inclusao do driver BLD300R ao modulo de movimentacao

.vscode/settings.json

@@ -1,5 +1,10 @@
 {
     "files.associations": {
-        "vector": "cpp"
+        "vector": "cpp",
+        "deque": "cpp",
+        "initializer_list": "cpp",
+        "list": "cpp",
+        "xstring": "cpp",
+        "xutility": "cpp"
     }
 }

AgroBase/.vs/AgroBase/v17/DocumentLayout.json

@@ -1,12 +1,37 @@
 {
   "Version": 1,
   "WorkspaceRootPath": "C:\\ZendionINC\\agrobot_base\\AgroBase\\",
-  "Documents": [],
+  "Documents": [
+    {
+      "AbsoluteMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|c:\\zendioninc\\agrobot_base\\agrobase\\agrobase\\models\\modules\\pinoutmodel.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
+      "RelativeMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|solutionrelative:agrobase\\models\\modules\\pinoutmodel.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+    }
+  ],
   "DocumentGroupContainers": [
     {
       "Orientation": 0,
       "VerticalTabListWidth": 256,
-      "DocumentGroups": []
+      "DocumentGroups": [
+        {
+          "DockedWidth": 200,
+          "SelectedChildIndex": 0,
+          "Children": [
+            {
+              "$type": "Document",
+              "DocumentIndex": 0,
+              "Title": "PinoutModel.cs",
+              "DocumentMoniker": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Models\\Modules\\PinoutModel.cs",
+              "RelativeDocumentMoniker": "AgroBase\\Models\\Modules\\PinoutModel.cs",
+              "ToolTip": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Models\\Modules\\PinoutModel.cs",
+              "RelativeToolTip": "AgroBase\\Models\\Modules\\PinoutModel.cs",
+              "ViewState": "AQIAAA0AAAAAAAAAAAAzwLYAAABFAAAA",
+              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+              "WhenOpened": "2024-06-03T22:54:24.905Z",
+              "EditorCaption": ""
+            }
+          ]
+        }
+      ]
     }
   ]
 }

AgroBase/AgroBase/AgroBase.csproj

@@ -205,6 +205,12 @@
     <Compile Include="Forms\Atuador\frmAtuCamera.Designer.cs">
       <DependentUpon>frmAtuCamera.cs</DependentUpon>
     </Compile>
+    <Compile Include="Forms\frmBLD.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="Forms\frmBLD.Designer.cs">
+      <DependentUpon>frmBLD.cs</DependentUpon>
+    </Compile>
     <Compile Include="Forms\frmGPS.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -338,6 +344,7 @@
       <DependentUpon>frmSonar.cs</DependentUpon>
     </Compile>
     <Compile Include="Models\AlarmeModel.cs" />
+    <Compile Include="Models\BLD300RModel.cs" />
     <Compile Include="Models\CameraCaminhoModel.cs" />
     <Compile Include="Models\CameraModel.cs" />
     <Compile Include="Models\CameraSoloModel.cs" />
@@ -428,6 +435,7 @@
     <Compile Include="Models\SonarModel.cs" />
     <Compile Include="Models\Variaveis.cs" />
     <Compile Include="Services\APIService.cs" />
+    <Compile Include="Services\BLD300RService.cs" />
     <Compile Include="Services\CameraService.cs" />
     <Compile Include="Services\CoulombCounterService.cs" />
     <Compile Include="Services\DispositivosService.cs" />
@@ -446,9 +454,11 @@
     <Compile Include="Services\LoRaSerializer.cs" />
     <Compile Include="Services\LoRaService.cs" />
     <Compile Include="Services\MapasService.cs" />
+    <Compile Include="Services\ModbusService.cs" />
     <Compile Include="Services\MqttService.cs" />
     <Compile Include="Services\PythonService.cs" />
     <Compile Include="Services\PZEMService.cs" />
+    <Compile Include="Services\RS485Service.cs" />
     <Compile Include="Services\SerialService.cs" />
     <Compile Include="Services\SocketService.cs" />
     <Compile Include="Services\WT901CService.cs" />
@@ -624,6 +634,9 @@
     <EmbeddedResource Include="Forms\Atuador\frmAtuCamera.resx">
       <DependentUpon>frmAtuCamera.cs</DependentUpon>
     </EmbeddedResource>
+    <EmbeddedResource Include="Forms\frmBLD.resx">
+      <DependentUpon>frmBLD.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="Forms\frmGPS.resx">
       <DependentUpon>frmGPS.cs</DependentUpon>
     </EmbeddedResource>

AgroBase/AgroBase/Forms/IHM/frmIHM.cs

@@ -71,6 +71,10 @@ namespace AgroBase.Forms.IHM
                     {
                         DispositivoConectado = WT901CService.Iniciado;
                     }
+                    else if (Modulo.Dispositivo == T_Code.Bld)
+                    {
+                        DispositivoConectado = BLD300RService.Iniciado;
+                    }
                     else
                     {
                         IDispositivosService dispositivoService = Variaveis.DispositivosConectados.FirstOrDefault(x => x.Dispositivo == Modulo.Dispositivo && x._Porta.PortName == Modulo.PortaCOM);

AgroBase/AgroBase/Forms/Movimentacao/frmMovConfig.cs

@@ -21,16 +21,7 @@ namespace AgroBase.Forms.Movimentacao
 
         private void frmMovConfig_Load(object sender, EventArgs e)
         {
-            nudRampaMin.Value = MovimentacaoModel.RampaMin;
+            nudDiametroRoda.Value = Convert.ToInt32(MovimentacaoModel.DiametroRoda * 1000);
-            nudRampaMax.Value = MovimentacaoModel.RampaMax;
-            nudPPR.Value = MovimentacaoModel.PulsosPorRevolucao;
-            nudDelayBalancemaneto.Value = MovimentacaoModel._DelayBalanceamento;
-            nudMargemRPM.Value = MovimentacaoModel._MargemRPM;
-            nudMaxOffsetRPM.Value = MovimentacaoModel._MaxOffsetRPM;
-            chbMalhaFechada.Checked = MovimentacaoModel._FOC;
-            txtKd.Text = MovimentacaoModel.Kd.ToString();
-            txtKp.Text = MovimentacaoModel.Kp.ToString();
-            txtKi.Text = MovimentacaoModel.Ki.ToString();
             
             if (Disp == null)
             {
@@ -66,12 +57,22 @@ namespace AgroBase.Forms.Movimentacao
                     }
 
                     cmb.SelectedItem = Enum.GetName(typeof(Sentido), sentido);
+
+                    nudNumPolos.Value = Motor.NumeroPolos;
+                    nudRampa.Value = Motor.Rampa;
+                    nudRPMMax.Value = Motor.RPM_Max;
                 }
                 
             }
         }
 
-        private void btnSalvarSentido_Click(object sender, EventArgs e)
+        private void frmMovConfig_FormClosing(object sender, FormClosingEventArgs e)
+        {
+            e.Cancel = true;
+            this.Visible = false;
+        }
+
+        private void btnSalvar_Click(object sender, EventArgs e)
         {
             var cmbsSentido = gpbET.Controls.OfType<ComboBox>().ToList().Union(gpbEF.Controls.OfType<ComboBox>().ToList()).Union(gpbDT.Controls.OfType<ComboBox>().ToList()).Union(gpbDF.Controls.OfType<ComboBox>().ToList()).ToList();
             foreach (var cmb in cmbsSentido)
@@ -96,80 +97,34 @@ namespace AgroBase.Forms.Movimentacao
                     {
                         Motor.ConfigSentidos.Direita = sentido;
                     }
+
+                    Motor.NumeroPolos = MovimentacaoModel.NumPolos;
+                    Motor.Rampa = MovimentacaoModel.Rampa;
+                    Motor.RPM_Max = MovimentacaoModel.RPM_Max;
                 }
             }
 
             Disp.SalvarParametros(Disp.Dados);
         }
 
-        private void frmMovConfig_FormClosing(object sender, FormClosingEventArgs e)
+        private void nudRampa_ValueChanged(object sender, EventArgs e)
         {
-            e.Cancel = true;
+            MovimentacaoModel.Rampa = Convert.ToInt32(nudRampa.Value);
-            this.Visible = false;
         }
 
-        private void chbMalhaFechada_CheckedChanged(object sender, EventArgs e)
+        private void nudNumPolos_ValueChanged(object sender, EventArgs e)
         {
-            MovimentacaoModel._FOC = chbMalhaFechada.Checked;
+            MovimentacaoModel.NumPolos = Convert.ToInt32(nudNumPolos.Value);
-            txtKp.Enabled = MovimentacaoModel._FOC;
-            txtKi.Enabled = MovimentacaoModel._FOC;
-            txtKd.Enabled = MovimentacaoModel._FOC;
-            btnSalvarPID.Enabled = MovimentacaoModel._FOC;
         }
 
-        private void btnSalvarPID_Click(object sender, EventArgs e)
+        private void nudRPMMax_ValueChanged(object sender, EventArgs e)
         {
-            if (btnSalvarPID.Text == "Editar")
+            MovimentacaoModel.RPM_Max = Convert.ToInt32(nudRPMMax.Value);
-            {
-                btnSalvarPID.Text = "Salvar";
-            }
-            else
-            {
-                btnSalvarPID.Text = "Editar";
-                if (double.TryParse(txtKp.Text, out double kp))
-                {
-                    MovimentacaoModel.Kp = kp;
-                }
-                if (double.TryParse(txtKi.Text, out double ki))
-                {
-                    MovimentacaoModel.Ki = ki;
-                }
-                if (double.TryParse(txtKd.Text, out double kd))
-                {
-                    MovimentacaoModel.Kd = kd;
-                }
-            }
-            gpbPID.Enabled = btnSalvarPID.Text == "Salvar";
         }
 
-        private void nudRampaMin_ValueChanged(object sender, EventArgs e)
+        private void nudDiametroRoda_ValueChanged(object sender, EventArgs e)
         {
-            MovimentacaoModel.RampaMin = Convert.ToInt32(nudRampaMin.Value);
+            MovimentacaoModel.DiametroRoda = Convert.ToInt32(nudDiametroRoda.Value) / 1000;
-        }
-
-        private void nudRampaMax_ValueChanged(object sender, EventArgs e)
-        {
-            MovimentacaoModel.RampaMax = Convert.ToInt32(nudRampaMax.Value);
-        }
-
-        private void nudPPR_ValueChanged(object sender, EventArgs e)
-        {
-            MovimentacaoModel.PulsosPorRevolucao = Convert.ToInt32(nudPPR.Value);
-        }
-
-        private void nudDelayBalancemaneto_ValueChanged(object sender, EventArgs e)
-        {
-            MovimentacaoModel._DelayBalanceamento = Convert.ToInt32(nudDelayBalancemaneto.Value);
-        }
-
-        private void nudMargemRPM_ValueChanged(object sender, EventArgs e)
-        {
-            MovimentacaoModel._MargemRPM = Convert.ToInt32(nudMargemRPM.Value);
-        }
-
-        private void nudMaxOffsetRPM_ValueChanged(object sender, EventArgs e)
-        {
-            MovimentacaoModel._MaxOffsetRPM = Convert.ToInt32(nudMaxOffsetRPM.Value);
         }
     }
 }

AgroBase/AgroBase/Forms/Movimentacao/frmMovPlot.cs

@@ -70,20 +70,6 @@ namespace AgroBase.Forms
                     Minimo = Logs.Min(x => x.RPM) < Minimo ? Logs.Min(x => x.RPM) : Minimo;
                     Maximo = Logs.Max(x => x.RPM) > Maximo ? Logs.Max(x => x.RPM) : Maximo;
 
-                    /*var seriePotenciaSP = new Series("Potencia SP: " + (Log != null ? Log.PotenciaSP : 0));
-                    seriePotenciaSP.Points.DataBindXY(Momentos, Logs.Select(x => x.PotenciaSP).ToList());
-                    seriePotenciaSP.ChartType = SeriesChartType.Line;
-                    chart.Series.Add(seriePotenciaSP);
-                    Minimo = Logs.Min(x => x.PotenciaSP) < Minimo ? Logs.Min(x => x.PotenciaSP) : Minimo;
-                    Maximo = Logs.Min(x => x.PotenciaSP) > Maximo ? Logs.Min(x => x.PotenciaSP) : Maximo;*/
-
-                    var seriePotencia = new Series("Potencia: " + (Log != null ? Log.Potencia : 0));
-                    seriePotencia.Points.DataBindXY(Momentos, Logs.Select(x => x.Potencia).ToList());
-                    seriePotencia.ChartType = SeriesChartType.Line;
-                    chart.Series.Add(seriePotencia);
-                    Minimo = Logs.Min(x => x.Potencia) < Minimo ? Logs.Min(x => x.Potencia) : Minimo;
-                    Maximo = Logs.Max(x => x.Potencia) > Maximo ? Logs.Max(x => x.Potencia) : Maximo;
-
                     var serieTemperatura = new Series("Temperatura: " + (Log != null ? Log.Temperatura : 0));
                     serieTemperatura.Points.DataBindXY(Momentos, Logs.Select(x => x.Temperatura).ToList());
                     serieTemperatura.ChartType = SeriesChartType.Line;

AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs

@@ -126,7 +126,6 @@ namespace AgroBase.Forms.Operacoes
             lblCorrente.Text = PZEMService.UltimaLeitura.Corrente.ToString("0.00") + " A";
             lblRPM.Text = Variaveis.OperacaoEmAndamento.DispMov.Dados.Motores.Average(x => x.RPM).ToString("0") + " rpm";
             lblVelocidade.Text = Variaveis.OperacaoEmAndamento.DispMov.Dados.Motores.Average(x => x.VelocidadeInstantanea).ToString("0.00");
-            lblPotencia.Text = Variaveis.OperacaoEmAndamento.DispMov.Dados.Motores.Average(x => x.Potencia).ToString("0.00") + "%";
 
             chbSonar.Enabled = Variaveis.OperacaoEmAndamento.DispSen.Dados.Sensores.Any(x => x.Componente == S_Code.sSNR && x.Inicializado);
             if (!chbSonar.Enabled)
@@ -497,13 +496,6 @@ namespace AgroBase.Forms.Operacoes
             Minimo = Logs.Min(x => x.RPM_SP) < Minimo ? Logs.Min(x => x.RPM_SP) : Minimo;
             Maximo = Logs.Max(x => x.RPM_SP) > Maximo ? Logs.Max(x => x.RPM_SP) : Maximo;
 
-            var seriePotencia = new Series("Potencia: " + (Log != null ? Log.Potencia : 0));
-            seriePotencia.Points.DataBindXY(Momentos, Logs.Select(x => x.Potencia).ToList());
-            seriePotencia.ChartType = SeriesChartType.Line;
-            chart.Series.Add(seriePotencia);
-            Minimo = Logs.Min(x => x.Potencia) < Minimo ? Logs.Min(x => x.Potencia) : Minimo;
-            Maximo = Logs.Max(x => x.Potencia) > Maximo ? Logs.Max(x => x.Potencia) : Maximo;
-
             var serieTemperatura = new Series("Temperatura: " + (Log != null ? Log.Temperatura : 0));
             serieTemperatura.Points.DataBindXY(Momentos, Logs.Select(x => x.Temperatura).ToList());
             serieTemperatura.ChartType = SeriesChartType.Line;

AgroBase/AgroBase/Forms/Operacoes/frmOperacaoMapaGPS.cs

@@ -311,13 +311,6 @@ namespace AgroBase.Forms.Operacoes
             Minimo = Logs.Min(x => x.RPM_SP) < Minimo ? Logs.Min(x => x.RPM_SP) : Minimo;
             Maximo = Logs.Max(x => x.RPM_SP) > Maximo ? Logs.Max(x => x.RPM_SP) : Maximo;
 
-            var seriePotencia = new Series("Potencia: " + (Log != null ? Log.Potencia : 0));
-            seriePotencia.Points.DataBindXY(Momentos, Logs.Select(x => x.Potencia).ToList());
-            seriePotencia.ChartType = SeriesChartType.Line;
-            chart.Series.Add(seriePotencia);
-            Minimo = Logs.Min(x => x.Potencia) < Minimo ? Logs.Min(x => x.Potencia) : Minimo;
-            Maximo = Logs.Max(x => x.Potencia) > Maximo ? Logs.Max(x => x.Potencia) : Maximo;
-
             var serieTemperatura = new Series("Temperatura: " + (Log != null ? Log.Temperatura : 0));
             serieTemperatura.Points.DataBindXY(Momentos, Logs.Select(x => x.Temperatura).ToList());
             serieTemperatura.ChartType = SeriesChartType.Line;

AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs

@@ -28,24 +28,21 @@
         /// </summary>
         private void InitializeComponent()
         {
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea7 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea1 = 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.Legend legend1 = 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.Series series1 = 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.ChartArea chartArea2 = 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.Legend legend2 = 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.Series series2 = new System.Windows.Forms.DataVisualization.Charting.Series();
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea9 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea3 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend9 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend3 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series9 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.Series series3 = new System.Windows.Forms.DataVisualization.Charting.Series();
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea10 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea4 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend10 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend4 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series10 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.Series series4 = new System.Windows.Forms.DataVisualization.Charting.Series();
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea11 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea5 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend11 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend5 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series11 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.Series series5 = new System.Windows.Forms.DataVisualization.Charting.Series();
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea12 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend12 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series12 = new System.Windows.Forms.DataVisualization.Charting.Series();
             this.trbMomento = new System.Windows.Forms.TrackBar();
             this.panel1 = new System.Windows.Forms.Panel();
             this.pnlOrientacaoDif = new System.Windows.Forms.Panel();
@@ -138,8 +135,6 @@
             this.tabControl2 = new System.Windows.Forms.TabControl();
             this.tabMovVelocidade = new System.Windows.Forms.TabPage();
             this.chartMovVelocidade = new System.Windows.Forms.DataVisualization.Charting.Chart();
-            this.tabMovPotencia = new System.Windows.Forms.TabPage();
-            this.chartMovPotencia = new System.Windows.Forms.DataVisualization.Charting.Chart();
             this.tabMovTemperatura = new System.Windows.Forms.TabPage();
             this.gpbMOV_Temperatura_Analise = new System.Windows.Forms.GroupBox();
             this.txtMOV_Temperatura_Mediana = new System.Windows.Forms.TextBox();
@@ -284,8 +279,6 @@
             this.tabControl2.SuspendLayout();
             this.tabMovVelocidade.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.chartMovVelocidade)).BeginInit();
-            this.tabMovPotencia.SuspendLayout();
-            ((System.ComponentModel.ISupportInitialize)(this.chartMovPotencia)).BeginInit();
             this.tabMovTemperatura.SuspendLayout();
             this.gpbMOV_Temperatura_Analise.SuspendLayout();
             this.gpbMOV_Temperatura_DF.SuspendLayout();
@@ -1223,7 +1216,6 @@
             // tabControl2
             // 
             this.tabControl2.Controls.Add(this.tabMovVelocidade);
-            this.tabControl2.Controls.Add(this.tabMovPotencia);
             this.tabControl2.Controls.Add(this.tabMovTemperatura);
             this.tabControl2.Controls.Add(this.tabMovGreal);
             this.tabControl2.Location = new System.Drawing.Point(6, 6);
@@ -1245,49 +1237,21 @@
             // 
             // chartMovVelocidade
             // 
-            chartArea7.Name = "ChartArea1";
+            chartArea1.Name = "ChartArea1";
-            this.chartMovVelocidade.ChartAreas.Add(chartArea7);
+            this.chartMovVelocidade.ChartAreas.Add(chartArea1);
-            legend7.Name = "Legend1";
+            legend1.Name = "Legend1";
-            this.chartMovVelocidade.Legends.Add(legend7);
+            this.chartMovVelocidade.Legends.Add(legend1);
             this.chartMovVelocidade.Location = new System.Drawing.Point(6, 5);
             this.chartMovVelocidade.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
             this.chartMovVelocidade.Name = "chartMovVelocidade";
-            series7.ChartArea = "ChartArea1";
+            series1.ChartArea = "ChartArea1";
-            series7.Legend = "Legend1";
+            series1.Legend = "Legend1";
-            series7.Name = "Series1";
+            series1.Name = "Series1";
-            this.chartMovVelocidade.Series.Add(series7);
+            this.chartMovVelocidade.Series.Add(series1);
             this.chartMovVelocidade.Size = new System.Drawing.Size(632, 438);
             this.chartMovVelocidade.TabIndex = 96;
             this.chartMovVelocidade.Text = "chart1";
             // 
-            // tabMovPotencia
-            // 
-            this.tabMovPotencia.Controls.Add(this.chartMovPotencia);
-            this.tabMovPotencia.Location = new System.Drawing.Point(4, 25);
-            this.tabMovPotencia.Name = "tabMovPotencia";
-            this.tabMovPotencia.Padding = new System.Windows.Forms.Padding(3);
-            this.tabMovPotencia.Size = new System.Drawing.Size(644, 605);
-            this.tabMovPotencia.TabIndex = 2;
-            this.tabMovPotencia.Text = "Potência";
-            this.tabMovPotencia.UseVisualStyleBackColor = true;
-            // 
-            // chartMovPotencia
-            // 
-            chartArea8.Name = "ChartArea1";
-            this.chartMovPotencia.ChartAreas.Add(chartArea8);
-            legend8.Name = "Legend1";
-            this.chartMovPotencia.Legends.Add(legend8);
-            this.chartMovPotencia.Location = new System.Drawing.Point(6, 5);
-            this.chartMovPotencia.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
-            this.chartMovPotencia.Name = "chartMovPotencia";
-            series8.ChartArea = "ChartArea1";
-            series8.Legend = "Legend1";
-            series8.Name = "Series1";
-            this.chartMovPotencia.Series.Add(series8);
-            this.chartMovPotencia.Size = new System.Drawing.Size(632, 438);
-            this.chartMovPotencia.TabIndex = 95;
-            this.chartMovPotencia.Text = "chart1";
-            // 
             // tabMovTemperatura
             // 
             this.tabMovTemperatura.Controls.Add(this.gpbMOV_Temperatura_Analise);
@@ -1651,17 +1615,17 @@
             // 
             // chartMovTemperatura
             // 
-            chartArea9.Name = "ChartArea1";
+            chartArea2.Name = "ChartArea1";
-            this.chartMovTemperatura.ChartAreas.Add(chartArea9);
+            this.chartMovTemperatura.ChartAreas.Add(chartArea2);
-            legend9.Name = "Legend1";
+            legend2.Name = "Legend1";
-            this.chartMovTemperatura.Legends.Add(legend9);
+            this.chartMovTemperatura.Legends.Add(legend2);
             this.chartMovTemperatura.Location = new System.Drawing.Point(6, 5);
             this.chartMovTemperatura.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
             this.chartMovTemperatura.Name = "chartMovTemperatura";
-            series9.ChartArea = "ChartArea1";
+            series2.ChartArea = "ChartArea1";
-            series9.Legend = "Legend1";
+            series2.Legend = "Legend1";
-            series9.Name = "Series1";
+            series2.Name = "Series1";
-            this.chartMovTemperatura.Series.Add(series9);
+            this.chartMovTemperatura.Series.Add(series2);
             this.chartMovTemperatura.Size = new System.Drawing.Size(632, 413);
             this.chartMovTemperatura.TabIndex = 95;
             this.chartMovTemperatura.Text = "chart1";
@@ -2017,17 +1981,17 @@
             // 
             // chartMovGeral
             // 
-            chartArea10.Name = "ChartArea1";
+            chartArea3.Name = "ChartArea1";
-            this.chartMovGeral.ChartAreas.Add(chartArea10);
+            this.chartMovGeral.ChartAreas.Add(chartArea3);
-            legend10.Name = "Legend1";
+            legend3.Name = "Legend1";
-            this.chartMovGeral.Legends.Add(legend10);
+            this.chartMovGeral.Legends.Add(legend3);
             this.chartMovGeral.Location = new System.Drawing.Point(6, 5);
             this.chartMovGeral.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
             this.chartMovGeral.Name = "chartMovGeral";
-            series10.ChartArea = "ChartArea1";
+            series3.ChartArea = "ChartArea1";
-            series10.Legend = "Legend1";
+            series3.Legend = "Legend1";
-            series10.Name = "Series1";
+            series3.Name = "Series1";
-            this.chartMovGeral.Series.Add(series10);
+            this.chartMovGeral.Series.Add(series3);
             this.chartMovGeral.Size = new System.Drawing.Size(632, 438);
             this.chartMovGeral.TabIndex = 94;
             this.chartMovGeral.Text = "chart1";
@@ -2048,17 +2012,17 @@
             // 
             // chartAtuador
             // 
-            chartArea11.Name = "ChartArea1";
+            chartArea4.Name = "ChartArea1";
-            this.chartAtuador.ChartAreas.Add(chartArea11);
+            this.chartAtuador.ChartAreas.Add(chartArea4);
-            legend11.Name = "Legend1";
+            legend4.Name = "Legend1";
-            this.chartAtuador.Legends.Add(legend11);
+            this.chartAtuador.Legends.Add(legend4);
             this.chartAtuador.Location = new System.Drawing.Point(6, 340);
             this.chartAtuador.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
             this.chartAtuador.Name = "chartAtuador";
-            series11.ChartArea = "ChartArea1";
+            series4.ChartArea = "ChartArea1";
-            series11.Legend = "Legend1";
+            series4.Legend = "Legend1";
-            series11.Name = "Series1";
+            series4.Name = "Series1";
-            this.chartAtuador.Series.Add(series11);
+            this.chartAtuador.Series.Add(series4);
             this.chartAtuador.Size = new System.Drawing.Size(652, 297);
             this.chartAtuador.TabIndex = 95;
             this.chartAtuador.Text = "chart1";
@@ -2322,17 +2286,17 @@
             // 
             // chartSensoriamento
             // 
-            chartArea12.Name = "ChartArea1";
+            chartArea5.Name = "ChartArea1";
-            this.chartSensoriamento.ChartAreas.Add(chartArea12);
+            this.chartSensoriamento.ChartAreas.Add(chartArea5);
-            legend12.Name = "Legend1";
+            legend5.Name = "Legend1";
-            this.chartSensoriamento.Legends.Add(legend12);
+            this.chartSensoriamento.Legends.Add(legend5);
             this.chartSensoriamento.Location = new System.Drawing.Point(3, 5);
             this.chartSensoriamento.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
             this.chartSensoriamento.Name = "chartSensoriamento";
-            series12.ChartArea = "ChartArea1";
+            series5.ChartArea = "ChartArea1";
-            series12.Legend = "Legend1";
+            series5.Legend = "Legend1";
-            series12.Name = "Series1";
+            series5.Name = "Series1";
-            this.chartSensoriamento.Series.Add(series12);
+            this.chartSensoriamento.Series.Add(series5);
             this.chartSensoriamento.Size = new System.Drawing.Size(655, 479);
             this.chartSensoriamento.TabIndex = 95;
             this.chartSensoriamento.Text = "chart1";
@@ -2659,8 +2623,6 @@
             this.tabControl2.ResumeLayout(false);
             this.tabMovVelocidade.ResumeLayout(false);
             ((System.ComponentModel.ISupportInitialize)(this.chartMovVelocidade)).EndInit();
-            this.tabMovPotencia.ResumeLayout(false);
-            ((System.ComponentModel.ISupportInitialize)(this.chartMovPotencia)).EndInit();
             this.tabMovTemperatura.ResumeLayout(false);
             this.gpbMOV_Temperatura_Analise.ResumeLayout(false);
             this.gpbMOV_Temperatura_Analise.PerformLayout();
@@ -2745,7 +2707,6 @@
         private System.Windows.Forms.PictureBox picDIR_ET;
         private System.Windows.Forms.TabControl tabControl2;
         private System.Windows.Forms.TabPage tabMovVelocidade;
-        private System.Windows.Forms.TabPage tabMovPotencia;
         private System.Windows.Forms.TabPage tabMovTemperatura;
         private System.Windows.Forms.TabPage tabMovGreal;
         public System.Windows.Forms.DataVisualization.Charting.Chart chartMovGeral;
@@ -2876,7 +2837,6 @@
         private System.Windows.Forms.Label label61;
         private System.Windows.Forms.Button btnMOV_Geral_Buscar;
         private System.Windows.Forms.Button btnMOV_Geral_Redefinir;
-        public System.Windows.Forms.DataVisualization.Charting.Chart chartMovPotencia;
         public System.Windows.Forms.DataVisualization.Charting.Chart chartMovVelocidade;
         private System.Windows.Forms.GroupBox gpbSEN_Filtro;
         private System.Windows.Forms.Button btnSen_Redefinir;

AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs

@@ -156,13 +156,6 @@ namespace AgroBase.Forms.Operacoes
                     MostrarValor = true
                 },
                 new GraficoInterativoSerieModel()
-                {
-                    Titulo = "EF Offset",
-                    Valores = LogsMovimentacao.Where(x => x.ComponenteID == "EF").Select(x => x.RPM_Offset).ToList(),
-                    Visivel = false,
-                    MostrarValor = true,
-                },
-                new GraficoInterativoSerieModel()
                 {
                     Titulo = "ET",
                     Valores = LogsMovimentacao.Where(x => x.ComponenteID == "ET").Select(x => x.RPM).ToList(),
@@ -170,13 +163,6 @@ namespace AgroBase.Forms.Operacoes
                     MostrarValor = true
                 },
                 new GraficoInterativoSerieModel()
-                {
-                    Titulo = "ET Offset",
-                    Valores = LogsMovimentacao.Where(x => x.ComponenteID == "ET").Select(x => x.RPM_Offset).ToList(),
-                    Visivel = false,
-                    MostrarValor = true
-                },
-                new GraficoInterativoSerieModel()
                 {
                     Titulo = "DT",
                     Valores = LogsMovimentacao.Where(x => x.ComponenteID == "DT").Select(x => x.RPM).ToList(),
@@ -184,26 +170,12 @@ namespace AgroBase.Forms.Operacoes
                     MostrarValor = true
                 },
                 new GraficoInterativoSerieModel()
-                {
-                    Titulo = "DT Offset",
-                    Valores = LogsMovimentacao.Where(x => x.ComponenteID == "DT").Select(x => x.RPM_Offset).ToList(),
-                    Visivel = false,
-                    MostrarValor = true
-                },
-                new GraficoInterativoSerieModel()
                 {
                     Titulo = "DF",
                     Valores = LogsMovimentacao.Where(x => x.ComponenteID == "DF").Select(x => x.RPM).ToList(),
                     Visivel = true,
                     MostrarValor = true
                 },
-                new GraficoInterativoSerieModel()
-                {
-                    Titulo = "DF Offset",
-                    Valores = LogsMovimentacao.Where(x => x.ComponenteID == "DF").Select(x => x.RPM_Offset).ToList(),
-                    Visivel = false,
-                    MostrarValor = true
-                },
             });
 
             graficoMovTemperatura = new GraficoInterativoModel(chartMovTemperatura, Momentos, new List<GraficoInterativoSerieModel>()
@@ -262,38 +234,6 @@ namespace AgroBase.Forms.Operacoes
                 },
             });
 
-            graficoMovPotencia = new GraficoInterativoModel(chartMovPotencia, Momentos, new List<GraficoInterativoSerieModel>()
-            {
-                new GraficoInterativoSerieModel()
-                {
-                    Titulo = "EF",
-                    Valores = LogsMovimentacao.Where(x => x.ComponenteID == "EF").Select(x => x.Potencia).ToList(),
-                    Visivel = true,
-                    MostrarValor = true
-                },
-                new GraficoInterativoSerieModel()
-                {
-                    Titulo = "ET",
-                    Valores = LogsMovimentacao.Where(x => x.ComponenteID == "ET").Select(x => x.Potencia).ToList(),
-                    Visivel = true,
-                    MostrarValor = true
-                },
-                new GraficoInterativoSerieModel()
-                {
-                    Titulo = "DT",
-                    Valores = LogsMovimentacao.Where(x => x.ComponenteID == "DT").Select(x => x.Potencia).ToList(),
-                    Visivel = true,
-                    MostrarValor = true
-                },
-                new GraficoInterativoSerieModel()
-                {
-                    Titulo = "DF",
-                    Valores = LogsMovimentacao.Where(x => x.ComponenteID == "DF").Select(x => x.Potencia).ToList(),
-                    Visivel = true,
-                    MostrarValor = true
-                },
-            });
-
             graficoAtu = new GraficoInterativoModel(chartAtuador, Momentos, new List<GraficoInterativoSerieModel>()
             {
                 new GraficoInterativoSerieModel()

AgroBase/AgroBase/Forms/frmAcompanhamento.Designer.cs

@@ -29,18 +29,18 @@ namespace AgroBase.Forms
         /// </summary>
         private void InitializeComponent()
         {
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea9 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea1 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend9 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend1 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series9 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.Series series1 = new System.Windows.Forms.DataVisualization.Charting.Series();
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea10 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea2 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend10 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend2 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series10 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.Series series2 = new System.Windows.Forms.DataVisualization.Charting.Series();
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea11 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea3 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend11 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend3 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series11 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.Series series3 = new System.Windows.Forms.DataVisualization.Charting.Series();
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea12 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea4 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend12 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend4 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series12 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.Series series4 = new System.Windows.Forms.DataVisualization.Charting.Series();
             this.pnlFundo = new System.Windows.Forms.Panel();
             this.lblB12V = new System.Windows.Forms.Label();
             this.lblB7V2 = new System.Windows.Forms.Label();
@@ -70,7 +70,7 @@ namespace AgroBase.Forms
             this.lblDTM_Sentido = new System.Windows.Forms.Label();
             this.lblDTM_SentidoSP = new System.Windows.Forms.Label();
             this.lblDTM_RPMSP = new System.Windows.Forms.Label();
-            this.lblDTM_Potencia = new System.Windows.Forms.Label();
+            this.lblDTM_Tensao = new System.Windows.Forms.Label();
             this.lblDTM_Velocidade = new System.Windows.Forms.Label();
             this.lblDTM_RPM = new System.Windows.Forms.Label();
             this.lblDFM_Corrente = new System.Windows.Forms.Label();
@@ -78,7 +78,7 @@ namespace AgroBase.Forms
             this.lblDFM_Sentido = new System.Windows.Forms.Label();
             this.lblDFM_SentidoSP = new System.Windows.Forms.Label();
             this.lblDFM_RPMSP = new System.Windows.Forms.Label();
-            this.lblDFM_Potencia = new System.Windows.Forms.Label();
+            this.lblDFM_Tensao = new System.Windows.Forms.Label();
             this.lblDFM_Velocidade = new System.Windows.Forms.Label();
             this.lblDFM_RPM = new System.Windows.Forms.Label();
             this.lblETM_Corrente = new System.Windows.Forms.Label();
@@ -86,7 +86,7 @@ namespace AgroBase.Forms
             this.lblETM_Sentido = new System.Windows.Forms.Label();
             this.lblETM_SentidoSP = new System.Windows.Forms.Label();
             this.lblETM_RPMSP = new System.Windows.Forms.Label();
-            this.lblETM_Potencia = new System.Windows.Forms.Label();
+            this.lblETM_Tensao = new System.Windows.Forms.Label();
             this.lblETM_Velocidade = new System.Windows.Forms.Label();
             this.lblETM_RPM = new System.Windows.Forms.Label();
             this.lblEFM_Corrente = new System.Windows.Forms.Label();
@@ -94,7 +94,6 @@ namespace AgroBase.Forms
             this.lblEFM_Sentido = new System.Windows.Forms.Label();
             this.lblEFM_SentidoSP = new System.Windows.Forms.Label();
             this.lblEFM_RPMSP = new System.Windows.Forms.Label();
-            this.lblEFM_Potencia = new System.Windows.Forms.Label();
             this.lblEFM_Velocidade = new System.Windows.Forms.Label();
             this.lblEFM_RPM = new System.Windows.Forms.Label();
             this.btnDTReverter = new System.Windows.Forms.Button();
@@ -129,6 +128,7 @@ namespace AgroBase.Forms
             this.btnEFReferenciar = new System.Windows.Forms.Button();
             this.lblM1 = new System.Windows.Forms.Label();
             this.picEF = new System.Windows.Forms.PictureBox();
+            this.lblEFM_Tensao = new System.Windows.Forms.Label();
             this.pnlFundo.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.chartET)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.chartDT)).BeginInit();
@@ -173,7 +173,7 @@ namespace AgroBase.Forms
             this.pnlFundo.Controls.Add(this.lblDTM_Sentido);
             this.pnlFundo.Controls.Add(this.lblDTM_SentidoSP);
             this.pnlFundo.Controls.Add(this.lblDTM_RPMSP);
-            this.pnlFundo.Controls.Add(this.lblDTM_Potencia);
+            this.pnlFundo.Controls.Add(this.lblDTM_Tensao);
             this.pnlFundo.Controls.Add(this.lblDTM_Velocidade);
             this.pnlFundo.Controls.Add(this.lblDTM_RPM);
             this.pnlFundo.Controls.Add(this.lblDFM_Corrente);
@@ -181,7 +181,7 @@ namespace AgroBase.Forms
             this.pnlFundo.Controls.Add(this.lblDFM_Sentido);
             this.pnlFundo.Controls.Add(this.lblDFM_SentidoSP);
             this.pnlFundo.Controls.Add(this.lblDFM_RPMSP);
-            this.pnlFundo.Controls.Add(this.lblDFM_Potencia);
+            this.pnlFundo.Controls.Add(this.lblDFM_Tensao);
             this.pnlFundo.Controls.Add(this.lblDFM_Velocidade);
             this.pnlFundo.Controls.Add(this.lblDFM_RPM);
             this.pnlFundo.Controls.Add(this.lblETM_Corrente);
@@ -189,7 +189,7 @@ namespace AgroBase.Forms
             this.pnlFundo.Controls.Add(this.lblETM_Sentido);
             this.pnlFundo.Controls.Add(this.lblETM_SentidoSP);
             this.pnlFundo.Controls.Add(this.lblETM_RPMSP);
-            this.pnlFundo.Controls.Add(this.lblETM_Potencia);
+            this.pnlFundo.Controls.Add(this.lblETM_Tensao);
             this.pnlFundo.Controls.Add(this.lblETM_Velocidade);
             this.pnlFundo.Controls.Add(this.lblETM_RPM);
             this.pnlFundo.Controls.Add(this.lblEFM_Corrente);
@@ -197,7 +197,7 @@ namespace AgroBase.Forms
             this.pnlFundo.Controls.Add(this.lblEFM_Sentido);
             this.pnlFundo.Controls.Add(this.lblEFM_SentidoSP);
             this.pnlFundo.Controls.Add(this.lblEFM_RPMSP);
-            this.pnlFundo.Controls.Add(this.lblEFM_Potencia);
+            this.pnlFundo.Controls.Add(this.lblEFM_Tensao);
             this.pnlFundo.Controls.Add(this.lblEFM_Velocidade);
             this.pnlFundo.Controls.Add(this.lblEFM_RPM);
             this.pnlFundo.Controls.Add(this.btnDTReverter);
@@ -236,7 +236,7 @@ namespace AgroBase.Forms
             this.pnlFundo.Location = new System.Drawing.Point(0, 0);
             this.pnlFundo.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
             this.pnlFundo.Name = "pnlFundo";
-            this.pnlFundo.Size = new System.Drawing.Size(1979, 922);
+            this.pnlFundo.Size = new System.Drawing.Size(1924, 922);
             this.pnlFundo.TabIndex = 0;
             // 
             // lblB12V
@@ -425,68 +425,68 @@ namespace AgroBase.Forms
             // 
             // chartET
             // 
-            chartArea9.Name = "ChartArea1";
+            chartArea1.Name = "ChartArea1";
-            this.chartET.ChartAreas.Add(chartArea9);
+            this.chartET.ChartAreas.Add(chartArea1);
-            legend9.Name = "Legend1";
+            legend1.Name = "Legend1";
-            this.chartET.Legends.Add(legend9);
+            this.chartET.Legends.Add(legend1);
             this.chartET.Location = new System.Drawing.Point(268, 505);
             this.chartET.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
             this.chartET.Name = "chartET";
-            series9.ChartArea = "ChartArea1";
+            series1.ChartArea = "ChartArea1";
-            series9.Legend = "Legend1";
+            series1.Legend = "Legend1";
-            series9.Name = "Series1";
+            series1.Name = "Series1";
-            this.chartET.Series.Add(series9);
+            this.chartET.Series.Add(series1);
             this.chartET.Size = new System.Drawing.Size(579, 480);
             this.chartET.TabIndex = 94;
             this.chartET.Text = "chart1";
             // 
             // chartDT
             // 
-            chartArea10.Name = "ChartArea1";
+            chartArea2.Name = "ChartArea1";
-            this.chartDT.ChartAreas.Add(chartArea10);
+            this.chartDT.ChartAreas.Add(chartArea2);
-            legend10.Name = "Legend1";
+            legend2.Name = "Legend1";
-            this.chartDT.Legends.Add(legend10);
+            this.chartDT.Legends.Add(legend2);
             this.chartDT.Location = new System.Drawing.Point(1112, 505);
             this.chartDT.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
             this.chartDT.Name = "chartDT";
-            series10.ChartArea = "ChartArea1";
+            series2.ChartArea = "ChartArea1";
-            series10.Legend = "Legend1";
+            series2.Legend = "Legend1";
-            series10.Name = "Series1";
+            series2.Name = "Series1";
-            this.chartDT.Series.Add(series10);
+            this.chartDT.Series.Add(series2);
             this.chartDT.Size = new System.Drawing.Size(577, 480);
             this.chartDT.TabIndex = 110;
             this.chartDT.Text = "chart1";
             // 
             // chartDF
             // 
-            chartArea11.Name = "ChartArea1";
+            chartArea3.Name = "ChartArea1";
-            this.chartDF.ChartAreas.Add(chartArea11);
+            this.chartDF.ChartAreas.Add(chartArea3);
-            legend11.Name = "Legend1";
+            legend3.Name = "Legend1";
-            this.chartDF.Legends.Add(legend11);
+            this.chartDF.Legends.Add(legend3);
             this.chartDF.Location = new System.Drawing.Point(1112, 5);
             this.chartDF.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
             this.chartDF.Name = "chartDF";
-            series11.ChartArea = "ChartArea1";
+            series3.ChartArea = "ChartArea1";
-            series11.Legend = "Legend1";
+            series3.Legend = "Legend1";
-            series11.Name = "Series1";
+            series3.Name = "Series1";
-            this.chartDF.Series.Add(series11);
+            this.chartDF.Series.Add(series3);
             this.chartDF.Size = new System.Drawing.Size(577, 480);
             this.chartDF.TabIndex = 109;
             this.chartDF.Text = "chart1";
             // 
             // chartEF
             // 
-            chartArea12.Name = "ChartArea1";
+            chartArea4.Name = "ChartArea1";
-            this.chartEF.ChartAreas.Add(chartArea12);
+            this.chartEF.ChartAreas.Add(chartArea4);
-            legend12.Name = "Legend1";
+            legend4.Name = "Legend1";
-            this.chartEF.Legends.Add(legend12);
+            this.chartEF.Legends.Add(legend4);
             this.chartEF.Location = new System.Drawing.Point(268, 5);
             this.chartEF.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
             this.chartEF.Name = "chartEF";
-            series12.ChartArea = "ChartArea1";
+            series4.ChartArea = "ChartArea1";
-            series12.Legend = "Legend1";
+            series4.Legend = "Legend1";
-            series12.Name = "Series1";
+            series4.Name = "Series1";
-            this.chartEF.Series.Add(series12);
+            this.chartEF.Series.Add(series4);
             this.chartEF.Size = new System.Drawing.Size(579, 480);
             this.chartEF.TabIndex = 93;
             this.chartEF.Text = "chart1";
@@ -547,14 +547,14 @@ namespace AgroBase.Forms
             this.lblDTM_RPMSP.TabIndex = 153;
             this.lblDTM_RPMSP.Text = "RPM SP: 0";
             // 
-            // lblDTM_Potencia
+            // lblDTM_Tensao
             // 
-            this.lblDTM_Potencia.AutoSize = true;
+            this.lblDTM_Tensao.AutoSize = true;
-            this.lblDTM_Potencia.Location = new System.Drawing.Point(1697, 903);
+            this.lblDTM_Tensao.Location = new System.Drawing.Point(1697, 903);
-            this.lblDTM_Potencia.Name = "lblDTM_Potencia";
+            this.lblDTM_Tensao.Name = "lblDTM_Tensao";
-            this.lblDTM_Potencia.Size = new System.Drawing.Size(85, 16);
+            this.lblDTM_Tensao.Size = new System.Drawing.Size(76, 16);
-            this.lblDTM_Potencia.TabIndex = 152;
+            this.lblDTM_Tensao.TabIndex = 152;
-            this.lblDTM_Potencia.Text = "Potência: 0%";
+            this.lblDTM_Tensao.Text = "Tensão: 0V";
             // 
             // lblDTM_Velocidade
             // 
@@ -619,14 +619,14 @@ namespace AgroBase.Forms
             this.lblDFM_RPMSP.TabIndex = 145;
             this.lblDFM_RPMSP.Text = "RPM SP: 0";
             // 
-            // lblDFM_Potencia
+            // lblDFM_Tensao
             // 
-            this.lblDFM_Potencia.AutoSize = true;
+            this.lblDFM_Tensao.AutoSize = true;
-            this.lblDFM_Potencia.Location = new System.Drawing.Point(1697, 405);
+            this.lblDFM_Tensao.Location = new System.Drawing.Point(1697, 405);
-            this.lblDFM_Potencia.Name = "lblDFM_Potencia";
+            this.lblDFM_Tensao.Name = "lblDFM_Tensao";
-            this.lblDFM_Potencia.Size = new System.Drawing.Size(85, 16);
+            this.lblDFM_Tensao.Size = new System.Drawing.Size(76, 16);
-            this.lblDFM_Potencia.TabIndex = 144;
+            this.lblDFM_Tensao.TabIndex = 144;
-            this.lblDFM_Potencia.Text = "Potência: 0%";
+            this.lblDFM_Tensao.Text = "Tensão: 0V";
             // 
             // lblDFM_Velocidade
             // 
@@ -691,14 +691,14 @@ namespace AgroBase.Forms
             this.lblETM_RPMSP.TabIndex = 137;
             this.lblETM_RPMSP.Text = "RPM SP: 0";
             // 
-            // lblETM_Potencia
+            // lblETM_Tensao
             // 
-            this.lblETM_Potencia.AutoSize = true;
+            this.lblETM_Tensao.AutoSize = true;
-            this.lblETM_Potencia.Location = new System.Drawing.Point(13, 903);
+            this.lblETM_Tensao.Location = new System.Drawing.Point(13, 903);
-            this.lblETM_Potencia.Name = "lblETM_Potencia";
+            this.lblETM_Tensao.Name = "lblETM_Tensao";
-            this.lblETM_Potencia.Size = new System.Drawing.Size(85, 16);
+            this.lblETM_Tensao.Size = new System.Drawing.Size(76, 16);
-            this.lblETM_Potencia.TabIndex = 136;
+            this.lblETM_Tensao.TabIndex = 136;
-            this.lblETM_Potencia.Text = "Potência: 0%";
+            this.lblETM_Tensao.Text = "Tensão: 0V";
             // 
             // lblETM_Velocidade
             // 
@@ -763,15 +763,6 @@ namespace AgroBase.Forms
             this.lblEFM_RPMSP.TabIndex = 129;
             this.lblEFM_RPMSP.Text = "RPM SP: 0";
             // 
-            // lblEFM_Potencia
-            // 
-            this.lblEFM_Potencia.AutoSize = true;
-            this.lblEFM_Potencia.Location = new System.Drawing.Point(13, 405);
-            this.lblEFM_Potencia.Name = "lblEFM_Potencia";
-            this.lblEFM_Potencia.Size = new System.Drawing.Size(85, 16);
-            this.lblEFM_Potencia.TabIndex = 128;
-            this.lblEFM_Potencia.Text = "Potência: 0%";
-            // 
             // lblEFM_Velocidade
             // 
             this.lblEFM_Velocidade.AutoSize = true;
@@ -1090,11 +1081,20 @@ namespace AgroBase.Forms
             this.picEF.TabIndex = 90;
             this.picEF.TabStop = false;
             // 
+            // lblEFM_Tensao
+            // 
+            this.lblEFM_Tensao.AutoSize = true;
+            this.lblEFM_Tensao.Location = new System.Drawing.Point(13, 405);
+            this.lblEFM_Tensao.Name = "lblEFM_Tensao";
+            this.lblEFM_Tensao.Size = new System.Drawing.Size(76, 16);
+            this.lblEFM_Tensao.TabIndex = 128;
+            this.lblEFM_Tensao.Text = "Tensão: 0V";
+            // 
             // frmAcompanhamento
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(1979, 922);
+            this.ClientSize = new System.Drawing.Size(1924, 922);
             this.Controls.Add(this.pnlFundo);
             this.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
             this.Name = "frmAcompanhamento";
@@ -1131,7 +1131,7 @@ namespace AgroBase.Forms
         private System.Windows.Forms.Label lblDTM_Sentido;
         private System.Windows.Forms.Label lblDTM_SentidoSP;
         private System.Windows.Forms.Label lblDTM_RPMSP;
-        private System.Windows.Forms.Label lblDTM_Potencia;
+        private System.Windows.Forms.Label lblDTM_Tensao;
         private System.Windows.Forms.Label lblDTM_Velocidade;
         private System.Windows.Forms.Label lblDTM_RPM;
         private System.Windows.Forms.Label lblDFM_Corrente;
@@ -1139,7 +1139,7 @@ namespace AgroBase.Forms
         private System.Windows.Forms.Label lblDFM_Sentido;
         private System.Windows.Forms.Label lblDFM_SentidoSP;
         private System.Windows.Forms.Label lblDFM_RPMSP;
-        private System.Windows.Forms.Label lblDFM_Potencia;
+        private System.Windows.Forms.Label lblDFM_Tensao;
         private System.Windows.Forms.Label lblDFM_Velocidade;
         private System.Windows.Forms.Label lblDFM_RPM;
         private System.Windows.Forms.Label lblETM_Corrente;
@@ -1147,7 +1147,7 @@ namespace AgroBase.Forms
         private System.Windows.Forms.Label lblETM_Sentido;
         private System.Windows.Forms.Label lblETM_SentidoSP;
         private System.Windows.Forms.Label lblETM_RPMSP;
-        private System.Windows.Forms.Label lblETM_Potencia;
+        private System.Windows.Forms.Label lblETM_Tensao;
         private System.Windows.Forms.Label lblETM_Velocidade;
         private System.Windows.Forms.Label lblETM_RPM;
         private System.Windows.Forms.Label lblEFM_Corrente;
@@ -1155,7 +1155,6 @@ namespace AgroBase.Forms
         private System.Windows.Forms.Label lblEFM_Sentido;
         private System.Windows.Forms.Label lblEFM_SentidoSP;
         private System.Windows.Forms.Label lblEFM_RPMSP;
-        private System.Windows.Forms.Label lblEFM_Potencia;
         private System.Windows.Forms.Label lblEFM_Velocidade;
         private System.Windows.Forms.Label lblEFM_RPM;
         private System.Windows.Forms.Button btnDTReverter;
@@ -1208,5 +1207,6 @@ namespace AgroBase.Forms
         public System.Windows.Forms.Label lblB7V2;
         public System.Windows.Forms.Label lblB5V;
         public System.Windows.Forms.Label lblB3V;
+        private System.Windows.Forms.Label lblEFM_Tensao;
     }
 }

AgroBase/AgroBase/Forms/frmAcompanhamento.cs

@@ -119,8 +119,6 @@ namespace AgroBase.Forms
                     lblM_RPM.Text = "RPM: " + Motor.RPM.ToString("0.00");
                     Label lblM_Velocidade = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Motor.ID + "M_Velocidade");
                     lblM_Velocidade.Text = "Velocidade: " + Motor.VelocidadeInstantanea.ToString("0.00") + " Km/h";
-                    Label lblM_Potencia = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Motor.ID + "M_Potencia");
-                    lblM_Potencia.Text = "Potencia: " + Motor.Potencia.ToString("0.00") + "%";
                     Label lblM_SentidoSP = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Motor.ID + "M_SentidoSP");
                     lblM_SentidoSP.Text = "Sentido SP: " + Enum.GetName(typeof(Sentido), Motor.Sentido_SP);
                     Label lblM_Sentido = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Motor.ID + "M_Sentido");
@@ -130,6 +128,8 @@ namespace AgroBase.Forms
                     lblM_Temperatura.ForeColor = Motor.Alarmes.Any(x => x.Tipo == S_Code.sTMP && (x.Maximo || x.Minimo)) ? Color.Red : Color.Black;
                     Label lblM_Corrente = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Motor.ID + "M_Corrente");
                     lblM_Corrente.Text = "Corrente: " + Motor.Corrente.ToString("0.00") + "A";
+                    Label lblM_Tensao = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Motor.ID + "M_Tensao");
+                    lblTensao.Text = "Tensão: " + Motor.Tensao.ToString("0.00") + "V";
 
                     MovSensorimanetoGrafico Log = null;
                     if (Motor.LogGrafico.Count > 0)
@@ -164,20 +164,6 @@ namespace AgroBase.Forms
                         Minimo = Logs.Min(x => x.RPM) < Minimo ? Logs.Min(x => x.RPM) : Minimo;
                         Maximo = Logs.Max(x => x.RPM) > Maximo ? Logs.Max(x => x.RPM) : Maximo;
 
-                        var serieRPMOffset = new Series("RPM Offset: " + (Log != null ? Log.RPM_Offset : 0));
-                        serieRPMOffset.Points.DataBindXY(Momentos, Logs.Select(x => x.RPM_Offset).ToList());
-                        serieRPMOffset.ChartType = SeriesChartType.Spline;
-                        chart.Series.Add(serieRPMOffset);
-                        Minimo = Logs.Min(x => x.RPM_Offset) < Minimo ? Logs.Min(x => x.RPM_Offset) : Minimo;
-                        Maximo = Logs.Max(x => x.RPM_Offset) > Maximo ? Logs.Max(x => x.RPM_Offset) : Maximo;
-
-                        var seriePotencia = new Series("Potencia: " + (Log != null ? Log.Potencia : 0));
-                        seriePotencia.Points.DataBindXY(Momentos, Logs.Select(x => x.Potencia).ToList());
-                        seriePotencia.ChartType = SeriesChartType.Line;
-                        chart.Series.Add(seriePotencia);
-                        Minimo = Logs.Min(x => x.Potencia) < Minimo ? Logs.Min(x => x.Potencia) : Minimo;
-                        Maximo = Logs.Max(x => x.Potencia) > Maximo ? Logs.Max(x => x.Potencia) : Maximo;
-
                         var serieTemperatura = new Series("Temperatura: " + (Log != null ? Log.Temperatura : 0));
                         serieTemperatura.Points.DataBindXY(Momentos, Logs.Select(x => x.Temperatura).ToList());
                         serieTemperatura.ChartType = SeriesChartType.Line;

AgroBase/AgroBase/Forms/frmBLD.Designer.cs

@@ -0,0 +1,510 @@
+namespace AgroBase.Forms
+{
+    partial class frmBLD
+    {
+        /// <summary>
+        /// Required designer variable.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary>
+        /// Clean up any resources being used.
+        /// </summary>
+        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Windows Form Designer generated code
+
+        /// <summary>
+        /// Required method for Designer support - do not modify
+        /// the contents of this method with the code editor.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.trbRPMSP = new System.Windows.Forms.TrackBar();
+            this.label1 = new System.Windows.Forms.Label();
+            this.pgbRPMSP = new System.Windows.Forms.ProgressBar();
+            this.pgbRPM = new System.Windows.Forms.ProgressBar();
+            this.lblRPMSP = new System.Windows.Forms.Label();
+            this.lblRPM = new System.Windows.Forms.Label();
+            this.groupBox1 = new System.Windows.Forms.GroupBox();
+            this.label9 = new System.Windows.Forms.Label();
+            this.nudEndereco = new System.Windows.Forms.NumericUpDown();
+            this.btnSalvar = new System.Windows.Forms.Button();
+            this.label7 = new System.Windows.Forms.Label();
+            this.nudRampa = new System.Windows.Forms.NumericUpDown();
+            this.label6 = new System.Windows.Forms.Label();
+            this.nudRPMMax = new System.Windows.Forms.NumericUpDown();
+            this.label5 = new System.Windows.Forms.Label();
+            this.nudNumPolos = new System.Windows.Forms.NumericUpDown();
+            this.chbControleSerial = new System.Windows.Forms.CheckBox();
+            this.groupBox2 = new System.Windows.Forms.GroupBox();
+            this.label4 = new System.Windows.Forms.Label();
+            this.label3 = new System.Windows.Forms.Label();
+            this.label2 = new System.Windows.Forms.Label();
+            this.btnFrear = new System.Windows.Forms.Button();
+            this.btnSentido = new System.Windows.Forms.Button();
+            this.btnAtivar = new System.Windows.Forms.Button();
+            this.groupBox3 = new System.Windows.Forms.GroupBox();
+            this.btnAtualizar = new System.Windows.Forms.Button();
+            this.label8 = new System.Windows.Forms.Label();
+            this.txtCodAlarme = new System.Windows.Forms.TextBox();
+            this.label10 = new System.Windows.Forms.Label();
+            this.label11 = new System.Windows.Forms.Label();
+            this.label12 = new System.Windows.Forms.Label();
+            this.txtTensao = new System.Windows.Forms.TextBox();
+            this.txtTemperatura = new System.Windows.Forms.TextBox();
+            this.txtCorrente = new System.Windows.Forms.TextBox();
+            ((System.ComponentModel.ISupportInitialize)(this.trbRPMSP)).BeginInit();
+            this.groupBox1.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.nudEndereco)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.nudRampa)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.nudRPMMax)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.nudNumPolos)).BeginInit();
+            this.groupBox2.SuspendLayout();
+            this.groupBox3.SuspendLayout();
+            this.SuspendLayout();
+            // 
+            // trbRPMSP
+            // 
+            this.trbRPMSP.Location = new System.Drawing.Point(6, 37);
+            this.trbRPMSP.Name = "trbRPMSP";
+            this.trbRPMSP.Size = new System.Drawing.Size(420, 56);
+            this.trbRPMSP.TabIndex = 0;
+            this.trbRPMSP.MouseUp += new System.Windows.Forms.MouseEventHandler(this.trbRPMSP_MouseUp);
+            // 
+            // label1
+            // 
+            this.label1.AutoSize = true;
+            this.label1.Location = new System.Drawing.Point(6, 18);
+            this.label1.Name = "label1";
+            this.label1.Size = new System.Drawing.Size(58, 16);
+            this.label1.TabIndex = 1;
+            this.label1.Text = "RPM SP";
+            // 
+            // pgbRPMSP
+            // 
+            this.pgbRPMSP.Location = new System.Drawing.Point(9, 32);
+            this.pgbRPMSP.Name = "pgbRPMSP";
+            this.pgbRPMSP.Size = new System.Drawing.Size(276, 26);
+            this.pgbRPMSP.TabIndex = 2;
+            // 
+            // pgbRPM
+            // 
+            this.pgbRPM.Location = new System.Drawing.Point(9, 64);
+            this.pgbRPM.Name = "pgbRPM";
+            this.pgbRPM.Size = new System.Drawing.Size(276, 26);
+            this.pgbRPM.TabIndex = 3;
+            // 
+            // lblRPMSP
+            // 
+            this.lblRPMSP.AutoSize = true;
+            this.lblRPMSP.Location = new System.Drawing.Point(291, 42);
+            this.lblRPMSP.Name = "lblRPMSP";
+            this.lblRPMSP.Size = new System.Drawing.Size(47, 16);
+            this.lblRPMSP.TabIndex = 4;
+            this.lblRPMSP.Text = "0 RPM";
+            // 
+            // lblRPM
+            // 
+            this.lblRPM.AutoSize = true;
+            this.lblRPM.Location = new System.Drawing.Point(291, 74);
+            this.lblRPM.Name = "lblRPM";
+            this.lblRPM.Size = new System.Drawing.Size(47, 16);
+            this.lblRPM.TabIndex = 5;
+            this.lblRPM.Text = "0 RPM";
+            // 
+            // groupBox1
+            // 
+            this.groupBox1.Controls.Add(this.label9);
+            this.groupBox1.Controls.Add(this.nudEndereco);
+            this.groupBox1.Controls.Add(this.btnSalvar);
+            this.groupBox1.Controls.Add(this.label7);
+            this.groupBox1.Controls.Add(this.nudRampa);
+            this.groupBox1.Controls.Add(this.label6);
+            this.groupBox1.Controls.Add(this.nudRPMMax);
+            this.groupBox1.Controls.Add(this.label5);
+            this.groupBox1.Controls.Add(this.nudNumPolos);
+            this.groupBox1.Controls.Add(this.chbControleSerial);
+            this.groupBox1.Location = new System.Drawing.Point(12, 205);
+            this.groupBox1.Name = "groupBox1";
+            this.groupBox1.Size = new System.Drawing.Size(438, 138);
+            this.groupBox1.TabIndex = 6;
+            this.groupBox1.TabStop = false;
+            this.groupBox1.Text = "Parametrização";
+            // 
+            // label9
+            // 
+            this.label9.AutoSize = true;
+            this.label9.Location = new System.Drawing.Point(147, 18);
+            this.label9.Name = "label9";
+            this.label9.Size = new System.Drawing.Size(66, 16);
+            this.label9.TabIndex = 18;
+            this.label9.Text = "Endereço";
+            // 
+            // nudEndereco
+            // 
+            this.nudEndereco.Location = new System.Drawing.Point(150, 37);
+            this.nudEndereco.Maximum = new decimal(new int[] {
+            7,
+            0,
+            0,
+            0});
+            this.nudEndereco.Minimum = new decimal(new int[] {
+            1,
+            0,
+            0,
+            0});
+            this.nudEndereco.Name = "nudEndereco";
+            this.nudEndereco.Size = new System.Drawing.Size(135, 22);
+            this.nudEndereco.TabIndex = 17;
+            this.nudEndereco.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            this.nudEndereco.Value = new decimal(new int[] {
+            1,
+            0,
+            0,
+            0});
+            // 
+            // btnSalvar
+            // 
+            this.btnSalvar.Location = new System.Drawing.Point(291, 33);
+            this.btnSalvar.Name = "btnSalvar";
+            this.btnSalvar.Size = new System.Drawing.Size(135, 29);
+            this.btnSalvar.TabIndex = 12;
+            this.btnSalvar.Text = "Editar";
+            this.btnSalvar.UseVisualStyleBackColor = true;
+            this.btnSalvar.Click += new System.EventHandler(this.btnSalvar_Click);
+            // 
+            // label7
+            // 
+            this.label7.AutoSize = true;
+            this.label7.Location = new System.Drawing.Point(288, 79);
+            this.label7.Name = "label7";
+            this.label7.Size = new System.Drawing.Size(143, 20);
+            this.label7.TabIndex = 16;
+            this.label7.Text = "Rampa (x 100 ms)";
+            // 
+            // nudRampa
+            // 
+            this.nudRampa.Location = new System.Drawing.Point(291, 98);
+            this.nudRampa.Maximum = new decimal(new int[] {
+            150,
+            0,
+            0,
+            0});
+            this.nudRampa.Name = "nudRampa";
+            this.nudRampa.Size = new System.Drawing.Size(135, 22);
+            this.nudRampa.TabIndex = 15;
+            this.nudRampa.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // label6
+            // 
+            this.label6.AutoSize = true;
+            this.label6.Location = new System.Drawing.Point(147, 79);
+            this.label6.Name = "label6";
+            this.label6.Size = new System.Drawing.Size(87, 16);
+            this.label6.TabIndex = 14;
+            this.label6.Text = "RPM Máximo";
+            // 
+            // nudRPMMax
+            // 
+            this.nudRPMMax.Location = new System.Drawing.Point(150, 98);
+            this.nudRPMMax.Maximum = new decimal(new int[] {
+            20000,
+            0,
+            0,
+            0});
+            this.nudRPMMax.Name = "nudRPMMax";
+            this.nudRPMMax.Size = new System.Drawing.Size(135, 22);
+            this.nudRPMMax.TabIndex = 13;
+            this.nudRPMMax.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // label5
+            // 
+            this.label5.AutoSize = true;
+            this.label5.Location = new System.Drawing.Point(6, 79);
+            this.label5.Name = "label5";
+            this.label5.Size = new System.Drawing.Size(112, 16);
+            this.label5.TabIndex = 12;
+            this.label5.Text = "Número de Polos";
+            // 
+            // nudNumPolos
+            // 
+            this.nudNumPolos.Location = new System.Drawing.Point(9, 98);
+            this.nudNumPolos.Maximum = new decimal(new int[] {
+            254,
+            0,
+            0,
+            0});
+            this.nudNumPolos.Name = "nudNumPolos";
+            this.nudNumPolos.Size = new System.Drawing.Size(135, 22);
+            this.nudNumPolos.TabIndex = 1;
+            this.nudNumPolos.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            this.nudNumPolos.Value = new decimal(new int[] {
+            2,
+            0,
+            0,
+            0});
+            // 
+            // chbControleSerial
+            // 
+            this.chbControleSerial.AutoSize = true;
+            this.chbControleSerial.Location = new System.Drawing.Point(18, 38);
+            this.chbControleSerial.Name = "chbControleSerial";
+            this.chbControleSerial.Size = new System.Drawing.Size(117, 20);
+            this.chbControleSerial.TabIndex = 0;
+            this.chbControleSerial.Text = "Controle Serial";
+            this.chbControleSerial.UseVisualStyleBackColor = true;
+            // 
+            // groupBox2
+            // 
+            this.groupBox2.Controls.Add(this.label4);
+            this.groupBox2.Controls.Add(this.label3);
+            this.groupBox2.Controls.Add(this.label2);
+            this.groupBox2.Controls.Add(this.btnFrear);
+            this.groupBox2.Controls.Add(this.btnSentido);
+            this.groupBox2.Controls.Add(this.btnAtivar);
+            this.groupBox2.Controls.Add(this.label1);
+            this.groupBox2.Controls.Add(this.trbRPMSP);
+            this.groupBox2.Location = new System.Drawing.Point(12, 12);
+            this.groupBox2.Name = "groupBox2";
+            this.groupBox2.Size = new System.Drawing.Size(438, 187);
+            this.groupBox2.TabIndex = 7;
+            this.groupBox2.TabStop = false;
+            this.groupBox2.Text = "Controle";
+            // 
+            // label4
+            // 
+            this.label4.AutoSize = true;
+            this.label4.Location = new System.Drawing.Point(338, 111);
+            this.label4.Name = "label4";
+            this.label4.Size = new System.Drawing.Size(38, 16);
+            this.label4.TabIndex = 11;
+            this.label4.Text = "Freio";
+            // 
+            // label3
+            // 
+            this.label3.AutoSize = true;
+            this.label3.Location = new System.Drawing.Point(192, 111);
+            this.label3.Name = "label3";
+            this.label3.Size = new System.Drawing.Size(53, 16);
+            this.label3.TabIndex = 10;
+            this.label3.Text = "Sentido";
+            // 
+            // label2
+            // 
+            this.label2.AutoSize = true;
+            this.label2.Location = new System.Drawing.Point(55, 111);
+            this.label2.Name = "label2";
+            this.label2.Size = new System.Drawing.Size(41, 16);
+            this.label2.TabIndex = 9;
+            this.label2.Text = "Motor";
+            // 
+            // btnFrear
+            // 
+            this.btnFrear.Location = new System.Drawing.Point(291, 140);
+            this.btnFrear.Name = "btnFrear";
+            this.btnFrear.Size = new System.Drawing.Size(135, 29);
+            this.btnFrear.TabIndex = 8;
+            this.btnFrear.Text = "Ligar";
+            this.btnFrear.UseVisualStyleBackColor = true;
+            this.btnFrear.Click += new System.EventHandler(this.btnFrear_Click);
+            // 
+            // btnSentido
+            // 
+            this.btnSentido.Location = new System.Drawing.Point(150, 140);
+            this.btnSentido.Name = "btnSentido";
+            this.btnSentido.Size = new System.Drawing.Size(135, 29);
+            this.btnSentido.TabIndex = 7;
+            this.btnSentido.Text = "Horário";
+            this.btnSentido.UseVisualStyleBackColor = true;
+            this.btnSentido.Click += new System.EventHandler(this.btnSentido_Click);
+            // 
+            // btnAtivar
+            // 
+            this.btnAtivar.Location = new System.Drawing.Point(9, 140);
+            this.btnAtivar.Name = "btnAtivar";
+            this.btnAtivar.Size = new System.Drawing.Size(135, 29);
+            this.btnAtivar.TabIndex = 6;
+            this.btnAtivar.Text = "Ligar";
+            this.btnAtivar.UseVisualStyleBackColor = true;
+            this.btnAtivar.Click += new System.EventHandler(this.btnAtivar_Click);
+            // 
+            // groupBox3
+            // 
+            this.groupBox3.Controls.Add(this.txtCorrente);
+            this.groupBox3.Controls.Add(this.txtTemperatura);
+            this.groupBox3.Controls.Add(this.txtTensao);
+            this.groupBox3.Controls.Add(this.label10);
+            this.groupBox3.Controls.Add(this.label11);
+            this.groupBox3.Controls.Add(this.label12);
+            this.groupBox3.Controls.Add(this.btnAtualizar);
+            this.groupBox3.Controls.Add(this.label8);
+            this.groupBox3.Controls.Add(this.txtCodAlarme);
+            this.groupBox3.Controls.Add(this.pgbRPMSP);
+            this.groupBox3.Controls.Add(this.pgbRPM);
+            this.groupBox3.Controls.Add(this.lblRPMSP);
+            this.groupBox3.Controls.Add(this.lblRPM);
+            this.groupBox3.Location = new System.Drawing.Point(12, 349);
+            this.groupBox3.Name = "groupBox3";
+            this.groupBox3.Size = new System.Drawing.Size(438, 218);
+            this.groupBox3.TabIndex = 8;
+            this.groupBox3.TabStop = false;
+            this.groupBox3.Text = "Monitor";
+            // 
+            // btnAtualizar
+            // 
+            this.btnAtualizar.Location = new System.Drawing.Point(291, 175);
+            this.btnAtualizar.Name = "btnAtualizar";
+            this.btnAtualizar.Size = new System.Drawing.Size(135, 29);
+            this.btnAtualizar.TabIndex = 13;
+            this.btnAtualizar.Text = "Atualizar";
+            this.btnAtualizar.UseVisualStyleBackColor = true;
+            this.btnAtualizar.Click += new System.EventHandler(this.btnAtualizar_Click);
+            // 
+            // label8
+            // 
+            this.label8.AutoSize = true;
+            this.label8.Location = new System.Drawing.Point(6, 188);
+            this.label8.Name = "label8";
+            this.label8.Size = new System.Drawing.Size(97, 16);
+            this.label8.TabIndex = 12;
+            this.label8.Text = "Código Alarme";
+            // 
+            // txtCodAlarme
+            // 
+            this.txtCodAlarme.Font = new System.Drawing.Font("Microsoft Sans Serif", 22.2F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.txtCodAlarme.Location = new System.Drawing.Point(128, 163);
+            this.txtCodAlarme.Name = "txtCodAlarme";
+            this.txtCodAlarme.ReadOnly = true;
+            this.txtCodAlarme.Size = new System.Drawing.Size(157, 49);
+            this.txtCodAlarme.TabIndex = 6;
+            this.txtCodAlarme.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // label10
+            // 
+            this.label10.AutoSize = true;
+            this.label10.Location = new System.Drawing.Point(291, 102);
+            this.label10.Name = "label10";
+            this.label10.Size = new System.Drawing.Size(108, 16);
+            this.label10.TabIndex = 22;
+            this.label10.Text = "Corrente Máxima";
+            // 
+            // label11
+            // 
+            this.label11.AutoSize = true;
+            this.label11.Location = new System.Drawing.Point(147, 102);
+            this.label11.Name = "label11";
+            this.label11.Size = new System.Drawing.Size(85, 16);
+            this.label11.TabIndex = 20;
+            this.label11.Text = "Temperatura";
+            // 
+            // label12
+            // 
+            this.label12.AutoSize = true;
+            this.label12.Location = new System.Drawing.Point(6, 102);
+            this.label12.Name = "label12";
+            this.label12.Size = new System.Drawing.Size(54, 16);
+            this.label12.TabIndex = 18;
+            this.label12.Text = "Tensão";
+            // 
+            // txtTensao
+            // 
+            this.txtTensao.Location = new System.Drawing.Point(9, 121);
+            this.txtTensao.Name = "txtTensao";
+            this.txtTensao.ReadOnly = true;
+            this.txtTensao.Size = new System.Drawing.Size(135, 22);
+            this.txtTensao.TabIndex = 23;
+            this.txtTensao.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // txtTemperatura
+            // 
+            this.txtTemperatura.Location = new System.Drawing.Point(150, 121);
+            this.txtTemperatura.Name = "txtTemperatura";
+            this.txtTemperatura.ReadOnly = true;
+            this.txtTemperatura.Size = new System.Drawing.Size(135, 22);
+            this.txtTemperatura.TabIndex = 24;
+            this.txtTemperatura.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // txtCorrente
+            // 
+            this.txtCorrente.Location = new System.Drawing.Point(291, 121);
+            this.txtCorrente.Name = "txtCorrente";
+            this.txtCorrente.ReadOnly = true;
+            this.txtCorrente.Size = new System.Drawing.Size(135, 22);
+            this.txtCorrente.TabIndex = 25;
+            this.txtCorrente.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // frmBLD
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.ClientSize = new System.Drawing.Size(459, 579);
+            this.Controls.Add(this.groupBox3);
+            this.Controls.Add(this.groupBox2);
+            this.Controls.Add(this.groupBox1);
+            this.MaximizeBox = false;
+            this.Name = "frmBLD";
+            this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
+            this.Text = "Driver BLD-300R";
+            this.Load += new System.EventHandler(this.frmBLD_Load);
+            ((System.ComponentModel.ISupportInitialize)(this.trbRPMSP)).EndInit();
+            this.groupBox1.ResumeLayout(false);
+            this.groupBox1.PerformLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.nudEndereco)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.nudRampa)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.nudRPMMax)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.nudNumPolos)).EndInit();
+            this.groupBox2.ResumeLayout(false);
+            this.groupBox2.PerformLayout();
+            this.groupBox3.ResumeLayout(false);
+            this.groupBox3.PerformLayout();
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.TrackBar trbRPMSP;
+        private System.Windows.Forms.Label label1;
+        private System.Windows.Forms.ProgressBar pgbRPMSP;
+        private System.Windows.Forms.ProgressBar pgbRPM;
+        private System.Windows.Forms.Label lblRPMSP;
+        private System.Windows.Forms.Label lblRPM;
+        private System.Windows.Forms.GroupBox groupBox1;
+        private System.Windows.Forms.GroupBox groupBox2;
+        private System.Windows.Forms.Button btnAtivar;
+        private System.Windows.Forms.Button btnFrear;
+        private System.Windows.Forms.Button btnSentido;
+        private System.Windows.Forms.Label label4;
+        private System.Windows.Forms.Label label3;
+        private System.Windows.Forms.Label label2;
+        private System.Windows.Forms.CheckBox chbControleSerial;
+        private System.Windows.Forms.Label label5;
+        private System.Windows.Forms.NumericUpDown nudNumPolos;
+        private System.Windows.Forms.Label label6;
+        private System.Windows.Forms.NumericUpDown nudRPMMax;
+        private System.Windows.Forms.Label label7;
+        private System.Windows.Forms.NumericUpDown nudRampa;
+        private System.Windows.Forms.Button btnSalvar;
+        private System.Windows.Forms.GroupBox groupBox3;
+        private System.Windows.Forms.Label label8;
+        private System.Windows.Forms.TextBox txtCodAlarme;
+        private System.Windows.Forms.Button btnAtualizar;
+        private System.Windows.Forms.Label label9;
+        private System.Windows.Forms.NumericUpDown nudEndereco;
+        private System.Windows.Forms.Label label10;
+        private System.Windows.Forms.Label label11;
+        private System.Windows.Forms.Label label12;
+        private System.Windows.Forms.TextBox txtCorrente;
+        private System.Windows.Forms.TextBox txtTemperatura;
+        private System.Windows.Forms.TextBox txtTensao;
+    }
+}

AgroBase/AgroBase/Forms/frmBLD.cs

@@ -0,0 +1,164 @@
+using AgroBase.Models;
+using AgroBase.Services;
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace AgroBase.Forms
+{
+    public partial class frmBLD : Form
+    {
+        public frmBLD()
+        {
+            InitializeComponent();
+        }
+
+        private void frmBLD_Load(object sender, EventArgs e)
+        {
+            btnAtualizar_Click(sender, e);
+            LoopAtualizacao().ConfigureAwait(false);
+
+            this.Text += " - " + BLD300RService.PortaBLD.PortName;
+        }
+
+        private async Task LoopAtualizacao()
+        {
+            if (BLD300RService.Iniciado)
+            {
+                if (btnSalvar.Text == "Editar")
+                {
+                    AtualizarDadosTela();
+                }
+
+                btnAtivar.Text = BLD300RService.UltimaLeitura.Ativado ? "Desligar" : "Ligar";
+                btnSentido.Text = BLD300RService.UltimaLeitura.Direcao == Enuns.Sentido.Horario ? "Antihorário" : "Horário";
+                btnFrear.Text = BLD300RService.UltimaLeitura.Freado ? "Desligar" : "Ligar";
+
+                lblRPM.Text = BLD300RService.UltimaLeitura.RPM.ToString();
+                lblRPMSP.Text = BLD300RService.UltimaLeitura.RPM_SP.ToString();
+
+                FuncoesGlobais.PreencheValorProgressBar(pgbRPM, BLD300RService.UltimaLeitura.RPM);
+                FuncoesGlobais.PreencheValorProgressBar(pgbRPMSP, BLD300RService.UltimaLeitura.RPM_SP);
+
+                txtCodAlarme.Text = BLD300RService.UltimaLeitura.CodigoAlarme.ToString();
+            }
+
+            btnAtivar.Enabled = btnSalvar.Text == "Editar";
+            btnSentido.Enabled = btnSalvar.Text == "Editar";
+            btnFrear.Enabled = btnSalvar.Text == "Editar";
+            trbRPMSP.Enabled = btnSalvar.Text == "Editar";
+            chbControleSerial.Enabled = btnSalvar.Text != "Editar";
+            nudEndereco.Enabled = btnSalvar.Text != "Editar";
+            nudNumPolos.Enabled = btnSalvar.Text != "Editar";
+            nudRPMMax.Enabled = btnSalvar.Text != "Editar";
+            nudRampa.Enabled = btnSalvar.Text != "Editar";
+
+            await Task.Delay(200);
+            await LoopAtualizacao();
+        }
+
+        private void AtualizarDadosTela()
+        {
+            nudEndereco.Value = BLD300RService.slaveAddress;
+
+            trbRPMSP.Maximum = BLD300RService.UltimaLeitura.RPM_Max;
+            pgbRPM.Maximum = trbRPMSP.Maximum;
+            pgbRPMSP.Maximum = trbRPMSP.Maximum;
+
+            chbControleSerial.Checked = BLD300RService.UltimaLeitura.ControleRS485;
+
+            nudNumPolos.Value = BLD300RService.UltimaLeitura.NumeroPolos;
+            nudRPMMax.Value = BLD300RService.UltimaLeitura.RPM_Max;
+            nudRampa.Value = BLD300RService.UltimaLeitura.Rampa;
+
+            txtTensao.Text = BLD300RService.UltimaLeitura.Tensao.ToString("0.00");
+            txtTemperatura.Text = BLD300RService.UltimaLeitura.Temperatura.ToString("0.00");
+            txtCorrente.Text = BLD300RService.UltimaLeitura.CorrenteMax.ToString("0.00");
+        }
+
+        private void btnAtualizar_Click(object sender, EventArgs e)
+        {
+            if (BLD300RService.Iniciado)
+            {
+                BLD300RService.AtualizarDadosDriver().ConfigureAwait(false);
+            }
+        }
+
+        private void btnSalvar_Click(object sender, EventArgs e)
+        {
+            if (btnSalvar.Text == "Editar")
+            {
+                btnSalvar.Text = "Salvar";
+            }
+            else
+            {
+                BLD300RService.slaveAddress = (byte)nudEndereco.Value;
+
+                if (chbControleSerial.Checked != BLD300RService.UltimaLeitura.ControleRS485)
+                {
+                    var parametro = BLD300RService.Parametros.First(x => x.Chave == "ControleRS485");
+                    var comando = ModbusService.ComandoSetParametro(BLD300RService.slaveAddress, parametro, chbControleSerial.Checked ? 1 : 0);
+                    BLD300RService.EnviarComando(BLD300RService.PortaBLD, comando, parametro).ConfigureAwait(false);
+                }
+
+                if (Convert.ToInt32(nudNumPolos.Value) != BLD300RService.UltimaLeitura.NumeroPolos)
+                {
+                    var parametro = BLD300RService.Parametros.First(x => x.Chave == "NumPolos");
+                    var comando = ModbusService.ComandoSetParametro(BLD300RService.slaveAddress, parametro, Convert.ToInt32(nudNumPolos.Value));
+                    BLD300RService.EnviarComando(BLD300RService.PortaBLD, comando, parametro).ConfigureAwait(false);
+                }
+
+                if (Convert.ToInt32(nudRPMMax.Value) != BLD300RService.UltimaLeitura.RPM_Max)
+                {
+                    var parametro = BLD300RService.Parametros.First(x => x.Chave == "RPM_Max");
+                    var comando = ModbusService.ComandoSetParametro(BLD300RService.slaveAddress, parametro, Convert.ToInt32(nudRPMMax.Value));
+                    BLD300RService.EnviarComando(BLD300RService.PortaBLD, comando, parametro).ConfigureAwait(false);
+                }
+
+                if (Convert.ToInt32(nudRampa.Value) != BLD300RService.UltimaLeitura.Rampa)
+                {
+                    var parametro = BLD300RService.Parametros.First(x => x.Chave == "Rampa");
+                    var comando = ModbusService.ComandoSetParametro(BLD300RService.slaveAddress, parametro, Convert.ToInt32(nudRampa.Value));
+                    BLD300RService.EnviarComando(BLD300RService.PortaBLD, comando, parametro).ConfigureAwait(false);
+                }
+
+                btnSalvar.Text = "Editar";
+            }
+        }
+
+        private void btnAtivar_Click(object sender, EventArgs e)
+        {
+            var parametro = BLD300RService.Parametros.First(x => x.Chave == "Enabled");
+            var comando = ModbusService.ComandoSetParametro(BLD300RService.slaveAddress, parametro, BLD300RService.UltimaLeitura.Ativado ? 0 : 1);
+            BLD300RService.EnviarComando(BLD300RService.PortaBLD, comando, parametro).ConfigureAwait(false);
+        }
+
+        private void btnSentido_Click(object sender, EventArgs e)
+        {
+            var parametro = BLD300RService.Parametros.First(x => x.Chave == "Direction");
+            var comando = ModbusService.ComandoSetParametro(BLD300RService.slaveAddress, parametro, BLD300RService.UltimaLeitura.Direcao == Enuns.Sentido.Horario ? 0 : 1);
+            BLD300RService.EnviarComando(BLD300RService.PortaBLD, comando, parametro).ConfigureAwait(false);
+        }
+
+        private void btnFrear_Click(object sender, EventArgs e)
+        {
+            var parametro = BLD300RService.Parametros.First(x => x.Chave == "Breaked");
+            var comando = ModbusService.ComandoSetParametro(BLD300RService.slaveAddress, parametro, BLD300RService.UltimaLeitura.Freado ? 0 : 1);
+            BLD300RService.EnviarComando(BLD300RService.PortaBLD, comando, parametro).ConfigureAwait(false);
+        }
+
+        private void trbRPMSP_MouseUp(object sender, MouseEventArgs e)
+        {
+            var parametro = BLD300RService.Parametros.First(x => x.Chave == "RPM_SP");
+            var comando = ModbusService.ComandoSetParametro(BLD300RService.slaveAddress, parametro, trbRPMSP.Value);
+            BLD300RService.EnviarComando(BLD300RService.PortaBLD, comando, parametro).ConfigureAwait(false);
+        }
+    }
+}

AgroBase/AgroBase/Forms/frmBLD.resx

@@ -0,0 +1,120 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+</root>

AgroBase/AgroBase/Forms/frmPrincipal.Designer.cs

@@ -67,9 +67,6 @@ namespace AgroBase
             this.btnJoyEdt = new System.Windows.Forms.Button();
             this.cmbJoysticks = new System.Windows.Forms.ComboBox();
             this.timerDispositivos = new System.Windows.Forms.Timer(this.components);
-            this.gpbSensoriamento = new System.Windows.Forms.GroupBox();
-            this.lblSenMotores = new System.Windows.Forms.Label();
-            this.gridSenMotores = new System.Windows.Forms.DataGridView();
             this.btnDiagnosticos = new System.Windows.Forms.Button();
             this.btnAcompanhamento = new System.Windows.Forms.Button();
             this.btnAtuCamera = new System.Windows.Forms.Button();
@@ -79,6 +76,8 @@ namespace AgroBase
             this.gpbControleDirecional = new System.Windows.Forms.GroupBox();
             this.gpbAtalhos = new System.Windows.Forms.GroupBox();
             this.pnlAtalhos = new System.Windows.Forms.Panel();
+            this.btnBLD300R = new System.Windows.Forms.Button();
+            this.btnWT901C = new System.Windows.Forms.Button();
             this.btnLoRaConfig = new System.Windows.Forms.Button();
             this.btnResultados = new System.Windows.Forms.Button();
             this.btnKinect = new System.Windows.Forms.Button();
@@ -94,7 +93,6 @@ namespace AgroBase
             this.btnIniciarOperacao = new System.Windows.Forms.Button();
             this.lblModoOperacao = new System.Windows.Forms.Label();
             this.cmbModoOperacao = new System.Windows.Forms.ComboBox();
-            this.btnWT901C = new System.Windows.Forms.Button();
             this.gpbAcoes.SuspendLayout();
             this.erroStrip.SuspendLayout();
             this.pnlLateral.SuspendLayout();
@@ -106,8 +104,6 @@ namespace AgroBase
             ((System.ComponentModel.ISupportInitialize)(this.trkRPM)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.tkbAngulo)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.tkbVelocidade)).BeginInit();
-            this.gpbSensoriamento.SuspendLayout();
-            ((System.ComponentModel.ISupportInitialize)(this.gridSenMotores)).BeginInit();
             this.gpbJoystick.SuspendLayout();
             this.gpbControleDirecional.SuspendLayout();
             this.gpbAtalhos.SuspendLayout();
@@ -498,45 +494,6 @@ namespace AgroBase
             this.timerDispositivos.Interval = 5000;
             this.timerDispositivos.Tick += new System.EventHandler(this.timerDispositivos_Tick);
             // 
-            // gpbSensoriamento
-            // 
-            this.gpbSensoriamento.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
-            | System.Windows.Forms.AnchorStyles.Left) 
-            | System.Windows.Forms.AnchorStyles.Right)));
-            this.gpbSensoriamento.Controls.Add(this.lblSenMotores);
-            this.gpbSensoriamento.Controls.Add(this.gridSenMotores);
-            this.gpbSensoriamento.Location = new System.Drawing.Point(12, 508);
-            this.gpbSensoriamento.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
-            this.gpbSensoriamento.Name = "gpbSensoriamento";
-            this.gpbSensoriamento.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2);
-            this.gpbSensoriamento.Size = new System.Drawing.Size(609, 212);
-            this.gpbSensoriamento.TabIndex = 13;
-            this.gpbSensoriamento.TabStop = false;
-            this.gpbSensoriamento.Text = "Sensoriamento";
-            // 
-            // lblSenMotores
-            // 
-            this.lblSenMotores.AutoSize = true;
-            this.lblSenMotores.Location = new System.Drawing.Point(12, 23);
-            this.lblSenMotores.Name = "lblSenMotores";
-            this.lblSenMotores.Size = new System.Drawing.Size(56, 16);
-            this.lblSenMotores.TabIndex = 1;
-            this.lblSenMotores.Text = "Motores";
-            // 
-            // gridSenMotores
-            // 
-            this.gridSenMotores.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
-            | System.Windows.Forms.AnchorStyles.Left) 
-            | System.Windows.Forms.AnchorStyles.Right)));
-            this.gridSenMotores.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
-            this.gridSenMotores.Location = new System.Drawing.Point(5, 43);
-            this.gridSenMotores.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
-            this.gridSenMotores.Name = "gridSenMotores";
-            this.gridSenMotores.RowHeadersWidth = 51;
-            this.gridSenMotores.RowTemplate.Height = 24;
-            this.gridSenMotores.Size = new System.Drawing.Size(597, 162);
-            this.gridSenMotores.TabIndex = 0;
-            // 
             // btnDiagnosticos
             // 
             this.btnDiagnosticos.Location = new System.Drawing.Point(7, 8);
@@ -637,6 +594,7 @@ namespace AgroBase
             // pnlAtalhos
             // 
             this.pnlAtalhos.AutoScroll = true;
+            this.pnlAtalhos.Controls.Add(this.btnBLD300R);
             this.pnlAtalhos.Controls.Add(this.btnWT901C);
             this.pnlAtalhos.Controls.Add(this.btnLoRaConfig);
             this.pnlAtalhos.Controls.Add(this.btnResultados);
@@ -656,6 +614,28 @@ namespace AgroBase
             this.pnlAtalhos.Size = new System.Drawing.Size(150, 352);
             this.pnlAtalhos.TabIndex = 0;
             // 
+            // btnBLD300R
+            // 
+            this.btnBLD300R.Location = new System.Drawing.Point(7, 422);
+            this.btnBLD300R.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.btnBLD300R.Name = "btnBLD300R";
+            this.btnBLD300R.Size = new System.Drawing.Size(112, 25);
+            this.btnBLD300R.TabIndex = 28;
+            this.btnBLD300R.Text = "BLD300R";
+            this.btnBLD300R.UseVisualStyleBackColor = true;
+            this.btnBLD300R.Click += new System.EventHandler(this.btnBLD300R_Click);
+            // 
+            // btnWT901C
+            // 
+            this.btnWT901C.Location = new System.Drawing.Point(7, 393);
+            this.btnWT901C.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.btnWT901C.Name = "btnWT901C";
+            this.btnWT901C.Size = new System.Drawing.Size(112, 25);
+            this.btnWT901C.TabIndex = 27;
+            this.btnWT901C.Text = "WT901C485";
+            this.btnWT901C.UseVisualStyleBackColor = true;
+            this.btnWT901C.Click += new System.EventHandler(this.btnWT901C_Click);
+            // 
             // btnLoRaConfig
             // 
             this.btnLoRaConfig.Location = new System.Drawing.Point(7, 364);
@@ -825,17 +805,6 @@ namespace AgroBase
             this.cmbModoOperacao.TabIndex = 13;
             this.cmbModoOperacao.SelectedIndexChanged += new System.EventHandler(this.cmbModoOperacao_SelectedIndexChanged);
             // 
-            // btnWT901C
-            // 
-            this.btnWT901C.Location = new System.Drawing.Point(7, 393);
-            this.btnWT901C.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
-            this.btnWT901C.Name = "btnWT901C";
-            this.btnWT901C.Size = new System.Drawing.Size(112, 25);
-            this.btnWT901C.TabIndex = 27;
-            this.btnWT901C.Text = "WT901C485";
-            this.btnWT901C.UseVisualStyleBackColor = true;
-            this.btnWT901C.Click += new System.EventHandler(this.btnWT901C_Click);
-            // 
             // frmPrincipal
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F);
@@ -846,7 +815,6 @@ namespace AgroBase
             this.Controls.Add(this.gpbControleDirecional);
             this.Controls.Add(this.gpbJoystick);
             this.Controls.Add(this.gpbMovimentacao);
-            this.Controls.Add(this.gpbSensoriamento);
             this.Controls.Add(this.generalStrip);
             this.Controls.Add(this.gpbAcoes);
             this.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
@@ -873,9 +841,6 @@ namespace AgroBase
             ((System.ComponentModel.ISupportInitialize)(this.trkRPM)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.tkbAngulo)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.tkbVelocidade)).EndInit();
-            this.gpbSensoriamento.ResumeLayout(false);
-            this.gpbSensoriamento.PerformLayout();
-            ((System.ComponentModel.ISupportInitialize)(this.gridSenMotores)).EndInit();
             this.gpbJoystick.ResumeLayout(false);
             this.gpbControleDirecional.ResumeLayout(false);
             this.gpbControleDirecional.PerformLayout();
@@ -915,7 +880,6 @@ namespace AgroBase
         private System.Windows.Forms.TrackBar tkbVelocidade;
         private System.Windows.Forms.TrackBar tkbAngulo;
         private System.Windows.Forms.Label lblAngulo;
-        private System.Windows.Forms.GroupBox gpbSensoriamento;
         private System.Windows.Forms.Label lblRPM;
         private System.Windows.Forms.Button btnDiagnosticos;
         public System.Windows.Forms.TrackBar trkRPM;
@@ -927,8 +891,6 @@ namespace AgroBase
         private System.Windows.Forms.Button btnMapas;
         private System.Windows.Forms.Button btnSenCamera;
         private System.Windows.Forms.GroupBox gpbJoystick;
-        private System.Windows.Forms.Label lblSenMotores;
-        public System.Windows.Forms.DataGridView gridSenMotores;
         private System.Windows.Forms.GroupBox gpbControleDirecional;
         private System.Windows.Forms.GroupBox gpbAtalhos;
         private System.Windows.Forms.GroupBox gpbOperacao;
@@ -955,6 +917,7 @@ namespace AgroBase
         private System.Windows.Forms.Panel pnlAtalhos;
         private System.Windows.Forms.Button btnLoRaConfig;
         private System.Windows.Forms.Button btnWT901C;
+        private System.Windows.Forms.Button btnBLD300R;
     }
 }
 

AgroBase/AgroBase/Forms/frmPrincipal.cs

@@ -171,6 +171,7 @@ namespace AgroBase
                     x.Dispositivo == T_Code.Pzm ? (PZEMService.Iniciado ? "Conectado" : "Desconectado") : 
                     x.Dispositivo == T_Code.Lra ? (LoRaService.Iniciado ? "Conectado" : "Desconectado") : 
                     x.Dispositivo == T_Code.Wit ? (WT901CService.Iniciado ? "Conectado" : "Desconectado") : 
+                    x.Dispositivo == T_Code.Bld ? (BLD300RService.Iniciado ? "Conectado" : "Desconectado") : 
                     (Variaveis.DispositivosConectados.FirstOrDefault(y => y.PortaCOM() == x.PortaCOM)?.StatusPorta() ?? "Desconectado"))
                 }).ToArray()
             );
@@ -387,5 +388,18 @@ namespace AgroBase
                 MessageBox.Show("Módulo WT901C485 não está conectado!");
             }
         }
+
+        private void btnBLD300R_Click(object sender, EventArgs e)
+        {
+            if (BLD300RService.Iniciado || true)
+            {
+                frmBLD frm = new frmBLD();
+                frm.Show();
+            }
+            else
+            {
+                MessageBox.Show("Driver BLD-300R não está conectado!");
+            }
+        }
     }
 }

AgroBase/AgroBase/Models/BLD300RModel.cs

@@ -0,0 +1,39 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using static AgroBase.Models.Enuns;
+
+namespace AgroBase.Models
+{
+    public class BLD300RModel
+    {
+        public int Versao { get; set; }
+        public bool ControleRS485 { get; set; }
+        public int CodigoAlarme { get; set; }
+        public int NumeroPolos { get; set; }
+        public int RPM_Max { get; set; }
+        public int Rampa { get; set; }
+        public int RPM_SP { get; set; }
+        public int RPM { get; set; }
+        public bool Ativado { get; set; }
+        public bool Freado { get; set; }
+        private bool _direcao;
+        public Sentido Direcao
+        {
+            get
+            {
+                return _direcao ? Sentido.Horario : Sentido.Antihorario;
+            }
+            set
+            {
+                _direcao = value == Sentido.Horario ? true : false;
+            }
+        }
+        public double Tensao { get; set; }
+        public double Temperatura { get; set; }
+        public double CorrenteMax { get; set; }
+    
+    }
+}

AgroBase/AgroBase/Models/Enuns.cs

@@ -55,6 +55,7 @@ namespace AgroBase.Models
             Pzm = 105,
             Lra = 106,
             Wit = 107,
+            Bld = 108,
         }
 
         public enum F_Code
@@ -86,6 +87,7 @@ namespace AgroBase.Models
             sBMB = 325,
             sLED = 445,
             sSNR = 532,
+            sBLD = 544,
         }
 
         public enum BotoesJoystick

AgroBase/AgroBase/Models/Modules/AtuadorModel.cs

@@ -419,16 +419,6 @@ namespace AgroBase.Models.Modules
             return Conectado;
         }
 
-        public void PopulaGridSensoriamento()
-        {
-
-        }
-
-        public void AtualizaGridSensoriamento()
-        {
-
-        }
-
         public void IniciarRegistrador()
         {
 

AgroBase/AgroBase/Models/Modules/DirecionalModel.cs

@@ -287,16 +287,6 @@ namespace AgroBase.Models.Modules
             return Conectado;
         }
 
-        public void PopulaGridSensoriamento()
-        {
-            
-        }
-
-        public void AtualizaGridSensoriamento()
-        {
-            
-        }
-
         public PinoutDataModel CarregarPinout(string nomeArquivo)
         {
             if (!File.Exists(nomeArquivo))

AgroBase/AgroBase/Models/Modules/DispositivoBaseModel.cs

@@ -16,8 +16,6 @@ namespace AgroBase.Models
         void SetTaxaAmostragem(int TaxaAmostragem);
         bool GetStatusConexao();
         List<string> ProtocoloConfiguracao(bool Conectar);
-        void PopulaGridSensoriamento();
-        void AtualizaGridSensoriamento();
         void IniciarRegistrador();
     }
 

AgroBase/AgroBase/Models/Modules/MovimentacaoModel.cs

@@ -25,19 +25,14 @@ namespace AgroBase.Models
             return _MensagemConexaoRecebida;
         }
 
-        public static int _TaxaAmostragem { get; set; } = 500;
-        public static int RampaMin { get; set; } = 0;
-        public static int RampaMax { get; set; } = 1023;
-        public static int PulsosPorRevolucao { get; set; } = 22;
-        public static bool _FOC { get; set; } = true;
-        public static double Kp { get; set; } = 1.75;
-        public static double Ki { get; set; } = 2.1;
-        public static double Kd { get; set; } = 0.08;
-        public static int _DelayBalanceamento { get; set; } = 500;
-        public static int _MargemRPM { get; set; } = 5;
-        public static int _MaxOffsetRPM { get; set; } = 25;
-        public static double DiametroRoda { get; set; } = 0.3556;
         public bool Conectado { get; set; } = false;
+
+        public static int _TaxaAmostragem { get; set; } = 500;
+        public static int NumPolos { get; set; } = 0;
+        public static int Rampa { get; set; } = 0;
+        public static int RPM_Max { get; set; } = 0;
+        public static double DiametroRoda { get; set; } = 0.3556;
+        
         public static int LogsManter { get; set; } = 60;
         public static PinoutDataModel Pinout { get; set; }
         public static List<FuncoesPinout> Funcoes { get; set; } = new List<FuncoesPinout>();
@@ -58,7 +53,8 @@ namespace AgroBase.Models
                 Motores = new List<MovSensoriamentoMotor>()
                 {
                     new MovSensoriamentoMotor() {
-                        Canal = 0,
+                        Canal = 1,
+                        Endereco = "0x01",
                         ID = "ET",
                         Descricao = "Esquerdo Trás",
                         ConfigSentidos = new ConfiguracaoSentidoMotor() {
@@ -68,18 +64,12 @@ namespace AgroBase.Models
                             Tras = Sentido.Antihorario
                         },
                         Funcoes = new List<FuncoesPinout>() {
-                            FuncoesPinout.PWM,
-                            FuncoesPinout.DIR,
-                            FuncoesPinout.BRK,
-                            FuncoesPinout.STP,
-                            FuncoesPinout.HallA,
-                            FuncoesPinout.HallB,
-                            FuncoesPinout.HallC,
                             FuncoesPinout.TMP,
                         }
                     },
                     new MovSensoriamentoMotor() {
-                        Canal = 1,
+                        Canal = 2,
+                        Endereco = "0x02",
                         ID = "EF",
                         Descricao = "Esquerdo Frente",
                         ConfigSentidos = new ConfiguracaoSentidoMotor() {
@@ -89,18 +79,12 @@ namespace AgroBase.Models
                             Tras = Sentido.Antihorario
                         },
                         Funcoes = new List<FuncoesPinout>() {
-                            FuncoesPinout.PWM,
-                            FuncoesPinout.DIR,
-                            FuncoesPinout.BRK,
-                            FuncoesPinout.STP,
-                            FuncoesPinout.HallA,
-                            FuncoesPinout.HallB,
-                            FuncoesPinout.HallC,
                             FuncoesPinout.TMP,
                         }
                     },
                     new MovSensoriamentoMotor() {
-                        Canal = 2,
+                        Canal = 3,
+                        Endereco = "0x03",
                         ID = "DT",
                         Descricao = "Direito Trás",
                         ConfigSentidos = new ConfiguracaoSentidoMotor() {
@@ -110,18 +94,12 @@ namespace AgroBase.Models
                             Tras = Sentido.Antihorario
                         },
                         Funcoes = new List<FuncoesPinout>() {
-                            FuncoesPinout.PWM,
-                            FuncoesPinout.DIR,
-                            FuncoesPinout.BRK,
-                            FuncoesPinout.STP,
-                            FuncoesPinout.HallA,
-                            FuncoesPinout.HallB,
-                            FuncoesPinout.HallC,
                             FuncoesPinout.TMP,
                         }
                     },
                     new MovSensoriamentoMotor() {
-                        Canal = 3,
+                        Canal = 4,
+                        Endereco = "0x04",
                         ID = "DF",
                         Descricao = "Direito Frente",
                         ConfigSentidos = new ConfiguracaoSentidoMotor() {
@@ -131,13 +109,6 @@ namespace AgroBase.Models
                             Tras = Sentido.Horario
                         },
                         Funcoes = new List<FuncoesPinout>() {
-                            FuncoesPinout.PWM,
-                            FuncoesPinout.DIR,
-                            FuncoesPinout.BRK,
-                            FuncoesPinout.STP,
-                            FuncoesPinout.HallA,
-                            FuncoesPinout.HallB,
-                            FuncoesPinout.HallC,
                             FuncoesPinout.TMP,
                         }
                     }
@@ -152,13 +123,7 @@ namespace AgroBase.Models
                 ((int)F_Code.Cfg).ToString() + SerialService.SplitMessage +
                 "MD" + SerialService.SplitParams + 
                 (Conectar ? "1" : "0") + SerialService.SplitParams + 
-                _TaxaAmostragem.ToString() + SerialService.SplitParams +
+                _TaxaAmostragem.ToString();
-                RampaMin.ToString() + SerialService.SplitParams +
-                RampaMax.ToString() + SerialService.SplitParams +
-                PulsosPorRevolucao.ToString() + SerialService.SplitParams +
-                _DelayBalanceamento.ToString() + SerialService.SplitParams +
-                _MargemRPM.ToString() + SerialService.SplitParams + 
-                _MaxOffsetRPM.ToString();
             Config.Add(ProtocoloMOD);
             return Config;
         }
@@ -186,24 +151,34 @@ namespace AgroBase.Models
                     {
                         switch (TipoSensor)
                         {
-                            case S_Code.sRPM:
+                            case S_Code.sBLD:
                                 {
                                     double rpm = 0;
                                     double.TryParse(Dados[2].Replace(".", ","), out rpm);
                                     Motor.RPM = rpm;
-                                    double potencia = 0;
+                                    double temperatura = 0;
-                                    double.TryParse(Dados[3].Replace(".", ","), out potencia);
+                                    double.TryParse(Dados[3].Replace(".", ","), out temperatura);
-                                    Motor.Potencia = potencia;
+                                    Motor.Temperatura = temperatura;
-                                    int aceleracao = 0;
+                                    double tensao = 0;
-                                    int.TryParse(Dados[4], out aceleracao);
+                                    double.TryParse(Dados[4].Replace(".", ","), out tensao);
-                                    Motor.Aceleracao = (StatusMotor)aceleracao;
+                                    Motor.Tensao = tensao;
+                                    double corrente_max = 0;
+                                    double.TryParse(Dados[5].Replace(".", ","), out corrente_max);
+                                    Motor.Corrente_Max = corrente_max;
+                                    bool ligado = Dados[6] == "1";
+                                    Motor.Ligado = ligado;
                                     int sentido = 0;
-                                    int.TryParse(Dados[5], out sentido);
+                                    int.TryParse(Dados[7], out sentido);
                                     Motor.Sentido = (Sentido)sentido;
-                                    Motor.Revertendo = Dados[6] == "1";
+                                    bool freio = Dados[8] == "1";
-                                    double rpm_offset = 0;
+                                    Motor.Freio = freio;
-                                    double.TryParse(Dados[7].Replace(".", ","), out rpm_offset);
+                                    int codAlarme = 0;
-                                    Motor.RPM_Offset = rpm_offset;
+                                    int.TryParse(Dados[9], out codAlarme);
+                                    Motor.CodigoAlarme = codAlarme;
+                                    double tempDriver = 0;
+                                    double.TryParse(Dados[10].Replace(".", ","), out tempDriver);
+                                    Motor.TemperaturaDriver = tempDriver;
+
                                     AtualizaGrafico = true;
                                     break;
                                 }
@@ -238,20 +213,6 @@ namespace AgroBase.Models
                                     Motor.Inicializado = Dados[2] == "1";
                                     break;
                                 }
-                            case S_Code.sTMP:
-                                {
-                                    double t = 0;
-                                    double.TryParse(Dados[2].Replace(".", ","), out t);
-                                    Motor.Temperatura = t;
-                                    /*double u = 0;
-                                    double.TryParse(Dados[3].Replace(".", ","), out u);
-                                    Motor.Umidade = u;
-                                    long i = 0;
-                                    long.TryParse(Dados[4].Replace(".", ","), out i);
-                                    Motor.IndiceCalor = i;*/
-                                    AtualizaGrafico = true;
-                                    break;
-                                }
 
                         }
                     }
@@ -268,18 +229,11 @@ namespace AgroBase.Models
                             ComponenteID = Motor.ID,
                             RPM_SP = Motor.RPM_SP,
                             RPM = Motor.RPM,
-                            RPM_Offset = Motor.RPM_Offset,
-                            Periodo = Motor.Intervalo,
-                            Potencia = Motor.Potencia,
-                            PotenciaSP = Motor.Potencia_SP,
-                            Kp = Kp,
-                            Ki = Ki,
-                            Kd = Kd,
                             Temperatura = Motor.Temperatura,
-                            Umidade = Motor.Umidade,
-                            IndiceCalor = Motor.IndiceCalor,
                             Sentido = Motor.Sentido,
                             Velocidade = Motor.VelocidadeInstantanea,
+                            TemperaturaDriver = Motor.TemperaturaDriver,
+                            Tensao = Motor.Tensao,
                         });
 
                         if (Motor.LogGrafico.Count() > LogsManter)
@@ -287,11 +241,7 @@ namespace AgroBase.Models
                             Motor.LogGrafico.RemoveAt(0);
                         }
 
-                        //frmInstancial.frmPlotMovimentacao.AtualizaGrafico();
+
-                        /*if (frmPrincipal.Dispositivos.Any(x => x.Dispositivo == T_Code.Mov))
-                        {
-                            ((frmMovPlot)(frmPrincipal.Dispositivos.First(x => x.Dispositivo == T_Code.Mov).frmPlot)).AtualizaGrafico();
-                        }*/
                         frmInstancial.frmAcompanhamento.AtualizaGrafico();
                     }
                 }
@@ -318,64 +268,6 @@ namespace AgroBase.Models
             return Conectado;
         }
 
-        public void PopulaGridSensoriamento()
-        {
-            frmInstancial.frmPrincipal.gridSenMotores.Rows.Clear();
-            frmInstancial.frmPrincipal.gridSenMotores.Columns.Clear();
-            frmInstancial.frmPrincipal.gridSenMotores.Columns.Add("clMotor", "Motor");
-            frmInstancial.frmPrincipal.gridSenMotores.Columns.Add("clInicializado", "Inicializado");
-            frmInstancial.frmPrincipal.gridSenMotores.Columns.Add("clSentidoSP", "Sentido SP");
-            frmInstancial.frmPrincipal.gridSenMotores.Columns.Add("clSentido", "Sentido");
-            frmInstancial.frmPrincipal.gridSenMotores.Columns.Add("clStatus", "Status");
-            frmInstancial.frmPrincipal.gridSenMotores.Columns.Add("clPotencia", "Potencia");
-            frmInstancial.frmPrincipal.gridSenMotores.Columns.Add("clRPMOffset", "RPM Offset");
-            frmInstancial.frmPrincipal.gridSenMotores.Columns.Add("clRPM", "RPM");
-            frmInstancial.frmPrincipal.gridSenMotores.Columns.Add("clVelocidade", "Velocidade");
-            frmInstancial.frmPrincipal.gridSenMotores.Columns.Add("clTemperatura", "Temperatura");
-            frmInstancial.frmPrincipal.gridSenMotores.Columns.Add("clCorrente", "Corrente");
-            frmInstancial.frmPrincipal.gridSenMotores.Columns.Add("clTensao", "Tensão");
-            //frmInstancial.frmPrincipal.gridSenMotores.Columns.Add("clUmidade", "Umidade");
-            foreach (var Motor in Motores)
-            {
-                frmInstancial.frmPrincipal.gridSenMotores.Rows.Add(new string[]
-                {
-                    Motor.Descricao,
-                    Motor.Inicializado ? "Sim" : "Não",
-                    Enum.GetName(typeof(Sentido), Motor.Sentido_SP),
-                    Enum.GetName(typeof(Sentido), Motor.Sentido),
-                    Enum.GetName(typeof(StatusMotor), Motor.Aceleracao),
-                    Motor.Potencia.ToString("0.00"),
-                    Motor.RPM_Offset.ToString("0.00"),
-                    Motor.RPM.ToString("0.00"),
-                    Motor.VelocidadeInstantanea.ToString("0.00"),
-                    Motor.Temperatura.ToString("0.00"),
-                    Motor.Corrente.ToString("0.00"), 
-                    Motor.Tensao.ToString("0.00"),
-                    //Motor.Umidade.ToString(),
-                });
-            }
-        }
-
-        public void AtualizaGridSensoriamento()
-        {
-            foreach (var Motor in Motores)
-            {
-                Motor.VelocidadeInstantanea = CalculaVelocidadeRPM(Motor.RPM);
-                frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[1].Value = Motor.Inicializado ? "Sim" : "Não";
-                frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[2].Value = Enum.GetName(typeof(Sentido), Motor.Sentido_SP);
-                frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[3].Value = Enum.GetName(typeof(Sentido), Motor.Sentido);
-                frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[4].Value = Enum.GetName(typeof(StatusMotor), Motor.Aceleracao);
-                frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[5].Value = Motor.Potencia.ToString("0.00");
-                frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[6].Value = Motor.RPM_Offset.ToString("0.00");
-                frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[7].Value = Motor.RPM.ToString("0.00");
-                frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[8].Value = Motor.VelocidadeInstantanea.ToString("0.00");
-                frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[9].Value = Motor.Temperatura.ToString("0.00");
-                frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[10].Value = Motor.Corrente.ToString("0.00");
-                frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[11].Value = Motor.Tensao.ToString("0.00");
-                //frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[10].Value = Motor.Umidade.ToString();
-            }
-        }
-
         public void IniciarRegistrador()
         {
             tmrRegistrador = new Timer()
@@ -423,27 +315,37 @@ namespace AgroBase.Models
         public int Canal { get; set; }
         public string ID { get; set; }
         public string Descricao { get; set; }
+
+        // SETs
+        public string Endereco { get; set; }
+        public bool Ligado { get; set; } = false;
+        public bool Freio { get; set; } = false;
+        public int CodigoAlarme { get; set; } = 0;
+        public int RPM_SP { get; set; } = 0;
+        public Sentido Sentido_SP { get; set; } = Sentido.Parado;
+        public int NumeroPolos { get; set; } = 2;
+        public int Rampa { get; set;} = 0;
+        public int RPM_Max { get; set; } = 800;
+
+
+        // GETs
+        public double RPM { get; set; } = 0;
+        public Sentido Sentido { get; set; } = Sentido.Parado;
+        public double Temperatura { get; set; } = 0;
+        public double TemperaturaDriver { get; set; } = 0;
+        public double Tensao { get; set; } = 0;
+        public double Corrente_Max { get; set; } = 0;
+
         public bool Comandar { get; set; } = false;
         public bool Alarme { get; set; } = false;
         public bool Inicializado { get; set; } = false;
-        public bool Revertendo { get; set; } = false;
-        public int RPM_SP { get; set; } = 0;
-        public double Potencia { get; set; } = 0;
-        public double Potencia_SP { get; set; } = 0;
-        public Sentido Sentido_SP { get; set; } = Sentido.Parado;
-        public Sentido Sentido { get; set; } = Sentido.Parado;
-        public StatusMotor Aceleracao { get; set; } = StatusMotor.Estavel;
-        public double RPM { get; set; } = 0;
-        public double RPM_Offset { get; set; } = 0;
-        public long Intervalo { get; set; } = 0;
-        public double VelocidadeInstantanea { get; set; } = 0;
-        public double Temperatura { get; set; } = 0;
-        public double Umidade { get; set; } = 0;
-        public double IndiceCalor { get; set; } = 0;
-        public double Corrente { get; set; } = 0;
-        public double Tensao { get; set; } = 0;
-        public ConfiguracaoSentidoMotor ConfigSentidos { get; set; }
         public bool Testando { get; set; } = false;
+
+        public double VelocidadeInstantanea { get; set; } = 0;
+        public double Corrente { get; set; } = 0;
+        
+        public ConfiguracaoSentidoMotor ConfigSentidos { get; set; }
+        
         public List<AlarmeModel> Alarmes { get; set; } = new List<AlarmeModel>();
         public List<SensoriamentoMotorTestes> LogTestes { get; set; } = new List<SensoriamentoMotorTestes>();
         public List<MovSensorimanetoGrafico> LogGrafico { get; set; } = new List<MovSensorimanetoGrafico>();
@@ -463,11 +365,10 @@ namespace AgroBase.Models
                 ID + SerialService.SplitParams + 
                 (Conectar ? "1" : "0") + SerialService.SplitParams +
                 Canal.ToString() + SerialService.SplitParams +
-                (Alarme ? "1" : "0") + SerialService.SplitParams +
+                Endereco + SerialService.SplitParams +
-                (Comandar ? "1" : "0") + SerialService.SplitParams +
+                NumeroPolos + SerialService.SplitParams +
-                MovimentacaoModel.Kp.ToString().Replace(",", ".") + SerialService.SplitParams +
+                Rampa + SerialService.SplitParams +
-                MovimentacaoModel.Ki.ToString().Replace(",", ".") + SerialService.SplitParams +
+                RPM_Max + SerialService.SplitParams +
-                MovimentacaoModel.Kd.ToString().Replace(",", ".") + SerialService.SplitParams + 
                 PinoutModel.PinoProtocolo(_pinout, Funcoes); // 29 ~ 51
 
             return Protocolo;
@@ -509,22 +410,12 @@ namespace AgroBase.Models
 
                 string ProtocoloMotor = "";
 
-                if (Revertendo && false)
-                {
-                    return ProtocoloMotor;
-                }
-
                 ProtocoloMotor =
                     ((int)F_Code.Cmd).ToString() + SerialService.SplitMessage + 
                     ID + SerialService.SplitParams + 
                     ((int)Sentido_SP).ToString() + SerialService.SplitParams +
                     RPM_SP.ToString() + SerialService.SplitParams +
-                    (Alarme ? "1" : "0"); 
+                    (Freio ? "1" : "0"); 
-
-                if (Sentido_SP != Sentido.Parado)
-                {
-                    Revertendo = true;
-                }
 
                 return ProtocoloMotor;
             }
@@ -620,18 +511,11 @@ namespace AgroBase.Models
         public string ComponenteID { get; set; }
         public int RPM_SP { get; set; }
         public double RPM { get; set; }
-        public double RPM_Offset { get; set; }
-        public long Periodo { get; set; }
-        public double Potencia { get; set; }
-        public double PotenciaSP { get; set; }
-        public double Kp { get; set; }
-        public double Ki { get; set; }
-        public double Kd { get; set; }
         public double Temperatura { get; set; }
-        public double Umidade { get; set; }
+        public double TemperaturaDriver { get; set; }
-        public double IndiceCalor { get; set; }
         public Sentido Sentido { get; set; }
         public double Velocidade { get; set; }
+        public double Tensao { get; set; }
     }
 
 

AgroBase/AgroBase/Models/Modules/PinoutModel.cs

@@ -210,8 +210,8 @@ namespace AgroBase.Models.Modules
                     new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 2, ComponenteID = "", Descricao = "30", Funcao = FuncoesPinout.NaoConectado, Habilitado = true },
                     new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 0, ComponenteID = "", Descricao = "31", Funcao = FuncoesPinout.NaoConectado, Habilitado = true },
                     new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 4, ComponenteID = "", Descricao = "32", Funcao = FuncoesPinout.NaoConectado, Habilitado = true },
-                    new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 16, ComponenteID = "", Descricao = "33", Funcao = FuncoesPinout.NaoConectado, Habilitado = true },
+                    new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 16, ComponenteID = "", Descricao = "33", Funcao = FuncoesPinout.RX, Habilitado = false },
-                    new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 17, ComponenteID = "", Descricao = "34", Funcao = FuncoesPinout.NaoConectado, Habilitado = true },
+                    new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 17, ComponenteID = "", Descricao = "34", Funcao = FuncoesPinout.TX, Habilitado = false },
                     new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 5, ComponenteID = "", Descricao = "35", Funcao = FuncoesPinout.NaoConectado, Habilitado = true },
                     new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 18, ComponenteID = "", Descricao = "36", Funcao = FuncoesPinout.NaoConectado, Habilitado = true },
                     new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 19, ComponenteID = "", Descricao = "37", Funcao = FuncoesPinout.NaoConectado, Habilitado = true },

AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs

@@ -720,45 +720,6 @@ namespace AgroBase.Models.Modules
             return Conectado;
         }
 
-        public void PopulaGridSensoriamento()
-        {
-
-        }
-
-        public void AtualizaGridSensoriamento()
-        {
-            foreach (var Sensor in Sensores.Where(x => x.ID.Contains("MV")).ToList())
-            {
-                try
-                {
-                    MovSensoriamentoMotor Motor =
-                    Variaveis.DispositivosConectados.Any(x => x.Dispositivo == T_Code.Mov) ?
-                    ((MovimentacaoModel)(Variaveis.DispositivosConectados.FirstOrDefault(x => x.Dispositivo == T_Code.Mov).Dados)).Motores.FirstOrDefault(x => Sensor.ID.Contains(x.ID)) :
-                                    null;
-                    if (Motor != null)
-                    {
-                        switch (Sensor.Componente)
-                        {
-                            case S_Code.sTMP:
-                                frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[9].Value = Motor.Temperatura.ToString("0.00");
-                                break;
-                            case S_Code.sCOR:
-                                frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[10].Value = Motor.Corrente.ToString("0.00");
-                                frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[11].Value = Motor.Tensao.ToString("0.00");
-                                break;
-                        }
-                        
-                    }
-                }
-                catch
-                {
-
-                }
-                
-                
-            }
-        }
-
         public void IniciarRegistrador()
         {
 

AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs

@@ -694,12 +694,9 @@ namespace AgroBase.Models
                         ComponenteID = Motor.ID,
                         Inicializado = Motor.Inicializado,
                         Alarme = Motor.Alarme, 
-                        Aceleracao = Motor.Aceleracao,
                         RPM_SP = Motor.RPM_SP,
                         RPM = Motor.RPM,
                         Corrente = Motor.Corrente,
-                        Potencia = Motor.Potencia,
-                        RPM_Offset = Motor.RPM_Offset, 
                         Temperatura = Motor.Temperatura,
                         Tensao = Motor.Tensao,
                         Sentido_SP = Motor.Sentido_SP,
@@ -1151,12 +1148,9 @@ namespace AgroBase.Models
         public double RPM_SP { get; set; }
         public double RPM { get; set; }
         public double Velocidade { get; set; }
-        public double Potencia { get; set; }
-        public double RPM_Offset { get; set; }
         public Sentido Sentido_SP { get; set; }
         public Sentido Sentido { get; set; }
         public double Temperatura { get; set; }
-        public StatusMotor Aceleracao { get; set; } = StatusMotor.Estavel;
         public double Corrente { get; set; }
         public double Tensao { get; set; }
     }

AgroBase/AgroBase/Services/BLD300RService.cs

@@ -0,0 +1,525 @@
+using AgroBase.Forms;
+using AgroBase.Models;
+using System;
+using System.Collections.Generic;
+using System.IO.Ports;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using static AgroBase.Models.Enuns;
+using System.Windows.Forms;
+using Emgu.CV.Structure;
+using static Emgu.CV.ML.KNearest;
+
+namespace AgroBase.Services
+{
+    public class BLD300RService
+    {
+        public static SerialPort PortaBLD = null;
+        public static bool Iniciado
+        {
+            get
+            {
+                if (PortaBLD != null && !PortaBLD.IsOpen)
+                {
+                    try
+                    {
+                        PortaBLD.Open();
+                    }
+                    catch
+                    {
+                        PortaBLD = null;
+                    }
+                }
+                return PortaBLD != null && PortaBLD.IsOpen;
+            }
+        }
+
+        public static BLD300RModel UltimaLeitura
+        {
+            get
+            {
+                // Função auxiliar para converter byte[] para int
+                int ConvertByteArrayToInt(byte[] bytes)
+                {
+                    if (bytes == null) return 0;
+
+                    int result = 0;
+                    
+                    if (bytes.Length == 2) 
+                    {
+                        string raw = "0x" + bytes[0].ToString("X") + bytes[1].ToString("X");
+                        result = Convert.ToInt32(raw, 16);
+                    }
+                    else if (bytes.Length == 4)
+                    {
+                        string raw = "0x" + bytes[0].ToString("X") + bytes[1].ToString("X") + bytes[2].ToString("X") + bytes[3].ToString("X");
+                        result = Convert.ToInt32(raw, 16);
+                    }
+
+                    return result;
+                }
+
+                // Função auxiliar para verificar a existência de uma chave e obter o valor correspondente
+                byte[] GetParametroValue(string chave)
+                {
+                    return Parametros.FirstOrDefault(x => x.Chave == chave).Valor;
+                }
+
+                // Obtenção e conversão dos parâmetros
+                int versao = ConvertByteArrayToInt(GetParametroValue("Versao"));
+                int codigoAlarme = ConvertByteArrayToInt(GetParametroValue("AlarmeCode"));
+                int numeroPolos = ConvertByteArrayToInt(GetParametroValue("NumPolos"));
+                int rpmMax = ConvertByteArrayToInt(GetParametroValue("RPM_Max"));
+                int rampa = ConvertByteArrayToInt(GetParametroValue("Rampa"));
+                int rpmSp = Convert.ToInt32(ConvertByteArrayToInt(GetParametroValue("RPM_SP")) * Parametros.First(x => x.Chave == "RPM_SP").Escala);
+                int rpm = Convert.ToInt32(ConvertByteArrayToInt(GetParametroValue("RPM")) * Parametros.First(x => x.Chave == "RPM").Escala);
+                bool controleRS485 = ConvertByteArrayToInt(GetParametroValue("ControleRS485")) == 1;
+                bool ativado = ConvertByteArrayToInt(GetParametroValue("Enabled")) == 1;
+                bool freado = ConvertByteArrayToInt(GetParametroValue("Breaked")) == 1;
+                Sentido direcao = ConvertByteArrayToInt(GetParametroValue("Direction")) == 1 ? Sentido.Horario : Sentido.Antihorario;
+
+                var P_V = Parametros.First(x => x.Chave == "Tensao");
+                double tensao = ConvertByteArrayToInt(P_V.Valor) * P_V.Escala;
+                var P_T = Parametros.First(x => x.Chave == "Temperatura");
+                double temperatura = ConvertByteArrayToInt(P_T.Valor) * P_T.Escala;
+                var P_A = Parametros.First(x => x.Chave == "LimiteCorrente");
+                double corrente = ConvertByteArrayToInt(P_A.Valor) * P_A.Escala;
+
+                // Criação do modelo com os valores obtidos
+                BLD300RModel model = new BLD300RModel()
+                {
+                    Versao = versao,
+                    ControleRS485 = controleRS485,
+                    CodigoAlarme = codigoAlarme,
+                    NumeroPolos = numeroPolos,
+                    RPM_Max = rpmMax,
+                    Rampa = rampa,
+                    RPM_SP = rpmSp,
+                    RPM = rpm,
+                    Ativado = ativado,
+                    Freado = freado,
+                    Direcao = direcao,
+                    Tensao = tensao, 
+                    Temperatura = temperatura, 
+                    CorrenteMax = corrente
+                };
+
+                return model;
+            }
+        }
+
+        public static byte slaveAddress = 0x02;
+
+        public static List<ModbusParametrosModel> Parametros = new List<ModbusParametrosModel>()
+        {
+            new ModbusParametrosModel()
+            {
+                Chave = "Versao",
+                Descricao = "Verifica a versão do driver",
+                FuncaoGet = 0x03,
+                FuncaoSet = 0x06,
+                Escala = 1,
+                LeituraLoop = true,
+                LeituraGeral = true,
+                N_Registros = 0x0001,
+                Registro = 0x00BB
+            },
+            new ModbusParametrosModel()
+            {
+                Chave = "ControleRS485",
+                Descricao = "Habilita/Desabilita controle através da interface RS485",
+                FuncaoGet = 0x03,
+                FuncaoSet = 0x06,
+                Escala = 1,
+                LeituraLoop = false,
+                LeituraGeral = true,
+                N_Registros = 0x0001,
+                Registro = 0x00B6
+            },
+            new ModbusParametrosModel()
+            {
+                Chave = "AlarmeCode",
+                Descricao = "Verifica o código de alarme",
+                FuncaoGet = 0x03,
+                FuncaoSet = 0x06,
+                Escala = 1,
+                LeituraLoop = true,
+                LeituraGeral = true,
+                N_Registros = 0x0001,
+                Registro = 0x0076
+            },
+            new ModbusParametrosModel()
+            {
+                Chave = "NumPolos",
+                Descricao = "Verifica/Define o número de polos do motor definido no driver",
+                FuncaoGet = 0x03,
+                FuncaoSet = 0x06,
+                Escala = 1,
+                LeituraLoop = false,
+                LeituraGeral = true,
+                N_Registros = 0x0001,
+                Registro = 0x0086
+            },
+            new ModbusParametrosModel()
+            {
+                Chave = "RPM_Max",
+                Descricao = "Verifica/Define o RPM máximo do motor através do controle",
+                FuncaoGet = 0x03,
+                FuncaoSet = 0x06,
+                Escala = 1,
+                LeituraLoop = false,
+                LeituraGeral = true,
+                N_Registros = 0x0001,
+                Registro = 0x0092
+            },
+            new ModbusParametrosModel()
+            {
+                Chave = "Rampa",
+                Descricao = "Verifica/Define o tempo de rampa de aceleração/desaceleração (x 100 ms)",
+                FuncaoGet = 0x03,
+                FuncaoSet = 0x06,
+                Escala = 1,
+                LeituraLoop = false,
+                LeituraGeral = true,
+                N_Registros = 0x0001,
+                Registro = 0x008A
+            },
+            new ModbusParametrosModel()
+            {
+                Chave = "RPM_SP",
+                Descricao = "Verifica/Define o RPM de Set Point",
+                FuncaoGet = 0x03,
+                FuncaoSet = 0x06,
+                Escala = 1,
+                LeituraLoop = false,
+                LeituraGeral = true,
+                N_Registros = 0x0001,
+                Registro = 0x0056
+            },
+            new ModbusParametrosModel()
+            {
+                Chave = "RPM",
+                Descricao = "Verifica o RPM atual do motor",
+                FuncaoGet = 0x03,
+                FuncaoSet = 0x06,
+                Escala = 0.27,
+                LeituraLoop = true,
+                LeituraGeral = true,
+                N_Registros = 0x0001,
+                Registro = 0x005F
+            },
+            new ModbusParametrosModel()
+            {
+                Chave = "Enabled",
+                Descricao = "Verifica/Define o status do motor",
+                FuncaoGet = 0x03,
+                FuncaoSet = 0x06,
+                Escala = 1,
+                LeituraLoop = true,
+                LeituraGeral = true,
+                N_Registros = 0x0001,
+                Registro = 0x0066
+            },
+            new ModbusParametrosModel()
+            {
+                Chave = "Breaked",
+                Descricao = "Verifica/Define o status do freio do motor",
+                FuncaoGet = 0x03,
+                FuncaoSet = 0x06,
+                Escala = 1,
+                LeituraLoop = true,
+                LeituraGeral = true,
+                N_Registros = 0x0001,
+                Registro = 0x006A
+            },
+            new ModbusParametrosModel()
+            {
+                Chave = "Direction",
+                Descricao = "Verifica/Define o sentido de giro do motor",
+                FuncaoGet = 0x03,
+                FuncaoSet = 0x06,
+                Escala = 1,
+                LeituraLoop = true,
+                LeituraGeral = true,
+                N_Registros = 0x0001,
+                Registro = 0x006D
+            },
+            new ModbusParametrosModel()
+            {
+                Chave = "LimiteCorrente",
+                Descricao = "Verifica o limite de corrente definido",
+                FuncaoGet = 0x03,
+                FuncaoSet = 0x06,
+                Escala = 0.01,
+                LeituraLoop = false,
+                LeituraGeral = true,
+                N_Registros = 0x0002,
+                Registro = 0x0096
+            },
+            new ModbusParametrosModel()
+            {
+                Chave = "Tensao",
+                Descricao = "Verifica a tensão de alimentação no driver",
+                FuncaoGet = 0x03,
+                FuncaoSet = 0x06,
+                Escala = 0.01,
+                LeituraLoop = true,
+                LeituraGeral = true,
+                N_Registros = 0x0002,
+                Registro = 0x00C8
+            },
+            new ModbusParametrosModel()
+            {
+                Chave = "Temperatura",
+                Descricao = "Verifica a temperatura do driver",
+                FuncaoGet = 0x03,
+                FuncaoSet = 0x06,
+                Escala = 0.01,
+                LeituraLoop = true,
+                LeituraGeral = true,
+                N_Registros = 0x0002,
+                Registro = 0x00d2
+            },
+            new ModbusParametrosModel()
+            {
+                Chave = "Restaurar",
+                Descricao = "Restaura os parâmetros de fábrica",
+                FuncaoGet = 0x03,
+                FuncaoSet = 0x06,
+                Escala = 1,
+                LeituraLoop = false,
+                LeituraGeral = false,
+                N_Registros = 0x0001,
+                Registro = 0x00CC
+            },
+
+
+        };
+
+
+        public static async Task<bool> VerificaPortaBLD(SerialPort porta)
+        {
+            /*porta.BaudRate = 9600;
+            porta.StopBits = StopBits.Two;
+            porta.Parity = Parity.None;
+            porta.ReadTimeout = 1000;
+            porta.WriteTimeout = 1000;
+
+            var Parametro = Parametros.First(x => x.Chave == "Versao");
+            var comando = ModbusService.ComandoGetParametro(slaveAddress, Parametro);
+            EnviarComando(porta, comando);
+            await Task.Delay(200);
+            var resposta = SerialService.VerificarRespostaPortasDesconhecidas(porta);*/
+
+            RS485Service.Inicializar(porta.PortName);
+
+            var Parametro = Parametros.First(x => x.Chave == "Versao");
+            var comando = ModbusService.ComandoGetParametro(slaveAddress, Parametro);
+            var resposta = await RS485Service.SendRequestAsync(slaveAddress, comando);
+
+            if (resposta.Length >= 5 && resposta[1] == Parametro.FuncaoGet && DecifrarResposta(resposta) != null)
+            {
+                AtualizarPortaCOM(porta);
+                return Iniciado;
+            }
+
+            porta.Close();
+            return false;
+        }
+
+        public static void AtualizarPortaCOM(SerialPort Porta)
+        {
+            /*if (PortaBLD == null)
+            {
+                PortaBLD = new SerialPort()
+                {
+                    Parity = Parity.None,
+                    StopBits = StopBits.Two, 
+                    ReadTimeout = 1000,
+                    WriteTimeout = 1000,
+                };
+            }
+            else if (Iniciado)
+            {
+                PortaBLD.Close();
+            }
+
+            PortaBLD.BaudRate = Porta.BaudRate;
+            PortaBLD.PortName = Porta.PortName;
+            PortaBLD.DataReceived -= PortaBLD_DataReceived;
+            PortaBLD.DataReceived += PortaBLD_DataReceived;*/
+
+            Porta.Close();
+
+            PortaBLD = RS485Service._serialPort;
+
+            if (Iniciado)
+            {
+                DefinirDispositivo();
+
+                AtualizarDadosDriver().ConfigureAwait(false);
+
+                ReceberDados().ConfigureAwait(false);
+            }
+
+        }
+
+        private static void DefinirDispositivo()
+        {
+            if (Iniciado)
+            {
+                SerialService.DispositivosMapeados.Add(new SerialService.DispositivoDetalhesModel()
+                {
+                    PortaCOM = PortaBLD.PortName,
+                    Dispositivo = T_Code.Bld,
+                    Erro = !Iniciado,
+                    Versao = 0
+                });
+            }
+        }
+
+
+        public static async Task EnviarComando(SerialPort _Porta, byte[] Comando, ModbusParametrosModel Parametro)
+        {
+            if (_Porta != null)
+            {
+                if (!_Porta.IsOpen)
+                {
+                    _Porta.Open();
+                }
+                if (_Porta.IsOpen)
+                {
+                    //_Porta.Write(Comando, 0, Comando.Length);
+
+                    try
+                    {
+                        byte[] buffer = await RS485Service.SendRequestAsync(slaveAddress, Comando);
+                        DecifrarResposta(buffer, Parametro);
+                    }
+                    catch (Exception ex)
+                    {
+                        Console.WriteLine("Erro ao receber resposta do endereço " + slaveAddress + " para o parâmetro SET " + Parametro.Chave);
+                    }
+
+                }
+            }
+        }
+
+        public static void PortaBLD_DataReceived(object sender, SerialDataReceivedEventArgs e)
+        {
+            if (PortaBLD.IsOpen)
+            {
+                byte[] buffer = SerialService.LerDadosDaPortaSerial(PortaBLD, 7);
+                DecifrarResposta(buffer);
+            }
+        }
+
+        private static async Task<bool> ReceberDados()
+        {
+            await Task.Delay(1000);
+
+            foreach (var Parametro in Parametros.Where(x => x.LeituraLoop))
+            {
+                //EnviarComando(PortaBLD, ModbusService.ComandoGetParametro(slaveAddress, Parametro));
+                //await Task.Delay(100);
+                //byte[] buffer = SerialService.VerificarRespostaPortasDesconhecidas(PortaBLD);
+                //byte[] buffer = SerialService.LerDadosDaPortaSerial(PortaBLD, 5);
+                //DecifrarResposta(buffer, Parametro);
+
+                try
+                {
+                    byte[] buffer = await RS485Service.SendRequestAsync(slaveAddress, ModbusService.ComandoGetParametro(slaveAddress, Parametro));
+                    DecifrarResposta(buffer, Parametro);
+                    //Console.WriteLine("Resposta recebida com sucesso do endereço " + slaveAddress + " para o parâmetro " + Parametro.Chave + " com valor [" + string.Join(",", Parametro.Valor) + "]");
+                }
+                catch (Exception ex)
+                {
+                    Console.WriteLine("Erro ao receber resposta do endereço " + slaveAddress + " para o parâmetro GET " + Parametro.Chave);
+                }
+            }
+
+            return await ReceberDados();
+        }
+
+        public static BLD300RModel DecifrarResposta(byte[] resposta, ModbusParametrosModel Parametro = null)
+        {
+            try
+            {
+                /*if (!VerificarCrc(resposta))
+                {
+                    Console.Write("CRC inválido. A resposta pode estar corrompida.");
+                    return null;
+                }*/
+
+                if (Parametro == null)
+                {
+                    Parametro = Parametros.OrderBy(x => x.UltimaRequisicao).First();
+                }
+
+                if (resposta.Length > 3)
+                {
+                    if (Parametros.Any(x => x.FuncaoGet == resposta[1]))
+                    {
+                        int num_registros = resposta[2];
+
+                        byte[] bytes_resposta = resposta.Skip(3).Take(num_registros).ToArray();
+
+                        Parametro.Valor = bytes_resposta;
+                        Parametro.UltimaRequisicao = DateTime.MaxValue;
+
+                        if (Parametro.Chave == "Versao" && SerialService.DispositivosMapeados.Any(x => x.Dispositivo == T_Code.Bld && x.Versao == 0))
+                        {
+                            SerialService.DispositivosMapeados.First(x => x.Dispositivo == T_Code.Bld).Versao = UltimaLeitura.Versao;
+                        }
+                    }
+                    else if (Parametros.Any(x => x.FuncaoSet == resposta[1]))
+                    {
+                        string parametro_raw = "0x" + (resposta[2].ToString("X").Length == 1 ? "0" : "") + resposta[2].ToString("X") + (resposta[3].ToString("X").Length == 1 ? "0" : "") + resposta[3].ToString("X");
+                        int parametro = Convert.ToInt32(parametro_raw, 16);
+                        string valor_raw = "0x" + (resposta[4].ToString("X").Length == 1 ? "0" : "") + resposta[4].ToString("X") + (resposta[5].ToString("X").Length == 1 ? "0" : "") + resposta[5].ToString("X");
+                        int valor = Convert.ToInt32(valor_raw, 16);
+                        Parametros.First(x => x.Registro == parametro).Valor = resposta.Skip(4).Take(2).ToArray();
+                        //MessageBox.Show("Parâmetro gravado com sucesso!");
+                    }
+                    else
+                    {
+                        Console.WriteLine("Resposta inválida ou código de função incorreto.");
+                    }
+                }
+
+                return new BLD300RModel();
+            }
+            catch (Exception ex)
+            {
+
+            }
+
+            return null;
+        }
+
+        public static async Task AtualizarDadosDriver()
+        {
+            foreach (var Parametro in Parametros.Where(x => x.LeituraGeral))
+            {
+                //EnviarComando(PortaBLD, ModbusService.ComandoGetParametro(slaveAddress, Parametro));
+                //await Task.Delay(100);
+                //byte[] buffer = SerialService.VerificarRespostaPortasDesconhecidas(PortaBLD);
+                //DecifrarResposta(buffer, Parametro);
+
+                try
+                {
+                    byte[] buffer = await RS485Service.SendRequestAsync(slaveAddress, ModbusService.ComandoGetParametro(slaveAddress, Parametro));
+                    DecifrarResposta(buffer, Parametro);
+                }
+                catch (Exception ex)
+                {
+                    Console.WriteLine("Erro ao receber resposta do endereço " + slaveAddress + " para o parâmetro GET " + Parametro.Chave);
+                }
+                
+            }
+        }
+
+
+    }
+}

AgroBase/AgroBase/Services/DispositivosService.cs

@@ -260,11 +260,6 @@ namespace AgroBase.Comum
 
             frmPin = new frmPinout(Dispositivo);
 
-            if (!EqualityComparer<T>.Default.Equals(Dados, default(T)))
-            {
-                Dados.PopulaGridSensoriamento();
-            }
-
             _Porta.DataReceived -= _Porta_DataReceived;
             _Porta.DataReceived += _Porta_DataReceived;
 
@@ -774,7 +769,6 @@ namespace AgroBase.Comum
             if (Recebido[0].ToString() == SerialService.BeginSensor && !EqualityComparer<T>.Default.Equals(Dados, default(T)))
             {
                 Dados.RecebeProtocoloSerial(Recebido);
-                Dados.AtualizaGridSensoriamento();
             }
         }
 

AgroBase/AgroBase/Services/ModbusService.cs

@@ -0,0 +1,145 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using static Emgu.CV.ML.KNearest;
+
+namespace AgroBase.Services
+{
+    public class ModbusService
+    {
+        public static byte[] Crc16(byte[] data)
+        {
+            ushort crc = 0xFFFF;
+            foreach (byte pos in data)
+            {
+                crc ^= pos;
+                for (int i = 0; i < 8; i++)
+                {
+                    if ((crc & 1) != 0)
+                    {
+                        crc >>= 1;
+                        crc ^= 0xA001;
+                    }
+                    else
+                    {
+                        crc >>= 1;
+                    }
+                }
+            }
+            return new byte[] { (byte)crc, (byte)(crc >> 8) };
+        }
+
+        public static bool VerifyChecksum(byte[] bytes)
+        {
+            if (bytes.Length < 2) return false;
+
+            // Extrai o CRC recebido dos últimos dois bytes da mensagem
+            byte[] receivedCrc = new byte[] { bytes[bytes.Length - 2], bytes[bytes.Length - 1] };
+
+            // Extrai os dados da mensagem sem o CRC
+            byte[] data = new byte[bytes.Length - 2];
+            Array.Copy(bytes, data, bytes.Length - 2);
+
+            // Calcula o CRC dos dados
+            byte[] computedCrc = Crc16(data);
+
+            // Verifica se o CRC calculado é igual ao CRC recebido
+            return receivedCrc[0] == computedCrc[0] && receivedCrc[1] == computedCrc[1];
+        }
+
+        public static byte[] HexStringToByteArray(string hex)
+        {
+            int NumberChars = hex.Length;
+            byte[] bytes = new byte[NumberChars / 2];
+            for (int i = 0; i < NumberChars; i += 2)
+                bytes[i / 2] = Convert.ToByte(hex.Substring(i, 2), 16);
+            return bytes;
+        }
+
+        public static int ByteArrayToDecimal(byte[] bytes)
+        {
+            if (bytes == null)
+            {
+                throw new ArgumentNullException(nameof(bytes));
+            }
+
+            switch (bytes.Length)
+            {
+                case 2:
+                    // Converter 2 bytes para short e depois para decimal
+                    int shortValue = BitConverter.ToInt32(bytes, 0);
+                    return shortValue;
+
+                case 4:
+                    // Converter 4 bytes para int e depois para decimal
+                    int intValue = BitConverter.ToInt32(bytes, 0);
+                    return intValue;
+
+                default:
+                    throw new ArgumentException("O array de bytes deve ter 2 ou 4 elementos.");
+            }
+        }
+
+        public static byte[] ComandoSetParametro(byte slaveAddress, ModbusParametrosModel Parametro, float valor)
+        {
+            Parametro.UltimaRequisicao = DateTime.Now;
+
+            // Convertendo o valor para o formato correto (LSB = 0.01)
+            int valorInt = (int)(valor * Parametro.Escala); // Convertendo para inteiro conforme a resolução
+            byte functionCode = Parametro.FuncaoSet;
+            ushort registerAddress = Parametro.Registro;
+
+            // Construindo o comando
+            List<byte> command = new List<byte>();
+            command.Add(slaveAddress);
+            command.Add(functionCode);
+            command.AddRange(BitConverter.GetBytes(registerAddress).Reverse()); // Little endian
+            command.AddRange(BitConverter.GetBytes((ushort)valorInt).Reverse()); // Little endian
+
+            byte[] crc = Crc16(command.ToArray()); // Supondo que você tenha a implementação do CRC16
+            command.AddRange(crc);
+
+            return command.ToArray();
+        }
+
+        public static byte[] ComandoGetParametro(byte slaveAddress, ModbusParametrosModel Parametro)
+        {
+            Parametro.UltimaRequisicao = DateTime.Now;
+
+            byte functionCode = Parametro.FuncaoGet;
+            ushort registerAddress = Parametro.Registro;
+            ushort numberOfRegisters = Parametro.N_Registros; // Lendo apenas um registro
+
+            // Construindo o comando
+            List<byte> command = new List<byte>();
+            command.Add(slaveAddress);
+            command.Add(functionCode);
+            command.AddRange(BitConverter.GetBytes(registerAddress).Reverse()); // Big endian
+            command.AddRange(BitConverter.GetBytes(numberOfRegisters).Reverse()); // Big endian
+
+            byte[] crc = Crc16(command.ToArray()); // Supondo que você tenha a implementação do CRC16
+            command.AddRange(crc);
+
+            return command.ToArray();
+        }
+
+
+    }
+
+    public class ModbusParametrosModel
+    {
+        public DateTime UltimaRequisicao { get; set; } = DateTime.MaxValue;
+        public string Descricao { get; set; }
+        public string Chave { get; set; }
+        public byte FuncaoGet { get; set; }
+        public byte FuncaoSet { get; set; }
+        public byte Registro { get; set; }
+        public byte N_Registros { get; set; }
+        public bool LeituraLoop { get; set; }
+        public bool LeituraGeral { get; set; }
+        public double Escala { get; set; }
+        public byte[] Valor { get; set; }
+    }
+}

AgroBase/AgroBase/Services/RS485Service.cs

@@ -0,0 +1,87 @@
+using System;
+using System.Collections.Concurrent;
+using System.Collections.Generic;
+using System.IO.Ports;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace AgroBase.Services
+{
+    public class RS485Service
+    {
+        public static SerialPort _serialPort;
+        private static ConcurrentDictionary<int, TaskCompletionSource<byte[]>> _pendingRequests;
+        private static List<byte> _receiveBuffer = new List<byte>();
+
+        public RS485Service(string portName)
+        {
+
+        }
+
+        public static void Inicializar(string portName)
+        {
+            _serialPort = new SerialPort(portName, 9600, Parity.None, 8, StopBits.Two);
+            _serialPort.DataReceived += OnDataReceived;
+            _serialPort.Open();
+            _pendingRequests = new ConcurrentDictionary<int, TaskCompletionSource<byte[]>>();
+        }
+
+        public static async Task<byte[]> SendRequestAsync(int address, byte[] request)
+        {
+            var tcs = new TaskCompletionSource<byte[]>();
+            _pendingRequests[address] = tcs;
+
+            _serialPort.Write(request, 0, request.Length);
+
+            // Timeout após 2 segundos
+            var timeoutTask = Task.Delay(2000).ContinueWith(t => tcs.TrySetCanceled());
+
+            var completedTask = await Task.WhenAny(tcs.Task, timeoutTask);
+
+            // Verifica se a tarefa concluída foi a de timeout
+            if (completedTask == timeoutTask)
+            {
+                _receiveBuffer.Clear();
+                throw new TimeoutException("O dispositivo não respondeu dentro do tempo esperado.");
+            }
+
+            // Retorna o resultado da tarefa que não foi de timeout
+            return await tcs.Task;
+        }
+
+        private static void OnDataReceived(object sender, SerialDataReceivedEventArgs e)
+        {
+            while (_serialPort.BytesToRead > 0)
+            {
+                byte[] buffer = new byte[_serialPort.BytesToRead];
+                int bytesRead = _serialPort.Read(buffer, 0, buffer.Length);
+                _receiveBuffer.AddRange(buffer);
+
+                if (_receiveBuffer.Count > 20) 
+                {
+                    _receiveBuffer.Clear();
+                    _serialPort.DiscardInBuffer();
+                }
+                // Verifica se a mensagem completa foi recebida
+                else if (_receiveBuffer.Count >= 4) // Tamanho mínimo de uma mensagem MODBUS RTU (endereço + função + CRC)
+                {
+                    // Verifica o CRC
+                    if (ModbusService.VerifyChecksum(_receiveBuffer.ToArray()))
+                    {
+                        byte[] response = _receiveBuffer.ToArray();
+                        _receiveBuffer.Clear();
+                     
+                        // Processar a resposta e identificar o dispositivo
+                        int address = 0x02;
+                     
+                        if (_pendingRequests.TryRemove(address, out var tcs))
+                        {
+                            tcs.SetResult(response);
+                        }
+                    }
+                }
+            }
+        }
+    }
+}

AgroBase/AgroBase/Services/SerialService.cs

@@ -133,6 +133,10 @@ namespace AgroBase.Services
                 {
                     DispositivoConectado = WT901CService.Iniciado;
                 }
+                else if (Dispositivo == T_Code.Bld)
+                {
+                    DispositivoConectado = BLD300RService.Iniciado;
+                }
                 else
                 {
                     IDispositivosService dispositivoService = Variaveis.DispositivosConectados.FirstOrDefault(x => x.Dispositivo == Dispositivo);
@@ -270,6 +274,14 @@ namespace AgroBase.Services
                         return Encontrado;
                     }
                 }
+                if (!BLD300RService.Iniciado)
+                {
+                    bool Encontrado = await BLD300RService.VerificaPortaBLD(porta);
+                    if (Encontrado)
+                    {
+                        return Encontrado;
+                    }
+                }
                 if (!WT901CService.Iniciado)
                 {
                     bool Encontrado = await WT901CService.VerificaPortaWT901C(porta);
@@ -279,6 +291,7 @@ namespace AgroBase.Services
                     }
                 }
                 
+
                 if (TentativasPortas.TryGetValue(porta.PortName, out int tentativas))
                 {
                     TentativasPortas[porta.PortName] = tentativas + 1;

AgroBase/AgroBase/bin/Debug/Parametros/pinoutMov.pin

@@ -1 +1 @@
-{"ExpansorGPIO":false,"EnderecoExpansor":"","Pinos":[{"Controlador":0,"Barramento":0,"Pino":99,"Descricao":"1","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":98,"Descricao":"2","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":97,"Descricao":"3","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":4,"Descricao":"4","Funcao":5,"Habilitado":true,"ComponenteID":"ET"},{"Controlador":0,"Barramento":0,"Pino":5,"Descricao":"5","Funcao":9,"Habilitado":true,"ComponenteID":"ET"},{"Controlador":0,"Barramento":0,"Pino":6,"Descricao":"6","Funcao":10,"Habilitado":true,"ComponenteID":"ET"},{"Controlador":0,"Barramento":0,"Pino":7,"Descricao":"7","Funcao":11,"Habilitado":true,"ComponenteID":"ET"},{"Controlador":0,"Barramento":0,"Pino":15,"Descricao":"8","Funcao":6,"Habilitado":true,"ComponenteID":"ET"},{"Controlador":0,"Barramento":0,"Pino":16,"Descricao":"9","Funcao":7,"Habilitado":true,"ComponenteID":"ET"},{"Controlador":0,"Barramento":0,"Pino":17,"Descricao":"10","Funcao":8,"Habilitado":true,"ComponenteID":"ET"},{"Controlador":0,"Barramento":0,"Pino":18,"Descricao":"11","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":8,"Descricao":"12","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":3,"Descricao":"13","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":46,"Descricao":"14","Funcao":8,"Habilitado":true,"ComponenteID":"DT"},{"Controlador":0,"Barramento":0,"Pino":9,"Descricao":"15","Funcao":7,"Habilitado":true,"ComponenteID":"DT"},{"Controlador":0,"Barramento":0,"Pino":10,"Descricao":"16","Funcao":6,"Habilitado":true,"ComponenteID":"DT"},{"Controlador":0,"Barramento":0,"Pino":11,"Descricao":"17","Funcao":11,"Habilitado":true,"ComponenteID":"DT"},{"Controlador":0,"Barramento":0,"Pino":12,"Descricao":"18","Funcao":10,"Habilitado":true,"ComponenteID":"DT"},{"Controlador":0,"Barramento":0,"Pino":13,"Descricao":"19","Funcao":9,"Habilitado":true,"ComponenteID":"DT"},{"Controlador":0,"Barramento":0,"Pino":14,"Descricao":"20","Funcao":5,"Habilitado":true,"ComponenteID":"DT"},{"Controlador":0,"Barramento":0,"Pino":96,"Descricao":"21","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":95,"Descricao":"22","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":94,"Descricao":"23","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":93,"Descricao":"24","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":19,"Descricao":"25","Funcao":5,"Habilitado":true,"ComponenteID":"DF"},{"Controlador":0,"Barramento":0,"Pino":20,"Descricao":"26","Funcao":9,"Habilitado":true,"ComponenteID":"DF"},{"Controlador":0,"Barramento":0,"Pino":21,"Descricao":"27","Funcao":11,"Habilitado":true,"ComponenteID":"DF"},{"Controlador":0,"Barramento":0,"Pino":47,"Descricao":"28","Funcao":10,"Habilitado":true,"ComponenteID":"DF"},{"Controlador":0,"Barramento":0,"Pino":48,"Descricao":"29","Funcao":6,"Habilitado":true,"ComponenteID":"DF"},{"Controlador":0,"Barramento":0,"Pino":45,"Descricao":"30","Funcao":7,"Habilitado":true,"ComponenteID":"DF"},{"Controlador":0,"Barramento":0,"Pino":0,"Descricao":"31","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":35,"Descricao":"32","Funcao":8,"Habilitado":true,"ComponenteID":"DF"},{"Controlador":0,"Barramento":0,"Pino":36,"Descricao":"33","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":37,"Descricao":"34","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":38,"Descricao":"35","Funcao":8,"Habilitado":true,"ComponenteID":"EF"},{"Controlador":0,"Barramento":0,"Pino":39,"Descricao":"36","Funcao":7,"Habilitado":true,"ComponenteID":"EF"},{"Controlador":0,"Barramento":0,"Pino":40,"Descricao":"37","Funcao":6,"Habilitado":true,"ComponenteID":"EF"},{"Controlador":0,"Barramento":0,"Pino":41,"Descricao":"38","Funcao":11,"Habilitado":true,"ComponenteID":"EF"},{"Controlador":0,"Barramento":0,"Pino":42,"Descricao":"39","Funcao":10,"Habilitado":true,"ComponenteID":"EF"},{"Controlador":0,"Barramento":0,"Pino":2,"Descricao":"40","Funcao":9,"Habilitado":true,"ComponenteID":"EF"},{"Controlador":0,"Barramento":0,"Pino":1,"Descricao":"41","Funcao":5,"Habilitado":true,"ComponenteID":"EF"},{"Controlador":0,"Barramento":0,"Pino":44,"Descricao":"42","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":43,"Descricao":"43","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":92,"Descricao":"44","Funcao":0,"Habilitado":false,"ComponenteID":""}]}
+{"ExpansorGPIO":false,"EnderecoExpansor":"","Pinos":[{"Controlador":1,"Barramento":0,"Pino":99,"Descricao":"1","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":98,"Descricao":"2","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":36,"Descricao":"3","Funcao":12,"Habilitado":true,"ComponenteID":"ET"},{"Controlador":1,"Barramento":0,"Pino":39,"Descricao":"4","Funcao":12,"Habilitado":true,"ComponenteID":"EF"},{"Controlador":1,"Barramento":0,"Pino":34,"Descricao":"5","Funcao":12,"Habilitado":true,"ComponenteID":"DT"},{"Controlador":1,"Barramento":0,"Pino":35,"Descricao":"6","Funcao":12,"Habilitado":true,"ComponenteID":"DF"},{"Controlador":1,"Barramento":0,"Pino":32,"Descricao":"7","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":33,"Descricao":"8","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":25,"Descricao":"9","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":26,"Descricao":"10","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":27,"Descricao":"11","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":14,"Descricao":"12","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":12,"Descricao":"13","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":97,"Descricao":"14","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":13,"Descricao":"15","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":9,"Descricao":"16","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":10,"Descricao":"17","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":11,"Descricao":"18","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":96,"Descricao":"19","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":6,"Descricao":"26","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":7,"Descricao":"27","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":8,"Descricao":"28","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":15,"Descricao":"29","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":2,"Descricao":"30","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":0,"Descricao":"31","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":4,"Descricao":"32","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":16,"Descricao":"33","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":17,"Descricao":"34","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":5,"Descricao":"35","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":18,"Descricao":"36","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":19,"Descricao":"37","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":95,"Descricao":"38","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":21,"Descricao":"39","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":3,"Descricao":"40","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":1,"Descricao":"41","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":22,"Descricao":"42","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":23,"Descricao":"43","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":1,"Barramento":0,"Pino":94,"Descricao":"44","Funcao":0,"Habilitado":false,"ComponenteID":""}]}

AgroBase/AgroBase/obj/Debug/AgroBase.csproj.CoreCompileInputs.cache

@@ -1 +1 @@
-002e82922157c4b8bf51d0aac2c5b49b17bb0fad25fc7718f8e99736d0574ac6
+fd547cec450dd4e7cc70eb5c8487b1e9776deeb08c0f3d1efb1d416ed404d584

AgroBase/AgroBase/obj/Debug/AgroBase.csproj.FileListAbsolute.txt

@@ -448,3 +448,4 @@ C:\ZendionINC\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.csproj.Up2Date
 C:\ZendionINC\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.exe
 C:\ZendionINC\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.pdb
 C:\ZendionINC\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.Forms.frmWT901C.resources
+C:\ZendionINC\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.Forms.frmBLD.resources

Firmware/Modulos/Enuns.h

@@ -36,6 +36,7 @@ enum S_Code {
   sBMB = 325,
   sLED = 445,
   sSNR = 532,
+  sBLD = 544,
 };
 
 enum Sentido {

Firmware/Modulos/ModbusService.h

@@ -0,0 +1,115 @@
+#ifndef ModbusService
+#define ModbusService
+
+HardwareSerial SerialDriver(1);
+#define RXD1 16
+#define TXD1 17
+#define DE_RE_PIN 4 // Pino para DE e RE
+bool Debug = false;
+
+class ModbusGetResponse {
+    public:
+        byte _address;
+        byte _command_code;
+        byte _num_registers;
+        double _value;
+
+        ModbusGetResponse() : _address(0), _command_code(0), _num_registers(0), _value(0.0) {}
+};
+
+void InicializarModbus(bool _debug = false) {
+    SerialDriver.begin(9600, SERIAL_8N2, RXD1, TXD1);
+    Serial.println("Modbus Inicializado");
+
+    pinMode(DE_RE_PIN, OUTPUT);
+    digitalWrite(DE_RE_PIN, LOW); // Inicialmente em modo de recepção
+
+    Debug = _debug;
+}
+
+// Função para calcular CRC16
+uint16_t calculateCRC(const uint8_t* data, uint8_t length) {
+  uint16_t crc = 0xFFFF;
+
+  for (uint8_t i = 0; i < length; i++) {
+    crc ^= data[i];
+    for (uint8_t j = 0; j < 8; j++) {
+      if (crc & 0x0001) {
+        crc >>= 1;
+        crc ^= 0xA001;
+      } else {
+        crc >>= 1;
+      }
+    }
+  }
+  return crc;
+}
+
+// Função para construir o comando Modbus
+void sendModbusCommand(uint8_t slaveAddress, uint8_t functionCode, uint16_t registerAddress, int value, uint8_t* response, uint8_t& length) {
+  uint8_t command[8];
+
+  command[0] = slaveAddress;
+  command[1] = functionCode;
+  command[2] = (registerAddress >> 8) & 0xFF; // Big endian
+  command[3] = registerAddress & 0xFF;
+  
+  // Converter o valor inteiro para o formato adequado
+  command[4] = (value >> 8) & 0xFF; // Big endian
+  command[5] = value & 0xFF;
+
+  uint16_t crc = calculateCRC(command, 6);
+  command[6] = crc & 0xFF;
+  command[7] = (crc >> 8) & 0xFF;
+
+  // Alternar para modo de transmissão
+  digitalWrite(DE_RE_PIN, HIGH);
+  vTaskDelay(1); // Pequeno atraso para garantir que o modo de transmissão esteja ativo
+
+  SerialDriver.write(command, 8);
+
+  if (Debug) {
+    // Imprimir o comando em formato hexadecimal
+    Serial.print("Comando enviado: ");
+    for (int i = 0; i < 8; i++) {
+        if (command[i] < 0x10) {
+        Serial.print("0"); // Adiciona um zero à esquerda para bytes menores que 0x10
+        }
+        Serial.print(command[i], HEX);
+        Serial.print(" ");
+    }
+    Serial.println();
+  }
+  
+
+  // Alternar para modo de recepção
+  SerialDriver.flush(); // Garantir que todos os dados foram enviados
+  digitalWrite(DE_RE_PIN, LOW);
+  delay(1); // Pequeno atraso para garantir que o modo de recepção esteja ativo
+
+  // Aguardar a resposta
+  delay(100); // Ajuste o tempo de delay conforme necessário
+
+  // Ler a resposta
+  if (SerialDriver.available()) {
+    length = SerialDriver.readBytes(response, SerialDriver.available());
+
+    if (Debug) {
+        // Imprimir a resposta em formato hexadecimal
+        Serial.print("Resposta recebida: ");
+        for (int i = 0; i < length; i++) {
+        if (response[i] < 0x10) {
+            Serial.print("0"); // Adiciona um zero à esquerda para bytes menores que 0x10
+        }
+        Serial.print(response[i], HEX);
+        Serial.print(" ");
+        }
+        Serial.println();
+    }
+    
+  } else {
+    length = 0;
+  }
+}
+
+#endif

Firmware/Modulos/SerialService.h

@@ -298,4 +298,19 @@ String MontarDadosProtocoloSonarM(int distancias[36], int angulos[36], int posic
   return Protocolo;
 }
 
+
+String MontarDadosProtocoloBLD(float rpm, double temperatura, double tensao, double corrente_max, bool ligado, Sentido sentido, bool freio, int codigo_alarme, double temp_driver) {
+  String Protocolo = 
+    (String)rpm + ";" + 
+    (String)temperatura + ";" + 
+    (String)tensao + ";" + 
+    (String)corrente_max + ";" + 
+    (ligado ? "1" : "0") + ";" +
+    (String)sentido + ";" + 
+    (freio ? "1" : "0") + ";" + 
+    (String)codigo_alarme + ";" + 
+    (String)temp_driver;
+  return Protocolo;
+}
+
 #endif

Firmware/Movimentação/Movimentacao_v19/Movimentacao_v19.ino

@@ -0,0 +1,354 @@
+// Dispositivo: Movimentação
+// Versão Firmware: 19
+// Ultima atualização: 03/06/2024
+// Atualização: Drivers BLD-300R
+
+#include "C:\ZendionInc\agrobot_base\Firmware\Modulos\SerialService.h"
+#include "C:\ZendionInc\agrobot_base\Firmware\Modulos\ModbusService.h"
+#include "C:\ZendionInc\agrobot_base\Firmware\Modulos\utils.h"
+#include "C:\ZendionInc\agrobot_base\Firmware\Modulos\Pinout.h"
+#include <HardwareSerial.h>
+#include <SimpleKalmanFilter.h>
+
+#define D_Code Mov
+#define VERSION 19
+
+#define _pinoLED RGB_BUILTIN
+
+long _baudRate = 115200;
+bool Conectado = false;
+int _TaxaAmostragem = 500;
+
+
+class Motor {
+  public:
+    // Construtor
+    Motor(String desc) {
+      _ID = desc;
+    }
+
+    // Definições
+    String _ID;
+
+    bool Iniciado = false;
+    bool Testando = false;
+
+    PinoModel _pinoTMP;
+    SimpleKalmanFilter* tempKalman;
+
+    int _canal;
+    byte _endereco;
+    int _numPolos;
+    int _rampa;
+    int _rpmMax;
+
+    // Consumo
+    double RPM;
+    double RPM_SP;
+    double Temperatura;
+    double TemperaturaDriver;
+    double Tensao;
+    double CorrenteMax;
+    bool Ligado;
+    bool Freio;
+    Sentido _Sentido = Parado;
+    int CodAlarme;
+    
+    // Entrada de dados
+    double _RPM_SP;
+    bool _Ligado = false;
+    bool _Freio = false;
+    Sentido _SentidoSP = Parado;
+    
+    
+    void Inicializar() {
+      if (Iniciado) {
+        EnviarDadosSerial(_ID + " ja inicializado");
+        EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0"));
+        return;
+      }
+
+      if (_pinoTMP.Definido()) {
+        _pinoTMP.Conectar();
+        tempKalman = new SimpleKalmanFilter(2, 2, 0.01);
+      }
+
+      xTaskCreatePinnedToCore(&Motor::CheckTaskWrapper, "CheckTask", 5000, this, 21 - _canal + 4, &CheckTaskHandle, tskNO_AFFINITY);
+
+      EnviarDadosSerial(_ID + " Iniciado");
+      
+      Iniciado = true;
+
+      EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0"));
+
+      ConfigurarDriver();
+
+      AtualizarDadosControle(true);
+    }
+
+    void Desligar() {
+      if (!Iniciado) {
+        EnviarDadosSerial(_ID + " nao esta inicializado");
+        EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0"));
+        return;
+      }
+
+      // Parar a execução das tarefas
+      vTaskDelete(CheckTaskHandle);
+
+      // Redefinir as configurações para os valores iniciais
+      _pinoTMP.Desconectar();
+
+      // Outras redefinições de variáveis de estado, se necessário
+      delete tempKalman;
+
+      EnviarDadosSerial(_ID + " Desligado");
+
+      Iniciado = false;
+
+      EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0"));
+
+      AtualizarDadosControle(true);
+    }
+
+    ModbusGetResponse EnviarComandoModbus(byte endereco, byte funcao, byte registro, int valor) {
+      uint8_t response[256];
+      uint8_t length = 0;
+
+      ModbusGetResponse resposta;
+
+      sendModbusCommand(endereco, funcao, registro, valor, response, length);
+
+      // GET
+      if (funcao == 0x03) {
+        if (length >= 5) { // Verifica se a resposta tem pelo menos 5 bytes (endereco, codigo_comando, numero_registros, 2 bytes de dados, 2 bytes de CRC)
+          resposta._address = response[0];
+          resposta._command_code = response[1];
+          resposta._num_registers = response[2];
+
+          if (resposta._num_registers == 2) { // Caso de 2 bytes (sem ponto flutuante)
+            uint16_t value = (response[3] << 8) | response[4]; // Combina os dois bytes
+            resposta._value = static_cast<double>(value); // Converte para double
+          } else if (resposta._num_registers == 4 && length >= 7) { // Caso de 4 bytes (com ponto flutuante)
+            uint16_t highBytes = (response[3] << 8) | response[4]; // Combina os dois primeiros bytes
+            uint16_t lowBytes = (response[5] << 8) | response[6];  // Combina os dois últimos bytes
+
+            // Converte para double
+            resposta._value = highBytes + (lowBytes / 10000.0); // Supondo que os valores após a vírgula são representados em 4 dígitos decimais
+          } else {
+            Serial.println("Numero de registros inesperado ou resposta incompleta.");
+          }
+        } else {
+          Serial.println("Resposta incompleta.");
+        }
+      }
+      // SET
+      else if (funcao == 0x06) {
+        resposta._address = response[0];
+        resposta._command_code = response[1];
+        resposta._num_registers = 0;
+        resposta._value = (response[4] << 8) | response[5];
+      }
+
+      return resposta;
+    }
+
+    void ConfigurarDriver() {
+      EnviarComandoModbus(_endereco, 0x06, 0x00B6, 1);
+      EnviarComandoModbus(_endereco, 0x06, 0x0086, _numPolos);
+      EnviarComandoModbus(_endereco, 0x06, 0x008A, _rampa);
+      EnviarComandoModbus(_endereco, 0x06, 0x0092, _rpmMax);
+    }
+
+    void AtualizarDadosControle(bool reset = false) {
+      if (reset) {
+        _Ligado = false;
+        _Freio = false;
+        _SentidoSP = Parado;
+        _RPM_SP = 0;
+      }
+
+      if (_RPM_SP != RPM_SP) {
+        RPM_SP = EnviarComandoModbus(_endereco, 0x06, 0x0056, _RPM_SP)._value;
+      }
+      if (_Freio != Freio) {
+        Freio = EnviarComandoModbus(_endereco, 0x06, 0x006A, _Freio ? 1 : 0)._value == 1;
+      }
+      if (_SentidoSP != _Sentido) {
+        int std = EnviarComandoModbus(_endereco, 0x06, 0x006D, _SentidoSP == Horario ? 1 : 0)._value;
+        _Sentido = !Ligado ? Parado : std == 0 ? Horario : Antihorario;
+      }
+      if (_Ligado != Ligado) {
+        Ligado = EnviarComandoModbus(_endereco, 0x06, 0x0066, _Ligado ? 1 : 0)._value == 1;
+      }
+      
+    }
+
+  private:
+
+    TaskHandle_t CheckTaskHandle = NULL;
+    static void CheckTaskWrapper(void *pvParameters) {
+      Motor *motor = static_cast<Motor*>(pvParameters);
+      motor->CheckTask();
+    }
+
+    void CheckTask() {
+      unsigned long firstMilis = millis();
+      while (1)
+      {
+        if (!Conectado) {
+          // Caso não esteja conectado, aguarda 1 segundo até a próxima verificação, liberando uso de CPU
+          vTaskDelay(1000);
+          continue;
+        }
+
+        long intMillis = (millis() - firstMilis);
+
+        // A cada _TaxaAmostragem, enviar os dados para o software
+        if (intMillis >= _TaxaAmostragem) {
+
+          AferirTemperatura();
+          AferirDadosDriver();
+
+          EnviarDadosSerial(MontarProtocoloSensor(sBLD, _ID, MontarDadosProtocoloBLD(RPM, Temperatura, Tensao, CorrenteMax, Ligado, _Sentido, Freio, CodAlarme, TemperaturaDriver)));
+          firstMilis = millis();
+        }
+
+        // Aguarda metade do menor período possível entre leituras
+        vTaskDelay(1);
+      }
+    }
+
+    void AferirDadosDriver() {
+      RPM_SP = EnviarComandoModbus(_endereco, 0x03, 0x0056, 1)._value;
+      RPM = EnviarComandoModbus(_endereco, 0x03, 0x005F, 1)._value;
+      Ligado = EnviarComandoModbus(_endereco, 0x03, 0x0066, 1)._value == 1;
+      Freio = EnviarComandoModbus(_endereco, 0x03, 0x006A, 1)._value == 1;
+      _Sentido = EnviarComandoModbus(_endereco, 0x03, 0x006D, 1)._value == 1 ? Horario : Antihorario;
+      CodAlarme = EnviarComandoModbus(_endereco, 0x03, 0x0076, 1)._value;
+      Tensao = EnviarComandoModbus(_endereco, 0x03, 0x00C8, 1)._value;
+      CorrenteMax = EnviarComandoModbus(_endereco, 0x03, 0x0096, 1)._value;
+      TemperaturaDriver = EnviarComandoModbus(_endereco, 0x03, 0x00D2, 1)._value;
+    }
+
+    void AferirTemperatura() {
+      int leitura = _pinoTMP.get();
+      float leituraNormalizada = tempKalman->updateEstimate(leitura);
+      Temperatura = leituraNormalizada;
+    }
+
+};
+
+Motor M1("ET");
+Motor M2("EF");
+Motor M3("DT");
+Motor M4("DF");
+
+Motor* MotorPorID(String ID) {
+  Motor* _motor = 
+    ID == "ET" ? &M1 : 
+    ID == "EF" ? &M2 : 
+    ID == "DT" ? &M3 : 
+    ID == "DF" ? &M4 : 
+    nullptr;
+  return _motor;
+}
+
+
+
+
+void setup() {
+  Serial.begin(_baudRate);
+
+  delay(10);
+
+  InicializarModbus();
+}
+
+void loop() {
+  std::vector<ProtocoloSerial> protocolos = LerBufferSerialFila();
+
+  for (int i = 0; i < protocolos.size(); i++) {
+    ProcessarProtocolo(protocolos[i].protocolo, protocolos[i].funcao, protocolos[i].idMensagem);
+  }
+}
+
+void ProcessarProtocolo(String Protocolo, F_Code _funcao, int idMensagem) {
+
+  if (_funcao == Chk) {
+    EnviarDadosSerial(MontarProtocoloVerificacao(D_Code, VERSION));
+  }
+  else if (_funcao == Cfg) {
+    std::vector<String> Partes = SplitString(Protocolo, (char*)",");
+
+    String ID = Partes[0];
+    bool Conectar = Partes[1] == "1";
+    if (ID == "MD") {
+      _TaxaAmostragem = Partes[2].toInt();
+      
+      EnviarDadosSerial(MontarProtocoloSensor(sCFG, "MD", Conectar ? "1" : "0"));
+
+      vTaskDelay(pdMS_TO_TICKS(100));
+
+      Conectado = Conectar;
+    }
+    else {
+      int canal = Partes[2].toInt();
+      String addr = Partes[3];
+      int num_polos = Partes[4].toInt();
+      int rampa = Partes[5].toInt();
+      int rpm_max = Partes[6].toInt();
+      TiposBarramentos tmpB = (TiposBarramentos)Partes[7].toInt();
+      int tmp = Partes[8].toInt();
+      
+      Motor* _motor = MotorPorID(ID);
+      if (Conectar) {
+        _motor->_canal = canal;
+        _motor->_endereco = stringToByte(addr);
+        _motor->_numPolos = num_polos;
+        _motor->_rampa = rampa;
+        _motor->_rpmMax = rpm_max;
+        _motor->_pinoTMP = PinoModel(tmp, tmpB, _INPUT, ANALOGICO);
+              
+        _motor->Inicializar();
+      }
+      else {
+        _motor->Desligar();
+      }
+      vTaskDelay(pdMS_TO_TICKS(500));
+    }
+  }
+  else if (_funcao == Cmd) {
+    std::vector<String> Partes = SplitString(Protocolo, (char*)",");
+
+    String ID = Partes[0];
+
+    Motor* _motor = MotorPorID(ID);
+
+    _motor->_SentidoSP = (Sentido)Partes[1].toInt();
+    _motor->_Ligado = _motor->_SentidoSP != Parado;
+    _motor->_RPM_SP = Partes[2].toInt();
+    _motor->_Freio = Partes[3] == "1";
+
+    _motor->AtualizarDadosControle();
+  }
+  else if (_funcao == Tst) {
+    std::vector<String> Partes = SplitString(Protocolo, (char*)",");
+
+    String ID = Partes[0];
+          
+    Motor* _motor = MotorPorID(ID);
+
+    bool EmTeste = _motor->Testando;
+    if (!EmTeste) {
+      //_motor->Testar();
+    }
+    
+  }
+
+  EnviarDadosSerial(MontarProtocoloMensagemRecebida(idMensagem));
+
+}
+
+
+

Python/bld300r/serial_test.py

@@ -0,0 +1,205 @@
+import serial
+import struct
+import time
+import crcmod
+
+# Configuração da porta serial
+ser = serial.Serial(
+    port='COM3',  # Substitua pelo seu porto serial
+    baudrate=9600,
+    bytesize=serial.EIGHTBITS,
+    parity=serial.PARITY_NONE,
+    stopbits=serial.STOPBITS_TWO,
+    timeout=1
+)
+
+slave_address = 0x02  # Endereço do escravo
+
+CodigosFuncoes = {
+    "GetParametro": 0x03, 
+    "SetParametro": 0x06, 
+}
+
+Parametros = {
+    "RPM_SP": 0x0056,
+    "RPM": 0x005F,
+    "Enabled": 0x0066,
+    "Breaked": 0x006A,
+    "Direction": 0x006D,
+    "AlarmeCode": 0x0076,
+    "NumPolos": 0x0086,
+    "Rampa": 0x008A,
+    "VelocidadeMaxAnalog": 0x0092,
+    "Current": 0x0096,
+    "ControleRS485": 0x00B6,
+    "Versao": 0x00BB,
+    "Voltage": 0x00C8,
+    "Temperature": 0x00D2
+}
+Parametros2 = {
+    "RPM_SP": (0x0056, 2),
+    "RPM": (0x005F, 2),
+    "Enabled": (0x0066, 2),
+    "Breaked": (0x006A, 2),
+    "Direction": (0x006D, 2),
+    "AlarmeCode": (0x0076, 2),
+    "NumPolos": (0x0086, 2),
+    "Rampa": (0x008A, 2),
+    "VelocidadeMaxAnalog": (0x0092, 2),
+    "Current": (0x0096, 4),
+    "ControleRS485": (0x00B6, 2),
+    "Versao": (0x00BB, 2),
+    "Voltage": (0x00C8, 4),  # Exemplo de parâmetro que retorna 4 bytes
+    "Temperature": (0x00D2, 4)  # Exemplo de parâmetro que retorna 4 bytes
+}
+
+
+def crc16(data: bytes):
+    crc = 0xFFFF
+    for pos in data:
+        crc ^= pos
+        for i in range(8):
+            if (crc & 1) != 0:
+                crc >>= 1
+                crc ^= 0xA001
+            else:
+                crc >>= 1
+    return crc.to_bytes(2, byteorder='little')
+
+def montar_comando(funcao, parametro, val):
+    function_code = CodigosFuncoes[funcao]
+    start_address = Parametros[parametro]
+    num_of_registers = val
+    command = bytearray([slave_address, function_code]) + start_address.to_bytes(2, byteorder='big') + num_of_registers.to_bytes(2, byteorder='big')
+    command += crc16(command)
+    return command
+
+def enviar_comando(comando):
+    ser.write(comando)
+    time.sleep(0.1)  # Pequena pausa para garantir o envio
+    resposta = ser.read(ser.inWaiting())  # Lê todos os dados disponíveis na porta
+    return resposta
+
+def decifrar_resposta(resposta, funcao, parametro):
+    # Certifique-se de que a resposta é do tipo bytes
+    if isinstance(resposta, str):
+        resposta = bytes.fromhex(resposta)
+
+    resHex = resposta.hex()
+    
+    #print(resposta)
+    #print(resposta.hex())
+
+    # Verifica o comprimento da resposta e o código da função
+    if len(resposta) >= 5 and resposta[1] == CodigosFuncoes[funcao]:
+        remetente = resposta[0]
+        # Extrai o número de bytes de dados
+        num_bytes = resposta[2]
+
+        # Verifica se o comprimento da resposta é consistente com o número de bytes de dados
+        if len(resposta) == 5 + num_bytes:
+            valor_raw = int.from_bytes(resposta[3:3 + num_bytes], byteorder='big')
+            
+            valor = valor_raw # * 1  # Ajuste o fator de multiplicação conforme necessário
+
+            #print(f"Remetente: {remetente}, {parametro}: {valor}")
+            return (remetente, valor)
+        else:
+            print("Comprimento da resposta inconsistente com o número de bytes de dados.")
+    else:
+        print("Resposta inválida ou código de função incorreto.")
+    return (0, None)
+
+
+def montar_comando_todos_parametros():
+    function_code = CodigosFuncoes["GetParametro"]
+    start_address = 0x0056
+    num_of_registers = 32
+    command = bytearray([slave_address, function_code]) + start_address.to_bytes(2, byteorder='big') + num_of_registers.to_bytes(2, byteorder='big')
+    command += crc16(command)
+    return command
+
+def decifrar_resposta_todos_parametros(resposta):
+    # Certifique-se de que a resposta é do tipo bytes
+    if isinstance(resposta, str):
+        resposta = bytes.fromhex(resposta)
+
+    print(resposta.hex())
+    
+    # Verifica o comprimento da resposta e o código da função
+    if len(resposta) >= 5 and resposta[1] == CodigosFuncoes["GetParametro"]:
+        remetente = resposta[0]
+        # Extrai o número de bytes de dados
+        num_bytes = resposta[2]
+
+        print(f"Remetente: {remetente}, num_Bytes: {num_bytes}")
+
+        # Verifica se o comprimento da resposta é consistente com o número de bytes de dados
+        if len(resposta) == 5 + num_bytes or True:
+            valores = {}
+            for parametro, (endereco, tamanho) in Parametros2.items():
+                offset = (endereco - 0x0056) * 2 + 3
+                if offset + tamanho <= len(resposta):
+                    valor_raw = int.from_bytes(resposta[offset:offset + tamanho], byteorder='big')
+                    valores[parametro] = valor_raw * 1  # Ajuste o fator de multiplicação conforme necessário
+            
+            return (remetente, valores)
+        else:
+            print("Comprimento da resposta inconsistente com o número de bytes de dados.")
+    else:
+        print("Resposta inválida ou código de função incorreto.")
+    return (0, {})
+
+try:
+    while True:
+        resultados = []
+        remetente = 0
+
+        res = enviar_comando(montar_comando("SetParametro", "ControleRS485", 1))
+        res = enviar_comando(montar_comando("SetParametro", "VelocidadeMaxAnalog", 500))
+
+        if (False):
+            for parametro in Parametros:
+                comando = montar_comando("GetParametro", parametro, 1)
+                res = enviar_comando(comando)
+                remetente, valor = decifrar_resposta(res, "GetParametro", parametro)
+                resultados.append((parametro, valor))
+
+            # Imprime todos os resultados em uma linha, separados por tabulações
+            linha_resultados = f"Remetente: {remetente}\t" + ("\t".join(f"{parametro}: {valor}" for parametro, valor in resultados))
+            print(linha_resultados)
+
+        d = 0
+        if (True):
+
+            if (d == 0):
+                d = 1
+            else:
+                d = 0
+
+            time.sleep(1)
+            res = enviar_comando(montar_comando("SetParametro", "Enabled", 1))
+            print(res.hex())
+            time.sleep(0.1)
+            res = enviar_comando(montar_comando("SetParametro", "Direction", d))
+            print(res)
+            time.sleep(0.1)
+            res = enviar_comando(montar_comando("SetParametro", "RPM_SP", 250))
+            print(res.hex())
+            time.sleep(5)
+            res = enviar_comando(montar_comando("SetParametro", "RPM_SP", 0))
+            print(res.hex())
+            time.sleep(1)
+            res = enviar_comando(montar_comando("SetParametro", "Enabled", 0))
+            print(res.hex())
+            time.sleep(1)
+
+        time.sleep(1)
+except KeyboardInterrupt:
+    res = enviar_comando(montar_comando("SetParametro", "RPM_SP", 0))
+    print(res.hex())
+    time.sleep(0.1)
+    res = enviar_comando(montar_comando("SetParametro", "Enabled", 0))
+    print("Programa encerrado pelo usuário")
+finally:
+    ser.close()

Python/bld300r/test.py

@@ -0,0 +1,86 @@
+from pymodbus.client import ModbusSerialClient
+from pymodbus.constants import Endian
+from pymodbus.payload import BinaryPayloadDecoder, BinaryPayloadBuilder
+import struct
+
+# Configuração do cliente Modbus
+client = ModbusSerialClient(
+    method='rtu',
+    port='COM3',  # Substitua pelo seu porto serial
+    baudrate=9600,
+    stopbits=2,
+    bytesize=8,
+    parity='N',
+    timeout=1
+)
+
+# Função para calcular CRC-16
+def calculate_crc(data):
+    crc = 0xFFFF
+    for pos in data:
+        crc ^= pos
+        for _ in range(8):
+            if (crc & 1) != 0:
+                crc >>= 1
+                crc ^= 0xA001
+            else:
+                crc >>= 1
+    return crc
+
+# Função para ler um registro
+def read_register(address, count=1):
+    response = client.read_holding_registers(address, count, unit=1)
+    if not response.isError():
+        decoder = BinaryPayloadDecoder.fromRegisters(response.registers, byteorder=Endian.BIG)
+        return decoder.decode_16bit_uint()
+    else:
+        print("Erro na leitura do registro")
+        return None
+
+# Função para escrever em um registro
+def write_register(address, value):
+    builder = BinaryPayloadBuilder(byteorder=Endian.BIG)
+    builder.add_16bit_uint(value)
+    payload = builder.to_registers()
+    response = client.write_registers(address, payload, unit=1)
+    if response.isError():
+        print("Erro na escrita do registro")
+    else:
+        print("Escrita bem-sucedida")
+
+# Função para converter resposta em float
+def get_float(data):
+    float_address = data[3:]
+    temp = struct.unpack('>f', bytes(float_address))[0]
+    return temp
+
+# Conectar ao cliente Modbus
+if client.connect():
+    print("Conectado ao driver BLD-300R")
+
+    # Exemplo de leitura de velocidade do motor
+    speed_address = 0x005F
+    speed = read_register(speed_address)
+    if speed is not None:
+        print(f"Velocidade do motor: {speed} rpm")
+
+    # Exemplo de leitura de código de alarme
+    alarm_address = 0x0076
+    alarm_code = read_register(alarm_address)
+    if alarm_code is not None:
+        print(f"Código de alarme: {alarm_code}")
+
+    # Exemplo de escrita de velocidade do motor
+    set_speed_address = 0x0056
+    set_speed_value = 1100  # Velocidade desejada em rpm
+    write_register(set_speed_address, set_speed_value)
+
+    # Exemplo de habilitação do controle RS485
+    enable_address = 0x00B6
+    enable_value = 1  # Habilitar
+    write_register(enable_address, enable_value)
+
+    # Desconectar do cliente Modbus
+    client.close()
+else:
+    print("Falha na conexão com o driver BLD-300R")