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diff --git a/AgroBase/AgroBase/AgroBase.csproj b/AgroBase/AgroBase/AgroBase.csproj
index 61bf4688e..6fcee226f 100644
--- a/AgroBase/AgroBase/AgroBase.csproj
+++ b/AgroBase/AgroBase/AgroBase.csproj
@@ -669,36 +669,6 @@
     <Content Include="Python\Models\yolov7\utils\google_app_engine\Dockerfile">
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
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-    <Content Include="Python\Models\yolov7\models\__pycache__\common.cpython-310.pyc">
-      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
-    </Content>
-    <Content Include="Python\Models\yolov7\models\__pycache__\experimental.cpython-310.pyc">
-      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
-    </Content>
-    <Content Include="Python\Models\yolov7\models\__pycache__\__init__.cpython-310.pyc">
-      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
-    </Content>
-    <Content Include="Python\Models\yolov7\utils\__pycache__\datasets.cpython-310.pyc">
-      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
-    </Content>
-    <Content Include="Python\Models\yolov7\utils\__pycache__\general.cpython-310.pyc">
-      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
-    </Content>
-    <Content Include="Python\Models\yolov7\utils\__pycache__\google_utils.cpython-310.pyc">
-      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
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-    <Content Include="Python\Models\yolov7\utils\__pycache__\metrics.cpython-310.pyc">
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-    <Content Include="Python\Models\yolov7\utils\__pycache__\plots.cpython-310.pyc">
-      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
-    </Content>
-    <Content Include="Python\Models\yolov7\utils\__pycache__\torch_utils.cpython-310.pyc">
-      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
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-    <Content Include="Python\Models\yolov7\utils\__pycache__\__init__.cpython-310.pyc">
-      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
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     <None Include="Python\Output\fonts\glyphicons-halflings-regular.ttf">
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
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diff --git a/AgroBase/AgroBase/Forms/frmGPS.Designer.cs b/AgroBase/AgroBase/Forms/frmGPS.Designer.cs
index facb832fb..df5868f0f 100644
--- a/AgroBase/AgroBase/Forms/frmGPS.Designer.cs
+++ b/AgroBase/AgroBase/Forms/frmGPS.Designer.cs
@@ -32,13 +32,16 @@
             this.pnlMapa = new System.Windows.Forms.Panel();
             this.picLoading = new System.Windows.Forms.PictureBox();
             this.pnlInformacoes = new System.Windows.Forms.Panel();
-            this.lblLatitude = new System.Windows.Forms.Label();
-            this.lblLongitude = new System.Windows.Forms.Label();
-            this.lblPrecisao = new System.Windows.Forms.Label();
-            this.lblSatelites = new System.Windows.Forms.Label();
-            this.lblDatahora = new System.Windows.Forms.Label();
-            this.lblAltitude = new System.Windows.Forms.Label();
+            this.lblOrientacao = new System.Windows.Forms.Label();
+            this.chbSalvar = new System.Windows.Forms.CheckBox();
             this.lblVelocidade = new System.Windows.Forms.Label();
+            this.lblAltitude = new System.Windows.Forms.Label();
+            this.lblDatahora = new System.Windows.Forms.Label();
+            this.lblSatelites = new System.Windows.Forms.Label();
+            this.lblPrecisao = new System.Windows.Forms.Label();
+            this.lblLongitude = new System.Windows.Forms.Label();
+            this.lblLatitude = new System.Windows.Forms.Label();
+            this.btnGerarMapa = new System.Windows.Forms.Button();
             this.pnlMapa.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.picLoading)).BeginInit();
             this.pnlInformacoes.SuspendLayout();
@@ -53,7 +56,7 @@
             this.pnlMapa.Location = new System.Drawing.Point(9, 10);
             this.pnlMapa.Margin = new System.Windows.Forms.Padding(2);
             this.pnlMapa.Name = "pnlMapa";
-            this.pnlMapa.Size = new System.Drawing.Size(772, 464);
+            this.pnlMapa.Size = new System.Drawing.Size(1177, 464);
             this.pnlMapa.TabIndex = 2;
             // 
             // picLoading
@@ -66,7 +69,7 @@
             this.picLoading.Location = new System.Drawing.Point(194, 24);
             this.picLoading.Margin = new System.Windows.Forms.Padding(2);
             this.picLoading.Name = "picLoading";
-            this.picLoading.Size = new System.Drawing.Size(384, 416);
+            this.picLoading.Size = new System.Drawing.Size(789, 416);
             this.picLoading.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
             this.picLoading.TabIndex = 2;
             this.picLoading.TabStop = false;
@@ -74,6 +77,9 @@
             // 
             // pnlInformacoes
             // 
+            this.pnlInformacoes.Controls.Add(this.btnGerarMapa);
+            this.pnlInformacoes.Controls.Add(this.lblOrientacao);
+            this.pnlInformacoes.Controls.Add(this.chbSalvar);
             this.pnlInformacoes.Controls.Add(this.lblVelocidade);
             this.pnlInformacoes.Controls.Add(this.lblAltitude);
             this.pnlInformacoes.Controls.Add(this.lblDatahora);
@@ -85,68 +91,28 @@
             this.pnlInformacoes.Location = new System.Drawing.Point(0, 479);
             this.pnlInformacoes.Margin = new System.Windows.Forms.Padding(2);
             this.pnlInformacoes.Name = "pnlInformacoes";
-            this.pnlInformacoes.Size = new System.Drawing.Size(790, 46);
+            this.pnlInformacoes.Size = new System.Drawing.Size(1195, 46);
             this.pnlInformacoes.TabIndex = 3;
             // 
-            // lblLatitude
+            // lblOrientacao
             // 
-            this.lblLatitude.AutoSize = true;
-            this.lblLatitude.Location = new System.Drawing.Point(9, 17);
-            this.lblLatitude.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblLatitude.Name = "lblLatitude";
-            this.lblLatitude.Size = new System.Drawing.Size(57, 13);
-            this.lblLatitude.TabIndex = 1;
-            this.lblLatitude.Text = "Latitude: 0";
+            this.lblOrientacao.AutoSize = true;
+            this.lblOrientacao.Location = new System.Drawing.Point(800, 17);
+            this.lblOrientacao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblOrientacao.Name = "lblOrientacao";
+            this.lblOrientacao.Size = new System.Drawing.Size(65, 13);
+            this.lblOrientacao.TabIndex = 9;
+            this.lblOrientacao.Text = "Orientação: ";
             // 
-            // lblLongitude
+            // chbSalvar
             // 
-            this.lblLongitude.AutoSize = true;
-            this.lblLongitude.Location = new System.Drawing.Point(131, 17);
-            this.lblLongitude.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblLongitude.Name = "lblLongitude";
-            this.lblLongitude.Size = new System.Drawing.Size(66, 13);
-            this.lblLongitude.TabIndex = 2;
-            this.lblLongitude.Text = "Longitude: 0";
-            // 
-            // lblPrecisao
-            // 
-            this.lblPrecisao.AutoSize = true;
-            this.lblPrecisao.Location = new System.Drawing.Point(497, 17);
-            this.lblPrecisao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblPrecisao.Name = "lblPrecisao";
-            this.lblPrecisao.Size = new System.Drawing.Size(60, 13);
-            this.lblPrecisao.TabIndex = 3;
-            this.lblPrecisao.Text = "Precisão: 0";
-            // 
-            // lblSatelites
-            // 
-            this.lblSatelites.AutoSize = true;
-            this.lblSatelites.Location = new System.Drawing.Point(584, 17);
-            this.lblSatelites.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblSatelites.Name = "lblSatelites";
-            this.lblSatelites.Size = new System.Drawing.Size(59, 13);
-            this.lblSatelites.TabIndex = 4;
-            this.lblSatelites.Text = "Satélites: 0";
-            // 
-            // lblDatahora
-            // 
-            this.lblDatahora.AutoSize = true;
-            this.lblDatahora.Location = new System.Drawing.Point(669, 17);
-            this.lblDatahora.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblDatahora.Name = "lblDatahora";
-            this.lblDatahora.Size = new System.Drawing.Size(77, 13);
-            this.lblDatahora.TabIndex = 5;
-            this.lblDatahora.Text = "Ultima Leitura: ";
-            // 
-            // lblAltitude
-            // 
-            this.lblAltitude.AutoSize = true;
-            this.lblAltitude.Location = new System.Drawing.Point(283, 17);
-            this.lblAltitude.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblAltitude.Name = "lblAltitude";
-            this.lblAltitude.Size = new System.Drawing.Size(54, 13);
-            this.lblAltitude.TabIndex = 6;
-            this.lblAltitude.Text = "Altitude: 0";
+            this.chbSalvar.AutoSize = true;
+            this.chbSalvar.Location = new System.Drawing.Point(914, 16);
+            this.chbSalvar.Name = "chbSalvar";
+            this.chbSalvar.Size = new System.Drawing.Size(103, 17);
+            this.chbSalvar.TabIndex = 8;
+            this.chbSalvar.Text = "Salvar Trajetória";
+            this.chbSalvar.UseVisualStyleBackColor = true;
             // 
             // lblVelocidade
             // 
@@ -158,11 +124,81 @@
             this.lblVelocidade.TabIndex = 7;
             this.lblVelocidade.Text = "Velocidade: 0";
             // 
+            // lblAltitude
+            // 
+            this.lblAltitude.AutoSize = true;
+            this.lblAltitude.Location = new System.Drawing.Point(283, 17);
+            this.lblAltitude.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblAltitude.Name = "lblAltitude";
+            this.lblAltitude.Size = new System.Drawing.Size(54, 13);
+            this.lblAltitude.TabIndex = 6;
+            this.lblAltitude.Text = "Altitude: 0";
+            // 
+            // lblDatahora
+            // 
+            this.lblDatahora.AutoSize = true;
+            this.lblDatahora.Location = new System.Drawing.Point(669, 17);
+            this.lblDatahora.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblDatahora.Name = "lblDatahora";
+            this.lblDatahora.Size = new System.Drawing.Size(77, 13);
+            this.lblDatahora.TabIndex = 5;
+            this.lblDatahora.Text = "Ultima Leitura: ";
+            // 
+            // lblSatelites
+            // 
+            this.lblSatelites.AutoSize = true;
+            this.lblSatelites.Location = new System.Drawing.Point(584, 17);
+            this.lblSatelites.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblSatelites.Name = "lblSatelites";
+            this.lblSatelites.Size = new System.Drawing.Size(59, 13);
+            this.lblSatelites.TabIndex = 4;
+            this.lblSatelites.Text = "Satélites: 0";
+            // 
+            // lblPrecisao
+            // 
+            this.lblPrecisao.AutoSize = true;
+            this.lblPrecisao.Location = new System.Drawing.Point(497, 17);
+            this.lblPrecisao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblPrecisao.Name = "lblPrecisao";
+            this.lblPrecisao.Size = new System.Drawing.Size(60, 13);
+            this.lblPrecisao.TabIndex = 3;
+            this.lblPrecisao.Text = "Precisão: 0";
+            // 
+            // lblLongitude
+            // 
+            this.lblLongitude.AutoSize = true;
+            this.lblLongitude.Location = new System.Drawing.Point(131, 17);
+            this.lblLongitude.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblLongitude.Name = "lblLongitude";
+            this.lblLongitude.Size = new System.Drawing.Size(66, 13);
+            this.lblLongitude.TabIndex = 2;
+            this.lblLongitude.Text = "Longitude: 0";
+            // 
+            // lblLatitude
+            // 
+            this.lblLatitude.AutoSize = true;
+            this.lblLatitude.Location = new System.Drawing.Point(9, 17);
+            this.lblLatitude.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblLatitude.Name = "lblLatitude";
+            this.lblLatitude.Size = new System.Drawing.Size(57, 13);
+            this.lblLatitude.TabIndex = 1;
+            this.lblLatitude.Text = "Latitude: 0";
+            // 
+            // btnGerarMapa
+            // 
+            this.btnGerarMapa.Location = new System.Drawing.Point(1033, 12);
+            this.btnGerarMapa.Name = "btnGerarMapa";
+            this.btnGerarMapa.Size = new System.Drawing.Size(75, 23);
+            this.btnGerarMapa.TabIndex = 10;
+            this.btnGerarMapa.Text = "Gerar Mapa";
+            this.btnGerarMapa.UseVisualStyleBackColor = true;
+            this.btnGerarMapa.Click += new System.EventHandler(this.btnGerarMapa_Click);
+            // 
             // frmGPS
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(790, 525);
+            this.ClientSize = new System.Drawing.Size(1195, 525);
             this.Controls.Add(this.pnlInformacoes);
             this.Controls.Add(this.pnlMapa);
             this.Name = "frmGPS";
@@ -190,5 +226,8 @@
         private System.Windows.Forms.Label lblLongitude;
         private System.Windows.Forms.Label lblVelocidade;
         private System.Windows.Forms.Label lblAltitude;
+        private System.Windows.Forms.CheckBox chbSalvar;
+        private System.Windows.Forms.Label lblOrientacao;
+        private System.Windows.Forms.Button btnGerarMapa;
     }
 }
\ No newline at end of file
diff --git a/AgroBase/AgroBase/Forms/frmGPS.cs b/AgroBase/AgroBase/Forms/frmGPS.cs
index 9e2ed3ef0..b28eebe47 100644
--- a/AgroBase/AgroBase/Forms/frmGPS.cs
+++ b/AgroBase/AgroBase/Forms/frmGPS.cs
@@ -2,7 +2,11 @@
 using AgroBase.Services;
 using CefSharp;
 using CefSharp.WinForms;
+using Newtonsoft.Json;
+using SharpDX.Text;
 using System;
+using System.Collections.Generic;
+using System.IO;
 using System.Windows.Forms;
 
 namespace AgroBase.Forms
@@ -11,6 +15,8 @@ namespace AgroBase.Forms
     {
         private MapasModel Mapa;
         private Timer tmrLeitura;
+        private List<GPSModel> Trajetoria = new List<GPSModel>();
+        private string LogID = DateTime.Now.ToString("dd_MM_yyyy_HH_mm_ss");
 
         public frmGPS()
         {
@@ -39,6 +45,25 @@ namespace AgroBase.Forms
             lblPrecisao.Text = "Precisão: " + GPSService.UltimaLeitura.PrecisaoHorizontal.ToString();
             lblSatelites.Text = "Satélites: " + GPSService.UltimaLeitura.NumeroSatelites.ToString();
             lblVelocidade.Text = "Velocidade: " + GPSService.UltimaLeitura.Velocidade.ToString("0.00") + " km/h";
+            lblOrientacao.Text = "Orientação: " + GPSService.UltimaLeitura.Orientacao.ToString("0.00") + "º";
+
+            if (chbSalvar.Checked)
+            {
+                GPSModel leitura = new GPSModel()
+                {
+                    Altitude = GPSService.UltimaLeitura.Altitude, 
+                    DataHora = GPSService.UltimaLeitura.DataHora, 
+                    Latitude = GPSService.UltimaLeitura.Latitude, 
+                    Longitude = GPSService.UltimaLeitura.Longitude, 
+                    NumeroSatelites = GPSService.UltimaLeitura.NumeroSatelites, 
+                    PrecisaoHorizontal = GPSService.UltimaLeitura.PrecisaoHorizontal, 
+                    Velocidade = GPSService.UltimaLeitura.Velocidade, 
+                    Orientacao = GPSService.UltimaLeitura.Orientacao
+                };
+                Trajetoria.Add(leitura);
+
+                File.WriteAllText(Variaveis.CaminhoLogsDispositivos + "GPS/" + LogID + ".json", JsonConvert.SerializeObject(Trajetoria, Formatting.None), Encoding.UTF8);
+            }
         }
 
         private void frmGPS_FormClosing(object sender, FormClosingEventArgs e)
@@ -51,6 +76,10 @@ namespace AgroBase.Forms
             Mapa.CarregarMapaGPS();
         }
 
-
+        private void btnGerarMapa_Click(object sender, EventArgs e)
+        {
+            MapasService.CriarArquivoMapa(new List<List<GPSModel>> { Trajetoria });
+            MessageBox.Show("Mapa gerado com sucesso!", "Sucesso", MessageBoxButtons.OK, MessageBoxIcon.Information);
+        }
     }
 }
diff --git a/AgroBase/AgroBase/Models/GPSModel.cs b/AgroBase/AgroBase/Models/GPSModel.cs
index bbac2ddf1..3c0c28ce2 100644
--- a/AgroBase/AgroBase/Models/GPSModel.cs
+++ b/AgroBase/AgroBase/Models/GPSModel.cs
@@ -17,6 +17,7 @@ namespace AgroBase.Models
         public double Velocidade { get; set; }
         public int NumeroSatelites { get; set; }
         public double PrecisaoHorizontal { get; set; }
+        public double Orientacao { get; set; }
         public int idxRua { get; set; } = -1;
         public DirecaoCarroRua DirecaoTrecho { get; set; } = DirecaoCarroRua.Parado;
         public bool Passado { get; set; } = false;
diff --git a/AgroBase/AgroBase/Models/Variaveis.cs b/AgroBase/AgroBase/Models/Variaveis.cs
index b095a6d11..0756c6e78 100644
--- a/AgroBase/AgroBase/Models/Variaveis.cs
+++ b/AgroBase/AgroBase/Models/Variaveis.cs
@@ -16,6 +16,7 @@ namespace AgroBase.Models
         public static string CaminhoSistema { get; set; } = AppDomain.CurrentDomain.BaseDirectory;
         public static string CaminhoLogsDispositivos { get; } = "Logs/";
         public static string CaminhoOperacoes { get; } = "Operacoes/";
+        public static string CaminhoMapasConvertidos { get; } = "Mapas/";
         public static List<IDispositivosService> DispositivosConectados { get; set; } = new List<IDispositivosService>();
         public static OperacaoModel OperacaoEmAndamento { get; set; } = new OperacaoModel(ModoOperacao.Manual);
         public static MqttService MqttService { get; set; } = new MqttService("localhost", 1883);
diff --git a/AgroBase/AgroBase/Python/Scripts/gps-viewer.py b/AgroBase/AgroBase/Python/Scripts/gps-viewer.py
index cc774717e..0f9f6dc19 100644
--- a/AgroBase/AgroBase/Python/Scripts/gps-viewer.py
+++ b/AgroBase/AgroBase/Python/Scripts/gps-viewer.py
@@ -117,13 +117,22 @@ with open(caminho_completo_html, 'r+') as arquivo_html:
     # Script JavaScript para adicionar ao HTML, com o ID do mapa substituído
     script_atualizacao_marcador = f"""
     <script src="folium/mqtt.min.js"></script>
+    <script src="folium/leaflet.rotatedMarker.js"></script>
     <script>
+        let posicaoAtual = {{
+            lat: 0, 
+            long: 0
+        }};
+        
+        var customIcon = L.icon({{
+            iconUrl: 'folium/images/position_marker.png',
+            iconSize: [32, 32], 
+            iconAnchor: [16, 16], 
+            popupAnchor: [0, -16] 
+        }});
+        
         var marcadorDinamico = L.marker([0, 0], {{
-            icon: L.AwesomeMarkers.icon({{
-                icon: 'info-sign',
-                markerColor: 'red',
-                prefix: 'glyphicon'
-            }})
+            icon: customIcon
         }}).addTo({id_mapa});
     
         // Conectar ao broker MQTT
@@ -152,9 +161,44 @@ with open(caminho_completo_html, 'r+') as arquivo_html:
             var novaLongitude = dados.longitude;
             var novaPosicao = [novaLatitude, novaLongitude];
             marcadorDinamico.setLatLng(novaPosicao);
+            
+            // Calcular angulo de rotacao
+            var angulo = calcularOrientacao(novaPosicao[0], novaPosicao[1], posicaoAtual.lat, posicaoAtual.long);
+
+            posicaoAtual.lat = novaPosicao[0];
+            posicaoAtual.long = novaPosicao[1];
+
+            // Rotacionar o marcador para o angulo calculado
+            marcadorDinamico.setRotationAngle(angulo);
+            
             adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
             {id_mapa}.setView(novaPosicao, {id_mapa}.getZoom());
         }});
+        
+        function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {{
+            // Converter latitudes e longitudes de graus para radianos
+            const latA = P1latitude * (Math.PI / 180.0);
+            const lonA = P1longitude * (Math.PI / 180.0);
+            const latB = P2latitude * (Math.PI / 180.0);
+            const lonB = P2longitude * (Math.PI / 180.0);
+
+            // Calcular a diferença de longitude
+            const deltaLon = lonB - lonA;
+
+            // Calcular a direção
+            const y = Math.sin(deltaLon) * Math.cos(latB);
+            const x = Math.cos(latA) * Math.sin(latB) - Math.sin(latA) * Math.cos(latB) * Math.cos(deltaLon);
+            const direcaoRadianos = Math.atan2(y, x);
+
+            // Converter a direção de radianos para graus
+            let direcaoGraus = direcaoRadianos * (180.0 / Math.PI);
+
+            // Normalizar a direção para que esteja no intervalo de 0 a 360 graus
+            direcaoGraus = (direcaoGraus + 360) % 360;
+
+            return direcaoGraus;
+        }}
+        
     </script>
     """
 
diff --git a/AgroBase/AgroBase/Python/Scripts/map-load.py b/AgroBase/AgroBase/Python/Scripts/map-load.py
index 2799e350d..67aec70b2 100644
--- a/AgroBase/AgroBase/Python/Scripts/map-load.py
+++ b/AgroBase/AgroBase/Python/Scripts/map-load.py
@@ -23,15 +23,30 @@ outputMapName = sys.argv[4]
 topico_gps = sys.argv[5]
 topico_ruas = sys.argv[6]
 topico_trajeto_dinamico = sys.argv[7]
+mapa_dados_json = sys.argv[8]
 pastaSaida = 'Python/Output/'
 
-# Carregar o arquivo shapefile contendo a geometria
-input_shapefile = pathFiles + fileName + '.shp'
-data_geometry = gpd.read_file(input_shapefile)
 
-# Calcular os limites (bounds) da geometria
-minx, miny, maxx, maxy = data_geometry.total_bounds
-center = [(miny + maxy) / 2, (minx + maxx) / 2]
+if mapa_dados_json == "0":
+    # Carregar o arquivo shapefile contendo a geometria
+    input_shapefile = pathFiles + fileName + '.shp'
+    data_geometry = gpd.read_file(input_shapefile)
+    
+    # Converter o GeoDataFrame para GeoJSON e adicionar ao mapa
+    geojson_data = data_geometry.to_json()
+    # Calcular os limites (bounds) da geometria
+    minx, miny, maxx, maxy = data_geometry.total_bounds
+    center = [(miny + maxy) / 2, (minx + maxx) / 2]
+
+    # Salvar GEOJson
+    data_geometry.to_file(pastaSaida + outputName, driver='GeoJSON')
+else:
+    # Lendo os dados JSON
+    with open(pathFiles + fileName + '.json', 'r', encoding='utf-8-sig') as f:
+        geojson_data = json.load(f)
+        # Obter os limites (bounds) dos dados GeoJSON
+        bounds = folium.GeoJson(geojson_data).get_bounds()
+        center = [(bounds[0][0] + bounds[1][0]) / 2, (bounds[0][1] + bounds[1][1]) / 2]
 
 # Verificar se há conexão com a internet
 if internet_disponivel():
@@ -39,12 +54,8 @@ if internet_disponivel():
 else:
     m = folium.Map(location=center, zoom_start=12, tiles=None)
 
-# Converter o GeoDataFrame para GeoJSON e adicionar ao mapa
-geojson_data = data_geometry.to_json()
-folium.GeoJson(geojson_data).add_to(m)
 
-# Salvar GEOJson
-data_geometry.to_file(pastaSaida + outputName, driver='GeoJSON')
+folium.GeoJson(geojson_data).add_to(m)
 
 # Salvar o mapa interativo em um arquivo HTML
 m.save(pastaSaida + outputMapName)
diff --git a/AgroBase/AgroBase/Services/GPSService.cs b/AgroBase/AgroBase/Services/GPSService.cs
index fee691129..a6fe6da32 100644
--- a/AgroBase/AgroBase/Services/GPSService.cs
+++ b/AgroBase/AgroBase/Services/GPSService.cs
@@ -99,6 +99,7 @@ namespace AgroBase.Services
                     PenultimaLeitura.DataHora = UltimaLeitura.DataHora;
                     PenultimaLeitura.NumeroSatelites = UltimaLeitura.NumeroSatelites;
                     PenultimaLeitura.Velocidade = UltimaLeitura.Velocidade;
+                    PenultimaLeitura.Orientacao = UltimaLeitura.Orientacao;
 
                     if (parts[2] != "" && parts[3] != "")
                     {
@@ -111,6 +112,7 @@ namespace AgroBase.Services
                     UltimaLeitura.NumeroSatelites = int.TryParse(parts[7], out int numSat) ? numSat : 0;
                     UltimaLeitura.PrecisaoHorizontal = double.TryParse(parts[8], NumberStyles.Float, CultureInfo.InvariantCulture, out double hdop) ? hdop : 0;
                     UltimaLeitura.Altitude = ConvertToDouble(parts[9]);
+                    UltimaLeitura.Orientacao = CalcularOrientacao(PenultimaLeitura, UltimaLeitura);
 
                     //APIService.AtualizarCoordenadasGPS(UltimaLeitura, APIService.GPS_IDcoordenadasRobo);
                     AtualizarCoordenadasGPS();
diff --git a/AgroBase/AgroBase/Services/MapasService.cs b/AgroBase/AgroBase/Services/MapasService.cs
index 8727a2804..9b4742a9f 100644
--- a/AgroBase/AgroBase/Services/MapasService.cs
+++ b/AgroBase/AgroBase/Services/MapasService.cs
@@ -1,10 +1,12 @@
 using AgroBase.Models;
 using Newtonsoft.Json;
 using System;
+using System.Collections.Generic;
 using System.Diagnostics;
 using System.IO;
 using System.Net.Http;
 using System.Text;
+using System.Text.Json;
 using System.Windows.Forms;
 
 namespace AgroBase.Services
@@ -42,23 +44,26 @@ namespace AgroBase.Services
             opfMapa = new OpenFileDialog
             {
                 DefaultExt = ".shp",
-                Filter = "Shapefile (*.shp)|*.shp",
+                Filter = "Shapefile (*.shp)|*.shp|JSON Files (*.json)|*.json",
                 Title = "Selecionar arquivo de mapa"
             };
 
             if (opfMapa.ShowDialog() == DialogResult.OK)
             {
-                NomeArquivos = opfMapa.FileName.Split('\\')[opfMapa.FileName.Split('\\').Length - 1].Split('.')[0];
-                CaminhoMapa = opfMapa.FileName.Substring(0, opfMapa.FileName.Length - NomeArquivos.Length - 4).Replace("\\", "/");
+                string extensao = "." + opfMapa.FileName.Split('.')[opfMapa.FileName.Split('.').Length - 1];
+                NomeArquivos = opfMapa.FileName.Split('\\')[opfMapa.FileName.Split('\\').Length - 1].Replace(extensao, "");
+                CaminhoMapa = opfMapa.FileName.Replace(NomeArquivos, "").Replace(extensao, "").Replace("\\", "/");
 
-                pythonProcess = PythonService.RunScript(PythonService.ScriptMapConverter, new string[] { 
+                pythonProcess = PythonService.RunScript(PythonService.ScriptMapConverter, new string[] 
+                { 
                     CaminhoMapa, 
                     NomeArquivos, 
                     ArquivoSaida, 
                     NomeArquivoMapa, 
                     MapasVariaveisModel.TopicoCoordenadasGPS, 
                     MapasVariaveisModel.TopicoSelecaoRuasMapa, 
-                    MapasVariaveisModel.TopicoTrajetoriaDinamica, 
+                    MapasVariaveisModel.TopicoTrajetoriaDinamica,
+                    opfMapa.FileName.Split('.')[1] == "json" ? "1" : "0"
                 });
 
                 MapaUrl = new Uri(CaminhoSaida + NomeArquivoMapa).AbsoluteUri;
@@ -70,7 +75,8 @@ namespace AgroBase.Services
         {
             NomeArquivoMapa = nomeArquivoMapa;
 
-            pythonProcess = PythonService.RunScript(PythonService.ScriptMapGPS, new string[] { 
+            pythonProcess = PythonService.RunScript(PythonService.ScriptMapGPS, new string[] 
+            { 
                 CaminhoMapa, 
                 NomeArquivos, 
                 ArquivoSaida, 
@@ -94,6 +100,49 @@ namespace AgroBase.Services
             });
         }
 
+        public static void CriarArquivoMapa(List<List<GPSModel>> Trajetoria, int id = 1517, string name = "Projeto", double dist1 = 0.0, double dist2 = 0.0)
+        {
+            var featureCollection = new MapaFeatureCollectionModel
+            {
+                type = "FeatureCollection",
+                features = new List<MapaFeatureModel>()
+            };
+
+            foreach (var rua in Trajetoria)
+            {
+                double length = GPSService.DistanciaDoTrecho(rua);
+                featureCollection.features.Add(new MapaFeatureModel()
+                {
+                    type = "Feature",
+                    properties = new MapaFeaturePropertiesModel()
+                    {
+                        Id = id.ToString(),
+                        Name = name,
+                        Length = length,
+                        Dist1 = dist1,
+                        Dist2 = dist2
+                    },
+                    geometry = new MapaFeatureGeometryModel()
+                    {
+                        type = "LineString",
+                        coordinates = new List<List<double>>()
+                    }
+                });
+
+                // Adicionando coordenadas aos recursos
+                var coordinates = featureCollection.features[0].geometry.coordinates;
+                foreach (var gpsModel in rua)
+                {
+                    var coordinate = new List<double> { gpsModel.Longitude, gpsModel.Latitude };
+                    coordinates.Add(coordinate);
+                }
+            }
+
+            // Serializando o objeto para JSON
+            string jsonString = JsonConvert.SerializeObject(featureCollection);
+
+            File.WriteAllText(Variaveis.CaminhoMapasConvertidos + name + ".json", jsonString, Encoding.UTF8);
+        }
 
     }
 }
diff --git a/AgroBase/AgroBase/bin/Debug/AgroBase.pdb b/AgroBase/AgroBase/bin/Debug/AgroBase.pdb
index b22b16da3..9d96481ed 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 366f8dd22..28bebe5d7 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
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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/Logs/Dir/06_05_2024_45_46.json b/AgroBase/AgroBase/bin/Debug/Logs/Dir/06_05_2024_45_46.json
new file mode 100644
index 000000000..9b025f1b5
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+++ b/AgroBase/AgroBase/bin/Debug/Logs/Dir/06_05_2024_45_46.json
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diff --git a/AgroBase/AgroBase/bin/Debug/Logs/GPS/06_05_2024_11_05_45.json b/AgroBase/AgroBase/bin/Debug/Logs/GPS/06_05_2024_11_05_45.json
new file mode 100644
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diff --git a/AgroBase/AgroBase/bin/Debug/Logs/Sen/06_05_2024_45_46.json b/AgroBase/AgroBase/bin/Debug/Logs/Sen/06_05_2024_45_46.json
new file mode 100644
index 000000000..2c3a496bc
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diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/06_05_2024_10_49_37/logsGerais.json b/AgroBase/AgroBase/bin/Debug/Operacoes/06_05_2024_10_49_37/logsGerais.json
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diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/06_05_2024_10_49_37/trajetoria.json b/AgroBase/AgroBase/bin/Debug/Operacoes/06_05_2024_10_49_37/trajetoria.json
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diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/06_05_2024_10_50_24/logsGerais.json b/AgroBase/AgroBase/bin/Debug/Operacoes/06_05_2024_10_50_24/logsGerais.json
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diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/06_05_2024_10_50_30/logsGerais.json b/AgroBase/AgroBase/bin/Debug/Operacoes/06_05_2024_10_50_30/logsGerais.json
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+                        216
+                    ],
+                    [
+                        616,
+                        213
+                    ],
+                    [
+                        617,
+                        212
+                    ],
+                    [
+                        617,
+                        209
+                    ],
+                    [
+                        618,
+                        208
+                    ],
+                    [
+                        618,
+                        207
+                    ],
+                    [
+                        623,
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+                    ],
+                    [
+                        623,
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+                    ],
+                    [
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+                    ],
+                    [
+                        622,
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+                    ],
+                    [
+                        623,
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+                    ],
+                    [
+                        627,
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+                    ],
+                    [
+                        629,
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+                    ],
+                    [
+                        630,
+                        186
+                    ],
+                    [
+                        633,
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+                    ],
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+                    ],
+                    [
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+                    ],
+                    [
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+                    ],
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+                    ],
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+                    [
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+                    ],
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+                    ],
+                    [
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+                    ],
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+                    ],
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+                    ],
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+                    ],
+                    [
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+                    ],
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+                    ],
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+                    ],
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+                    ],
+                    [
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+                    ],
+                    [
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+                    ],
+                    [
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+                    [
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+                    ],
+                    [
+                        637,
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+                    ],
+                    [
+                        638,
+                        255
+                    ],
+                    [
+                        638,
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+                    ],
+                    [
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+                    ],
+                    [
+                        644,
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+                    ],
+                    [
+                        644,
+                        257
+                    ],
+                    [
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+                    ],
+                    [
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+                    ],
+                    [
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+                    ],
+                    [
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+                    ],
+                    [
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+                    ],
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+                    ],
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+                    [
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+                        229
+                    ],
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+                    ],
+                    [
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+                    [
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+                    ],
+                    [
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+                    ],
+                    [
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+                    ],
+                    [
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+                    [
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+                        225
+                    ],
+                    [
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+                    ],
+                    [
+                        668,
+                        219
+                    ],
+                    [
+                        668,
+                        218
+                    ],
+                    [
+                        667,
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+                    ],
+                    [
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+                    [
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+                    ],
+                    [
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+                    [
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+                    ],
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+                    [
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+                    [
+                        673,
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+                    ],
+                    [
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+                    [
+                        674,
+                        197
+                    ],
+                    [
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+                        196
+                    ],
+                    [
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+                        195
+                    ],
+                    [
+                        677,
+                        193
+                    ],
+                    [
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+                        193
+                    ],
+                    [
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+                        195
+                    ],
+                    [
+                        682,
+                        195
+                    ],
+                    [
+                        683,
+                        196
+                    ],
+                    [
+                        683,
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+                    ],
+                    [
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+                        203
+                    ],
+                    [
+                        692,
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+                    ],
+                    [
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                         0
                     ]
                 ]
diff --git a/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_gps.html b/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_gps.html
index 6004ac7f3..8c0a8765b 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_cd190092d4e8a0a7ac66c9a62953f137 {
+                #map_cc542e997f50a5c3413836621529b149 {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -39,14 +39,14 @@
 <body>
     
     
-            <div class="folium-map" id="map_cd190092d4e8a0a7ac66c9a62953f137" ></div>
+            <div class="folium-map" id="map_cc542e997f50a5c3413836621529b149" ></div>
         
 </body>
 <script>
     
     
-            var map_cd190092d4e8a0a7ac66c9a62953f137 = L.map(
-                "map_cd190092d4e8a0a7ac66c9a62953f137",
+            var map_cc542e997f50a5c3413836621529b149 = L.map(
+                "map_cc542e997f50a5c3413836621529b149",
                 {
                     center: [0.0, 0.0],
                     crs: L.CRS.EPSG3857,
@@ -60,13 +60,13 @@
 
         
     
-            var tile_layer_d95d5dcfac5811d5b167ee7965f28aff = L.tileLayer(
+            var tile_layer_d17ce14d549a3fb1bcc02c6ad6d0ca1f = 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_d95d5dcfac5811d5b167ee7965f28aff.addTo(map_cd190092d4e8a0a7ac66c9a62953f137);
+            tile_layer_d17ce14d549a3fb1bcc02c6ad6d0ca1f.addTo(map_cc542e997f50a5c3413836621529b149);
         
 </script>
 
@@ -87,7 +87,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_cd190092d4e8a0a7ac66c9a62953f137);
+        trajeto_json.addTo(map_cc542e997f50a5c3413836621529b149);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -129,14 +129,23 @@
     </script>
     
     <script src="folium/mqtt.min.js"></script>
+    <script src="folium/leaflet.rotatedMarker.js"></script>
     <script>
+        let posicaoAtual = {
+            lat: 0, 
+            long: 0
+        };
+        
+        var customIcon = L.icon({
+            iconUrl: 'folium/images/position_marker.png',
+            iconSize: [32, 32], 
+            iconAnchor: [16, 16], 
+            popupAnchor: [0, -16] 
+        });
+        
         var marcadorDinamico = L.marker([0, 0], {
-            icon: L.AwesomeMarkers.icon({
-                icon: 'info-sign',
-                markerColor: 'red',
-                prefix: 'glyphicon'
-            })
-        }).addTo(map_cd190092d4e8a0a7ac66c9a62953f137);
+            icon: customIcon
+        }).addTo(map_cc542e997f50a5c3413836621529b149);
     
         // Conectar ao broker MQTT
         const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@@ -164,8 +173,43 @@
             var novaLongitude = dados.longitude;
             var novaPosicao = [novaLatitude, novaLongitude];
             marcadorDinamico.setLatLng(novaPosicao);
+            
+            // Calcular angulo de rotacao
+            var angulo = calcularOrientacao(novaPosicao[0], novaPosicao[1], posicaoAtual.lat, posicaoAtual.long);
+
+            posicaoAtual.lat = novaPosicao[0];
+            posicaoAtual.long = novaPosicao[1];
+
+            // Rotacionar o marcador para o angulo calculado
+            marcadorDinamico.setRotationAngle(angulo);
+            
             adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
-            map_cd190092d4e8a0a7ac66c9a62953f137.setView(novaPosicao, map_cd190092d4e8a0a7ac66c9a62953f137.getZoom());
+            map_cc542e997f50a5c3413836621529b149.setView(novaPosicao, map_cc542e997f50a5c3413836621529b149.getZoom());
         });
+        
+        function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {
+            // Converter latitudes e longitudes de graus para radianos
+            const latA = P1latitude * (Math.PI / 180.0);
+            const lonA = P1longitude * (Math.PI / 180.0);
+            const latB = P2latitude * (Math.PI / 180.0);
+            const lonB = P2longitude * (Math.PI / 180.0);
+
+            // Calcular a diferença de longitude
+            const deltaLon = lonB - lonA;
+
+            // Calcular a direção
+            const y = Math.sin(deltaLon) * Math.cos(latB);
+            const x = Math.cos(latA) * Math.sin(latB) - Math.sin(latA) * Math.cos(latB) * Math.cos(deltaLon);
+            const direcaoRadianos = Math.atan2(y, x);
+
+            // Converter a direção de radianos para graus
+            let direcaoGraus = direcaoRadianos * (180.0 / Math.PI);
+
+            // Normalizar a direção para que esteja no intervalo de 0 a 360 graus
+            direcaoGraus = (direcaoGraus + 360) % 360;
+
+            return direcaoGraus;
+        }
+        
     </script>
     </html>
\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_interativo.html b/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_interativo.html
index 3841c4cae..6efaa45c5 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 @@
             <meta name="viewport" content="width=device-width,
                 initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
             <style>
-                #map_635a2aadcf149afb36a8171d0035671e {
+                #map_29be8f0ac640bc7ad656e70f81275777 {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -39,14 +39,14 @@
 <body>
     
     
-            <div class="folium-map" id="map_635a2aadcf149afb36a8171d0035671e" ></div>
+            <div class="folium-map" id="map_29be8f0ac640bc7ad656e70f81275777" ></div>
         
 </body>
 <script>
     
     
-            var map_635a2aadcf149afb36a8171d0035671e = L.map(
-                "map_635a2aadcf149afb36a8171d0035671e",
+            var map_29be8f0ac640bc7ad656e70f81275777 = L.map(
+                "map_29be8f0ac640bc7ad656e70f81275777",
                 {
                     center: [-22.340241451000697, -47.26020211631194],
                     crs: L.CRS.EPSG3857,
@@ -60,13 +60,13 @@
 
         
     
-            var tile_layer_6ad8b9325f525a8ff3bc02d7a9b31cc5 = L.tileLayer(
+            var tile_layer_b7e97ab194358d58669dff53f1403bed = 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_6ad8b9325f525a8ff3bc02d7a9b31cc5.addTo(map_635a2aadcf149afb36a8171d0035671e);
+            tile_layer_b7e97ab194358d58669dff53f1403bed.addTo(map_29be8f0ac640bc7ad656e70f81275777);
         
     
 
@@ -82,7 +82,7 @@
                 }*/
             });
     }
-    function geo_json_a3a99c21fe6c09d389e7f74f92b082f1_onEachFeature(feature, layer) {
+    function geo_json_88c318056834398b980d03c1988c7cd7_onEachFeature(feature, layer) {
             layer.on({
             
     click: function(e) {
@@ -118,20 +118,20 @@
         }*/
     });
         };
-        var geo_json_a3a99c21fe6c09d389e7f74f92b082f1 = L.geoJson(null, {
-                onEachFeature: geo_json_a3a99c21fe6c09d389e7f74f92b082f1_onEachFeature,
+        var geo_json_88c318056834398b980d03c1988c7cd7 = L.geoJson(null, {
+                onEachFeature: geo_json_88c318056834398b980d03c1988c7cd7_onEachFeature,
             
         });
 
-        function geo_json_a3a99c21fe6c09d389e7f74f92b082f1_add (data) {
-            geo_json_a3a99c21fe6c09d389e7f74f92b082f1
+        function geo_json_88c318056834398b980d03c1988c7cd7_add (data) {
+            geo_json_88c318056834398b980d03c1988c7cd7
                 .addData(data);
         }
-            geo_json_a3a99c21fe6c09d389e7f74f92b082f1_add({"features": [{"geometry": {"coordinates": [[-47.264037338109766, -22.339524535994332], [-47.26401766184665, -22.339560540751183], [-47.26400872414079, -22.339576970425245], [-47.26399979993972, -22.339593449992105], [-47.263990889109174, -22.339609979349202], [-47.26398199151551, -22.33962655838882], [-47.26397310702327, -22.33964318700223], [-47.26396423549601, -22.33965986507852], [-47.26394301077209, -22.339699942622605]], "type": "LineString"}, "id": "0", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 21.724783283, "Name": "Projeto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.26401505555521, -22.339505666408137], [-47.26400067261975, -22.339531864331477], [-47.26399169682811, -22.339548288742588], [-47.26398273497559, -22.339564762798126], [-47.26397378692751, -22.339581286395244], [-47.263964852547424, -22.339597859430143], [-47.263955931699435, -22.339614481793877], [-47.2639470242459, -22.339631153376615], [-47.263938130048174, -22.339647874066152], [-47.26392924896685, -22.339664643747486], [-47.26392038086145, -22.33968146230347], [-47.263911525590025, -22.339698329615363], [-47.263902683009505, -22.339715245562264], [-47.26389385297623, -22.339732210019946], [-47.26388503534517, -22.33974922286274], [-47.26387622996941, -22.339766283963925], [-47.263867436701474, -22.33978339319349], [-47.26385865539275, -22.339800550419387], [-47.26384988589236, -22.339817755509237], [-47.26384112804865, -22.339835008327928], [-47.26383238170916, -22.339852308737367], [-47.26382364672, -22.339869656597674], [-47.263814922781556, -22.33988705205511], [-47.263806203316406, -22.33990450781026], [-47.26379747315636, -22.339922053442546], [-47.2637887225622, -22.339939707172757], [-47.26377244144222, -22.339972674804095]], "type": "LineString"}, "id": "1", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 57.457315127, "Name": "Projeto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.26399273250813, -22.339486780512566], [-47.26397473205404, -22.3395195675868], [-47.263965731813826, -22.339536036729378], [-47.26395674581463, -22.339552555166417], [-47.26394777391955, -22.33956912279381], [-47.263938815989896, -22.339585739506486], [-47.263929871887576, -22.339602405194356], [-47.26392094147274, -22.33961911974636], [-47.26391202460452, -22.339635883049215], [-47.26390312114139, -22.33965269498672], [-47.26389423094067, -22.339669555440707], [-47.263885353858264, -22.339686464291287], [-47.26387648974896, -22.339703421416548], [-47.26386763846704, -22.339720426691283], [-47.263858799865226, -22.339737479988795], [-47.26384997379459, -22.33975458118134], [-47.263841160105585, -22.339771730138086], [-47.26383235864748, -22.33978892672588], [-47.26382356926737, -22.339806170811546], [-47.26381479181156, -22.339823462259098], [-47.26380602612555, -22.339840800929505], [-47.263797272053445, -22.339858186682097], [-47.263788529295276, 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[-47.26116129058837, -22.33522494634641], [-47.261131216715896, -22.335257456717056]], "type": "LineString"}, "id": "177", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 11.274437264, "Name": "Projeto"}, "type": "Feature"}], "type": "FeatureCollection"});
 
         
     
-            geo_json_a3a99c21fe6c09d389e7f74f92b082f1.addTo(map_635a2aadcf149afb36a8171d0035671e);
+            geo_json_88c318056834398b980d03c1988c7cd7.addTo(map_29be8f0ac640bc7ad656e70f81275777);
         
 </script>
 
@@ -152,7 +152,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_635a2aadcf149afb36a8171d0035671e);
+        trajeto_json.addTo(map_29be8f0ac640bc7ad656e70f81275777);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -210,7 +210,7 @@
         }
         trajeto_dinamico_json_add({"features": []});
 
-        trajeto_dinamico_json.addTo(map_635a2aadcf149afb36a8171d0035671e);
+        trajeto_dinamico_json.addTo(map_29be8f0ac640bc7ad656e70f81275777);
 
         function adicionarGeometriaDinamica(novaGeometria) {
             trajeto_dinamico_json.addData(novaGeometria);
@@ -258,7 +258,7 @@
         
         var marcadorDinamico = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_635a2aadcf149afb36a8171d0035671e);
+        }).addTo(map_29be8f0ac640bc7ad656e70f81275777);
     
         // Conectar ao broker MQTT
         const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@@ -308,7 +308,7 @@
                 marcadorDinamico.setRotationAngle(angulo);
                 
                 adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
-                map_635a2aadcf149afb36a8171d0035671e.setView(novaPosicao, map_635a2aadcf149afb36a8171d0035671e.getZoom());
+                map_29be8f0ac640bc7ad656e70f81275777.setView(novaPosicao, map_29be8f0ac640bc7ad656e70f81275777.getZoom());
             }
             
         });
diff --git a/AgroBase/AgroBase/bin/Debug/Python/Scripts/gps-viewer.py b/AgroBase/AgroBase/bin/Debug/Python/Scripts/gps-viewer.py
index cc774717e..0f9f6dc19 100644
--- a/AgroBase/AgroBase/bin/Debug/Python/Scripts/gps-viewer.py
+++ b/AgroBase/AgroBase/bin/Debug/Python/Scripts/gps-viewer.py
@@ -117,13 +117,22 @@ with open(caminho_completo_html, 'r+') as arquivo_html:
     # Script JavaScript para adicionar ao HTML, com o ID do mapa substituído
     script_atualizacao_marcador = f"""
     <script src="folium/mqtt.min.js"></script>
+    <script src="folium/leaflet.rotatedMarker.js"></script>
     <script>
+        let posicaoAtual = {{
+            lat: 0, 
+            long: 0
+        }};
+        
+        var customIcon = L.icon({{
+            iconUrl: 'folium/images/position_marker.png',
+            iconSize: [32, 32], 
+            iconAnchor: [16, 16], 
+            popupAnchor: [0, -16] 
+        }});
+        
         var marcadorDinamico = L.marker([0, 0], {{
-            icon: L.AwesomeMarkers.icon({{
-                icon: 'info-sign',
-                markerColor: 'red',
-                prefix: 'glyphicon'
-            }})
+            icon: customIcon
         }}).addTo({id_mapa});
     
         // Conectar ao broker MQTT
@@ -152,9 +161,44 @@ with open(caminho_completo_html, 'r+') as arquivo_html:
             var novaLongitude = dados.longitude;
             var novaPosicao = [novaLatitude, novaLongitude];
             marcadorDinamico.setLatLng(novaPosicao);
+            
+            // Calcular angulo de rotacao
+            var angulo = calcularOrientacao(novaPosicao[0], novaPosicao[1], posicaoAtual.lat, posicaoAtual.long);
+
+            posicaoAtual.lat = novaPosicao[0];
+            posicaoAtual.long = novaPosicao[1];
+
+            // Rotacionar o marcador para o angulo calculado
+            marcadorDinamico.setRotationAngle(angulo);
+            
             adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
             {id_mapa}.setView(novaPosicao, {id_mapa}.getZoom());
         }});
+        
+        function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {{
+            // Converter latitudes e longitudes de graus para radianos
+            const latA = P1latitude * (Math.PI / 180.0);
+            const lonA = P1longitude * (Math.PI / 180.0);
+            const latB = P2latitude * (Math.PI / 180.0);
+            const lonB = P2longitude * (Math.PI / 180.0);
+
+            // Calcular a diferença de longitude
+            const deltaLon = lonB - lonA;
+
+            // Calcular a direção
+            const y = Math.sin(deltaLon) * Math.cos(latB);
+            const x = Math.cos(latA) * Math.sin(latB) - Math.sin(latA) * Math.cos(latB) * Math.cos(deltaLon);
+            const direcaoRadianos = Math.atan2(y, x);
+
+            // Converter a direção de radianos para graus
+            let direcaoGraus = direcaoRadianos * (180.0 / Math.PI);
+
+            // Normalizar a direção para que esteja no intervalo de 0 a 360 graus
+            direcaoGraus = (direcaoGraus + 360) % 360;
+
+            return direcaoGraus;
+        }}
+        
     </script>
     """
 
diff --git a/AgroBase/AgroBase/bin/Debug/Python/Scripts/map-load.py b/AgroBase/AgroBase/bin/Debug/Python/Scripts/map-load.py
index 2799e350d..67aec70b2 100644
--- a/AgroBase/AgroBase/bin/Debug/Python/Scripts/map-load.py
+++ b/AgroBase/AgroBase/bin/Debug/Python/Scripts/map-load.py
@@ -23,15 +23,30 @@ outputMapName = sys.argv[4]
 topico_gps = sys.argv[5]
 topico_ruas = sys.argv[6]
 topico_trajeto_dinamico = sys.argv[7]
+mapa_dados_json = sys.argv[8]
 pastaSaida = 'Python/Output/'
 
-# Carregar o arquivo shapefile contendo a geometria
-input_shapefile = pathFiles + fileName + '.shp'
-data_geometry = gpd.read_file(input_shapefile)
 
-# Calcular os limites (bounds) da geometria
-minx, miny, maxx, maxy = data_geometry.total_bounds
-center = [(miny + maxy) / 2, (minx + maxx) / 2]
+if mapa_dados_json == "0":
+    # Carregar o arquivo shapefile contendo a geometria
+    input_shapefile = pathFiles + fileName + '.shp'
+    data_geometry = gpd.read_file(input_shapefile)
+    
+    # Converter o GeoDataFrame para GeoJSON e adicionar ao mapa
+    geojson_data = data_geometry.to_json()
+    # Calcular os limites (bounds) da geometria
+    minx, miny, maxx, maxy = data_geometry.total_bounds
+    center = [(miny + maxy) / 2, (minx + maxx) / 2]
+
+    # Salvar GEOJson
+    data_geometry.to_file(pastaSaida + outputName, driver='GeoJSON')
+else:
+    # Lendo os dados JSON
+    with open(pathFiles + fileName + '.json', 'r', encoding='utf-8-sig') as f:
+        geojson_data = json.load(f)
+        # Obter os limites (bounds) dos dados GeoJSON
+        bounds = folium.GeoJson(geojson_data).get_bounds()
+        center = [(bounds[0][0] + bounds[1][0]) / 2, (bounds[0][1] + bounds[1][1]) / 2]
 
 # Verificar se há conexão com a internet
 if internet_disponivel():
@@ -39,12 +54,8 @@ if internet_disponivel():
 else:
     m = folium.Map(location=center, zoom_start=12, tiles=None)
 
-# Converter o GeoDataFrame para GeoJSON e adicionar ao mapa
-geojson_data = data_geometry.to_json()
-folium.GeoJson(geojson_data).add_to(m)
 
-# Salvar GEOJson
-data_geometry.to_file(pastaSaida + outputName, driver='GeoJSON')
+folium.GeoJson(geojson_data).add_to(m)
 
 # Salvar o mapa interativo em um arquivo HTML
 m.save(pastaSaida + outputMapName)
diff --git a/AgroBase/AgroBase/bin/Debug/parametersDir.par b/AgroBase/AgroBase/bin/Debug/parametersDir.par
index f5dce4c73..1dac9f9b7 100644
--- a/AgroBase/AgroBase/bin/Debug/parametersDir.par
+++ b/AgroBase/AgroBase/bin/Debug/parametersDir.par
@@ -1 +1 @@
-{"Conectado":false,"AA_Ref000":true,"AA_Ref090":false,"AA_Ref270":false,"Motores":[{"Canal":0,"ID":"ET","Descricao":"Esquerdo Trás","Comandar":true,"Inicializado":false,"Sentido_SP":1,"Sentido":0,"Angulo_SP":0.0,"Angulo":0.0,"Angulo_Offset":22.0,"Velocidade":50,"Ref000":false,"Ref090":false,"Ref180":false,"Ref270":false,"Referenciando":false,"Referenciado":false,"Controlar":true,"Estabilizar":false,"Referenciar":false,"Livre":false,"ConfigSentidos":{"Frente":0,"Tras":0,"Esquerda":1,"Direita":2,"Parado":0},"Testando":false,"LogTestes":[],"LogGrafico":[{"Momento":"2024-04-29T09:51:26.1988121-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:26.6948122-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:27.222813-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:27.6958108-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:28.1948122-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:28.6958109-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:29.2308145-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:29.6988128-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:30.2268143-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:30.7028148-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:31.234816-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:31.7268126-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:32.201811-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:32.6948135-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:33.1948125-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:33.7228128-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:34.2278176-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:34.6948114-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:35.223812-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:35.7228129-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:36.222814-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:36.6958107-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:37.2238121-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:37.6958109-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:38.1968127-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:38.6958112-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:39.230818-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:39.7218123-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:40.1958109-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:40.6948123-03:00","ComponenteID":"ET","Angulo_SP":0.0,"Angulo":0.0,"Ref0":false,"Ref90":false,"Ref270":false,"Sentido":0},{"Momento":"2024-04-29T09:51:41.1948121-03:00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diff --git a/AgroBase/AgroBase/bin/Debug/parametersMov.par b/AgroBase/AgroBase/bin/Debug/parametersMov.par
index ac609d683..07698738a 100644
--- a/AgroBase/AgroBase/bin/Debug/parametersMov.par
+++ b/AgroBase/AgroBase/bin/Debug/parametersMov.par
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diff --git a/AgroBase/AgroBase/bin/Debug/parametersSen.par b/AgroBase/AgroBase/bin/Debug/parametersSen.par
index d389f0e01..19bff094a 100644
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