diff --git a/AgroBase/.vs/AgroBase/FileContentIndex/17c09abd-2cf5-47d2-9448-ce03b9998ff9.vsidx b/AgroBase/.vs/AgroBase/FileContentIndex/17c09abd-2cf5-47d2-9448-ce03b9998ff9.vsidx
deleted file mode 100644
index 3eceffe8d..000000000
Binary files a/AgroBase/.vs/AgroBase/FileContentIndex/17c09abd-2cf5-47d2-9448-ce03b9998ff9.vsidx and /dev/null differ
diff --git a/AgroBase/.vs/AgroBase/FileContentIndex/6bcb2b8d-c2b7-4492-9ca4-19d5fd0cc4e7.vsidx b/AgroBase/.vs/AgroBase/FileContentIndex/6bcb2b8d-c2b7-4492-9ca4-19d5fd0cc4e7.vsidx
new file mode 100644
index 000000000..cf90df8dc
Binary files /dev/null and b/AgroBase/.vs/AgroBase/FileContentIndex/6bcb2b8d-c2b7-4492-9ca4-19d5fd0cc4e7.vsidx differ
diff --git a/AgroBase/.vs/AgroBase/v17/.suo b/AgroBase/.vs/AgroBase/v17/.suo
index 47986e2bf..bbd47d688 100644
Binary files a/AgroBase/.vs/AgroBase/v17/.suo and b/AgroBase/.vs/AgroBase/v17/.suo differ
diff --git a/AgroBase/.vs/AgroBase/v17/DocumentLayout.json b/AgroBase/.vs/AgroBase/v17/DocumentLayout.json
index a0415a1ab..fbfc48346 100644
--- a/AgroBase/.vs/AgroBase/v17/DocumentLayout.json
+++ b/AgroBase/.vs/AgroBase/v17/DocumentLayout.json
@@ -2,13 +2,29 @@
   "Version": 1,
   "WorkspaceRootPath": "C:\\ZendionINC\\agrobot_base\\AgroBase\\",
   "Documents": [
+    {
+      "AbsoluteMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|c:\\zendioninc\\agrobot_base\\agrobase\\agrobase\\services\\serialservice.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
+      "RelativeMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|solutionrelative:agrobase\\services\\serialservice.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+    },
     {
       "AbsoluteMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|c:\\zendioninc\\agrobot_base\\agrobase\\agrobase\\models\\operacoes\\operacaomodel.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
       "RelativeMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|solutionrelative:agrobase\\models\\operacoes\\operacaomodel.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
     },
     {
-      "AbsoluteMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|C:\\ZendionINC\\agrobot_base\\AgroBase\\agrobase\\models\\generaljoystick.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
-      "RelativeMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|solutionrelative:agrobase\\models\\generaljoystick.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+      "AbsoluteMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|C:\\ZendionINC\\agrobot_base\\AgroBase\\agrobase\\forms\\operacoes\\frmresultadosoperacao.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
+      "RelativeMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|solutionrelative:agrobase\\forms\\operacoes\\frmresultadosoperacao.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+    },
+    {
+      "AbsoluteMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|c:\\zendioninc\\agrobot_base\\agrobase\\agrobase\\forms\\operacoes\\frmresultadosoperacao.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}|Form",
+      "RelativeMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|solutionrelative:agrobase\\forms\\operacoes\\frmresultadosoperacao.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}|Form"
+    },
+    {
+      "AbsoluteMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|c:\\zendioninc\\agrobot_base\\agrobase\\agrobase\\services\\bld300rservice.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
+      "RelativeMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|solutionrelative:agrobase\\services\\bld300rservice.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+    },
+    {
+      "AbsoluteMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|c:\\zendioninc\\agrobot_base\\agrobase\\agrobase\\services\\mks057dservice.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
+      "RelativeMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|solutionrelative:agrobase\\services\\mks057dservice.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
     }
   ],
   "DocumentGroupContainers": [
@@ -23,27 +39,78 @@
             {
               "$type": "Document",
               "DocumentIndex": 0,
-              "Title": "OperacaoModel.cs",
-              "DocumentMoniker": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Models\\Operacoes\\OperacaoModel.cs",
-              "RelativeDocumentMoniker": "AgroBase\\Models\\Operacoes\\OperacaoModel.cs",
-              "ToolTip": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Models\\Operacoes\\OperacaoModel.cs",
-              "RelativeToolTip": "AgroBase\\Models\\Operacoes\\OperacaoModel.cs",
-              "ViewState": "AQIAAF0GAAAAAAAAAAApwBQHAABTAAAA",
+              "Title": "SerialService.cs",
+              "DocumentMoniker": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Services\\SerialService.cs",
+              "RelativeDocumentMoniker": "AgroBase\\Services\\SerialService.cs",
+              "ToolTip": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Services\\SerialService.cs",
+              "RelativeToolTip": "AgroBase\\Services\\SerialService.cs",
+              "ViewState": "AQIAAB8AAAAAAAAAAAAswDICAABAAAAA",
               "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
-              "WhenOpened": "2024-12-17T20:14:20.606Z",
+              "WhenOpened": "2024-12-19T18:48:58.803Z",
+              "EditorCaption": ""
+            },
+            {
+              "$type": "Document",
+              "DocumentIndex": 5,
+              "Title": "MKS057DService.cs",
+              "DocumentMoniker": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Services\\MKS057DService.cs",
+              "RelativeDocumentMoniker": "AgroBase\\Services\\MKS057DService.cs",
+              "ToolTip": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Services\\MKS057DService.cs",
+              "RelativeToolTip": "AgroBase\\Services\\MKS057DService.cs",
+              "ViewState": "AQIAACICAAAAAAAAAAAcwDYAAABDAAAA",
+              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+              "WhenOpened": "2024-12-19T18:34:37.033Z",
+              "EditorCaption": ""
+            },
+            {
+              "$type": "Document",
+              "DocumentIndex": 4,
+              "Title": "BLD300RService.cs",
+              "DocumentMoniker": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Services\\BLD300RService.cs",
+              "RelativeDocumentMoniker": "AgroBase\\Services\\BLD300RService.cs",
+              "ToolTip": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Services\\BLD300RService.cs",
+              "RelativeToolTip": "AgroBase\\Services\\BLD300RService.cs",
+              "ViewState": "AQIAAAoAAAAAAAAAAAAiwM0AAAAxAAAA",
+              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+              "WhenOpened": "2024-12-19T18:32:13.222Z",
+              "EditorCaption": ""
+            },
+            {
+              "$type": "Document",
+              "DocumentIndex": 3,
+              "Title": "frmResultadosOperacao.cs [Design]",
+              "DocumentMoniker": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Forms\\Operacoes\\frmResultadosOperacao.cs",
+              "RelativeDocumentMoniker": "AgroBase\\Forms\\Operacoes\\frmResultadosOperacao.cs",
+              "ToolTip": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Forms\\Operacoes\\frmResultadosOperacao.cs [Design]",
+              "RelativeToolTip": "AgroBase\\Forms\\Operacoes\\frmResultadosOperacao.cs [Design]",
+              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+              "WhenOpened": "2024-12-19T12:57:34.196Z",
+              "EditorCaption": " [Design]"
+            },
+            {
+              "$type": "Document",
+              "DocumentIndex": 2,
+              "Title": "frmResultadosOperacao.cs",
+              "DocumentMoniker": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Forms\\Operacoes\\frmResultadosOperacao.cs",
+              "RelativeDocumentMoniker": "AgroBase\\Forms\\Operacoes\\frmResultadosOperacao.cs",
+              "ToolTip": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Forms\\Operacoes\\frmResultadosOperacao.cs",
+              "RelativeToolTip": "AgroBase\\Forms\\Operacoes\\frmResultadosOperacao.cs",
+              "ViewState": "AQIAAAAAAAAAAAAAAAAAAAoDAAAzAAAA",
+              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+              "WhenOpened": "2024-12-18T19:37:53.993Z",
               "EditorCaption": ""
             },
             {
               "$type": "Document",
               "DocumentIndex": 1,
-              "Title": "GeneralJoystick.cs",
-              "DocumentMoniker": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Models\\GeneralJoystick.cs",
-              "RelativeDocumentMoniker": "AgroBase\\Models\\GeneralJoystick.cs",
-              "ToolTip": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Models\\GeneralJoystick.cs",
-              "RelativeToolTip": "AgroBase\\Models\\GeneralJoystick.cs",
-              "ViewState": "AQIAAHsCAAAAAAAAAAAnwOkCAABUAAAA",
+              "Title": "OperacaoModel.cs",
+              "DocumentMoniker": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Models\\Operacoes\\OperacaoModel.cs",
+              "RelativeDocumentMoniker": "AgroBase\\Models\\Operacoes\\OperacaoModel.cs",
+              "ToolTip": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Models\\Operacoes\\OperacaoModel.cs",
+              "RelativeToolTip": "AgroBase\\Models\\Operacoes\\OperacaoModel.cs",
+              "ViewState": "AQIAAAAAAAAAAAAAAAAAAHEJAAAAAAAA",
               "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
-              "WhenOpened": "2024-12-18T13:02:20.66Z",
+              "WhenOpened": "2024-12-17T20:14:20.606Z",
               "EditorCaption": ""
             }
           ]
diff --git a/AgroBase/AgroBase/Forms/Atuador/frmAtuCalibragem.cs b/AgroBase/AgroBase/Forms/Atuador/frmAtuCalibragem.cs
index 126c2d9ca..1e6cec9b7 100644
--- a/AgroBase/AgroBase/Forms/Atuador/frmAtuCalibragem.cs
+++ b/AgroBase/AgroBase/Forms/Atuador/frmAtuCalibragem.cs
@@ -164,13 +164,13 @@ namespace AgroBase.Forms.Atuador
         private void btnLigarBomba_Click(object sender, EventArgs e)
         {
             var Bomba = Variaveis.OperacaoEmAndamento.DispAtu.Dados.BombaPressurizadora;
-            GeneralJoystick.EnviarComandoAtuador(S_Code.sBMB, true, Bomba.ID);
+            GeneralJoystick.EnviarComandoAtuador(S_Code.sBMB, true, Bomba.ID, true);
         }
 
         private void btnDesligarBomba_Click(object sender, EventArgs e)
         {
             var Bomba = Variaveis.OperacaoEmAndamento.DispAtu.Dados.BombaPressurizadora;
-            GeneralJoystick.EnviarComandoAtuador(S_Code.sBMB, false, Bomba.ID);
+            GeneralJoystick.EnviarComandoAtuador(S_Code.sBMB, false, Bomba.ID, true);
         }
 
         private void pnlBico_Paint(object sender, PaintEventArgs e)
@@ -194,7 +194,7 @@ namespace AgroBase.Forms.Atuador
         {
             Button btn = (Button)sender;
             string ID = btn.Name.Replace("btn0_", "");
-            GeneralJoystick.EnviarComandoAtuador(S_Code.sBIC, false, ID);
+            GeneralJoystick.EnviarComandoAtuador(S_Code.sBIC, false, ID, true);
             pnlBicos.Controls.OfType<Panel>().First(x => x.Name == "pnlB_" + ID).Invalidate();
             pnlBicos.Controls.OfType<Panel>().First(x => x.Name == "pnlB_" + ID).Controls.OfType<Label>().First(x => x.Name == "lblCmd_" + ID).Text = "Comando: Desligado";
         }
@@ -203,7 +203,7 @@ namespace AgroBase.Forms.Atuador
         {
             Button btn = (Button)sender;
             string ID = btn.Name.Replace("btn1_", "");
-            GeneralJoystick.EnviarComandoAtuador(S_Code.sBIC, true, ID);
+            GeneralJoystick.EnviarComandoAtuador(S_Code.sBIC, true, ID, true);
             pnlBicos.Controls.OfType<Panel>().First(x => x.Name == "pnlB_" + ID).Invalidate();
             pnlBicos.Controls.OfType<Panel>().First(x => x.Name == "pnlB_" + ID).Controls.OfType<Label>().First(x => x.Name == "lblCmd_" + ID).Text = "Comando: Ligado";
         }
diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs
index b93681e10..647b48830 100644
--- a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs
+++ b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs
@@ -28,30 +28,30 @@
         /// </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();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea17 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend17 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series17 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea20 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend20 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series20 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea21 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend21 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series21 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea22 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend22 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series22 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea18 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend18 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series18 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea23 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend23 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series23 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea19 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend19 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series19 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea24 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend24 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series24 = new System.Windows.Forms.DataVisualization.Charting.Series();
             this.trbMomento = new System.Windows.Forms.TrackBar();
             this.panel1 = new System.Windows.Forms.Panel();
             this.tabControl4 = new System.Windows.Forms.TabControl();
@@ -379,6 +379,10 @@
             this.label114 = new System.Windows.Forms.Label();
             this.chartCpu = new System.Windows.Forms.DataVisualization.Charting.Chart();
             this.panel6 = new System.Windows.Forms.Panel();
+            this.txtVelocidadeControle = new System.Windows.Forms.TextBox();
+            this.label120 = new System.Windows.Forms.Label();
+            this.txtDirecaoControle = new System.Windows.Forms.TextBox();
+            this.label119 = new System.Windows.Forms.Label();
             this.txtVelocidade = new System.Windows.Forms.TextBox();
             this.label118 = new System.Windows.Forms.Label();
             this.txtErvasTerreno = new System.Windows.Forms.TextBox();
@@ -401,8 +405,6 @@
             this.label81 = new System.Windows.Forms.Label();
             this.txtHerbicidaPorErva = new System.Windows.Forms.TextBox();
             this.label77 = new System.Windows.Forms.Label();
-            this.txtHerbicidaConsumido = new System.Windows.Forms.TextBox();
-            this.label78 = new System.Windows.Forms.Label();
             this.txtStatusCarro = new System.Windows.Forms.TextBox();
             this.label75 = new System.Windows.Forms.Label();
             this.txtStatusOperacao = new System.Windows.Forms.TextBox();
@@ -412,20 +414,25 @@
             this.txtTempoMovimento = new System.Windows.Forms.TextBox();
             this.label73 = new System.Windows.Forms.Label();
             this.pgbPercentualReservatorio = new System.Windows.Forms.ProgressBar();
-            this.label72 = new System.Windows.Forms.Label();
+            this.lblPercentualReservatorio = new System.Windows.Forms.Label();
             this.pgbBateriaConsumida = new System.Windows.Forms.ProgressBar();
-            this.label71 = new System.Windows.Forms.Label();
+            this.lblBateriaConsumida = new System.Windows.Forms.Label();
             this.pgbPercentualBateria = new System.Windows.Forms.ProgressBar();
-            this.label70 = new System.Windows.Forms.Label();
+            this.lblPercentualBateria = new System.Windows.Forms.Label();
             this.picCameraCaminho = new System.Windows.Forms.PictureBox();
             this.btnCarregarOperacao = new System.Windows.Forms.Button();
             this.label36 = new System.Windows.Forms.Label();
             this.txtMomento = new System.Windows.Forms.TextBox();
             this.btnPlay = new System.Windows.Forms.Button();
-            this.txtDirecaoControle = new System.Windows.Forms.TextBox();
-            this.label119 = new System.Windows.Forms.Label();
-            this.txtVelocidadeControle = new System.Windows.Forms.TextBox();
-            this.label120 = new System.Windows.Forms.Label();
+            this.pnlInformacoesOperacao = new System.Windows.Forms.Panel();
+            this.lblHerbicidaConsumido = new System.Windows.Forms.Label();
+            this.pgbHerbicidaConsumido = new System.Windows.Forms.ProgressBar();
+            this.lblPercentualRua = new System.Windows.Forms.Label();
+            this.pgbPercentualRua = new System.Windows.Forms.ProgressBar();
+            this.lblPercentualOperacao = new System.Windows.Forms.Label();
+            this.pgbPercentualOperacao = new System.Windows.Forms.ProgressBar();
+            this.label70 = new System.Windows.Forms.Label();
+            this.txtErvasIdentificadas = new System.Windows.Forms.TextBox();
             ((System.ComponentModel.ISupportInitialize)(this.trbMomento)).BeginInit();
             this.panel1.SuspendLayout();
             this.tabControl4.SuspendLayout();
@@ -492,6 +499,7 @@
             ((System.ComponentModel.ISupportInitialize)(this.chartCpu)).BeginInit();
             this.panel6.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.picCameraCaminho)).BeginInit();
+            this.pnlInformacoesOperacao.SuspendLayout();
             this.SuspendLayout();
             // 
             // trbMomento
@@ -1447,7 +1455,7 @@
             // lblDIR_DT
             // 
             this.lblDIR_DT.AutoSize = true;
-            this.lblDIR_DT.Location = new System.Drawing.Point(336, 262);
+            this.lblDIR_DT.Location = new System.Drawing.Point(449, 262);
             this.lblDIR_DT.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblDIR_DT.Name = "lblDIR_DT";
             this.lblDIR_DT.Size = new System.Drawing.Size(46, 13);
@@ -1468,7 +1476,7 @@
             // lblDIR_DF
             // 
             this.lblDIR_DF.AutoSize = true;
-            this.lblDIR_DF.Location = new System.Drawing.Point(336, 3);
+            this.lblDIR_DF.Location = new System.Drawing.Point(449, 3);
             this.lblDIR_DF.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblDIR_DF.Name = "lblDIR_DF";
             this.lblDIR_DF.Size = new System.Drawing.Size(45, 13);
@@ -1647,17 +1655,17 @@
             // 
             // chartMovVelocidade
             // 
-            chartArea1.Name = "ChartArea1";
-            this.chartMovVelocidade.ChartAreas.Add(chartArea1);
-            legend1.Name = "Legend1";
-            this.chartMovVelocidade.Legends.Add(legend1);
+            chartArea17.Name = "ChartArea1";
+            this.chartMovVelocidade.ChartAreas.Add(chartArea17);
+            legend17.Name = "Legend1";
+            this.chartMovVelocidade.Legends.Add(legend17);
             this.chartMovVelocidade.Location = new System.Drawing.Point(4, 4);
             this.chartMovVelocidade.Margin = new System.Windows.Forms.Padding(2);
             this.chartMovVelocidade.Name = "chartMovVelocidade";
-            series1.ChartArea = "ChartArea1";
-            series1.Legend = "Legend1";
-            series1.Name = "Series1";
-            this.chartMovVelocidade.Series.Add(series1);
+            series17.ChartArea = "ChartArea1";
+            series17.Legend = "Legend1";
+            series17.Name = "Series1";
+            this.chartMovVelocidade.Series.Add(series17);
             this.chartMovVelocidade.Size = new System.Drawing.Size(474, 356);
             this.chartMovVelocidade.TabIndex = 96;
             this.chartMovVelocidade.Text = "chart1";
@@ -2066,17 +2074,17 @@
             // 
             // chartMovTemperatura
             // 
-            chartArea2.Name = "ChartArea1";
-            this.chartMovTemperatura.ChartAreas.Add(chartArea2);
-            legend2.Name = "Legend1";
-            this.chartMovTemperatura.Legends.Add(legend2);
+            chartArea20.Name = "ChartArea1";
+            this.chartMovTemperatura.ChartAreas.Add(chartArea20);
+            legend20.Name = "Legend1";
+            this.chartMovTemperatura.Legends.Add(legend20);
             this.chartMovTemperatura.Location = new System.Drawing.Point(4, 4);
             this.chartMovTemperatura.Margin = new System.Windows.Forms.Padding(2);
             this.chartMovTemperatura.Name = "chartMovTemperatura";
-            series2.ChartArea = "ChartArea1";
-            series2.Legend = "Legend1";
-            series2.Name = "Series1";
-            this.chartMovTemperatura.Series.Add(series2);
+            series20.ChartArea = "ChartArea1";
+            series20.Legend = "Legend1";
+            series20.Name = "Series1";
+            this.chartMovTemperatura.Series.Add(series20);
             this.chartMovTemperatura.Size = new System.Drawing.Size(474, 336);
             this.chartMovTemperatura.TabIndex = 95;
             this.chartMovTemperatura.Text = "chart1";
@@ -2484,17 +2492,17 @@
             // 
             // chartMovTensao
             // 
-            chartArea3.Name = "ChartArea1";
-            this.chartMovTensao.ChartAreas.Add(chartArea3);
-            legend3.Name = "Legend1";
-            this.chartMovTensao.Legends.Add(legend3);
+            chartArea21.Name = "ChartArea1";
+            this.chartMovTensao.ChartAreas.Add(chartArea21);
+            legend21.Name = "Legend1";
+            this.chartMovTensao.Legends.Add(legend21);
             this.chartMovTensao.Location = new System.Drawing.Point(4, 4);
             this.chartMovTensao.Margin = new System.Windows.Forms.Padding(2);
             this.chartMovTensao.Name = "chartMovTensao";
-            series3.ChartArea = "ChartArea1";
-            series3.Legend = "Legend1";
-            series3.Name = "Series1";
-            this.chartMovTensao.Series.Add(series3);
+            series21.ChartArea = "ChartArea1";
+            series21.Legend = "Legend1";
+            series21.Name = "Series1";
+            this.chartMovTensao.Series.Add(series21);
             this.chartMovTensao.Size = new System.Drawing.Size(474, 336);
             this.chartMovTensao.TabIndex = 131;
             this.chartMovTensao.Text = "chart1";
@@ -2993,17 +3001,17 @@
             // 
             // chartMovGeral
             // 
-            chartArea4.Name = "ChartArea1";
-            this.chartMovGeral.ChartAreas.Add(chartArea4);
-            legend4.Name = "Legend1";
-            this.chartMovGeral.Legends.Add(legend4);
+            chartArea22.Name = "ChartArea1";
+            this.chartMovGeral.ChartAreas.Add(chartArea22);
+            legend22.Name = "Legend1";
+            this.chartMovGeral.Legends.Add(legend22);
             this.chartMovGeral.Location = new System.Drawing.Point(4, 4);
             this.chartMovGeral.Margin = new System.Windows.Forms.Padding(2);
             this.chartMovGeral.Name = "chartMovGeral";
-            series4.ChartArea = "ChartArea1";
-            series4.Legend = "Legend1";
-            series4.Name = "Series1";
-            this.chartMovGeral.Series.Add(series4);
+            series22.ChartArea = "ChartArea1";
+            series22.Legend = "Legend1";
+            series22.Name = "Series1";
+            this.chartMovGeral.Series.Add(series22);
             this.chartMovGeral.Size = new System.Drawing.Size(474, 311);
             this.chartMovGeral.TabIndex = 94;
             this.chartMovGeral.Text = "chart1";
@@ -3058,17 +3066,17 @@
             // 
             // chartAtuador
             // 
-            chartArea5.Name = "ChartArea1";
-            this.chartAtuador.ChartAreas.Add(chartArea5);
-            legend5.Name = "Legend1";
-            this.chartAtuador.Legends.Add(legend5);
+            chartArea18.Name = "ChartArea1";
+            this.chartAtuador.ChartAreas.Add(chartArea18);
+            legend18.Name = "Legend1";
+            this.chartAtuador.Legends.Add(legend18);
             this.chartAtuador.Location = new System.Drawing.Point(4, 276);
             this.chartAtuador.Margin = new System.Windows.Forms.Padding(2);
             this.chartAtuador.Name = "chartAtuador";
-            series5.ChartArea = "ChartArea1";
-            series5.Legend = "Legend1";
-            series5.Name = "Series1";
-            this.chartAtuador.Series.Add(series5);
+            series18.ChartArea = "ChartArea1";
+            series18.Legend = "Legend1";
+            series18.Name = "Series1";
+            this.chartAtuador.Series.Add(series18);
             this.chartAtuador.Size = new System.Drawing.Size(489, 241);
             this.chartAtuador.TabIndex = 95;
             this.chartAtuador.Text = "chart1";
@@ -3115,16 +3123,16 @@
             // 
             // chartErvas
             // 
-            chartArea6.Name = "ChartArea1";
-            this.chartErvas.ChartAreas.Add(chartArea6);
-            legend6.Name = "Legend1";
-            this.chartErvas.Legends.Add(legend6);
+            chartArea23.Name = "ChartArea1";
+            this.chartErvas.ChartAreas.Add(chartArea23);
+            legend23.Name = "Legend1";
+            this.chartErvas.Legends.Add(legend23);
             this.chartErvas.Location = new System.Drawing.Point(6, 6);
             this.chartErvas.Name = "chartErvas";
-            series6.ChartArea = "ChartArea1";
-            series6.Legend = "Legend1";
-            series6.Name = "Series1";
-            this.chartErvas.Series.Add(series6);
+            series23.ChartArea = "ChartArea1";
+            series23.Legend = "Legend1";
+            series23.Name = "Series1";
+            this.chartErvas.Series.Add(series23);
             this.chartErvas.Size = new System.Drawing.Size(484, 510);
             this.chartErvas.TabIndex = 0;
             this.chartErvas.Text = "chart1";
@@ -3407,17 +3415,17 @@
             // 
             // chartSensoriamento
             // 
-            chartArea7.Name = "ChartArea1";
-            this.chartSensoriamento.ChartAreas.Add(chartArea7);
-            legend7.Name = "Legend1";
-            this.chartSensoriamento.Legends.Add(legend7);
+            chartArea19.Name = "ChartArea1";
+            this.chartSensoriamento.ChartAreas.Add(chartArea19);
+            legend19.Name = "Legend1";
+            this.chartSensoriamento.Legends.Add(legend19);
             this.chartSensoriamento.Location = new System.Drawing.Point(2, 4);
             this.chartSensoriamento.Margin = new System.Windows.Forms.Padding(2);
             this.chartSensoriamento.Name = "chartSensoriamento";
-            series7.ChartArea = "ChartArea1";
-            series7.Legend = "Legend1";
-            series7.Name = "Series1";
-            this.chartSensoriamento.Series.Add(series7);
+            series19.ChartArea = "ChartArea1";
+            series19.Legend = "Legend1";
+            series19.Name = "Series1";
+            this.chartSensoriamento.Series.Add(series19);
             this.chartSensoriamento.Size = new System.Drawing.Size(491, 389);
             this.chartSensoriamento.TabIndex = 95;
             this.chartSensoriamento.Text = "chart1";
@@ -4133,75 +4141,74 @@
             // 
             // chartCpu
             // 
-            chartArea8.Name = "ChartArea1";
-            this.chartCpu.ChartAreas.Add(chartArea8);
-            legend8.Name = "Legend1";
-            this.chartCpu.Legends.Add(legend8);
+            chartArea24.Name = "ChartArea1";
+            this.chartCpu.ChartAreas.Add(chartArea24);
+            legend24.Name = "Legend1";
+            this.chartCpu.Legends.Add(legend24);
             this.chartCpu.Location = new System.Drawing.Point(2, 3);
             this.chartCpu.Margin = new System.Windows.Forms.Padding(2);
             this.chartCpu.Name = "chartCpu";
-            series8.ChartArea = "ChartArea1";
-            series8.Legend = "Legend1";
-            series8.Name = "Series1";
-            this.chartCpu.Series.Add(series8);
+            series24.ChartArea = "ChartArea1";
+            series24.Legend = "Legend1";
+            series24.Name = "Series1";
+            this.chartCpu.Series.Add(series24);
             this.chartCpu.Size = new System.Drawing.Size(491, 389);
             this.chartCpu.TabIndex = 134;
             this.chartCpu.Text = "chart1";
             // 
             // panel6
             // 
-            this.panel6.Controls.Add(this.txtVelocidadeControle);
-            this.panel6.Controls.Add(this.label120);
-            this.panel6.Controls.Add(this.txtDirecaoControle);
-            this.panel6.Controls.Add(this.label119);
-            this.panel6.Controls.Add(this.txtVelocidade);
-            this.panel6.Controls.Add(this.label118);
-            this.panel6.Controls.Add(this.txtErvasTerreno);
-            this.panel6.Controls.Add(this.label116);
-            this.panel6.Controls.Add(this.txtDuracaoOperacao);
-            this.panel6.Controls.Add(this.label115);
-            this.panel6.Controls.Add(this.txtPressao);
-            this.panel6.Controls.Add(this.label106);
-            this.panel6.Controls.Add(this.txtAltitude);
-            this.panel6.Controls.Add(this.label105);
-            this.panel6.Controls.Add(this.txtTemperatura);
-            this.panel6.Controls.Add(this.label104);
-            this.panel6.Controls.Add(this.txtTipoMovimento);
-            this.panel6.Controls.Add(this.lblTipoMovimento);
-            this.panel6.Controls.Add(this.txtErvasNoRadar);
-            this.panel6.Controls.Add(this.label79);
-            this.panel6.Controls.Add(this.txtDirecaoCarro);
-            this.panel6.Controls.Add(this.label80);
-            this.panel6.Controls.Add(this.txtDentroRua);
-            this.panel6.Controls.Add(this.label81);
-            this.panel6.Controls.Add(this.txtHerbicidaPorErva);
-            this.panel6.Controls.Add(this.label77);
-            this.panel6.Controls.Add(this.txtHerbicidaConsumido);
-            this.panel6.Controls.Add(this.label78);
-            this.panel6.Controls.Add(this.txtStatusCarro);
-            this.panel6.Controls.Add(this.label75);
-            this.panel6.Controls.Add(this.txtStatusOperacao);
-            this.panel6.Controls.Add(this.label76);
-            this.panel6.Controls.Add(this.txtDistanciaPercorrida);
-            this.panel6.Controls.Add(this.label74);
-            this.panel6.Controls.Add(this.txtTempoMovimento);
-            this.panel6.Controls.Add(this.label73);
-            this.panel6.Controls.Add(this.pgbPercentualReservatorio);
-            this.panel6.Controls.Add(this.label72);
-            this.panel6.Controls.Add(this.pgbBateriaConsumida);
-            this.panel6.Controls.Add(this.label71);
-            this.panel6.Controls.Add(this.pgbPercentualBateria);
-            this.panel6.Controls.Add(this.label70);
+            this.panel6.Controls.Add(this.pnlInformacoesOperacao);
             this.panel6.Controls.Add(this.picCameraCaminho);
             this.panel6.Location = new System.Drawing.Point(943, 10);
             this.panel6.Margin = new System.Windows.Forms.Padding(2);
             this.panel6.Name = "panel6";
-            this.panel6.Size = new System.Drawing.Size(368, 554);
+            this.panel6.Size = new System.Drawing.Size(391, 554);
             this.panel6.TabIndex = 3;
             // 
+            // txtVelocidadeControle
+            // 
+            this.txtVelocidadeControle.Location = new System.Drawing.Point(248, 135);
+            this.txtVelocidadeControle.Margin = new System.Windows.Forms.Padding(2);
+            this.txtVelocidadeControle.Name = "txtVelocidadeControle";
+            this.txtVelocidadeControle.ReadOnly = true;
+            this.txtVelocidadeControle.Size = new System.Drawing.Size(117, 20);
+            this.txtVelocidadeControle.TabIndex = 68;
+            this.txtVelocidadeControle.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // label120
+            // 
+            this.label120.AutoSize = true;
+            this.label120.Location = new System.Drawing.Point(245, 120);
+            this.label120.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label120.Name = "label120";
+            this.label120.Size = new System.Drawing.Size(102, 13);
+            this.label120.TabIndex = 67;
+            this.label120.Text = "Velocidade Controle";
+            // 
+            // txtDirecaoControle
+            // 
+            this.txtDirecaoControle.Location = new System.Drawing.Point(126, 135);
+            this.txtDirecaoControle.Margin = new System.Windows.Forms.Padding(2);
+            this.txtDirecaoControle.Name = "txtDirecaoControle";
+            this.txtDirecaoControle.ReadOnly = true;
+            this.txtDirecaoControle.Size = new System.Drawing.Size(117, 20);
+            this.txtDirecaoControle.TabIndex = 66;
+            this.txtDirecaoControle.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // label119
+            // 
+            this.label119.AutoSize = true;
+            this.label119.Location = new System.Drawing.Point(123, 120);
+            this.label119.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label119.Name = "label119";
+            this.label119.Size = new System.Drawing.Size(86, 13);
+            this.label119.TabIndex = 65;
+            this.label119.Text = "Direção Controle";
+            // 
             // txtVelocidade
             // 
-            this.txtVelocidade.Location = new System.Drawing.Point(4, 529);
+            this.txtVelocidade.Location = new System.Drawing.Point(246, 98);
             this.txtVelocidade.Margin = new System.Windows.Forms.Padding(2);
             this.txtVelocidade.Name = "txtVelocidade";
             this.txtVelocidade.ReadOnly = true;
@@ -4212,7 +4219,7 @@
             // label118
             // 
             this.label118.AutoSize = true;
-            this.label118.Location = new System.Drawing.Point(1, 514);
+            this.label118.Location = new System.Drawing.Point(243, 83);
             this.label118.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label118.Name = "label118";
             this.label118.Size = new System.Drawing.Size(87, 13);
@@ -4221,7 +4228,7 @@
             // 
             // txtErvasTerreno
             // 
-            this.txtErvasTerreno.Location = new System.Drawing.Point(247, 454);
+            this.txtErvasTerreno.Location = new System.Drawing.Point(246, 23);
             this.txtErvasTerreno.Margin = new System.Windows.Forms.Padding(2);
             this.txtErvasTerreno.Name = "txtErvasTerreno";
             this.txtErvasTerreno.ReadOnly = true;
@@ -4232,7 +4239,7 @@
             // label116
             // 
             this.label116.AutoSize = true;
-            this.label116.Location = new System.Drawing.Point(245, 438);
+            this.label116.Location = new System.Drawing.Point(244, 7);
             this.label116.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label116.Name = "label116";
             this.label116.Size = new System.Drawing.Size(106, 13);
@@ -4241,7 +4248,7 @@
             // 
             // txtDuracaoOperacao
             // 
-            this.txtDuracaoOperacao.Location = new System.Drawing.Point(126, 454);
+            this.txtDuracaoOperacao.Location = new System.Drawing.Point(4, 60);
             this.txtDuracaoOperacao.Margin = new System.Windows.Forms.Padding(2);
             this.txtDuracaoOperacao.Name = "txtDuracaoOperacao";
             this.txtDuracaoOperacao.ReadOnly = true;
@@ -4252,7 +4259,7 @@
             // label115
             // 
             this.label115.AutoSize = true;
-            this.label115.Location = new System.Drawing.Point(124, 439);
+            this.label115.Location = new System.Drawing.Point(2, 45);
             this.label115.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label115.Name = "label115";
             this.label115.Size = new System.Drawing.Size(113, 13);
@@ -4261,7 +4268,7 @@
             // 
             // txtPressao
             // 
-            this.txtPressao.Location = new System.Drawing.Point(246, 492);
+            this.txtPressao.Location = new System.Drawing.Point(246, 284);
             this.txtPressao.Margin = new System.Windows.Forms.Padding(2);
             this.txtPressao.Name = "txtPressao";
             this.txtPressao.ReadOnly = true;
@@ -4272,7 +4279,7 @@
             // label106
             // 
             this.label106.AutoSize = true;
-            this.label106.Location = new System.Drawing.Point(244, 476);
+            this.label106.Location = new System.Drawing.Point(244, 268);
             this.label106.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label106.Name = "label106";
             this.label106.Size = new System.Drawing.Size(45, 13);
@@ -4281,7 +4288,7 @@
             // 
             // txtAltitude
             // 
-            this.txtAltitude.Location = new System.Drawing.Point(126, 492);
+            this.txtAltitude.Location = new System.Drawing.Point(126, 284);
             this.txtAltitude.Margin = new System.Windows.Forms.Padding(2);
             this.txtAltitude.Name = "txtAltitude";
             this.txtAltitude.ReadOnly = true;
@@ -4292,7 +4299,7 @@
             // label105
             // 
             this.label105.AutoSize = true;
-            this.label105.Location = new System.Drawing.Point(124, 476);
+            this.label105.Location = new System.Drawing.Point(124, 268);
             this.label105.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label105.Name = "label105";
             this.label105.Size = new System.Drawing.Size(42, 13);
@@ -4301,7 +4308,7 @@
             // 
             // txtTemperatura
             // 
-            this.txtTemperatura.Location = new System.Drawing.Point(4, 492);
+            this.txtTemperatura.Location = new System.Drawing.Point(4, 284);
             this.txtTemperatura.Margin = new System.Windows.Forms.Padding(2);
             this.txtTemperatura.Name = "txtTemperatura";
             this.txtTemperatura.ReadOnly = true;
@@ -4312,7 +4319,7 @@
             // label104
             // 
             this.label104.AutoSize = true;
-            this.label104.Location = new System.Drawing.Point(2, 476);
+            this.label104.Location = new System.Drawing.Point(2, 268);
             this.label104.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label104.Name = "label104";
             this.label104.Size = new System.Drawing.Size(67, 13);
@@ -4321,7 +4328,7 @@
             // 
             // txtTipoMovimento
             // 
-            this.txtTipoMovimento.Location = new System.Drawing.Point(4, 454);
+            this.txtTipoMovimento.Location = new System.Drawing.Point(4, 135);
             this.txtTipoMovimento.Margin = new System.Windows.Forms.Padding(2);
             this.txtTipoMovimento.Name = "txtTipoMovimento";
             this.txtTipoMovimento.ReadOnly = true;
@@ -4332,7 +4339,7 @@
             // lblTipoMovimento
             // 
             this.lblTipoMovimento.AutoSize = true;
-            this.lblTipoMovimento.Location = new System.Drawing.Point(2, 438);
+            this.lblTipoMovimento.Location = new System.Drawing.Point(2, 119);
             this.lblTipoMovimento.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblTipoMovimento.Name = "lblTipoMovimento";
             this.lblTipoMovimento.Size = new System.Drawing.Size(98, 13);
@@ -4341,7 +4348,7 @@
             // 
             // txtErvasNoRadar
             // 
-            this.txtErvasNoRadar.Location = new System.Drawing.Point(246, 416);
+            this.txtErvasNoRadar.Location = new System.Drawing.Point(248, 172);
             this.txtErvasNoRadar.Margin = new System.Windows.Forms.Padding(2);
             this.txtErvasNoRadar.Name = "txtErvasNoRadar";
             this.txtErvasNoRadar.ReadOnly = true;
@@ -4352,7 +4359,7 @@
             // label79
             // 
             this.label79.AutoSize = true;
-            this.label79.Location = new System.Drawing.Point(244, 400);
+            this.label79.Location = new System.Drawing.Point(246, 156);
             this.label79.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label79.Name = "label79";
             this.label79.Size = new System.Drawing.Size(81, 13);
@@ -4361,7 +4368,7 @@
             // 
             // txtDirecaoCarro
             // 
-            this.txtDirecaoCarro.Location = new System.Drawing.Point(125, 416);
+            this.txtDirecaoCarro.Location = new System.Drawing.Point(125, 98);
             this.txtDirecaoCarro.Margin = new System.Windows.Forms.Padding(2);
             this.txtDirecaoCarro.Name = "txtDirecaoCarro";
             this.txtDirecaoCarro.ReadOnly = true;
@@ -4372,7 +4379,7 @@
             // label80
             // 
             this.label80.AutoSize = true;
-            this.label80.Location = new System.Drawing.Point(123, 400);
+            this.label80.Location = new System.Drawing.Point(123, 82);
             this.label80.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label80.Name = "label80";
             this.label80.Size = new System.Drawing.Size(72, 13);
@@ -4381,7 +4388,7 @@
             // 
             // txtDentroRua
             // 
-            this.txtDentroRua.Location = new System.Drawing.Point(4, 416);
+            this.txtDentroRua.Location = new System.Drawing.Point(4, 98);
             this.txtDentroRua.Margin = new System.Windows.Forms.Padding(2);
             this.txtDentroRua.Name = "txtDentroRua";
             this.txtDentroRua.ReadOnly = true;
@@ -4392,7 +4399,7 @@
             // label81
             // 
             this.label81.AutoSize = true;
-            this.label81.Location = new System.Drawing.Point(2, 400);
+            this.label81.Location = new System.Drawing.Point(2, 82);
             this.label81.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label81.Name = "label81";
             this.label81.Size = new System.Drawing.Size(77, 13);
@@ -4401,7 +4408,7 @@
             // 
             // txtHerbicidaPorErva
             // 
-            this.txtHerbicidaPorErva.Location = new System.Drawing.Point(246, 380);
+            this.txtHerbicidaPorErva.Location = new System.Drawing.Point(248, 209);
             this.txtHerbicidaPorErva.Margin = new System.Windows.Forms.Padding(2);
             this.txtHerbicidaPorErva.Name = "txtHerbicidaPorErva";
             this.txtHerbicidaPorErva.ReadOnly = true;
@@ -4412,36 +4419,16 @@
             // label77
             // 
             this.label77.AutoSize = true;
-            this.label77.Location = new System.Drawing.Point(244, 365);
+            this.label77.Location = new System.Drawing.Point(246, 194);
             this.label77.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label77.Name = "label77";
             this.label77.Size = new System.Drawing.Size(96, 13);
             this.label77.TabIndex = 43;
             this.label77.Text = "Herbicida Por Erva";
             // 
-            // txtHerbicidaConsumido
-            // 
-            this.txtHerbicidaConsumido.Location = new System.Drawing.Point(246, 344);
-            this.txtHerbicidaConsumido.Margin = new System.Windows.Forms.Padding(2);
-            this.txtHerbicidaConsumido.Name = "txtHerbicidaConsumido";
-            this.txtHerbicidaConsumido.ReadOnly = true;
-            this.txtHerbicidaConsumido.Size = new System.Drawing.Size(117, 20);
-            this.txtHerbicidaConsumido.TabIndex = 42;
-            this.txtHerbicidaConsumido.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
-            // 
-            // label78
-            // 
-            this.label78.AutoSize = true;
-            this.label78.Location = new System.Drawing.Point(244, 329);
-            this.label78.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.label78.Name = "label78";
-            this.label78.Size = new System.Drawing.Size(107, 13);
-            this.label78.TabIndex = 41;
-            this.label78.Text = "Herbicida Consumido";
-            // 
             // txtStatusCarro
             // 
-            this.txtStatusCarro.Location = new System.Drawing.Point(125, 380);
+            this.txtStatusCarro.Location = new System.Drawing.Point(125, 23);
             this.txtStatusCarro.Margin = new System.Windows.Forms.Padding(2);
             this.txtStatusCarro.Name = "txtStatusCarro";
             this.txtStatusCarro.ReadOnly = true;
@@ -4452,7 +4439,7 @@
             // label75
             // 
             this.label75.AutoSize = true;
-            this.label75.Location = new System.Drawing.Point(123, 365);
+            this.label75.Location = new System.Drawing.Point(123, 8);
             this.label75.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label75.Name = "label75";
             this.label75.Size = new System.Drawing.Size(65, 13);
@@ -4461,7 +4448,7 @@
             // 
             // txtStatusOperacao
             // 
-            this.txtStatusOperacao.Location = new System.Drawing.Point(4, 380);
+            this.txtStatusOperacao.Location = new System.Drawing.Point(4, 23);
             this.txtStatusOperacao.Margin = new System.Windows.Forms.Padding(2);
             this.txtStatusOperacao.Name = "txtStatusOperacao";
             this.txtStatusOperacao.ReadOnly = true;
@@ -4472,7 +4459,7 @@
             // label76
             // 
             this.label76.AutoSize = true;
-            this.label76.Location = new System.Drawing.Point(2, 365);
+            this.label76.Location = new System.Drawing.Point(2, 8);
             this.label76.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label76.Name = "label76";
             this.label76.Size = new System.Drawing.Size(87, 13);
@@ -4481,7 +4468,7 @@
             // 
             // txtDistanciaPercorrida
             // 
-            this.txtDistanciaPercorrida.Location = new System.Drawing.Point(125, 344);
+            this.txtDistanciaPercorrida.Location = new System.Drawing.Point(246, 60);
             this.txtDistanciaPercorrida.Margin = new System.Windows.Forms.Padding(2);
             this.txtDistanciaPercorrida.Name = "txtDistanciaPercorrida";
             this.txtDistanciaPercorrida.ReadOnly = true;
@@ -4492,7 +4479,7 @@
             // label74
             // 
             this.label74.AutoSize = true;
-            this.label74.Location = new System.Drawing.Point(123, 329);
+            this.label74.Location = new System.Drawing.Point(244, 45);
             this.label74.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label74.Name = "label74";
             this.label74.Size = new System.Drawing.Size(102, 13);
@@ -4501,7 +4488,7 @@
             // 
             // txtTempoMovimento
             // 
-            this.txtTempoMovimento.Location = new System.Drawing.Point(4, 344);
+            this.txtTempoMovimento.Location = new System.Drawing.Point(125, 60);
             this.txtTempoMovimento.Margin = new System.Windows.Forms.Padding(2);
             this.txtTempoMovimento.Name = "txtTempoMovimento";
             this.txtTempoMovimento.ReadOnly = true;
@@ -4512,7 +4499,7 @@
             // label73
             // 
             this.label73.AutoSize = true;
-            this.label73.Location = new System.Drawing.Point(2, 329);
+            this.label73.Location = new System.Drawing.Point(123, 45);
             this.label73.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label73.Name = "label73";
             this.label73.Size = new System.Drawing.Size(112, 13);
@@ -4521,64 +4508,64 @@
             // 
             // pgbPercentualReservatorio
             // 
-            this.pgbPercentualReservatorio.Location = new System.Drawing.Point(246, 308);
+            this.pgbPercentualReservatorio.Location = new System.Drawing.Point(4, 210);
             this.pgbPercentualReservatorio.Margin = new System.Windows.Forms.Padding(2);
             this.pgbPercentualReservatorio.Name = "pgbPercentualReservatorio";
             this.pgbPercentualReservatorio.Size = new System.Drawing.Size(116, 19);
             this.pgbPercentualReservatorio.TabIndex = 32;
             // 
-            // label72
+            // lblPercentualReservatorio
             // 
-            this.label72.AutoSize = true;
-            this.label72.Location = new System.Drawing.Point(244, 292);
-            this.label72.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.label72.Name = "label72";
-            this.label72.Size = new System.Drawing.Size(121, 13);
-            this.label72.TabIndex = 31;
-            this.label72.Text = "Percentual Reservatório";
+            this.lblPercentualReservatorio.AutoSize = true;
+            this.lblPercentualReservatorio.Location = new System.Drawing.Point(2, 194);
+            this.lblPercentualReservatorio.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblPercentualReservatorio.Name = "lblPercentualReservatorio";
+            this.lblPercentualReservatorio.Size = new System.Drawing.Size(99, 13);
+            this.lblPercentualReservatorio.TabIndex = 31;
+            this.lblPercentualReservatorio.Text = "Reservatório 0,00%";
             // 
             // pgbBateriaConsumida
             // 
-            this.pgbBateriaConsumida.Location = new System.Drawing.Point(125, 308);
+            this.pgbBateriaConsumida.Location = new System.Drawing.Point(126, 173);
             this.pgbBateriaConsumida.Margin = new System.Windows.Forms.Padding(2);
             this.pgbBateriaConsumida.Name = "pgbBateriaConsumida";
             this.pgbBateriaConsumida.Size = new System.Drawing.Size(116, 19);
             this.pgbBateriaConsumida.TabIndex = 30;
             // 
-            // label71
+            // lblBateriaConsumida
             // 
-            this.label71.AutoSize = true;
-            this.label71.Location = new System.Drawing.Point(123, 292);
-            this.label71.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.label71.Name = "label71";
-            this.label71.Size = new System.Drawing.Size(95, 13);
-            this.label71.TabIndex = 29;
-            this.label71.Text = "Bateria Consumida";
+            this.lblBateriaConsumida.AutoSize = true;
+            this.lblBateriaConsumida.Location = new System.Drawing.Point(124, 157);
+            this.lblBateriaConsumida.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblBateriaConsumida.Name = "lblBateriaConsumida";
+            this.lblBateriaConsumida.Size = new System.Drawing.Size(91, 13);
+            this.lblBateriaConsumida.TabIndex = 29;
+            this.lblBateriaConsumida.Text = "Consumido 0,00%";
             // 
             // pgbPercentualBateria
             // 
-            this.pgbPercentualBateria.Location = new System.Drawing.Point(4, 308);
+            this.pgbPercentualBateria.Location = new System.Drawing.Point(4, 173);
             this.pgbPercentualBateria.Margin = new System.Windows.Forms.Padding(2);
             this.pgbPercentualBateria.Name = "pgbPercentualBateria";
             this.pgbPercentualBateria.Size = new System.Drawing.Size(116, 19);
             this.pgbPercentualBateria.TabIndex = 28;
             // 
-            // label70
+            // lblPercentualBateria
             // 
-            this.label70.AutoSize = true;
-            this.label70.Location = new System.Drawing.Point(2, 292);
-            this.label70.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.label70.Name = "label70";
-            this.label70.Size = new System.Drawing.Size(94, 13);
-            this.label70.TabIndex = 27;
-            this.label70.Text = "Percentual Bateria";
+            this.lblPercentualBateria.AutoSize = true;
+            this.lblPercentualBateria.Location = new System.Drawing.Point(2, 157);
+            this.lblPercentualBateria.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblPercentualBateria.Name = "lblPercentualBateria";
+            this.lblPercentualBateria.Size = new System.Drawing.Size(75, 13);
+            this.lblPercentualBateria.TabIndex = 27;
+            this.lblPercentualBateria.Text = "Bateria  0,00%";
             // 
             // picCameraCaminho
             // 
             this.picCameraCaminho.Location = new System.Drawing.Point(2, 2);
             this.picCameraCaminho.Margin = new System.Windows.Forms.Padding(2);
             this.picCameraCaminho.Name = "picCameraCaminho";
-            this.picCameraCaminho.Size = new System.Drawing.Size(364, 280);
+            this.picCameraCaminho.Size = new System.Drawing.Size(387, 280);
             this.picCameraCaminho.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
             this.picCameraCaminho.TabIndex = 0;
             this.picCameraCaminho.TabStop = false;
@@ -4626,51 +4613,141 @@
             this.btnPlay.UseVisualStyleBackColor = true;
             this.btnPlay.Click += new System.EventHandler(this.btnPlay_Click);
             // 
-            // txtDirecaoControle
+            // pnlInformacoesOperacao
             // 
-            this.txtDirecaoControle.Location = new System.Drawing.Point(125, 529);
-            this.txtDirecaoControle.Margin = new System.Windows.Forms.Padding(2);
-            this.txtDirecaoControle.Name = "txtDirecaoControle";
-            this.txtDirecaoControle.ReadOnly = true;
-            this.txtDirecaoControle.Size = new System.Drawing.Size(117, 20);
-            this.txtDirecaoControle.TabIndex = 66;
-            this.txtDirecaoControle.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            this.pnlInformacoesOperacao.AutoScroll = true;
+            this.pnlInformacoesOperacao.Controls.Add(this.label70);
+            this.pnlInformacoesOperacao.Controls.Add(this.txtErvasIdentificadas);
+            this.pnlInformacoesOperacao.Controls.Add(this.lblPercentualRua);
+            this.pnlInformacoesOperacao.Controls.Add(this.pgbPercentualRua);
+            this.pnlInformacoesOperacao.Controls.Add(this.lblPercentualOperacao);
+            this.pnlInformacoesOperacao.Controls.Add(this.pgbPercentualOperacao);
+            this.pnlInformacoesOperacao.Controls.Add(this.lblHerbicidaConsumido);
+            this.pnlInformacoesOperacao.Controls.Add(this.pgbHerbicidaConsumido);
+            this.pnlInformacoesOperacao.Controls.Add(this.lblPercentualBateria);
+            this.pnlInformacoesOperacao.Controls.Add(this.txtVelocidadeControle);
+            this.pnlInformacoesOperacao.Controls.Add(this.pgbPercentualBateria);
+            this.pnlInformacoesOperacao.Controls.Add(this.label120);
+            this.pnlInformacoesOperacao.Controls.Add(this.lblBateriaConsumida);
+            this.pnlInformacoesOperacao.Controls.Add(this.txtDirecaoControle);
+            this.pnlInformacoesOperacao.Controls.Add(this.pgbBateriaConsumida);
+            this.pnlInformacoesOperacao.Controls.Add(this.label119);
+            this.pnlInformacoesOperacao.Controls.Add(this.lblPercentualReservatorio);
+            this.pnlInformacoesOperacao.Controls.Add(this.txtVelocidade);
+            this.pnlInformacoesOperacao.Controls.Add(this.pgbPercentualReservatorio);
+            this.pnlInformacoesOperacao.Controls.Add(this.label118);
+            this.pnlInformacoesOperacao.Controls.Add(this.label73);
+            this.pnlInformacoesOperacao.Controls.Add(this.txtErvasTerreno);
+            this.pnlInformacoesOperacao.Controls.Add(this.txtTempoMovimento);
+            this.pnlInformacoesOperacao.Controls.Add(this.label116);
+            this.pnlInformacoesOperacao.Controls.Add(this.label74);
+            this.pnlInformacoesOperacao.Controls.Add(this.txtDuracaoOperacao);
+            this.pnlInformacoesOperacao.Controls.Add(this.txtDistanciaPercorrida);
+            this.pnlInformacoesOperacao.Controls.Add(this.label115);
+            this.pnlInformacoesOperacao.Controls.Add(this.label76);
+            this.pnlInformacoesOperacao.Controls.Add(this.txtPressao);
+            this.pnlInformacoesOperacao.Controls.Add(this.txtStatusOperacao);
+            this.pnlInformacoesOperacao.Controls.Add(this.label106);
+            this.pnlInformacoesOperacao.Controls.Add(this.label75);
+            this.pnlInformacoesOperacao.Controls.Add(this.txtAltitude);
+            this.pnlInformacoesOperacao.Controls.Add(this.txtStatusCarro);
+            this.pnlInformacoesOperacao.Controls.Add(this.label105);
+            this.pnlInformacoesOperacao.Controls.Add(this.txtTemperatura);
+            this.pnlInformacoesOperacao.Controls.Add(this.label104);
+            this.pnlInformacoesOperacao.Controls.Add(this.label77);
+            this.pnlInformacoesOperacao.Controls.Add(this.txtTipoMovimento);
+            this.pnlInformacoesOperacao.Controls.Add(this.txtHerbicidaPorErva);
+            this.pnlInformacoesOperacao.Controls.Add(this.lblTipoMovimento);
+            this.pnlInformacoesOperacao.Controls.Add(this.label81);
+            this.pnlInformacoesOperacao.Controls.Add(this.txtErvasNoRadar);
+            this.pnlInformacoesOperacao.Controls.Add(this.txtDentroRua);
+            this.pnlInformacoesOperacao.Controls.Add(this.label79);
+            this.pnlInformacoesOperacao.Controls.Add(this.label80);
+            this.pnlInformacoesOperacao.Controls.Add(this.txtDirecaoCarro);
+            this.pnlInformacoesOperacao.Location = new System.Drawing.Point(3, 287);
+            this.pnlInformacoesOperacao.Name = "pnlInformacoesOperacao";
+            this.pnlInformacoesOperacao.Size = new System.Drawing.Size(385, 264);
+            this.pnlInformacoesOperacao.TabIndex = 69;
             // 
-            // label119
+            // lblHerbicidaConsumido
             // 
-            this.label119.AutoSize = true;
-            this.label119.Location = new System.Drawing.Point(122, 514);
-            this.label119.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.label119.Name = "label119";
-            this.label119.Size = new System.Drawing.Size(86, 13);
-            this.label119.TabIndex = 65;
-            this.label119.Text = "Direção Controle";
+            this.lblHerbicidaConsumido.AutoSize = true;
+            this.lblHerbicidaConsumido.Location = new System.Drawing.Point(125, 194);
+            this.lblHerbicidaConsumido.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblHerbicidaConsumido.Name = "lblHerbicidaConsumido";
+            this.lblHerbicidaConsumido.Size = new System.Drawing.Size(91, 13);
+            this.lblHerbicidaConsumido.TabIndex = 69;
+            this.lblHerbicidaConsumido.Text = "Consumido 0,00%";
             // 
-            // txtVelocidadeControle
+            // pgbHerbicidaConsumido
             // 
-            this.txtVelocidadeControle.Location = new System.Drawing.Point(247, 529);
-            this.txtVelocidadeControle.Margin = new System.Windows.Forms.Padding(2);
-            this.txtVelocidadeControle.Name = "txtVelocidadeControle";
-            this.txtVelocidadeControle.ReadOnly = true;
-            this.txtVelocidadeControle.Size = new System.Drawing.Size(117, 20);
-            this.txtVelocidadeControle.TabIndex = 68;
-            this.txtVelocidadeControle.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            this.pgbHerbicidaConsumido.Location = new System.Drawing.Point(127, 210);
+            this.pgbHerbicidaConsumido.Margin = new System.Windows.Forms.Padding(2);
+            this.pgbHerbicidaConsumido.Name = "pgbHerbicidaConsumido";
+            this.pgbHerbicidaConsumido.Size = new System.Drawing.Size(116, 19);
+            this.pgbHerbicidaConsumido.TabIndex = 70;
             // 
-            // label120
+            // lblPercentualRua
             // 
-            this.label120.AutoSize = true;
-            this.label120.Location = new System.Drawing.Point(244, 514);
-            this.label120.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.label120.Name = "label120";
-            this.label120.Size = new System.Drawing.Size(102, 13);
-            this.label120.TabIndex = 67;
-            this.label120.Text = "Velocidade Controle";
+            this.lblPercentualRua.AutoSize = true;
+            this.lblPercentualRua.Location = new System.Drawing.Point(125, 231);
+            this.lblPercentualRua.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblPercentualRua.Name = "lblPercentualRua";
+            this.lblPercentualRua.Size = new System.Drawing.Size(59, 13);
+            this.lblPercentualRua.TabIndex = 73;
+            this.lblPercentualRua.Text = "Rua 0,00%";
+            // 
+            // pgbPercentualRua
+            // 
+            this.pgbPercentualRua.Location = new System.Drawing.Point(127, 247);
+            this.pgbPercentualRua.Margin = new System.Windows.Forms.Padding(2);
+            this.pgbPercentualRua.Name = "pgbPercentualRua";
+            this.pgbPercentualRua.Size = new System.Drawing.Size(116, 19);
+            this.pgbPercentualRua.TabIndex = 74;
+            // 
+            // lblPercentualOperacao
+            // 
+            this.lblPercentualOperacao.AutoSize = true;
+            this.lblPercentualOperacao.Location = new System.Drawing.Point(2, 231);
+            this.lblPercentualOperacao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblPercentualOperacao.Name = "lblPercentualOperacao";
+            this.lblPercentualOperacao.Size = new System.Drawing.Size(86, 13);
+            this.lblPercentualOperacao.TabIndex = 71;
+            this.lblPercentualOperacao.Text = "Operação 0,00%";
+            // 
+            // pgbPercentualOperacao
+            // 
+            this.pgbPercentualOperacao.Location = new System.Drawing.Point(4, 247);
+            this.pgbPercentualOperacao.Margin = new System.Windows.Forms.Padding(2);
+            this.pgbPercentualOperacao.Name = "pgbPercentualOperacao";
+            this.pgbPercentualOperacao.Size = new System.Drawing.Size(116, 19);
+            this.pgbPercentualOperacao.TabIndex = 72;
+            // 
+            // label70
+            // 
+            this.label70.AutoSize = true;
+            this.label70.Location = new System.Drawing.Point(246, 232);
+            this.label70.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label70.Name = "label70";
+            this.label70.Size = new System.Drawing.Size(97, 13);
+            this.label70.TabIndex = 75;
+            this.label70.Text = "Ervas Identificadas";
+            // 
+            // txtErvasIdentificadas
+            // 
+            this.txtErvasIdentificadas.Location = new System.Drawing.Point(248, 247);
+            this.txtErvasIdentificadas.Margin = new System.Windows.Forms.Padding(2);
+            this.txtErvasIdentificadas.Name = "txtErvasIdentificadas";
+            this.txtErvasIdentificadas.ReadOnly = true;
+            this.txtErvasIdentificadas.Size = new System.Drawing.Size(117, 20);
+            this.txtErvasIdentificadas.TabIndex = 76;
+            this.txtErvasIdentificadas.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
             // 
             // frmResultadosOperacao
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(1320, 632);
+            this.ClientSize = new System.Drawing.Size(1345, 632);
             this.Controls.Add(this.btnPlay);
             this.Controls.Add(this.txtMomento);
             this.Controls.Add(this.label36);
@@ -4775,8 +4852,9 @@
             this.gpbCpu_Filtro.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.chartCpu)).EndInit();
             this.panel6.ResumeLayout(false);
-            this.panel6.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.picCameraCaminho)).EndInit();
+            this.pnlInformacoesOperacao.ResumeLayout(false);
+            this.pnlInformacoesOperacao.PerformLayout();
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -4979,12 +5057,12 @@
         private System.Windows.Forms.Button btnMOV_Geral_Anterior;
         private System.Windows.Forms.Button btnSen_Proximo;
         private System.Windows.Forms.Button btnSen_Anterior;
-        private System.Windows.Forms.Label label70;
+        private System.Windows.Forms.Label lblPercentualBateria;
         private System.Windows.Forms.ProgressBar pgbPercentualBateria;
         private System.Windows.Forms.ProgressBar pgbBateriaConsumida;
-        private System.Windows.Forms.Label label71;
+        private System.Windows.Forms.Label lblBateriaConsumida;
         private System.Windows.Forms.ProgressBar pgbPercentualReservatorio;
-        private System.Windows.Forms.Label label72;
+        private System.Windows.Forms.Label lblPercentualReservatorio;
         private System.Windows.Forms.TextBox txtTempoMovimento;
         private System.Windows.Forms.Label label73;
         private System.Windows.Forms.TextBox txtDistanciaPercorrida;
@@ -4995,8 +5073,6 @@
         private System.Windows.Forms.Label label76;
         private System.Windows.Forms.TextBox txtHerbicidaPorErva;
         private System.Windows.Forms.Label label77;
-        private System.Windows.Forms.TextBox txtHerbicidaConsumido;
-        private System.Windows.Forms.Label label78;
         private System.Windows.Forms.TextBox txtErvasNoRadar;
         private System.Windows.Forms.Label label79;
         private System.Windows.Forms.TextBox txtDirecaoCarro;
@@ -5158,5 +5234,14 @@
         private System.Windows.Forms.Label label119;
         private System.Windows.Forms.TextBox txtVelocidadeControle;
         private System.Windows.Forms.Label label120;
+        private System.Windows.Forms.Panel pnlInformacoesOperacao;
+        private System.Windows.Forms.Label lblHerbicidaConsumido;
+        private System.Windows.Forms.ProgressBar pgbHerbicidaConsumido;
+        private System.Windows.Forms.Label lblPercentualRua;
+        private System.Windows.Forms.ProgressBar pgbPercentualRua;
+        private System.Windows.Forms.Label lblPercentualOperacao;
+        private System.Windows.Forms.ProgressBar pgbPercentualOperacao;
+        private System.Windows.Forms.Label label70;
+        private System.Windows.Forms.TextBox txtErvasIdentificadas;
     }
 }
\ No newline at end of file
diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs
index 87520d821..6a80b571a 100644
--- a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs
+++ b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs
@@ -779,16 +779,27 @@ namespace AgroBase.Forms.Operacoes
         private void AtualizarInformacoesOperacao()
         {
             var Log = LogsOperacao[idxMomentoAtual];
-            double velocidadeBld = LogsMovimentacao.Where(x => x.Momento == MomentoAtual).Average(x => x.Velocidade);
-            double velocidadeBldCalc = LogsMovimentacao.Any(x => x.Momento == MomentoAtual && x.Ativado) ? FuncoesMatematicas.CalculaVelocidadeRPM(LogsMovimentacao.Where(x => x.Momento == MomentoAtual && x.Ativado).Average(x => x.RPM_Motor)) : 0;
+            var LogAtu = LogsAtuador[idxMomentoAtual];
+
+            double herbicidaConsumido = Log.HerbicidaConsumido != 0 ? Log.HerbicidaConsumido : LogAtu.VolumeVazaoML;
+            double percentualHerbicidaConsumido = ((herbicidaConsumido / 1000.0) / LogsAtuador.FirstOrDefault().VolumeReservatorio) * 100.0;
+            int totalAtuacoes = Log.ErvasIdentificadas.Sum(dict => dict.Values.Sum());
+            double herbicidaPorErva = Log.HerbicidaPorErva != 0 ? Log.HerbicidaPorErva : (herbicidaConsumido / (totalAtuacoes > 0 ? totalAtuacoes : 1));
+
+            double distanciaPercorrida = Log.DistanciaPercorrida.Sum();
+
+            lblPercentualBateria.Text = $"Bateria {Log.PorcentagemBateria.ToString("0.00")}%";
             FuncoesGlobais.PreencheValorProgressBar(pgbPercentualBateria, Log.PorcentagemBateria);
+            lblBateriaConsumida.Text = $"Consumido {Log.BateriaConsumida.ToString("0.00")}%";
+            FuncoesGlobais.PreencheValorProgressBar(pgbPercentualReservatorio, LogAtu.PercentualReservatorio);
+            lblPercentualReservatorio.Text = $"Reservatório {LogAtu.PercentualReservatorio.ToString("0.00")}%";
+            FuncoesGlobais.PreencheValorProgressBar(pgbHerbicidaConsumido, percentualHerbicidaConsumido);
+            lblHerbicidaConsumido.Text = $"Consumido {herbicidaConsumido.ToString("0.00")} ml";
             FuncoesGlobais.PreencheValorProgressBar(pgbBateriaConsumida, Log.BateriaConsumida);
             txtTempoMovimento.Text = FuncoesGlobais.ConverterSegundosParaHHmmss((int)Log.TempoMovimento);
-            txtDistanciaPercorrida.Text = Log.DistanciaPercorrida.Sum().ToString("0.00");
-            txtHerbicidaConsumido.Text = Log.HerbicidaConsumido.ToString("0.00");
             txtStatusOperacao.Text = Log.StatusOperacao.ToString();
             txtStatusCarro.Text = Log.StatusCarro.ToString();
-            txtHerbicidaPorErva.Text = Log.HerbicidaPorErva.ToString("0.00");
+            txtHerbicidaPorErva.Text = herbicidaPorErva.ToString("0.00") + " ml";
             txtDentroRua.Text = Log.DentroDaRua ? "Sim" : "Não";
             txtDirecaoCarro.Text = Log.Direcao.ToString();
             txtErvasNoRadar.Text = Log.ErvasNoRadar.ToString();
@@ -797,6 +808,20 @@ namespace AgroBase.Forms.Operacoes
             txtVelocidade.Text = Log.VelocidadeMedia.ToString("0.00") + " km/h (" + (Log.VelocidadeMedia / 3.6).ToString("0.00") + " m/s)";
             txtDirecaoControle.Text = (Log.Controle?.Direcao ?? Enums.Direcao.Parado).ToString();
             txtVelocidadeControle.Text = ((Log.Controle?.PercentualVelocidadeSP ?? 0) / VariaveisEquipamento.RPM_Max_Roda * 100).ToString() + " rpm";
+            txtErvasIdentificadas.Text = $"{totalAtuacoes}";
+
+            double distanciaOperacao = LogsOperacao.LastOrDefault().DistanciaPercorrida.Sum();
+            double percentualOperacao = (distanciaPercorrida / distanciaOperacao) * 100.0;
+            lblPercentualOperacao.Text = $"Operação {percentualOperacao.ToString("0.00")}%";
+            FuncoesGlobais.PreencheValorProgressBar(pgbPercentualOperacao, percentualOperacao);
+            txtDistanciaPercorrida.Text = distanciaPercorrida.ToString("0.00") + " m / " + distanciaOperacao.ToString("0.00") + " m";
+
+            int idxRua = Log.DistanciaPercorrida.Count() - 1;
+            double distanciaRua = LogsOperacao.GroupBy(x => x.DistanciaPercorrida.Count()).FirstOrDefault(x => x.Key == idxRua + 1).LastOrDefault().DistanciaPercorrida[idxRua];
+            double distanciaPercorridaRua = Log.DistanciaPercorrida[idxRua];
+            double percentualRua = distanciaRua > 0 ? (distanciaPercorridaRua / distanciaRua) * 100.0 : 0.0;
+            lblPercentualRua.Text = $"Rua {percentualRua.ToString("0.00")}%";
+            FuncoesGlobais.PreencheValorProgressBar(pgbPercentualRua, percentualRua);
 
             TimeSpan duracaoOperacao = LogsOperacao.First().Momento - Log.Momento;
             txtDuracaoOperacao.Text = duracaoOperacao.ToString(@"hh\:mm\:ss");
@@ -805,6 +830,19 @@ namespace AgroBase.Forms.Operacoes
             pnlOrientacaoDif.Invalidate();
 
             OperacaoModel.PopularTreeView(tvwFalhas, Log.CodigoFalha);
+
+            TreeNode noModulos = new TreeNode("Status Módulos");
+            tvwFalhas.Nodes.Add(noModulos);
+            noModulos.Nodes.Add(AtualizarTextoStatusModulo(Enums.T_Code.Atu, LogsAtuador[idxMomentoAtual].Inicializado, LogsAtuador[idxMomentoAtual].UltimoComandoRespondido));
+            noModulos.Nodes.Add(AtualizarTextoStatusModulo(Enums.T_Code.Sen, LogsSensoriamento[idxMomentoAtual].Conectado, LogsSensoriamento[idxMomentoAtual].UltimoComandoRespondido));
+            noModulos.Nodes.Add(AtualizarTextoStatusModulo(Enums.T_Code.Mov, LogsMovimentacao[idxMomentoAtual].Inicializado, LogsMovimentacao[idxMomentoAtual].UltimoComandoRespondido));
+            noModulos.Nodes.Add(AtualizarTextoStatusModulo(Enums.T_Code.Dir, LogsDirecional[idxMomentoAtual].Inicializado, LogsDirecional[idxMomentoAtual].UltimoComandoRespondido));
+            noModulos.Nodes.Add(AtualizarTextoStatusModulo(Enums.T_Code.Pzm, LogsPzem[idxMomentoAtual].Inicializado, LogsPzem[idxMomentoAtual].UltimoComandoRespondido));
+            noModulos.Nodes.Add(AtualizarTextoStatusModulo(Enums.T_Code.Wit, LogsWt901C[idxMomentoAtual].Inicializado, LogsWt901C[idxMomentoAtual].UltimoComandoRespondido));
+            noModulos.Nodes.Add(AtualizarTextoStatusModulo(Enums.T_Code.A05, LogsA05[idxMomentoAtual].Conectado, LogsA05[idxMomentoAtual].UltimoComandoRespondido));
+            noModulos.Nodes.Add(AtualizarTextoStatusModulo(Enums.T_Code.Gps, LogsGPS[idxMomentoAtual].Inicializado, LogsGPS[idxMomentoAtual].UltimoComandoRespondido));
+            noModulos.Nodes.Add(AtualizarTextoStatusModulo(Enums.T_Code.Knt, LogsKinect[idxMomentoAtual].Iniciado, LogsKinect[idxMomentoAtual].UltimoComandoRespondido));
+            tvwFalhas.ExpandAll();
         }
 
         private void AtualizarInformacoesCameras()
@@ -1353,5 +1391,11 @@ namespace AgroBase.Forms.Operacoes
                 }
             }
         }
+    
+        private string AtualizarTextoStatusModulo(Enums.T_Code Disp, bool conectado, DateTime ultimoComando)
+        {
+            // Formata o texto com tabulação
+            return $"{Disp.ToString(), -5}\tConectado: {(conectado ? "Sim" : "Não"),-5}\tÚltimo comando: {ultimoComando:dd/MM/yyyy HH:mm:ss.fff}";
+        }
     }
 }
diff --git a/AgroBase/AgroBase/Models/GPSModel.cs b/AgroBase/AgroBase/Models/GPSModel.cs
index ca54a0477..c9699f194 100644
--- a/AgroBase/AgroBase/Models/GPSModel.cs
+++ b/AgroBase/AgroBase/Models/GPSModel.cs
@@ -17,5 +17,6 @@ namespace AgroBase.Models
         public double Orientacao { get; set; }
         public int idxRua { get; set; } = -1;
         public DirecaoCarroRua DirecaoTrecho { get; set; } = DirecaoCarroRua.Parado;
+        public DateTime UltimoComandoRespondido { get; set; }
     }
 }
diff --git a/AgroBase/AgroBase/Models/GeneralJoystick.cs b/AgroBase/AgroBase/Models/GeneralJoystick.cs
index 3ab3491d7..7feda4c54 100644
--- a/AgroBase/AgroBase/Models/GeneralJoystick.cs
+++ b/AgroBase/AgroBase/Models/GeneralJoystick.cs
@@ -654,9 +654,9 @@ namespace AgroBase
             }
         }
 
-        public static void EnviarComandoAtuador(S_Code Componente, bool Status, string ID)
+        public static void EnviarComandoAtuador(S_Code Componente, bool Status, string ID, bool Forcar = false)
         {
-            if (!Variaveis.OperacaoEmAndamento.Iniciado && !frmDiagnosticos.Diagnosticando)
+            if (!Forcar && !Variaveis.OperacaoEmAndamento.Iniciado && !frmDiagnosticos.Diagnosticando)
             {
                 return;
             }
diff --git a/AgroBase/AgroBase/Models/KinectModel.cs b/AgroBase/AgroBase/Models/KinectModel.cs
index 792320ab5..3ba20f2dd 100644
--- a/AgroBase/AgroBase/Models/KinectModel.cs
+++ b/AgroBase/AgroBase/Models/KinectModel.cs
@@ -139,6 +139,7 @@ namespace AgroBase.Models
             }
         }
         public bool UltimoStatusDetecao { get; set; }
+        public DateTime UltimoComandoRespondido { get; set; }
         public void AtualizarUltimoStatusDeteccao()
         {
             if (StatusDetecao != UltimoStatusDetecao)
diff --git a/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs b/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs
index d190ab561..43355e5b4 100644
--- a/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs
+++ b/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs
@@ -1673,6 +1673,7 @@ namespace AgroBase.Models.Modules
         public List<FirmwareSinaleiro> Sinaleiros { get; set; } = new List<FirmwareSinaleiro>();
         public List<FirmwareRele> Reles { get; set; } = new List<FirmwareRele>();
         public List<FirmwareServoFreio> ServoFreios { get; set; } = new List<FirmwareServoFreio>();
+        public DateTime UltimoComandoRespondido { get; set; }
     }
 
 }
diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
index 81db5dae1..4ceda5831 100644
--- a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
+++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
@@ -415,6 +415,7 @@ namespace AgroBase.Models
                     PIDdirecional = new PIDModel(),
                     TiposControle = Variaveis.OperacaoEmAndamento.Controle.TiposControle.ToList(), 
                     SonarAtivado = Parametros.SonarAtivado,
+                    SegmentacaoSemantica = Parametros.Modo == ModoOperacao.MapaGPS,
                 };
 
                 Variaveis.OperacaoEmAndamento.ModulosMandatorios = Parametros.ModulosMandatorios.ToList();
@@ -1200,30 +1201,27 @@ namespace AgroBase.Models
             var _Controle = Variaveis.OperacaoEmAndamento.Controle;
             var _ControleAnterior = Variaveis.OperacaoEmAndamento.ControleAnterior;
 
-            bool MovimentoLiberado = !MKS057DService.Referenciando;
-
-            OperacaoControleTipoModel ControleMov = _Controle.TiposControle != null ? _Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Mov) : null;
-            OperacaoControleTipoModel ControleDir = _Controle.TiposControle != null ? _Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Dir) : null;
+            bool MovimentoLiberado = Variaveis.OperacaoEmAndamento._EtapaAtual != StatusOperacao.Aguardando && !MKS057DService.Referenciando;
 
             if (MovimentoLiberado)
             {
-                if (ControleMov != null && (Agora - ControleMov.UltimoComando).TotalMilliseconds > ControleMov.DelayEnvioComando) // && _Controle.RPM_SP != _ControleAnterior.RPM_SP
+                foreach (var Ctrl in _Controle.TiposControle.Where(x => x.Tipo != T_Code.Atu))
                 {
-                    // Enviar comando MOV
-                    var Protocolos = EnviarProtocoloComando(Variaveis.OperacaoEmAndamento.DispMvd, T_Code.Mov, ForcarEnvio);
-                    ControleMov.UltimoComando = Agora;
-                    ControleMov.Comandos.AddRange(Protocolos);
+                    if ((Agora - Ctrl.UltimoComando).TotalMilliseconds > Ctrl.DelayEnvioComando)
+                    {
+                        var Protocolos = EnviarProtocoloComando(Variaveis.OperacaoEmAndamento.DispMvd, Ctrl.Tipo, ForcarEnvio);
+                        Ctrl.UltimoComando = Agora;
+                        Ctrl.Comandos.AddRange(Protocolos);
 
-                    _ControleAnterior.PercentualVelocidadeSP = _Controle.PercentualVelocidadeSP;
-                }
-                if (ControleDir != null && (Agora - ControleDir.UltimoComando).TotalMilliseconds > ControleDir.DelayEnvioComando) // && Convert.ToInt32(_Controle.Angulo) != Convert.ToInt32(_ControleAnterior.Angulo)
-                {
-                    // Enviar comando DIR
-                    var Protocolos = EnviarProtocoloComando(Variaveis.OperacaoEmAndamento.DispMvd, T_Code.Dir, ForcarEnvio);
-                    ControleDir.UltimoComando = Agora;
-                    ControleDir.Comandos.AddRange(Protocolos);
-
-                    _ControleAnterior.Angulo = _Controle.Angulo;
+                        if (Ctrl.Tipo == T_Code.Mov)
+                        {
+                            _ControleAnterior.PercentualVelocidadeSP = _Controle.PercentualVelocidadeSP;
+                        }
+                        else if (Ctrl.Tipo == T_Code.Dir)
+                        {
+                            _ControleAnterior.Angulo = _Controle.Angulo;
+                        }
+                    }
                 }
             }
 
@@ -1953,6 +1951,15 @@ namespace AgroBase.Models
             {
                 DateTime Agora = DateTime.Now;
 
+                // Soma total de atuações para todas as ervas de todos os bicos
+                int totalAtuacoes = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.AtuacoesPorBico
+                    .Sum(dict => dict.Values.Sum());
+
+                // Evitar divisão por zero
+                double HerbicidaPorErva = totalAtuacoes > 0
+                    ? Variaveis.OperacaoEmAndamento.DispAtu.Dados.VolumeVazaoML / totalAtuacoes
+                    : 0.0;
+
                 OperacaoSensoriamentoLogModel logGeral = new OperacaoSensoriamentoLogModel()
                 {
                     Momento = Agora,
@@ -1973,8 +1980,8 @@ namespace AgroBase.Models
                     StatusCarro = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.StatusAtual,
                     ErvasNoRadar = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ErvasNoRadar,
                     ErvasIdentificadas = new List<Dictionary<string, int>>(Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.AtuacoesPorBico),
-                    HerbicidaConsumido = Variaveis.OperacaoEmAndamento.Sensoriamento.HerbicidaConsumido,
-                    HerbicidaPorErva = Variaveis.OperacaoEmAndamento.Sensoriamento.HerbicidaPorErva,
+                    HerbicidaConsumido = Variaveis.OperacaoEmAndamento.DispAtu.Dados.VolumeVazaoML,
+                    HerbicidaPorErva = HerbicidaPorErva,
                     ProgressoTrajeto = Variaveis.OperacaoEmAndamento.Sensoriamento.ProgressoTrajeto,
                     ProgressoRua = Variaveis.OperacaoEmAndamento.Sensoriamento.ProgressoRua,
                     Direcao = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.Direcao,
@@ -2025,7 +2032,8 @@ namespace AgroBase.Models
                     NumeroSatelites = GPSService.UltimaLeitura.NumeroSatelites, 
                     Orientacao = GPSService.UltimaLeitura.Orientacao, 
                     PrecisaoHorizontal = GPSService.UltimaLeitura.PrecisaoHorizontal, 
-                    Velocidade = GPSService.UltimaLeitura.Velocidade
+                    Velocidade = GPSService.UltimaLeitura.Velocidade, 
+                    UltimoComandoRespondido = GPSService.UltimaLeitura.Momento,
                 };
                 SalvarLog(T_Code.Gps.ToString(), logGps, Fim);
 
@@ -2098,7 +2106,8 @@ namespace AgroBase.Models
                         StatusBico = Bico.LeituraStatusBico, 
                         Atuacoes = Bico.Atuacoes,
                         TempoAtuado = Bico.TempoAtuado,
-                    }).ToList()
+                    }).ToList(),
+                    UltimoComandoRespondido = Variaveis.OperacaoEmAndamento.DispAtu.Dados.DadosLeitura.Momento,
                 };
                 SalvarLog(T_Code.Atu.ToString(), logAtu, false);
 
@@ -2115,6 +2124,7 @@ namespace AgroBase.Models
                     SensoresTemperatura = new List<FirmwareSensorTemperatura>(senLeitura.SensoresTemperatura), 
                     ServoFreios = new List<FirmwareServoFreio>(senLeitura.ServoFreios), 
                     Sinaleiros = new List<FirmwareSinaleiro>(senLeitura.Sinaleiros),
+                    UltimoComandoRespondido = senLeitura.Momento, 
                 };
                 SalvarLog(T_Code.Sen.ToString(), logSen, false);
 
@@ -2128,7 +2138,8 @@ namespace AgroBase.Models
                     Potencia = PZEMService.UltimaLeitura.Potencia, 
                     Energia = PZEMService.UltimaLeitura.Energia, 
                     AlarmeTensaoMin = PZEMService.UltimaLeitura.AlarmeTensaoMin, 
-                    AlarmeTensaoMax = PZEMService.UltimaLeitura.AlarmeTensaoMax
+                    AlarmeTensaoMax = PZEMService.UltimaLeitura.AlarmeTensaoMax, 
+                    UltimoComandoRespondido = PZEMService.UltimaLeitura.DataHora,
                 };
                 SalvarLog(T_Code.Pzm.ToString(), logPzm, Fim);
 
@@ -2145,7 +2156,8 @@ namespace AgroBase.Models
                     AsM = WT901CService.DadosLeitura.AsM, 
                     HM = WT901CService.DadosLeitura.HM, 
                     Pressao = WT901CService.DadosLeitura.Pressao, 
-                    Temperatura = WT901CService.DadosLeitura.Temperatura
+                    Temperatura = WT901CService.DadosLeitura.Temperatura, 
+                    UltimoComandoRespondido = WT901CService.DadosLeitura.Momento,
                 };
                 SalvarLog(T_Code.Wit.ToString(), logWit, Fim);
 
@@ -2159,6 +2171,7 @@ namespace AgroBase.Models
                     U3 = UltrasonicA05Service.DadosLeitura.U3, 
                     U4 = UltrasonicA05Service.DadosLeitura.U4, 
                     Configuracao = UltrasonicA05Service.DadosLeitura.Configuracao ?? Variaveis.OperacaoEmAndamento.DispSen.Dados.ConfiguracaoSensorUltrassom,
+                    UltimoComandoRespondido = UltrasonicA05Service.DadosLeitura.Momento,
                 };
                 SalvarLog(T_Code.A05.ToString(), logA05, Fim);
 
@@ -2326,7 +2339,8 @@ namespace AgroBase.Models
                 VelY = KinectService.Leitura.VelY,
                 VelZ = KinectService.Leitura.VelZ,
                 Yaw = KinectService.Leitura.Yaw,
-                UltimoCalculo = KinectService.Leitura.UltimoCalculo
+                UltimoCalculo = KinectService.Leitura.UltimoCalculo, 
+                UltimoComandoRespondido = KinectService.Leitura.Momento,
             };
             SalvarLog(T_Code.Knt.ToString(), logKnt, false);
 
@@ -2879,6 +2893,8 @@ namespace AgroBase.Models
 
         public static void PopularTreeView(TreeView treeView, ulong codigoFalhas)
         {
+            treeView.Font = new Font("Consolas", 10);
+
             // Limpar o TreeView antes de adicionar novos nós
             treeView.Nodes.Clear();
 
@@ -3186,6 +3202,7 @@ namespace AgroBase.Models
         public double Energia { get; set; }
         public bool AlarmeTensaoMax { get; set; }
         public bool AlarmeTensaoMin { get; set; }
+        public DateTime UltimoComandoRespondido { get; set; }
     }
 
     public class WitSensoriamentoLogModel
@@ -3202,6 +3219,7 @@ namespace AgroBase.Models
         public double Temperatura { get; set; }
         public double Pressao { get; set; }
         public double Altitude { get; set; }
+        public DateTime UltimoComandoRespondido { get; set; }
     }
 
     public class DirSensoriamentoLogModel
@@ -3258,6 +3276,7 @@ namespace AgroBase.Models
         public int QuantidadeBicos { get; set; }
         public double TempoPulverizadorAtuado { get; set; }
         public List<AtuBicoSensoriamentoLogModel> Bicos { get; set; }
+        public DateTime UltimoComandoRespondido { get; set; }
     }
 
     public class AtuBicoSensoriamentoLogModel
diff --git a/AgroBase/AgroBase/Models/UltrasonicA05Model.cs b/AgroBase/AgroBase/Models/UltrasonicA05Model.cs
index 25608ca62..73149546c 100644
--- a/AgroBase/AgroBase/Models/UltrasonicA05Model.cs
+++ b/AgroBase/AgroBase/Models/UltrasonicA05Model.cs
@@ -234,6 +234,7 @@ namespace AgroBase.Models
         public int U3 { get; set; }
         public int U4 { get; set; }
         public UltrasonicA05Configuracoes Configuracao { get; set; }
+        public DateTime UltimoComandoRespondido { get; set; }
     }
 
     public class UltrasonicA05Configuracoes
diff --git a/AgroBase/AgroBase/Services/BLD300RService.cs b/AgroBase/AgroBase/Services/BLD300RService.cs
index 627b89522..4dba92c3b 100644
--- a/AgroBase/AgroBase/Services/BLD300RService.cs
+++ b/AgroBase/AgroBase/Services/BLD300RService.cs
@@ -11,6 +11,8 @@ namespace AgroBase.Services
     public class BLD300RService
     {
         private static EthernetService _ethernetService;
+        private static int ComandosNaoRespondidos = 0;
+        private static int ComandosNaoRespondidosMax = 24;
         public static bool Iniciado
         {
             get
@@ -206,6 +208,10 @@ namespace AgroBase.Services
             string ipAddress = Variaveis.OperacaoEmAndamento.DispMvd.Dados.IP_Bld;
             int port = VariaveisPortas.Ethernet_TCP;
 
+            _ethernetService?.Disconnect();
+
+            await Task.Delay(1000);
+
             _ethernetService = new EthernetService(ipAddress, port);
             return await _ethernetService.ConnectAsync();
         }
@@ -330,6 +336,16 @@ namespace AgroBase.Services
                         {
                             RegisrarErrosComunicacao(Comando.Endereco, $"Timeout ou erro ao receber resposta. GET={Comando.Get}, Parametro={Comando.Parametro.Chave}, Valor={Comando.Valor}");
                             //Comando.Momento = DateTime.Now.AddMilliseconds(500); // Retenta após um pequeno intervalo
+
+                            if (!Comando.Get)
+                            {
+                                ComandosNaoRespondidos++;
+                                if (ComandosNaoRespondidos > ComandosNaoRespondidosMax)
+                                {
+                                    ComandosNaoRespondidos = 0;
+                                    await InicializarEthernetService();
+                                }
+                            }
                         }
                     }
                     else
diff --git a/AgroBase/AgroBase/Services/KinectService.cs b/AgroBase/AgroBase/Services/KinectService.cs
index 13fa898f4..6aa8263fe 100644
--- a/AgroBase/AgroBase/Services/KinectService.cs
+++ b/AgroBase/AgroBase/Services/KinectService.cs
@@ -625,7 +625,7 @@ namespace AgroBase.Services
 
         public static Bitmap ExibirObstaculos(Bitmap bitmap, List<Subdivisao> subdivisoes, List<Obstaculo> obstaculos, bool ExibirTexto = false)
         {
-            if (bitmap == null || !Variaveis.OperacaoEmAndamento.Controle.SonarAtivado)
+            if (bitmap == null || (!Variaveis.OperacaoEmAndamento.Controle.SonarAtivado && Variaveis.OperacaoEmAndamento.Iniciado))
             {
                 return bitmap;
             }
diff --git a/AgroBase/AgroBase/Services/MKS057DService.cs b/AgroBase/AgroBase/Services/MKS057DService.cs
index 192f4f4d2..2c933a0b8 100644
--- a/AgroBase/AgroBase/Services/MKS057DService.cs
+++ b/AgroBase/AgroBase/Services/MKS057DService.cs
@@ -57,6 +57,10 @@ namespace AgroBase.Services
             string ipAddress = Variaveis.OperacaoEmAndamento.DispMvd.Dados.IP_Mks;
             int port = VariaveisPortas.Ethernet_TCP;
 
+            _ethernetService?.Disconnect();
+
+            await Task.Delay(1000);
+
             _ethernetService = new EthernetService(ipAddress, port);
             return await _ethernetService.ConnectAsync();
         }
diff --git a/AgroBase/AgroBase/Services/ModbusService.cs b/AgroBase/AgroBase/Services/ModbusService.cs
index c871a3d7e..4730b71f0 100644
--- a/AgroBase/AgroBase/Services/ModbusService.cs
+++ b/AgroBase/AgroBase/Services/ModbusService.cs
@@ -91,7 +91,7 @@ namespace AgroBase.Services
 
         public static void LimparDadosPorta()
         {
-            _PortaModbus.Close();
+            _PortaModbus?.Close();
             _PortaModbus = null;
 
             PararRotinas();
diff --git a/AgroBase/AgroBase/Services/SerialService.cs b/AgroBase/AgroBase/Services/SerialService.cs
index 38d6d3db4..087d82277 100644
--- a/AgroBase/AgroBase/Services/SerialService.cs
+++ b/AgroBase/AgroBase/Services/SerialService.cs
@@ -307,6 +307,14 @@ namespace AgroBase.Services
                 {
                     await ProcuraDispositivoModbus(ModbusService._PortaModbus, false);
                 }
+                else
+                {
+                    ModbusService.LimparDadosPorta();
+                    foreach (var _Disp in DispositivosModbus)
+                    {
+                        DispositivosMapeados.Remove(DispositivosMapeados.FirstOrDefault(x => x.Dispositivo == _Disp));
+                    }
+                }
             }
             catch (Exception ex)
             {
diff --git a/AgroBase/AgroBase/bin/Debug/AgroBase.pdb b/AgroBase/AgroBase/bin/Debug/AgroBase.pdb
index 574956b12..4e430179c 100644
Binary files a/AgroBase/AgroBase/bin/Debug/AgroBase.pdb and b/AgroBase/AgroBase/bin/Debug/AgroBase.pdb differ
diff --git a/AgroBase/AgroBase/bin/Debug/DawnCache/data_1 b/AgroBase/AgroBase/bin/Debug/DawnCache/data_1
index e484dd00d..d3ad14d37 100644
Binary files a/AgroBase/AgroBase/bin/Debug/DawnCache/data_1 and b/AgroBase/AgroBase/bin/Debug/DawnCache/data_1 differ
diff --git a/AgroBase/AgroBase/bin/Debug/GPUCache/data_1 b/AgroBase/AgroBase/bin/Debug/GPUCache/data_1
index 961b7f6de..3155792d8 100644
Binary files a/AgroBase/AgroBase/bin/Debug/GPUCache/data_1 and b/AgroBase/AgroBase/bin/Debug/GPUCache/data_1 differ
diff --git a/AgroBase/AgroBase/bin/Debug/Parametros/parametersSen-1_1.par b/AgroBase/AgroBase/bin/Debug/Parametros/parametersSen-1_1.par
index ba8807f19..4abc7ce03 100644
--- a/AgroBase/AgroBase/bin/Debug/Parametros/parametersSen-1_1.par
+++ b/AgroBase/AgroBase/bin/Debug/Parametros/parametersSen-1_1.par
@@ -1 +1 @@
-{"tmrRegistrador":{"_uiControl":null,"State":2,"IsRunning":false,"IsStopped":true,"IsCreated":false,"Interval":1000,"StackTrace":"SensoriamentoModel.IniciarRegistrador","Id":"tmrRegistrador_Sen","TimeTick":"00:00:00"},"Modulo_ID":"Sen","IP":"192.168.100.12","RequisitarDados":true,"Conectado":false,"Sensores":[{"LogGrafico":[{"Momento":"2024-10-04T14:36:45.6881741-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.58,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:45.900552-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:46.2984836-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.58,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:46.33195-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:46.3534771-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:46.9048592-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:46.927846-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:47.029236-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:47.037253-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:47.7359579-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:47.7819932-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:47.791476-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:47.9233375-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:47.9533183-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:48.4419386-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:49.1620138-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:49.8696965-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:50.584892-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:51.2955418-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:52.0097672-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:52.7224496-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:53.4353455-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:54.1482687-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:54.8699964-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:55.5760355-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:56.2895229-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:57.0065894-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:57.7235994-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:58.4327453-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:59.1426243-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:36:59.8566002-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:37:00.580046-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:37:01.2823506-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.59,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:37:01.996881-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.6,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:37:02.7108649-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.6,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:37:03.4214567-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.6,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:37:04.137121-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.6,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:37:04.8495263-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.6,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:37:11.9853486-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.6,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:37:12.0133663-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.6,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:37:12.0404353-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.6,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:37:12.3351626-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.6,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:37:12.697008-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.6,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:37:12.7039918-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.6,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:37:12.753944-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.6,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:37:13.3496177-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.6,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:37:13.3631064-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.6,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:37:13.4180266-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.6,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:37:13.4320229-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.6,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"Momento":"2024-10-04T14:37:14.1384539-03:00","ComponenteID":"TMVET","Componente":411,"Leitura1":28.6,"Leitura2":-1.0,"Leitura3":-1.0,"Leitura4":-1.0,"AlarmeMaxima":true,"AlarmeMinima":false},{"M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diff --git a/AgroBase/AgroBase/bin/Debug/Python/Output/GeoJson.json b/AgroBase/AgroBase/bin/Debug/Python/Output/GeoJson.json
index 4f7dd5839..d8fa98d99 100644
--- a/AgroBase/AgroBase/bin/Debug/Python/Output/GeoJson.json
+++ b/AgroBase/AgroBase/bin/Debug/Python/Output/GeoJson.json
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diff --git a/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_interativo.html b/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_interativo.html
index 4313faf21..1a61c41e1 100644
--- a/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_interativo.html
+++ b/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_interativo.html
@@ -25,7 +25,7 @@
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                 initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
             <style>
-                #map_0c3f042270ae90d298b368cceaf1754d {
+                #map_a034c8279d8a6c50ac9d70df4ea716e8 {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -39,16 +39,16 @@
 <body>
     
     
-            <div class="folium-map" id="map_0c3f042270ae90d298b368cceaf1754d" ></div>
+            <div class="folium-map" id="map_a034c8279d8a6c50ac9d70df4ea716e8" ></div>
         
 </body>
 <script>
     
     
-            var map_0c3f042270ae90d298b368cceaf1754d = L.map(
-                "map_0c3f042270ae90d298b368cceaf1754d",
+            var map_a034c8279d8a6c50ac9d70df4ea716e8 = L.map(
+                "map_a034c8279d8a6c50ac9d70df4ea716e8",
                 {
-                    center: [-22.213100083333334, -47.38141841666666],
+                    center: [-22.213114583333336, -47.38143516666666],
                     crs: L.CRS.EPSG3857,
                     zoom: 12,
                     zoomControl: true,
@@ -60,13 +60,13 @@
 
         
     
-            var tile_layer_6449a8d872822c8d6ebfa7c91192cac0 = L.tileLayer(
+            var tile_layer_ba5925ac64f9d647b5c67fc8773bea18 = L.tileLayer(
                 "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
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             );
         
     
-            tile_layer_6449a8d872822c8d6ebfa7c91192cac0.addTo(map_0c3f042270ae90d298b368cceaf1754d);
+            tile_layer_ba5925ac64f9d647b5c67fc8773bea18.addTo(map_a034c8279d8a6c50ac9d70df4ea716e8);
         
     
 
@@ -82,7 +82,7 @@
                 }*/
             });
     }
-    function geo_json_6c64517c67e18180fe0bfd7eb4f86b04_onEachFeature(feature, layer) {
+    function geo_json_f5e6a6dea986c42d668c5c87f52cc46f_onEachFeature(feature, layer) {
             layer.on({
             
     click: function(e) {
@@ -118,20 +118,20 @@
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-        var geo_json_6c64517c67e18180fe0bfd7eb4f86b04 = L.geoJson(null, {
-                onEachFeature: geo_json_6c64517c67e18180fe0bfd7eb4f86b04_onEachFeature,
+        var geo_json_f5e6a6dea986c42d668c5c87f52cc46f = L.geoJson(null, {
+                onEachFeature: geo_json_f5e6a6dea986c42d668c5c87f52cc46f_onEachFeature,
             
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-        function geo_json_6c64517c67e18180fe0bfd7eb4f86b04_add (data) {
-            geo_json_6c64517c67e18180fe0bfd7eb4f86b04
+        function geo_json_f5e6a6dea986c42d668c5c87f52cc46f_add (data) {
+            geo_json_f5e6a6dea986c42d668c5c87f52cc46f
                 .addData(data);
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[-47.38139066666667, -22.213180666666666], [-47.381388666666666, -22.213182833333335], [-47.381384833333335, -22.213187], [-47.38138216666667, -22.213189], [-47.38138, -22.213190833333332], [-47.381378166666664, -22.213192833333334], [-47.381376333333336, -22.213196666666665], [-47.381376, -22.213198], [-47.38137283333333, -22.213201], [-47.381371333333334, -22.213202333333335], [-47.381368, -22.213205], [-47.38136683333333, -22.213206], [-47.3813635, -22.2132095], [-47.38136266666667, -22.213210666666665], [-47.38136016666667, -22.213214333333333], [-47.381359833333335, -22.213215833333333], [-47.3813575, -22.213218666666666], [-47.381355166666665, -22.213219666666667], [-47.38135166666667, -22.213220833333335], [-47.381349666666665, -22.213221], [-47.381346, -22.213219833333333], [-47.381343666666666, -22.2132185], [-47.38134, -22.213215666666667], [-47.381338666666664, -22.213213666666668], [-47.381336166666664, -22.213209666666668], [-47.381336, -22.213207833333332], [-47.3813365, -22.213203333333333], [-47.381337333333335, -22.2132015], [-47.38134016666667, -22.21319816666667], [-47.381342, -22.213196833333335], [-47.38134566666667, -22.213194], [-47.381347833333336, -22.2131925], [-47.38135183333333, -22.213189833333335], [-47.3813535, -22.2131885], [-47.3813575, -22.213186], [-47.38136016666667, -22.2131845], [-47.38136516666667, -22.213181], [-47.3813675, -22.2131795], [-47.381371666666666, -22.213176333333333], [-47.38137366666667, -22.213174666666667], [-47.38137733333333, -22.213171666666668], [-47.38137833333333, -22.213169833333332], [-47.38138216666667, -22.213165166666666], [-47.3813835, -22.213163333333334], [-47.3813855, -22.21316], [-47.38138633333333, -22.213158166666666], [-47.381388333333334, -22.213154], [-47.3813885, -22.213152166666667], [-47.3813895, -22.213148833333335], [-47.381391, -22.213147666666668], [-47.381393333333335, -22.213146333333334], [-47.38139666666667, -22.213142833333333], [-47.3814, -22.213139333333334], [-47.381402, -22.21313766666667], [-47.38140683333334, -22.213133833333334], [-47.381409, -22.213132], [-47.381413333333334, -22.2131285], [-47.381414666666664, -22.213126833333334], [-47.381418, -22.213123166666666], [-47.381421, -22.2131205], [-47.381424333333335, -22.213115833333333], [-47.381427, -22.213114], [-47.38143316666667, -22.2131105], [-47.381438333333335, -22.213104666666666], [-47.38144033333333, -22.213103], [-47.38144616666666, -22.213098666666667], [-47.3814495, -22.213096], [-47.381455, -22.213091333333335], [-47.3814575, -22.213089], [-47.38146033333334, -22.21308416666667], [-47.381461333333334, -22.213082], [-47.381462666666664, -22.213080166666668], [-47.381465166666665, -22.2130775], [-47.38146783333333, -22.213070333333334], [-47.381469333333335, -22.213068], [-47.381472, -22.213066166666668], [-47.381476, -22.213062], [-47.381477333333336, -22.213060666666667], [-47.38148116666667, -22.213058], [-47.3814835, -22.213056166666668], [-47.38149033333333, -22.213051833333335], [-47.381492, -22.213050333333335], [-47.3814965, -22.213046833333333], [-47.38149833333333, -22.2130455], [-47.381500333333335, -22.213043], [-47.381502166666664, -22.213041166666667], [-47.38150533333334, -22.2130375], [-47.38150666666667, -22.213036], [-47.381508833333335, -22.2130325], [-47.38151, -22.2130305], [-47.3815105, -22.213029166666665], [-47.381511, -22.213027833333335], [-47.381510666666664, -22.213024666666666], [-47.381510166666665, -22.213023], [-47.381508833333335, -22.213020333333333], [-47.381509333333334, -22.213017833333332], [-47.381513, -22.21301233333333], [-47.3815155, -22.213010666666666], [-47.38152083333333, -22.2130085], [-47.381524166666665, -22.21300816666667], [-47.381528833333334, -22.213008666666667], [-47.381531333333335, -22.213008333333335]], "id": null, "type": "LineString"}, "id": 0, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "1", "Length": 62.411772851888614, "Name": "19_12_2024_09_02_07"}, "type": "Feature"}], "type": "FeatureCollection"});
 
         
     
-            geo_json_6c64517c67e18180fe0bfd7eb4f86b04.addTo(map_0c3f042270ae90d298b368cceaf1754d);
+            geo_json_f5e6a6dea986c42d668c5c87f52cc46f.addTo(map_a034c8279d8a6c50ac9d70df4ea716e8);
         
 </script>
 
@@ -152,7 +152,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_0c3f042270ae90d298b368cceaf1754d);
+        trajeto_json.addTo(map_a034c8279d8a6c50ac9d70df4ea716e8);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -210,7 +210,7 @@
         }
         trajeto_dinamico_json_add({"features": []});
 
-        trajeto_dinamico_json.addTo(map_0c3f042270ae90d298b368cceaf1754d);
+        trajeto_dinamico_json.addTo(map_a034c8279d8a6c50ac9d70df4ea716e8);
 
         function adicionarGeometriaDinamica(novaGeometria) {
             trajeto_dinamico_json.addData(novaGeometria);
@@ -263,9 +263,9 @@
         
         var marcadorEquipamento = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_0c3f042270ae90d298b368cceaf1754d);
+        }).addTo(map_a034c8279d8a6c50ac9d70df4ea716e8);
         
-        var marcadorBase = L.marker([0, 0], {}).addTo(map_0c3f042270ae90d298b368cceaf1754d);
+        var marcadorBase = L.marker([0, 0], {}).addTo(map_a034c8279d8a6c50ac9d70df4ea716e8);
         var icon = L.AwesomeMarkers.icon(
             {"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
         );
@@ -347,7 +347,7 @@
                 }
                 
                 if (foco) {
-                    map_0c3f042270ae90d298b368cceaf1754d.setView(novaPosicao, map_0c3f042270ae90d298b368cceaf1754d.getZoom());
+                    map_a034c8279d8a6c50ac9d70df4ea716e8.setView(novaPosicao, map_a034c8279d8a6c50ac9d70df4ea716e8.getZoom());
                 }
                 
             }
@@ -364,7 +364,7 @@
         function atualizarSelecaoRuas(selecionadas) {
             selecionadas = JSON.parse(selecionadas);
             RuasSelecionadas = Array.isArray(selecionadas) ? [...selecionadas] : [];
-            geo_json_6c64517c67e18180fe0bfd7eb4f86b04.eachLayer(function (layer) {
+            geo_json_f5e6a6dea986c42d668c5c87f52cc46f.eachLayer(function (layer) {
                 if (RuasSelecionadas.includes(parseInt(layer.feature.id))) {
                     layer.setStyle({ color: 'blue' });
                 } else {
diff --git a/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.GenerateResource.cache b/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.GenerateResource.cache
index e419b8d2c..b777ccdd5 100644
Binary files a/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.GenerateResource.cache and b/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.GenerateResource.cache differ
diff --git a/AgroBase/AgroBase/obj/Debug/AgroBase.pdb b/AgroBase/AgroBase/obj/Debug/AgroBase.pdb
index 574956b12..4e430179c 100644
Binary files a/AgroBase/AgroBase/obj/Debug/AgroBase.pdb and b/AgroBase/AgroBase/obj/Debug/AgroBase.pdb differ