From 161ca0ccab0513b9ef81b75f496687a1d0865edd Mon Sep 17 00:00:00 2001
From: Diego Freitas <diego-xbm@hotmail.com>
Date: Mon, 13 May 2024 10:45:09 -0300
Subject: [PATCH] ajustes na firmware direcional v8

---
 AgroBase/.vs/AgroBase/v17/.suo                | Bin 577536 -> 577536 bytes
 AgroBase/AgroBase/bin/Debug/DawnCache/data_1  | Bin 270336 -> 270336 bytes
 AgroBase/AgroBase/bin/Debug/GPUCache/data_1   | Bin 270336 -> 270336 bytes
 .../bin/Debug/Logs/Dir/13_05_2024_23_41.json  |   1 +
 .../bin/Debug/Logs/Sen/13_05_2024_23_41.json  |   1 +
 .../13_05_2024_07_24_38/logsGerais.json       |   1 +
 .../13_05_2024_07_24_38/trajetoria.json       |   1 +
 .../bin/Debug/Parametros/parametersDir.par    |   2 +-
 .../bin/Debug/Parametros/parametersMov.par    |   2 +-
 .../bin/Debug/Parametros/parametersSen.par    |   2 +-
 .../bin/Debug/Python/Output/mapa_gps.html     |  18 +--
 .../Direcional_v8/Direcional_v8.ino           | 116 ++++++++++++------
 12 files changed, 94 insertions(+), 50 deletions(-)
 create mode 100644 AgroBase/AgroBase/bin/Debug/Logs/Dir/13_05_2024_23_41.json
 create mode 100644 AgroBase/AgroBase/bin/Debug/Logs/Sen/13_05_2024_23_41.json
 create mode 100644 AgroBase/AgroBase/bin/Debug/Operacoes/13_05_2024_07_24_38/logsGerais.json
 create mode 100644 AgroBase/AgroBase/bin/Debug/Operacoes/13_05_2024_07_24_38/trajetoria.json

diff --git a/AgroBase/.vs/AgroBase/v17/.suo b/AgroBase/.vs/AgroBase/v17/.suo
index 14d7158df5c2a0880a678f267a1f1aa4fba635d4..adb2c0c45e7c1880fc85c33137985e522a050cfa 100644
GIT binary patch
delta 22711
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diff --git a/AgroBase/AgroBase/bin/Debug/DawnCache/data_1 b/AgroBase/AgroBase/bin/Debug/DawnCache/data_1
index cd6b9e424659bd1885ba28241bcc900f33da6307..23440d87521a58392c736588c252e594cd97e17b 100644
GIT binary patch
delta 32
mcmZoTAkc6?V8aasCK>&SfqKmxitQYVj6lq^okNlN$3FnJfC`QP

delta 32
mcmZoTAkc6?V8aasrfIqp1NE9Y6x%rz8G)E-JBK3kkADEb(hCLv

diff --git a/AgroBase/AgroBase/bin/Debug/GPUCache/data_1 b/AgroBase/AgroBase/bin/Debug/GPUCache/data_1
index 762ba3e5de1566f54285ed590dc5e9c927b5a7cf..faed683c4c4c7dbd3c2149159ce97e04cb809af7 100644
GIT binary patch
delta 52
tcmZoTAkc6?V8aas$q8%>V4w=27#N|nYV${h_KymTK+LrLqXIMke*iks4C4R*

delta 52
tcmZoTAkc6?V8aasNiJ3fFi?R|42)1(rTL>m`$q*vAZFVBQGuENKL8|n3|asH

diff --git a/AgroBase/AgroBase/bin/Debug/Logs/Dir/13_05_2024_23_41.json b/AgroBase/AgroBase/bin/Debug/Logs/Dir/13_05_2024_23_41.json
new file mode 100644
index 000000000..41d625a78
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Logs/Dir/13_05_2024_23_41.json
@@ -0,0 +1 @@
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diff --git a/AgroBase/AgroBase/bin/Debug/Logs/Sen/13_05_2024_23_41.json b/AgroBase/AgroBase/bin/Debug/Logs/Sen/13_05_2024_23_41.json
new file mode 100644
index 000000000..64c53e503
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Logs/Sen/13_05_2024_23_41.json
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diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/13_05_2024_07_24_38/logsGerais.json b/AgroBase/AgroBase/bin/Debug/Operacoes/13_05_2024_07_24_38/logsGerais.json
new file mode 100644
index 000000000..6cee64fe4
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/13_05_2024_07_24_38/logsGerais.json
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diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/13_05_2024_07_24_38/trajetoria.json b/AgroBase/AgroBase/bin/Debug/Operacoes/13_05_2024_07_24_38/trajetoria.json
new file mode 100644
index 000000000..0637a088a
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/13_05_2024_07_24_38/trajetoria.json
@@ -0,0 +1 @@
+[]
\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/Parametros/parametersDir.par b/AgroBase/AgroBase/bin/Debug/Parametros/parametersDir.par
index 4598dc173..4c609072c 100644
--- a/AgroBase/AgroBase/bin/Debug/Parametros/parametersDir.par
+++ b/AgroBase/AgroBase/bin/Debug/Parametros/parametersDir.par
@@ -1 +1 @@
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diff --git a/AgroBase/AgroBase/bin/Debug/Parametros/parametersSen.par b/AgroBase/AgroBase/bin/Debug/Parametros/parametersSen.par
index 6e1f57c36..3ac3b5cea 100644
--- a/AgroBase/AgroBase/bin/Debug/Parametros/parametersSen.par
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ativo","Componente":445,"Funcoes":[38],"Comportamento":{"statusLED":0,"QtdPiscadas":0,"TempoMs":0,"PausaMs":0}},{"ID":"LEDOP","Descricao":"Sinaleiro indicação do status da operação ativa","Componente":445,"Funcoes":[38],"Comportamento":{"statusLED":2,"QtdPiscadas":3,"TempoMs":200,"PausaMs":1000}}],"CameraID_Caminho":"USB\\VID_0C45&PID_6366&MI_00\\6&183AF011&1&0000","CameraID_SoloE":"Sem video","CameraID_SoloD":"Sem video"}
\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_gps.html b/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_gps.html
index e00e6d755..f4263e9fa 100644
--- a/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_gps.html
+++ b/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_gps.html
@@ -25,7 +25,7 @@
             <meta name="viewport" content="width=device-width,
                 initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
             <style>
-                #map_2a3d14da3dec6f21186e1667373ce43a {
+                #map_899d5215ba479a9bfa5d8b81cf21d734 {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -39,14 +39,14 @@
 <body>
     
     
-            <div class="folium-map" id="map_2a3d14da3dec6f21186e1667373ce43a" ></div>
+            <div class="folium-map" id="map_899d5215ba479a9bfa5d8b81cf21d734" ></div>
         
 </body>
 <script>
     
     
-            var map_2a3d14da3dec6f21186e1667373ce43a = L.map(
-                "map_2a3d14da3dec6f21186e1667373ce43a",
+            var map_899d5215ba479a9bfa5d8b81cf21d734 = L.map(
+                "map_899d5215ba479a9bfa5d8b81cf21d734",
                 {
                     center: [0.0, 0.0],
                     crs: L.CRS.EPSG3857,
@@ -60,13 +60,13 @@
 
         
     
-            var tile_layer_f6a6232487eccae056d94768bd7259ef = L.tileLayer(
+            var tile_layer_81423970d7bc452c318d35692d0b5676 = L.tileLayer(
                 "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
                 {"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false}
             );
         
     
-            tile_layer_f6a6232487eccae056d94768bd7259ef.addTo(map_2a3d14da3dec6f21186e1667373ce43a);
+            tile_layer_81423970d7bc452c318d35692d0b5676.addTo(map_899d5215ba479a9bfa5d8b81cf21d734);
         
 </script>
 
@@ -87,7 +87,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_2a3d14da3dec6f21186e1667373ce43a);
+        trajeto_json.addTo(map_899d5215ba479a9bfa5d8b81cf21d734);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -145,7 +145,7 @@
         
         var marcadorDinamico = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_2a3d14da3dec6f21186e1667373ce43a);
+        }).addTo(map_899d5215ba479a9bfa5d8b81cf21d734);
     
         // Conectar ao broker MQTT
         const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@@ -184,7 +184,7 @@
             marcadorDinamico.setRotationAngle(angulo);
             
             adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
-            map_2a3d14da3dec6f21186e1667373ce43a.setView(novaPosicao, map_2a3d14da3dec6f21186e1667373ce43a.getZoom());
+            map_899d5215ba479a9bfa5d8b81cf21d734.setView(novaPosicao, map_899d5215ba479a9bfa5d8b81cf21d734.getZoom());
         });
         
         function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {
diff --git a/Firmware/Direcional/Direcional_v8/Direcional_v8.ino b/Firmware/Direcional/Direcional_v8/Direcional_v8.ino
index 4cdd0bf19..4050915f3 100644
--- a/Firmware/Direcional/Direcional_v8/Direcional_v8.ino
+++ b/Firmware/Direcional/Direcional_v8/Direcional_v8.ino
@@ -1,6 +1,6 @@
 // Dispositivo: Direcional
 // Versão Firmware: 8
-// Ultima atualização: 09/05/2024
+// Ultima atualização: 13/05/2024
 // Atualização: Inclusão do encoder magnético de posição absoluta
 
 #include "C:\ZendionInc\agrobot_base\Firmware\Modulos\SerialService.h"
@@ -17,7 +17,7 @@ bool Conectado = false;
 
 int _TaxaAmostragem;
 int FrequenciaMaxima = 10000;
-double _Margem = 0.5;
+double _Margem = 2.0;
 
 int dutyCycle = 512;
 double _frequencia = 4000;
@@ -76,7 +76,7 @@ class Motor {
       _pinoDIR.Conectar(false);
       _pinoEncoder.Conectar();
 
-      encoderKalman = new SimpleKalmanFilter(2, 2, 0.01);
+      encoderKalman = new SimpleKalmanFilter(1, 2, 0.01);
       
       xTaskCreatePinnedToCore(&Motor::RampaTaskWrapper, "RampaTask", 5000, this, 20 - _canal, &RampaTaskHandle, tskNO_AFFINITY);
 
@@ -139,8 +139,6 @@ class Motor {
 
   private:
 
-    double _anguloAnterior = 0;
-
     TaskHandle_t RampaTaskHandle = NULL;
     static void RampaTaskWrapper(void *pvParameters) {
       Motor *motor = static_cast<Motor*>(pvParameters);
@@ -165,6 +163,7 @@ class Motor {
         } else {
           VerificarAnguloSP();
         }
+
         Atualizar();
 
         // Envia dados via serial em intervalos definidos por _TaxaAmostragem
@@ -183,60 +182,99 @@ class Motor {
       _pinoDIR.set(_Sentido_SP != Antihorario);
     }
 
-    int leituras = 0;
+    double _ultimaLeituraValida = 0; // Armazena a última leitura válida do ângulo
+    double _limiarPico = 5; // Define o limiar máximo aceitável para a mudança de ângulo entre leituras
+    int _vezesPico = 0;
+
     void AferirPosicao() {
       if (_pinoEncoder.Definido()) {
-        // Lê o valor analógico do pino conectado à saída analógica do AS5600
         int leitura = _pinoEncoder.get();
         float leituraNormalizada = encoderKalman->updateEstimate(leitura);
-        
-        // Converte a leitura para ângulo (0V a 3.3V corresponde a 0 a 360 graus)
         double _angulo = (leituraNormalizada / 4095.0) * 360.0;
-
-        // Ajusta o ângulo com o offset
-        double angulo_com_offset = _angulo - _Angulo_Offset; // Considerando que o offset pode ser positivo ou negativo
+        double angulo_com_offset = _angulo - _Angulo_Offset;
 
         // Normaliza o ângulo para o intervalo de -180 a 180 graus
         while (angulo_com_offset > 180) angulo_com_offset -= 360;
         while (angulo_com_offset < -180) angulo_com_offset += 360;
 
-        if (leituras > 700) {
-          _Sentido = 
-            _MotorLigado && angulo_com_offset > _anguloAnterior ? Horario : 
-            _MotorLigado && angulo_com_offset < _anguloAnterior ? Antihorario : 
-            Parado;
-          leituras = 0;
-          _anguloAnterior = angulo_com_offset;
+        // Verifica se a leitura atual é um pico
+        if (fabs(angulo_com_offset - _ultimaLeituraValida) <= _limiarPico) {
+          // Se não for um pico, atualiza a última leitura válida
+          _ultimaLeituraValida = angulo_com_offset;
+        } else {
+          _vezesPico++;
+
+          if (_vezesPico > 20) {
+            _vezesPico = 0;
+            _ultimaLeituraValida = angulo_com_offset;
+          }
+          else {
+            // Se for um pico, utiliza a última leitura válida e ignora a atual
+            angulo_com_offset = _ultimaLeituraValida;
+          }
         }
-        leituras++;
 
         _Angulo = angulo_com_offset;
+
+        DefinirSentidoDeGiro();
       }
     }
 
-    void VerificarAnguloSP() {
-      if (_MotorLigado) {
-        if (_Angulo_SP > -1) {
-          if (_Sentido_SP == Horario && _Angulo >= _Angulo_SP) {
-            _MotorLigado = false;
+
+    double _anguloAnterior = 0;
+    int leituras = 0;
+    void DefinirSentidoDeGiro() {
+      double _anguloAtual = _Angulo;
+
+      if (leituras > 500) {
+        if (_MotorLigado) {
+          if (_anguloAtual > _anguloAnterior) {
+            _Sentido = Horario;
           }
-          else if (_Sentido_SP == Antihorario && _Angulo <= (_Angulo_SP * -1)) {
-            _MotorLigado = false;
+          else if (_anguloAtual < _anguloAnterior) {
+            _Sentido = Antihorario;
           }
         }
-        else if (false) {
-          if (Referenciado && (_Sentido_SP == Horario && _Angulo >= RefMax)) {
-            _MotorLigado = false;
-          }
-          else if (Referenciado && (_Sentido_SP == Antihorario && _Angulo <= RefMin)) {
-            _MotorLigado = false;
-          }
+        else {
+          _Sentido = Parado;
+        }
+
+        _anguloAnterior = _anguloAtual;
+
+        leituras = 0;
+      }
+      leituras++;
+      
+    }
+
+    
+
+
+    unsigned long previousMillisCorrecao = millis();
+    void VerificarAnguloSP() {
+      bool ModoSP = (_Angulo_SP > -1);
+      if (_MotorLigado) {
+        double AnguloComparar = ModoSP ? _Angulo_SP : RefMax;
+        if (_Sentido_SP == Horario && _Angulo >= AnguloComparar) {
+          _MotorLigado = false;
+        }
+        else if (_Sentido_SP == Antihorario && _Angulo <= (AnguloComparar * -1)) {
+          _MotorLigado = false;
         }
       }
-      else {
-        if (_Estabilizar && _Sentido_SP == Parado && _Angulo != _Angulo_SP) {
-          _Sentido_SP = _Angulo > _Angulo_SP ? Antihorario : Horario;
-          _MotorLigado = true;
+      else if (ModoSP) {
+        if (millis() - previousMillisCorrecao >= 1500) {
+          previousMillisCorrecao = millis();
+
+          bool NoRangeZero = (_Angulo >= -_Margem && _Angulo <= _Margem);
+          bool NoRangeSP = (_Angulo >= (_Angulo_SP - _Margem) && _Angulo <= (_Angulo_SP + _Margem));
+          if (_Angulo_SP == 0 && !NoRangeZero && _Estabilizar) {
+            _Sentido_SP = _Angulo > 0 ? Antihorario : Horario;
+            _MotorLigado = true;
+          }
+          else if (!NoRangeSP) {
+            _MotorLigado = true;
+          }
         }
       }
     }
@@ -255,6 +293,8 @@ class Motor {
       }
     }
 
+
+
 };
 
 Motor M1("ET");