 @@ namespace AgroBase.Models
Motor.RPM = rpm;
double temperatura = 0;
double.TryParse(Dados[3].Replace(".", ","), out temperatura);
temperatura = FuncoesMatematicas.CalcularTemperatura(temperatura, 0);
Motor.Temperatura = temperatura;
double tensao = 0;
double.TryParse(Dados[4].Replace(".", ","), out tensao);
Motor.Tensao = tensao;
double corrente_max = 0;
double.TryParse(Dados[5].Replace(".", ","), out corrente_max);
corrente_max = FuncoesMatematicas.Map(corrente_max, 15780, 16799, 0, 20.6);
Motor.Corrente_Max = corrente_max;
bool ligado = Dados[6] == "1";
Motor.Ligado = ligado;
@ -177,6 +179,7 @@ namespace AgroBase.Models
Motor.CodigoAlarme = codAlarme;
double tempDriver = 0;
double.TryParse(Dados[10].Replace(".", ","), out tempDriver);
tempDriver = FuncoesMatematicas.CalcularTemperatura(tempDriver, 0);
Motor.TemperaturaDriver = tempDriver;
AtualizaGrafico = true;

18
AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs
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@ -472,23 +472,7 @@ namespace AgroBase.Models.Modules
double temp = -1;
double.TryParse(Dados[2].Replace(".", ","), out temp);
double Vs = 3.3; // TENSÃO DE SAIDA DO ESP32
double R1 = 10000; //RESISTOR UTILIZADO NO DIVISOR DE TENSÃO
double Beta = 3950; // VALOR DE BETA
double To = 298.15; // VALOR EM KELVIN REFERENTE A 25° CELSIUS
double Ro = 10000;
double adcMax = 4095.0;
double Vout, Rt = 0;
double T, Tc, Tf, adc = 0;
//CALCULOS PARA CONVERSÃO DA LEITURA RECEBIDA PELO ESP32 EM TEMPERATURA EM °C
double Voffset = double.Parse(Sensor.Parametros[0][1].Replace(".", ","));
Vout = (temp * Vs / adcMax) + Voffset;
Rt = R1 * Vout / (Vs - Vout);
T = 1 / (1 / To + Math.Log(Rt / Ro) / Beta);
Tc = T - 273.15;
Tf = Tc * 9 / 5 + 32;
Tc = Math.Round(Tc, 2);
double Tc = FuncoesMatematicas.CalcularTemperatura(temp, double.Parse(Sensor.Parametros[0][1].Replace(".", ",")));
Sensor.Leituras = new List<double>() { Tc };

22
AgroBase/AgroBase/Models/Variaveis.cs
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@ -411,6 +411,28 @@ namespace AgroBase.Models
.Key;
}
public static double CalcularTemperatura(double leitura, double offset)
{
double Vs = 3.3; // TENSÃO DE SAIDA DO ESP32
double R1 = 10000; //RESISTOR UTILIZADO NO DIVISOR DE TENSÃO
double Beta = 3950; // VALOR DE BETA
double To = 298.15; // VALOR EM KELVIN REFERENTE A 25° CELSIUS
double Ro = 10000;
double adcMax = 4095.0;
double Vout, Rt = 0;
double T, Tc, Tf, adc = 0;
//CALCULOS PARA CONVERSÃO DA LEITURA RECEBIDA PELO ESP32 EM TEMPERATURA EM °C
Vout = (leitura * Vs / adcMax) + offset;
Rt = R1 * Vout / (Vs - Vout);
T = 1 / (1 / To + Math.Log(Rt / Ro) / Beta);
Tc = T - 273.15;
Tf = Tc * 9 / 5 + 32;
Tc = Math.Round(Tc, 2);
return Tc;
}
}
}

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AgroBase/AgroBase/bin/Debug/Logs/Mov/04_06_2024_59_45.json Normal file
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AgroBase/AgroBase/bin/Debug/Parametros/parametersMov.par
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AgroBase/AgroBase/bin/Debug/Python/Output/mapa_gps.html
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@ -25,7 +25,7 @@
<meta name="viewport" content="width=device-width,
initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
<style>
#map_d1938fc95d9678e742faecbc432787ff {
#map_43bf289ffdd8be3323b96d63504f91d8 {
position: relative;
width: 100.0%;
height: 100.0%;
@ -39,14 +39,14 @@
<body>
<div class="folium-map" id="map_d1938fc95d9678e742faecbc432787ff" ></div>
<div class="folium-map" id="map_43bf289ffdd8be3323b96d63504f91d8" ></div>
</body>
<script>
var map_d1938fc95d9678e742faecbc432787ff = L.map(
"map_d1938fc95d9678e742faecbc432787ff",
var map_43bf289ffdd8be3323b96d63504f91d8 = L.map(
"map_43bf289ffdd8be3323b96d63504f91d8",
{
center: [0.0, 0.0],
crs: L.CRS.EPSG3857,
@ -60,13 +60,13 @@
var tile_layer_d2d25694b8e61bfe3bf14fd2766c4b2b = L.tileLayer(
var tile_layer_c7d1c3f23602424bb5472c5862dca97e = L.tileLayer(
"https://tile.openstreetmap.org/{z}/{x}/{y}.png",
{"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false}
);
tile_layer_d2d25694b8e61bfe3bf14fd2766c4b2b.addTo(map_d1938fc95d9678e742faecbc432787ff);
tile_layer_c7d1c3f23602424bb5472c5862dca97e.addTo(map_43bf289ffdd8be3323b96d63504f91d8);
</script>
@ -87,7 +87,7 @@
}
trajeto_json_add({"features": []});
trajeto_json.addTo(map_d1938fc95d9678e742faecbc432787ff);
trajeto_json.addTo(map_43bf289ffdd8be3323b96d63504f91d8);
function adicionarGeometria(novaGeometria) {
trajeto_json.addData(novaGeometria);
@ -145,7 +145,7 @@
var marcadorDinamico = L.marker([0, 0], {
icon: customIcon
}).addTo(map_d1938fc95d9678e742faecbc432787ff);
}).addTo(map_43bf289ffdd8be3323b96d63504f91d8);
// Conectar ao broker MQTT
const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@ -183,7 +183,7 @@
marcadorDinamico.setRotationAngle(angulo);
adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
map_d1938fc95d9678e742faecbc432787ff.setView(novaPosicao, map_d1938fc95d9678e742faecbc432787ff.getZoom());
map_43bf289ffdd8be3323b96d63504f91d8.setView(novaPosicao, map_43bf289ffdd8be3323b96d63504f91d8.getZoom());
});
function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

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AgroBase/AgroBase/obj/Debug/AgroBase.csproj.GenerateResource.cache
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Documentos/Cabeamento.xlsx
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216
Firmware/Modulos/ModbusService.h
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@ -1,3 +1,10 @@
#include <Arduino.h>
#include <HardwareSerial.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <freertos/queue.h>
#include <freertos/semphr.h>
#ifndef ModbusService
#define ModbusService
@ -13,10 +20,119 @@ class ModbusGetResponse {
byte _command_code;
byte _num_registers;
double _value;
bool _success;
ModbusGetResponse() : _address(0), _command_code(0), _num_registers(0), _value(0.0) {}
};
// Estrutura para armazenar dados da mensagem Modbus
struct ModbusMessage {
uint8_t slaveAddress;
uint8_t functionCode;
uint16_t registerAddress;
int value;
uint8_t* response;
uint8_t* length;
SemaphoreHandle_t responseSemaphore;
};
// Fila para armazenar mensagens Modbus
QueueHandle_t modbusQueue;
// Função para calcular CRC16
uint16_t calculateCRC(const uint8_t* data, uint8_t length) {
uint16_t crc = 0xFFFF;
for (uint8_t i = 0; i < length; i++) {
crc ^= data[i];
for (uint8_t j = 0; j < 8; j++) {
if (crc & 0x0001) {
crc >>= 1;
crc ^= 0xA001;
} else {
crc >>= 1;
}
}
}
return crc;
}
// Tarefa para processar a fila de mensagens Modbus
void processModbusQueue(void* pvParameters) {
ModbusMessage message;
while (true) {
// Aguardar até que uma mensagem esteja disponível na fila
if (xQueueReceive(modbusQueue, &message, portMAX_DELAY) == pdPASS) {
uint8_t command[8];
command[0] = message.slaveAddress;
command[1] = message.functionCode;
command[2] = (message.registerAddress >> 8) & 0xFF; // Big endian
command[3] = message.registerAddress & 0xFF;
// Converter o valor inteiro para o formato adequado
command[4] = (message.value >> 8) & 0xFF; // Big endian
command[5] = message.value & 0xFF;
uint16_t crc = calculateCRC(command, 6);
command[6] = crc & 0xFF;
command[7] = (crc >> 8) & 0xFF;
// Alternar para modo de transmissão
digitalWrite(DE_RE_PIN, HIGH);
vTaskDelay(1); // Pequeno atraso para garantir que o modo de transmissão esteja ativo
SerialDriver.write(command, 8);
if (Debug) {
// Imprimir o comando em formato hexadecimal
Serial.print("Comando enviado: ");
for (int i = 0; i < 8; i++) {
if (command[i] < 0x10) {
Serial.print("0"); // Adiciona um zero à esquerda para bytes menores que 0x10
}
Serial.print(command[i], HEX);
Serial.print(" ");
}
Serial.println();
}
// Alternar para modo de recepção
SerialDriver.flush(); // Garantir que todos os dados foram enviados
digitalWrite(DE_RE_PIN, LOW);
delay(1); // Pequeno atraso para garantir que o modo de recepção esteja ativo
// Aguardar a resposta
delay(100); // Ajuste o tempo de delay conforme necessário
// Ler a resposta
if (SerialDriver.available()) {
*message.length = SerialDriver.readBytes(message.response, SerialDriver.available());
if (Debug) {
// Imprimir a resposta em formato hexadecimal
Serial.print("Resposta recebida: ");
for (int i = 0; i < *message.length; i++) {
if (message.response[i] < 0x10) {
Serial.print("0"); // Adiciona um zero à esquerda para bytes menores que 0x10
}
Serial.print(message.response[i], HEX);
Serial.print(" ");
}
Serial.println();
}
} else {
*message.length = 0;
}
// Sinalizar que a resposta está disponível
xSemaphoreGive(message.responseSemaphore);
}
}
}
// Função para inicializar o Modbus
void InicializarModbus(bool _debug = false) {
SerialDriver.begin(9600, SERIAL_8N2, RXD1, TXD1);
Serial.println("Modbus Inicializado");
@ -25,91 +141,39 @@ void InicializarModbus(bool _debug = false) {
digitalWrite(DE_RE_PIN, LOW); // Inicialmente em modo de recepção
Debug = _debug;
}
// Função para calcular CRC16
uint16_t calculateCRC(const uint8_t* data, uint8_t length) {
uint16_t crc = 0xFFFF;
for (uint8_t i = 0; i < length; i++) {
crc ^= data[i];
for (uint8_t j = 0; j < 8; j++) {
if (crc & 0x0001) {
crc >>= 1;
crc ^= 0xA001;
} else {
crc >>= 1;
}
// Criar a fila de mensagens Modbus
modbusQueue = xQueueCreate(10, sizeof(ModbusMessage));
if (modbusQueue == NULL) {
Serial.println("Erro ao criar a fila de mensagens Modbus");
}
}
return crc;
// Criar a tarefa de processamento da fila
xTaskCreate(processModbusQueue, "ProcessModbusQueue", 4096, NULL, 1, NULL);
}
// Função para construir o comando Modbus
void sendModbusCommand(uint8_t slaveAddress, uint8_t functionCode, uint16_t registerAddress, int value, uint8_t* response, uint8_t& length) {
uint8_t command[8];
ModbusMessage message;
message.slaveAddress = slaveAddress;
message.functionCode = functionCode;
message.registerAddress = registerAddress;
message.value = value;
message.response = response;
message.length = &length;
message.responseSemaphore = xSemaphoreCreateBinary();
command[0] = slaveAddress;
command[1] = functionCode;
command[2] = (registerAddress >> 8) & 0xFF; // Big endian
command[3] = registerAddress & 0xFF;
// Converter o valor inteiro para o formato adequado
command[4] = (value >> 8) & 0xFF; // Big endian
command[5] = value & 0xFF;
uint16_t crc = calculateCRC(command, 6);
command[6] = crc & 0xFF;
command[7] = (crc >> 8) & 0xFF;
// Alternar para modo de transmissão
digitalWrite(DE_RE_PIN, HIGH);
vTaskDelay(1); // Pequeno atraso para garantir que o modo de transmissão esteja ativo
SerialDriver.write(command, 8);
if (Debug) {
// Imprimir o comando em formato hexadecimal
Serial.print("Comando enviado: ");
for (int i = 0; i < 8; i++) {
if (command[i] < 0x10) {
Serial.print("0"); // Adiciona um zero à esquerda para bytes menores que 0x10
}
Serial.print(command[i], HEX);
Serial.print(" ");
// Adicionar a mensagem à fila
if (xQueueSend(modbusQueue, &message, portMAX_DELAY) != pdPASS) {
Serial.println("Erro ao adicionar mensagem à fila");
}
Serial.println();
}
// Alternar para modo de recepção
SerialDriver.flush(); // Garantir que todos os dados foram enviados
digitalWrite(DE_RE_PIN, LOW);
delay(1); // Pequeno atraso para garantir que o modo de recepção esteja ativo
// Aguardar a resposta
delay(100); // Ajuste o tempo de delay conforme necessário
// Ler a resposta
if (SerialDriver.available()) {
length = SerialDriver.readBytes(response, SerialDriver.available());
if (Debug) {
// Imprimir a resposta em formato hexadecimal
Serial.print("Resposta recebida: ");
for (int i = 0; i < length; i++) {
if (response[i] < 0x10) {
Serial.print("0"); // Adiciona um zero à esquerda para bytes menores que 0x10
}
Serial.print(response[i], HEX);
Serial.print(" ");
}
Serial.println();
}
} else {
length = 0;
}
// Esperar até que a resposta esteja disponível
xSemaphoreTake(message.responseSemaphore, portMAX_DELAY);
vSemaphoreDelete(message.responseSemaphore);
}
#endif

145
Firmware/Movimentação/Movimentacao_v19/Movimentacao_v19.ino
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@ -68,22 +68,22 @@ class Motor {
return;
}
if (_pinoTMP.Definido()) {
_pinoTMP.Conectar();
tempKalman = new SimpleKalmanFilter(2, 2, 0.01);
Iniciado = ConfigurarDriver();
if (Iniciado) {
if (_pinoTMP.Definido()) {
_pinoTMP.Conectar();
tempKalman = new SimpleKalmanFilter(2, 2, 0.01);
}
xTaskCreatePinnedToCore(&Motor::CheckTaskWrapper, "CheckTask", 5000, this, 21 - _canal + 4, &CheckTaskHandle, tskNO_AFFINITY);
AtualizarDadosControle(true);
EnviarDadosSerial(_ID + " Iniciado");
}
xTaskCreatePinnedToCore(&Motor::CheckTaskWrapper, "CheckTask", 5000, this, 21 - _canal + 4, &CheckTaskHandle, tskNO_AFFINITY);
EnviarDadosSerial(_ID + " Iniciado");
Iniciado = true;
EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0"));
ConfigurarDriver();
AtualizarDadosControle(true);
}
void Desligar() {
@ -112,55 +112,94 @@ class Motor {
}
ModbusGetResponse EnviarComandoModbus(byte endereco, byte funcao, byte registro, int valor) {
uint8_t response[256];
uint8_t length = 0;
const int maxTentativas = 3;
int tentativas = 0;
bool sucesso = false;
ModbusGetResponse resposta;
sendModbusCommand(endereco, funcao, registro, valor, response, length);
while (tentativas < maxTentativas && !sucesso) {
uint8_t response[256];
uint8_t length = 0;
// GET
if (funcao == 0x03) {
if (length >= 5) { // Verifica se a resposta tem pelo menos 5 bytes (endereco, codigo_comando, numero_registros, 2 bytes de dados, 2 bytes de CRC)
resposta._address = response[0];
resposta._command_code = response[1];
resposta._num_registers = response[2];
sendModbusCommand(endereco, funcao, registro, valor, response, length);
if (resposta._num_registers == 2) { // Caso de 2 bytes (sem ponto flutuante)
uint16_t value = (response[3] << 8) | response[4]; // Combina os dois bytes
resposta._value = static_cast<double>(value); // Converte para double
} else if (resposta._num_registers == 4 && length >= 7) { // Caso de 4 bytes (com ponto flutuante)
uint16_t highBytes = (response[3] << 8) | response[4]; // Combina os dois primeiros bytes
uint16_t lowBytes = (response[5] << 8) | response[6]; // Combina os dois últimos bytes
// GET
if (funcao == 0x03) {
if (length >= 5) { // Verifica se a resposta tem pelo menos 5 bytes (endereco, codigo_comando, numero_registros, 2 bytes de dados, 2 bytes de CRC)
resposta._success = true;
resposta._address = response[0];
resposta._command_code = response[1];
resposta._num_registers = response[2];
// Converte para double
resposta._value = highBytes + (lowBytes / 10000.0); // Supondo que os valores após a vírgula são representados em 4 dígitos decimais
} else {
Serial.println("Numero de registros inesperado ou resposta incompleta.");
if (resposta._num_registers == 2) { // Caso de 2 bytes (sem ponto flutuante)
uint16_t value = (response[3] << 8) | response[4]; // Combina os dois bytes
resposta._value = static_cast<double>(value); // Converte para double
sucesso = true;
} else if (resposta._num_registers == 4 && length >= 7) { // Caso de 4 bytes (com ponto flutuante)
uint16_t highBytes = (response[3] << 8) | response[4]; // Combina os dois primeiros bytes
uint16_t lowBytes = (response[5] << 8) | response[6]; // Combina os dois últimos bytes
// Converte para double
resposta._value = highBytes + (lowBytes / 10000.0); // Supondo que os valores após a vírgula são representados em 4 dígitos decimais
sucesso = true;
} else {
Serial.println("Numero de registros inesperado ou resposta incompleta.");
resposta._success = false;
}
} else {
Serial.println("Resposta incompleta.");
resposta._success = false;
}
}
// SET
else if (funcao == 0x06) {
if (length >= 8) {
resposta._success = true;
resposta._address = response[0];
resposta._command_code = response[1];
resposta._num_registers = 0;
resposta._value = (response[4] << 8) | response[5];
sucesso = true;
} else {
Serial.println("Erro ao enviar comando");
resposta._success = false;
}
}
tentativas++;
if (!sucesso) {
Serial.print("Tentativa ");
Serial.print(tentativas);
Serial.println(" falhou, tentando novamente...");
}
} else {
Serial.println("Resposta incompleta.");
}
}
// SET
else if (funcao == 0x06) {
resposta._address = response[0];
resposta._command_code = response[1];
resposta._num_registers = 0;
resposta._value = (response[4] << 8) | response[5];
if (!sucesso) {
Serial.println("Todas as tentativas falharam.");
}
return resposta;
}
}
void ConfigurarDriver() {
EnviarComandoModbus(_endereco, 0x06, 0x00B6, 1);
EnviarComandoModbus(_endereco, 0x06, 0x0086, _numPolos);
EnviarComandoModbus(_endereco, 0x06, 0x008A, _rampa);
EnviarComandoModbus(_endereco, 0x06, 0x0092, _rpmMax);
bool ConfigurarDriver() {
bool sucesso = false;
ModbusGetResponse a = EnviarComandoModbus(_endereco, 0x06, 0x00B6, 1);
ModbusGetResponse b = EnviarComandoModbus(_endereco, 0x06, 0x0076, 0);
ModbusGetResponse c = EnviarComandoModbus(_endereco, 0x06, 0x0086, _numPolos);
ModbusGetResponse d = EnviarComandoModbus(_endereco, 0x06, 0x008A, _rampa);
ModbusGetResponse e = EnviarComandoModbus(_endereco, 0x06, 0x0092, _rpmMax);
sucesso = a._success && b._success && c._success && d._success && e._success;
return sucesso;
}
void AtualizarDadosControle(bool reset = false) {
if (!Iniciado) {
return;
}
if (reset) {
_Ligado = false;
_Freio = false;
@ -168,16 +207,16 @@ class Motor {
_RPM_SP = 0;
}
if (_SentidoSP != Parado && _SentidoSP != _Sentido) {
int std = EnviarComandoModbus(_endereco, 0x06, 0x006D, _SentidoSP == Horario ? 1 : 0)._value;
_Sentido = !Ligado ? Parado : std == 0 ? Horario : Antihorario;
}
if (_RPM_SP != RPM_SP) {
RPM_SP = EnviarComandoModbus(_endereco, 0x06, 0x0056, _RPM_SP)._value;
}
if (_Freio != Freio) {
Freio = EnviarComandoModbus(_endereco, 0x06, 0x006A, _Freio ? 1 : 0)._value == 1;
}
if (_SentidoSP != _Sentido) {
int std = EnviarComandoModbus(_endereco, 0x06, 0x006D, _SentidoSP == Horario ? 1 : 0)._value;
_Sentido = !Ligado ? Parado : std == 0 ? Horario : Antihorario;
}
if (_Ligado != Ligado) {
Ligado = EnviarComandoModbus(_endereco, 0x06, 0x0066, _Ligado ? 1 : 0)._value == 1;
}
@ -224,7 +263,7 @@ class Motor {
RPM = EnviarComandoModbus(_endereco, 0x03, 0x005F, 1)._value;
Ligado = EnviarComandoModbus(_endereco, 0x03, 0x0066, 1)._value == 1;
Freio = EnviarComandoModbus(_endereco, 0x03, 0x006A, 1)._value == 1;
_Sentido = EnviarComandoModbus(_endereco, 0x03, 0x006D, 1)._value == 1 ? Horario : Antihorario;
_Sentido = Ligado ? EnviarComandoModbus(_endereco, 0x03, 0x006D, 1)._value == 1 ? Horario : Antihorario : Parado;
CodAlarme = EnviarComandoModbus(_endereco, 0x03, 0x0076, 1)._value;
Tensao = EnviarComandoModbus(_endereco, 0x03, 0x00C8, 1)._value;
CorrenteMax = EnviarComandoModbus(_endereco, 0x03, 0x0096, 1)._value;