From 65a9fa9b69446732e1f47c91b12b9e7a87274ced Mon Sep 17 00:00:00 2001 From: Diego Freitas Date: Mon, 3 Feb 2025 16:54:39 -0300 Subject: [PATCH] implantado novo modelo de trajetoria fixa, controle MPC e PID adaptativo --- ...02866a7f-0f8d-45c4-a3bd-e5358daad410.vsidx | Bin 30714 -> 0 bytes ...3ad0f675-a8cb-442a-9c49-70cd60f24dfb.vsidx | Bin 2466513 -> 0 bytes ...61ad8c1f-9e5b-4002-921a-babe72c416de.vsidx | Bin 0 -> 33542 bytes ...77c7b59e-dfe7-453d-b33c-a1f7657147ac.vsidx | Bin 26502 -> 0 bytes ...99adb73c-f030-4834-87a7-d0f37cd338da.vsidx | Bin 0 -> 2466783 bytes ...a280ce53-d0fc-4b9f-92e8-d78dbe76e315.vsidx | Bin 0 -> 52707 bytes ...a3f8caff-7c7c-4823-8caa-6b0d98db0eb1.vsidx | Bin 12197 -> 0 bytes ...a895a1d8-0d2c-4009-9489-911aea212f0f.vsidx | Bin 14491 -> 0 bytes ...ec310d1f-8fb0-46a0-a87f-b869083be60c.vsidx | Bin 0 -> 44115 bytes ...f50fa7aa-d1d6-443f-94a4-7e5730aa6afc.vsidx | Bin 0 -> 38916 bytes AgroBase/.vs/AgroBase/v17/.suo | Bin 849920 -> 670208 bytes 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AgroBase/AgroBase/Models/GPSModel.cs | 53 +- AgroBase/AgroBase/Models/MPCController.cs | 224 +++ .../AgroBase/Models/MPCControllerSimple.cs | 167 ++ AgroBase/AgroBase/Models/MapaDinamicoModel.cs | 19 +- AgroBase/AgroBase/Models/MapasModel.cs | 1532 +---------------- .../AgroBase/Models/Modules/AtuadorModel.cs | 6 +- .../Modules/MovimentacaoUnificadoModel.cs | 18 +- .../Models/Modules/SensoriamentoModel.cs | 35 +- .../Models/Operacoes/OperacaoMapaGPSModel.cs | 596 +++---- .../Models/Operacoes/OperacaoModel.cs | 332 ++-- AgroBase/AgroBase/Models/PIDModel.cs | 150 +- .../Models/TrajetoriaMapaOperacaoModel.cs | 880 ++++++++++ .../AgroBase/Models/TreinamentoIAModel.cs | 243 +++ AgroBase/AgroBase/Models/Variaveis.cs | 106 +- .../AgroBase/Models/VariaveisMonitoramento.cs | 120 ++ AgroBase/AgroBase/Services/APIService.cs | 16 +- .../Services/CoulombCounterService.cs | 9 +- AgroBase/AgroBase/Services/GPSService.cs | 1044 +++++++---- AgroBase/AgroBase/Services/LoRaSerializer.cs | 4 +- 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.../Debug/Python/Output/mapa_interativo.html | 40 +- .../AgroBase.Forms.frmTreinamentoIA.resources | Bin 0 -> 180 bytes .../AgroBase.csproj.CoreCompileInputs.cache | 2 +- .../AgroBase.csproj.FileListAbsolute.txt | 1 + .../AgroBase.csproj.GenerateResource.cache | Bin 4107 -> 4183 bytes AgroBase/AgroBase/obj/Debug/AgroBase.pdb | Bin 3218944 -> 3347968 bytes .../DesignTimeResolveAssemblyReferences.cache | Bin 162 -> 137 bytes ...gnTimeResolveAssemblyReferencesInput.cache | Bin 35706 -> 36651 bytes AgroBase/AgroMonitor/AgroMonitor.csproj | 1 - .../AgroMonitor/Forms/frmAjustesOperacao.cs | 4 +- .../Forms/frmMonitoramento.Designer.cs | 42 +- .../AgroMonitor/Forms/frmMonitoramento.cs | 66 +- .../AgroMonitor/VariaveisMonitoramento.cs | 68 - AgroBase/AgroMonitor/bin/Debug/AgroBase.pdb | Bin 3218944 -> 3233280 bytes .../AgroMonitor/bin/Debug/AgroMonitor.pdb | Bin 103936 -> 95744 bytes .../AgroMonitor/bin/Debug/DawnCache/data_1 | Bin 270336 -> 270336 bytes 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c
       frmSimulacaoMapaGPS.cs
     
+    
+      Form
+    
+    
+      frmTreinamentoIA.cs
+    
     
       Form
     
@@ -445,6 +451,8 @@
     
     
     
+    
+    
     
     
     
@@ -454,8 +462,11 @@
     
     
     
+    
+    
     
     
+    
     
     
     
@@ -710,6 +721,9 @@
     
       frmSimulacaoMapaGPS.cs
     
+    
+      frmTreinamentoIA.cs
+    
     
       frmWT901C.cs
     
diff --git a/AgroBase/AgroBase/Forms/IHM/frmDiagnosticos.cs b/AgroBase/AgroBase/Forms/IHM/frmDiagnosticos.cs
index deccf5260..c9b6ba0f0 100644
--- a/AgroBase/AgroBase/Forms/IHM/frmDiagnosticos.cs
+++ b/AgroBase/AgroBase/Forms/IHM/frmDiagnosticos.cs
@@ -254,9 +254,9 @@ namespace AgroBase.Forms.IHM
             grid.Rows[idx].Cells[3].Value = Teste.ValorAferidoStr;
 
             int Sucesso =
-                Teste.ComplementoValorPadrao == "<" ? (Teste.ValorAferido < Teste.ValorPadrao ? 1 : 0) :
+                Teste.ComplementoValorPadrao == "<" ? (Teste.ValorAferido != -1 && Teste.ValorAferido < Teste.ValorPadrao ? 1 : 0) :
                 Teste.ComplementoValorPadrao == ">" ? (Teste.ValorAferido > Teste.ValorPadrao ? 1 : 0) :
-                Teste.ComplementoValorPadrao == "~" ? 1 :
+                Teste.ComplementoValorPadrao == "~" ? (Teste.ValorAferido != Math.Floor(Teste.ValorAferido) ? 1 : 0) :
                 (Teste.ValorAferido == Teste.ValorPadrao ? 1 : 0);
 
             Teste.Resultado = ComplementosPadrao[Sucesso];
@@ -341,15 +341,13 @@ namespace AgroBase.Forms.IHM
                 {
                     Componente = "Bico Pulverizador " + x.ID,
                     Teste = "Ligar",
-                    ValorPadrao = 1,
-                    ComplementoValorPadrao = ComplementosPadrao[1]
+                    ValorPadrao = 1
                 },
                 new ColunasDiagnosticoModel()
                 {
                     Componente = "Bico Pulverizador " + x.ID,
                     Teste = "Desligar",
-                    ValorPadrao = 0,
-                    ComplementoValorPadrao = ComplementosPadrao[1]
+                    ValorPadrao = 0
                 }
             }));
 
@@ -404,78 +402,98 @@ namespace AgroBase.Forms.IHM
             idx = PreencheDadosLinha(grid, Testes, idx, B04Inicializado ? 1 : 0);
 
 
-            await EnviarComandoBomba(true, 5000);
+            await EnviarComandoBomba(true, Testes[idx].ValorPadrao, 5000, Dispositivo.Dados);
 
             double Pressao = PressaoInicializado ? Dispositivo.Dados.PressaoLinha : -1;
             idx = PreencheDadosLinha(grid, Testes, idx, Pressao);
 
-            double Massa = MassaInicializado ? Dispositivo.Dados.VolumeReservatorio : -1;
+            double Massa = MassaInicializado ? Dispositivo.Dados.MassaReservatorio : -1;
             idx = PreencheDadosLinha(grid, Testes, idx, Massa);
 
             idx = PreencheDadosLinha(grid, Testes, idx, Pressao);
 
-            await EnviarComandoBico(B01, true, 1000);
+            await EnviarComandoBico(B01, true, 3000, Testes[idx].ValorPadrao, Dispositivo.Dados);
 
             double Fluxo = FluxoInicializado ? Dispositivo.Dados.VazaoFluxoMLpSInstantanea : -1;
             idx = PreencheDadosLinha(grid, Testes, idx, Fluxo);
 
-            bool statusB01_1 = B01 != null && B01.LeituraStatusBico;
-            idx = PreencheDadosLinha(grid, Testes, idx, statusB01_1 ? 1 : 0);
+            bool statusB01_1 = B01Inicializado && B01.LeituraStatusBico;
+            idx = PreencheDadosLinha(grid, Testes, idx, statusB01_1 ? 1 : -1);
 
             await EnviarComandoBico(B01, false, 1000);
 
-            bool statusB01_0 = B01 != null && B01.LeituraStatusBico;
-            idx = PreencheDadosLinha(grid, Testes, idx, !statusB01_0 ? 0 : 1);
+            bool statusB01_0 = B01Inicializado && !B01.LeituraStatusBico;
+            idx = PreencheDadosLinha(grid, Testes, idx, statusB01_0 ? 0 : -1);
 
             await EnviarComandoBico(B02, true, 1000);
 
-            bool statusB02_1 = B02 != null && B02.LeituraStatusBico;
-            idx = PreencheDadosLinha(grid, Testes, idx, statusB02_1 ? 1 : 0);
+            bool statusB02_1 = B02Inicializado && B02.LeituraStatusBico;
+            idx = PreencheDadosLinha(grid, Testes, idx, statusB02_1 ? 1 : -1);
 
             await EnviarComandoBico(B02, false, 1000);
 
-            bool statusB02_0 = B02 != null && B02.LeituraStatusBico;
-            idx = PreencheDadosLinha(grid, Testes, idx, !statusB02_0 ? 0 : 1);
+            bool statusB02_0 = B02Inicializado && !B02.LeituraStatusBico;
+            idx = PreencheDadosLinha(grid, Testes, idx, statusB02_0 ? 0 : -1);
             
             await EnviarComandoBico(B03, true, 1000);
 
-            bool statusB03_1 = B03 != null && B03.LeituraStatusBico;
-            idx = PreencheDadosLinha(grid, Testes, idx, statusB03_1 ? 1 : 0);
+            bool statusB03_1 = B03Inicializado && B03.LeituraStatusBico;
+            idx = PreencheDadosLinha(grid, Testes, idx, statusB03_1 ? 1 : -1);
 
             await EnviarComandoBico(B03, false, 1000);
 
-            bool statusB03_0 = B03 != null && B03.LeituraStatusBico;
-            idx = PreencheDadosLinha(grid, Testes, idx, !statusB03_0 ? 0 : 1);
+            bool statusB03_0 = B03Inicializado && !B03.LeituraStatusBico;
+            idx = PreencheDadosLinha(grid, Testes, idx, statusB03_0 ? 0 : -1);
 
             await EnviarComandoBico(B04, true, 1000);
 
-            bool statusB04_1 = B04 != null && B04.LeituraStatusBico;
-            idx = PreencheDadosLinha(grid, Testes, idx, statusB04_1 ? 1 : 0);
+            bool statusB04_1 = B04Inicializado && B04.LeituraStatusBico;
+            idx = PreencheDadosLinha(grid, Testes, idx, statusB04_1 ? 1 : -1);
 
             await EnviarComandoBico(B04, false, 1000);
 
-            bool statusB04_0 = B04 != null && B04.LeituraStatusBico;
-            idx = PreencheDadosLinha(grid, Testes, idx, !statusB04_0 ? 0 : 1);
+            bool statusB04_0 = B04Inicializado && B04.LeituraStatusBico;
+            idx = PreencheDadosLinha(grid, Testes, idx, statusB04_0 ? 0 : -1);
 
 
-            await EnviarComandoBomba(false, 500);
+            await EnviarComandoBomba(false, 0, 500);
 
 
             return true;
         }
 
-        private async Task EnviarComandoBomba(bool Ligar, int Delay)
+        private async Task EnviarComandoBomba(bool Ligar, double Pressao, int Timeout, AtuadorModel disp = null)
         {
             var Bomba = Variaveis.OperacaoEmAndamento.DispAtu.Dados.BombaPressurizadora;
-            Variaveis.OperacaoEmAndamento.Controle.PressaoLinha = 85;
+            Variaveis.OperacaoEmAndamento.Controle.PressaoLinha = Pressao + 10;
             GeneralJoystick.EnviarComandoAtuador(S_Code.sBMB, Ligar, Bomba.ID);
-            await Task.Delay(Delay);
+
+            DateTime inicio = DateTime.Now;
+            while (DateTime.Now < inicio.AddMilliseconds(Timeout))
+            {
+                await Task.Delay(100);
+
+                if (disp != null && disp.PressaoLinha >= Pressao)
+                {
+                    await EnviarComandoBomba(false, Pressao, 0);
+                    break;
+                }
+            }
         }
 
-        private async Task EnviarComandoBico(AtuadorBicoModel Bico, bool Ligar, int Delay)
+        private async Task EnviarComandoBico(AtuadorBicoModel Bico, bool Ligar, int Timeout, double ValorComparar = 0, AtuadorModel disp = null)
         {
             GeneralJoystick.EnviarComandoAtuador(S_Code.sBIC, Ligar, Bico.ID);
-            await Task.Delay(Delay);
+            DateTime inicio = DateTime.Now;
+            while (DateTime.Now < inicio.AddMilliseconds(Timeout))
+            {
+                await Task.Delay(100);
+
+                if (disp != null && disp.VazaoFluxoMLpSInstantanea >= ValorComparar)
+                {
+                    break;
+                }
+            }
         }
 
 
@@ -524,6 +542,7 @@ namespace AgroBase.Forms.IHM
                     Componente = "S_TMP_" + x.Modulo_ID,
                     Teste = "Inicializado",
                     ValorPadrao = 1,
+                    ComplementoValorPadrao = ComplementosPadrao[1]
                 },
                 new ColunasDiagnosticoModel()
                 {
@@ -579,6 +598,13 @@ namespace AgroBase.Forms.IHM
                     ValorPadrao = 0
                 },
                 new ColunasDiagnosticoModel()
+                {
+                    Componente = x.Modulo_ID,
+                    Teste = "Corrente",
+                    ValorPadrao = 0.2,
+                    ComplementoValorPadrao = ">"
+                },
+                new ColunasDiagnosticoModel()
                 {
                     Componente = x.Modulo_ID + " Servo Freio",
                     Teste = "Ativar",
@@ -590,6 +616,20 @@ namespace AgroBase.Forms.IHM
                     Teste = "Desativar",
                     ValorPadrao = x.MovMotor.ConfigFreio.Incremental ? 0 : 180
                 },
+                new ColunasDiagnosticoModel()
+                {
+                    Componente = x.Modulo_ID + " Servo Freio",
+                    Teste = "Tensão",
+                    ValorPadrao = 7.0,
+                    ComplementoValorPadrao = ">"
+                },
+                new ColunasDiagnosticoModel()
+                {
+                    Componente = x.Modulo_ID + " Servo Freio",
+                    Teste = "Corrente",
+                    ValorPadrao = 200,
+                    ComplementoValorPadrao = ">"
+                },
             }));
 
             Diagnostico.Testes = Testes;
@@ -653,6 +693,8 @@ namespace AgroBase.Forms.IHM
                 bool ParaFrente = Inicializado ? await EnviarComandoMov(Modulo, Enums.Direcao.Frente, Testes[idx], 5000) : false;
                 idx = PreencheDadosLinha(grid, Testes, idx, Inicializado ? Testes[idx].ValorAferido : -1);
 
+                double CorrenteMotor = Inicializado ? Modulo.MovMotor.Corrente_Motor : -1;
+
                 bool Parado = Inicializado ? await EnviarComandoMov(Modulo, Enums.Direcao.Parado, Testes[idx], 5000) : false;
                 idx = PreencheDadosLinha(grid, Testes, idx, Inicializado ? Testes[idx].ValorAferido : -1);
 
@@ -662,15 +704,25 @@ namespace AgroBase.Forms.IHM
                 Parado = Inicializado ? await EnviarComandoMov(Modulo, Enums.Direcao.Parado, Testes[idx], 5000) : false;
                 idx = PreencheDadosLinha(grid, Testes, idx, Inicializado ? Testes[idx].ValorAferido : -1);
 
+                idx = PreencheDadosLinha(grid, Testes, idx, CorrenteMotor);
+
                 var ServoFreio = Modulo_Sen.Servos.FirstOrDefault(x => x.ID.Contains(Modulo.Modulo_ID) && x.Inicializado);
                 (bool atuar, int angAtivar) = Modulo.MovMotor.ConfigFreio.AtualizarDadosFreio(true, 0, 15);
                 bool AtivarFreio = SenIniciado && ServoFreio != null ? await EnviarComandoMovFreio(Variaveis.OperacaoEmAndamento.DispSen, ServoFreio, angAtivar, Testes[idx], 2000) : false;
                 idx = PreencheDadosLinha(grid, Testes, idx, ServoFreio != null ? Testes[idx].ValorAferido : -1);
 
+                var SensorAB7V2 = Modulo_Sen.DadosLeitura.SensoresCorrente.FirstOrDefault(x => x.ID == "AB7V2");
+                double CorrenteFreio = SensorAB7V2 != null ? SensorAB7V2.Current ?? 0 : -1;
+                double TensaoFreio = SensorAB7V2 != null ? SensorAB7V2.BusVoltage : -1;
+
                 (bool desatuar, int angDesativar) = Modulo.MovMotor.ConfigFreio.AtualizarDadosFreio(false);
                 bool DesativarFreio = SenIniciado && ServoFreio != null ? await EnviarComandoMovFreio(Variaveis.OperacaoEmAndamento.DispSen, ServoFreio, angDesativar, Testes[idx], 2000) : false;
                 idx = PreencheDadosLinha(grid, Testes, idx, ServoFreio != null ? Testes[idx].ValorAferido : -1);
 
+                idx = PreencheDadosLinha(grid, Testes, idx, TensaoFreio);
+
+                idx = PreencheDadosLinha(grid, Testes, idx, CorrenteFreio);
+
             }
 
             Variaveis.OperacaoEmAndamento.Controle.TipoMovimento = _oldTipoMovimento;
@@ -834,21 +886,21 @@ namespace AgroBase.Forms.IHM
                 //MKS057DService.AddrRef = Convert.ToByte(Modulo.DirMotor.Endereco, 16);
 
                 if (Inicializado)
-                {
                     await EnviarComandoDir(Modulo, Enums.Direcao.Esquerda, Testes[idx], 5000);
-                }
+                else
+                    Testes[idx].ValorAferido = -1;
                 idx = PreencheDadosLinha(grid, Testes, idx, Testes[idx].ValorAferido);
 
                 if (Inicializado)
-                {
                     await EnviarComandoDir(Modulo, Enums.Direcao.Direita, Testes[idx], 5000);
-                }
+                else
+                    Testes[idx].ValorAferido = -1;
                 idx = PreencheDadosLinha(grid, Testes, idx, Testes[idx].ValorAferido);
 
                 if (Inicializado)
-                {
                     await EnviarComandoDir(Modulo, Enums.Direcao.Parado, Testes[idx], 5000);
-                }
+                else
+                    Testes[idx].ValorAferido = -1;
                 idx = PreencheDadosLinha(grid, Testes, idx, Testes[idx].ValorAferido);
 
                 //MKS057DService.AddrRef = 0x00;
@@ -954,6 +1006,20 @@ namespace AgroBase.Forms.IHM
                     ComplementoValorPadrao = ">"
                 },
                 new ColunasDiagnosticoModel()
+                {
+                    Componente = "Módulo Sen",
+                    Teste = "Tensão Barramento 7V2",
+                    ValorPadrao = 7.0,
+                    ComplementoValorPadrao = ">"
+                },
+                new ColunasDiagnosticoModel()
+                {
+                    Componente = "Módulo Sen",
+                    Teste = "Corrente Barramento 7V2",
+                    ValorPadrao = 0,
+                    ComplementoValorPadrao = ">"
+                },
+                new ColunasDiagnosticoModel()
                 {
                     Componente = "Módulo Sen",
                     Teste = "Tensão Barramento 12V",
@@ -1009,6 +1075,62 @@ namespace AgroBase.Forms.IHM
                     ValorPadrao = 85,
                     ComplementoValorPadrao = ">"
                 },
+                new ColunasDiagnosticoModel()
+                {
+                    Componente = "GPS",
+                    Teste = "Satelites",
+                    ValorPadrao = 3,
+                    ComplementoValorPadrao = ">"
+                },
+                new ColunasDiagnosticoModel()
+                {
+                    Componente = "GPS",
+                    Teste = "Orientação Mangética",
+                    ValorPadrao = 0,
+                    ComplementoValorPadrao = "~"
+                },
+                new ColunasDiagnosticoModel()
+                {
+                    Componente = "Ultrassom",
+                    Teste = "Conectado",
+                    ValorPadrao = 1,
+                    ComplementoValorPadrao = ComplementosPadrao[1]
+                },
+                new ColunasDiagnosticoModel()
+                {
+                    Componente = "Ultrassom",
+                    Teste = "Inicializado",
+                    ValorPadrao = 1,
+                    ComplementoValorPadrao = ComplementosPadrao[1]
+                },
+                new ColunasDiagnosticoModel()
+                {
+                    Componente = "Ultrassom",
+                    Teste = "U1",
+                    ValorPadrao = 30,
+                    ComplementoValorPadrao = ">"
+                },
+                new ColunasDiagnosticoModel()
+                {
+                    Componente = "Ultrassom",
+                    Teste = "U2",
+                    ValorPadrao = 30,
+                    ComplementoValorPadrao = ">"
+                },
+                new ColunasDiagnosticoModel()
+                {
+                    Componente = "Ultrassom",
+                    Teste = "U3",
+                    ValorPadrao = 30,
+                    ComplementoValorPadrao = ">"
+                },
+                new ColunasDiagnosticoModel()
+                {
+                    Componente = "Ultrassom",
+                    Teste = "U4",
+                    ValorPadrao = 30,
+                    ComplementoValorPadrao = ">"
+                },
             });
 
             Diagnostico.Testes = Testes;
@@ -1049,6 +1171,13 @@ namespace AgroBase.Forms.IHM
             double Corrente5V = S5V != null ? (double)S5V.Current : -1;
             idx = PreencheDadosLinha(grid, Testes, idx, Corrente5V);
 
+            var S7V2 = ((FirmwareSensorCorrente)Modulo_Sen.Sensores.FirstOrDefault(x => x.ID == "AB7V2").Leitura);
+            double Tensao7V2 = S7V2 != null ? (double)S7V2.BusVoltage : -1;
+            idx = PreencheDadosLinha(grid, Testes, idx, Tensao7V2);
+
+            double Corrente7V2 = S7V2 != null ? (double)S7V2.Current : -1;
+            idx = PreencheDadosLinha(grid, Testes, idx, Corrente7V2);
+
             var S12V = ((FirmwareSensorCorrente)Modulo_Sen.Sensores.FirstOrDefault(x => x.ID == "AB12V").Leitura);
             double Tensao12V = S12V != null ? (double)S12V.BusVoltage : -1;
             idx = PreencheDadosLinha(grid, Testes, idx, Tensao12V);
@@ -1074,6 +1203,30 @@ namespace AgroBase.Forms.IHM
             double Precisao = GpsInicializado ? GPSService.UltimaLeitura.PrecisaoHorizontal : -1;
             idx = PreencheDadosLinha(grid, Testes, idx, Precisao);
 
+            double Satelites = GpsInicializado ? GPSService.UltimaLeitura.NumeroSatelites : -1;
+            idx = PreencheDadosLinha(grid, Testes, idx, Satelites);
+
+            double OrientacaoGPS = GpsInicializado ? GPSService.UltimaLeitura.CursoVerdadeiro : -1;
+            idx = PreencheDadosLinha(grid, Testes, idx, OrientacaoGPS);
+
+            bool A05Conectado = SerialService.DispositivosMapeados.Any(x => x.Dispositivo == Enums.T_Code.A05);
+            idx = PreencheDadosLinha(grid, Testes, idx, A05Conectado ? 1 : 0);
+
+            bool A05Inicializado = UltrasonicA05Service.Iniciado;
+            idx = PreencheDadosLinha(grid, Testes, idx, A05Inicializado ? 1 : 0);
+
+            double U1 = A05Inicializado ? UltrasonicA05Service.DadosLeitura.U1 : -1;
+            idx = PreencheDadosLinha(grid, Testes, idx, U1);
+
+            double U2 = A05Inicializado ? UltrasonicA05Service.DadosLeitura.U2 : -1;
+            idx = PreencheDadosLinha(grid, Testes, idx, U2);
+
+            double U3 = A05Inicializado ? UltrasonicA05Service.DadosLeitura.U3 : -1;
+            idx = PreencheDadosLinha(grid, Testes, idx, U3);
+
+            double U4 = A05Inicializado ? UltrasonicA05Service.DadosLeitura.U4 : -1;
+            idx = PreencheDadosLinha(grid, Testes, idx, U4);
+
             return true;
         }
 
@@ -1180,15 +1333,17 @@ namespace AgroBase.Forms.IHM
             bool RlInicializado = SenInicializado && ReleLra != null && ReleLra.Inicializado;
             idx = PreencheDadosLinha(grid, Testes, idx, RlInicializado ? 1 : 0);
 
-            await EnviarComandoRele(Dispositivo, ReleLra, true, 1000);
+            if (RlInicializado)
+                await EnviarComandoRele(Dispositivo, ReleLra, true, 1000);
 
-            bool RlStatus = RlInicializado && (((FirmwareRele)ReleLra.Leitura)?.Leitura ?? Estado.Desligado) == Estado.Ligado;
-            idx = PreencheDadosLinha(grid, Testes, idx, RlStatus ? 1 : 0);
+            bool RlStatus_1 = RlInicializado && (ReleLra.Leitura?.Leitura ?? Estado.Reset) == Estado.Ligado;
+            idx = PreencheDadosLinha(grid, Testes, idx, RlStatus_1 ? 1 : -1);
 
-            await EnviarComandoRele(Dispositivo, ReleLra, false, 1000);
+            if (RlInicializado)
+                await EnviarComandoRele(Dispositivo, ReleLra, false, 1000);
 
-            RlStatus = RlInicializado && (((FirmwareRele)ReleLra.Leitura)?.Leitura ?? Estado.Desligado) == Estado.Ligado;
-            idx = PreencheDadosLinha(grid, Testes, idx, !RlStatus ? 0 : 1);
+            bool RlStatus_0 = RlInicializado && (ReleLra.Leitura?.Leitura ?? Estado.Reset) == Estado.Desligado;
+            idx = PreencheDadosLinha(grid, Testes, idx, RlStatus_0 ? 0 : -1);
 
             bool Conectado = SerialService.DispositivosMapeados.Any(x => x.Dispositivo == T_Code.Lra);
             idx = PreencheDadosLinha(grid, Testes, idx, Conectado ? 1 : 0);
@@ -1196,19 +1351,32 @@ namespace AgroBase.Forms.IHM
             bool Inicializado = LoRaService.Iniciado;
             idx = PreencheDadosLinha(grid, Testes, idx, Inicializado ? 1 : 0);
 
-            (bool sucesso, LoRaParametrosModel parametros) = await Variaveis.ConexaoLoRa.RequisitarParametrosModuloAsync();
+            bool sucesso = false;
+            if (Inicializado)
+            {
+                (bool _sucesso, LoRaParametrosModel parametros) = await Variaveis.ConexaoLoRa.RequisitarParametrosModuloAsync();
+                sucesso = _sucesso;
+            }
 
             bool Parametrizado = Inicializado && sucesso && Variaveis.ConexaoLoRa.parametros != null;
             idx = PreencheDadosLinha(grid, Testes, idx, Parametrizado ? 1 : 0);
 
-            int msgEnviadasAnterior = LoRaService.MensagensEnviadas;
-            LoRaService.EnviarDadosParaBase();
-            await Task.Delay(2000);
-            bool MensagemEnviada = LoRaService.MensagensEnviadas > msgEnviadasAnterior;
+            bool MensagemEnviada = false;
+            if (Inicializado)
+            {
+                int msgEnviadasAnterior = LoRaService.MensagensEnviadas;
+                LoRaService.EnviarDadosParaBase();
+                await Task.Delay(2000);
+                MensagemEnviada = LoRaService.MensagensEnviadas > msgEnviadasAnterior;
+            }
             idx = PreencheDadosLinha(grid, Testes, idx, MensagemEnviada ? 1 : 0);
 
-            await Task.Delay(VariaveisEquipamento.TempoEntrePingsConexao);
-            bool MensagemRecebida = VariaveisOperacao.PosicaoBase != null;
+            bool MensagemRecebida = false;
+            if (Inicializado)
+            {
+                await Task.Delay(VariaveisEquipamento.TempoEntrePingsConexao * 2);
+                MensagemRecebida = VariaveisOperacao.PosicaoBase != null;
+            }
             idx = PreencheDadosLinha(grid, Testes, idx, MensagemRecebida ? 1 : 0);
 
             return true;
@@ -1480,7 +1648,7 @@ namespace AgroBase.Forms.IHM
                 }
 
                 StatusLED Status = Sinaleiro.LeituraStatus;
-                idx = PreencheDadosLinha(grid, Testes, idx, Iniciado && Status == StatusLED.Aceso ? 1 : 0);
+                idx = PreencheDadosLinha(grid, Testes, idx, Iniciado && Status == StatusLED.Aceso ? 1 : -1);
 
                 if (Iniciado)
                 {
@@ -1488,7 +1656,7 @@ namespace AgroBase.Forms.IHM
                 }
 
                 Status = Sinaleiro.LeituraStatus;
-                idx = PreencheDadosLinha(grid, Testes, idx, Iniciado && Status == StatusLED.Apagado ? 0 : 1);
+                idx = PreencheDadosLinha(grid, Testes, idx, Iniciado && Status == StatusLED.Apagado ? 0 : -1);
             }
 
             
@@ -1592,7 +1760,8 @@ namespace AgroBase.Forms.IHM
                 get
                 {
                     return 
-                        ComplementosPadrao.Contains(ComplementoValorPadrao) ? ComplementosPadrao[Convert.ToInt32(ValorAferido)] :
+                        ComplementosPadrao.Contains(ComplementoValorPadrao) ? 
+                            (ValorAferido == -1 ? ComplementosPadrao[0] : ComplementosPadrao[Convert.ToInt32(ValorAferido)]) :
                         ValorAferido.ToString("0.00");
                 }
             }
diff --git a/AgroBase/AgroBase/Forms/IHM/frmIHM.cs b/AgroBase/AgroBase/Forms/IHM/frmIHM.cs
index 7873c1539..4d47a823f 100644
--- a/AgroBase/AgroBase/Forms/IHM/frmIHM.cs
+++ b/AgroBase/AgroBase/Forms/IHM/frmIHM.cs
@@ -83,8 +83,6 @@ namespace AgroBase.Forms.IHM
                         MessageBoxButtons.OK, 
                         sucesso ? MessageBoxIcon.Asterisk : MessageBoxIcon.Error
                     );
-
-                    Task.Run(async () => await SyncDataService.SincronizarArquivosComServidor());
                 }
                 else
                 {
diff --git a/AgroBase/AgroBase/Forms/IHM/frmInicioOperacao.cs b/AgroBase/AgroBase/Forms/IHM/frmInicioOperacao.cs
index 49edb7098..352720f3c 100644
--- a/AgroBase/AgroBase/Forms/IHM/frmInicioOperacao.cs
+++ b/AgroBase/AgroBase/Forms/IHM/frmInicioOperacao.cs
@@ -168,8 +168,8 @@ namespace AgroBase.Forms.Operacoes
             txtDescricao.Text = Variaveis.OperacaoEmAndamento.Descricao;
             txtCriadoEm.Text = new FileInfo(path).CreationTime.ToString("dd/MM/yyyy HH:mm");
             txtRuasPercorrer.Text = Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer.Count().ToString();
-            txtDistanciaTotal.Text = Variaveis.OperacaoEmAndamento.Mapa.DistanciaTotal.ToString("0.00");
-            string tempo = Variaveis.OperacaoEmAndamento.TempoEstimadoOperacao(velocidadeMax, velocidadeMin);
+            txtDistanciaTotal.Text = Variaveis.OperacaoEmAndamento.Trajetoria.DistanciaTotal.ToString("0.00");
+            string tempo = Variaveis.OperacaoEmAndamento.Trajetoria?.TempoEstimadoOperacao(velocidadeMax, velocidadeMin);
             txtTempoEstimado.Text = tempo;
 
             pathOperacaoSelecionada = path;
diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoMapaGPS.cs b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoMapaGPS.cs
index e29438b5f..dd5057628 100644
--- a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoMapaGPS.cs
+++ b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoMapaGPS.cs
@@ -105,7 +105,7 @@ namespace AgroBase.Forms.Operacoes
             lblPorcentagemProgresso.Text = (Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoTrajeto < 0 ? 0 : Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoTrajeto).ToString("00.00") + "%";
             FuncoesGlobais.PreencheValorProgressBar(pgbProgressoRua, Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua);
             lblPorcentagemProgressoRua.Text = (Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua < 0 ? 0 : Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua).ToString("00.00") + "%";
-            lblDistancia.Text = "Distância Operação: " + (Variaveis.OperacaoEmAndamento.Mapa == null ? 0 : Variaveis.OperacaoEmAndamento.Mapa.DistanciaTotal).ToString("00.00") + " m";
+            lblDistancia.Text = "Distância Operação: " + (Variaveis.OperacaoEmAndamento.Mapa == null ? 0 : Variaveis.OperacaoEmAndamento.Trajetoria.DistanciaTotal).ToString("00.00") + " m";
 
             lblPerformance.Text = Variaveis.OperacaoEmAndamento.PerformanceStr;
 
@@ -145,7 +145,7 @@ namespace AgroBase.Forms.Operacoes
                 }
                 else
                 {
-                    if (Variaveis.OperacaoEmAndamento.OperacaoLiberada && Variaveis.OperacaoEmAndamento.Mapa.DistanciaTotal > 0 && Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer.Any())
+                    if (Variaveis.OperacaoEmAndamento.OperacaoLiberada && Variaveis.OperacaoEmAndamento.Trajetoria.DistanciaTotal > 0 && Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer.Any())
                     {
                         //Variaveis.OperacaoEmAndamento.DispAtu.Dados.BombaPressurizadora.PressaoSP = Convert.ToDouble(nudPressaoSP.Value);
                         await Variaveis.OperacaoEmAndamento.IniciarOperacao(null, false);
diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.Designer.cs b/AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.Designer.cs
index 39e0b1ae4..f3ee12d05 100644
--- a/AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.Designer.cs
+++ b/AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.Designer.cs
@@ -32,6 +32,7 @@
             this.lblOperacao = new System.Windows.Forms.Label();
             this.gpbModulos = new System.Windows.Forms.GroupBox();
             this.gpbP_Knt = new System.Windows.Forms.GroupBox();
+            this.chbSegmentacao = new System.Windows.Forms.CheckBox();
             this.chbKnt_Desvio = new System.Windows.Forms.CheckBox();
             this.chbKnt_Ativado = new System.Windows.Forms.CheckBox();
             this.chbO_Knt = new System.Windows.Forms.CheckBox();
@@ -50,14 +51,14 @@
             this.lblQtdCameras = new System.Windows.Forms.Label();
             this.nudQtdBicos = new System.Windows.Forms.NumericUpDown();
             this.lblQtdBicos = new System.Windows.Forms.Label();
-            this.gpbP_Mks = new System.Windows.Forms.GroupBox();
+            this.gpbP_Dir = new System.Windows.Forms.GroupBox();
             this.lblAngulomax = new System.Windows.Forms.Label();
             this.nudAnguloMinimo = new System.Windows.Forms.NumericUpDown();
             this.nudVelocidadeMP = new System.Windows.Forms.NumericUpDown();
             this.lblVelocidadeMP = new System.Windows.Forms.Label();
             this.nudAnguloMaximo = new System.Windows.Forms.NumericUpDown();
             this.lblAngulomin = new System.Windows.Forms.Label();
-            this.gpbP_Bld = new System.Windows.Forms.GroupBox();
+            this.gpbP_Mov = new System.Windows.Forms.GroupBox();
             this.nudVelocidadeComErvas = new System.Windows.Forms.NumericUpDown();
             this.lblKmhCErvas = new System.Windows.Forms.Label();
             this.lblVelocidadeComErvas = new System.Windows.Forms.Label();
@@ -67,18 +68,17 @@
             this.chbO_Gps = new System.Windows.Forms.CheckBox();
             this.chbO_Sen = new System.Windows.Forms.CheckBox();
             this.chbO_Atu = new System.Windows.Forms.CheckBox();
-            this.chbO_Mks = new System.Windows.Forms.CheckBox();
-            this.chbO_Bld = new System.Windows.Forms.CheckBox();
+            this.chbO_Dir = new System.Windows.Forms.CheckBox();
+            this.chbO_Mov = new System.Windows.Forms.CheckBox();
             this.chbD_Gps = new System.Windows.Forms.CheckBox();
             this.chbD_Sen = new System.Windows.Forms.CheckBox();
-            this.chbD_Bld = new System.Windows.Forms.CheckBox();
+            this.chbD_Mov = new System.Windows.Forms.CheckBox();
             this.chbD_Atu = new System.Windows.Forms.CheckBox();
-            this.chbD_Mks = new System.Windows.Forms.CheckBox();
+            this.chbD_Dir = new System.Windows.Forms.CheckBox();
             this.btnCarregar = new System.Windows.Forms.Button();
             this.btnSalvar = new System.Windows.Forms.Button();
             this.chbSalvar = new System.Windows.Forms.CheckBox();
             this.gpbConfiguracoesgerais = new System.Windows.Forms.GroupBox();
-            this.chbSegmentacao = new System.Windows.Forms.CheckBox();
             this.txtDensidadeherbicida = new System.Windows.Forms.TextBox();
             this.lblUnDensidadeherbicida = new System.Windows.Forms.Label();
             this.label2 = new System.Windows.Forms.Label();
@@ -93,11 +93,11 @@
             ((System.ComponentModel.ISupportInitialize)(this.nudAtuarem)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudQtdCameras)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudQtdBicos)).BeginInit();
-            this.gpbP_Mks.SuspendLayout();
+            this.gpbP_Dir.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.nudAnguloMinimo)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudVelocidadeMP)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudAnguloMaximo)).BeginInit();
-            this.gpbP_Bld.SuspendLayout();
+            this.gpbP_Mov.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.nudVelocidadeComErvas)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudVelocidadeSemErvas)).BeginInit();
             this.gpbConfiguracoesgerais.SuspendLayout();
@@ -135,18 +135,18 @@
             this.gpbModulos.Controls.Add(this.chbD_Knt);
             this.gpbModulos.Controls.Add(this.gpbP_Sen);
             this.gpbModulos.Controls.Add(this.gpbP_Atu);
-            this.gpbModulos.Controls.Add(this.gpbP_Mks);
-            this.gpbModulos.Controls.Add(this.gpbP_Bld);
+            this.gpbModulos.Controls.Add(this.gpbP_Dir);
+            this.gpbModulos.Controls.Add(this.gpbP_Mov);
             this.gpbModulos.Controls.Add(this.chbO_Gps);
             this.gpbModulos.Controls.Add(this.chbO_Sen);
             this.gpbModulos.Controls.Add(this.chbO_Atu);
-            this.gpbModulos.Controls.Add(this.chbO_Mks);
-            this.gpbModulos.Controls.Add(this.chbO_Bld);
+            this.gpbModulos.Controls.Add(this.chbO_Dir);
+            this.gpbModulos.Controls.Add(this.chbO_Mov);
             this.gpbModulos.Controls.Add(this.chbD_Gps);
             this.gpbModulos.Controls.Add(this.chbD_Sen);
-            this.gpbModulos.Controls.Add(this.chbD_Bld);
+            this.gpbModulos.Controls.Add(this.chbD_Mov);
             this.gpbModulos.Controls.Add(this.chbD_Atu);
-            this.gpbModulos.Controls.Add(this.chbD_Mks);
+            this.gpbModulos.Controls.Add(this.chbD_Dir);
             this.gpbModulos.Font = new System.Drawing.Font("Microsoft Sans Serif", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.gpbModulos.Location = new System.Drawing.Point(15, 83);
             this.gpbModulos.Margin = new System.Windows.Forms.Padding(6);
@@ -170,6 +170,17 @@
             this.gpbP_Knt.TabStop = false;
             this.gpbP_Knt.Text = "Ajustes";
             // 
+            // chbSegmentacao
+            // 
+            this.chbSegmentacao.AutoSize = true;
+            this.chbSegmentacao.Location = new System.Drawing.Point(10, 94);
+            this.chbSegmentacao.Margin = new System.Windows.Forms.Padding(6);
+            this.chbSegmentacao.Name = "chbSegmentacao";
+            this.chbSegmentacao.Size = new System.Drawing.Size(128, 24);
+            this.chbSegmentacao.TabIndex = 13;
+            this.chbSegmentacao.Text = "Segmentação";
+            this.chbSegmentacao.UseVisualStyleBackColor = true;
+            // 
             // chbKnt_Desvio
             // 
             this.chbKnt_Desvio.AutoSize = true;
@@ -372,21 +383,21 @@
             this.lblQtdBicos.TabIndex = 6;
             this.lblQtdBicos.Text = "Bicos";
             // 
-            // gpbP_Mks
+            // gpbP_Dir
             // 
-            this.gpbP_Mks.Controls.Add(this.lblAngulomax);
-            this.gpbP_Mks.Controls.Add(this.nudAnguloMinimo);
-            this.gpbP_Mks.Controls.Add(this.nudVelocidadeMP);
-            this.gpbP_Mks.Controls.Add(this.lblVelocidadeMP);
-            this.gpbP_Mks.Controls.Add(this.nudAnguloMaximo);
-            this.gpbP_Mks.Controls.Add(this.lblAngulomin);
-            this.gpbP_Mks.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.gpbP_Mks.Location = new System.Drawing.Point(204, 105);
-            this.gpbP_Mks.Name = "gpbP_Mks";
-            this.gpbP_Mks.Size = new System.Drawing.Size(190, 168);
-            this.gpbP_Mks.TabIndex = 12;
-            this.gpbP_Mks.TabStop = false;
-            this.gpbP_Mks.Text = "Ajustes";
+            this.gpbP_Dir.Controls.Add(this.lblAngulomax);
+            this.gpbP_Dir.Controls.Add(this.nudAnguloMinimo);
+            this.gpbP_Dir.Controls.Add(this.nudVelocidadeMP);
+            this.gpbP_Dir.Controls.Add(this.lblVelocidadeMP);
+            this.gpbP_Dir.Controls.Add(this.nudAnguloMaximo);
+            this.gpbP_Dir.Controls.Add(this.lblAngulomin);
+            this.gpbP_Dir.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.gpbP_Dir.Location = new System.Drawing.Point(204, 105);
+            this.gpbP_Dir.Name = "gpbP_Dir";
+            this.gpbP_Dir.Size = new System.Drawing.Size(190, 168);
+            this.gpbP_Dir.TabIndex = 12;
+            this.gpbP_Dir.TabStop = false;
+            this.gpbP_Dir.Text = "Ajustes";
             // 
             // lblAngulomax
             // 
@@ -462,21 +473,21 @@
             this.lblAngulomin.TabIndex = 6;
             this.lblAngulomin.Text = "Angulo Mín";
             // 
-            // gpbP_Bld
+            // gpbP_Mov
             // 
-            this.gpbP_Bld.Controls.Add(this.nudVelocidadeComErvas);
-            this.gpbP_Bld.Controls.Add(this.lblKmhCErvas);
-            this.gpbP_Bld.Controls.Add(this.lblVelocidadeComErvas);
-            this.gpbP_Bld.Controls.Add(this.nudVelocidadeSemErvas);
-            this.gpbP_Bld.Controls.Add(this.lblKmhSErvas);
-            this.gpbP_Bld.Controls.Add(this.lblVelocidadeSemErvas);
-            this.gpbP_Bld.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.gpbP_Bld.Location = new System.Drawing.Point(8, 105);
-            this.gpbP_Bld.Name = "gpbP_Bld";
-            this.gpbP_Bld.Size = new System.Drawing.Size(190, 168);
-            this.gpbP_Bld.TabIndex = 10;
-            this.gpbP_Bld.TabStop = false;
-            this.gpbP_Bld.Text = "Ajustes";
+            this.gpbP_Mov.Controls.Add(this.nudVelocidadeComErvas);
+            this.gpbP_Mov.Controls.Add(this.lblKmhCErvas);
+            this.gpbP_Mov.Controls.Add(this.lblVelocidadeComErvas);
+            this.gpbP_Mov.Controls.Add(this.nudVelocidadeSemErvas);
+            this.gpbP_Mov.Controls.Add(this.lblKmhSErvas);
+            this.gpbP_Mov.Controls.Add(this.lblVelocidadeSemErvas);
+            this.gpbP_Mov.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.gpbP_Mov.Location = new System.Drawing.Point(8, 105);
+            this.gpbP_Mov.Name = "gpbP_Mov";
+            this.gpbP_Mov.Size = new System.Drawing.Size(190, 168);
+            this.gpbP_Mov.TabIndex = 10;
+            this.gpbP_Mov.TabStop = false;
+            this.gpbP_Mov.Text = "Ajustes";
             // 
             // nudVelocidadeComErvas
             // 
@@ -575,31 +586,31 @@
             this.chbO_Atu.UseVisualStyleBackColor = true;
             this.chbO_Atu.CheckedChanged += new System.EventHandler(this.chbO_CheckedChanged);
             // 
-            // chbO_Mks
+            // chbO_Dir
             // 
-            this.chbO_Mks.AutoSize = true;
-            this.chbO_Mks.Font = new System.Drawing.Font("Microsoft Sans Serif", 11.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.chbO_Mks.Location = new System.Drawing.Point(214, 74);
-            this.chbO_Mks.Margin = new System.Windows.Forms.Padding(6);
-            this.chbO_Mks.Name = "chbO_Mks";
-            this.chbO_Mks.Size = new System.Drawing.Size(86, 22);
-            this.chbO_Mks.TabIndex = 6;
-            this.chbO_Mks.Text = "Opcional";
-            this.chbO_Mks.UseVisualStyleBackColor = true;
-            this.chbO_Mks.CheckedChanged += new System.EventHandler(this.chbO_CheckedChanged);
+            this.chbO_Dir.AutoSize = true;
+            this.chbO_Dir.Font = new System.Drawing.Font("Microsoft Sans Serif", 11.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.chbO_Dir.Location = new System.Drawing.Point(214, 74);
+            this.chbO_Dir.Margin = new System.Windows.Forms.Padding(6);
+            this.chbO_Dir.Name = "chbO_Dir";
+            this.chbO_Dir.Size = new System.Drawing.Size(86, 22);
+            this.chbO_Dir.TabIndex = 6;
+            this.chbO_Dir.Text = "Opcional";
+            this.chbO_Dir.UseVisualStyleBackColor = true;
+            this.chbO_Dir.CheckedChanged += new System.EventHandler(this.chbO_CheckedChanged);
             // 
-            // chbO_Bld
+            // chbO_Mov
             // 
-            this.chbO_Bld.AutoSize = true;
-            this.chbO_Bld.Font = new System.Drawing.Font("Microsoft Sans Serif", 11.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.chbO_Bld.Location = new System.Drawing.Point(18, 74);
-            this.chbO_Bld.Margin = new System.Windows.Forms.Padding(6);
-            this.chbO_Bld.Name = "chbO_Bld";
-            this.chbO_Bld.Size = new System.Drawing.Size(86, 22);
-            this.chbO_Bld.TabIndex = 5;
-            this.chbO_Bld.Text = "Opcional";
-            this.chbO_Bld.UseVisualStyleBackColor = true;
-            this.chbO_Bld.CheckedChanged += new System.EventHandler(this.chbO_CheckedChanged);
+            this.chbO_Mov.AutoSize = true;
+            this.chbO_Mov.Font = new System.Drawing.Font("Microsoft Sans Serif", 11.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.chbO_Mov.Location = new System.Drawing.Point(18, 74);
+            this.chbO_Mov.Margin = new System.Windows.Forms.Padding(6);
+            this.chbO_Mov.Name = "chbO_Mov";
+            this.chbO_Mov.Size = new System.Drawing.Size(86, 22);
+            this.chbO_Mov.TabIndex = 5;
+            this.chbO_Mov.Text = "Opcional";
+            this.chbO_Mov.UseVisualStyleBackColor = true;
+            this.chbO_Mov.CheckedChanged += new System.EventHandler(this.chbO_CheckedChanged);
             // 
             // chbD_Gps
             // 
@@ -625,17 +636,17 @@
             this.chbD_Sen.UseVisualStyleBackColor = true;
             this.chbD_Sen.CheckedChanged += new System.EventHandler(this.chbD_CheckedChanged);
             // 
-            // chbD_Bld
+            // chbD_Mov
             // 
-            this.chbD_Bld.AutoSize = true;
-            this.chbD_Bld.Location = new System.Drawing.Point(18, 34);
-            this.chbD_Bld.Margin = new System.Windows.Forms.Padding(6);
-            this.chbD_Bld.Name = "chbD_Bld";
-            this.chbD_Bld.Size = new System.Drawing.Size(152, 28);
-            this.chbD_Bld.TabIndex = 0;
-            this.chbD_Bld.Text = "Movimentação";
-            this.chbD_Bld.UseVisualStyleBackColor = true;
-            this.chbD_Bld.CheckedChanged += new System.EventHandler(this.chbD_CheckedChanged);
+            this.chbD_Mov.AutoSize = true;
+            this.chbD_Mov.Location = new System.Drawing.Point(18, 34);
+            this.chbD_Mov.Margin = new System.Windows.Forms.Padding(6);
+            this.chbD_Mov.Name = "chbD_Mov";
+            this.chbD_Mov.Size = new System.Drawing.Size(152, 28);
+            this.chbD_Mov.TabIndex = 0;
+            this.chbD_Mov.Text = "Movimentação";
+            this.chbD_Mov.UseVisualStyleBackColor = true;
+            this.chbD_Mov.CheckedChanged += new System.EventHandler(this.chbD_CheckedChanged);
             // 
             // chbD_Atu
             // 
@@ -649,17 +660,17 @@
             this.chbD_Atu.UseVisualStyleBackColor = true;
             this.chbD_Atu.CheckedChanged += new System.EventHandler(this.chbD_CheckedChanged);
             // 
-            // chbD_Mks
+            // chbD_Dir
             // 
-            this.chbD_Mks.AutoSize = true;
-            this.chbD_Mks.Location = new System.Drawing.Point(214, 34);
-            this.chbD_Mks.Margin = new System.Windows.Forms.Padding(6);
-            this.chbD_Mks.Name = "chbD_Mks";
-            this.chbD_Mks.Size = new System.Drawing.Size(113, 28);
-            this.chbD_Mks.TabIndex = 1;
-            this.chbD_Mks.Text = "Direcional";
-            this.chbD_Mks.UseVisualStyleBackColor = true;
-            this.chbD_Mks.CheckedChanged += new System.EventHandler(this.chbD_CheckedChanged);
+            this.chbD_Dir.AutoSize = true;
+            this.chbD_Dir.Location = new System.Drawing.Point(214, 34);
+            this.chbD_Dir.Margin = new System.Windows.Forms.Padding(6);
+            this.chbD_Dir.Name = "chbD_Dir";
+            this.chbD_Dir.Size = new System.Drawing.Size(113, 28);
+            this.chbD_Dir.TabIndex = 1;
+            this.chbD_Dir.Text = "Direcional";
+            this.chbD_Dir.UseVisualStyleBackColor = true;
+            this.chbD_Dir.CheckedChanged += new System.EventHandler(this.chbD_CheckedChanged);
             // 
             // btnCarregar
             // 
@@ -709,17 +720,6 @@
             this.gpbConfiguracoesgerais.TabStop = false;
             this.gpbConfiguracoesgerais.Text = "Gerais";
             // 
-            // chbSegmentacao
-            // 
-            this.chbSegmentacao.AutoSize = true;
-            this.chbSegmentacao.Location = new System.Drawing.Point(10, 94);
-            this.chbSegmentacao.Margin = new System.Windows.Forms.Padding(6);
-            this.chbSegmentacao.Name = "chbSegmentacao";
-            this.chbSegmentacao.Size = new System.Drawing.Size(128, 24);
-            this.chbSegmentacao.TabIndex = 13;
-            this.chbSegmentacao.Text = "Segmentação";
-            this.chbSegmentacao.UseVisualStyleBackColor = true;
-            // 
             // txtDensidadeherbicida
             // 
             this.txtDensidadeherbicida.Location = new System.Drawing.Point(18, 118);
@@ -807,13 +807,13 @@
             ((System.ComponentModel.ISupportInitialize)(this.nudAtuarem)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudQtdCameras)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudQtdBicos)).EndInit();
-            this.gpbP_Mks.ResumeLayout(false);
-            this.gpbP_Mks.PerformLayout();
+            this.gpbP_Dir.ResumeLayout(false);
+            this.gpbP_Dir.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.nudAnguloMinimo)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudVelocidadeMP)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudAnguloMaximo)).EndInit();
-            this.gpbP_Bld.ResumeLayout(false);
-            this.gpbP_Bld.PerformLayout();
+            this.gpbP_Mov.ResumeLayout(false);
+            this.gpbP_Mov.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.nudVelocidadeComErvas)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudVelocidadeSemErvas)).EndInit();
             this.gpbConfiguracoesgerais.ResumeLayout(false);
@@ -832,16 +832,16 @@
         private System.Windows.Forms.CheckBox chbD_Gps;
         private System.Windows.Forms.CheckBox chbD_Sen;
         private System.Windows.Forms.CheckBox chbD_Atu;
-        private System.Windows.Forms.CheckBox chbD_Mks;
-        private System.Windows.Forms.CheckBox chbD_Bld;
+        private System.Windows.Forms.CheckBox chbD_Dir;
+        private System.Windows.Forms.CheckBox chbD_Mov;
         private System.Windows.Forms.Button btnCarregar;
         private System.Windows.Forms.Button btnSalvar;
         private System.Windows.Forms.CheckBox chbO_Gps;
         private System.Windows.Forms.CheckBox chbO_Sen;
         private System.Windows.Forms.CheckBox chbO_Atu;
-        private System.Windows.Forms.CheckBox chbO_Mks;
-        private System.Windows.Forms.CheckBox chbO_Bld;
-        private System.Windows.Forms.GroupBox gpbP_Bld;
+        private System.Windows.Forms.CheckBox chbO_Dir;
+        private System.Windows.Forms.CheckBox chbO_Mov;
+        private System.Windows.Forms.GroupBox gpbP_Mov;
         private System.Windows.Forms.NumericUpDown nudVelocidadeComErvas;
         private System.Windows.Forms.Label lblKmhCErvas;
         private System.Windows.Forms.Label lblVelocidadeComErvas;
@@ -855,7 +855,7 @@
         private System.Windows.Forms.Label lblQtdCameras;
         private System.Windows.Forms.NumericUpDown nudQtdBicos;
         private System.Windows.Forms.Label lblQtdBicos;
-        private System.Windows.Forms.GroupBox gpbP_Mks;
+        private System.Windows.Forms.GroupBox gpbP_Dir;
         private System.Windows.Forms.NumericUpDown nudVelocidadeMP;
         private System.Windows.Forms.Label lblVelocidadeMP;
         private System.Windows.Forms.NumericUpDown nudAnguloMaximo;
diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs
index 48e5fac2c..d5e31b1d9 100644
--- a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs
+++ b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs
@@ -971,13 +971,13 @@ namespace AgroBase.Forms.Operacoes
             txtGPS_Data.Text = (Log?.DataHora ?? MomentoAtual).ToString("dd/MM HH:mm:ss");
             txtGPS_Latitude.Text = (Log?.Latitude ?? 0).ToString();
             txtGPS_Longitude.Text = (Log?.Longitude ?? 0).ToString();
-            txtGPS_Orientacao.Text = (Log?.Orientacao ?? 0).ToString();
+            txtGPS_Orientacao.Text = (Log?.CursoVerdadeiro ?? 0).ToString();
             txtGPS_Precisao.Text = (Log?.PrecisaoHorizontal ?? 0).ToString();
             txtGPS_Satelites.Text = (Log?.NumeroSatelites ?? 0).ToString();
             txtGPS_Velocidade.Text = (Log?.Velocidade ?? 0).ToString("0.00") + " (" + ((Log?.Velocidade ?? 0) * GPSService.ConversaoNosKmh).ToString("0.00") + " km/h)";
 
             int ID = Convert.ToInt32(Variaveis.IsAgroMonitor ? Variaveis.OperacaoEmAndamento.DispSen.Dados.LoRaParametrosBase.address : Variaveis.ConexaoLoRa.parametros.address);
-            GPSService.EnviarCoordenadasParaMapa(Log?.Latitude ?? 0, Log?.Longitude ?? 0, Log?.Orientacao ?? 0, true, ID);
+            GPSService.EnviarCoordenadasParaMapa(Log?.Latitude ?? 0, Log?.Longitude ?? 0, Log?.CursoVerdadeiro ?? 0, true, ID);
 
             lblGPS.ForeColor = !Log.Inicializado ? Color.Red : Color.Black;
 
@@ -996,7 +996,8 @@ namespace AgroBase.Forms.Operacoes
                 new GPSModel() { Latitude = Log.Latitude, Longitude = Log.Longitude },
                 LogsGPS,
                 null, //Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaProjetada.FirstOrDefault(),
-                new List(LogsGPS.Take(LogsGPS.IndexOf(Log) + 1))
+                new List(LogsGPS.Take(LogsGPS.IndexOf(Log) + 1)),
+                new List>()
             );
         }
 
@@ -1294,7 +1295,7 @@ namespace AgroBase.Forms.Operacoes
         {
             var Log = LogsGPS.FirstOrDefault(x => x.Momento == MomentoAtual);
             int idx = LogsGPS.IndexOf(Log);
-            double Angulo = Log?.Orientacao ?? 0;
+            double Angulo = Log?.CursoVerdadeiro ?? 0;
             double AnguloCalculado = idx <= 0 ? Angulo : GPSService.CalcularOrientacao(LogsGPS[idx - 1], Log);
             FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)Angulo, 90, (float)AnguloCalculado);
         }
@@ -1306,10 +1307,16 @@ namespace AgroBase.Forms.Operacoes
 
             var LogGps = LogsGPS.FirstOrDefault(x => x.Momento == MomentoAtual);
             int idxGps = LogsGPS.IndexOf(LogGps);
-            double AnguloGps = LogGps?.Orientacao ?? 0;
-            double distGps = idxGps <= 0 ? 0 : GPSService.DistanciaEntrePontos(LogGps, LogsGPS[idxGps - 1]);
 
-            double anguloUnificado = GPSService.UnificarAngulos(AnguloWit, AnguloGps, distGps);
+            var LogOpe = LogsOperacao.FirstOrDefault(x => x.Momento == MomentoAtual);
+
+            double CursoVerdadeiroGps = LogOpe?.CursoVerdadeiroCarroGPS ?? 0;
+            double AnguloRealGPS = LogOpe?.AnguloCarroGPS ?? 0;
+            double distGps = idxGps <= 0 ? 0 : GPSService.DistanciaEntrePontos(LogGps, LogsGPS[idxGps - 1]);
+            double anguloMovimento = idxGps <= 0 ? LogGps.OrientacaoReal : GPSService.CalcularOrientacao(LogsGPS[idxGps - 1], LogGps);
+            double variacaoMagnetica = LogOpe.VariacaoMagneticaGPS;
+
+            double anguloUnificado = GPSService.UnificarAngulos(AnguloWit, CursoVerdadeiroGps, anguloMovimento, distGps, AnguloRealGPS, variacaoMagnetica);
 
             FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)AnguloWit, 90, (float)anguloUnificado);
         }
diff --git a/AgroBase/AgroBase/Forms/frmAcompanhamento.cs b/AgroBase/AgroBase/Forms/frmAcompanhamento.cs
index b52acfc86..11c1da39f 100644
--- a/AgroBase/AgroBase/Forms/frmAcompanhamento.cs
+++ b/AgroBase/AgroBase/Forms/frmAcompanhamento.cs
@@ -379,7 +379,7 @@ namespace AgroBase.Forms
 
         private void pnlOrientacaoGPS_Paint(object sender, PaintEventArgs e)
         {
-            double Angulo = GPSService.UltimaLeitura.Orientacao;
+            double Angulo = GPSService.UltimaLeitura.CursoVerdadeiro;
             FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)Angulo, -90);
         }
 
diff --git a/AgroBase/AgroBase/Forms/frmGPS.Designer.cs b/AgroBase/AgroBase/Forms/frmGPS.Designer.cs
index aef99866e..3d5f6a9c4 100644
--- a/AgroBase/AgroBase/Forms/frmGPS.Designer.cs
+++ b/AgroBase/AgroBase/Forms/frmGPS.Designer.cs
@@ -32,6 +32,9 @@
             this.pnlMapa = new System.Windows.Forms.Panel();
             this.picLoading = new System.Windows.Forms.PictureBox();
             this.pnlInformacoes = new System.Windows.Forms.Panel();
+            this.lblFix = new System.Windows.Forms.Label();
+            this.txtLongitude = new System.Windows.Forms.TextBox();
+            this.txtLatitude = new System.Windows.Forms.TextBox();
             this.btnLimparRuas = new System.Windows.Forms.Button();
             this.btnNovaRua = new System.Windows.Forms.Button();
             this.btnGerarMapa = new System.Windows.Forms.Button();
@@ -41,14 +44,17 @@
             this.lblAltitude = new System.Windows.Forms.Label();
             this.lblDatahora = new System.Windows.Forms.Label();
             this.lblSatelites = new System.Windows.Forms.Label();
-            this.lblPrecisao = new System.Windows.Forms.Label();
+            this.lblPrecisaoHorizontal = new System.Windows.Forms.Label();
             this.lblLongitude = new System.Windows.Forms.Label();
             this.lblLatitude = new System.Windows.Forms.Label();
-            this.txtLatitude = new System.Windows.Forms.TextBox();
-            this.txtLongitude = new System.Windows.Forms.TextBox();
+            this.lblPrecisaoCm = new System.Windows.Forms.Label();
+            this.gpbTrajetoria = new System.Windows.Forms.GroupBox();
+            this.lblCursoVerdadeiro = new System.Windows.Forms.Label();
+            this.lblVariacaoMagnetica = new System.Windows.Forms.Label();
             this.pnlMapa.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.picLoading)).BeginInit();
             this.pnlInformacoes.SuspendLayout();
+            this.gpbTrajetoria.SuspendLayout();
             this.SuspendLayout();
             // 
             // pnlMapa
@@ -60,7 +66,7 @@
             this.pnlMapa.Location = new System.Drawing.Point(9, 10);
             this.pnlMapa.Margin = new System.Windows.Forms.Padding(2);
             this.pnlMapa.Name = "pnlMapa";
-            this.pnlMapa.Size = new System.Drawing.Size(1253, 464);
+            this.pnlMapa.Size = new System.Drawing.Size(1106, 474);
             this.pnlMapa.TabIndex = 2;
             // 
             // picLoading
@@ -73,7 +79,7 @@
             this.picLoading.Location = new System.Drawing.Point(194, 24);
             this.picLoading.Margin = new System.Windows.Forms.Padding(2);
             this.picLoading.Name = "picLoading";
-            this.picLoading.Size = new System.Drawing.Size(865, 416);
+            this.picLoading.Size = new System.Drawing.Size(718, 426);
             this.picLoading.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
             this.picLoading.TabIndex = 2;
             this.picLoading.TabStop = false;
@@ -81,32 +87,59 @@
             // 
             // pnlInformacoes
             // 
+            this.pnlInformacoes.Controls.Add(this.lblVariacaoMagnetica);
+            this.pnlInformacoes.Controls.Add(this.lblCursoVerdadeiro);
+            this.pnlInformacoes.Controls.Add(this.gpbTrajetoria);
+            this.pnlInformacoes.Controls.Add(this.lblPrecisaoCm);
+            this.pnlInformacoes.Controls.Add(this.lblFix);
             this.pnlInformacoes.Controls.Add(this.txtLongitude);
             this.pnlInformacoes.Controls.Add(this.txtLatitude);
-            this.pnlInformacoes.Controls.Add(this.btnLimparRuas);
-            this.pnlInformacoes.Controls.Add(this.btnNovaRua);
-            this.pnlInformacoes.Controls.Add(this.btnGerarMapa);
             this.pnlInformacoes.Controls.Add(this.lblOrientacao);
-            this.pnlInformacoes.Controls.Add(this.chbSalvar);
             this.pnlInformacoes.Controls.Add(this.lblVelocidade);
             this.pnlInformacoes.Controls.Add(this.lblAltitude);
             this.pnlInformacoes.Controls.Add(this.lblDatahora);
             this.pnlInformacoes.Controls.Add(this.lblSatelites);
-            this.pnlInformacoes.Controls.Add(this.lblPrecisao);
+            this.pnlInformacoes.Controls.Add(this.lblPrecisaoHorizontal);
             this.pnlInformacoes.Controls.Add(this.lblLongitude);
             this.pnlInformacoes.Controls.Add(this.lblLatitude);
             this.pnlInformacoes.Dock = System.Windows.Forms.DockStyle.Bottom;
-            this.pnlInformacoes.Location = new System.Drawing.Point(0, 479);
+            this.pnlInformacoes.Location = new System.Drawing.Point(0, 488);
             this.pnlInformacoes.Margin = new System.Windows.Forms.Padding(2);
             this.pnlInformacoes.Name = "pnlInformacoes";
-            this.pnlInformacoes.Size = new System.Drawing.Size(1271, 46);
+            this.pnlInformacoes.Size = new System.Drawing.Size(1124, 70);
             this.pnlInformacoes.TabIndex = 3;
             // 
+            // lblFix
+            // 
+            this.lblFix.AutoSize = true;
+            this.lblFix.Location = new System.Drawing.Point(444, 41);
+            this.lblFix.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblFix.Name = "lblFix";
+            this.lblFix.Size = new System.Drawing.Size(96, 13);
+            this.lblFix.TabIndex = 15;
+            this.lblFix.Text = "Correção: Nenhum";
+            // 
+            // txtLongitude
+            // 
+            this.txtLongitude.Location = new System.Drawing.Point(45, 38);
+            this.txtLongitude.Name = "txtLongitude";
+            this.txtLongitude.ReadOnly = true;
+            this.txtLongitude.Size = new System.Drawing.Size(121, 20);
+            this.txtLongitude.TabIndex = 14;
+            // 
+            // txtLatitude
+            // 
+            this.txtLatitude.Location = new System.Drawing.Point(45, 14);
+            this.txtLatitude.Name = "txtLatitude";
+            this.txtLatitude.ReadOnly = true;
+            this.txtLatitude.Size = new System.Drawing.Size(121, 20);
+            this.txtLatitude.TabIndex = 13;
+            // 
             // btnLimparRuas
             // 
-            this.btnLimparRuas.Location = new System.Drawing.Point(1108, 12);
+            this.btnLimparRuas.Location = new System.Drawing.Point(87, 38);
             this.btnLimparRuas.Name = "btnLimparRuas";
-            this.btnLimparRuas.Size = new System.Drawing.Size(75, 23);
+            this.btnLimparRuas.Size = new System.Drawing.Size(75, 20);
             this.btnLimparRuas.TabIndex = 12;
             this.btnLimparRuas.Text = "Reiniciar";
             this.btnLimparRuas.UseVisualStyleBackColor = true;
@@ -114,9 +147,9 @@
             // 
             // btnNovaRua
             // 
-            this.btnNovaRua.Location = new System.Drawing.Point(1027, 12);
+            this.btnNovaRua.Location = new System.Drawing.Point(6, 38);
             this.btnNovaRua.Name = "btnNovaRua";
-            this.btnNovaRua.Size = new System.Drawing.Size(75, 23);
+            this.btnNovaRua.Size = new System.Drawing.Size(75, 20);
             this.btnNovaRua.TabIndex = 11;
             this.btnNovaRua.Text = "Nova Rua";
             this.btnNovaRua.UseVisualStyleBackColor = true;
@@ -124,9 +157,9 @@
             // 
             // btnGerarMapa
             // 
-            this.btnGerarMapa.Location = new System.Drawing.Point(1189, 12);
+            this.btnGerarMapa.Location = new System.Drawing.Point(168, 38);
             this.btnGerarMapa.Name = "btnGerarMapa";
-            this.btnGerarMapa.Size = new System.Drawing.Size(75, 23);
+            this.btnGerarMapa.Size = new System.Drawing.Size(75, 20);
             this.btnGerarMapa.TabIndex = 10;
             this.btnGerarMapa.Text = "Gerar Mapa";
             this.btnGerarMapa.UseVisualStyleBackColor = true;
@@ -135,17 +168,17 @@
             // lblOrientacao
             // 
             this.lblOrientacao.AutoSize = true;
-            this.lblOrientacao.Location = new System.Drawing.Point(800, 17);
+            this.lblOrientacao.Location = new System.Drawing.Point(572, 17);
             this.lblOrientacao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblOrientacao.Name = "lblOrientacao";
-            this.lblOrientacao.Size = new System.Drawing.Size(65, 13);
+            this.lblOrientacao.Size = new System.Drawing.Size(90, 13);
             this.lblOrientacao.TabIndex = 9;
-            this.lblOrientacao.Text = "Orientação: ";
+            this.lblOrientacao.Text = "Orientação: 0.00°";
             // 
             // chbSalvar
             // 
             this.chbSalvar.AutoSize = true;
-            this.chbSalvar.Location = new System.Drawing.Point(914, 16);
+            this.chbSalvar.Location = new System.Drawing.Point(6, 19);
             this.chbSalvar.Name = "chbSalvar";
             this.chbSalvar.Size = new System.Drawing.Size(103, 17);
             this.chbSalvar.TabIndex = 8;
@@ -156,27 +189,27 @@
             // lblVelocidade
             // 
             this.lblVelocidade.AutoSize = true;
-            this.lblVelocidade.Location = new System.Drawing.Point(365, 17);
+            this.lblVelocidade.Location = new System.Drawing.Point(177, 41);
             this.lblVelocidade.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblVelocidade.Name = "lblVelocidade";
-            this.lblVelocidade.Size = new System.Drawing.Size(72, 13);
+            this.lblVelocidade.Size = new System.Drawing.Size(115, 13);
             this.lblVelocidade.TabIndex = 7;
-            this.lblVelocidade.Text = "Velocidade: 0";
+            this.lblVelocidade.Text = "Velocidade: 0.00 km/h";
             // 
             // lblAltitude
             // 
             this.lblAltitude.AutoSize = true;
-            this.lblAltitude.Location = new System.Drawing.Point(283, 17);
+            this.lblAltitude.Location = new System.Drawing.Point(177, 17);
             this.lblAltitude.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblAltitude.Name = "lblAltitude";
-            this.lblAltitude.Size = new System.Drawing.Size(54, 13);
+            this.lblAltitude.Size = new System.Drawing.Size(80, 13);
             this.lblAltitude.TabIndex = 6;
-            this.lblAltitude.Text = "Altitude: 0";
+            this.lblAltitude.Text = "Altitude: 0.00 m";
             // 
             // lblDatahora
             // 
             this.lblDatahora.AutoSize = true;
-            this.lblDatahora.Location = new System.Drawing.Point(669, 17);
+            this.lblDatahora.Location = new System.Drawing.Point(713, 17);
             this.lblDatahora.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblDatahora.Name = "lblDatahora";
             this.lblDatahora.Size = new System.Drawing.Size(77, 13);
@@ -186,27 +219,27 @@
             // lblSatelites
             // 
             this.lblSatelites.AutoSize = true;
-            this.lblSatelites.Location = new System.Drawing.Point(584, 17);
+            this.lblSatelites.Location = new System.Drawing.Point(444, 17);
             this.lblSatelites.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblSatelites.Name = "lblSatelites";
-            this.lblSatelites.Size = new System.Drawing.Size(59, 13);
+            this.lblSatelites.Size = new System.Drawing.Size(99, 13);
             this.lblSatelites.TabIndex = 4;
-            this.lblSatelites.Text = "Satélites: 0";
+            this.lblSatelites.Text = "Satélites Visíveis: 0";
             // 
-            // lblPrecisao
+            // lblPrecisaoHorizontal
             // 
-            this.lblPrecisao.AutoSize = true;
-            this.lblPrecisao.Location = new System.Drawing.Point(497, 17);
-            this.lblPrecisao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblPrecisao.Name = "lblPrecisao";
-            this.lblPrecisao.Size = new System.Drawing.Size(60, 13);
-            this.lblPrecisao.TabIndex = 3;
-            this.lblPrecisao.Text = "Precisão: 0";
+            this.lblPrecisaoHorizontal.AutoSize = true;
+            this.lblPrecisaoHorizontal.Location = new System.Drawing.Point(302, 17);
+            this.lblPrecisaoHorizontal.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblPrecisaoHorizontal.Name = "lblPrecisaoHorizontal";
+            this.lblPrecisaoHorizontal.Size = new System.Drawing.Size(110, 13);
+            this.lblPrecisaoHorizontal.TabIndex = 3;
+            this.lblPrecisaoHorizontal.Text = "Precisão Horizontal: 0";
             // 
             // lblLongitude
             // 
             this.lblLongitude.AutoSize = true;
-            this.lblLongitude.Location = new System.Drawing.Point(141, 17);
+            this.lblLongitude.Location = new System.Drawing.Point(9, 41);
             this.lblLongitude.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblLongitude.Name = "lblLongitude";
             this.lblLongitude.Size = new System.Drawing.Size(31, 13);
@@ -223,27 +256,55 @@
             this.lblLatitude.TabIndex = 1;
             this.lblLatitude.Text = "Lat";
             // 
-            // txtLatitude
+            // lblPrecisaoCm
             // 
-            this.txtLatitude.Location = new System.Drawing.Point(36, 14);
-            this.txtLatitude.Name = "txtLatitude";
-            this.txtLatitude.ReadOnly = true;
-            this.txtLatitude.Size = new System.Drawing.Size(100, 20);
-            this.txtLatitude.TabIndex = 13;
+            this.lblPrecisaoCm.AutoSize = true;
+            this.lblPrecisaoCm.Location = new System.Drawing.Point(302, 41);
+            this.lblPrecisaoCm.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblPrecisaoCm.Name = "lblPrecisaoCm";
+            this.lblPrecisaoCm.Size = new System.Drawing.Size(127, 13);
+            this.lblPrecisaoCm.TabIndex = 16;
+            this.lblPrecisaoCm.Text = "Precisao Leitura: 0.00 cm";
             // 
-            // txtLongitude
+            // gpbTrajetoria
             // 
-            this.txtLongitude.Location = new System.Drawing.Point(177, 14);
-            this.txtLongitude.Name = "txtLongitude";
-            this.txtLongitude.ReadOnly = true;
-            this.txtLongitude.Size = new System.Drawing.Size(100, 20);
-            this.txtLongitude.TabIndex = 14;
+            this.gpbTrajetoria.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Right)));
+            this.gpbTrajetoria.Controls.Add(this.chbSalvar);
+            this.gpbTrajetoria.Controls.Add(this.btnNovaRua);
+            this.gpbTrajetoria.Controls.Add(this.btnLimparRuas);
+            this.gpbTrajetoria.Controls.Add(this.btnGerarMapa);
+            this.gpbTrajetoria.Location = new System.Drawing.Point(857, 3);
+            this.gpbTrajetoria.Name = "gpbTrajetoria";
+            this.gpbTrajetoria.Size = new System.Drawing.Size(254, 64);
+            this.gpbTrajetoria.TabIndex = 17;
+            this.gpbTrajetoria.TabStop = false;
+            this.gpbTrajetoria.Text = "Trajetória";
+            // 
+            // lblCursoVerdadeiro
+            // 
+            this.lblCursoVerdadeiro.AutoSize = true;
+            this.lblCursoVerdadeiro.Location = new System.Drawing.Point(572, 41);
+            this.lblCursoVerdadeiro.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblCursoVerdadeiro.Name = "lblCursoVerdadeiro";
+            this.lblCursoVerdadeiro.Size = new System.Drawing.Size(119, 13);
+            this.lblCursoVerdadeiro.TabIndex = 18;
+            this.lblCursoVerdadeiro.Text = "Curso Verdadeiro: 0.00°";
+            // 
+            // lblVariacaoMagnetica
+            // 
+            this.lblVariacaoMagnetica.AutoSize = true;
+            this.lblVariacaoMagnetica.Location = new System.Drawing.Point(713, 41);
+            this.lblVariacaoMagnetica.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblVariacaoMagnetica.Name = "lblVariacaoMagnetica";
+            this.lblVariacaoMagnetica.Size = new System.Drawing.Size(129, 13);
+            this.lblVariacaoMagnetica.TabIndex = 19;
+            this.lblVariacaoMagnetica.Text = "Variação Magnética: 0.00";
             // 
             // frmGPS
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(1271, 525);
+            this.ClientSize = new System.Drawing.Size(1124, 558);
             this.Controls.Add(this.pnlInformacoes);
             this.Controls.Add(this.pnlMapa);
             this.Name = "frmGPS";
@@ -255,6 +316,8 @@
             ((System.ComponentModel.ISupportInitialize)(this.picLoading)).EndInit();
             this.pnlInformacoes.ResumeLayout(false);
             this.pnlInformacoes.PerformLayout();
+            this.gpbTrajetoria.ResumeLayout(false);
+            this.gpbTrajetoria.PerformLayout();
             this.ResumeLayout(false);
 
         }
@@ -267,7 +330,7 @@
         private System.Windows.Forms.Label lblLatitude;
         private System.Windows.Forms.Label lblDatahora;
         private System.Windows.Forms.Label lblSatelites;
-        private System.Windows.Forms.Label lblPrecisao;
+        private System.Windows.Forms.Label lblPrecisaoHorizontal;
         private System.Windows.Forms.Label lblLongitude;
         private System.Windows.Forms.Label lblVelocidade;
         private System.Windows.Forms.Label lblAltitude;
@@ -278,5 +341,10 @@
         private System.Windows.Forms.Button btnLimparRuas;
         private System.Windows.Forms.TextBox txtLongitude;
         private System.Windows.Forms.TextBox txtLatitude;
+        private System.Windows.Forms.Label lblFix;
+        private System.Windows.Forms.Label lblPrecisaoCm;
+        private System.Windows.Forms.GroupBox gpbTrajetoria;
+        private System.Windows.Forms.Label lblCursoVerdadeiro;
+        private System.Windows.Forms.Label lblVariacaoMagnetica;
     }
 }
\ No newline at end of file
diff --git a/AgroBase/AgroBase/Forms/frmGPS.cs b/AgroBase/AgroBase/Forms/frmGPS.cs
index e334daad3..f6008a4c3 100644
--- a/AgroBase/AgroBase/Forms/frmGPS.cs
+++ b/AgroBase/AgroBase/Forms/frmGPS.cs
@@ -41,14 +41,18 @@ namespace AgroBase.Forms
 
         private async Task tmrLeitura_Tick()
         {
-            lblAltitude.Text = "Altitude: " + GPSService.UltimaLeitura.Altitude.ToString("0.0");
+            lblAltitude.Text = "Altitude: " + GPSService.UltimaLeitura.Altitude.ToString("0.0") + " m";
             lblDatahora.Text = "Ultima Leitura: " + GPSService.UltimaLeitura.DataHora.ToString("HH:mm:ss");
             txtLatitude.Text = GPSService.UltimaLeitura.Latitude.ToString();
             txtLongitude.Text = GPSService.UltimaLeitura.Longitude.ToString();
-            lblPrecisao.Text = "Precisão: " + GPSService.UltimaLeitura.PrecisaoHorizontal.ToString();
-            lblSatelites.Text = "Satélites: " + GPSService.UltimaLeitura.NumeroSatelites.ToString();
+            lblPrecisaoHorizontal.Text = "Precisão Horizontal: " + GPSService.UltimaLeitura.PrecisaoHorizontal.ToString("0.00");
+            lblPrecisaoHorizontal.Text = "Precisão Leitura: " + GPSService.UltimaLeitura.PrecisaoCm.ToString("0.00") + " cm";
+            lblSatelites.Text = "Satélites Visíveis: " + GPSService.UltimaLeitura.NumeroSatelites.ToString();
             lblVelocidade.Text = "Velocidade: " + GPSService.UltimaLeitura.Velocidade.ToString("0.00") + " km/h";
-            lblOrientacao.Text = "Orientação: " + GPSService.UltimaLeitura.Orientacao.ToString("0.00") + "º";
+            lblOrientacao.Text = "Orientação: " + GPSService.UltimaLeitura.OrientacaoReal.ToString("0.00") + "º";
+            lblCursoVerdadeiro.Text = "Curso Verdadeiro: " + GPSService.UltimaLeitura.CursoVerdadeiro.ToString("0.00") + "º";
+            lblVariacaoMagnetica.Text = "Variação Magnética: " + GPSService.UltimaLeitura.VariacaoMagnetica.ToString("0.00") + "º";
+            lblFix.Text = GPSService.UltimaLeitura.QualidadeFix.ToString();
 
             if (chbSalvar.Checked)
             {
@@ -61,7 +65,7 @@ namespace AgroBase.Forms
                     NumeroSatelites = GPSService.UltimaLeitura.NumeroSatelites, 
                     PrecisaoHorizontal = GPSService.UltimaLeitura.PrecisaoHorizontal, 
                     Velocidade = GPSService.UltimaLeitura.Velocidade, 
-                    Orientacao = GPSService.UltimaLeitura.Orientacao
+                    CursoVerdadeiro = GPSService.UltimaLeitura.CursoVerdadeiro
                 };
                 Trajetoria[Trajetoria.Count - 1].Add(leitura);
 
diff --git a/AgroBase/AgroBase/Forms/frmPrincipal.Designer.cs b/AgroBase/AgroBase/Forms/frmPrincipal.Designer.cs
index 135579718..0e86eb510 100644
--- a/AgroBase/AgroBase/Forms/frmPrincipal.Designer.cs
+++ b/AgroBase/AgroBase/Forms/frmPrincipal.Designer.cs
@@ -103,6 +103,7 @@ namespace AgroBase
             this.btnForcarAtualizacao = new System.Windows.Forms.Button();
             this.clbRotinas = new System.Windows.Forms.CheckedListBox();
             this.btnAtualizarRotinas = new System.Windows.Forms.Button();
+            this.btnTreinamentoIA = new System.Windows.Forms.Button();
             this.gpbAcoes.SuspendLayout();
             this.erroStrip.SuspendLayout();
             this.pnlLateral.SuspendLayout();
@@ -644,6 +645,7 @@ namespace AgroBase
             // pnlAtalhos
             // 
             this.pnlAtalhos.AutoScroll = true;
+            this.pnlAtalhos.Controls.Add(this.btnTreinamentoIA);
             this.pnlAtalhos.Controls.Add(this.btnOID);
             this.pnlAtalhos.Controls.Add(this.btnEthernet);
             this.pnlAtalhos.Controls.Add(this.btnMKS);
@@ -947,6 +949,17 @@ namespace AgroBase
             this.btnAtualizarRotinas.UseVisualStyleBackColor = true;
             this.btnAtualizarRotinas.Click += new System.EventHandler(this.btnAtualizarRotinas_Click);
             // 
+            // btnTreinamentoIA
+            // 
+            this.btnTreinamentoIA.Location = new System.Drawing.Point(5, 439);
+            this.btnTreinamentoIA.Margin = new System.Windows.Forms.Padding(2);
+            this.btnTreinamentoIA.Name = "btnTreinamentoIA";
+            this.btnTreinamentoIA.Size = new System.Drawing.Size(84, 20);
+            this.btnTreinamentoIA.TabIndex = 32;
+            this.btnTreinamentoIA.Text = "Treinamento";
+            this.btnTreinamentoIA.UseVisualStyleBackColor = true;
+            this.btnTreinamentoIA.Click += new System.EventHandler(this.btnTreinamentoIA_Click);
+            // 
             // frmPrincipal
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
@@ -1075,6 +1088,7 @@ namespace AgroBase
         private System.Windows.Forms.Label lblCodErro;
         private System.Windows.Forms.TextBox txtCodErro;
         private System.Windows.Forms.Button btnOID;
+        private System.Windows.Forms.Button btnTreinamentoIA;
     }
 }
 
diff --git a/AgroBase/AgroBase/Forms/frmPrincipal.cs b/AgroBase/AgroBase/Forms/frmPrincipal.cs
index 4b435d9e2..6daddbbdd 100644
--- a/AgroBase/AgroBase/Forms/frmPrincipal.cs
+++ b/AgroBase/AgroBase/Forms/frmPrincipal.cs
@@ -493,6 +493,12 @@ namespace AgroBase
             frm.Show();
         }
 
+        private void btnTreinamentoIA_Click(object sender, EventArgs e)
+        {
+            frmTreinamentoIA frm = new frmTreinamentoIA();
+            frm.Show();
+        }
+
 
 
 
@@ -507,5 +513,7 @@ namespace AgroBase
                 MessageBox.Show(desc);
             }
         }
+
+        
     }
 }
diff --git a/AgroBase/AgroBase/Forms/frmPrincipal.resx b/AgroBase/AgroBase/Forms/frmPrincipal.resx
index cf8116060..d74215535 100644
--- a/AgroBase/AgroBase/Forms/frmPrincipal.resx
+++ b/AgroBase/AgroBase/Forms/frmPrincipal.resx
@@ -120,9 +120,6 @@
   
     11, 10
   
-  
-    11, 10
-  
   
     133, 16
   
diff --git a/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.Designer.cs b/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.Designer.cs
index 672d3401b..c7ea82716 100644
--- a/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.Designer.cs
+++ b/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.Designer.cs
@@ -75,30 +75,32 @@
             this.txtLatitude = new System.Windows.Forms.TextBox();
             this.btnIniciarGPS = new System.Windows.Forms.Button();
             this.pnlMapa = new System.Windows.Forms.Panel();
-            this.pnlAnguloControle = new System.Windows.Forms.Panel();
-            this.pnlOrientacaoCarro = new System.Windows.Forms.Panel();
             this.pnlOrientacaoTrajeto = new System.Windows.Forms.Panel();
-            this.pnlSonar = new System.Windows.Forms.Panel();
-            this.picSonar = new System.Windows.Forms.PictureBox();
-            this.pnlZoomMapa = new System.Windows.Forms.Panel();
+            this.pnlOrientacaoCarro = new System.Windows.Forms.Panel();
+            this.pnlAnguloControle = new System.Windows.Forms.Panel();
             this.label2 = new System.Windows.Forms.Label();
             this.label3 = new System.Windows.Forms.Label();
             this.label4 = new System.Windows.Forms.Label();
+            this.pnlZoomMapa = new System.Windows.Forms.Panel();
             this.lblRua = new System.Windows.Forms.Label();
             this.lblMargem = new System.Windows.Forms.Label();
             this.lblProximoPonto = new System.Windows.Forms.Label();
             this.lblAproximando = new System.Windows.Forms.Label();
             this.lblDistProx = new System.Windows.Forms.Label();
             this.lblDistAnt = new System.Windows.Forms.Label();
+            this.lblTipoMovimento = new System.Windows.Forms.Label();
+            this.cmbTipoControleDirecional = new System.Windows.Forms.ComboBox();
+            this.label5 = new System.Windows.Forms.Label();
             this.pnlOpcoes.SuspendLayout();
             this.gpbSonar.SuspendLayout();
             this.gpbGPS.SuspendLayout();
-            this.pnlSonar.SuspendLayout();
-            ((System.ComponentModel.ISupportInitialize)(this.picSonar)).BeginInit();
+            this.pnlMapa.SuspendLayout();
             this.SuspendLayout();
             // 
             // pnlOpcoes
             // 
+            this.pnlOpcoes.Controls.Add(this.label5);
+            this.pnlOpcoes.Controls.Add(this.cmbTipoControleDirecional);
             this.pnlOpcoes.Controls.Add(this.lblKd);
             this.pnlOpcoes.Controls.Add(this.txtKd);
             this.pnlOpcoes.Controls.Add(this.lblKi);
@@ -190,6 +192,7 @@
             // 
             // btnReiniciar
             // 
+            this.btnReiniciar.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
             this.btnReiniciar.Location = new System.Drawing.Point(1231, 16);
             this.btnReiniciar.Margin = new System.Windows.Forms.Padding(2);
             this.btnReiniciar.Name = "btnReiniciar";
@@ -631,83 +634,58 @@
             // 
             this.pnlMapa.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
             | System.Windows.Forms.AnchorStyles.Left)));
+            this.pnlMapa.Controls.Add(this.pnlOrientacaoTrajeto);
+            this.pnlMapa.Controls.Add(this.pnlOrientacaoCarro);
+            this.pnlMapa.Controls.Add(this.pnlAnguloControle);
+            this.pnlMapa.Controls.Add(this.label2);
+            this.pnlMapa.Controls.Add(this.label3);
+            this.pnlMapa.Controls.Add(this.label4);
             this.pnlMapa.Location = new System.Drawing.Point(9, 10);
             this.pnlMapa.Margin = new System.Windows.Forms.Padding(2);
             this.pnlMapa.Name = "pnlMapa";
-            this.pnlMapa.Size = new System.Drawing.Size(506, 485);
+            this.pnlMapa.Size = new System.Drawing.Size(506, 441);
             this.pnlMapa.TabIndex = 1;
             // 
-            // pnlAnguloControle
-            // 
-            this.pnlAnguloControle.BackColor = System.Drawing.Color.White;
-            this.pnlAnguloControle.BackgroundImage = global::AgroBase.Properties.Resources.transferidor;
-            this.pnlAnguloControle.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
-            this.pnlAnguloControle.Location = new System.Drawing.Point(787, 11);
-            this.pnlAnguloControle.Margin = new System.Windows.Forms.Padding(2);
-            this.pnlAnguloControle.Name = "pnlAnguloControle";
-            this.pnlAnguloControle.Size = new System.Drawing.Size(78, 84);
-            this.pnlAnguloControle.TabIndex = 14;
-            this.pnlAnguloControle.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlAnguloControle_Paint);
-            // 
-            // pnlOrientacaoCarro
-            // 
-            this.pnlOrientacaoCarro.BackColor = System.Drawing.Color.White;
-            this.pnlOrientacaoCarro.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos;
-            this.pnlOrientacaoCarro.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
-            this.pnlOrientacaoCarro.Location = new System.Drawing.Point(658, 11);
-            this.pnlOrientacaoCarro.Margin = new System.Windows.Forms.Padding(2);
-            this.pnlOrientacaoCarro.Name = "pnlOrientacaoCarro";
-            this.pnlOrientacaoCarro.Size = new System.Drawing.Size(78, 84);
-            this.pnlOrientacaoCarro.TabIndex = 13;
-            this.pnlOrientacaoCarro.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacaoCarro_Paint);
-            // 
             // pnlOrientacaoTrajeto
             // 
             this.pnlOrientacaoTrajeto.BackColor = System.Drawing.Color.White;
             this.pnlOrientacaoTrajeto.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos;
             this.pnlOrientacaoTrajeto.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
-            this.pnlOrientacaoTrajeto.Location = new System.Drawing.Point(519, 11);
+            this.pnlOrientacaoTrajeto.Location = new System.Drawing.Point(4, 2);
             this.pnlOrientacaoTrajeto.Margin = new System.Windows.Forms.Padding(2);
             this.pnlOrientacaoTrajeto.Name = "pnlOrientacaoTrajeto";
             this.pnlOrientacaoTrajeto.Size = new System.Drawing.Size(78, 84);
             this.pnlOrientacaoTrajeto.TabIndex = 12;
             this.pnlOrientacaoTrajeto.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacaoTrajeto_Paint);
             // 
-            // pnlSonar
+            // pnlOrientacaoCarro
             // 
-            this.pnlSonar.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.pnlSonar.Controls.Add(this.picSonar);
-            this.pnlSonar.Location = new System.Drawing.Point(870, 10);
-            this.pnlSonar.Margin = new System.Windows.Forms.Padding(2);
-            this.pnlSonar.Name = "pnlSonar";
-            this.pnlSonar.Size = new System.Drawing.Size(500, 485);
-            this.pnlSonar.TabIndex = 2;
+            this.pnlOrientacaoCarro.BackColor = System.Drawing.Color.White;
+            this.pnlOrientacaoCarro.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos;
+            this.pnlOrientacaoCarro.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
+            this.pnlOrientacaoCarro.Location = new System.Drawing.Point(210, 2);
+            this.pnlOrientacaoCarro.Margin = new System.Windows.Forms.Padding(2);
+            this.pnlOrientacaoCarro.Name = "pnlOrientacaoCarro";
+            this.pnlOrientacaoCarro.Size = new System.Drawing.Size(78, 84);
+            this.pnlOrientacaoCarro.TabIndex = 13;
+            this.pnlOrientacaoCarro.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacaoCarro_Paint);
             // 
-            // picSonar
+            // pnlAnguloControle
             // 
-            this.picSonar.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.picSonar.Location = new System.Drawing.Point(0, 0);
-            this.picSonar.Margin = new System.Windows.Forms.Padding(2);
-            this.picSonar.Name = "picSonar";
-            this.picSonar.Size = new System.Drawing.Size(500, 485);
-            this.picSonar.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
-            this.picSonar.TabIndex = 0;
-            this.picSonar.TabStop = false;
-            // 
-            // pnlZoomMapa
-            // 
-            this.pnlZoomMapa.BackColor = System.Drawing.Color.White;
-            this.pnlZoomMapa.Location = new System.Drawing.Point(520, 113);
-            this.pnlZoomMapa.Name = "pnlZoomMapa";
-            this.pnlZoomMapa.Size = new System.Drawing.Size(345, 346);
-            this.pnlZoomMapa.TabIndex = 15;
+            this.pnlAnguloControle.BackColor = System.Drawing.Color.White;
+            this.pnlAnguloControle.BackgroundImage = global::AgroBase.Properties.Resources.transferidor;
+            this.pnlAnguloControle.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
+            this.pnlAnguloControle.Location = new System.Drawing.Point(426, 2);
+            this.pnlAnguloControle.Margin = new System.Windows.Forms.Padding(2);
+            this.pnlAnguloControle.Name = "pnlAnguloControle";
+            this.pnlAnguloControle.Size = new System.Drawing.Size(78, 84);
+            this.pnlAnguloControle.TabIndex = 14;
+            this.pnlAnguloControle.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlAnguloControle_Paint);
             // 
             // label2
             // 
             this.label2.AutoSize = true;
-            this.label2.Location = new System.Drawing.Point(535, 97);
+            this.label2.Location = new System.Drawing.Point(20, 88);
             this.label2.Name = "label2";
             this.label2.Size = new System.Drawing.Size(48, 13);
             this.label2.TabIndex = 16;
@@ -716,7 +694,7 @@
             // label3
             // 
             this.label3.AutoSize = true;
-            this.label3.Location = new System.Drawing.Point(681, 97);
+            this.label3.Location = new System.Drawing.Point(233, 88);
             this.label3.Name = "label3";
             this.label3.Size = new System.Drawing.Size(32, 13);
             this.label3.TabIndex = 17;
@@ -725,32 +703,41 @@
             // label4
             // 
             this.label4.AutoSize = true;
-            this.label4.Location = new System.Drawing.Point(805, 97);
+            this.label4.Location = new System.Drawing.Point(444, 88);
             this.label4.Name = "label4";
             this.label4.Size = new System.Drawing.Size(46, 13);
             this.label4.TabIndex = 18;
             this.label4.Text = "Controle";
             // 
+            // pnlZoomMapa
+            // 
+            this.pnlZoomMapa.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.pnlZoomMapa.BackColor = System.Drawing.Color.White;
+            this.pnlZoomMapa.Location = new System.Drawing.Point(522, 10);
+            this.pnlZoomMapa.Name = "pnlZoomMapa";
+            this.pnlZoomMapa.Size = new System.Drawing.Size(845, 484);
+            this.pnlZoomMapa.TabIndex = 15;
+            // 
             // lblRua
             // 
-            this.lblRua.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
-            | System.Windows.Forms.AnchorStyles.Right)));
+            this.lblRua.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
             this.lblRua.AutoSize = true;
             this.lblRua.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
-            this.lblRua.Location = new System.Drawing.Point(519, 462);
+            this.lblRua.Location = new System.Drawing.Point(11, 462);
             this.lblRua.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblRua.Name = "lblRua";
-            this.lblRua.Size = new System.Drawing.Size(54, 13);
+            this.lblRua.Size = new System.Drawing.Size(74, 13);
             this.lblRua.TabIndex = 19;
-            this.lblRua.Text = "Rua: Fora";
+            this.lblRua.Text = "Corredor: Fora";
             // 
             // lblMargem
             // 
-            this.lblMargem.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
-            | System.Windows.Forms.AnchorStyles.Right)));
+            this.lblMargem.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
             this.lblMargem.AutoSize = true;
             this.lblMargem.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
-            this.lblMargem.Location = new System.Drawing.Point(595, 462);
+            this.lblMargem.Location = new System.Drawing.Point(99, 462);
             this.lblMargem.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblMargem.Name = "lblMargem";
             this.lblMargem.Size = new System.Drawing.Size(71, 13);
@@ -759,11 +746,10 @@
             // 
             // lblProximoPonto
             // 
-            this.lblProximoPonto.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
-            | System.Windows.Forms.AnchorStyles.Right)));
+            this.lblProximoPonto.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
             this.lblProximoPonto.AutoSize = true;
             this.lblProximoPonto.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
-            this.lblProximoPonto.Location = new System.Drawing.Point(691, 462);
+            this.lblProximoPonto.Location = new System.Drawing.Point(183, 462);
             this.lblProximoPonto.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblProximoPonto.Name = "lblProximoPonto";
             this.lblProximoPonto.Size = new System.Drawing.Size(87, 13);
@@ -772,11 +758,10 @@
             // 
             // lblAproximando
             // 
-            this.lblAproximando.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
-            | System.Windows.Forms.AnchorStyles.Right)));
+            this.lblAproximando.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
             this.lblAproximando.AutoSize = true;
             this.lblAproximando.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
-            this.lblAproximando.Location = new System.Drawing.Point(793, 462);
+            this.lblAproximando.Location = new System.Drawing.Point(285, 462);
             this.lblAproximando.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblAproximando.Name = "lblAproximando";
             this.lblAproximando.Size = new System.Drawing.Size(68, 13);
@@ -785,11 +770,10 @@
             // 
             // lblDistProx
             // 
-            this.lblDistProx.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
-            | System.Windows.Forms.AnchorStyles.Right)));
+            this.lblDistProx.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
             this.lblDistProx.AutoSize = true;
             this.lblDistProx.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
-            this.lblDistProx.Location = new System.Drawing.Point(519, 482);
+            this.lblDistProx.Location = new System.Drawing.Point(11, 482);
             this.lblDistProx.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblDistProx.Name = "lblDistProx";
             this.lblDistProx.Size = new System.Drawing.Size(160, 13);
@@ -798,36 +782,61 @@
             // 
             // lblDistAnt
             // 
-            this.lblDistAnt.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
-            | System.Windows.Forms.AnchorStyles.Right)));
+            this.lblDistAnt.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
             this.lblDistAnt.AutoSize = true;
             this.lblDistAnt.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
-            this.lblDistAnt.Location = new System.Drawing.Point(691, 482);
+            this.lblDistAnt.Location = new System.Drawing.Point(183, 482);
             this.lblDistAnt.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblDistAnt.Name = "lblDistAnt";
             this.lblDistAnt.Size = new System.Drawing.Size(159, 13);
             this.lblDistAnt.TabIndex = 24;
             this.lblDistAnt.Text = "Distância Ponto Anterior: 0,00 m";
             // 
+            // lblTipoMovimento
+            // 
+            this.lblTipoMovimento.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
+            this.lblTipoMovimento.AutoSize = true;
+            this.lblTipoMovimento.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
+            this.lblTipoMovimento.Location = new System.Drawing.Point(411, 462);
+            this.lblTipoMovimento.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblTipoMovimento.Name = "lblTipoMovimento";
+            this.lblTipoMovimento.Size = new System.Drawing.Size(75, 13);
+            this.lblTipoMovimento.TabIndex = 25;
+            this.lblTipoMovimento.Text = "RodasFrontais";
+            // 
+            // cmbTipoControleDirecional
+            // 
+            this.cmbTipoControleDirecional.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.cmbTipoControleDirecional.FormattingEnabled = true;
+            this.cmbTipoControleDirecional.Location = new System.Drawing.Point(1092, 35);
+            this.cmbTipoControleDirecional.Name = "cmbTipoControleDirecional";
+            this.cmbTipoControleDirecional.Size = new System.Drawing.Size(111, 21);
+            this.cmbTipoControleDirecional.TabIndex = 38;
+            this.cmbTipoControleDirecional.SelectedIndexChanged += new System.EventHandler(this.cmbTipoControleDirecional_SelectedIndexChanged);
+            // 
+            // label5
+            // 
+            this.label5.AutoSize = true;
+            this.label5.Location = new System.Drawing.Point(1088, 20);
+            this.label5.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label5.Name = "label5";
+            this.label5.Size = new System.Drawing.Size(120, 13);
+            this.label5.TabIndex = 39;
+            this.label5.Text = "Tipo Controle Direcional";
+            // 
             // frmSimulacaoMapaGPS
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
             this.ClientSize = new System.Drawing.Size(1379, 599);
+            this.Controls.Add(this.lblTipoMovimento);
             this.Controls.Add(this.lblDistAnt);
             this.Controls.Add(this.lblDistProx);
             this.Controls.Add(this.lblAproximando);
             this.Controls.Add(this.lblProximoPonto);
             this.Controls.Add(this.lblMargem);
             this.Controls.Add(this.lblRua);
-            this.Controls.Add(this.label4);
-            this.Controls.Add(this.label3);
-            this.Controls.Add(this.label2);
-            this.Controls.Add(this.pnlAnguloControle);
             this.Controls.Add(this.pnlZoomMapa);
-            this.Controls.Add(this.pnlOrientacaoCarro);
-            this.Controls.Add(this.pnlSonar);
-            this.Controls.Add(this.pnlOrientacaoTrajeto);
             this.Controls.Add(this.pnlMapa);
             this.Controls.Add(this.pnlOpcoes);
             this.Margin = new System.Windows.Forms.Padding(2);
@@ -841,8 +850,8 @@
             this.gpbSonar.PerformLayout();
             this.gpbGPS.ResumeLayout(false);
             this.gpbGPS.PerformLayout();
-            this.pnlSonar.ResumeLayout(false);
-            ((System.ComponentModel.ISupportInitialize)(this.picSonar)).EndInit();
+            this.pnlMapa.ResumeLayout(false);
+            this.pnlMapa.PerformLayout();
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -852,7 +861,6 @@
 
         private System.Windows.Forms.Panel pnlOpcoes;
         private System.Windows.Forms.Panel pnlMapa;
-        private System.Windows.Forms.Panel pnlSonar;
         private System.Windows.Forms.GroupBox gpbGPS;
         private System.Windows.Forms.TextBox txtLatitude;
         private System.Windows.Forms.Button btnIniciarGPS;
@@ -879,7 +887,6 @@
         private System.Windows.Forms.Button btnCarregarMapa;
         private System.Windows.Forms.Panel pnlOrientacaoTrajeto;
         private System.Windows.Forms.Label lblDistanciaFinal;
-        private System.Windows.Forms.PictureBox picSonar;
         private System.Windows.Forms.CheckBox chbMoverObstaculo;
         private System.Windows.Forms.CheckBox chbSonarVirando;
         private System.Windows.Forms.Button btnAtualizarLeitura;
@@ -912,5 +919,8 @@
         private System.Windows.Forms.TextBox txtKi;
         private System.Windows.Forms.Label lblKp;
         private System.Windows.Forms.TextBox txtKp;
+        private System.Windows.Forms.Label lblTipoMovimento;
+        private System.Windows.Forms.Label label5;
+        private System.Windows.Forms.ComboBox cmbTipoControleDirecional;
     }
 }
\ No newline at end of file
diff --git a/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs b/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs
index b61bf9172..b1495beb0 100644
--- a/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs
+++ b/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs
@@ -16,17 +16,14 @@ namespace AgroBase.Forms
         AsyncTaskTimerModel tmrLeitura;
         StatusCarroMapa StatusCarro = StatusCarroMapa.Parado;
         MapaDinamicoModel MapaDinamico;
-        bool calc = false;
         bool parar = false;
-        DateTime UltimaAtualizacao = DateTime.MinValue;
-        int tempoGps = 1000;
+        DateTime UltimaAtualizacaoControle = DateTime.MinValue;
+        double tempoGps = (1000.0 / GPSService.TaxaAmostragemHz);
+        int ticksControle = GPSService.TaxaAmostragemHz;
+
         DateTime UltimaAtualizacaoGps = DateTime.MinValue;
-        double ultimaLat = 0;
-        double ultimaLon = 0;
-        double ultimoAnguloGps = 0;
 
         Queue historicoAngulosControle = new Queue();
-        Queue historicoAngulosCarro = new Queue();
 
         public frmSimulacaoMapaGPS()
         {
@@ -43,7 +40,13 @@ namespace AgroBase.Forms
 
         private void frmSimulacaoMapaGPS_Load(object sender, EventArgs e)
         {
-            tmrLeitura = new AsyncTaskTimerModel("tmrLeitura", tmrLeitura_Tick, 500, this);
+            cmbTipoControleDirecional.Items.Clear();
+            cmbTipoControleDirecional.Items.AddRange(Enum.GetNames(typeof(Enums.TiposControladorDirecional)));
+            cmbTipoControleDirecional.SelectedIndex = (int)Variaveis.OperacaoEmAndamento.Controle.TipoControleDirecional;
+
+            Variaveis.OperacaoEmAndamento.ReiniciarSimulacao();
+
+            tmrLeitura = new AsyncTaskTimerModel("tmrLeitura", tmrLeitura_Tick, (int)tempoGps, this);
             tmrLeitura.Start();
 
             Variaveis.OperacaoEmAndamento.Mapa = new MapasModel()
@@ -51,7 +54,6 @@ namespace AgroBase.Forms
                 pnlMapa = pnlMapa,
             };
             //Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal = new SonarModel(picSonar);
-            KinectService.InicializarKinect(null, picSonar, null, null);
 
             txtKd.Text = Variaveis.OperacaoEmAndamento.Controle.PIDdirecional.Kd.ToString();
             txtKi.Text = Variaveis.OperacaoEmAndamento.Controle.PIDdirecional.Ki.ToString();
@@ -74,25 +76,30 @@ namespace AgroBase.Forms
 
         private void AtualizarDadosTela()
         {
-            btnCalcularAngulo_Click(new object(), new EventArgs());
-
-            StatusCarro = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.StatusAtual;
+            StatusCarro = Variaveis.OperacaoEmAndamento.Trajetoria?.StatusAtual ?? StatusCarroMapa.Parado;
 
             lblStatusOperacao.Text = "Operação: " + Enum.GetName(typeof(StatusOperacao), Variaveis.OperacaoEmAndamento.StatusAtual);
             lblStatus.Text = "Carro: " + Enum.GetName(typeof(StatusCarroMapa), StatusCarro);
-            lblDirecao.Text = "Direção: " + Enum.GetName(typeof(DirecaoCarroRua), Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.Direcao);
-            lblDistanciaOperacao.Text = "Distância Operação: " + (Variaveis.OperacaoEmAndamento.Mapa == null ? 0 : Variaveis.OperacaoEmAndamento.Mapa.DistanciaTotal).ToString("00.00") + " m";
-            lblDistanciaFinal.Text = "Distância Final: " + (GPSService.DistanciaDoTrecho(Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica)).ToString("00.00") + " m";
-            lblDistanciaLateral.Text = "Esq: " + Variaveis.OperacaoEmAndamento.Mapa.DistanciaEsquerda.ToString("0.00") + " m - Dir: " + Variaveis.OperacaoEmAndamento.Mapa.DistanciaDireita.ToString("0.00") + " m";
+            lblDirecao.Text = "Direção: " + Enum.GetName(typeof(DirecaoCarroRua), Variaveis.OperacaoEmAndamento.Trajetoria.DirecaoCaminho);
+            lblDistanciaOperacao.Text = "Distância Operação: " + (Variaveis.OperacaoEmAndamento.Trajetoria.DistanciaTotal).ToString("00.00") + " m";
+            lblDistanciaFinal.Text = "Distância Final: " + (Variaveis.OperacaoEmAndamento.Trajetoria.DistanciaRestante).ToString("00.00") + " m";
+            lblDistanciaLateral.Text = "Esq: " + Variaveis.OperacaoEmAndamento.Trajetoria.DistanciaEsquerda.ToString("0.00") + " m - Dir: " + Variaveis.OperacaoEmAndamento.Trajetoria.DistanciaDireita.ToString("0.00") + " m";
 
-            lblRua.Text = "Rua: " + (Variaveis.OperacaoEmAndamento.Mapa.DentroDaRua ? "Dentro" : "Fora");
-            lblMargem.Text = "Margem: " + (Variaveis.OperacaoEmAndamento.Mapa.NaMargemEntradaRua ? "Sim" : "Não");
-            lblProximoPonto.Text = "Próximo Ponto: " + (Variaveis.OperacaoEmAndamento.Mapa.IdxUltimoPontoTrajetoria + 1);
-            lblAproximando.Text = (Variaveis.OperacaoEmAndamento.Mapa.AproximandoUltimoPontoTrajetoria ? "Aproximando" : "Afastando");
-            lblDistProx.Text = "Distância Próximo Ponto: " + Variaveis.OperacaoEmAndamento.Mapa.DistanciaAteProximoPonto.ToString("0.00") + " m";
-            lblDistAnt.Text = "Distância Ponto Anterior: " + Variaveis.OperacaoEmAndamento.Mapa.DistanciaAtePontoAnterior.ToString("0.00") + " m";
+            lblRua.Text = "Corredor: " + (Variaveis.OperacaoEmAndamento.Trajetoria.DentroCorredor ? "Dentro" : "Fora");
+            lblMargem.Text = "Margem: " + (Variaveis.OperacaoEmAndamento.Trajetoria.NaMargemDoCorredor ? "Sim" : "Não");
+            lblProximoPonto.Text = "Próximo Ponto: " + (Variaveis.OperacaoEmAndamento.Trajetoria.ProximoPonto.idxPonto);
+            lblAproximando.Text = (Variaveis.OperacaoEmAndamento.Trajetoria.ProximoPonto.Aproximando ? "Aproximando" : "Afastando");
+            lblDistProx.Text = "Distância Próximo Ponto: " + Variaveis.OperacaoEmAndamento.Trajetoria.ProximoPonto.DistanciaAtual.ToString("0.00") + " m";
+            lblDistAnt.Text = "Distância Ponto Anterior: " + Variaveis.OperacaoEmAndamento.Trajetoria.PontoAtual.DistanciaAtual.ToString("0.00") + " m";
+            lblTipoMovimento.Text = Variaveis.OperacaoEmAndamento.Controle.TipoMovimento.ToString();
+
+            lblTempoEstimado.Text = "Tempo Estimado: " + Variaveis.OperacaoEmAndamento.Trajetoria.TempoEstimadoRestante();
+
+
+            txtKd.Text = Variaveis.OperacaoEmAndamento.Controle.PIDdirecional.Kd.ToString();
+            txtKi.Text = Variaveis.OperacaoEmAndamento.Controle.PIDdirecional.Ki.ToString();
+            txtKp.Text = Variaveis.OperacaoEmAndamento.Controle.PIDdirecional.Kp.ToString();
 
-            lblTempoEstimado.Text = "Tempo Estimado: " + Variaveis.OperacaoEmAndamento.TempoEstimadoRestante();
 
             if (Variaveis.OperacaoEmAndamento.Iniciado)
             {
@@ -102,12 +109,13 @@ namespace AgroBase.Forms
 
                 MapaDinamico.AtualizarDados(
                     KinectService.Iniciado && KinectService.Leitura.StatusDetecao ? KinectService.Leitura.ObstaculoCritico : null,
-                    (float)Variaveis.OperacaoEmAndamento.Mapa.AnguloCaminho,
+                    (float)Variaveis.OperacaoEmAndamento.Trajetoria.AnguloCaminho,
                     (float)Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro,
                     GPSService.UltimaLeitura,
-                    Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica,
-                    Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaProjetada.FirstOrDefault(),
-                    Variaveis.OperacaoEmAndamento.GPSTrajetoria
+                    Variaveis.OperacaoEmAndamento.Trajetoria.TrajetoriaDinamica,
+                    Variaveis.OperacaoEmAndamento.Trajetoria.Corredores[Variaveis.OperacaoEmAndamento.Trajetoria.IdxCorredorAtual],
+                    Variaveis.OperacaoEmAndamento.GPSTrajetoria,
+                    Variaveis.OperacaoEmAndamento.Trajetoria.RuasPlantacao
                 );
             }
             else
@@ -119,7 +127,7 @@ namespace AgroBase.Forms
                     parar = false;
                 }
 
-                Variaveis.OperacaoEmAndamento.OpMapaGPS.AtualizarRuasSelecionadas();
+                Variaveis.OperacaoEmAndamento.Mapa.AtualizarRuasSelecionadas();
             }
         }
 
@@ -161,92 +169,62 @@ namespace AgroBase.Forms
                 };
             }
 
-            ultimaLat = GPSService.UltimaLeitura.Latitude;
-            ultimaLon = GPSService.UltimaLeitura.Longitude;
-
             GPSService.AtualizarCoordenadasGPS();
         }
 
         private void btnAcrescentarGPS_Click(object sender, EventArgs e)
         {
-            bool atualizarCoordenadas = UltimaAtualizacaoGps.AddMilliseconds(tempoGps) < DateTime.Now;
-
-            double angulo = Variaveis.OperacaoEmAndamento.Mapa.AnguloCaminho;
-            if (txtAnguloGPS.Text != "")
+            if (Variaveis.OperacaoEmAndamento.StatusAtual == StatusOperacao.Concluido)
             {
-                angulo = atualizarCoordenadas ? double.Parse(txtAnguloGPS.Text) : ultimoAnguloGps;
-            }
-            if (Variaveis.OperacaoEmAndamento.Controle.TipoMovimento == TipoMovimentoDirecional.MovimentoArco)
-            {
-                angulo += double.Parse(txtAnguloControle.Text);
+                return;
             }
 
+            var ControleDir = Variaveis.OperacaoEmAndamento.Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Dir);
+            double anguloControle = double.Parse(txtAnguloControle.Text);
 
-            double velocidade = FuncoesMatematicas.CalculaVelocidadeRPM(Variaveis.OperacaoEmAndamento.SimulacaoRpmControle);
-            double velocidadeMs = FuncoesMatematicas.ConverteKmhParaMs(velocidade);
+            bool atualizarAnguloControle = (ticksControle >= GPSService.TaxaAmostragemHz - 1) || (chbAutomatico.Checked && UltimaAtualizacaoControle < ControleDir.UltimoComando);
+            if (atualizarAnguloControle)
+            {
+                ticksControle = 0;
+            }
+            else
+            {
+                ticksControle++;
+            }
+
+            if (atualizarAnguloControle)
+            {
+                btnCalcularAngulo_Click(new object(), new EventArgs());
+                UltimaAtualizacaoControle = ControleDir.UltimoComando;
+                anguloControle = double.Parse(txtAnguloControle.Text);
+            }
+
+            // Obtém os parâmetros
+            double anguloAtual = double.Parse(txtAnguloGPS.Text);
+            double velocidadeMs = FuncoesMatematicas.CalculaVelocidadeMsPercentual(Variaveis.OperacaoEmAndamento.SimulacaoRpmControle);
+            double velocidade = FuncoesMatematicas.ConverteMsParaKmh(velocidadeMs);
+
+            TimeSpan tempoPassado =
+                !chbAutomatico.Checked || UltimaAtualizacaoGps == DateTime.MinValue ? // esta no modo manual
+                new TimeSpan((int)tempoGps * 10000) : // 1 tick do tempo gps
+                DateTime.Now - UltimaAtualizacaoGps; // tempo decorrido entre ticks do timer de leitura
+
+            // Calcula a nova posicao do robo
+            GPSModel novaPosicao = VariaveisEquipamento.SimularNovaPosicao(Variaveis.OperacaoEmAndamento.Controle.TipoMovimento, anguloControle, velocidadeMs, tempoPassado.TotalSeconds, anguloAtual, GPSService.UltimaLeitura);
+
+            // Atualiza a interface gráfica
+            txtAnguloGPS.Text = novaPosicao.OrientacaoReal.ToString("0.00");
             txtVelocidade.Text = velocidade.ToString("0.00");
+            txtDistanciaGPS.Text = novaPosicao.Distancia.ToString("0.0000");
+            txtLatitude.Text = novaPosicao.Latitude.ToString();
+            txtLongitude.Text = novaPosicao.Longitude.ToString();
 
-            TimeSpan tempoPassado = !chbAutomatico.Checked || UltimaAtualizacao == DateTime.MinValue ? new TimeSpan(5000000) : DateTime.Now - UltimaAtualizacao;
-            // Calcula a distância com base no tempo passado (em segundos)
-            double distancia = velocidadeMs * tempoPassado.TotalSeconds;
-            
-            if (distancia == 0 && double.Parse(txtDistanciaGPS.Text) > 0)
-            {
-                distancia = double.Parse(txtDistanciaGPS.Text);
-            }
-            else
-            {
-                txtDistanciaGPS.Text = distancia.ToString("0.00");
-            }
-            //double distancia = double.Parse(txtDistanciaGPS.Text); // Distância em metros
-            //angulo -= 180; // Ângulo em graus
 
-            double latitude = ultimaLat;
-            double longitude = ultimaLon;
+            UltimaAtualizacaoGps = DateTime.Now;
 
-            // Conversão de ângulo de graus para radianos
-            double anguloRad = angulo * (Math.PI / 180);
-
-            // Raio da Terra em metros
-            double raioTerra = GPSService.RaioDaTerra;
-
-            // Calcular deslocamento de latitude em radianos
-            double deltaLat = distancia * Math.Cos(anguloRad) / raioTerra;
-            // Converter de radianos para graus
-            double _latAtt = latitude + deltaLat * (180 / Math.PI);
-
-            // Calcular deslocamento de longitude em radianos
-            double deltaLong = distancia * Math.Sin(anguloRad) / (raioTerra * Math.Cos(latitude * (Math.PI / 180)));
-            // Converter de radianos para graus
-            double _longAtt = longitude + deltaLong * (180 / Math.PI);
-
-            if (atualizarCoordenadas)
-            {
-                if (double.IsNaN(_latAtt) || double.IsNaN(_longAtt))
-                {
-
-                }
-
-                // Atualizar os TextBoxes com as novas coordenadas
-                txtLatitude.Text = _latAtt.ToString();
-                txtLongitude.Text = _longAtt.ToString();
-
-                UltimaAtualizacaoGps = DateTime.Now;
-
-                ultimoAnguloGps = angulo;
-
-                AtualizarPosicaoGPS();
-
-                calc = true;
-            }
-            else
-            {
-                ultimaLat = _latAtt;
-                ultimaLon = _longAtt;
-            }
+            AtualizarPosicaoGPS();
 
             AtualizarDadosTela();
-            calc = false;
         }
 
         private void btnIniciarSimulacao_Click(object sender, EventArgs e)
@@ -267,7 +245,7 @@ namespace AgroBase.Forms
             {
                 GPSService.PenultimaLeitura.Latitude = GPSService.UltimaLeitura.Latitude;
                 GPSService.PenultimaLeitura.Longitude = GPSService.UltimaLeitura.Longitude;
-                Variaveis.OperacaoEmAndamento.Mapa.GerarTrajetoriaDinamica();
+                //Variaveis.OperacaoEmAndamento.Mapa.GerarTrajetoriaDinamica();
 
                 AtualizarDadosTela();
             }
@@ -282,8 +260,9 @@ namespace AgroBase.Forms
         {
             try
             {
-                double angulo = Variaveis.OperacaoEmAndamento.Mapa.AnguloCaminho;
-                DesenharInclinacao((Panel)sender, e, (float)angulo, 90);
+                double angulo = Variaveis.OperacaoEmAndamento.Trajetoria.AnguloCaminho;
+                double anguloCorredor = Variaveis.OperacaoEmAndamento.Trajetoria.AnguloMedioCorredor;
+                FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)angulo, 90, (float)anguloCorredor);
             }
             catch { }
         }
@@ -293,7 +272,7 @@ namespace AgroBase.Forms
             try
             {
                 double angulo = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro;
-                DesenharInclinacao((Panel)sender, e, (float)angulo, 90);
+                FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)angulo, 90);
             }
             catch { }
         }
@@ -303,68 +282,11 @@ namespace AgroBase.Forms
             try
             {
                 double angulo = Variaveis.OperacaoEmAndamento.SimulacaoAnguloControle;
-                DesenharInclinacao((Panel)sender, e, (float)angulo, 90);
+                FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)angulo, 90);
             }
             catch { }
         }
 
-        private void DesenharInclinacao(Panel pnlBussola, PaintEventArgs e, float anguloInclinacao, float anguloSub)
-        {
-            if (!(anguloInclinacao >= 0 || anguloInclinacao <= 0))
-            {
-                anguloInclinacao = 0;
-            }
-
-            Graphics g = e.Graphics;
-            // Desenha o círculo da bússola
-            int diameter = Math.Min(pnlBussola.Width - 1, pnlBussola.Height - 1);
-            Point centro = new Point((pnlBussola.Width - 1) / 2, (pnlBussola.Height - 1) / 2);
-            //g.DrawEllipse(Pens.Black, centro.X - diameter / 2, centro.Y - diameter / 2, diameter, diameter);
-
-            // Escreve o ângulo no centro do círculo
-            string anguloTexto = $"{anguloInclinacao.ToString("0")}°";
-            Font fonteAngulo = new Font("Arial", 7); // Ajuste o tamanho da fonte conforme necessário
-            SizeF textSize = e.Graphics.MeasureString(anguloTexto, fonteAngulo);
-
-            // Calcula a posição para o texto ser centralizado no círculo
-            float textX = 0;
-            float textY = 0;
-
-            // Define a cor do texto
-            Brush textBrush = Brushes.Black;
-
-            // Desenha o texto no Graphics do painel
-            g.DrawString(anguloTexto, fonteAngulo, textBrush, textX, textY);
-
-            // A linha será desenhada do centro do círculo
-            PointF pontoCentral = new PointF(centro.X, centro.Y);
-            // O comprimento da linha será metade do diâmetro do círculo (raio)
-            float comprimentoLinha = diameter / 3;
-
-            // Ajustar o ângulo para que 0 graus esteja para cima e aumente no sentido horário
-            //float anguloRadianos = (anguloInclinacao - 90) * (float)(Math.PI / 180.0);
-            float anguloRadianos = (anguloInclinacao - anguloSub) * (float)(Math.PI / 180.0);
-
-            // Calcular o ponto final da linha baseado no ângulo de inclinação
-            PointF pontoFinal = new PointF(
-                pontoCentral.X + comprimentoLinha * (float)Math.Cos(anguloRadianos),
-                pontoCentral.Y + comprimentoLinha * (float)Math.Sin(anguloRadianos)
-            );
-
-            // Desenhar a linha de inclinação
-            g.DrawLine(Pens.Red, pontoCentral, pontoFinal);
-
-            // Opcional: Desenhar uma ponta de seta na linha para indicar direção
-            using (AdjustableArrowCap bigArrow = new AdjustableArrowCap(4, 4))
-            {
-                using (Pen pen = new Pen(Color.Red, 2))
-                {
-                    pen.CustomEndCap = bigArrow;
-                    g.DrawLine(pen, pontoCentral, pontoFinal);
-                }
-            }
-        }
-
         private void btnAtualizarLeitura_Click(object sender, EventArgs e)
         {
             AtualizarDadosTela();
@@ -376,43 +298,19 @@ namespace AgroBase.Forms
             Variaveis.OperacaoEmAndamento.Controle.PIDdirecional.Ki = double.Parse(txtKi.Text);
             Variaveis.OperacaoEmAndamento.Controle.PIDdirecional.Kp = double.Parse(txtKp.Text);
 
-            Variaveis.OperacaoEmAndamento.OpMapaGPS.CalculaDadosMovimentacaoAutonoma();
+            //Variaveis.OperacaoEmAndamento.OpMapaGPS.CalculaDadosMovimentacaoAutonoma();
 
             int errosConsiderar = int.Parse(txtQtdErro.Text);
 
             double anguloControle = Variaveis.OperacaoEmAndamento.SimulacaoAnguloControle;
 
-            if (calc)
-            {
-                double anguloAtual = double.Parse(txtAnguloGPS.Text);
-                double novoAngulo = (anguloAtual + anguloControle) % 360;
-
-                if (historicoAngulosCarro.Count >= (errosConsiderar + 1))
-                    historicoAngulosCarro.Dequeue(); // Remove o valor mais antigo
-
-                historicoAngulosCarro.Enqueue(novoAngulo);
-                double anguloCarro = historicoAngulosCarro.Peek(); // Valor de 5 ciclos atrás
-
-                if (double.IsNaN(anguloCarro))
-                {
-
-                }
-
-                txtAnguloGPS.Text = anguloCarro.ToString("0.00");
-            }
-
             if (historicoAngulosControle.Count >= errosConsiderar && errosConsiderar > 0)
                 historicoAngulosControle.Dequeue(); // Remove o valor mais antigo
 
             historicoAngulosControle.Enqueue(anguloControle);
-            double anguloAtrasado = historicoAngulosControle.Peek(); // Valor de 5 ciclos atrás
+            double anguloAtrasado = errosConsiderar == 0 ? anguloControle : historicoAngulosControle.Peek(); // Valor de 5 ciclos atrás
 
             txtAnguloControle.Text = anguloAtrasado.ToString("0.00");
-
-            UltimaAtualizacao = DateTime.Now;
-
-            pnlOrientacaoTrajeto.Invalidate();
-            pnlOrientacaoCarro.Invalidate();
         }
 
         private void chbSonarVirando_CheckedChanged(object sender, EventArgs e)
@@ -424,7 +322,7 @@ namespace AgroBase.Forms
         {
             if (chbAutomatico.Checked)
             {
-                UltimaAtualizacao = DateTime.Now.AddSeconds(-1);
+                UltimaAtualizacaoGps = DateTime.Now.AddMilliseconds(-tempoGps);
             }
         }
 
@@ -436,5 +334,10 @@ namespace AgroBase.Forms
 
             this.Close();
         }
+
+        private void cmbTipoControleDirecional_SelectedIndexChanged(object sender, EventArgs e)
+        {
+            Variaveis.OperacaoEmAndamento.Controle.TipoControleDirecional = (TiposControladorDirecional)cmbTipoControleDirecional.SelectedIndex;
+        }
     }
 }
diff --git a/AgroBase/AgroBase/Forms/frmTreinamentoIA.Designer.cs b/AgroBase/AgroBase/Forms/frmTreinamentoIA.Designer.cs
new file mode 100644
index 000000000..4806b3c2e
--- /dev/null
+++ b/AgroBase/AgroBase/Forms/frmTreinamentoIA.Designer.cs
@@ -0,0 +1,644 @@
+namespace AgroBase.Forms
+{
+    partial class frmTreinamentoIA
+    {
+        /// 

+        /// Required designer variable.
+        /// 
+        private System.ComponentModel.IContainer components = null;
+
+        /// 
+        /// Clean up any resources being used.
+        /// 
+        /// true if managed resources should be disposed; otherwise, false.
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Windows Form Designer generated code
+
+        /// 
+        /// Required method for Designer support - do not modify
+        /// the contents of this method with the code editor.
+        /// 
+        private void InitializeComponent()
+        {
+            this.lblDistAnt = new System.Windows.Forms.Label();
+            this.lblDistProx = new System.Windows.Forms.Label();
+            this.lblAproximando = new System.Windows.Forms.Label();
+            this.lblProximoPonto = new System.Windows.Forms.Label();
+            this.lblMargem = new System.Windows.Forms.Label();
+            this.lblRua = new System.Windows.Forms.Label();
+            this.label4 = new System.Windows.Forms.Label();
+            this.label3 = new System.Windows.Forms.Label();
+            this.label2 = new System.Windows.Forms.Label();
+            this.pnlAnguloControle = new System.Windows.Forms.Panel();
+            this.pnlZoomMapa = new System.Windows.Forms.Panel();
+            this.pnlMapa = new System.Windows.Forms.Panel();
+            this.pnlOrientacaoCarro = new System.Windows.Forms.Panel();
+            this.pnlOrientacaoTrajeto = new System.Windows.Forms.Panel();
+            this.pnlOpcoes = new System.Windows.Forms.Panel();
+            this.btnReiniciar = new System.Windows.Forms.Button();
+            this.lblTempoEstimado = new System.Windows.Forms.Label();
+            this.lblStatusOperacao = new System.Windows.Forms.Label();
+            this.lblDistanciaLateral = new System.Windows.Forms.Label();
+            this.btnAtualizarLeitura = new System.Windows.Forms.Button();
+            this.lblDistanciaFinal = new System.Windows.Forms.Label();
+            this.btnCarregarMapa = new System.Windows.Forms.Button();
+            this.lblDistanciaOperacao = new System.Windows.Forms.Label();
+            this.btnIniciarSimulacao = new System.Windows.Forms.Button();
+            this.lblDirecao = new System.Windows.Forms.Label();
+            this.lblStatus = new System.Windows.Forms.Label();
+            this.gpbGPS = new System.Windows.Forms.GroupBox();
+            this.label1 = new System.Windows.Forms.Label();
+            this.txtAnguloControle = new System.Windows.Forms.TextBox();
+            this.lblVelocidade = new System.Windows.Forms.Label();
+            this.txtVelocidade = new System.Windows.Forms.TextBox();
+            this.btnAcrescentarGPS = new System.Windows.Forms.Button();
+            this.lblDistancia = new System.Windows.Forms.Label();
+            this.txtDistanciaGPS = new System.Windows.Forms.TextBox();
+            this.lblAnguloGPS = new System.Windows.Forms.Label();
+            this.txtAnguloGPS = new System.Windows.Forms.TextBox();
+            this.lblLongitude = new System.Windows.Forms.Label();
+            this.lblLatitude = new System.Windows.Forms.Label();
+            this.txtLongitude = new System.Windows.Forms.TextBox();
+            this.txtLatitude = new System.Windows.Forms.TextBox();
+            this.btnIniciarGPS = new System.Windows.Forms.Button();
+            this.chbEnviarDadosModelo = new System.Windows.Forms.CheckBox();
+            this.pnlZoomMapa.SuspendLayout();
+            this.pnlOpcoes.SuspendLayout();
+            this.gpbGPS.SuspendLayout();
+            this.SuspendLayout();
+            // 
+            // lblDistAnt
+            // 
+            this.lblDistAnt.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.lblDistAnt.AutoSize = true;
+            this.lblDistAnt.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
+            this.lblDistAnt.Location = new System.Drawing.Point(634, 30);
+            this.lblDistAnt.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblDistAnt.Name = "lblDistAnt";
+            this.lblDistAnt.Size = new System.Drawing.Size(159, 13);
+            this.lblDistAnt.TabIndex = 40;
+            this.lblDistAnt.Text = "Distância Ponto Anterior: 0,00 m";
+            // 
+            // lblDistProx
+            // 
+            this.lblDistProx.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.lblDistProx.AutoSize = true;
+            this.lblDistProx.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
+            this.lblDistProx.Location = new System.Drawing.Point(445, 30);
+            this.lblDistProx.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblDistProx.Name = "lblDistProx";
+            this.lblDistProx.Size = new System.Drawing.Size(160, 13);
+            this.lblDistProx.TabIndex = 39;
+            this.lblDistProx.Text = "Distância Próximo Ponto: 0,00 m";
+            // 
+            // lblAproximando
+            // 
+            this.lblAproximando.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.lblAproximando.AutoSize = true;
+            this.lblAproximando.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
+            this.lblAproximando.Location = new System.Drawing.Point(744, 9);
+            this.lblAproximando.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblAproximando.Name = "lblAproximando";
+            this.lblAproximando.Size = new System.Drawing.Size(68, 13);
+            this.lblAproximando.TabIndex = 38;
+            this.lblAproximando.Text = "Aproximando";
+            // 
+            // lblProximoPonto
+            // 
+            this.lblProximoPonto.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.lblProximoPonto.AutoSize = true;
+            this.lblProximoPonto.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
+            this.lblProximoPonto.Location = new System.Drawing.Point(634, 9);
+            this.lblProximoPonto.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblProximoPonto.Name = "lblProximoPonto";
+            this.lblProximoPonto.Size = new System.Drawing.Size(87, 13);
+            this.lblProximoPonto.TabIndex = 37;
+            this.lblProximoPonto.Text = "Próximo Ponto: 0";
+            // 
+            // lblMargem
+            // 
+            this.lblMargem.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.lblMargem.AutoSize = true;
+            this.lblMargem.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
+            this.lblMargem.Location = new System.Drawing.Point(532, 9);
+            this.lblMargem.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblMargem.Name = "lblMargem";
+            this.lblMargem.Size = new System.Drawing.Size(71, 13);
+            this.lblMargem.TabIndex = 36;
+            this.lblMargem.Text = "Margem: Não";
+            // 
+            // lblRua
+            // 
+            this.lblRua.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.lblRua.AutoSize = true;
+            this.lblRua.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
+            this.lblRua.Location = new System.Drawing.Point(445, 9);
+            this.lblRua.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblRua.Name = "lblRua";
+            this.lblRua.Size = new System.Drawing.Size(54, 13);
+            this.lblRua.TabIndex = 35;
+            this.lblRua.Text = "Rua: Fora";
+            // 
+            // label4
+            // 
+            this.label4.AutoSize = true;
+            this.label4.Location = new System.Drawing.Point(297, 97);
+            this.label4.Name = "label4";
+            this.label4.Size = new System.Drawing.Size(46, 13);
+            this.label4.TabIndex = 34;
+            this.label4.Text = "Controle";
+            // 
+            // label3
+            // 
+            this.label3.AutoSize = true;
+            this.label3.Location = new System.Drawing.Point(173, 97);
+            this.label3.Name = "label3";
+            this.label3.Size = new System.Drawing.Size(32, 13);
+            this.label3.TabIndex = 33;
+            this.label3.Text = "Carro";
+            // 
+            // label2
+            // 
+            this.label2.AutoSize = true;
+            this.label2.Location = new System.Drawing.Point(27, 97);
+            this.label2.Name = "label2";
+            this.label2.Size = new System.Drawing.Size(48, 13);
+            this.label2.TabIndex = 32;
+            this.label2.Text = "Caminho";
+            // 
+            // pnlAnguloControle
+            // 
+            this.pnlAnguloControle.BackColor = System.Drawing.Color.White;
+            this.pnlAnguloControle.BackgroundImage = global::AgroBase.Properties.Resources.transferidor;
+            this.pnlAnguloControle.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
+            this.pnlAnguloControle.Location = new System.Drawing.Point(279, 11);
+            this.pnlAnguloControle.Margin = new System.Windows.Forms.Padding(2);
+            this.pnlAnguloControle.Name = "pnlAnguloControle";
+            this.pnlAnguloControle.Size = new System.Drawing.Size(78, 84);
+            this.pnlAnguloControle.TabIndex = 30;
+            this.pnlAnguloControle.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlAnguloControle_Paint);
+            // 
+            // pnlZoomMapa
+            // 
+            this.pnlZoomMapa.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.pnlZoomMapa.BackColor = System.Drawing.Color.White;
+            this.pnlZoomMapa.Controls.Add(this.pnlMapa);
+            this.pnlZoomMapa.Location = new System.Drawing.Point(12, 113);
+            this.pnlZoomMapa.Name = "pnlZoomMapa";
+            this.pnlZoomMapa.Size = new System.Drawing.Size(1035, 549);
+            this.pnlZoomMapa.TabIndex = 31;
+            // 
+            // pnlMapa
+            // 
+            this.pnlMapa.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Right)));
+            this.pnlMapa.Location = new System.Drawing.Point(771, 284);
+            this.pnlMapa.Margin = new System.Windows.Forms.Padding(2);
+            this.pnlMapa.Name = "pnlMapa";
+            this.pnlMapa.Size = new System.Drawing.Size(247, 251);
+            this.pnlMapa.TabIndex = 35;
+            // 
+            // pnlOrientacaoCarro
+            // 
+            this.pnlOrientacaoCarro.BackColor = System.Drawing.Color.White;
+            this.pnlOrientacaoCarro.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos;
+            this.pnlOrientacaoCarro.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
+            this.pnlOrientacaoCarro.Location = new System.Drawing.Point(150, 11);
+            this.pnlOrientacaoCarro.Margin = new System.Windows.Forms.Padding(2);
+            this.pnlOrientacaoCarro.Name = "pnlOrientacaoCarro";
+            this.pnlOrientacaoCarro.Size = new System.Drawing.Size(78, 84);
+            this.pnlOrientacaoCarro.TabIndex = 29;
+            this.pnlOrientacaoCarro.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacaoCarro_Paint);
+            // 
+            // pnlOrientacaoTrajeto
+            // 
+            this.pnlOrientacaoTrajeto.BackColor = System.Drawing.Color.White;
+            this.pnlOrientacaoTrajeto.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos;
+            this.pnlOrientacaoTrajeto.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
+            this.pnlOrientacaoTrajeto.Location = new System.Drawing.Point(11, 11);
+            this.pnlOrientacaoTrajeto.Margin = new System.Windows.Forms.Padding(2);
+            this.pnlOrientacaoTrajeto.Name = "pnlOrientacaoTrajeto";
+            this.pnlOrientacaoTrajeto.Size = new System.Drawing.Size(78, 84);
+            this.pnlOrientacaoTrajeto.TabIndex = 28;
+            this.pnlOrientacaoTrajeto.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacaoTrajeto_Paint);
+            // 
+            // pnlOpcoes
+            // 
+            this.pnlOpcoes.Controls.Add(this.chbEnviarDadosModelo);
+            this.pnlOpcoes.Controls.Add(this.lblDistAnt);
+            this.pnlOpcoes.Controls.Add(this.btnReiniciar);
+            this.pnlOpcoes.Controls.Add(this.lblDistProx);
+            this.pnlOpcoes.Controls.Add(this.lblTempoEstimado);
+            this.pnlOpcoes.Controls.Add(this.lblAproximando);
+            this.pnlOpcoes.Controls.Add(this.lblStatusOperacao);
+            this.pnlOpcoes.Controls.Add(this.lblProximoPonto);
+            this.pnlOpcoes.Controls.Add(this.lblDistanciaLateral);
+            this.pnlOpcoes.Controls.Add(this.lblMargem);
+            this.pnlOpcoes.Controls.Add(this.btnAtualizarLeitura);
+            this.pnlOpcoes.Controls.Add(this.lblRua);
+            this.pnlOpcoes.Controls.Add(this.lblDistanciaFinal);
+            this.pnlOpcoes.Controls.Add(this.btnCarregarMapa);
+            this.pnlOpcoes.Controls.Add(this.lblDistanciaOperacao);
+            this.pnlOpcoes.Controls.Add(this.btnIniciarSimulacao);
+            this.pnlOpcoes.Controls.Add(this.lblDirecao);
+            this.pnlOpcoes.Controls.Add(this.lblStatus);
+            this.pnlOpcoes.Dock = System.Windows.Forms.DockStyle.Bottom;
+            this.pnlOpcoes.Location = new System.Drawing.Point(0, 667);
+            this.pnlOpcoes.Margin = new System.Windows.Forms.Padding(2);
+            this.pnlOpcoes.Name = "pnlOpcoes";
+            this.pnlOpcoes.Size = new System.Drawing.Size(1058, 100);
+            this.pnlOpcoes.TabIndex = 25;
+            // 
+            // btnReiniciar
+            // 
+            this.btnReiniciar.Location = new System.Drawing.Point(259, 5);
+            this.btnReiniciar.Margin = new System.Windows.Forms.Padding(2);
+            this.btnReiniciar.Name = "btnReiniciar";
+            this.btnReiniciar.Size = new System.Drawing.Size(115, 20);
+            this.btnReiniciar.TabIndex = 31;
+            this.btnReiniciar.Text = "Reiniciar Simulação";
+            this.btnReiniciar.UseVisualStyleBackColor = true;
+            // 
+            // lblTempoEstimado
+            // 
+            this.lblTempoEstimado.AutoSize = true;
+            this.lblTempoEstimado.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
+            this.lblTempoEstimado.Location = new System.Drawing.Point(201, 54);
+            this.lblTempoEstimado.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblTempoEstimado.Name = "lblTempoEstimado";
+            this.lblTempoEstimado.Size = new System.Drawing.Size(133, 13);
+            this.lblTempoEstimado.TabIndex = 25;
+            this.lblTempoEstimado.Text = "Tempo estimado: 00:00:00";
+            // 
+            // lblStatusOperacao
+            // 
+            this.lblStatusOperacao.AutoSize = true;
+            this.lblStatusOperacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
+            this.lblStatusOperacao.Location = new System.Drawing.Point(201, 35);
+            this.lblStatusOperacao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblStatusOperacao.Name = "lblStatusOperacao";
+            this.lblStatusOperacao.Size = new System.Drawing.Size(133, 13);
+            this.lblStatusOperacao.TabIndex = 24;
+            this.lblStatusOperacao.Text = "Operação: Parametrizando";
+            // 
+            // lblDistanciaLateral
+            // 
+            this.lblDistanciaLateral.AutoSize = true;
+            this.lblDistanciaLateral.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
+            this.lblDistanciaLateral.Location = new System.Drawing.Point(201, 84);
+            this.lblDistanciaLateral.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblDistanciaLateral.Name = "lblDistanciaLateral";
+            this.lblDistanciaLateral.Size = new System.Drawing.Size(117, 13);
+            this.lblDistanciaLateral.TabIndex = 23;
+            this.lblDistanciaLateral.Text = "Esq: 0.00 m Dir: 0.00 m";
+            // 
+            // btnAtualizarLeitura
+            // 
+            this.btnAtualizarLeitura.Location = new System.Drawing.Point(134, 5);
+            this.btnAtualizarLeitura.Margin = new System.Windows.Forms.Padding(2);
+            this.btnAtualizarLeitura.Name = "btnAtualizarLeitura";
+            this.btnAtualizarLeitura.Size = new System.Drawing.Size(121, 20);
+            this.btnAtualizarLeitura.TabIndex = 22;
+            this.btnAtualizarLeitura.Text = "Atualizar leitura";
+            this.btnAtualizarLeitura.UseVisualStyleBackColor = true;
+            this.btnAtualizarLeitura.Click += new System.EventHandler(this.btnAtualizarLeitura_Click);
+            // 
+            // lblDistanciaFinal
+            // 
+            this.lblDistanciaFinal.AutoSize = true;
+            this.lblDistanciaFinal.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
+            this.lblDistanciaFinal.Location = new System.Drawing.Point(7, 69);
+            this.lblDistanciaFinal.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblDistanciaFinal.Name = "lblDistanciaFinal";
+            this.lblDistanciaFinal.Size = new System.Drawing.Size(120, 13);
+            this.lblDistanciaFinal.TabIndex = 21;
+            this.lblDistanciaFinal.Text = "Distância Final: 00,00 m";
+            // 
+            // btnCarregarMapa
+            // 
+            this.btnCarregarMapa.Location = new System.Drawing.Point(9, 6);
+            this.btnCarregarMapa.Margin = new System.Windows.Forms.Padding(2);
+            this.btnCarregarMapa.Name = "btnCarregarMapa";
+            this.btnCarregarMapa.Size = new System.Drawing.Size(121, 19);
+            this.btnCarregarMapa.TabIndex = 20;
+            this.btnCarregarMapa.Text = "Carregar Mapa";
+            this.btnCarregarMapa.UseVisualStyleBackColor = true;
+            this.btnCarregarMapa.Click += new System.EventHandler(this.btnCarregarMapa_Click);
+            // 
+            // lblDistanciaOperacao
+            // 
+            this.lblDistanciaOperacao.AutoSize = true;
+            this.lblDistanciaOperacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
+            this.lblDistanciaOperacao.Location = new System.Drawing.Point(7, 54);
+            this.lblDistanciaOperacao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblDistanciaOperacao.Name = "lblDistanciaOperacao";
+            this.lblDistanciaOperacao.Size = new System.Drawing.Size(145, 13);
+            this.lblDistanciaOperacao.TabIndex = 19;
+            this.lblDistanciaOperacao.Text = "Distância Operação: 00,00 m";
+            // 
+            // btnIniciarSimulacao
+            // 
+            this.btnIniciarSimulacao.Location = new System.Drawing.Point(9, 30);
+            this.btnIniciarSimulacao.Margin = new System.Windows.Forms.Padding(2);
+            this.btnIniciarSimulacao.Name = "btnIniciarSimulacao";
+            this.btnIniciarSimulacao.Size = new System.Drawing.Size(121, 20);
+            this.btnIniciarSimulacao.TabIndex = 18;
+            this.btnIniciarSimulacao.Text = "Iniciar Treinamento";
+            this.btnIniciarSimulacao.UseVisualStyleBackColor = true;
+            this.btnIniciarSimulacao.Click += new System.EventHandler(this.btnIniciarSimulacao_Click);
+            // 
+            // lblDirecao
+            // 
+            this.lblDirecao.AutoSize = true;
+            this.lblDirecao.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
+            this.lblDirecao.Location = new System.Drawing.Point(7, 84);
+            this.lblDirecao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblDirecao.Name = "lblDirecao";
+            this.lblDirecao.Size = new System.Drawing.Size(84, 13);
+            this.lblDirecao.TabIndex = 16;
+            this.lblDirecao.Text = "Direção: Parado";
+            // 
+            // lblStatus
+            // 
+            this.lblStatus.AutoSize = true;
+            this.lblStatus.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
+            this.lblStatus.Location = new System.Drawing.Point(201, 69);
+            this.lblStatus.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblStatus.Name = "lblStatus";
+            this.lblStatus.Size = new System.Drawing.Size(96, 13);
+            this.lblStatus.TabIndex = 15;
+            this.lblStatus.Text = "Carro: Aguardando";
+            // 
+            // gpbGPS
+            // 
+            this.gpbGPS.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
+            this.gpbGPS.Controls.Add(this.label1);
+            this.gpbGPS.Controls.Add(this.txtAnguloControle);
+            this.gpbGPS.Controls.Add(this.lblVelocidade);
+            this.gpbGPS.Controls.Add(this.txtVelocidade);
+            this.gpbGPS.Controls.Add(this.btnAcrescentarGPS);
+            this.gpbGPS.Controls.Add(this.lblDistancia);
+            this.gpbGPS.Controls.Add(this.txtDistanciaGPS);
+            this.gpbGPS.Controls.Add(this.lblAnguloGPS);
+            this.gpbGPS.Controls.Add(this.txtAnguloGPS);
+            this.gpbGPS.Controls.Add(this.lblLongitude);
+            this.gpbGPS.Controls.Add(this.lblLatitude);
+            this.gpbGPS.Controls.Add(this.txtLongitude);
+            this.gpbGPS.Controls.Add(this.txtLatitude);
+            this.gpbGPS.Controls.Add(this.btnIniciarGPS);
+            this.gpbGPS.Location = new System.Drawing.Point(647, 11);
+            this.gpbGPS.Margin = new System.Windows.Forms.Padding(2);
+            this.gpbGPS.Name = "gpbGPS";
+            this.gpbGPS.Padding = new System.Windows.Forms.Padding(2);
+            this.gpbGPS.Size = new System.Drawing.Size(400, 95);
+            this.gpbGPS.TabIndex = 14;
+            this.gpbGPS.TabStop = false;
+            this.gpbGPS.Text = "GPS";
+            // 
+            // label1
+            // 
+            this.label1.AutoSize = true;
+            this.label1.Location = new System.Drawing.Point(228, 18);
+            this.label1.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label1.Name = "label1";
+            this.label1.Size = new System.Drawing.Size(82, 13);
+            this.label1.TabIndex = 27;
+            this.label1.Text = "Angulo Controle";
+            // 
+            // txtAnguloControle
+            // 
+            this.txtAnguloControle.Enabled = false;
+            this.txtAnguloControle.Location = new System.Drawing.Point(230, 33);
+            this.txtAnguloControle.Margin = new System.Windows.Forms.Padding(2);
+            this.txtAnguloControle.Name = "txtAnguloControle";
+            this.txtAnguloControle.Size = new System.Drawing.Size(54, 20);
+            this.txtAnguloControle.TabIndex = 26;
+            this.txtAnguloControle.Text = "0";
+            this.txtAnguloControle.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // lblVelocidade
+            // 
+            this.lblVelocidade.AutoSize = true;
+            this.lblVelocidade.Location = new System.Drawing.Point(228, 52);
+            this.lblVelocidade.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblVelocidade.Name = "lblVelocidade";
+            this.lblVelocidade.Size = new System.Drawing.Size(60, 13);
+            this.lblVelocidade.TabIndex = 25;
+            this.lblVelocidade.Text = "Velocidade";
+            // 
+            // txtVelocidade
+            // 
+            this.txtVelocidade.Enabled = false;
+            this.txtVelocidade.Location = new System.Drawing.Point(230, 69);
+            this.txtVelocidade.Margin = new System.Windows.Forms.Padding(2);
+            this.txtVelocidade.Name = "txtVelocidade";
+            this.txtVelocidade.Size = new System.Drawing.Size(54, 20);
+            this.txtVelocidade.TabIndex = 24;
+            this.txtVelocidade.Text = "0";
+            this.txtVelocidade.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // btnAcrescentarGPS
+            // 
+            this.btnAcrescentarGPS.Enabled = false;
+            this.btnAcrescentarGPS.Location = new System.Drawing.Point(309, 67);
+            this.btnAcrescentarGPS.Margin = new System.Windows.Forms.Padding(2);
+            this.btnAcrescentarGPS.Name = "btnAcrescentarGPS";
+            this.btnAcrescentarGPS.Size = new System.Drawing.Size(74, 23);
+            this.btnAcrescentarGPS.TabIndex = 22;
+            this.btnAcrescentarGPS.Text = "Acrescentar";
+            this.btnAcrescentarGPS.UseVisualStyleBackColor = true;
+            this.btnAcrescentarGPS.Click += new System.EventHandler(this.btnAcrescentarGPS_Click);
+            // 
+            // lblDistancia
+            // 
+            this.lblDistancia.AutoSize = true;
+            this.lblDistancia.Location = new System.Drawing.Point(159, 54);
+            this.lblDistancia.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblDistancia.Name = "lblDistancia";
+            this.lblDistancia.Size = new System.Drawing.Size(51, 13);
+            this.lblDistancia.TabIndex = 21;
+            this.lblDistancia.Text = "Distancia";
+            // 
+            // txtDistanciaGPS
+            // 
+            this.txtDistanciaGPS.Enabled = false;
+            this.txtDistanciaGPS.Location = new System.Drawing.Point(161, 69);
+            this.txtDistanciaGPS.Margin = new System.Windows.Forms.Padding(2);
+            this.txtDistanciaGPS.Name = "txtDistanciaGPS";
+            this.txtDistanciaGPS.Size = new System.Drawing.Size(54, 20);
+            this.txtDistanciaGPS.TabIndex = 20;
+            this.txtDistanciaGPS.Text = "0";
+            this.txtDistanciaGPS.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // lblAnguloGPS
+            // 
+            this.lblAnguloGPS.AutoSize = true;
+            this.lblAnguloGPS.Location = new System.Drawing.Point(159, 18);
+            this.lblAnguloGPS.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblAnguloGPS.Name = "lblAnguloGPS";
+            this.lblAnguloGPS.Size = new System.Drawing.Size(68, 13);
+            this.lblAnguloGPS.TabIndex = 19;
+            this.lblAnguloGPS.Text = "Angulo Carro";
+            // 
+            // txtAnguloGPS
+            // 
+            this.txtAnguloGPS.Enabled = false;
+            this.txtAnguloGPS.Location = new System.Drawing.Point(161, 33);
+            this.txtAnguloGPS.Margin = new System.Windows.Forms.Padding(2);
+            this.txtAnguloGPS.Name = "txtAnguloGPS";
+            this.txtAnguloGPS.Size = new System.Drawing.Size(54, 20);
+            this.txtAnguloGPS.TabIndex = 18;
+            this.txtAnguloGPS.Text = "0";
+            this.txtAnguloGPS.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // lblLongitude
+            // 
+            this.lblLongitude.AutoSize = true;
+            this.lblLongitude.Location = new System.Drawing.Point(7, 54);
+            this.lblLongitude.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblLongitude.Name = "lblLongitude";
+            this.lblLongitude.Size = new System.Drawing.Size(54, 13);
+            this.lblLongitude.TabIndex = 17;
+            this.lblLongitude.Text = "Longitude";
+            // 
+            // lblLatitude
+            // 
+            this.lblLatitude.AutoSize = true;
+            this.lblLatitude.Location = new System.Drawing.Point(7, 18);
+            this.lblLatitude.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblLatitude.Name = "lblLatitude";
+            this.lblLatitude.Size = new System.Drawing.Size(45, 13);
+            this.lblLatitude.TabIndex = 16;
+            this.lblLatitude.Text = "Latitude";
+            // 
+            // txtLongitude
+            // 
+            this.txtLongitude.Location = new System.Drawing.Point(9, 69);
+            this.txtLongitude.Margin = new System.Windows.Forms.Padding(2);
+            this.txtLongitude.Name = "txtLongitude";
+            this.txtLongitude.Size = new System.Drawing.Size(135, 20);
+            this.txtLongitude.TabIndex = 15;
+            this.txtLongitude.Text = "-47.3815365008967";
+            this.txtLongitude.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // txtLatitude
+            // 
+            this.txtLatitude.Location = new System.Drawing.Point(9, 33);
+            this.txtLatitude.Margin = new System.Windows.Forms.Padding(2);
+            this.txtLatitude.Name = "txtLatitude";
+            this.txtLatitude.Size = new System.Drawing.Size(135, 20);
+            this.txtLatitude.TabIndex = 14;
+            this.txtLatitude.Text = "-22.2130300543769";
+            this.txtLatitude.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // btnIniciarGPS
+            // 
+            this.btnIniciarGPS.Location = new System.Drawing.Point(309, 28);
+            this.btnIniciarGPS.Margin = new System.Windows.Forms.Padding(2);
+            this.btnIniciarGPS.Name = "btnIniciarGPS";
+            this.btnIniciarGPS.Size = new System.Drawing.Size(74, 23);
+            this.btnIniciarGPS.TabIndex = 13;
+            this.btnIniciarGPS.Text = "Iniciar";
+            this.btnIniciarGPS.UseVisualStyleBackColor = true;
+            this.btnIniciarGPS.Click += new System.EventHandler(this.btnIniciarGPS_Click);
+            // 
+            // chbEnviarDadosModelo
+            // 
+            this.chbEnviarDadosModelo.AutoSize = true;
+            this.chbEnviarDadosModelo.Location = new System.Drawing.Point(448, 65);
+            this.chbEnviarDadosModelo.Name = "chbEnviarDadosModelo";
+            this.chbEnviarDadosModelo.Size = new System.Drawing.Size(161, 17);
+            this.chbEnviarDadosModelo.TabIndex = 35;
+            this.chbEnviarDadosModelo.Text = "Enviar Dados para o Modelo";
+            this.chbEnviarDadosModelo.UseVisualStyleBackColor = true;
+            // 
+            // frmTreinamentoIA
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.ClientSize = new System.Drawing.Size(1058, 767);
+            this.Controls.Add(this.label4);
+            this.Controls.Add(this.label3);
+            this.Controls.Add(this.label2);
+            this.Controls.Add(this.pnlAnguloControle);
+            this.Controls.Add(this.pnlZoomMapa);
+            this.Controls.Add(this.gpbGPS);
+            this.Controls.Add(this.pnlOrientacaoCarro);
+            this.Controls.Add(this.pnlOrientacaoTrajeto);
+            this.Controls.Add(this.pnlOpcoes);
+            this.Name = "frmTreinamentoIA";
+            this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
+            this.Text = "Treinamento Trajetoria Dinamica";
+            this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.frmTreinamentoIA_FormClosing);
+            this.Load += new System.EventHandler(this.frmTreinamentoIA_Load);
+            this.pnlZoomMapa.ResumeLayout(false);
+            this.pnlOpcoes.ResumeLayout(false);
+            this.pnlOpcoes.PerformLayout();
+            this.gpbGPS.ResumeLayout(false);
+            this.gpbGPS.PerformLayout();
+            this.ResumeLayout(false);
+            this.PerformLayout();
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.Label lblDistAnt;
+        private System.Windows.Forms.Label lblDistProx;
+        private System.Windows.Forms.Label lblAproximando;
+        private System.Windows.Forms.Label lblProximoPonto;
+        private System.Windows.Forms.Label lblMargem;
+        private System.Windows.Forms.Label lblRua;
+        private System.Windows.Forms.Label label4;
+        private System.Windows.Forms.Label label3;
+        private System.Windows.Forms.Label label2;
+        private System.Windows.Forms.Panel pnlAnguloControle;
+        private System.Windows.Forms.Panel pnlZoomMapa;
+        private System.Windows.Forms.Panel pnlOrientacaoCarro;
+        private System.Windows.Forms.Panel pnlOrientacaoTrajeto;
+        private System.Windows.Forms.Panel pnlOpcoes;
+        private System.Windows.Forms.Button btnReiniciar;
+        private System.Windows.Forms.Label lblTempoEstimado;
+        private System.Windows.Forms.Label lblStatusOperacao;
+        private System.Windows.Forms.Label lblDistanciaLateral;
+        private System.Windows.Forms.Button btnAtualizarLeitura;
+        private System.Windows.Forms.Label lblDistanciaFinal;
+        private System.Windows.Forms.Button btnCarregarMapa;
+        private System.Windows.Forms.Label lblDistanciaOperacao;
+        private System.Windows.Forms.Button btnIniciarSimulacao;
+        private System.Windows.Forms.Label lblDirecao;
+        private System.Windows.Forms.Label lblStatus;
+        private System.Windows.Forms.GroupBox gpbGPS;
+        private System.Windows.Forms.Label label1;
+        private System.Windows.Forms.TextBox txtAnguloControle;
+        private System.Windows.Forms.Label lblVelocidade;
+        private System.Windows.Forms.TextBox txtVelocidade;
+        private System.Windows.Forms.Button btnAcrescentarGPS;
+        private System.Windows.Forms.Label lblDistancia;
+        private System.Windows.Forms.TextBox txtDistanciaGPS;
+        private System.Windows.Forms.Label lblAnguloGPS;
+        private System.Windows.Forms.TextBox txtAnguloGPS;
+        private System.Windows.Forms.Label lblLongitude;
+        private System.Windows.Forms.Label lblLatitude;
+        private System.Windows.Forms.TextBox txtLongitude;
+        private System.Windows.Forms.TextBox txtLatitude;
+        private System.Windows.Forms.Button btnIniciarGPS;
+        private System.Windows.Forms.Panel pnlMapa;
+        private System.Windows.Forms.CheckBox chbEnviarDadosModelo;
+    }
+}
\ No newline at end of file
diff --git a/AgroBase/AgroBase/Forms/frmTreinamentoIA.cs b/AgroBase/AgroBase/Forms/frmTreinamentoIA.cs
new file mode 100644
index 000000000..c097129bd
--- /dev/null
+++ b/AgroBase/AgroBase/Forms/frmTreinamentoIA.cs
@@ -0,0 +1,531 @@
+using AgroBase.Models;
+using AgroBase.Services;
+using Emgu.CV;
+using Newtonsoft.Json;
+using System;
+using System.Drawing;
+using System.Drawing.Drawing2D;
+using System.Linq;
+using System.Windows.Forms;
+using static AgroBase.Models.Enums;
+
+namespace AgroBase.Forms
+{
+    public partial class frmTreinamentoIA : Form
+    {
+        string mqtt_topico_state = "robot/state";
+        string mqtt_topico_action = "robot/actions";
+
+        string latInicial = "-22,1789853333333";
+        string longInicial = "-47,3721381666667";
+        double anguloInicial = 273;
+        double distanciaInicial = 0.1;
+
+        StatusCarroMapa StatusCarro = StatusCarroMapa.Parado;
+        MapaDinamicoModel MapaDinamico;
+        bool calc = false;
+        bool parar = false;
+        double ultimaLat = 0;
+        double ultimaLon = 0;
+        double ultimoAnguloGps = 0;
+        DateTime UltimaAtualizacaoGps = DateTime.MinValue;
+        double tempoGps = (1.0 / GPSService.TaxaAmostragemHz);
+        int ticksControle = GPSService.TaxaAmostragemHz;
+
+        TreinamentoIAModel _robotState = new TreinamentoIAModel();
+
+
+        public frmTreinamentoIA()
+        {
+            InitializeComponent();
+
+            // Ativa o double buffering
+            this.DoubleBuffered = true;
+            this.SetStyle(ControlStyles.AllPaintingInWmPaint, true);
+            this.SetStyle(ControlStyles.UserPaint, true);
+            this.SetStyle(ControlStyles.OptimizedDoubleBuffer, true);
+
+            MapaDinamico = new MapaDinamicoModel(this, pnlZoomMapa);
+        }
+
+        private async void frmTreinamentoIA_Load(object sender, EventArgs e)
+        {
+            Variaveis.OperacaoEmAndamento.Mapa = new MapasModel()
+            {
+                pnlMapa = pnlMapa,
+            };
+
+            ReiniciarModelo();
+
+            await Variaveis.MqttService.AdicionarNovoTopico(mqtt_topico_state);
+            await Variaveis.MqttService.AdicionarNovoTopico(mqtt_topico_action, true, 2, async (message) => 
+            {
+                Console.WriteLine("Mensagem recebida pelo modelo de IA: " + message);
+                //btnAcrescentarGPS_Click(new Button(), new EventArgs());
+
+                var payload = message.Mensagem;
+                var action = JsonConvert.DeserializeObject(payload);
+
+                await FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThreadAsync(this, async () => ProcessRobotAction(action));
+            });
+        }
+
+        private async void frmTreinamentoIA_FormClosing(object sender, FormClosingEventArgs e)
+        {
+            var t0 = Variaveis.MqttService.Topicos.FirstOrDefault(x => x.Topico == mqtt_topico_state);
+            await Variaveis.MqttService.UnsubscribeAsync(t0);
+            var t1 = Variaveis.MqttService.Topicos.FirstOrDefault(x => x.Topico == mqtt_topico_action);
+            await Variaveis.MqttService.UnsubscribeAsync(t1);
+            Variaveis.OperacaoEmAndamento.Treinando = false;
+        }
+
+        private void ReiniciarModelo()
+        {
+            ultimaLat = double.Parse(latInicial);
+            ultimaLon = double.Parse(longInicial);
+            txtLatitude.Text = latInicial.ToString();
+            txtLongitude.Text = longInicial.ToString();
+            txtAnguloGPS.Text = anguloInicial.ToString("0.00");
+            txtDistanciaGPS.Text = distanciaInicial.ToString("0.00");
+            Variaveis.OperacaoEmAndamento.GPSTrajetoria = new System.Collections.Generic.List();
+            Variaveis.OperacaoEmAndamento.Trajetoria = new TrajetoriaMapaOperacaoModel(Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaMapa);
+            Variaveis.OperacaoEmAndamento.Trajetoria.ProjetarTrajetoriaFixa();
+            _robotState = new TreinamentoIAModel();
+        }
+
+
+        private void btnCarregarMapa_Click(object sender, EventArgs e)
+        {
+            Variaveis.OperacaoEmAndamento.Mapa.btnCarregar_Click((Control)sender, e);
+        }
+
+        private void btnIniciarSimulacao_Click(object sender, EventArgs e)
+        {
+            if (!Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer.Any())
+            {
+                MessageBox.Show("Selecione as ruas para realizar a operação!");
+                return;
+            }
+
+            if (!Variaveis.OperacaoEmAndamento.Iniciado && !parar)
+            {
+                Variaveis.OperacaoEmAndamento.IniciarTreinamento();
+            }
+
+            btnIniciarSimulacao.Text = Variaveis.OperacaoEmAndamento.Iniciado ? "Parar Treinamento" : "Iniciar Treinamento";
+            if (Variaveis.OperacaoEmAndamento.Iniciado)
+            {
+                GPSService.PenultimaLeitura.Latitude = GPSService.UltimaLeitura.Latitude;
+                GPSService.PenultimaLeitura.Longitude = GPSService.UltimaLeitura.Longitude;
+
+                AtualizarDadosTela();
+            }
+        }
+
+
+        private void AtualizarDadosTela()
+        {
+            //btnCalcularAngulo_Click(new object(), new EventArgs());
+
+            StatusCarro = _robotState.Current_State.Status;
+
+            lblStatusOperacao.Text = "Operação: " + Enum.GetName(typeof(StatusOperacao), Variaveis.OperacaoEmAndamento.StatusAtual);
+            lblStatus.Text = "Carro: " + Enum.GetName(typeof(StatusCarroMapa), StatusCarro);
+            lblDirecao.Text = "Direção: " + Enum.GetName(typeof(DirecaoCarroRua), Variaveis.OperacaoEmAndamento.Trajetoria?.DirecaoCaminho ?? DirecaoCarroRua.Parado);
+            lblDistanciaOperacao.Text = "Distância Operação: " + (Variaveis.OperacaoEmAndamento.Trajetoria?.DistanciaTotal ?? 0).ToString("00.00") + " m";
+            lblDistanciaFinal.Text = "Distância Final: " + (Variaveis.OperacaoEmAndamento.Trajetoria?.DistanciaRestante ?? 0).ToString("00.00") + " m";
+            lblDistanciaLateral.Text = "Esq: " + _robotState.Current_State.DistanceToEdges.Left.ToString("0.00") + " m - Dir: " + _robotState.Current_State.DistanceToEdges.Right.ToString("0.00") + " m";
+
+            lblRua.Text = "Rua: " + (_robotState.Current_State.Street.InsideStreet ? "Dentro" : "Fora");
+            lblMargem.Text = "Margem: " + (_robotState.Current_State.Street.EdgeStreet ? "Sim" : "Não");
+            lblProximoPonto.Text = "Próximo Ponto: " + (Variaveis.OperacaoEmAndamento.Trajetoria.ProximoPonto.idxPontoCorredor);
+            lblAproximando.Text = (Variaveis.OperacaoEmAndamento.Trajetoria.ProximoPonto.Aproximando ? "Aproximando" : "Afastando");
+            lblDistProx.Text = "Distância Próximo Ponto: " + (_robotState.Current_State.NextPoints.FirstOrDefault()?.Distance ?? 0).ToString("0.00") + " m";
+            lblDistAnt.Text = "Distância Ponto Anterior: " + Variaveis.OperacaoEmAndamento.Trajetoria.PontoAtual.DistanciaAtual.ToString("0.00") + " m";
+
+            lblTempoEstimado.Text = "Tempo Estimado: " + Variaveis.OperacaoEmAndamento.Trajetoria?.TempoEstimadoRestante();
+
+            if (Variaveis.OperacaoEmAndamento.Iniciado)
+            {
+                pnlOrientacaoTrajeto.Invalidate();
+                pnlAnguloControle.Invalidate();
+                pnlOrientacaoCarro.Invalidate();
+
+                MapaDinamico.AtualizarDados(
+                    KinectService.Iniciado && KinectService.Leitura.StatusDetecao ? KinectService.Leitura.ObstaculoCritico : null,
+                    (float)_robotState.Current_State.Street.Orientation,
+                    (float)_robotState.Current_State.Position.Orientation,
+                    new GPSModel() 
+                    { 
+                        Latitude = _robotState.Current_State.Position.Latitude, 
+                        Longitude = _robotState.Current_State.Position.Longitude, 
+                        CursoVerdadeiro = _robotState.Current_State.Position.Orientation,
+                        Momento = DateTime.Now
+                    },
+                    Variaveis.OperacaoEmAndamento.Trajetoria.TrajetoriaDinamica,
+                    Variaveis.OperacaoEmAndamento.Trajetoria.Corredores.FirstOrDefault(),
+                    Variaveis.OperacaoEmAndamento.GPSTrajetoria,
+                    Variaveis.OperacaoEmAndamento.Trajetoria.RuasPlantacao
+                );
+            }
+            else
+            {
+                if (btnIniciarSimulacao.Text.Contains("Parar"))
+                {
+                    parar = true;
+                    btnIniciarSimulacao_Click(new object(), new EventArgs());
+                    parar = false;
+                }
+
+                Variaveis.OperacaoEmAndamento.Mapa.AtualizarRuasSelecionadas();
+            }
+        }
+
+        
+        private void btnAcrescentarGPS_Click(object sender, EventArgs e)
+        {
+            if (chbEnviarDadosModelo.Checked)
+            {
+                double velocidadeMs = double.Parse(txtDistanciaGPS.Text) / tempoGps; // metros por segundo
+                ProcessRobotAction(new RobotControl()
+                {
+                    Angle = double.Parse(txtAnguloControle.Text),
+                    Speed = velocidadeMs,
+                    MovementType = TipoMovimentoDirecional.RodasDianteiras
+                });
+            }
+            else
+            {
+                AtualizarDadosDeEstado();
+            }
+        }
+
+        private void pnlOrientacaoTrajeto_Paint(object sender, PaintEventArgs e)
+        {
+            try
+            {
+                double angulo = Variaveis.OperacaoEmAndamento.Trajetoria.AnguloCaminho;
+                FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)angulo, 90);
+            }
+            catch { }
+        }
+
+        private void pnlOrientacaoCarro_Paint(object sender, PaintEventArgs e)
+        {
+            try
+            {
+                double angulo = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro;
+                FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)angulo, 90);
+            }
+            catch { }
+        }
+
+        private void pnlAnguloControle_Paint(object sender, PaintEventArgs e)
+        {
+            try
+            {
+                double angulo = _robotState.Current_State.Control.Angle;
+                FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)angulo, 90);
+            }
+            catch { }
+        }
+
+        
+
+
+        private async void ProcessRobotAction(RobotControl action)
+        {
+            if (action != null)
+            {
+                if (action.Reset)
+                {
+                    ReiniciarModelo();
+                }
+                else
+                {
+                    _robotState.SavePreviousState();
+                    _robotState.AddControl(action);
+                }
+
+                AtualizarDadosDeEstado();
+
+                if (chbEnviarDadosModelo.Checked)
+                {
+                    for (int i = ticksControle; i <= GPSService.TaxaAmostragemHz - 1; i++)
+                    {
+                        AtualizarDadosDeEstado();
+                    }
+
+                    EnviarDadosDeEstadoParaModelo();
+                }
+            }
+        }
+
+        private void AtualizarDadosDeEstado_old()
+        {
+            bool atualizarCoordenadas = true;
+
+            double anguloControle = _robotState.Current_State.Control.Angle;
+            double anguloAtual = double.Parse(txtAnguloGPS.Text);
+            double novoAngulo = (anguloAtual + anguloControle) % 360;
+            double anguloCarro = novoAngulo;
+            txtAnguloGPS.Text = anguloCarro.ToString("0.00");
+
+            double angulo = _robotState.Current_State.NextPoints.FirstOrDefault()?.Orientation ?? _robotState.Current_State.Street.Orientation;
+            if (txtAnguloGPS.Text != "")
+            {
+                angulo = atualizarCoordenadas ? double.Parse(txtAnguloGPS.Text) : ultimoAnguloGps;
+            }
+            if (_robotState.Current_State.Control.MovementType == TipoMovimentoDirecional.MovimentoArco)
+            {
+                angulo += double.Parse(txtAnguloControle.Text);
+            }
+
+
+            double velocidadeMs = _robotState.Current_State.Control.Speed;
+            double velocidade = FuncoesMatematicas.ConverteMsParaKmh(velocidadeMs);
+            txtVelocidade.Text = velocidade.ToString("0.00");
+            txtAnguloControle.Text = _robotState.Current_State.Control.Angle.ToString("0.00");
+
+            // Calcula a distância com base no tempo passado (em segundos)
+            double distancia = velocidadeMs * tempoGps;
+
+            if (distancia == 0 && double.Parse(txtDistanciaGPS.Text) > 0)
+            {
+                distancia = double.Parse(txtDistanciaGPS.Text);
+            }
+            else
+            {
+                txtDistanciaGPS.Text = distancia.ToString("0.00");
+            }
+            //double distancia = double.Parse(txtDistanciaGPS.Text); // Distância em metros
+            //angulo -= 180; // Ângulo em graus
+
+            double latitude = ultimaLat;
+            double longitude = ultimaLon;
+
+            // Conversão de ângulo de graus para radianos
+            double anguloRad = angulo * (Math.PI / 180);
+
+            // Raio da Terra em metros
+            double raioTerra = GPSService.RaioDaTerra;
+
+            // Calcular deslocamento de latitude em radianos
+            double deltaLat = distancia * Math.Cos(anguloRad) / raioTerra;
+            // Converter de radianos para graus
+            double _latAtt = latitude + deltaLat * (180 / Math.PI);
+
+            // Calcular deslocamento de longitude em radianos
+            double deltaLong = distancia * Math.Sin(anguloRad) / (raioTerra * Math.Cos(latitude * (Math.PI / 180)));
+            // Converter de radianos para graus
+            double _longAtt = longitude + deltaLong * (180 / Math.PI);
+
+            if (atualizarCoordenadas)
+            {
+                // Atualizar os TextBoxes com as novas coordenadas
+                txtLatitude.Text = _latAtt.ToString();
+                txtLongitude.Text = _longAtt.ToString();
+
+                ultimoAnguloGps = angulo;
+
+                AtualizarPosicaoGPS();
+
+                calc = true;
+            }
+            else
+            {
+                ultimaLat = _latAtt;
+                ultimaLon = _longAtt;
+            }
+
+            AtualizarDadosTela();
+            calc = false;
+        }
+
+
+        private void AtualizarDadosDeEstado()
+        {
+            double anguloControle = _robotState.Current_State.Control.Angle;
+            txtAnguloControle.Text = anguloControle.ToString("0.00");
+
+            // Obtém os parâmetros
+            double anguloAtual = double.Parse(txtAnguloGPS.Text);
+
+            //double percentSpeedRpm = _robotState.Current_State.Control.Speed * VariaveisEquipamento.RPM_Max_Roda;
+            //double velocidade = FuncoesMatematicas.CalculaVelocidadeRPM(percentSpeedRpm);
+            //double velocidadeMs = FuncoesMatematicas.ConverteKmhParaMs(velocidade);
+
+            //double velocidadeMs = _robotState.Current_State.Control.Speed;
+            //double velocidade = FuncoesMatematicas.ConverteMsParaKmh(velocidadeMs);
+
+            double velocidade = FuncoesMatematicas.CalculaVelocidadeRPM(Variaveis.OperacaoEmAndamento.SimulacaoRpmControle);
+            double velocidadeMs = FuncoesMatematicas.ConverteKmhParaMs(velocidade);
+
+            txtVelocidade.Text = velocidade.ToString("0.00");
+
+            // Calcula o novo ângulo do robô
+            double novoAngulo = CalcularNovaOrientacao(
+                Variaveis.OperacaoEmAndamento.Controle.TipoMovimento,
+                anguloControle,
+                velocidadeMs,
+                tempoGps,
+                anguloAtual,
+                VariaveisEquipamento.DistanciaEntreEixos
+            );
+
+            // Atualiza a interface gráfica
+            txtAnguloGPS.Text = novoAngulo.ToString("0.00");
+
+
+
+
+
+
+            // Calcula a distância com base no tempo passado (em segundos)
+            double distancia = velocidadeMs * tempoGps;
+
+            if (distancia == 0 && double.Parse(txtDistanciaGPS.Text) > 0)
+            {
+                distancia = double.Parse(txtDistanciaGPS.Text);
+            }
+            else
+            {
+                txtDistanciaGPS.Text = distancia.ToString("0.0000");
+            }
+
+            double latitude = ultimaLat;
+            double longitude = ultimaLon;
+
+            // Conversão de ângulo de graus para radianos
+            double anguloRad = anguloAtual * (Math.PI / 180);
+
+            // Raio da Terra em metros
+            double raioTerra = GPSService.RaioDaTerra;
+
+            // Calcular deslocamento de latitude em radianos
+            double deltaLat = distancia * Math.Cos(anguloRad) / raioTerra;
+            // Converter de radianos para graus
+            double _latAtt = latitude + deltaLat * (180 / Math.PI);
+
+            // Calcular deslocamento de longitude em radianos
+            double deltaLong = distancia * Math.Sin(anguloRad) / (raioTerra * Math.Cos(latitude * (Math.PI / 180)));
+            // Converter de radianos para graus
+            double _longAtt = longitude + deltaLong * (180 / Math.PI);
+
+            // Atualizar os TextBoxes com as novas coordenadas
+            txtLatitude.Text = _latAtt.ToString();
+            txtLongitude.Text = _longAtt.ToString();
+
+            UltimaAtualizacaoGps = DateTime.Now;
+
+            AtualizarPosicaoGPS();
+
+            AtualizarDadosTela();
+        }
+
+        public double CalcularNovaOrientacao(TipoMovimentoDirecional tipoMovimento, double anguloControle, double velocidadeMs, double tempoDelta, double anguloAtual, double distanciaEntreEixos)
+        {
+            // Converte o ângulo de controle para radianos
+            double anguloControleRad = anguloControle * (Math.PI / 180.0);
+
+            // Evita divisão por zero (caso o ângulo seja muito pequeno)
+            double R = Math.Abs(anguloControleRad) < 0.01 ? 99999 : (distanciaEntreEixos / 100.0) / Math.Tan(anguloControleRad);
+
+            // Ajusta o raio de curva de acordo com o tipo de movimento
+            switch (tipoMovimento)
+            {
+                case TipoMovimentoDirecional.RodasDianteiras:
+                    // Apenas as rodas dianteiras viram -> usa o raio padrão
+                    break;
+
+                case TipoMovimentoDirecional.RodasTraseiras:
+                    // Apenas as rodas traseiras viram -> mesmo efeito que as dianteiras
+                    break;
+
+                case TipoMovimentoDirecional.MovimentoArco:
+                    // Rodas dianteiras e traseiras viram em sentidos opostos, reduzindo muito o raio
+                    R *= 0.5; // Reduz o raio pela metade para uma curva mais fechada
+                    break;
+
+                case TipoMovimentoDirecional.MovimentoDiagonal:
+                    // Todas as rodas viram na mesma direção, o robô desliza sem mudar a frente
+                    // Isso significa que o ângulo do robô **não muda** ao longo do tempo
+                    return anguloAtual; // Mantém a orientação original
+            }
+
+            // Calcula a rotação angular com base na velocidade e no raio
+            double omega = velocidadeMs / R;
+
+            // Calcula a variação angular no tempo (em radianos)
+            double deltaTheta = omega * tempoDelta;
+
+            // Converte para graus e atualiza a orientação do robô
+            double novoAngulo = GPSService.NormalizarAngulo(anguloAtual + (deltaTheta * (180.0 / Math.PI)));
+
+            return novoAngulo;
+        }
+
+
+
+
+
+
+        private async void EnviarDadosDeEstadoParaModelo()
+        {
+            _robotState.AddPosition(new Position()
+            {
+                Latitude = GPSService.UltimaLeitura.Latitude,
+                Longitude = GPSService.UltimaLeitura.Longitude,
+                Orientation = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro
+            });
+            _robotState.UpdateCurrentRobotState();
+
+
+            await Variaveis.MqttService.PublishAsync(
+                Variaveis.MqttService.Topicos.First(x => x.Topico == mqtt_topico_state),
+                JsonConvert.SerializeObject(_robotState)
+            );
+        }
+
+        private void btnIniciarGPS_Click(object sender, EventArgs e)
+        {
+            AtualizarPosicaoGPS();
+            btnAcrescentarGPS.Enabled = true;
+            txtAnguloGPS.Enabled = true;
+            txtDistanciaGPS.Enabled = true;
+            btnIniciarGPS.Enabled = false;
+            txtLatitude.ReadOnly = true;
+            txtLongitude.ReadOnly = true;
+        }
+
+        private void AtualizarPosicaoGPS()
+        {
+            GPSService.PenultimaLeitura = new GPSModel()
+            {
+                DataHora = GPSService.UltimaLeitura.DataHora,
+                Longitude = GPSService.UltimaLeitura.Longitude,
+                Latitude = GPSService.UltimaLeitura.Latitude,
+            };
+
+            if (!GPSService.Iniciado || (txtLongitude.Text != "" && txtLatitude.Text != ""))
+            {
+                GPSService.UltimaLeitura = new GPSModel()
+                {
+                    DataHora = DateTime.Now,
+                    Longitude = double.Parse(txtLongitude.Text.Replace(".", ",")),
+                    Latitude = double.Parse(txtLatitude.Text.Replace(".", ",")),
+                };
+            }
+
+            ultimaLat = GPSService.UltimaLeitura.Latitude;
+            ultimaLon = GPSService.UltimaLeitura.Longitude;
+
+            GPSService.AtualizarCoordenadasGPS();
+        }
+
+        private void btnAtualizarLeitura_Click(object sender, EventArgs e)
+        {
+            AtualizarDadosTela();
+        }
+    }
+}
diff --git a/AgroBase/AgroBase/Forms/frmTreinamentoIA.resx b/AgroBase/AgroBase/Forms/frmTreinamentoIA.resx
new file mode 100644
index 000000000..1af7de150
--- /dev/null
+++ b/AgroBase/AgroBase/Forms/frmTreinamentoIA.resx
@@ -0,0 +1,120 @@
+
+
+  
+  
+    
+    
+      
+        
+          
+            
+              
+                
+              
+              
+              
+              
+              
+            
+          
+          
+            
+              
+              
+            
+          
+          
+            
+              
+                
+                
+              
+              
+              
+              
+              
+            
+          
+          
+            
+              
+                
+              
+              
+            
+          
+        
+      
+    
+  
+  
+    text/microsoft-resx
+  
+  
+    2.0
+  
+  
+    System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089
+  
+  
+    System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089
+  
+
\ No newline at end of file
diff --git a/AgroBase/AgroBase/Models/Enums.cs b/AgroBase/AgroBase/Models/Enums.cs
index 545e3a317..e5b50af17 100644
--- a/AgroBase/AgroBase/Models/Enums.cs
+++ b/AgroBase/AgroBase/Models/Enums.cs
@@ -138,9 +138,8 @@ namespace AgroBase.Models
         public enum ModoOperacao
         {
             Manual, 
-            SeguidorDeLinha,
-            MapaGPS, 
-            Remoto
+            TreinamentoIA,
+            MapaGPS
         }
 
         public enum StatusOperacao
@@ -244,5 +243,34 @@ namespace AgroBase.Models
             Ethernet = 3,
         }
 
+        public enum TipoPontoRua
+        {
+            PosicaoRobo = 0, 
+            LigacaoEntrada = 1, 
+            BordaEntrada = 2, 
+            Rua = 3, 
+            BordaSaida = 4, 
+            LigacaoSaida = 5,
+            CruvaEntreCorredores = 6
+        }
+
+        public enum TiposCorrecaoGPS
+        {
+            SemCorrecao = 0,
+            Autonomo = 1, 
+            DGPS = 2, 
+            PPS = 3, 
+            RTKFlutuante = 4, 
+            RTKFixo = 5
+        }
+
+        public enum TiposControladorDirecional
+        {
+            Manual = 0, 
+            PID = 1, 
+            MPC = 2, 
+            IA = 3
+        }
+
     }
 }
diff --git a/AgroBase/AgroBase/Models/GPSModel.cs b/AgroBase/AgroBase/Models/GPSModel.cs
index c9699f194..b5a3d16d6 100644
--- a/AgroBase/AgroBase/Models/GPSModel.cs
+++ b/AgroBase/AgroBase/Models/GPSModel.cs
@@ -1,4 +1,5 @@
 using System;
+using System.Collections.Generic;
 using static AgroBase.Models.Enums;
 
 namespace AgroBase.Models
@@ -12,11 +13,57 @@ namespace AgroBase.Models
         public DateTime DataHora { get; set; }
         public double Altitude { get; set; }
         public double Velocidade { get; set; }
+        public double Distancia { get; set; }
         public int NumeroSatelites { get; set; }
         public double PrecisaoHorizontal { get; set; }
-        public double Orientacao { get; set; }
-        public int idxRua { get; set; } = -1;
-        public DirecaoCarroRua DirecaoTrecho { get; set; } = DirecaoCarroRua.Parado;
+        public double CursoVerdadeiro { get; set; }
+        public double OrientacaoReal { get; set; }
+        public string TipoOrientacao { get; set; }
+        public double VariacaoMagnetica { get; set; }
+        public TiposCorrecaoGPS QualidadeFix { get; set; }
+        public double PrecisaoCm
+        {
+            get
+            {
+                double precisao = 0;
+
+                double erroBase = 
+                    QualidadeFix == TiposCorrecaoGPS.Autonomo ? 10.0 : // Autônomo: ~10 metros
+                    QualidadeFix == TiposCorrecaoGPS.DGPS ? 3.0 :  // DGPS: ~1-3 metros
+                    QualidadeFix == TiposCorrecaoGPS.PPS ? 1.0 :  // PPS: ~50 cm - 1 metro
+                    QualidadeFix == TiposCorrecaoGPS.RTKFlutuante ? 0.5 :  // RTK Float: ~20-50 cm
+                    QualidadeFix == TiposCorrecaoGPS.RTKFixo ? 0.01 : // RTK Fixed: ~1-2 cm
+                    1;                         // Valor padrão para casos desconhecidos
+
+                // Calcula a precisão horizontal em metros e converte para centímetros
+                precisao = erroBase * PrecisaoHorizontal * 100;
+
+                return precisao;
+            }
+        }
+        public List SatelitesEmVista { get; set; } = new List();
         public DateTime UltimoComandoRespondido { get; set; }
     }
+
+    public class GPSSatelitesEmVistaModel
+    {
+        public string TipoSistema { get; set; }
+        public List Sentencas { get; set; } = new List();
+    }
+
+    public class GPSSatelitesEmVistaSentencaModel
+    {
+        public int SentencaAtual { get; set; }
+        public int SentencasTotal { get; set; }
+        public int QuantidadeSatelites { get; set; }
+        public List Dados { get; set; } = new List();
+    }
+
+    public class GPSSatelitesEmVistaDadosModel
+    {
+        public string PRN { get; set; }
+        public double Elevacao { get; set; }
+        public double Azimute { get; set; }
+        public double QualidadeSinal { get; set; }
+    }
 }
diff --git a/AgroBase/AgroBase/Models/MPCController.cs b/AgroBase/AgroBase/Models/MPCController.cs
new file mode 100644
index 000000000..9ac4fe685
--- /dev/null
+++ b/AgroBase/AgroBase/Models/MPCController.cs
@@ -0,0 +1,224 @@
+using AgroBase.Models;
+using AgroBase.Services;
+using System;
+using System.Collections.Generic;
+
+public class MPCController
+{
+    private int horizon;
+    private double maxSteeringAngle;
+    private double maxSteeringAngleFourWheels;
+    private double minVelocity;
+    private double maxVelocity;
+    private double accelerationLimit;
+
+    // Pesos da função de custo ajustados
+    private double distancePredict = 3.0;
+    private double weightPosition = 1.0;
+    private double weightAlignment = 0.8;
+    private double weightSteering = 0.5;
+    private double weightVelocity = 0.3;
+    private double weightAcceleration = 1.0;  // Penaliza mudanças bruscas de velocidade
+    private double weightObstacle = 2.5; // Maior penalização para obstáculos
+    private double weightLaneCentering = 1.2; // Mantém o robô no centro do corredor
+
+    private DateTime _ultimaAtualizacao = DateTime.MinValue;
+
+    public MPCController()
+    {
+        // Definições baseadas em variáveis globais
+        this.horizon = Convert.ToInt32(distancePredict / TrajetoriaMapaOperacaoModel.DistanciaEntrePontos);
+        this.maxSteeringAngle = Variaveis.OperacaoEmAndamento?.Controle?.Angulo_Max ?? 30.0;
+        this.maxSteeringAngleFourWheels = this.maxSteeringAngle * 1.0;
+        this.minVelocity = Variaveis.OperacaoEmAndamento?.Controle?.PercentualVelocidadeMin ?? 20.0;
+        this.maxVelocity = Variaveis.OperacaoEmAndamento?.Controle?.PercentualVelocidadeMax ?? 100.0;
+        this.accelerationLimit = 1.5; // Limita aceleração a valores realistas
+    }
+
+    public (double steeringAngle, Enums.TipoMovimentoDirecional mode) ComputeControl(
+        double currentX, double currentY, double currentTheta,
+        double targetX, double targetY, double targetTheta,
+        double currentVelocity, double leftEdge, double rightEdge, List obstacles)
+    {
+        double dt = (DateTime.Now - _ultimaAtualizacao).TotalSeconds;
+        dt = Math.Max(0.01, Math.Min(dt, 0.2));
+
+        // Define o número total de passos e passos por grupo
+        int totalSteps = 10;
+        int stepsPerGroup = 5;
+
+        // Calcula o número de grupos
+        int numGroups = totalSteps / stepsPerGroup;
+
+        // Pré-calcula todas as combinações de controle
+        List<(double steering, Enums.TipoMovimentoDirecional mode)> controlOptions = PreGenerateControlOptions();
+
+        // Variáveis para armazenar o melhor custo e a melhor sequência
+        double bestCost = double.MaxValue;
+        List<(double steering, Enums.TipoMovimentoDirecional mode)> bestSequence = null;
+
+        // Função de avaliação (passada como parâmetro)
+        Func, double> evaluateSequence = sequence =>
+        {
+            return SimulateTrajectory(
+                currentX, currentY, currentTheta,
+                targetX, targetY, targetTheta,
+                currentVelocity, sequence,
+                leftEdge, rightEdge, obstacles, dt, Variaveis.OperacaoEmAndamento.Trajetoria.DentroCorredor,
+                stepsPerGroup // Passa o número de passos por grupo
+            );
+        };
+
+        // Gera e avalia todas as sequências dinamicamente
+        GenerateAndEvaluateSequences(
+            new List<(double steering, Enums.TipoMovimentoDirecional mode)>(),
+            numGroups, // Número de grupos
+            controlOptions,
+            ref bestCost,
+            ref bestSequence,
+            evaluateSequence
+        );
+
+        _ultimaAtualizacao = DateTime.Now;
+
+        // Retorna o primeiro comando da melhor sequência
+        return bestSequence[0];
+    }
+
+
+    private List<(double steering, Enums.TipoMovimentoDirecional mode)> PreGenerateControlOptions()
+    {
+        List<(double steering, Enums.TipoMovimentoDirecional mode)> controlOptions = new List<(double steering, Enums.TipoMovimentoDirecional mode)>();
+
+        // Gera todas as opções de steering (ângulos) e modos
+        List steeringOptions = new List();
+        for (double s = -maxSteeringAngle; s <= maxSteeringAngle; s += 5.0) // Passo de 5 graus
+        {
+            steeringOptions.Add(s);
+        }
+
+        List modeOptions = new List()
+        {
+            Enums.TipoMovimentoDirecional.RodasDianteiras,
+            Enums.TipoMovimentoDirecional.MovimentoArco
+        };
+
+        // Cria todas as combinações de steering e mode
+        foreach (var steering in steeringOptions)
+        {
+            foreach (var mode in modeOptions)
+            {
+                controlOptions.Add((steering, mode));
+            }
+        }
+
+        return controlOptions;
+    }
+
+    private void GenerateControlSequences(List<(double steering, Enums.TipoMovimentoDirecional mode)> currentSequence, int remainingSteps, List> allSequences, List<(double steering, Enums.TipoMovimentoDirecional mode)> controlOptions) // Pré-geradas
+    {
+        // Base da recursão: se não houver mais passos no horizonte, salva a sequência
+        if (remainingSteps == 0)
+        {
+            allSequences.Add(new List<(double steering, Enums.TipoMovimentoDirecional mode)>(currentSequence));
+            return;
+        }
+
+        // Itera sobre as combinações pré-calculadas
+        foreach (var control in controlOptions)
+        {
+            // Adiciona o controle atual à sequência
+            currentSequence.Add(control);
+
+            // Chama recursivamente para o próximo passo, diminuindo o horizonte
+            GenerateControlSequences(currentSequence, remainingSteps - 1, allSequences, controlOptions);
+
+            // Remove o controle para explorar a próxima combinação
+            currentSequence.RemoveAt(currentSequence.Count - 1);
+        }
+    }
+
+    private void GenerateAndEvaluateSequences(
+        List<(double steering, Enums.TipoMovimentoDirecional mode)> currentSequence,
+        int remainingSteps,
+        List<(double steering, Enums.TipoMovimentoDirecional mode)> controlOptions,
+        ref double bestCost,
+        ref List<(double steering, Enums.TipoMovimentoDirecional mode)> bestSequence,
+        Func, double> evaluateSequence)
+    {
+        // Base da recursão: se não houver mais passos, avalia a sequência
+        if (remainingSteps == 0)
+        {
+            double cost = evaluateSequence(currentSequence);
+
+            // Verifica se a sequência atual tem o menor custo
+            if (cost < bestCost)
+            {
+                bestCost = cost;
+                bestSequence = new List<(double steering, Enums.TipoMovimentoDirecional mode)>(currentSequence);
+            }
+
+            return;
+        }
+
+        // Itera sobre as combinações de controle
+        foreach (var control in controlOptions)
+        {
+            // Adiciona o controle atual à sequência
+            currentSequence.Add(control);
+
+            // Chama recursivamente para o próximo passo, diminuindo o horizonte
+            GenerateAndEvaluateSequences(currentSequence, remainingSteps - 1, controlOptions, ref bestCost, ref bestSequence, evaluateSequence);
+
+            // Remove o controle para explorar a próxima combinação
+            currentSequence.RemoveAt(currentSequence.Count - 1);
+        }
+    }
+
+
+
+
+    private double SimulateTrajectory(
+        double lat, double lon, double theta,
+        double targetLat, double targetLon, double targetTheta,
+        double currentVelocity,
+        List<(double steering, Enums.TipoMovimentoDirecional mode)> sequence,
+        double leftEdge, double rightEdge, List obstacles, double dt, bool insideStreet,
+        int stepsPerGroup)
+    {
+        double cost = 0;
+
+        var posicaoAtual = new GPSModel { Latitude = lat, Longitude = lon, OrientacaoReal = theta };
+        var posicaoAlvo = new GPSModel { Latitude = targetLat, Longitude = targetLon };
+        (double targetX, double targetY) = GPSService.ConverterLatLongParaMetros(posicaoAlvo, posicaoAtual);
+
+        foreach (var control in sequence)
+        {
+            double steering = control.steering;
+            Enums.TipoMovimentoDirecional mode = control.mode;
+
+            // Simula "stepsPerGroup" passos para o mesmo comando
+            for (int step = 0; step < stepsPerGroup; step++)
+            {
+                var novaPosicao = VariaveisEquipamento.SimularNovaPosicao(mode, steering, currentVelocity, dt, theta, posicaoAtual);
+
+                posicaoAtual = novaPosicao;
+                theta = novaPosicao.OrientacaoReal;
+
+                (double novaX, double novaY) = GPSService.ConverterLatLongParaMetros(novaPosicao, posicaoAlvo);
+
+                double distanceError = Math.Sqrt(Math.Pow(targetX - novaX, 2) + Math.Pow(targetY - novaY, 2));
+                double laneError = insideStreet ? Math.Abs(leftEdge - rightEdge) : 0.0;
+
+                // Acumula o custo
+                cost += (distanceError * 10.0) + (laneError * 20.0);
+            }
+        }
+
+        return cost;
+    }
+
+
+
+
+}
diff --git a/AgroBase/AgroBase/Models/MPCControllerSimple.cs b/AgroBase/AgroBase/Models/MPCControllerSimple.cs
new file mode 100644
index 000000000..76bd8d141
--- /dev/null
+++ b/AgroBase/AgroBase/Models/MPCControllerSimple.cs
@@ -0,0 +1,167 @@
+using AgroBase.Models;
+using AgroBase.Services;
+using System;
+using System.Collections.Generic;
+
+public class MPCControllerSimple
+{
+    private int horizon;
+    private double maxSteeringAngle;
+    private double maxSteeringAngleFourWheels;
+    private double minVelocity;
+    private double maxVelocity;
+    private double accelerationLimit;
+
+    // Pesos da função de custo ajustados
+    private double distancePredict = 5.0;
+    private double weightPosition = 1.0;
+    private double weightAlignment = 0.8;
+    private double weightSteering = 0.5;
+    private double weightVelocity = 0.3;
+    private double weightAcceleration = 1.0;  // Penaliza mudanças bruscas de velocidade
+    private double weightObstacle = 2.5; // Maior penalização para obstáculos
+    private double weightLaneCentering = 1.2; // Mantém o robô no centro do corredor
+
+    private DateTime _ultimaAtualizacao = DateTime.MinValue;
+
+    public MPCControllerSimple()
+    {
+        // Definições baseadas em variáveis globais
+        this.horizon = Convert.ToInt32(distancePredict / TrajetoriaMapaOperacaoModel.DistanciaEntrePontos);
+        this.maxSteeringAngle = Variaveis.OperacaoEmAndamento?.Controle?.Angulo_Max ?? 30.0;
+        this.maxSteeringAngleFourWheels = this.maxSteeringAngle * 1.0;
+        this.minVelocity = Variaveis.OperacaoEmAndamento?.Controle?.PercentualVelocidadeMin ?? 20.0;
+        this.maxVelocity = Variaveis.OperacaoEmAndamento?.Controle?.PercentualVelocidadeMax ?? 100.0;
+        this.accelerationLimit = 1.5; // Limita aceleração a valores realistas
+    }
+
+    public (double steeringAngle, Enums.TipoMovimentoDirecional mode) ComputeControl(
+        double currentX, double currentY, double currentTheta,
+        double targetX, double targetY, double targetTheta,
+        double currentVelocity, double leftEdge, double rightEdge, List obstacles)
+    {
+        if (_ultimaAtualizacao == DateTime.MinValue)
+        {
+            _ultimaAtualizacao = DateTime.Now.AddMilliseconds(-(1.0 / GPSService.TaxaAmostragemHz));
+        }
+
+        double dt = (DateTime.Now - _ultimaAtualizacao).TotalSeconds;
+        double maxTime = (1.0 / GPSService.TaxaAmostragemHz) * 1.5;
+        dt = Math.Max(0.01, Math.Min(dt, maxTime));
+
+        List<(double steering, Enums.TipoMovimentoDirecional mode)> candidates = GenerateControlCandidates();
+        double bestCost = double.MaxValue;
+        (double steeringAngle, Enums.TipoMovimentoDirecional mode) bestControl = (0, Enums.TipoMovimentoDirecional.RodasDianteiras);
+        bool insideStreet = Variaveis.OperacaoEmAndamento.Trajetoria.DentroCorredor;
+
+        double velocity = FuncoesMatematicas.CalculaVelocidadeMsPercentual(currentVelocity);
+        double distanciaPasso = dt * velocity;
+
+        this.horizon = Convert.ToInt32(distancePredict / distanciaPasso);
+
+        foreach (var control in candidates)
+        {
+            double cost = SimulateTrajectory(
+                currentX, currentY, currentTheta,
+                targetX, targetY, targetTheta,
+                velocity, control.steering, control.mode,
+                leftEdge, rightEdge, obstacles, dt, insideStreet
+            );
+
+            if (cost < bestCost)
+            {
+                bestCost = cost;
+                bestControl = control;
+            }
+        }
+
+        _ultimaAtualizacao = DateTime.Now;
+        return bestControl;
+    }
+
+    private List<(double steering, Enums.TipoMovimentoDirecional mode)> GenerateControlCandidates()
+    {
+        List<(double steering, Enums.TipoMovimentoDirecional mode)> candidates = new List<(double, Enums.TipoMovimentoDirecional)>();
+
+        List modes = new List()
+        {
+            Enums.TipoMovimentoDirecional.RodasDianteiras,
+            Enums.TipoMovimentoDirecional.RodasTraseiras,
+            Enums.TipoMovimentoDirecional.MovimentoArco,
+        };
+
+        foreach (var mode in modes)
+        {
+            double maxAngle = (mode == Enums.TipoMovimentoDirecional.MovimentoArco || mode == Enums.TipoMovimentoDirecional.MovimentoDiagonal)
+                ? maxSteeringAngleFourWheels
+                : maxSteeringAngle;
+
+            for (double s = -maxAngle; s <= maxAngle; s += 0.5)
+            {
+                candidates.Add((s, mode));
+            }
+        }
+
+        return candidates;
+    }
+
+    private double SimulateTrajectory(
+        double lat, double lon, double theta,
+        double targetLat, double targetLon, double targetTheta,
+        double currentVelocity, double steering,
+        Enums.TipoMovimentoDirecional mode, double leftEdge, double rightEdge,
+        List obstacles, double dt, bool insideStreet)
+    {
+        double cost = 0;
+
+        // Converte a posição atual e o alvo para coordenadas métricas
+        var posicaoAtual = new GPSModel { Latitude = lat, Longitude = lon, OrientacaoReal = theta };
+        var posicaoAlvo = new GPSModel { Latitude = targetLat, Longitude = targetLon };
+
+        // Converte para coordenadas métricas usando o método mais preciso
+        (double targetX, double targetY) = GPSService.ConverterLatLongParaMetros(posicaoAlvo, posicaoAtual);
+
+        double lastSteering = steering; // Para suavizar mudanças bruscas de direção
+
+        // Simula a trajetória ao longo do horizonte de previsão
+        for (int i = 0; i < horizon; i++)
+        {
+            // Simula a próxima posição usando o método SimularNovaPosicao
+            var novaPosicao = VariaveisEquipamento.SimularNovaPosicao(mode, steering, currentVelocity, dt, theta, posicaoAtual);
+
+            // Atualiza a posição atual e a orientação
+            posicaoAtual = novaPosicao;
+            theta = novaPosicao.OrientacaoReal;
+
+            // Converte a nova posição para coordenadas métricas
+            (double novaX, double novaY) = GPSService.ConverterLatLongParaMetros(novaPosicao, posicaoAlvo);
+
+            // Calcula o erro de posição e alinhamento
+            // Calcula apenas o erro de posição
+            double distanceError = Math.Sqrt(Math.Pow(targetX - novaX, 2) + Math.Pow(targetY - novaY, 2));
+
+            // Calcula o erro lateral (distância da esquerda e direita devem ser iguais)
+            double laneError = insideStreet ? Math.Abs(leftEdge - rightEdge) : 0.0;
+
+            // Penaliza mudanças muito bruscas na direção (para suavizar a oscilação)
+            double steeringChangePenalty = Math.Pow(Math.Abs(steering - lastSteering), 2) * 10.0;
+
+            // Atualiza o último valor de steering
+            lastSteering = steering;
+
+            double centralLaneError = Math.Abs((leftEdge + rightEdge) / 2.0 - novaX);
+
+            // Função de custo ajustada
+            cost +=
+                (distanceError * 10.0) +
+                (laneError * 20.0) +
+                (steeringChangePenalty * 15.0) +
+                (centralLaneError * 5.0);
+        }
+
+        return cost;
+    }
+
+
+
+}
diff --git a/AgroBase/AgroBase/Models/MapaDinamicoModel.cs b/AgroBase/AgroBase/Models/MapaDinamicoModel.cs
index 08e4707f1..6db3f82c9 100644
--- a/AgroBase/AgroBase/Models/MapaDinamicoModel.cs
+++ b/AgroBase/AgroBase/Models/MapaDinamicoModel.cs
@@ -15,6 +15,7 @@ namespace AgroBase.Models
         private Point _mapOffset = new Point(); // Deslocamento do mapa
 
         private GPSModel _posicaoAtual { get; set; } = new GPSModel();
+        private List> RuasPlantacao { get; set; } = new List>();
         private List TrajetoriaDinamica { get; set; } = new List();
         private List TrajetoriaRuaProjetada { get; set; } = new List();
         private List TrajetoriaRobo { get; set; } = new List();
@@ -40,7 +41,7 @@ namespace AgroBase.Models
             pnlZoomMapa.GetType().GetMethod("SetStyle", System.Reflection.BindingFlags.Instance | System.Reflection.BindingFlags.NonPublic).Invoke(pnlZoomMapa, new object[] { ControlStyles.UserPaint | ControlStyles.AllPaintingInWmPaint | ControlStyles.OptimizedDoubleBuffer, true });
         }
 
-        public void AtualizarDados(Obstaculo obstaculo, float anguloCaminho, float anguloCarro, GPSModel posicaoAtual, List trajetoriaDinamica, List trajetoriaRua, List trajetoriaRobo)
+        public void AtualizarDados(Obstaculo obstaculo, float anguloCaminho, float anguloCarro, GPSModel posicaoAtual, List trajetoriaDinamica, List trajetoriaRua, List trajetoriaRobo, List> ruasPlantacao)
         {
             obstaculoDetectado = obstaculo;
             AnguloCaminho = anguloCaminho;
@@ -49,6 +50,7 @@ namespace AgroBase.Models
             TrajetoriaDinamica = trajetoriaDinamica;
             TrajetoriaRuaProjetada = trajetoriaRua;
             TrajetoriaRobo = trajetoriaRobo;
+            RuasPlantacao = ruasPlantacao;
 
             pnlZoomMapa.Invalidate();
         }
@@ -122,6 +124,12 @@ namespace AgroBase.Models
             float centerX = width / 2 + _mapOffset.X;
             float centerY = height / 2 + _mapOffset.Y;
 
+            // Desenha os pontos da rua com plantacao
+            foreach (var rua in RuasPlantacao)
+            {
+                DrawTrajectory(g, rua, centerX, centerY, Color.Blue, Pens.Black);
+            }
+
             // Desenha os pontos da trajetória projetada
             DrawTrajectory(g, TrajetoriaDinamica, centerX, centerY, Color.Purple, Pens.MediumPurple);
 
@@ -232,8 +240,9 @@ namespace AgroBase.Models
 
             // Calcular o ponto final da linha indicando a frente do robô
             float linhaFrenteComprimento = comprimentoFrente * (float)_zoom / 1e7f; // Ajustar para pixels considerando o zoom
-            float frenteLinhaX = x + linhaFrenteComprimento * (float)Math.Cos((angle) * Math.PI / 180);
-            float frenteLinhaY = y - linhaFrenteComprimento * (float)Math.Sin((angle) * Math.PI / 180);
+            double anguloLinha = GPSService.NormalizarAngulo(360 - angle + 90);
+            float frenteLinhaX = x + linhaFrenteComprimento * (float)Math.Cos((anguloLinha) * Math.PI / 180);
+            float frenteLinhaY = y - linhaFrenteComprimento * (float)Math.Sin((anguloLinha) * Math.PI / 180);
 
             // Desenhar a linha do GPS até a frente do robô
             using (Pen frontPen = new Pen(borderColor, 2))
@@ -265,7 +274,7 @@ namespace AgroBase.Models
         private void DrawObstacle(Graphics g, float xRobot, float yRobot, Color pointColor, Color borderColor, float angle, Obstaculo obstaculo, float PxToCm)
         {
             GPSModel posicaoRobo = GPSService.UltimaLeitura;
-            GPSModel posicaoObstaculo = Variaveis.OperacaoEmAndamento.Mapa.GerarPontoDeslocado(posicaoRobo, angle, obstaculo.DistanciaMedia_mm / 1000);
+            GPSModel posicaoObstaculo = GPSService.GerarPontoDeslocado(posicaoRobo, angle, obstaculo.DistanciaMedia_mm / 1000);
 
             float x = xRobot + (float)((posicaoObstaculo.Longitude - posicaoRobo.Longitude) * _zoom);
             float y = yRobot - (float)((posicaoObstaculo.Latitude - posicaoRobo.Latitude) * _zoom);
@@ -315,7 +324,7 @@ namespace AgroBase.Models
         private (float, float) CalcularPontosLateraisRobo(GPSModel posicaoRobo, float Largura, float Comprimento, float x, float y, int offAngulo)
         {
             float hP = (float)Math.Sqrt(Math.Pow(Largura, 2) + Math.Pow(Comprimento, 2)) / 100f;
-            GPSModel pP = Variaveis.OperacaoEmAndamento.Mapa.GerarPontoDeslocado(posicaoRobo, offAngulo, hP);
+            GPSModel pP = GPSService.GerarPontoDeslocado(posicaoRobo, offAngulo, hP);
             float xP = x + (float)((pP.Longitude - posicaoRobo.Longitude) * _zoom);
             float yP = y - (float)((pP.Latitude - posicaoRobo.Latitude) * _zoom);
 
diff --git a/AgroBase/AgroBase/Models/MapasModel.cs b/AgroBase/AgroBase/Models/MapasModel.cs
index 4ff2c9a4d..9a0004147 100644
--- a/AgroBase/AgroBase/Models/MapasModel.cs
+++ b/AgroBase/AgroBase/Models/MapasModel.cs
@@ -1,12 +1,12 @@
 using AgroBase.Properties;
 using AgroBase.Services;
 using CefSharp.WinForms;
+using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Threading.Tasks;
 using System.Windows.Forms;
-using static AgroBase.Models.Enums;
 
 namespace AgroBase.Models
 {
@@ -18,508 +18,8 @@ namespace AgroBase.Models
         public Label lblMapa { get; set; }
         public MapasService mapaService { get; set; } = new MapasService();
         public List> TrajetoriaMapa { get; set; } = new List>();
-        public List> TrajetoriaProjetada { get; set; } = new List>();
-        public List TrajetoriaDinamica { get; set; } = new List();
-        public readonly object TrajetoriaDinamica_Lock = new object();
         public List RuasPercorrer { get; set; } = new List();
-        public List RuasPercorridas { get; set; } = new List();
-        public string RuaEmAndamento { get; set; }
-        public int IdxRuaAtual { get; set; } = 0;
-        public int IdxUltimoPontoTrajetoria { get; set; } = 0;
-        public bool AproximandoUltimoPontoTrajetoria { get; set; } = false;
-        public int IdxUltimoPontoTrajetoriaDinamica { get; set; } = 0;
-        public double DistanciaTotal
-        {
-            get
-            {
-                double distancia = 0.0;
-
-                foreach (var trecho in TrajetoriaMapa)
-                {
-                    distancia += GPSService.DistanciaDoTrecho(trecho);
-                }
-
-                return distancia;
-            }
-        }
-        public DirecaoCarroRua DirecaoCaminho
-        {
-            get
-            {
-                DirecaoCarroRua direcaoCaminho = DirecaoCarroRua.Parado;
-                lock (TrajetoriaDinamica_Lock)
-                {
-                    if (TrajetoriaDinamica.Any())
-                    {
-                        (GPSModel PontoMaisProximo, bool aproximando) = GPSService.PontoMaisProximoRuaProjetada(TrajetoriaDinamica, TrajetoriaTipo.Dinamica);
-                        int idxPontoMaisProximo = TrajetoriaDinamica.IndexOf(PontoMaisProximo);
-                        direcaoCaminho = TrajetoriaDinamica[idxPontoMaisProximo].DirecaoTrecho;
-                    }
-                    else
-                    {
-                        if (ExtremoMaisProximoMapa == 0)
-                        {
-                            direcaoCaminho = DirecaoCarroRua.Ida;
-                        }
-                        else
-                        {
-                            direcaoCaminho = DirecaoCarroRua.Volta;
-                        }
-                    }
-                }
-                return direcaoCaminho;
-            }
-        }
-        public bool DentroDaRua
-        {
-            get
-            {
-                if (mapaService.DadosMapa != null && RuasPercorrer.Count() > IdxRuaAtual && TrajetoriaProjetada.Any())
-                {
-                    /*try
-                    {
-                        string IDruaAtual = RuasPercorrer[IdxRuaAtual];
-                        var Rua = mapaService.DadosMapa.features.Where(x => x.geometry.id == IDruaAtual).FirstOrDefault();
-                        if (Rua != null)
-                        {
-                            bool dentro = false;
-                            List Trecho = new List();
-                            List PontosRua = new List();
-                            Trajetoria[IdxRuaAtual].ToList().ForEach(x => PontosRua.Add(x));
-                            if (DirecaoCaminho == DirecaoCarroRua.Volta)
-                            {
-                                PontosRua.Reverse();
-                            }
-                            (GPSModel PontoMaisProximo, bool aproximando) = GPSService.PontoMaisProximoRuaProjetada(PontosRua, TrajetoriaTipo.Rua);
-                            int idx = PontosRua.IndexOf(PontoMaisProximo);
-                            foreach (var Ponto in PontosRua)
-                            {
-                                // Adiciona os pontos que o robô já passou por eles no trecho, e quando chegar no ponto mais próximo, substitui ele pela posição atual
-                                int idxPonto = PontosRua.IndexOf(Ponto);
-                                if (idxPonto < idx)
-                                {
-                                    Trecho.Add(Ponto);
-                                }
-                                else
-                                {
-                                    if (idx > 0)
-                                    {
-                                        Trecho.Add(GPSService.UltimaLeitura);
-                                    }
-
-                                    break;
-                                }
-                            }
-                            double distTrecho = GPSService.DistanciaDoTrecho(Trecho);
-                            dentro = (distTrecho > 0 && distTrecho < Rua.properties.Length) || (idx == 0 && !aproximando);
-
-                            return dentro;
-                        }
-                        else
-                        {
-                            return false;
-                        }
-                    }
-                    catch
-                    {
-                        return false;
-                    }*/
-
-                    var trajetoria = TrajetoriaProjetada[0];
-                    for (int i = 0; i < trajetoria.Count - 1; i++)
-                    {
-                        var pontoA = trajetoria[i];
-                        var pontoB = trajetoria[i + 1];
-
-                        var a = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, pontoA);
-                        var b = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, pontoB);
-
-                        double margem = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS._EtapaAtual == StatusCarroMapa.CaminhandoRua ? 0.00001 : 0.000001;
-
-                        // Verifica se a posição atual está entre os pontos A e B da trajetória
-                        if (GPSService.EstaEntrePontos(GPSService.UltimaLeitura, pontoA, pontoB, margem))
-                        {
-                            return true; // O ponto está dentro da rua
-                        }
-                    }
-                    return false; // O ponto está fora da rua
-
-                }
-                else
-                {
-                    return false;
-                }
-            }
-        }
-        public double MargemLimiteEntradaRua { get; } = 1.0;
-        public double DistanciaProjecaoRua 
-        {
-            get
-            {
-                return MargemLimiteEntradaRua * 1.2;
-            }
-        }
-        public bool NaMargemEntradaRua
-        {
-            get
-            {
-                bool NaMargem = false;
-                GPSModel PontoRua = ExtremoMaisProximoRuaProjetada == 0 ? PrimeiroPontoRuaProjetada : UltimoPontoRuaProjetada;
-                double Distancia = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, PontoRua);
-                double DistanciaAnterior = GPSService.DistanciaEntrePontos(GPSService.PenultimaLeitura, PontoRua);
-
-                double DistanciaFinal = 0;
-                if (Distancia > DistanciaAnterior && (Distancia <= (MargemLimiteEntradaRua * 2)))
-                {
-                    DistanciaFinal = Distancia * -1;
-                }
-                else
-                {
-                    DistanciaFinal = Distancia;
-                }
-
-                if (DistanciaFinal <= MargemLimiteEntradaRua)
-                {
-                    NaMargem = true;
-                }
-
-                return NaMargem;
-            }
-        }
-        public GPSModel PrimeiroPontoRuaProjetada
-        {
-            get
-            {
-                if (TrajetoriaProjetada.Any(x => x.Any()))
-                {
-                    var primeiroPontoRua = TrajetoriaProjetada[0].First();
-                    return primeiroPontoRua;
-                }
-                else
-                {
-                    return new GPSModel();
-                }
-
-            }
-        }
-        public GPSModel UltimoPontoRuaProjetada
-        {
-            get
-            {
-                if (TrajetoriaProjetada.Any(x => x.Any()))
-                {
-                    var ultimoPontoRua = TrajetoriaProjetada[0].Last();
-                    return ultimoPontoRua;
-                }
-                else
-                {
-                    return new GPSModel();
-                }
-            }
-        }
-        public GPSModel PrimeiroPontoRuaMapa
-        {
-            get
-            {
-                var Trajetoria = TrajetoriaMapa;
-
-                if (Trajetoria.Any(x => x.Any()) && Trajetoria.Count() > IdxRuaAtual)
-                {
-                    var primeiroPontoRua = Trajetoria.Skip(IdxRuaAtual).First().First();
-                    return primeiroPontoRua;
-                }
-                else
-                {
-                    return new GPSModel();
-                }
-
-            }
-        }
-        public GPSModel UltimoPontoRuaMapa
-        {
-            get
-            {
-                var Trajetoria = TrajetoriaMapa;
-
-                if (Trajetoria.Any(x => x.Any()) && Trajetoria.Count() > IdxRuaAtual)
-                {
-                    var ultimoPontoRua = Trajetoria.Skip(IdxRuaAtual).First().Last();
-                    return ultimoPontoRua;
-                }
-                else
-                {
-                    return new GPSModel();
-                }
-            }
-        }
-        public int ExtremoMaisProximoMapa
-        {
-            get
-            {
-                double distPP = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, PrimeiroPontoRuaMapa);
-                double distUP = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, UltimoPontoRuaMapa);
-
-                // 0 para mais próximo do primeiro ponto da rua (ENTRANDO)
-                // 1 para mais próximo do último ponto da rua (SAINDO)
-                return (distPP < distUP) ? 0 : 1;
-            }
-        }
-        public int ExtremoMaisProximoRuaProjetada
-        {
-            get
-            {
-                double distPP = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, PrimeiroPontoRuaProjetada);
-                double distUP = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, UltimoPontoRuaProjetada);
-
-                // 0 para mais próximo do primeiro ponto da rua (ENTRANDO)
-                // 1 para mais próximo do último ponto da rua (SAINDO)
-                return (distPP < distUP) ? 0 : 1;
-            }
-        }
-        public double AnguloCaminho
-        {
-            get
-            {
-                double anguloCaminho = 0;
-                try
-                {
-                    lock (TrajetoriaDinamica_Lock)
-                    {
-                        if (TrajetoriaDinamica.Any())
-                        {
-                            (GPSModel PontoMaisProximo, bool aproximando) = GPSService.PontoMaisProximoRuaProjetada(TrajetoriaDinamica, TrajetoriaTipo.Dinamica);
-                            int idx = TrajetoriaDinamica.IndexOf(PontoMaisProximo);
-
-                            if ((idx + 1) >= TrajetoriaDinamica.Count())
-                            {
-                                return anguloCaminho;
-                            }
-
-                            double angulo = GPSService.CalcularOrientacao(TrajetoriaDinamica[idx], TrajetoriaDinamica[idx + 1]);
-                            if (angulo == 0)
-                            {
-                                angulo = GPSService.CalcularOrientacao(TrajetoriaDinamica[idx + 1], TrajetoriaDinamica[idx + 2]);
-                            }
-
-                            anguloCaminho = (!(angulo >= 0 || angulo <= 0)) ? 0 : angulo;
-                        }
-                    }
-                }
-                catch
-                {
-                    anguloCaminho = 0;
-                }
-                finally
-                {
-                    Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloRua = anguloCaminho;
-                }
-
-                return anguloCaminho;
-            }
-        }
-        public double AnguloRuaAtual
-        {
-            get
-            {
-                try
-                {
-                    if (!TrajetoriaProjetada.Any())
-                    {
-                        return 0;
-                    }
-                    var RuaAtual = TrajetoriaProjetada[0];
-                    if (RuaAtual.Any())
-                    {
-                        (GPSModel PontoMaisProximo, bool aproximando) = GPSService.PontoMaisProximoRuaProjetada(RuaAtual, TrajetoriaTipo.Rua);
-                        int idx = RuaAtual.IndexOf(PontoMaisProximo);
-
-                        if ((idx + 1) >= RuaAtual.Count())
-                        {
-                            return 0;
-                        }
-
-                        double angulo = GPSService.CalcularOrientacao(RuaAtual[idx], RuaAtual[idx + 1]);
-                        if (angulo == 0)
-                        {
-                            angulo = GPSService.CalcularOrientacao(RuaAtual[idx + 1], RuaAtual[idx + 2]);
-                        }
-
-                        return (!(angulo >= 0 || angulo <= 0)) ? 0 : angulo;
-                    }
-                    else
-                    {
-                        return 0;
-                    }
-                }
-                catch
-                {
-                    return 0;
-                }
-            }
-        }
-        public double DistanciaEsquerda
-        {
-            get
-            {
-                if (IdxRuaAtual >= TrajetoriaMapa.Count())
-                {
-                    return 0;
-                }
-
-                double distancia = 0;
-                DirecaoCarroRua direcaoCaminho = DirecaoCaminho;
-
-                if (direcaoCaminho == DirecaoCarroRua.Ida)
-                {
-                    distancia = DistanciaAteRua(TrajetoriaMapa[IdxRuaAtual], VariaveisEquipamento.LarguraEsquerda);
-                }
-                else if (direcaoCaminho == DirecaoCarroRua.Volta)
-                {
-                    if (IdxRuaAtual == 0)
-                    {
-                        distancia = DistanciaEntreRuas(TrajetoriaMapa) / 2.0;
-                    }
-                    else
-                    {
-                        distancia = DistanciaAteRua(TrajetoriaMapa[IdxRuaAtual - 1], VariaveisEquipamento.LarguraEsquerda);
-                    }
-                }
-
-                return distancia;
-            }
-        }
-        public double DistanciaDireita
-        {
-            get
-            {
-                if (IdxRuaAtual >= TrajetoriaMapa.Count())
-                {
-                    return 0;
-                }
-
-                double distancia = 0;
-                DirecaoCarroRua direcaoCaminho = DirecaoCaminho;
-
-                if (direcaoCaminho == DirecaoCarroRua.Ida)
-                {
-                    if (IdxRuaAtual == 0)
-                    {
-                        distancia = DistanciaEntreRuas(TrajetoriaMapa) / 2.0;
-                    }
-                    else
-                    {
-                        distancia = DistanciaAteRua(TrajetoriaMapa[IdxRuaAtual - 1], VariaveisEquipamento.LarguraDireita);
-                    }
-                }
-                else if (direcaoCaminho == DirecaoCarroRua.Volta)
-                {
-                    distancia = DistanciaAteRua(TrajetoriaMapa[IdxRuaAtual], VariaveisEquipamento.LarguraDireita);
-                }
-
-                return distancia;
-            }
-        }
-        private DateTime UltimaLeituraDistancia;
-        private int idxPontoAproximadoRua = 0;
-        public int IdxPontoAproximadoRua
-        {
-            get
-            {
-                if (!TrajetoriaProjetada.Any())
-                {
-                    return 0;
-                }
-                try
-                {
-                    if (UltimaLeituraDistancia == null)
-                    {
-                        UltimaLeituraDistancia = DateTime.Now.Add(new TimeSpan(0, 0, -10));
-                    }
-                    else if (UltimaLeituraDistancia.Add(new TimeSpan(0, 0, 5)) < DateTime.Now)
-                    {
-                        int idx = -1;
-                        double menorDistancia = 9999;
-                        double distanciaAnterior = 9999;
-
-                        var Rua = TrajetoriaProjetada[0];
-
-                        foreach (var Ponto in Rua)
-                        {
-                            double dist = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, Ponto);
-                            if (dist < menorDistancia)
-                            {
-                                menorDistancia = dist;
-                                idx = Rua.IndexOf(Ponto);
-                            }
-                            else if (dist > distanciaAnterior)
-                            {
-                                break;
-                            }
-                            distanciaAnterior = dist;
-                        }
-                        idxPontoAproximadoRua = idx;
-
-                        UltimaLeituraDistancia = DateTime.Now;
-                    }
-                }
-                catch
-                {
-
-                }
-
-
-                return idxPontoAproximadoRua;
-            }
-        }
-
-        public double DistanciaAteProximoPonto
-        {
-            get
-            {
-                if (!TrajetoriaProjetada.Any() || (TrajetoriaProjetada[0].Count() - 1) <= IdxUltimoPontoTrajetoria)
-                {
-                    return 0;
-                }
-
-                GPSModel ponto = IdxUltimoPontoTrajetoria == 0 ? TrajetoriaProjetada[0][0] : TrajetoriaProjetada[0][IdxUltimoPontoTrajetoria + 1];
-
-                double distanciaProximoPonto = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, ponto);
-
-                return distanciaProximoPonto;
-            }
-        }
-        public double DistanciaAtePontoAnterior
-        {
-            get
-            {
-                if (!TrajetoriaProjetada.Any() || (TrajetoriaProjetada[0].Count() - 1) <= IdxUltimoPontoTrajetoria || IdxUltimoPontoTrajetoria == 0)
-                {
-                    return 0;
-                }
-
-                GPSModel ponto = IdxUltimoPontoTrajetoria == TrajetoriaProjetada[0].Count() - 1 ? TrajetoriaProjetada[0].Last() : TrajetoriaProjetada[0][IdxUltimoPontoTrajetoria - 1];
-
-                double distanciaPontoAnterior = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, ponto);
-
-                return distanciaPontoAnterior;
-            }
-        }
-
-        private double distanciaInicialInicioParaFim = -1;
-        private double distanciaInicialFimParaInicio = -1;
-        public double DistanciaExtraTrajetoria
-        {
-            get
-            {
-                if (Math.Min(distanciaInicialInicioParaFim, distanciaInicialFimParaInicio) < 0)
-                {
-                    return 0;
-                }
-                return Math.Min(distanciaInicialInicioParaFim, distanciaInicialFimParaInicio);
-            }
-        }
-        private bool GerandoTrajetoria = false;
-        private DateTime UltimaAtualizacaoTrajetoriaDinamica = DateTime.MinValue;
+        
         private AsyncTaskTimerModel tmrCarregamento;
 
 
@@ -540,8 +40,10 @@ namespace AgroBase.Models
                 picLoading.Name = "picLoading";
                 picLoading.SizeMode = PictureBoxSizeMode.Zoom;
                 picLoading.Visible = true;
-                pnlMapa.Controls.Add(picLoading);
-
+                if (pnlMapa != null)
+                {
+                    pnlMapa.Controls.Add(picLoading);
+                }
                 tmrCarregamento?.Dispose();
                 tmrCarregamento = new AsyncTaskTimerModel("tmrCarregamento", tmrCarregamento_Tick, 500, pnlMapa);
                 tmrCarregamento.Start();
@@ -678,1021 +180,27 @@ namespace AgroBase.Models
             chromiumWebBrowser.Dock = DockStyle.Fill;
         }
 
-        public void PararProcessamento()
+        public void AtualizarRuasSelecionadas()
         {
-            //APIService.Parar();
-            //GPSService.PararRecepcaoDados();
-        }
-
-
-        public double DistanciaEntreRuas(List> ruas)
-        {
-            double distanciaTotal = 0;
-
-            if (ruas.Count < 2)
+            List ids = new List();
+            bool idsMensagem = false;
+            var Topico = Variaveis.MqttService.Topicos.FirstOrDefault(x => x.Topico == MapasVariaveisModel.TopicoSelecaoRuasMapa);
+            var Mensagem = Topico.Mensagens.LastOrDefault();
+            if (Mensagem != null && !Mensagem.Mensagem.Contains("[]"))
             {
-                // Se houver menos de duas ruas, não há distância a calcular
-                return distanciaTotal;
-            }
-
-            double menorDistancia = double.MaxValue;
-
-            for (int i = 0; i < ruas.Count - 1; i++)
-            {
-                List ruaAtual = ruas[i];
-                List proximaRua = ruas[i + 1];
-
-                // Calcule a distância entre as duas ruas (rua atual e próxima rua)
-                // Aqui você pode usar o método GPSService.CalcularDistanciaPontos
-                // ou uma função personalizada para calcular a distância entre as ruas
-                
-
-                foreach (GPSModel pontoAtual in ruaAtual)
+                Mensagem.Mensagem = Mensagem.Mensagem.Replace("\n", "");
+                Mensagem.Mensagem = Mensagem.Mensagem.Replace("\"", "");
+                if (!string.IsNullOrEmpty(Mensagem.Mensagem))
                 {
-                    foreach (GPSModel pontoProxima in proximaRua)
-                    {
-                        // Calcular a distância entre pontoAtual e pontoProxima
-                        double distancia = GPSService.DistanciaEntrePontos(pontoAtual, pontoProxima);
-
-                        // Verifique se esta é a menor distância
-                        if (distancia < menorDistancia)
-                        {
-                            menorDistancia = distancia;
-                        }
-                    }
-                }
-
-                // Adiciona a menor distância encontrada à distância total
-                distanciaTotal += menorDistancia;
-            }
-
-            double distanciaMedia = distanciaTotal / ruas.Count();
-
-            return menorDistancia;
-        }
-
-        public double DistanciaAteRua(List Rua, double larguraRobo)
-        {
-            GPSModel pontoAtual = GPSService.UltimaLeitura;
-
-            (GPSModel P0, bool aproximando) = GPSService.PontoMaisProximoRuaProjetada(Rua, TrajetoriaTipo.Geral);
-            int idxP0 = Rua.IndexOf(P0);
-            bool PontoProximo = idxP0 < Rua.Count() - 1;
-            bool PontoAnterior = idxP0 > 0;
-            GPSModel P1 = PontoProximo ? Rua[idxP0 + 1] : PontoAnterior ? Rua[idxP0 - 1] : pontoAtual;
-            
-            double a = GPSService.DistanciaEntrePontos(pontoAtual, P0);
-            double b = GPSService.DistanciaEntrePontos(pontoAtual, P1);
-            double c = GPSService.DistanciaEntrePontos(P0, P1);
-
-            double distancia = FuncoesMatematicas.CalcularAlturaTriangulo(a, b, c);
-
-            distancia -= (larguraRobo / 100.0);
-
-            return distancia;
-        }
-
-
-        public void ReiniciarTrajetoriaDinamica()
-        {
-            distanciaInicialFimParaInicio = -1;
-            distanciaInicialInicioParaFim = -1;
-        }
-        
-        public void GerarTrajetoriaDinamica()
-        {
-            if (GerandoTrajetoria)
-            {
-                return;
-            }
-
-            GerandoTrajetoria = true;
-
-            double distanciaEntreRuas = 1.5;
-            try
-            {
-                distanciaEntreRuas = DistanciaEntreRuas(TrajetoriaMapa) / 2.0;
-            }
-            catch (Exception e)
-            {
-
-            }
-
-            List Caminho = new List();
-            List> _TrajetoriaProjetada = new List>();
-            int _extremoMaisProximoMapa = ExtremoMaisProximoMapa;
-
-            StatusCarroMapa statusCarro = StatusCarroMapa.Parado;
-            try
-            {
-                statusCarro = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.StatusAtual;
-            }
-            catch (Exception ex)
-            {
-
-            }
-
-            StatusCarroMapa statusCarroAnterior = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS._EtapaAnterior;
-            DirecaoCarroRua direcaoRua = DirecaoCarroRua.Parado;
-            lock (TrajetoriaDinamica_Lock)
-            {
-                direcaoRua = TrajetoriaDinamica.Any() && TrajetoriaDinamica[0].DirecaoTrecho != DirecaoCarroRua.Parado ? TrajetoriaDinamica[0].DirecaoTrecho : _extremoMaisProximoMapa == 0 ? DirecaoCarroRua.Ida : DirecaoCarroRua.Volta;
-            }
-
-            for (int i = IdxRuaAtual; i < TrajetoriaMapa.Count(); i++)
-            {
-                List RuaAtual = TrajetoriaMapa.Skip(i).First();
-
-                double anguloProjetar = GPSService.CalcularOrientacao(RuaAtual.First(), RuaAtual.Skip(1).First()) + 90;
-
-                List RuaProjetada = ProjetarRua(RuaAtual, distanciaEntreRuas, anguloProjetar);
-                _TrajetoriaProjetada.Add(RuaProjetada);
-
-                if (Caminho.Any())
-                {
-                    double dist0 = GPSService.DistanciaEntrePontos(Caminho[Caminho.Count() - 1], RuaProjetada[0]);
-                    double dist1 = GPSService.DistanciaEntrePontos(Caminho[Caminho.Count() - 1], RuaProjetada[RuaProjetada.Count() - 1]);
-                    direcaoRua = dist0 < dist1 ? DirecaoCarroRua.Ida : DirecaoCarroRua.Volta;
-                }
-
-                RuaProjetada.ForEach(x =>
-                {
-                    x.idxRua = i;
-                    x.DirecaoTrecho = direcaoRua;
-                });
-                if (direcaoRua == DirecaoCarroRua.Volta)
-                {
-                    RuaProjetada.Reverse();
-                }
-
-                double anguloProjetar1 = GPSService.CalcularOrientacao(RuaProjetada.Skip(1).First(), RuaProjetada.First());
-                GPSModel PrimeiroPonto = GPSService.ProjetarPontoDeslocado(RuaProjetada.First(), DistanciaProjecaoRua, anguloProjetar1);
-                double anguloProjetar2 = GPSService.CalcularOrientacao(RuaProjetada.Skip(RuaProjetada.Count() - 2).First(), RuaProjetada.Last());
-                GPSModel UltimoPonto = GPSService.ProjetarPontoDeslocado(RuaProjetada.Last(), DistanciaProjecaoRua, anguloProjetar2);
-
-                if (!Caminho.Any())
-                {
-                    bool dentroRua = DentroDaRua;
-
-                    GPSModel inicio = GPSService.UltimaLeitura;
-
-                    List _caminho = new List();
-
-                    GPSModel PontoComparar = new GPSModel();
-                    int idxPontoMaisProximo = 0;
-                    bool DefinirRotaInicial = false;
-
-                    // O carro esta se direcionando para iniciar a operacao na primeira rua, entao escolhe o caminho mais proximo
-                    if (DistanciaExtraTrajetoria == 0)
-                    {
-                        List _caminhoDoInicioParaFim = GerarTrajetoLigacaoCarroPontoInicial(inicio, RuaAtual, RuaProjetada, RuaAtual[0], 0, DirecaoCarroRua.Ida, statusCarro);
-                        distanciaInicialInicioParaFim = GPSService.DistanciaDoTrecho(_caminhoDoInicioParaFim);
-
-                        List _caminhoDoFimParaInicio = GerarTrajetoLigacaoCarroPontoInicial(inicio, RuaAtual, RuaProjetada, RuaAtual[RuaAtual.Count() - 1], RuaAtual.Count() - 1, DirecaoCarroRua.Volta, statusCarro);
-                        distanciaInicialFimParaInicio = GPSService.DistanciaDoTrecho(_caminhoDoFimParaInicio);
-
-                        DefinirRotaInicial = true;
-                    }
-
-                    bool IrPeloInicio = distanciaInicialInicioParaFim < distanciaInicialFimParaInicio;
-                    double dP0 = GPSService.DistanciaEntrePontos(inicio, RuaAtual[0]);
-                    double dP1 = GPSService.DistanciaEntrePontos(inicio, RuaAtual[RuaAtual.Count() - 1]);
-
-                    // Define manualmente a direcao para onde o carro deve ir, se orientando pela decisao inicial da melhor trajetoria, impedindo que ocorram mudancas no trajeto
-                    if (DefinirRotaInicial || ( statusCarro == StatusCarroMapa.Direcionando && statusCarroAnterior == StatusCarroMapa.Parado && IdxRuaAtual == 0 && (IrPeloInicio ? dP0 > dP1 : dP1 > dP0)))
-                    {
-                        idxPontoMaisProximo = IrPeloInicio ? 0 : RuaAtual.Count() - 1;
-                        _extremoMaisProximoMapa = IrPeloInicio ? 0 : 1;
-                        direcaoRua = IrPeloInicio ? DirecaoCarroRua.Ida : DirecaoCarroRua.Volta;
-                        PontoComparar = RuaAtual[idxPontoMaisProximo];
-                    }
-                    else
-                    {
-                        (GPSModel PontoMaisProximo, bool aproximando) = GPSService.PontoMaisProximoRuaProjetada(RuaProjetada, TrajetoriaTipo.Rua);
-                        idxPontoMaisProximo = RuaProjetada.IndexOf(PontoMaisProximo);
-
-                        // Se o robo estiver se aproximando do ponto mais proximo, e nao estiver vindo de fora da rua
-                        if (aproximando && statusCarro != StatusCarroMapa.Direcionando)
-                        {
-                            PontoComparar = PontoMaisProximo;
-                        }
-                        // Se o robo estiver se aproximando do ponto mais proximo, e estiver vindo de fora da rua
-                        else if (aproximando && statusCarro == StatusCarroMapa.Direcionando)
-                        {
-                            var _a = GPSService.DistanciaEntrePontos(inicio, PrimeiroPonto);
-                            var _b = GPSService.DistanciaEntrePontos(inicio, PontoMaisProximo);
-                            bool _c = GPSService.EstaEntrePontos(inicio, PontoMaisProximo, PrimeiroPonto);
-                            // Verifica se o robo esta na margem da rua projetada e se a distancia do robo ate o ponto mais proximo da rua (0) e menor que a distancia ate o primeiro ponto projetado, ou entao se o robo esta entre ambos
-                            if ((_b < DistanciaProjecaoRua && _b < _a) || _c)
-                            {
-                                PontoComparar = PontoMaisProximo;
-                            }
-                            else
-                            {
-                                PontoComparar = PrimeiroPonto;
-                            }
-
-                            GPSModel Ponto2Rua = RuaProjetada[1];
-
-                            double anguloPontoComparar = GPSService.CalcularOrientacao(inicio, PontoComparar);
-                            double anguloPonto2 = GPSService.CalcularOrientacao(inicio, Ponto2Rua);
-                            double difAnguloPontoComparar = anguloProjetar - anguloPontoComparar;
-                            double difAnguloPonto2 = anguloProjetar - anguloPonto2;
-                            if (difAnguloPonto2 < difAnguloPontoComparar)
-                            {
-                                PontoComparar = Ponto2Rua;
-                                RuaProjetada.RemoveAt(0);
-                            }
-                        }
-                        // Se o robo estiver se afastando do ponto mais proximo, e estiver dentro da rua, e houver mais pontos na trajetoria
-                        else if (!aproximando && dentroRua && RuaProjetada.Count() > (idxPontoMaisProximo + 1))
-                        {
-                            // Interpolar a posicao atual ate o proximo ponto, pois ja passou pelo ponto mais proximo
-                            idxPontoMaisProximo++;
-                            PontoComparar = RuaProjetada[idxPontoMaisProximo];
-                        }
-                        else if (!aproximando && !dentroRua && RuaProjetada.Count() == (idxPontoMaisProximo + 1))
-                        {
-                            PontoComparar = UltimoPonto;
-                        }
-                        else
-                        {
-                            PontoComparar = PontoMaisProximo;
-                        }
-                    }
-
-                    
-
-
-                    
-
-
-
-
-                    List _caminhoInterpolado = GerarTrajetoLigacaoCarroPontoInicial(inicio, RuaAtual, RuaProjetada, PontoComparar, _extremoMaisProximoMapa, direcaoRua, statusCarro);
-                    _caminho.AddRange(_caminhoInterpolado);
-
-
-
-
-                    // se a distancia entre a posicao do robo e proximo ponto for menor que 1 metro, significa que o ponto interpolado esta mais adiante que o proximo ponto, entao tambem ignoramos ele
-                    var a = GPSService.DistanciaEntrePontos(inicio, _caminho.Last());
-                    var b = GPSService.DistanciaEntrePontos(inicio, PontoComparar);
-
-                    bool Acrescenta = false;
-                    bool AddUltimoPonto = true;
-                    if (a == 0 || a > b)
-                    {
-                        idxPontoMaisProximo++;
-                        Acrescenta = true;
-                    }
-                    else
-                    {
-                        // Verifica se esta se afastando do ultimo ponto gerado
-                        var a1 = GPSService.DistanciaEntrePontos(GPSService.PenultimaLeitura, _caminho.Last());
-                        if (a1 < a)
-                        {
-                            Acrescenta = true;
-                        }
-                    }
-
-                    if (!Acrescenta || (Acrescenta && RuaProjetada.Count() > (idxPontoMaisProximo + 1)))
-                    {
-                        _caminho.AddRange(RuaProjetada.Skip(idxPontoMaisProximo));
-                    }
-                    else
-                    {
-                        AddUltimoPonto = GPSService.EstaEntrePontos(inicio, GPSService.PenultimaLeitura, UltimoPonto);
-                    }
-
-                    // Se não for adicionar o ultimo ponto, significa que o robô já passou por ele
-                    if (!AddUltimoPonto)
-                    {
-                        Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.VerificaFimRuaAtual();
-                        /*if (!Variaveis.OperacaoEmAndamento.OpMapaGPS.Concluido)
-                        {
-                            GerandoTrajetoria = false;
-                            GerarTrajetoriaDinamica();
-                        }
-                        return;*/
-                        if (Variaveis.OperacaoEmAndamento.OpMapaGPS.Concluido)
-                        {
-                            break;
-                        }
-                        else
-                        {
-                            direcaoRua = direcaoRua == DirecaoCarroRua.Ida ? DirecaoCarroRua.Volta : DirecaoCarroRua.Ida;
-                        }
-                    }
-                    else
-                    {
-                        _caminho.Add(UltimoPonto);
-                    }
-
-                    _caminho.ForEach(x => x.DirecaoTrecho = direcaoRua);
-                    Caminho.AddRange(_caminho);
-                }
-                else
-                {
-                    List _caminho = new List();
-                    // Verifica se a distância entre o ultimo ponto da rua anterior e o primeiro ponto da nova rua é curto o bastante para gerar a curva de manobra
-                    double distancia = GPSService.DistanciaEntrePontos(Caminho[Caminho.Count() - 1], PrimeiroPonto);
-                    bool distanciaMinima = distancia < MargemLimiteEntradaRua * 3.0;
-                    
-                    // Verifica se o angulo formado entre a rua anterior e a rua atual é grande o bastante para gerar a curva de manobra
-                    double anguloEntreRuas = GPSService.CalcularOrientacao(Caminho.Last(), PrimeiroPonto);
-                    double anguloFinalRuaAnterior = GPSService.CalcularOrientacao(Caminho.Count() > 1 ? Caminho[Caminho.Count() - 2] : Caminho.First(), Caminho.Last());
-                    double difAngulo = anguloFinalRuaAnterior - anguloEntreRuas;
-                    bool anguloMinimo = difAngulo >= -45.0 && difAngulo <= 45.0;
-
-                    /*if (distanciaMinima && !anguloMinimo)
-                    {
-                        bool CurvaParaEsquerda = ExtremoMaisProximoMapa == 0;
-                        GPSModel P0 = CalcularPontoControle(Caminho.Last(), PrimeiroPonto, distanciaEntreRuas * 2, CurvaParaEsquerda);
-                        List CurvaConexao = GerarCurvaConexao(Caminho.Last(), PrimeiroPonto, P0, 6);
-
-                        _caminho.AddRange(CurvaConexao);
-                        _caminho.ForEach(x => x.DirecaoTrecho = DirecaoCarroRua.Manobra);
-                    }
-                    else
-                    {
-                        _caminho.Add(PrimeiroPonto);
-                    }*/
-                    _caminho.Add(PrimeiroPonto);
-
-                    //_caminho.AddRange(GPSService.InterpolarPontos(inicio, PrimeiroPonto, 1.0));
-                    _caminho.AddRange(RuaProjetada);
-                    _caminho.Add(UltimoPonto);
-                    _caminho.ForEach(x => x.DirecaoTrecho = x.DirecaoTrecho != DirecaoCarroRua.Manobra ? direcaoRua : x.DirecaoTrecho);
-                    Caminho.AddRange(_caminho);
-
-                    //direcaoRua = direcaoRua == DirecaoCarroRua.Ida ? DirecaoCarroRua.Volta : DirecaoCarroRua.Ida;
+                    ids = JsonConvert.DeserializeObject(Mensagem.Mensagem).Select(x => x.ToString()).ToList();
+                    idsMensagem = true;
                 }
             }
-
-
-            // Limpa a trajetória dinâmica existente e adiciona os novos pontos
-            lock (TrajetoriaDinamica_Lock)
+            if (idsMensagem && ids.Count != RuasPercorrer.Count)
             {
-                TrajetoriaProjetada = new List>(_TrajetoriaProjetada);
-                TrajetoriaDinamica.Clear();
-                Caminho.ForEach(x =>
-                {
-                    // Impede inclusão de pontos duplicados
-                    if (!TrajetoriaDinamica.Contains(x))
-                    {
-                        TrajetoriaDinamica.Add(x);
-                    }
-                });
-                Variaveis.OperacaoEmAndamento.Mapa.IdxUltimoPontoTrajetoriaDinamica = 0;
-
-                var sonar = Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_Kinect;
-                if (Variaveis.OperacaoEmAndamento.Controle.SonarAtivado && (sonar?.Iniciado ?? false) && (sonar?.DesvioNecessario ?? false))
-                {
-                    if (sonar.DirecaoDesvio == Direcao.Parado || Variaveis.OperacaoEmAndamento.OpMapaGPS.StatusDentroRua.Contains(statusCarro))
-                    {
-                        //TrajetoriaDinamica.Clear();
-                    }
-                    else
-                    {
-                        AjustarTrajetoriaParaDesvio(sonar.ObstaculoCritico);
-                    }
-                }
+                RuasPercorrer = ids;
+                PopularTrajetoriaMapa();
             }
-
-            GPSService.AtualizarTrajetoriaDinamica();
-
-            GerandoTrajetoria = false;
-        }
-
-        public List ProjetarRua(List ruaOriginal, double offset, double anguloOffset)
-        {
-            // Certifique-se de que a lista da rua original não está vazia
-            if (ruaOriginal == null || ruaOriginal.Count == 0)
-            {
-                return new List();
-            }
-
-            List RuaProjetada = new List();
-
-            foreach (var Ponto in  ruaOriginal)
-            {
-                int idx = ruaOriginal.IndexOf(Ponto);
-                GPSModel Ponto2 = idx + 1 < ruaOriginal.Count() ? ruaOriginal[idx + 1] : ruaOriginal[idx - 1];
-                double angulo = 0;
-                if (idx + 1 < ruaOriginal.Count())
-                {
-                    angulo = GPSService.CalcularOrientacao(Ponto, Ponto2);
-                }
-                else
-                {
-                    angulo = GPSService.CalcularOrientacao(Ponto2, Ponto);
-                }
-                RuaProjetada.Add(GPSService.ProjetarPontoDeslocado(Ponto, offset, angulo + 90));
-            }
-
-            return RuaProjetada;
-        }
-
-
-        public static GPSModel CalcularBezierQuadratica(GPSModel p0, GPSModel p1, GPSModel p2, double t)
-        {
-            double x = Math.Pow(1 - t, 2) * p0.Latitude + 2 * (1 - t) * t * p1.Latitude + Math.Pow(t, 2) * p2.Latitude;
-            double y = Math.Pow(1 - t, 2) * p0.Longitude + 2 * (1 - t) * t * p1.Longitude + Math.Pow(t, 2) * p2.Longitude;
-            return new GPSModel { Latitude = x, Longitude = y };
-        }
-
-        public static GPSModel CalcularPontoControle(GPSModel ultimoPontoRuaAtual, GPSModel primeiroPontoProximaRua, double distancia, bool ParaDentro)
-        {
-            double angulo = GPSService.CalcularOrientacao(ultimoPontoRuaAtual, primeiroPontoProximaRua);
-            double lat = (ultimoPontoRuaAtual.Latitude + primeiroPontoProximaRua.Latitude) / 2;
-            double lon = (ultimoPontoRuaAtual.Longitude + primeiroPontoProximaRua.Longitude) / 2;
-            GPSModel pontoMedio = new GPSModel()
-            {
-                Latitude = lat,
-                Longitude = lon,
-            };
-
-            // Ajuste o ângulo com base na direção da curva
-            double ajusteAngulo = (ParaDentro ? 270 : 90);
-
-            // Projetar um ponto a uma certa distância na direção ajustada
-            return GPSService.ProjetarPontoDeslocado(pontoMedio, distancia, angulo + ajusteAngulo);
-        }
-
-        public static List GerarCurvaConexao(GPSModel ultimoPontoRuaAtual, GPSModel primeiroPontoProximaRua, GPSModel pontoControle, int numeroPontos)
-        {
-            List pontosCurva = new List();
-            for (int i = 0; i <= numeroPontos; i++)
-            {
-                double t = i / (double)numeroPontos;
-                pontosCurva.Add(CalcularBezierQuadratica(ultimoPontoRuaAtual, pontoControle, primeiroPontoProximaRua, t));
-            }
-            return pontosCurva;
-        }
-
-        private  List GerarTrajetoLigacaoCarroPontoInicial(GPSModel inicio, List RuaAtual, List RuaProjetada, GPSModel PontoComparar, int _extremoMaisProximoMapa, DirecaoCarroRua direcaoRua, StatusCarroMapa statusCarro)
-        {
-            List _caminho = new List();
-
-            bool CopiarRuasLaterais = true;
-            if (CopiarRuasLaterais && new List() { StatusCarroMapa.Parado, StatusCarroMapa.Direcionando }.Contains(statusCarro) && IdxRuaAtual == 0 && ((_extremoMaisProximoMapa == 0 && direcaoRua == DirecaoCarroRua.Ida) || (_extremoMaisProximoMapa > 0 && direcaoRua == DirecaoCarroRua.Volta)))
-            {
-                int idx = 0;
-                double distMin = double.MaxValue;
-                var DadosMapa = Variaveis.OperacaoEmAndamento.Mapa.mapaService.DadosMapa;
-                double anguloCaminho = GPSService.CalcularOrientacao(inicio, PontoComparar);
-
-                double tolerancia = 90; // Tolerância de 90 graus
-                GPSModel pontoAnterior = inicio; // Inicializamos com a posição inicial do robô
-
-                var PontosOrdenados = DadosMapa.features
-                    .Select(x => new
-                    {
-                        x.geometry.id,
-                        dist = GPSService.DistanciaEntrePontos(pontoAnterior, new GPSModel()
-                        {
-                            Longitude = x.geometry.coordinates[GetIndexInicial(x.geometry.coordinates, _extremoMaisProximoMapa)][0],
-                            Latitude = x.geometry.coordinates[GetIndexInicial(x.geometry.coordinates, _extremoMaisProximoMapa)][1]
-                        }),
-                        orientacao = GPSService.CalcularOrientacao(pontoAnterior, new GPSModel()
-                        {
-                            Longitude = x.geometry.coordinates[GetIndexInicial(x.geometry.coordinates, _extremoMaisProximoMapa)][0],
-                            Latitude = x.geometry.coordinates[GetIndexInicial(x.geometry.coordinates, _extremoMaisProximoMapa)][1]
-                        }),
-                        coordenadas = new GPSModel()
-                        {
-                            Longitude = x.geometry.coordinates[GetIndexInicial(x.geometry.coordinates, _extremoMaisProximoMapa)][0],
-                            Latitude = x.geometry.coordinates[GetIndexInicial(x.geometry.coordinates, _extremoMaisProximoMapa)][1],
-                        },
-                        distParaPontoFinal = GPSService.DistanciaEntrePontos(new GPSModel()
-                        {
-                            Longitude = x.geometry.coordinates[GetIndexInicial(x.geometry.coordinates, _extremoMaisProximoMapa)][0],
-                            Latitude = x.geometry.coordinates[GetIndexInicial(x.geometry.coordinates, _extremoMaisProximoMapa)][1]
-                        }, PontoComparar),
-                        orientacaoParaPontoFinal = GPSService.CalcularOrientacao(new GPSModel()
-                        {
-                            Longitude = x.geometry.coordinates[GetIndexInicial(x.geometry.coordinates, _extremoMaisProximoMapa)][0],
-                            Latitude = x.geometry.coordinates[GetIndexInicial(x.geometry.coordinates, _extremoMaisProximoMapa)][1]
-                        }, PontoComparar)
-                    })
-                    .OrderBy(x => x.dist) // Ordena os pontos pela distância
-                    .Select((x, i) => new
-                    {
-                        x.id,
-                        idx = i,
-                        x.dist,
-                        x.orientacao,
-                        x.coordenadas,
-                        x.distParaPontoFinal,
-                        x.orientacaoParaPontoFinal
-                    })
-                    .Where(x =>
-                    {
-                        // Verificar se o ponto está se aproximando do ponto final
-                        if (x.distParaPontoFinal > GPSService.DistanciaEntrePontos(pontoAnterior, PontoComparar))
-                        {
-                            return false; // Se o ponto atual está se afastando, desconsiderar
-                        }
-
-                        // Calcular a orientação entre o ponto atual e o ponto final
-                        double orientacaoAtualParaPontoFinalNormalizada = (x.orientacaoParaPontoFinal + 360) % 360;
-                        double orientacaoAnteriorParaPontoFinalNormalizada = GPSService.CalcularOrientacao(pontoAnterior, PontoComparar);
-                        orientacaoAnteriorParaPontoFinalNormalizada = (orientacaoAnteriorParaPontoFinalNormalizada + 360) % 360;
-
-                        // Verificar se a orientação leva o robô para o ponto final, ou se está se desviando
-                        double diferencaAnguloFinal = Math.Abs(orientacaoAtualParaPontoFinalNormalizada - orientacaoAnteriorParaPontoFinalNormalizada);
-                        diferencaAnguloFinal = diferencaAnguloFinal > 180 ? 360 - diferencaAnguloFinal : diferencaAnguloFinal;
-
-                        // Se a diferença de ângulo for maior que a tolerância, desconsiderar o ponto
-                        if (diferencaAnguloFinal > tolerancia)
-                        {
-                            return false;
-                        }
-
-                        // Atualizar o ponto anterior para o próximo ponto
-                        pontoAnterior = new GPSModel() { Longitude = x.coordenadas.Longitude, Latitude = x.coordenadas.Latitude };
-
-                        return true;
-                    })
-                    .ToList();
-
-                foreach (var rua in PontosOrdenados)
-                {
-                    double dist = GPSService.DistanciaEntrePontos(PontoComparar, rua.coordenadas);
-                    if (dist < distMin)
-                    {
-                        distMin = dist;
-                        idx = PontosOrdenados.IndexOf(rua);
-                    }
-                };
-
-                double anguloDeslocar = CalcularDeslocamentoDinamico(_extremoMaisProximoMapa == 0 ? 0 : RuaProjetada.Count() - 1, RuaProjetada);
-
-                _caminho.Add(inicio);
-
-                double velocidade = FuncoesMatematicas.CalculaVelocidadeRPM(Variaveis.OperacaoEmAndamento.Controle.RPM_SP);
-                double velocidadeMs = FuncoesMatematicas.ConverteKmhParaMs(velocidade);
-                // Calcula o tempo que passou desde a última atualização
-                TimeSpan tempoPassado = UltimaAtualizacaoTrajetoriaDinamica == DateTime.MinValue ? new TimeSpan(10000000) : DateTime.Now - UltimaAtualizacaoTrajetoriaDinamica;
-                // Calcula a distância com base no tempo passado (em segundos)
-                double distancia = velocidadeMs * tempoPassado.TotalSeconds;
-                int pontosPular = 0;
-                PontosOrdenados.ForEach(p =>
-                {
-                    if (p.dist <= (distancia + MargemLimiteEntradaRua))
-                    {
-                        pontosPular++;
-                    }
-                });
-                UltimaAtualizacaoTrajetoriaDinamica = DateTime.Now;
-
-                for (int iidx = pontosPular; iidx < idx; iidx++)
-                {
-                    GPSModel p0 = GPSService.ProjetarPontoDeslocado(PontosOrdenados[iidx > 0 ? iidx - 1 : iidx].coordenadas, 3.0, anguloDeslocar);
-                    GPSModel p = GPSService.ProjetarPontoDeslocado(PontosOrdenados[iidx > 0 ? iidx : iidx + 1].coordenadas, 3.0, anguloDeslocar);
-                    double orientacao = PontosOrdenados[iidx].orientacao;
-                    double orientacaoA = PontosOrdenados[iidx > 0 ? iidx - 1 : iidx].orientacao;
-
-                    double distP1 = GPSService.DistanciaEntrePontos(inicio, PontoComparar);
-                    double anguloP1 = GPSService.CalcularOrientacao(inicio, PontoComparar);
-                    double distP = GPSService.DistanciaEntrePontos(inicio, p);
-                    double anguloP = GPSService.CalcularOrientacao(inicio, p);
-
-                    //if ((orientacao <= (orientacaoA + 90) && orientacao >= (orientacaoA - 90)))
-                    if (FuncoesMatematicas.ValorEstaEntre(orientacao, orientacaoA, 90) && distP1 > distP) // && FuncoesMatematicas.ValorEstaEntre(anguloP, anguloP1, 45)
-                    {
-                        _caminho.Add(p);
-                    }
-                }
-
-                if (idx == 1)
-                {
-                    double distPi = GPSService.DistanciaEntrePontos(inicio, RuaProjetada[0]);
-
-                    GPSModel PrimeiroPonto = RuaProjetada[0];
-                    GPSModel UltimoPonto = RuaProjetada[RuaProjetada.Count() - 1];
-
-                    (GPSModel PontoMaisProximo, bool aproximando) = GPSService.PontoMaisProximoRuaProjetada(RuaProjetada, TrajetoriaTipo.Rua);
-                    int idxPontoMaisProximo = RuaProjetada.IndexOf(PontoMaisProximo);
-
-                    // Se o robo estiver se aproximando do ponto mais proximo, e estiver vindo de fora da rua
-                    if (aproximando && statusCarro == StatusCarroMapa.Direcionando)
-                    {
-                        var _a = GPSService.DistanciaEntrePontos(inicio, PrimeiroPonto);
-                        var _b = GPSService.DistanciaEntrePontos(inicio, PontoMaisProximo);
-                        bool _c = GPSService.EstaEntrePontos(inicio, PontoMaisProximo, PrimeiroPonto);
-                        // Verifica se o robo esta na margem da rua projetada e se a distancia do robo ate o ponto mais proximo da rua (0) e menor que a distancia ate o primeiro ponto projetado, ou entao se o robo esta entre ambos
-                        if ((_b < DistanciaProjecaoRua && _b < _a) || _c)
-                        {
-                            PontoComparar = PontoMaisProximo;
-                        }
-                        else
-                        {
-                            PontoComparar = PrimeiroPonto;
-                        }
-                    }
-                    else if (!aproximando && RuaProjetada.Count() == (idxPontoMaisProximo + 1))
-                    {
-                        PontoComparar = UltimoPonto;
-                    }
-                    else
-                    {
-                        PontoComparar = PontoMaisProximo;
-                    }
-
-                    _caminho.Add(PontoComparar);
-                }
-                else
-                {
-                    _caminho.Add(PontoComparar);
-                }
-            }
-            else
-            {
-                _caminho.AddRange(GPSService.InterpolarPontos(inicio, PontoComparar, 1.0));
-            }
-
-            return _caminho;
-        }
-
-        public static double CalcularDeslocamentoDinamico(int idxPontoExtremo, List ruaAtual)
-        {
-            // Inicializar variáveis de deslocamento
-            double anguloDeslocamento = 0;
-            double anguloRua = 0;
-            bool naHorizontal = false;
-
-            // Calcular a orientação da rua com base no ponto extremo mais próximo
-            if (idxPontoExtremo == 0)
-            {
-                anguloRua = GPSService.CalcularOrientacao(ruaAtual[0], ruaAtual[1]);
-            }
-            else
-            {
-                anguloRua = GPSService.CalcularOrientacao(ruaAtual[idxPontoExtremo], ruaAtual[idxPontoExtremo - 1]);
-            }
-
-            // Normalizar o ângulo para o intervalo [0, 360)
-            anguloRua = (anguloRua + 360) % 360;
-
-            // Definir a tolerância para considerar uma rua como vertical ou horizontal
-            double tolerancia = 45.0;
-
-            // Verificar se a rua está na vertical (próxima de 0° ou 180°)
-            if ((anguloRua >= 0 && anguloRua <= tolerancia) || (anguloRua >= 180 - tolerancia && anguloRua <= 180 + tolerancia))
-            {
-                naHorizontal = false; // A rua está mais alinhada verticalmente
-            }
-            // Verificar se a rua está na horizontal (próxima de 90° ou 270°)
-            else if ((anguloRua >= 90 - tolerancia && anguloRua <= 90 + tolerancia) || (anguloRua >= 270 - tolerancia && anguloRua <= 270 + tolerancia))
-            {
-                naHorizontal = true; // A rua está mais alinhada horizontalmente
-            }
-
-            // Calcular o deslocamento com base na orientação da rua
-            if (naHorizontal)
-            {
-                if (idxPontoExtremo == 0)
-                {
-                    anguloDeslocamento = 270 - 45; // Deslocar para a esquerda e ligeiramente para baixo
-                }
-                else
-                {
-                    anguloDeslocamento = 90 + 45; // Deslocar para a direita e ligeiramente para baixo
-                }
-            }
-            else
-            {
-                if (idxPontoExtremo == 0)
-                {
-                    anguloDeslocamento = 0 - 45; // Deslocar para cima e ligeiramente para a esquerda
-                }
-                else
-                {
-                    anguloDeslocamento = 180 + 45; // Deslocar para baixo e ligeiramente para a esquerda
-                }
-            }
-
-            // Normalizar o ângulo de deslocamento para ficar entre 0 e 360 graus
-            anguloDeslocamento = (anguloDeslocamento + 360) % 360;
-
-            // Retornar o ângulo de deslocamento calculado
-            return anguloDeslocamento;
-        }
-
-        private static int GetIndexInicial(List> coordinates, int extremoProximo)
-        {
-            return extremoProximo == 0 ? 0 : coordinates.Count() - 1;
-        }
-
-
-
-        // Método para gerar o caminho entre dois pontos
-        public void GerarCaminhoEntreDoisPontos(GPSModel destino)
-        {
-            //PopularTrajetoriaComOffset(destino);
-            //return;
-            // Inicialização do caminho com o ponto de início
-            GPSModel inicio = GPSService.UltimaLeitura;
-
-            // Gera waypoints intermediários
-            var caminho = GPSService.InterpolarPontos(inicio, destino, 1.0); // 1 metro de distância entre os pontos
-
-            // Limpa a trajetória dinâmica existente e adiciona os novos pontos
-            TrajetoriaDinamica.Clear();
-            caminho.ForEach(x => TrajetoriaDinamica.Add(x));
-
-            if (KinectService.Leitura.DesvioNecessario)
-            {
-                AjustarTrajetoriaParaDesvio(KinectService.Leitura.ObstaculoCritico);
-            }
-
-            GPSService.AtualizarTrajetoriaDinamica();
-        }
-
-        public void AjustarTrajetoriaParaDesvio(Obstaculo obstaculo)
-        {
-            GPSModel posicaoAtual = GPSService.UltimaLeitura;
-
-            double distanciaObstaculo = ((double)obstaculo.DistanciaMedia_mm / 1000);
-            double larguraObstaculo = ((double)obstaculo.Largura_mm / 1000);
-            double anguloCaminho = Variaveis.OperacaoEmAndamento.Mapa.AnguloCaminho;
-            double anguloDesvioInicial = anguloCaminho + obstaculo.AnguloParaDesvio;
-            double anguloDesvioFinal = anguloCaminho - obstaculo.AnguloParaDesvio;
-
-            GPSModel ponto1 = GerarPontoDeslocado(posicaoAtual, anguloDesvioInicial, distanciaObstaculo);
-            GPSModel ponto2 = GerarPontoDeslocado(ponto1, anguloCaminho, larguraObstaculo);
-            GPSModel ponto3 = GerarPontoDeslocado(ponto2, anguloDesvioFinal, distanciaObstaculo);
-            List lista = new List()
-            {
-                ponto1, 
-                ponto2, 
-                ponto3
-            };
-
-            var idxRemover = EncontrarIndiceFinalDesvio(TrajetoriaDinamica, ponto3, distanciaObstaculo);
-            lock (TrajetoriaDinamica_Lock)
-            {
-                TrajetoriaDinamica.RemoveRange(1, idxRemover);
-                TrajetoriaDinamica.InsertRange(1, lista);
-            }
-        }
-
-        private int EncontrarIndiceFinalDesvio(List trajetoria, GPSModel ultimoWaypointDesvio, double distanciaSeguranca)
-        {
-            // Encontrar o índice do waypoint que está imediatamente após o retorno do desvio
-            // Este é um método simplificado. A lógica exata pode variar dependendo da precisão necessária.
-            double distanciaAnterior = 0;
-            for (int i = 0; i < trajetoria.Count; i++)
-            {
-                double distancia = GPSService.DistanciaEntrePontos(trajetoria[i], ultimoWaypointDesvio);
-                bool aumentando = distancia > distanciaAnterior;
-                distanciaAnterior = distancia;
-                if (distancia < distanciaSeguranca)
-                {
-                    if (aumentando)
-                    {
-                        return i;
-                    }
-                }
-            }
-            return 0; // Se não encontrar, assuma o último waypoint
-        }
-
-        private int EncontrarIndiceInicioDesvio(List trajetoria, GPSModel posicaoAtual, double distanciaObstaculo)
-        {
-
-            foreach (var wp in trajetoria)
-            {
-                double distancia = GPSService.DistanciaEntrePontos(wp, posicaoAtual);
-                if (distancia < distanciaObstaculo)
-                {
-                    return trajetoria.IndexOf(wp);
-                }
-            }
-
-            // Este é um método simplificado. Você precisará implementar a lógica para encontrar o waypoint mais adequado.
-            return trajetoria.FindIndex(wp => GPSService.DistanciaEntrePontos(wp, posicaoAtual) < distanciaObstaculo);
-        }
-
-        private List CalcularWaypointsDesvio(GPSModel posicaoAtual, Obstaculo obstaculo, int indiceInicioDesvio)
-        {
-            List waypointsDesvio = new List();
-
-            double anguloCaminho = Variaveis.OperacaoEmAndamento.Mapa.AnguloCaminho;
-
-            // Calcular o ângulo e distância para o desvio
-            double anguloDesvio = anguloCaminho + ((obstaculo.DirecaoDesvio == Direcao.Direita ? 90 : 270) + obstaculo.AnguloParaDesvio);
-            double deslocamento = (double)obstaculo.DistanciaMedia_mm / 1000; // Math.Sqrt(Math.Pow(((double)obstaculo.DeslocamentoNecessarioDesvio / 100), 2) + Math.Pow(((double)obstaculo.DistanciaMedia / 100), 2));
-
-            // Waypoint de início do desvio
-            GPSModel waypointInicioDesvio = CalcularNovoWaypoint(posicaoAtual, anguloDesvio, deslocamento);
-            waypointsDesvio.Add(waypointInicioDesvio);
-
-            // Waypoint de contorno do obstáculo
-            double anguloContorno = 270 - anguloCaminho; // Ajustar conforme a orientação do desvio
-            GPSModel waypointContornoObstaculo = CalcularNovoWaypoint(waypointInicioDesvio, anguloContorno, ((double)obstaculo.Largura_mm / 1000)); //((double)obstaculo.Largura / 100) 
-            waypointsDesvio.Add(waypointContornoObstaculo);
-
-            // Waypoint de retorno à trajetória
-            double anguloRetorno = anguloCaminho + ((obstaculo.DirecaoDesvio == Direcao.Direita ? 90 : 270) - obstaculo.AnguloParaDesvio); //anguloDesvio - obstaculo.AnguloParaDesvio - 180;// Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.AnguloCaminho + (obstaculo.AnguloParaDesvio); // Pode precisar ajustar baseado na orientação do desvio
-            GPSModel waypointRetorno = CalcularNovoWaypoint(waypointContornoObstaculo, anguloRetorno, deslocamento);
-            waypointsDesvio.Add(waypointRetorno);
-
-            return waypointsDesvio;
-        }
-
-        private GPSModel CalcularNovoWaypoint(GPSModel posicaoAtual, double angulo, double distancia)
-        {
-            double anguloRad = FuncoesMatematicas.ConvertDegreesToRadians(angulo);
-            double deltaLatitude = Math.Cos(anguloRad) * distancia / 111111; // Conversão para graus
-            double deltaLongitude = Math.Sin(anguloRad) * distancia / (111111 * Math.Cos(FuncoesMatematicas.ConvertDegreesToRadians(posicaoAtual.Latitude)));
-
-            return new GPSModel
-            {
-                Latitude = posicaoAtual.Latitude + deltaLatitude,
-                Longitude = posicaoAtual.Longitude + deltaLongitude
-            };
-        }
-
-
-
-        public void PopularTrajetoriaComOffset(GPSModel destino)
-        {
-            if (mapaService.DadosMapa != null)
-            {
-                GPSModel inicio = GPSService.UltimaLeitura;
-
-                // Coleta os primeiros pontos de cada rua com base na orientação e posição atual do robô
-                var pontosExtremosComOffset = new List();
-
-                foreach (var rua in mapaService.DadosMapa.features)
-                {
-                    var primeiroPonto = new GPSModel()
-                    {
-                        Latitude = rua.geometry.coordinates.First()[1], 
-                        Longitude = rua.geometry.coordinates.First()[0]
-                    };
-                    var ultimoPonto = new GPSModel()
-                    {
-                        Latitude = rua.geometry.coordinates.Last()[1], 
-                        Longitude = rua.geometry.coordinates.Last()[0]
-                    };
-                    GPSModel pontoInicial = new GPSModel();
-                    GPSModel pontoSecundario = new GPSModel();
-
-                    if (GPSService.DistanciaEntrePontos(inicio, primeiroPonto) < GPSService.DistanciaEntrePontos(inicio, ultimoPonto))
-                    {
-                        pontoInicial = primeiroPonto;
-                        pontoSecundario = new GPSModel()
-                        {
-                            Latitude = rua.geometry.coordinates.Skip(1).First()[1], 
-                            Longitude = rua.geometry.coordinates.Skip(1).First()[0]
-                        };
-                    }
-                    else
-                    {
-                        pontoInicial = ultimoPonto;
-                        pontoSecundario = new GPSModel()
-                        {
-                            Latitude = rua.geometry.coordinates.Skip(rua.geometry.coordinates.Count - 2).First()[1], 
-                            Longitude = rua.geometry.coordinates.Skip(rua.geometry.coordinates.Count - 2).First()[0]
-                        };
-                    }
-
-                    var orientacaoRua = GPSService.CalcularOrientacao(pontoInicial, pontoSecundario);
-
-                    // Calcula o ponto com offset baseado no ângulo oposto à orientação da rua
-                    var anguloOffset = (orientacaoRua + 180) % 360;
-                    var distanciaOffset = 10; // Defina o offset desejado aqui
-
-                    // Adiciona o ponto com offset à lista
-                    pontosExtremosComOffset.Add(new GPSModel
-                    {
-                        Latitude = pontoInicial.Latitude,// + (Math.Cos(anguloOffset * (Math.PI / 180)) * distanciaOffset),
-                        Longitude = pontoInicial.Longitude// + (Math.Sin(anguloOffset * (Math.PI / 180)) * distanciaOffset),
-                    });
-                }
-
-                var pontosRelevantes = FiltrarPontosRelevantes(inicio, destino, pontosExtremosComOffset);
-
-                // Ordena os pontos com offset pela proximidade com a posição atual
-                var pontosOrdenados = pontosRelevantes.OrderBy(p => GPSService.DistanciaEntrePontos(inicio, p)).ToList();
-
-                lock (TrajetoriaDinamica_Lock)
-                {
-                    // Agora, conecta os pontos ordenados para formar a trajetória
-                    TrajetoriaDinamica.Clear();
-                    GPSModel pontoAnterior = inicio;
-                    foreach (var ponto in pontosOrdenados)
-                    {
-                        //var caminho = GPSService.InterpolarPontos(pontoAnterior, ponto, 1.0);
-                        //caminho.ForEach(x => TrajetoriaDinamica.Add(x));
-                        //pontoAnterior = ponto;
-                        TrajetoriaDinamica.Add(ponto);
-                    }
-                }
-
-                // Atualiza a trajetória dinâmica
-                GPSService.AtualizarTrajetoriaDinamica();
-            }
-        }
-        private List FiltrarPontosRelevantes(GPSModel inicio, GPSModel destino, List todasRuas)
-        {
-            var ruasRelevantes = new List();
-
-            // Define os limites do quadrante
-            double minLatitude = Math.Min(inicio.Latitude, destino.Latitude);
-            double maxLatitude = Math.Max(inicio.Latitude, destino.Latitude);
-            double minLongitude = Math.Min(inicio.Longitude, destino.Longitude);
-            double maxLongitude = Math.Max(inicio.Longitude, destino.Longitude);
-
-            // Filtra previamente os pontos que estão dentro do quadrante definido
-            var pontosNoQuadrante = todasRuas.Where(ponto => ponto.Latitude >= minLatitude && ponto.Latitude <= maxLatitude
-                                                            && ponto.Longitude >= minLongitude && ponto.Longitude <= maxLongitude).ToList();
-
-            // Continua a filtragem dos pontos relevantes como antes, mas agora apenas com os pontos dentro do quadrante
-            GPSModel pontoMaisProximoInicio = IdentificarPontoMaisProximo(inicio, pontosNoQuadrante);
-            if (pontoMaisProximoInicio != null && !ruasRelevantes.Contains(pontoMaisProximoInicio))
-            {
-                ruasRelevantes.Add(pontoMaisProximoInicio);
-            }
-
-            GPSModel ultimoPontoRelevante = pontoMaisProximoInicio;
-
-            foreach (var ponto in pontosNoQuadrante)
-            {
-                if (ponto.Equals(inicio) || ponto.Equals(pontoMaisProximoInicio)) continue;
-
-                double margem = 20;
-                double distanciaPontoAnterior = GPSService.DistanciaEntrePontos(ultimoPontoRelevante, destino);
-                double distanciaPontoAtual = GPSService.DistanciaEntrePontos(ponto, destino);
-                double diferenca = (distanciaPontoAnterior - distanciaPontoAtual);
-                bool relevante = diferenca > 0 && diferenca < margem;
-
-                if (relevante || distanciaPontoAtual == 0 || true)
-                {
-                    ruasRelevantes.Add(ponto);
-                    ultimoPontoRelevante = ponto;
-                }
-
-                if (distanciaPontoAtual == 0)
-                {
-                    break;
-                }
-            }
-
-            return ruasRelevantes;
-        }
-
-        // Método auxiliar para identificar o ponto mais próximo a um dado ponto de referência
-        private GPSModel IdentificarPontoMaisProximo(GPSModel referencia, List pontos)
-        {
-            GPSModel pontoMaisProximo = null;
-            double distanciaMinima = double.MaxValue;
-
-            foreach (var ponto in pontos)
-            {
-                double distancia = GPSService.DistanciaEntrePontos(referencia, ponto);
-                if (distancia < distanciaMinima)
-                {
-                    distanciaMinima = distancia;
-                    pontoMaisProximo = ponto;
-                }
-            }
-
-            return pontoMaisProximo;
-        }
-
-
-
-        public GPSModel GerarPontoDeslocado(GPSModel pontoInicial, double angulo, double distancia)
-        {
-            double latitude = pontoInicial.Latitude;
-            double longitude = pontoInicial.Longitude;
-
-            // Conversão de ângulo de graus para radianos
-            double anguloRad = angulo * (Math.PI / 180);
-
-            // Raio da Terra em metros
-            double raioTerra = GPSService.RaioDaTerra;
-
-            // Calcular deslocamento de latitude em radianos
-            double deltaLat = distancia * Math.Cos(anguloRad) / raioTerra;
-            // Converter de radianos para graus
-            double latAtt = latitude + deltaLat * (180 / Math.PI);
-
-            // Calcular deslocamento de longitude em radianos
-            double deltaLong = distancia * Math.Sin(anguloRad) / (raioTerra * Math.Cos(latitude * (Math.PI / 180)));
-            // Converter de radianos para graus
-            double longAtt = longitude + deltaLong * (180 / Math.PI);
-
-            return new GPSModel()
-            {
-                Latitude = latAtt,
-                Longitude = longAtt,
-            };
         }
 
 
diff --git a/AgroBase/AgroBase/Models/Modules/AtuadorModel.cs b/AgroBase/AgroBase/Models/Modules/AtuadorModel.cs
index 50a15c178..9a3962b9a 100644
--- a/AgroBase/AgroBase/Models/Modules/AtuadorModel.cs
+++ b/AgroBase/AgroBase/Models/Modules/AtuadorModel.cs
@@ -16,7 +16,7 @@ namespace AgroBase.Models.Modules
         public string Modulo_ID { get; set; } = T_Code.Atu.ToString();
         public string IP { get; set; } = Variaveis.FaixaIPwifi + ".13";
         public bool RequisitarDados { get; set; } = false;
-        public static int _TaxaAmostragem { get; set; } = 1000;
+        public static int _TaxaAmostragem { get; set; } = 500;
         public bool Conectado { get; set; } = false;
         public static PinoutDataModel Pinout { get; set; }
         public static List Funcoes { get; set; } = new List() 
@@ -561,7 +561,7 @@ namespace AgroBase.Models.Modules
             
             tmrRegistrador.SetInterval(_TaxaAmostragem);
 
-            bool _conectado = DadosLeitura.Conectado && DadosLeitura.Momento.AddMilliseconds(10 * _TaxaAmostragem) >= DateTime.Now;
+            bool _conectado = DadosLeitura.Conectado && DadosLeitura.Momento.AddMilliseconds(SensoriamentoModel.TempoLimiteConexao * 2) >= DateTime.Now;
             DefineStatusConexao(Modulo_ID, _conectado);
 
 
@@ -1094,7 +1094,7 @@ namespace AgroBase.Models.Modules
         {
             get
             {
-                if (Variaveis.OperacaoEmAndamento.DispAtu.Dados.DadosLeitura.Momento.AddMilliseconds(5 * AtuadorModel._TaxaAmostragem) < DateTime.Now)
+                if (Variaveis.OperacaoEmAndamento.DispAtu.Dados.DadosLeitura.Momento.AddMilliseconds(SensoriamentoModel.TempoLimiteConexao) < DateTime.Now)
                 {
                     _iniciado = false;
                 }
diff --git a/AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs b/AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs
index a82fcf73c..e62202cff 100644
--- a/AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs
+++ b/AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs
@@ -280,7 +280,7 @@ namespace AgroBase.Models.Modules
                 return;
             }
 
-            var Controle = Variaveis.OperacaoEmAndamento.Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Mov);
+            var Controle = Variaveis.OperacaoEmAndamento.Controle.TiposControle?.FirstOrDefault(x => x.Tipo == T_Code.Mov);
 
             foreach (var Modulo in Modulos.Where(x => x.MovMotor.Inicializado).OrderBy(x => x.MovMotor.EnderecoByte))
             {
@@ -297,7 +297,10 @@ namespace AgroBase.Models.Modules
                     OIDService.AdicionarComandoNaFila(Comando);
                 }
 
-                Modulo.MovMotor.EnviarComandoControle(Controle.UltimaDirecao);
+                if (Controle != null)
+                {
+                    Modulo.MovMotor.EnviarComandoControle(Controle.UltimaDirecao);
+                }
 
                 Modulo.MovMotor.ConfigFreio.Leitura = Modulo.MovMotor.Leitura?.Freado ?? false;
 
@@ -322,7 +325,7 @@ namespace AgroBase.Models.Modules
                 return;
             }
 
-            var Controle = Variaveis.OperacaoEmAndamento.Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Dir);
+            var Controle = Variaveis.OperacaoEmAndamento.Controle.TiposControle?.FirstOrDefault(x => x.Tipo == T_Code.Dir);
             foreach (var Modulo in Modulos.Where(x => x.DirMotor.Inicializado))
             {
                 byte modAddr = Modulo.DirMotor.EnderecoByte;
@@ -336,7 +339,7 @@ namespace AgroBase.Models.Modules
                     }
 
                     // Verifica se o angulo de set point do motor em questao e diferente do angulo atual, e se for, reenvia o comando para garantir que o motor esteja coerente com o set point
-                    if (!MKS057DService.Referenciando && (Modulo.DirMotor.UltimoComandoEnviado.AddMilliseconds(2000) < DateTime.Now) && !Modulo.DirMotor.AtingiuAnguloSP)
+                    if (!MKS057DService.Referenciando && (Modulo.DirMotor.UltimoComandoEnviado.AddMilliseconds(2000) < DateTime.Now) && !Modulo.DirMotor.AtingiuAnguloSP && Controle != null)
                     {
                         Modulo.DirMotor.EnviarComandoControle(Controle.UltimaDirecao);
                     }
@@ -858,7 +861,7 @@ namespace AgroBase.Models.Modules
 
         public void EnviarComandoControle(Direcao DirecaoAtual)
         {
-            var simulando = Variaveis.OperacaoEmAndamento.Simulando;
+            var simulando = Variaveis.OperacaoEmAndamento.Simulando || Variaveis.OperacaoEmAndamento.Treinando;
 
             bool Freado = DirecaoAtual == Direcao.EmFreio;
             (bool AtuarServo, int AnguloFreio) = ConfigFreio.AtualizarDadosFreio(Freado, 0, -1, 5);
@@ -1240,7 +1243,10 @@ namespace AgroBase.Models.Modules
                     AnguloTipoMovimento != -1 ? AnguloTipoMovimento :
                     Variaveis.OperacaoEmAndamento.Controle.Angulo;
 
-                Variaveis.OperacaoEmAndamento.SimulacaoAnguloControle = Angulo_SP;
+                if (Comandar)
+                {
+                    Variaveis.OperacaoEmAndamento.SimulacaoAnguloControle = Angulo_SP;
+                }
 
                 int mx = Sentido_SP == Sentido.Antihorario ? -1 : 1;
 
diff --git a/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs b/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs
index 43355e5b4..514ab5155 100644
--- a/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs
+++ b/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs
@@ -25,6 +25,14 @@ namespace AgroBase.Models.Modules
         }
 
         public static int _TaxaAmostragem { get; set; } = 1000;
+        public static int PingsConsiderarConexao { get; set; } = 5;
+        public static int TempoLimiteConexao
+        {
+            get
+            {
+                return PingsConsiderarConexao * _TaxaAmostragem;
+            }
+        }
         public bool Conectado { get; set; } = false;
         public static int LogsManter { get; set; } = 60;
         public static PinoutDataModel Pinout { get; set; }
@@ -200,7 +208,7 @@ namespace AgroBase.Models.Modules
                         UnidadeMedida = "A",
                         Parametros = new List()
                         {
-                            new string[] { "Endereço I2C", "0x44" },
+                            new string[] { "Endereço I2C", "0x45" },
                             new string[] { "CI", "219" }
                         },
                     },*/
@@ -224,14 +232,13 @@ namespace AgroBase.Models.Modules
                             new string[] { "Corrente Max", "3.2" }
                         },
                     },
-                    /*new SensorModel()
+                    new SensorModel()
                     {
                         ID = "AB7V2",
                         Prioridade = 10,
                         Descricao = "Corrente no Barramento 7,2V",
                         Componente = S_Code.sCOR,
                         Aferir = true,
-                        Inicializado = false,
                         Testando = false,
                         Funcoes = new List()
                         {
@@ -241,10 +248,10 @@ namespace AgroBase.Models.Modules
                         UnidadeMedida = "A",
                         Parametros = new List()
                         {
-                            new string[] { "Endereço I2C", "0x40" },
+                            new string[] { "Endereço I2C", "0x44" },
                             new string[] { "CI", "219" }
                         },
-                    },*/
+                    },
                     new SensorModel()
                     {
                         ID = "AB12V",
@@ -726,7 +733,7 @@ namespace AgroBase.Models.Modules
 
             tmrRegistrador.SetInterval(_TaxaAmostragem);
 
-            bool _conectado = DadosLeitura.Conectado && DadosLeitura.Momento.AddMilliseconds(10 * _TaxaAmostragem) >= DateTime.Now;
+            bool _conectado = DadosLeitura.Conectado && DadosLeitura.Momento.AddMilliseconds(TempoLimiteConexao * 2) >= DateTime.Now;
             DefineStatusConexao(Modulo_ID, _conectado);
 
 
@@ -1216,7 +1223,7 @@ namespace AgroBase.Models.Modules
         {
             get
             {
-                if (Variaveis.OperacaoEmAndamento.DispSen.Dados.DadosLeitura.Momento.AddMilliseconds(5 * SensoriamentoModel._TaxaAmostragem) < DateTime.Now)
+                if (Variaveis.OperacaoEmAndamento.DispSen.Dados.DadosLeitura.Momento.AddMilliseconds(SensoriamentoModel.TempoLimiteConexao) < DateTime.Now)
                 {
                     _iniciado = false;
                 }
@@ -1308,7 +1315,7 @@ namespace AgroBase.Models.Modules
         {
             get
             {
-                if (Variaveis.OperacaoEmAndamento.DispSen.Dados.DadosLeitura.Momento.AddMilliseconds(5 * SensoriamentoModel._TaxaAmostragem) < DateTime.Now)
+                if (Variaveis.OperacaoEmAndamento.DispSen.Dados.DadosLeitura.Momento.AddMilliseconds(SensoriamentoModel.TempoLimiteConexao) < DateTime.Now)
                 {
                     _iniciado = false;
                 }
@@ -1386,7 +1393,7 @@ namespace AgroBase.Models.Modules
         {
             get
             {
-                if (Variaveis.OperacaoEmAndamento.DispSen.Dados.DadosLeitura.Momento.AddMilliseconds(5 * SensoriamentoModel._TaxaAmostragem) < DateTime.Now)
+                if (Variaveis.OperacaoEmAndamento.DispSen.Dados.DadosLeitura.Momento.AddMilliseconds(SensoriamentoModel.TempoLimiteConexao) < DateTime.Now)
                 {
                     _iniciado = false;
                 }
@@ -1409,7 +1416,7 @@ namespace AgroBase.Models.Modules
         {
             get
             {
-                if (Variaveis.OperacaoEmAndamento.DispSen.Dados.DadosLeitura.Momento.AddMilliseconds(5 * SensoriamentoModel._TaxaAmostragem) < DateTime.Now)
+                if (Variaveis.OperacaoEmAndamento.DispSen.Dados.DadosLeitura.Momento.AddMilliseconds(SensoriamentoModel.TempoLimiteConexao) < DateTime.Now)
                 {
                     _iniciado = false;
                 }
@@ -1431,7 +1438,7 @@ namespace AgroBase.Models.Modules
         {
             get
             {
-                if (Variaveis.OperacaoEmAndamento.DispSen.Dados.DadosLeitura.Momento.AddMilliseconds(5 * SensoriamentoModel._TaxaAmostragem) < DateTime.Now)
+                if (Variaveis.OperacaoEmAndamento.DispSen.Dados.DadosLeitura.Momento.AddMilliseconds(SensoriamentoModel.TempoLimiteConexao) < DateTime.Now)
                 {
                     _iniciado = false;
                 }
@@ -1453,7 +1460,7 @@ namespace AgroBase.Models.Modules
         {
             get
             {
-                if (Variaveis.OperacaoEmAndamento.DispAtu.Dados.DadosLeitura.Momento.AddMilliseconds(5 * AtuadorModel._TaxaAmostragem) < DateTime.Now)
+                if (Variaveis.OperacaoEmAndamento.DispAtu.Dados.DadosLeitura.Momento.AddMilliseconds(SensoriamentoModel.TempoLimiteConexao) < DateTime.Now)
                 {
                     _iniciado = false;
                 }
@@ -1559,7 +1566,7 @@ namespace AgroBase.Models.Modules
         {
             get
             {
-                if (Variaveis.OperacaoEmAndamento.DispAtu.Dados.DadosLeitura.Momento.AddMilliseconds(5 * AtuadorModel._TaxaAmostragem) < DateTime.Now)
+                if (Variaveis.OperacaoEmAndamento.DispAtu.Dados.DadosLeitura.Momento.AddMilliseconds(SensoriamentoModel.TempoLimiteConexao) < DateTime.Now)
                 {
                     _iniciado = false;
                 }
@@ -1645,7 +1652,7 @@ namespace AgroBase.Models.Modules
         {
             get
             {
-                if (Variaveis.OperacaoEmAndamento.DispAtu.Dados.DadosLeitura.Momento.AddMilliseconds(5 * AtuadorModel._TaxaAmostragem) < DateTime.Now)
+                if (Variaveis.OperacaoEmAndamento.DispAtu.Dados.DadosLeitura.Momento.AddMilliseconds(SensoriamentoModel.TempoLimiteConexao) < DateTime.Now)
                 {
                     _iniciado = false;
                 }
diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs
index cd5480010..4753bc9e4 100644
--- a/AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs
+++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs
@@ -1,7 +1,6 @@
 using AgroBase.Forms.Operacoes;
 using AgroBase.Models.Modules;
 using AgroBase.Services;
-using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -14,173 +13,129 @@ namespace AgroBase.Models.Operacoes
     {
         public Form frmOperacao { get; set; } = new frmOperacaoMapaGPS();
         public string frmOperacaoNome { get; set; } = "frmOperacaoMapaGPS";
-        public bool Concluido 
-        { 
-            get 
-            { 
-                return Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual >= Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaMapa.Count();
-            } 
-        }
-        public OperacaoRefRuaGPS ReferencialRuaGPS { get; set; } = new OperacaoRefRuaGPS();
         public OperacaoMapaGPSSensoriamentoModel Sensoriamento { get; set; } = new OperacaoMapaGPSSensoriamentoModel();
-        public List StatusDentroRua = new List()
-        {
-            StatusCarroMapa.EntrandoRua, 
-            StatusCarroMapa.CaminhandoRua, 
-            StatusCarroMapa.SaindoRua
-        };
 
-        public void CalcularAnguloInclinacao(StatusCarroMapa statusCarroRua)
+        #region DIRECIONAL
+
+        private void DefinirAnguloSP()
         {
+            DefinirTipoMovimento();
+
+            CalcularAnguloInclinacao();
+        }
+
+        private void DefinirTipoMovimento()
+        {
+            var Trajetoria = Variaveis.OperacaoEmAndamento.Trajetoria;
+
+            Variaveis.OperacaoEmAndamento.Controle.TipoMovimento =
+                (Trajetoria.StatusAtual == StatusCarroMapa.Manobrando || Trajetoria.ManobrandoEntreRuas) ? TipoMovimentoDirecional.MovimentoArco :
+                TipoMovimentoDirecional.RodasDianteiras;
+        }
+
+        private void CalcularAnguloInclinacao()
+        {
+            var Trajetoria = Variaveis.OperacaoEmAndamento.Trajetoria;
+            var Controle = Variaveis.OperacaoEmAndamento.Controle;
+            var statusCarroRua = Trajetoria.StatusAtual;
+
             double erroOrientacao = 0.0;
+            double anguloCamera = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloRuaCamera;
             double anguloCarro = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro;
-            double anguloOposto = (anguloCarro + 180) % 360;
-            double anguloRua = Variaveis.OperacaoEmAndamento.Mapa.AnguloCaminho;
-            double anguloCamera = Sensoriamento.AnguloRuaCamera;
+            double anguloRua = Trajetoria.AnguloCaminho;
 
             // Calcula a diferença de ângulo entre o carro e a rua
             double diferencaAngulo = GPSService.CalcularDiferencaAngulo(anguloCarro, anguloRua);
-            
+
             erroOrientacao = diferencaAngulo;
 
             Sensoriamento.AnguloDif = erroOrientacao;
 
-
             // Calcule o erro lateral baseado nas distâncias entre as ruas do mapa atraves do GPS
-            double erroLateral = statusCarroRua == StatusCarroMapa.CaminhandoRua ? Variaveis.OperacaoEmAndamento.Mapa.DistanciaEsquerda - Variaveis.OperacaoEmAndamento.Mapa.DistanciaDireita : 0;
+            double erroLateral = 
+                !Trajetoria.DentroCorredor ? 0 : 
+                (Trajetoria.DistanciaEsquerda - Trajetoria.DistanciaDireita);
 
             double erroUltrassom = UltrasonicA05Helper.CalcularErroUltrassons();
 
             double erroCombinado = CalcularErroCombinado(erroLateral, erroOrientacao, erroUltrassom, anguloCarro, anguloRua, statusCarroRua);
 
+            AjustarGanhosPID(Controle.PercentualVelocidadeSP);
 
-
+            var PID = Controle.PIDdirecional;
             // Atualiza o PID com o erro combinado
             if (statusCarroRua != StatusCarroMapa.Parado)
             {
-                var PID = Variaveis.OperacaoEmAndamento.Controle.PIDdirecional;
-                if (Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.ManobrandoEntreRuas)
+                if (Controle.TipoMovimento == TipoMovimentoDirecional.MovimentoArco)
                 {
-                    PID.LimiteSaida = Variaveis.OperacaoEmAndamento.Controle.Angulo_Max * 0.75;
+                    PID.LimiteSaida = Controle.Angulo_Max * 1.0;
                 }
                 else
                 {
-                    PID.LimiteSaida = Variaveis.OperacaoEmAndamento.Controle.Angulo_Max;
+                    PID.LimiteSaida = Controle.Angulo_Max;
                 }
                 PID.Atualizar(erroCombinado, 0);
             }
-            double correcaoAngulo = Variaveis.OperacaoEmAndamento.Controle.PIDdirecional.Saida;
+
+            double correcaoAngulo = PID.Saida;
 
             // Aplica a correção. Isso pode incluir limites para evitar comandos excessivos.
-            if (correcaoAngulo > Variaveis.OperacaoEmAndamento.Controle.Angulo_Max)
-            {
-                correcaoAngulo = Variaveis.OperacaoEmAndamento.Controle.Angulo_Max;
-            }
-            else if (correcaoAngulo < Variaveis.OperacaoEmAndamento.Controle.Angulo_Min)
-            {
-                correcaoAngulo = Variaveis.OperacaoEmAndamento.Controle.Angulo_Min;
-            }
+            correcaoAngulo = Math.Min(Controle.Angulo_Max, correcaoAngulo);
+            correcaoAngulo = Math.Max(Controle.Angulo_Min, correcaoAngulo);
 
-            Variaveis.OperacaoEmAndamento.Controle.Angulo = correcaoAngulo;
-        }
-
-        private double CalcularErroCombinado_bkp(double erroLateral, double erroOrientacao, double anguloCarro, StatusCarroMapa statusCarroRua)
-        {
-            bool carroDentroRua = StatusDentroRua.Contains(statusCarroRua);
-
-            // Manter o erro lateral sempre com duas casas decimais
-            double multiplicadorErroLateral = erroLateral < 1 ? 10 : erroLateral > 10 && erroLateral < 100 ? 0 : erroLateral > 100 ? 0.1 : 1;
-            double erroPosicaoLateral =
-                Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaMapa.Count() == 1 ? 0 :
-                (erroLateral * (carroDentroRua ? multiplicadorErroLateral : 1));
-
-            double PesoLateralDentroRua = erroPosicaoLateral / 10;
-            if (PesoLateralDentroRua > 1)
-            {
-                PesoLateralDentroRua = 1;
-            }
-            if (PesoLateralDentroRua < 0)
-            {
-                PesoLateralDentroRua *= -1;
-            }
-            double PesoOrientacaoDentroRua = 1 - PesoLateralDentroRua;
-
-            // Combina os erros. Ajuste os pesos conforme necessário para o seu caso específico.
-            /*double pesoOrientacao = erroPosicaoLateral == 0 ? 1 : carroDentroRua ? PesoOrientacaoDentroRua : 1 - PesoOrientacaoDentroRua;
-            double pesoPosicaoLateral = erroPosicaoLateral == 0 ? 0 : carroDentroRua ? PesoLateralDentroRua : 1 - PesoLateralDentroRua;*/
-            double erroCombinado = (erroOrientacao * PesoOrientacaoDentroRua) + (erroPosicaoLateral * PesoLateralDentroRua);
-
-
-            Direcao direcaoVirar = erroCombinado < anguloCarro ? Direcao.Esquerda : Direcao.Direita;
-            double erroComparar = erroCombinado < 0 ? erroCombinado * -1 : erroCombinado;
-            if (erroCombinado > 30 && false)
-            {
-                if (direcaoVirar == Direcao.Esquerda && Variaveis.OperacaoEmAndamento.Mapa.DistanciaEsquerda > Variaveis.OperacaoEmAndamento.Mapa.DistanciaDireita)
-                {
-                    erroCombinado -= 360;
-                    /*if (erroCombinado < 0)
-                    {
-                        erroCombinado *= -1;
-                    }*/
-                }
-                else if (direcaoVirar == Direcao.Direita && Variaveis.OperacaoEmAndamento.Mapa.DistanciaDireita > Variaveis.OperacaoEmAndamento.Mapa.DistanciaEsquerda)
-                {
-                    erroCombinado -= 360;
-                    /*if (erroCombinado < 0)
-                    {
-                        erroCombinado *= -1;
-                    }*/
-                }
-            }
-
-            direcaoVirar = erroCombinado < anguloCarro ? Direcao.Esquerda : Direcao.Direita;
-
-
-            return erroCombinado;
+            Controle.Angulo = correcaoAngulo;
         }
 
         private double CalcularErroCombinado(double erroLateral, double erroOrientacao, double erroUltrassons, double anguloCarro, double anguloRua, StatusCarroMapa statusCarroRua)
         {
-            bool carroDentroRua = StatusDentroRua.Contains(statusCarroRua);
+            bool carroDentroRua = Variaveis.OperacaoEmAndamento.Trajetoria.DentroCorredor;
+
+            // Se estiver fora do corredor, erro lateral não deve ser considerado
+            double multiplicadorErroLateral = carroDentroRua ?
+                (erroLateral < 1 ? 10.0 : erroLateral > 10.0 && erroLateral < 100.0 ? 0.0 : erroLateral > 100.0 ? 0.1 : 1.0) :
+                0.0;
 
-            // Mantém o erro lateral sempre com duas casas decimais e ajusta o multiplicador
-            double multiplicadorErroLateral = erroLateral < 1 ? 10 : erroLateral > 10 && erroLateral < 100 ? 0 : erroLateral > 100 ? 0.1 : 1;
             double erroPosicaoLateral =
-                Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaMapa.Count() == 1 ? 0 :
-                (erroLateral * (carroDentroRua ? multiplicadorErroLateral : 1));
+                (Variaveis.OperacaoEmAndamento.Trajetoria.RuasPlantacao.Count() == 1) ? 0 :
+                (erroLateral * multiplicadorErroLateral);
 
-            double PesoLateralDentroRua = erroPosicaoLateral / 10;
-            PesoLateralDentroRua = FuncoesMatematicas.Clamp(PesoLateralDentroRua, 0, 1);
-            double PesoOrientacaoDentroRua = (1 - PesoLateralDentroRua) * 0.7; // 70% para a orientação principal
-            double PesoUltrassons = 1 - PesoOrientacaoDentroRua - PesoLateralDentroRua; // Peso restante para o ultrassom
+            // Ajusta pesos dinamicamente
+            double pesoLateral = carroDentroRua ? FuncoesMatematicas.Clamp(erroPosicaoLateral / 10.0, 0, 1) : 0.0;
+            double pesoOrientacao = 1 - pesoLateral; // Quando fora do corredor, esse valor será 1
+            double pesoUltrassons = 1 - pesoOrientacao - pesoLateral; // Ajuste final para manter total = 1
 
-            // Calcula o erro combinado, ponderando os três erros
+            // Se o peso do ultrassom ficar negativo, normalizamos para manter os valores entre 0 e 1
+            pesoUltrassons = Math.Max(0, pesoUltrassons);
+
+            // Calcula o erro combinado ponderando os três erros
             double erroCombinado =
-                (erroOrientacao * PesoOrientacaoDentroRua) +
-                (erroPosicaoLateral * PesoLateralDentroRua) +
-                (erroUltrassons * PesoUltrassons);
+                (erroOrientacao * pesoOrientacao) +
+                (erroPosicaoLateral * pesoLateral) +
+                (erroUltrassons * pesoUltrassons);
 
-            //Direcao direcaoVirar = erroCombinado < anguloCarro ? Direcao.Esquerda : Direcao.Direita;
-            Direcao direcaoVirar = CalcularDirecaoParaVirar(anguloCarro, anguloRua);
-            double erroComparar = erroCombinado < 0 ? -erroCombinado : erroCombinado;
+            // Direção da correção
+            /*Direcao direcaoVirar = CalcularDirecaoParaVirar(anguloCarro, anguloRua);
+            double erroComparar = Math.Abs(erroCombinado);
 
-            // Aplica correções extras quando o erro é significativo e comparável com a distância à borda da rua
-            if (erroCombinado > 30 && false)
+            // Correção adicional se o erro for significativo e o carro estiver perto da borda
+            if (erroCombinado > 30 && false) // (mantive false, mas pode ser um flag condicional)
             {
-                if (direcaoVirar == Direcao.Esquerda && Variaveis.OperacaoEmAndamento.Mapa.DistanciaEsquerda > Variaveis.OperacaoEmAndamento.Mapa.DistanciaDireita)
+                if (direcaoVirar == Direcao.Esquerda &&
+                    Variaveis.OperacaoEmAndamento.Trajetoria.DistanciaEsquerda > Variaveis.OperacaoEmAndamento.Trajetoria.DistanciaDireita)
                 {
                     erroCombinado -= 360;
                 }
-                else if (direcaoVirar == Direcao.Direita && Variaveis.OperacaoEmAndamento.Mapa.DistanciaDireita > Variaveis.OperacaoEmAndamento.Mapa.DistanciaEsquerda)
+                else if (direcaoVirar == Direcao.Direita &&
+                    Variaveis.OperacaoEmAndamento.Trajetoria.DistanciaDireita > Variaveis.OperacaoEmAndamento.Trajetoria.DistanciaEsquerda)
                 {
                     erroCombinado -= 360;
                 }
-            }
+            }*/
 
             return erroCombinado;
         }
 
-        public static Direcao CalcularDirecaoParaVirar(double anguloCarro, double anguloRua)
+        private static Direcao CalcularDirecaoParaVirar(double anguloCarro, double anguloRua)
         {
             // Normaliza os ângulos para o intervalo [0, 360)
             anguloCarro = ((anguloCarro % 360) + 360) % 360;
@@ -201,14 +156,113 @@ namespace AgroBase.Models.Operacoes
             }
         }
 
-
-        private void DefinirTipoMovimento(StatusCarroMapa statusCarro)
+        private void AjustarGanhosPID(double velocidadePercnt)
         {
-            Variaveis.OperacaoEmAndamento.Controle.TipoMovimento = 
-                Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.ManobrandoEntreRuas ? TipoMovimentoDirecional.MovimentoArco : 
-                TipoMovimentoDirecional.RodasDianteiras;
+            var PID = Variaveis.OperacaoEmAndamento.Controle.PIDdirecional;
+
+            // Fração da velocidade atual em relação à velocidade máxima (0 a 1)
+            double fatorVelocidade = Math.Min(velocidadePercnt / 100.0, 1.0);
+
+            // Ajuste dinâmico dos ganhos PID com curva exponencial para Kp e Kd
+            PID.Kp = PID.KpBase - (0.5 * Math.Pow(fatorVelocidade, 2)); // Reduz Kp mais agressivamente em altas velocidades
+            PID.Ki = fatorVelocidade > 0.8 ? 0.0 : PID.KiBase - (0.01 * fatorVelocidade); // Desativa Ki em altas velocidades
+            PID.Kd = PID.KdBase + (0.05 * Math.Pow(fatorVelocidade, 2)); // Aumenta Kd exponencialmente para amortecer oscilações
         }
 
+        #endregion
+
+        #region MOVIMENTACAO
+
+        private void DefinirVelocidadeSP()
+        {
+            var Controle = Variaveis.OperacaoEmAndamento.Controle;
+            var statusAtual = Variaveis.OperacaoEmAndamento.Trajetoria.StatusAtual;
+
+            Controle.PercentualVelocidadeSP = CalcularVelocidadeRelativa(Controle);
+
+            switch (statusAtual)
+            {
+                case StatusCarroMapa.Parado:
+                    {
+                        var BicosNaoAtuados = new List(Variaveis.OperacaoEmAndamento.DispAtu?.Dados?.BicosPulverizadores);
+                        BicosNaoAtuados.ForEach(x => x.ComandoAtuar = false);
+                        Controle.BicosAtuados = new List(BicosNaoAtuados.ToList());
+                        Controle.PercentualVelocidadeSP = 0;
+                        Controle.Angulo = 0;
+                        break;
+                    }
+                case StatusCarroMapa.Direcionando:
+                    {
+                        bool Manobrando = Variaveis.OperacaoEmAndamento.Trajetoria.ManobrandoEntreRuas;
+                        bool DesvioSonar = (KinectService.Iniciado && Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_Kinect.DesvioNecessario);
+                        if (Manobrando || DesvioSonar)
+                        {
+                            Controle.PercentualVelocidadeSP = Math.Min(20.0, Controle.PercentualVelocidadeMin);
+                        }
+                        break;
+                    }
+                case StatusCarroMapa.EntrandoRua:
+                    {
+                        Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMin;
+                        break;
+                    }
+                case StatusCarroMapa.SaindoRua:
+                    {
+                        Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMin;
+                        break;
+                    }
+                case StatusCarroMapa.CaminhandoRua:
+                    {
+                        if (Sensoriamento.ErvasNoRadar > 0)
+                        {
+                            Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMin;
+                        }
+                        break;
+                    }
+                case StatusCarroMapa.Manobrando:
+                    {
+                        Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMin;
+                        break;
+                    }
+            }
+        }
+
+        private double CalcularVelocidadeRelativa(OperacaoControleModel Controle)
+        {
+            double limiteAnguloMax = Controle.Angulo_Max; // Ângulo máximo permitido (ex.: 30 graus)
+            double anguloAtual = Math.Abs(Controle.Angulo); // Ângulo de controle atual em módulo
+            double percentualReduzido = anguloAtual / limiteAnguloMax; // Percentual do ângulo de controle usado (0 a 1)
+
+            // Obtém os ângulos do carro e da rua
+            double anguloCarro = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro;
+            double anguloCorredor = Variaveis.OperacaoEmAndamento.Trajetoria.AnguloMedioCorredor;
+
+            // **Erro de orientação agora é a diferença real entre os ângulos**
+            double erroOrientacao = Math.Abs(GPSService.NormalizarAngulo(anguloCarro - anguloCorredor)); // Diferenca real de ângulos
+            erroOrientacao = Math.Min(erroOrientacao, 90.0); // Limita a 90° para normalização
+
+            // **Peso dinâmico baseado no desalinhamento**
+            // Se o erro for grande, reduz mais a velocidade. Se for pequeno, mantém velocidade alta
+            double pesoErro = erroOrientacao / 90.0; // Normaliza erro para 0 (perfeito) a 1 (erro de 90°)
+
+            // **Ajusta a influência do ângulo de controle na velocidade**
+            double pesoAnguloControle = 1 - pesoErro; // Quanto maior o erro, menor a influência do ângulo de controle
+
+            // **Redução dinâmica da velocidade baseada no desalinhamento**
+            double reducaoPorErroOrientacao = pesoErro * 0.8; // Quanto maior o erro, maior a penalização (ajustável)
+
+            // **Calcula a velocidade proporcional combinando os dois efeitos com pesos dinâmicos**
+            double percentualVelocidadeRelativo = Controle.PercentualVelocidadeMin +
+                (1 - (pesoAnguloControle * percentualReduzido) - reducaoPorErroOrientacao) * (Controle.PercentualVelocidadeMax - Controle.PercentualVelocidadeMin);
+
+            // **Garante que a velocidade fique dentro dos limites aceitáveis (0 a 100%)**
+            percentualVelocidadeRelativo = Math.Max(Controle.PercentualVelocidadeMin, Math.Min(Controle.PercentualVelocidadeMax, percentualVelocidadeRelativo));
+
+            return percentualVelocidadeRelativo;
+        }
+
+        #endregion
+
         public void CalculaDadosMovimentacaoAutonoma()
         {
             if (Variaveis.OperacaoEmAndamento.Modo != ModoOperacao.MapaGPS)
@@ -216,304 +270,38 @@ namespace AgroBase.Models.Operacoes
                 return;
             }
 
-            var statusAtual = ReferencialRuaGPS.StatusAtual;
+            DefinirVelocidadeSP();
 
-            DefinirTipoMovimento(statusAtual);
-
-            CalcularAnguloInclinacao(statusAtual);
-
-            var Controle = Variaveis.OperacaoEmAndamento.Controle;
-            double limiteAnguloVelocidadeMin = Controle.Angulo_Max * 0.2;
-
-            if (statusAtual == StatusCarroMapa.Parado)
+            switch (Variaveis.OperacaoEmAndamento.Controle.TipoControleDirecional)
             {
-                var BicosNaoAtuados = new List(Variaveis.OperacaoEmAndamento.DispAtu?.Dados?.BicosPulverizadores);
-                BicosNaoAtuados.ForEach(x => x.ComandoAtuar = false);
-                Controle.BicosAtuados = new List(BicosNaoAtuados.ToList());
-                Controle.PercentualVelocidadeSP = 0;
-                Controle.Angulo = 0;
-            }
-            else if (statusAtual == StatusCarroMapa.Direcionando)
-            {
-                //bool Manobrando = (ReferencialRuaGPS.EmManobra && Variaveis.OperacaoEmAndamento.Mapa.DistanciaAteProximoPonto <= Variaveis.OperacaoEmAndamento.Mapa.DistanciaProjecaoRua);
-                bool Manobrando = Variaveis.OperacaoEmAndamento.Mapa.DistanciaAteProximoPonto <= Variaveis.OperacaoEmAndamento.Mapa.DistanciaProjecaoRua;
-                bool DesvioSonar = (KinectService.Iniciado && Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_Kinect.DesvioNecessario);
-                if (Manobrando || DesvioSonar)
-                {
-                    Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMin;
-                }
-                else if (Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual > 0 && Variaveis.OperacaoEmAndamento.Mapa.DistanciaAteProximoPonto < 10.0)
-                {
-                    Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMin;
-                }
-                else if (Math.Abs(Controle.Angulo) > limiteAnguloVelocidadeMin)
-                {
-                    Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMin;
-                }
-                else
-                {
-                    /*double ag0 = GPSService.CalcularOrientacao(GPSService.UltimaLeitura, Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica[1]);
-                    double ag1 = GPSService.CalcularOrientacao(GPSService.UltimaLeitura, Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica[2]);
-                    double ag2 = GPSService.CalcularOrientacao(GPSService.UltimaLeitura, Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica[2]);
-                    double ag3 = GPSService.CalcularOrientacao(GPSService.UltimaLeitura, Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica[2]);
-                    if (Math.Abs(ag0 - ag1) > (Controle.Angulo_Max * 0.4) || Math.Abs(ag1 - ag2) > (Controle.Angulo_Max * 0.4) || Math.Abs(ag2 - ag3) > (Controle.Angulo_Max * 0.4))
+                case TiposControladorDirecional.PID:
                     {
-                        Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMax * 0.6;
+                        DefinirAnguloSP();
+                        break;
                     }
-                    else
+                case TiposControladorDirecional.MPC:
                     {
-                        Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMax;
-                    }*/
-                    Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMax * 0.6;
-                }
-            }
-            else if (statusAtual == StatusCarroMapa.EntrandoRua)
-            {
-                Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMin;
-            }
-            else if (statusAtual == StatusCarroMapa.SaindoRua)
-            {
-                Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMin;
-            }
-            else if (statusAtual == StatusCarroMapa.CaminhandoRua)
-            {
-                if (Math.Abs(Controle.Angulo) > limiteAnguloVelocidadeMin)
-                {
-                    Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMin;
-                }
-                else if (Sensoriamento.ErvasNoRadar == 0)
-                {
-                    Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMax;
-                }
-                else
-                {
-                    Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMax * 0.85;
-                }
-            }
-            else if (statusAtual == StatusCarroMapa.Manobrando)
-            {
-                Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMax / 2.0;
-            }
+                        var MPC = Variaveis.OperacaoEmAndamento.Controle.ControladorMPC;
+                        var Trajetoria = Variaveis.OperacaoEmAndamento.Trajetoria;
 
-            if (Variaveis.OperacaoEmAndamento.Iniciado)
-            {
-                Variaveis.OperacaoEmAndamento.Mapa.GerarTrajetoriaDinamica();
-            }
-        }
+                        (double steeringAngle, Enums.TipoMovimentoDirecional mode) = MPC.ComputeControl(
+                            GPSService.UltimaLeitura.Latitude, GPSService.UltimaLeitura.Longitude, Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro,
+                            Trajetoria.ProximoPonto.Posicao.Latitude, Trajetoria.ProximoPonto.Posicao.Longitude, Trajetoria.ProximoPonto.Orientacao,
+                            Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeSP, Trajetoria.DistanciaEsquerda, Trajetoria.DistanciaDireita, new List());
 
-        public void AtualizarRuasSelecionadas()
-        {
-            List ids = new List();
-            bool idsMensagem = false;
-            var Topico = Variaveis.MqttService.Topicos.FirstOrDefault(x => x.Topico == MapasVariaveisModel.TopicoSelecaoRuasMapa);
-            var Mensagem = Topico.Mensagens.LastOrDefault();
-            if (Mensagem != null && !Mensagem.Mensagem.Contains("[]"))
-            {
-                Mensagem.Mensagem = Mensagem.Mensagem.Replace("\n", "");
-                Mensagem.Mensagem = Mensagem.Mensagem.Replace("\"", "");
-                if (!string.IsNullOrEmpty(Mensagem.Mensagem))
-                {
-                    ids = JsonConvert.DeserializeObject(Mensagem.Mensagem).Select(x => x.ToString()).ToList();
-                    idsMensagem = true;
-                }
-            }
-            if (idsMensagem && ids.Count != Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer.Count)
-            {
-                Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer = ids;
-                Variaveis.OperacaoEmAndamento.Mapa.PopularTrajetoriaMapa();
-            }
-        }
+                        var Controle = Variaveis.OperacaoEmAndamento.Controle;
 
-    }
-
-    public class OperacaoRefRuaGPS
-    {
-        private List _EtapasAnteriores = new List() { StatusCarroMapa.Parado };
-        public StatusCarroMapa _EtapaAnterior
-        {
-            get
-            {
-                var _Anterior = _EtapasAnteriores.Last();
-                if (_Anterior == _EtapaAtual && _EtapasAnteriores.Count() > 1)
-                {
-                    _Anterior = _EtapasAnteriores.Skip(_EtapasAnteriores.Count() - 2).First();
-                }
-                return _Anterior;
-            }
-        }
-        private void AtualizaEtapaAtual(StatusCarroMapa _Atual)
-        {
-            _EtapaAtual = _Atual;
-            var _EtapaAnterior = _EtapasAnteriores.Last();
-            if (_EtapaAtual != _EtapaAnterior)
-            {
-                _EtapasAnteriores.Add(_EtapaAtual);
-            }
-        }
-        public StatusCarroMapa _EtapaAtual;
-        public StatusCarroMapa StatusAtual
-        {
-            get
-            {
-                if (Variaveis.OperacaoEmAndamento.StatusAtual != StatusOperacao.EmAndamento)
-                {
-                    AtualizaEtapaAtual(StatusCarroMapa.Parado);
-                    return _EtapaAtual;
-                }
-
-                var Mapa = Variaveis.OperacaoEmAndamento.Mapa;
-                bool dentroDaRua = Mapa.DentroDaRua;
-                bool naMargem = Mapa.NaMargemEntradaRua;
-
-                if (dentroDaRua)
-                {
-                    var sonar = Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_Kinect;
-                    // se o carro estiver dentro da rua, o sonar estiver ativado, o kinect estiver iniciado, o desvio for necessario, a direcao do desvio seja Parado
-                    if (Variaveis.OperacaoEmAndamento.Controle.SonarAtivado && (sonar?.Iniciado ?? false) && (sonar?.DesvioNecessario ?? false))
-                    {
-                        _EtapaAtual = StatusCarroMapa.Parado;
+                        Controle.Angulo = steeringAngle;
+                        Controle.TipoMovimento = mode;
+                        break;
                     }
-                    else
-                    {
-                        if (!naMargem)
-                        {
-                            AtualizaEtapaAtual(StatusCarroMapa.CaminhandoRua);
-                        }
-                        else
-                        {
-                            if (_EtapaAtual == StatusCarroMapa.CaminhandoRua && (_EtapaAnterior == StatusCarroMapa.EntrandoRua))
-                            {
-                                AtualizaEtapaAtual(StatusCarroMapa.SaindoRua);
-                            }
-
-                            if (_EtapaAnterior == StatusCarroMapa.CaminhandoRua)
-                            {
-                                AtualizaEtapaAtual(StatusCarroMapa.SaindoRua);
-                            }
-                            else
-                            {
-                                AtualizaEtapaAtual(StatusCarroMapa.EntrandoRua);
-                            }
-                        }
-                    }
-                }
-                else
-                {
-                    if (!naMargem)
-                    {
-                        AtualizaEtapaAtual(StatusCarroMapa.Direcionando);
-                    }
-                    else
-                    {
-                        if (_EtapaAtual == StatusCarroMapa.Direcionando && (_EtapaAnterior == StatusCarroMapa.Parado || _EtapaAnterior == StatusCarroMapa.SaindoRua))
-                        {
-                            AtualizaEtapaAtual(StatusCarroMapa.EntrandoRua);
-                        }
-
-                        if (_EtapaAnterior == StatusCarroMapa.Direcionando)
-                        {
-                            AtualizaEtapaAtual(StatusCarroMapa.EntrandoRua);
-                        }
-                        else
-                        {
-                            AtualizaEtapaAtual(StatusCarroMapa.SaindoRua);
-                        }
-                    }
-                }
-
-                return _EtapaAtual;
-            }
-        }
-        public double MargemErroAngulo { get; set; } = 90;
-        public DirecaoCarroRua Direcao
-        {
-            get
-            {
-
-                if (GPSService.UltimaLeitura.Latitude == GPSService.PenultimaLeitura.Latitude && GPSService.UltimaLeitura.Longitude == GPSService.PenultimaLeitura.Longitude && GPSService.UltimaLeitura.DataHora > GPSService.PenultimaLeitura.DataHora)
-                {
-                    return DirecaoCarroRua.Parado;
-                }
-
-                var Mapa = Variaveis.OperacaoEmAndamento.Mapa;
-
-                double mediaAngulo = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro;
-                double anguloOposto = (mediaAngulo + 180) % 360;
-                double mediaAnguloRua = Mapa.AnguloRuaAtual;
-
-                DirecaoCarroRua direcaoTrecho = 
-                    !Mapa.TrajetoriaDinamica.Any() && !Mapa.TrajetoriaProjetada.Any() ? DirecaoCarroRua.Ida : 
-                    Mapa.TrajetoriaProjetada[0] != null ? Mapa.TrajetoriaProjetada[0][0].DirecaoTrecho : 
-                    Mapa.TrajetoriaDinamica.Any(x => x.idxRua == Mapa.IdxRuaAtual) ?
-                    Mapa.TrajetoriaDinamica.FirstOrDefault(x => x.idxRua == Mapa.IdxRuaAtual).DirecaoTrecho : 
-                    Mapa.TrajetoriaDinamica.FirstOrDefault().DirecaoTrecho;
-
-                if ((mediaAngulo + MargemErroAngulo) >= mediaAnguloRua && (mediaAngulo - MargemErroAngulo) <= mediaAnguloRua)
-                {
-                    return direcaoTrecho;
-                }
-                else if ((anguloOposto + MargemErroAngulo) >= mediaAnguloRua && (anguloOposto - MargemErroAngulo) <= mediaAnguloRua)
-                {
-                    return direcaoTrecho == DirecaoCarroRua.Ida ? DirecaoCarroRua.Volta : DirecaoCarroRua.Ida;
-                }
-                else
-                {
-                    return DirecaoCarroRua.Parado;
-                }
-            }
-        }
-        public bool EmManobra
-        {
-            get
-            {
-                // Caso o robo esteja manobrando em direcao a uma rua, qualquer movimento feito sera considerado aproximacao do primeiro ponto da rua
-                return Variaveis.OperacaoEmAndamento.Mapa.IdxUltimoPontoTrajetoria == 0 && StatusAtual == StatusCarroMapa.Direcionando;
-            }
-        }
-        public bool ManobrandoEntreRuas
-        {
-            get
-            {
-                bool emCurva = Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual > 0;
-                if (emCurva)
-                {
-
-                }
-                bool proximoEntradaRua = Variaveis.OperacaoEmAndamento.Mapa.DistanciaAteProximoPonto <= (Variaveis.OperacaoEmAndamento.Mapa.DistanciaProjecaoRua * 5.0);
-                bool Manobrando = emCurva && proximoEntradaRua && EmManobra;
-
-                if (Manobrando)
-                {
-
-                }
-
-                return Manobrando;
             }
+            
         }
 
-        public void VerificaFimRuaAtual()
-        {
-            if (_EtapaAtual == StatusCarroMapa.Direcionando && (_EtapaAnterior == StatusCarroMapa.SaindoRua))
-            {
-                var Mapa = Variaveis.OperacaoEmAndamento.Mapa;
-                string RuaAtual = Mapa.RuasPercorrer[Mapa.IdxRuaAtual];
-                if (!Mapa.RuasPercorridas.Contains(RuaAtual))
-                {
-                    Mapa.RuasPercorridas.Add(RuaAtual);
-                    Mapa.IdxRuaAtual++;
-                    Mapa.TrajetoriaDinamica.Clear();
-                    Mapa.IdxUltimoPontoTrajetoria = 0;
-                    Mapa.IdxUltimoPontoTrajetoriaDinamica = 0;
+        
 
-                    GPSService.PenultimaLeitura = new GPSModel()
-                    {
-                        DataHora = GPSService.UltimaLeitura.DataHora,
-                        Longitude = GPSService.UltimaLeitura.Longitude,
-                        Latitude = GPSService.UltimaLeitura.Latitude,
-                    };
-                }
-            }
-        }
+        
 
     }
 
diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
index 88ba3b590..86f71efd8 100644
--- a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
+++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
@@ -73,6 +73,7 @@ namespace AgroBase.Models
         public DispositivosService DispSen { get; set; }
         public DispositivosService DispAtu { get; set; }
         public MapasModel Mapa { get; set; } = new MapasModel();
+        public TrajetoriaMapaOperacaoModel Trajetoria { get; set; }
         public OperacaoSensoriamentoLogModel Sensoriamento { get; set; } = new OperacaoSensoriamentoLogModel();
         public Form frmOperacao { get; set; }
         private StatusOperacao _EtapaAtual;
@@ -106,7 +107,7 @@ namespace AgroBase.Models
                         etapaAtual = StatusOperacao.EmAndamento;
                     }
                     // Se o trajeto foi finalizado
-                    else if (Variaveis.OperacaoEmAndamento.OpMapaGPS.Concluido && _EtapaAtual != StatusOperacao.Concluido)
+                    else if (!(Variaveis.OperacaoEmAndamento.Trajetoria?.CorredoresNaoFinalizados?.Any() ?? false) && _EtapaAtual != StatusOperacao.Concluido)
                     {
                         etapaAtual = StatusOperacao.Concluido;
                     }
@@ -268,6 +269,7 @@ namespace AgroBase.Models
         }
         public bool Iniciado { get; set; }
         public bool Simulando { get; set; } = false;
+        public bool Treinando { get; set; } = false;
         public double SimulacaoAnguloControle { get; set; } = 0;
         public double SimulacaoRpmControle { get; set; } = 0;
         public bool Finalizando { get; set; } = false;
@@ -413,7 +415,7 @@ namespace AgroBase.Models
                     Direcao = Direcao.Parado,
                     PercentualVelocidadeSP = 0,
                     PIDdirecional = new PIDModel(),
-                    TiposControle = Variaveis.OperacaoEmAndamento.Controle.TiposControle.ToList(), 
+                    TiposControle = Variaveis.OperacaoEmAndamento.Controle.TiposControle.ToList(),
                     SonarAtivado = Parametros.SonarAtivado,
                     SegmentacaoSemantica = Parametros.Modo == ModoOperacao.MapaGPS,
                 };
@@ -452,88 +454,6 @@ namespace AgroBase.Models
             }
         }
 
-        public string TempoEstimadoOperacao(double velocidadeSemErvas, double velocidadeComErvas)
-        {
-            double velocidadeDirecionamento = velocidadeSemErvas * 0.6;
-
-            // Conversão de velocidades para m/s
-            double velocidadeSemErvasMs = (velocidadeSemErvas * 1000) / 3600;
-            double velocidadeComErvasMs = (velocidadeComErvas * 1000) / 3600;
-            double velocidadeTrajetoriaMs = (velocidadeDirecionamento * 1000) / 3600;
-
-            // Supondo que metade do percurso tem ervas e a outra metade não tem
-            double distanciaSemErvas = Variaveis.OperacaoEmAndamento.Mapa.DistanciaTotal * VariaveisOperacao.PercentualSemErvas;
-            double distanciaComErvas = Variaveis.OperacaoEmAndamento.Mapa.DistanciaTotal * VariaveisOperacao.PercentualComErvas;
-            double distanciaTrajetoria = Variaveis.OperacaoEmAndamento.Mapa.DistanciaExtraTrajetoria;
-
-            // Tempo em segundos para cada parte do percurso
-            double tempoSemErvas = velocidadeSemErvasMs > 0 ? distanciaSemErvas / velocidadeSemErvasMs : 0;
-            double tempoComErvas = velocidadeComErvasMs > 0 ? distanciaComErvas / velocidadeComErvasMs : 0;
-            double tempoDirecionamento = velocidadeTrajetoriaMs > 0 ? distanciaTrajetoria / velocidadeTrajetoriaMs : 0;
-
-            double tempoManobras = Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer.Count() * VariaveisOperacao.TempoManobra;
-
-            // Tempo total em segundos
-            double tempoTotalSegundos = tempoSemErvas + tempoComErvas + tempoDirecionamento + tempoManobras;
-
-            // Conversão para horas, minutos e segundos
-            TimeSpan tempoTotal = TimeSpan.FromSeconds(tempoTotalSegundos);
-
-            return $"{tempoTotal.Hours:D2}:{tempoTotal.Minutes:D2}:{tempoTotal.Seconds:D2}";
-        }
-
-        public string TempoEstimadoRestante()
-        {
-            // Velocidades em RPM
-            double velocidadeSemErvas = FuncoesMatematicas.CalculaVelocidadeRPM(Variaveis.OperacaoEmAndamento.Controle.RPM_Max);
-            double velocidadeComErvas = FuncoesMatematicas.CalculaVelocidadeRPM(Variaveis.OperacaoEmAndamento.Controle.RPM_Min);
-            double velocidadeDirecionamento = velocidadeSemErvas * 0.6;
-
-            // Conversão de velocidades para m/s
-            double velocidadeSemErvasMs = (velocidadeSemErvas * 1000) / 3600;
-            double velocidadeComErvasMs = (velocidadeComErvas * 1000) / 3600;
-            double velocidadeTrajetoriaMs = (velocidadeDirecionamento * 1000) / 3600;
-
-            // Distâncias (em metros)
-            double distanciaTotal = (Variaveis.OperacaoEmAndamento.Mapa.DistanciaTotal + Variaveis.OperacaoEmAndamento.Mapa.DistanciaExtraTrajetoria);
-            double distanciaDirecionamento = Variaveis.OperacaoEmAndamento.Mapa.DistanciaExtraTrajetoria;
-            double distanciaPercorrida = GPSService.DistanciaDoTrecho(Variaveis.OperacaoEmAndamento.GPSTrajetoria);
-            double distanciaRestante = distanciaTotal - distanciaPercorrida;
-
-            // Variáveis para armazenar o tempo restante para cada parte
-            double tempoRestanteDirecionamento = 0;
-
-            // Se o robô ainda estiver na fase de direcionamento
-            if (distanciaPercorrida < distanciaDirecionamento)
-            {
-                // Calcula o tempo restante apenas para a fase de direcionamento
-                double distanciaDirecionamentoRestante = distanciaDirecionamento - distanciaPercorrida;
-                tempoRestanteDirecionamento = distanciaDirecionamentoRestante / velocidadeTrajetoriaMs;
-                distanciaRestante = Variaveis.OperacaoEmAndamento.Mapa.DistanciaTotal;
-            }
-
-            // Calcular a distância restante sem ervas e com ervas
-            double distanciaSemErvasRestante = distanciaRestante * VariaveisOperacao.PercentualSemErvas;
-
-            double distanciaComErvasRestante = distanciaRestante * VariaveisOperacao.PercentualComErvas;
-
-            // Calcular o tempo restante para as áreas sem ervas e com ervas
-            double tempoRestanteSemErvas = distanciaSemErvasRestante / velocidadeSemErvasMs;
-            double tempoRestanteComErvas = distanciaComErvasRestante / velocidadeComErvasMs;
-
-            // Tempo restante para as manobras
-            double tempoRestanteManobras = Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaProjetada.Count() * VariaveisOperacao.TempoManobra;
-
-            // Tempo total restante em segundos
-            double tempoTotalRestanteSegundos = tempoRestanteDirecionamento + tempoRestanteSemErvas + tempoRestanteComErvas + tempoRestanteManobras;
-
-            // Conversão para horas, minutos e segundos
-            TimeSpan tempoTotalRestante = TimeSpan.FromSeconds(tempoTotalRestanteSegundos);
-
-            return $"{tempoTotalRestante.Hours:D2}:{tempoTotalRestante.Minutes:D2}:{tempoTotalRestante.Seconds:D2}";
-        }
-
-
 
         public static void CarregarParametrosOperacaoPadrao(ModoOperacao Modo)
         {
@@ -596,6 +516,7 @@ namespace AgroBase.Models
                         SegmentacaoSemantica = false,
                         PulverizadorAutomatico = false,
                         TipoMovimento = TipoMovimentoDirecional.RodasDianteiras,
+                        TipoControleDirecional = TiposControladorDirecional.Manual
                     };
                     Variaveis.OperacaoEmAndamento.ModulosMandatorios = new List()
                     {
@@ -658,7 +579,7 @@ namespace AgroBase.Models
                             new OperacaoControleTipoModel()
                             {
                                 Tipo = T_Code.Dir,
-                                DelayEnvioComando = 1000,
+                                DelayEnvioComando = 500,
                                 Comandos = new List(),
                                 UltimoComando = DateTime.Now
                             },
@@ -675,6 +596,7 @@ namespace AgroBase.Models
                         SegmentacaoSemantica = true,
                         PulverizadorAutomatico = true,
                         TipoMovimento = TipoMovimentoDirecional.RodasDianteiras,
+                        TipoControleDirecional = TiposControladorDirecional.PID,
                     };
                     Variaveis.OperacaoEmAndamento.ModulosMandatorios = new List()
                     {
@@ -739,6 +661,109 @@ namespace AgroBase.Models
                     };
                     Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento = new OperacaoMapaGPSSensoriamentoModel();
                     break;
+                case ModoOperacao.TreinamentoIA:
+                    Variaveis.OperacaoEmAndamento.ControleAnterior = new OperacaoControleModel();
+                    Variaveis.OperacaoEmAndamento.Controle = new OperacaoControleModel()
+                    {
+                        RPM_Max = 100,
+                        RPM_Min = 15,
+                        Angulo_Max = 30,
+                        Angulo_Min = -30,
+                        VelocidadeMP = 40,
+                        TiposControle = new List()
+                        {
+                            new OperacaoControleTipoModel()
+                            {
+                                Tipo = T_Code.Mov,
+                                DelayEnvioComando = 500,
+                                Comandos = new List(),
+                                UltimoComando = DateTime.Now
+                            },
+                            new OperacaoControleTipoModel()
+                            {
+                                Tipo = T_Code.Dir,
+                                DelayEnvioComando = 1000,
+                                Comandos = new List(),
+                                UltimoComando = DateTime.Now
+                            },
+                            new OperacaoControleTipoModel()
+                            {
+                                Tipo = T_Code.Atu,
+                                DelayEnvioComando = 500,
+                                Comandos = new List(),
+                                UltimoComando = DateTime.Now
+                            },
+                        },
+                        SonarAtivado = true,
+                        SonarDesvioAutomatico = true,
+                        SegmentacaoSemantica = true,
+                        PulverizadorAutomatico = true,
+                        TipoMovimento = TipoMovimentoDirecional.RodasDianteiras,
+                        TipoControleDirecional = TiposControladorDirecional.IA,
+                    };
+                    Variaveis.OperacaoEmAndamento.ModulosMandatorios = new List()
+                    {
+                        new OperacaoModulosMandatoriosModel()
+                        {
+                            Dispositivo = T_Code.Mov,
+                            Mandatorio = true,
+                        },
+                        new OperacaoModulosMandatoriosModel()
+                        {
+                            Dispositivo = T_Code.Dir,
+                            Mandatorio = true,
+                        },
+                        new OperacaoModulosMandatoriosModel()
+                        {
+                            Dispositivo = T_Code.Atu,
+                            Mandatorio = true,
+                        },
+                        new OperacaoModulosMandatoriosModel()
+                        {
+                            Dispositivo = T_Code.Gps,
+                            Mandatorio = true,
+                        },
+                        new OperacaoModulosMandatoriosModel()
+                        {
+                            Dispositivo = T_Code.Sen,
+                            Mandatorio = false,
+                        },
+                        new OperacaoModulosMandatoriosModel()
+                        {
+                            Dispositivo = T_Code.Wit,
+                            Mandatorio = true,
+                        },
+                        new OperacaoModulosMandatoriosModel()
+                        {
+                            Dispositivo = T_Code.Pzm,
+                            Mandatorio = true,
+                        },
+                        new OperacaoModulosMandatoriosModel()
+                        {
+                            Dispositivo = T_Code.Lra,
+                            Mandatorio = true,
+                        }
+                    };
+                    Variaveis.OperacaoEmAndamento.ParametrosMandatorios = new List()
+                    {
+                        new OperacaoParametrosMandatoriosModel()
+                        {
+                            Parametro = ParametrosOperacao.CameraSolo,
+                            Mandatorio = true,
+                        },
+                        new OperacaoParametrosMandatoriosModel()
+                        {
+                            Parametro = ParametrosOperacao.Kinect,
+                            Mandatorio = true,
+                        },
+                        new OperacaoParametrosMandatoriosModel()
+                        {
+                            Parametro = ParametrosOperacao.Mapa,
+                            Mandatorio = true,
+                        }
+                    };
+                    Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento = new OperacaoMapaGPSSensoriamentoModel();
+                    break;
             }
 
             Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ReiniciarLeituras();
@@ -823,7 +848,6 @@ namespace AgroBase.Models
             TimestampInicio = DateTime.Now.Ticks;
             TempoAguardando = DateTime.Now;
             TimestampFim = 0;
-            Mapa.IdxRuaAtual = 0;
 
             if (DispMvd != null)
             {
@@ -846,11 +870,9 @@ namespace AgroBase.Models
                 Controle.PIDdirecional = new PIDModel()
                 {
                     LimiteSaida = Controle.Angulo_Max,
-                    SetPoint = 0,
-                    Kp = 1.5, // 0.7
-                    Ki = 0.08, // 0.5
-                    Kd = 0.03 // 0.1
+                    SetPoint = 0
                 };
+                Controle.ControladorMPC = new MPCController();
                 if (controle != null)
                 {
                     Controle = controle;
@@ -865,8 +887,8 @@ namespace AgroBase.Models
 
             await RealizarCalibragemInicialAsync();
 
-            Mapa.ReiniciarTrajetoriaDinamica();
-            Mapa.GerarTrajetoriaDinamica();
+            Trajetoria = new TrajetoriaMapaOperacaoModel(Mapa.TrajetoriaMapa);
+            Trajetoria.ProjetarTrajetoriaFixa();
         }
 
         public void FinalizarOperacao()
@@ -955,7 +977,6 @@ namespace AgroBase.Models
             TimestampInicio = DateTime.Now.Ticks;
             TempoAguardando = DateTime.Now;
             TimestampFim = 0;
-            Mapa.IdxRuaAtual = 0;
 
             if (DispMvd != null)
             {
@@ -978,17 +999,15 @@ namespace AgroBase.Models
                 Controle.PIDdirecional = new PIDModel()
                 {
                     LimiteSaida = Controle.Angulo_Max,
-                    SetPoint = 0,
-                    Kp = 1.5,
-                    Ki = 0.08,
-                    Kd = 0.03
+                    SetPoint = 0
                 };
+                Controle.ControladorMPC = new MPCController();
             }
 
             GPSTrajetoria = new List();
             
-            Mapa.ReiniciarTrajetoriaDinamica();
-            Mapa.GerarTrajetoriaDinamica();
+            Trajetoria = new TrajetoriaMapaOperacaoModel(Mapa.TrajetoriaMapa);
+            Trajetoria.ProjetarTrajetoriaFixa();
         }
 
         public void ReiniciarSimulacao()
@@ -998,6 +1017,45 @@ namespace AgroBase.Models
         }
 
 
+        public void IniciarTreinamento()
+        {
+            Iniciado = true;
+            Treinando = true;
+            TimestampInicio = DateTime.Now.Ticks;
+            TempoAguardando = DateTime.Now;
+            TimestampFim = 0;
+
+            if (DispMvd != null)
+            {
+                DispMvd.Dados.ReiniciarLeituras(DispMvd.Dados);
+            }
+            if (DispAtu != null)
+            {
+                DispAtu.Dados.ReiniciarLeituras(DispAtu.Dados);
+            }
+            if (DispSen != null)
+            {
+                DispSen.Dados.ReiniciarLeituras(DispSen.Dados);
+            }
+
+            Sensoriamento.ReiniciarLeituras();
+            OpMapaGPS.Sensoriamento.ReiniciarLeituras();
+
+            if (Modo == ModoOperacao.MapaGPS)
+            {
+                Controle.PIDdirecional = new PIDModel()
+                {
+                    LimiteSaida = Controle.Angulo_Max,
+                    SetPoint = 0
+                };
+            }
+
+            GPSTrajetoria = new List();
+
+            Trajetoria = new TrajetoriaMapaOperacaoModel(Mapa.TrajetoriaMapa);
+            Trajetoria.ProjetarTrajetoriaFixa();
+        }
+
         #endregion
 
         #region CAMERAS
@@ -1205,7 +1263,7 @@ namespace AgroBase.Models
 
             if (MovimentoLiberado)
             {
-                foreach (var Ctrl in _Controle.TiposControle.Where(x => x.Tipo != T_Code.Atu))
+                foreach (var Ctrl in _Controle.TiposControle?.Where(x => x.Tipo != T_Code.Atu))
                 {
                     if ((Agora - Ctrl.UltimoComando).TotalMilliseconds > Ctrl.DelayEnvioComando)
                     {
@@ -1291,27 +1349,33 @@ namespace AgroBase.Models
                     {
                         if (_ControleAnterior.Angulo < _Controle.Angulo)
                         {
-                            _Controle.Direcao = Direcao.Parado;
+                            _Controle.Direcao = Direcao.Direita;
                         }
                         else
                         {
                             _Controle.Direcao = Direcao.Esquerda;
                         }
                     }
-                    else
+                    else if (_Controle.Angulo > 0)
                     {
                         if (_ControleAnterior.Angulo > _Controle.Angulo)
                         {
-                            _Controle.Direcao = Direcao.Parado;
+                            _Controle.Direcao = Direcao.Esquerda;
                         }
                         else
                         {
                             _Controle.Direcao = Direcao.Direita;
                         }
                     }
+                    else
+                    {
+                        _Controle.Direcao = Direcao.Parado;
+                    }
 
                     Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.ForEach(Mod => Mod.DirMotor.EnviarComandoControle(_Controle.Direcao));
                     _Controle.TiposControle.FirstOrDefault(x => x.Tipo == Tipo).UltimaDirecao = _Controle.Direcao;
+
+                    //_Controle.PIDdirecional.AtualizacaoLiberada = true;
                 }
 
                 /*GeneralJoystick.EnviaComandoMotor(
@@ -1355,34 +1419,35 @@ namespace AgroBase.Models
         private void AtualizarDadosOperacao()
         {
             var Mapa = Variaveis.OperacaoEmAndamento.Mapa;
-            DirecaoCarroRua direcaoCarro = OpMapaGPS.ReferencialRuaGPS.Direcao;
+            var Trajetoria = Variaveis.OperacaoEmAndamento.Trajetoria;
+            DirecaoCarroRua direcaoCarro = Trajetoria.DirecaoCaminho;
             try
             {
-                if (!Mapa.mapaService.Carregado || Mapa.DistanciaTotal == 0)
+                if (!Mapa.mapaService.Carregado || Trajetoria.DistanciaTotal == 0)
                 {
                     Sensoriamento.ProgressoTrajeto = 0;
                 }
                 else
                 {
-                    Sensoriamento.ProgressoTrajeto = Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida.Sum() / Mapa.DistanciaTotal * 100;
+                    Sensoriamento.ProgressoTrajeto = Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida.Sum() / Trajetoria.DistanciaTotal * 100;
                 }
 
-                if (!Mapa.mapaService.Carregado || Mapa.IdxRuaAtual >= Mapa.TrajetoriaProjetada.Count() || (direcaoCarro != DirecaoCarroRua.Ida && direcaoCarro != DirecaoCarroRua.Volta))
+                if (!Mapa.mapaService.Carregado || Trajetoria.IdxCorredorAtual >= Trajetoria.Corredores.Count() || (direcaoCarro != DirecaoCarroRua.Ida && direcaoCarro != DirecaoCarroRua.Volta))
                 {
                     Sensoriamento.ProgressoRua = 0;
                 }
                 else if (direcaoCarro == DirecaoCarroRua.Ida)
                 {
                     Sensoriamento.ProgressoRua = (
-                        (double)Mapa.IdxPontoAproximadoRua /
-                        (double)(Mapa.TrajetoriaProjetada[0].Count() - 1)
+                        (double)Trajetoria.PontoAtual.idxPontoCorredor /
+                        (double)(Trajetoria.Corredores[Trajetoria.PontoAtual.idxCorredor].Count() - 1)
                     ) * 100;
                 }
                 else if (direcaoCarro == DirecaoCarroRua.Volta)
                 {
                     Sensoriamento.ProgressoRua = (
-                        (double)(Mapa.TrajetoriaProjetada[0].Count() - 1 - Mapa.IdxPontoAproximadoRua) /
-                        (double)(Mapa.TrajetoriaProjetada[0].Count() - 1)
+                        (double)(Trajetoria.Corredores[Trajetoria.PontoAtual.idxCorredor].Count() - 1 - Trajetoria.PontoAtual.idxPontoCorredor) /
+                        (double)(Trajetoria.Corredores[Trajetoria.PontoAtual.idxCorredor].Count() - 1)
                     ) * 100;
                 }
             }
@@ -1439,7 +1504,7 @@ namespace AgroBase.Models
             }
             else
             {
-                Variaveis.OperacaoEmAndamento.OpMapaGPS.AtualizarRuasSelecionadas();
+                Variaveis.OperacaoEmAndamento.Mapa.AtualizarRuasSelecionadas();
             }
 
             try
@@ -1451,7 +1516,7 @@ namespace AgroBase.Models
 
             }
 
-            if (!Variaveis.OperacaoEmAndamento.Simulando || true)
+            if (false && !Variaveis.OperacaoEmAndamento.Simulando)
             {
                 AtualizaInformacoesControleOperacao();
             }
@@ -1613,7 +1678,7 @@ namespace AgroBase.Models
             }
         }
 
-        private void AtualizaInformacoesControleOperacao()
+        public void AtualizaInformacoesControleOperacao()
         {
             if (Variaveis.OperacaoEmAndamento.Modo == ModoOperacao.Manual)
             {
@@ -1971,24 +2036,27 @@ namespace AgroBase.Models
                     DistanciaEsquerda = Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaEsquerda,
                     DistanciaPercorrida = new List(Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida),
                     AnguloCarroGPS = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroGPS,
+                    CursoVerdadeiroCarroGPS = Variaveis.OperacaoEmAndamento.Sensoriamento.CursoVerdadeiroCarroGPS,
+                    VariacaoMagneticaGPS = Variaveis.OperacaoEmAndamento.Sensoriamento.VariacaoMagneticaGPS, 
+                    AnguloCarroGPSMovimento = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroGPSMovimento,
                     DistAnguloCarroGPS = Variaveis.OperacaoEmAndamento.Sensoriamento.DistAnguloCarroGPS, 
                     AnguloCarroBussola = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroBussola,
                     AnguloCarro = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro,
                     SonarFrontal_Kinect = Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_Kinect,
                     StatusOperacao = Variaveis.OperacaoEmAndamento.Sensoriamento.StatusOperacao,
                     TempoMovimento = Variaveis.OperacaoEmAndamento.DispMvd.Dados.TempoEmAtividade,
-                    StatusCarro = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.StatusAtual,
+                    StatusCarro = Variaveis.OperacaoEmAndamento.Trajetoria.StatusAtual,
                     ErvasNoRadar = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ErvasNoRadar,
                     ErvasIdentificadas = new List>(Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.AtuacoesPorBico),
                     HerbicidaConsumido = Variaveis.OperacaoEmAndamento.DispAtu.Dados.VolumeVazaoML,
                     HerbicidaPorErva = HerbicidaPorErva,
                     ProgressoTrajeto = Variaveis.OperacaoEmAndamento.Sensoriamento.ProgressoTrajeto,
                     ProgressoRua = Variaveis.OperacaoEmAndamento.Sensoriamento.ProgressoRua,
-                    Direcao = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.Direcao,
-                    AnguloRua = Variaveis.OperacaoEmAndamento.Mapa.AnguloCaminho,
-                    DentroDaRua = Variaveis.OperacaoEmAndamento.Mapa.DentroDaRua,
-                    IdxPontoAproximadoRua = Variaveis.OperacaoEmAndamento.Mapa.IdxPontoAproximadoRua,
-                    IdxRuaAtual = Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual,
+                    Direcao = Variaveis.OperacaoEmAndamento.Trajetoria.DirecaoCaminho,
+                    AnguloRua = Variaveis.OperacaoEmAndamento.Trajetoria.AnguloCaminho,
+                    DentroDaRua = Variaveis.OperacaoEmAndamento.Trajetoria.DentroCorredor,
+                    IdxPontoAproximadoRua = Variaveis.OperacaoEmAndamento.Trajetoria.ProximoPonto.idxPonto,
+                    IdxRuaAtual = Variaveis.OperacaoEmAndamento.Trajetoria.IdxCorredorAtual,
                     AnguloDif = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloDif,
                     TipoMovimento = Variaveis.OperacaoEmAndamento.Controle.TipoMovimento,
                     Temperatura = Variaveis.OperacaoEmAndamento.Sensoriamento.Temperatura,
@@ -2025,15 +2093,18 @@ namespace AgroBase.Models
                     Inicializado = GPSService.Iniciado, 
                     DataHora = GPSService.UltimaLeitura.DataHora, 
                     Altitude = GPSService.UltimaLeitura.Altitude, 
-                    DirecaoTrecho = GPSService.UltimaLeitura.DirecaoTrecho, 
-                    idxRua = GPSService.UltimaLeitura.idxRua, 
                     Latitude = GPSService.UltimaLeitura.Latitude, 
                     Longitude = GPSService.UltimaLeitura.Longitude, 
                     NumeroSatelites = GPSService.UltimaLeitura.NumeroSatelites, 
-                    Orientacao = GPSService.UltimaLeitura.Orientacao, 
+                    CursoVerdadeiro = GPSService.UltimaLeitura.CursoVerdadeiro, 
                     PrecisaoHorizontal = GPSService.UltimaLeitura.PrecisaoHorizontal, 
                     Velocidade = GPSService.UltimaLeitura.Velocidade, 
                     UltimoComandoRespondido = GPSService.UltimaLeitura.Momento,
+                    OrientacaoReal = GPSService.UltimaLeitura.OrientacaoReal, 
+                    QualidadeFix = GPSService.UltimaLeitura.QualidadeFix, 
+                    SatelitesEmVista = new List(GPSService.UltimaLeitura.SatelitesEmVista), 
+                    TipoOrientacao = GPSService.UltimaLeitura.TipoOrientacao, 
+                    VariacaoMagnetica = GPSService.UltimaLeitura.VariacaoMagnetica,
                 };
                 SalvarLog(T_Code.Gps.ToString(), logGps, Fim);
 
@@ -2142,6 +2213,9 @@ namespace AgroBase.Models
                     Energia = PZEMService.UltimaLeitura.Energia, 
                     AlarmeTensaoMin = PZEMService.UltimaLeitura.AlarmeTensaoMin, 
                     AlarmeTensaoMax = PZEMService.UltimaLeitura.AlarmeTensaoMax, 
+                    CargaAtualAmp = PZEMService.ContadorCarga.CargaAtualAmp, 
+                    CargaConsumidaAmp = PZEMService.ContadorCarga.ConsumidoAmp, 
+                    CargaConsumidaPercentual = PZEMService.ContadorCarga.PercentualConsumido, 
                     UltimoComandoRespondido = PZEMService.UltimaLeitura.DataHora,
                 };
                 SalvarLog(T_Code.Pzm.ToString(), logPzm, Fim);
@@ -3023,11 +3097,14 @@ namespace AgroBase.Models
         public double PressaoLinha { get; set; } = 85;
 
         public List TiposControle { get; set; }
-        public PIDModel PIDdirecional { get; set; } = new PIDModel();
         public bool PulverizadorAutomatico { get; set; } = true;
         public bool SegmentacaoSemantica { get; set; } = false;
         public bool SonarAtivado { get; set; } = false;
         public bool SonarDesvioAutomatico { get; set; } = false;
+
+        public TiposControladorDirecional TipoControleDirecional { get; set; } = TiposControladorDirecional.PID;
+        public PIDModel PIDdirecional { get; set; } = new PIDModel();
+        public MPCController ControladorMPC { get; set; } = new MPCController();
     }
 
     public class OperacaoControleTipoModel
@@ -3097,7 +3174,10 @@ namespace AgroBase.Models
         public double DistanciaEsquerda { get; set; } = 0;
         public double DistanciaDireita { get; set; } = 0;
         public double AnguloCarroGPS { get; set; } = 0.0;
+        public double CursoVerdadeiroCarroGPS { get; set; } = 0.0;
+        public double AnguloCarroGPSMovimento { get; set; } = 0.0;
         public double DistAnguloCarroGPS { get; set; } = 0.0;
+        public double VariacaoMagneticaGPS { get; set; } = 0.0;
         public double AnguloCarroBussola { get; set; } = 0;
         public double AnguloCarro { get; set; } = 0.0;
         public KinectModel SonarFrontal_Kinect { get; set; } = null;
@@ -3154,6 +3234,7 @@ namespace AgroBase.Models
             DistanciaEsquerda = 0;
             DistanciaDireita = 0;
             AnguloCarroGPS = 0.0;
+            AnguloCarroGPSMovimento = 0.0;
             AnguloCarroBussola = 0;
             AnguloCarro = 0.0;
             SonarFrontal_Kinect = null;
@@ -3205,6 +3286,9 @@ namespace AgroBase.Models
         public double Energia { get; set; }
         public bool AlarmeTensaoMax { get; set; }
         public bool AlarmeTensaoMin { get; set; }
+        public double CargaAtualAmp { get; set; }
+        public double CargaConsumidaAmp { get; set; }
+        public double CargaConsumidaPercentual { get; set; }
         public DateTime UltimoComandoRespondido { get; set; }
     }
 
diff --git a/AgroBase/AgroBase/Models/PIDModel.cs b/AgroBase/AgroBase/Models/PIDModel.cs
index 7b1fe23bb..1fe4d3735 100644
--- a/AgroBase/AgroBase/Models/PIDModel.cs
+++ b/AgroBase/AgroBase/Models/PIDModel.cs
@@ -1,71 +1,133 @@
-using System;
+using AgroBase.Forms;
+using AgroBase.Services;
+using System;
 
 namespace AgroBase.Models
 {
     public class PIDModel
     {
-        public double SetPoint { get; set; } = 0.0;
-        public double ValorAtual { get; set; } = 0.0;
-        public double Saida { get; private set; } = 0.0;
-        public double Kp { get; set; } = 1.0;
-        public double Ki { get; set; } = 0.1;
-        public double Kd { get; set; } = 0.01;
-        private double erroAnterior = 0.0;
-        private double somaErro = 0.0;
+        // Propriedades públicas
+        public double SetPoint { get; set; } = 0.0; // Valor desejado (setpoint)
+        public double ValorAtual { get; private set; } = 0.0; // Valor atual do processo
+        public double Saida { get; private set; } = 0.0; // Saída do controlador PID
+        public double KpBase { get; set; } = 0.65; // Ganho proporcional
+        public double Kp { get; set; } = 0.65; // Ganho proporcional
+        public double KiBase { get; set; } = 0.015; // Ganho integral
+        public double Ki { get; set; } = 0.015; // Ganho integral
+        public double KdBase { get; set; } = 0.055; // Ganho derivativo
+        public double Kd { get; set; } = 0.055; // Ganho derivativo
+
+        // Limites e configurações
         public double LimiteSaida { get; set; } = 100.0; // Limite máximo para a saída do PID
-        public double LimiteSomaErro { get; set; } = 50.0; // Limite para a soma do erro (anti-wind-up)
-        private DateTime ultimaAtualizacao; // Armazena o timestamp da última atualização
+        public double LimiteSomaErro { get; set; } = 50.0; // Anti-wind-up para o termo integral
+        private const double FiltroDerivativo = 0.2; // Fator de suavização do termo derivativo
 
-        public void Atualizar(double valorAtual, double setPoint, double deltaTime)
+        // Variáveis de estado
+        private double _erroAnterior = 0.0; // Erro anterior para cálculo do termo derivativo
+        private double _somaErro = 0.0; // Acumulação do erro para o termo integral
+        private double _erroDerivativoSuavizado = 0.0; // Erro derivativo suavizado
+        private DateTime _ultimaAtualizacao; // Timestamp da última atualização
+
+        // Construtor
+        public PIDModel()
         {
-            SetPoint = setPoint;
-            ValorAtual = valorAtual;
-            double erro = SetPoint - ValorAtual;
-
-            if (erro != erroAnterior)
-            {
-                // Atualiza a soma do erro considerando o intervalo de tempo
-                somaErro += erro * deltaTime;
-                somaErro = Math.Max(Math.Min(somaErro, LimiteSomaErro), -LimiteSomaErro); // Anti-wind-up
-
-                // Calcula a taxa de variação do erro (termo derivativo)
-                double deltaErro = (erro - erroAnterior) / deltaTime;
-
-                // Calcula a saída do PID
-                double saidaTemp = (Kp * erro) + (Ki * somaErro) + (Kd * deltaErro);
-
-                // Limita a saída do PID
-                Saida = Math.Max(Math.Min(saidaTemp, LimiteSaida), -LimiteSaida);
-            }
-
-            // Atualiza o erro anterior
-            erroAnterior = erro;
+            Resetar();
         }
 
+        // Método para atualizar o PID com base no valor atual e setpoint
         public void Atualizar(double valorAtual, double setPoint)
         {
-            if (ultimaAtualizacao == DateTime.MinValue)
+            if (_ultimaAtualizacao == DateTime.MinValue)
             {
-                // Inicializa o timestamp se for a primeira chamada
-                ultimaAtualizacao = DateTime.Now;
+                // Inicializa o timestamp na primeira chamada
+                _ultimaAtualizacao = DateTime.Now;
             }
 
             // Calcula o tempo decorrido desde a última atualização
-            double deltaTime = (DateTime.Now - ultimaAtualizacao).TotalSeconds;
+            double deltaTime = (DateTime.Now - _ultimaAtualizacao).TotalSeconds;
 
-            // Atualiza o PID usando o tempo calculado
+            // Limita deltaTime para evitar instabilidades
+            double maxTime = (1.0 / GPSService.TaxaAmostragemHz) * 1.5;
+            deltaTime = Math.Max(0.01, Math.Min(deltaTime, maxTime)); // Entre 10ms e 0.5s
+
+            // Atualiza o PID
             Atualizar(valorAtual, setPoint, deltaTime);
 
             // Atualiza o timestamp
-            ultimaAtualizacao = DateTime.Now;
+            _ultimaAtualizacao = DateTime.Now;
         }
 
+        // Método para atualizar o PID com deltaTime explícito
+        public void Atualizar(double valorAtual, double setPoint, double deltaTime)
+        {
+            if (deltaTime <= 0)
+            {
+                throw new ArgumentException("deltaTime deve ser maior que zero.", nameof(deltaTime));
+            }
+
+            SetPoint = setPoint;
+            ValorAtual = valorAtual;
+
+            // Calcula o erro
+            double erro = SetPoint - ValorAtual;
+
+            // Reseta a soma do erro se o sinal do erro mudar (anti-windup)
+            if (Math.Sign(erro) != Math.Sign(_erroAnterior))
+            {
+                _somaErro = 0.0;
+            }
+
+            // Atualiza a soma do erro (termo integral)
+            _somaErro += erro * deltaTime;
+            _somaErro = FuncoesMatematicas.Clamp(_somaErro, -LimiteSomaErro, LimiteSomaErro);
+
+            // 🔥 Calcula a derivada do erro
+            double deltaErro = (erro - _erroAnterior) / deltaTime;
+
+            // 🔥 Detecta quedas bruscas no erro derivativo e reduz impacto
+            const double DerivativeDropThreshold = 10.0; // Sensibilidade para quedas bruscas
+            const double DerivativeDropFactor = 0.5; // Quanto reduzir o impacto
+            if (Math.Abs(erro - _erroAnterior) > DerivativeDropThreshold)
+            {
+                deltaErro *= DerivativeDropFactor; // Reduz o impacto
+            }
+
+            // 🔥 Suaviza o erro derivativo para evitar oscilações
+            _erroDerivativoSuavizado = (FiltroDerivativo * deltaErro) + ((1 - FiltroDerivativo) * _erroDerivativoSuavizado);
+
+            // 🔥 Aplica um limite máximo na derivada para evitar picos
+            _erroDerivativoSuavizado = FuncoesMatematicas.Clamp(_erroDerivativoSuavizado, -500.0, 500.0);
+
+            // 🔥 Calcula a saída do PID
+            double saidaTemp = (Kp * erro) + (Ki * _somaErro) + (Kd * _erroDerivativoSuavizado);
+
+            // 🔥 Aplica anti-windup na saída
+            if (saidaTemp > LimiteSaida)
+            {
+                saidaTemp = LimiteSaida;
+                _somaErro -= erro * deltaTime; // Reduz o termo integral para evitar windup
+            }
+            else if (saidaTemp < -LimiteSaida)
+            {
+                saidaTemp = -LimiteSaida;
+                _somaErro -= erro * deltaTime; // Reduz o termo integral para evitar windup
+            }
+
+            // Atualiza a saída e o erro anterior
+            Saida = saidaTemp;
+            _erroAnterior = erro;
+        }
+
+        // Método para resetar o estado do PID
         public void Resetar()
         {
-            erroAnterior = 0.0;
-            somaErro = 0.0;
+            SetPoint = 0.0;
+            ValorAtual = 0.0;
+            _erroAnterior = 0.0;
+            _somaErro = 0.0;
+            _erroDerivativoSuavizado = 0.0;
             Saida = 0.0;
-            ultimaAtualizacao = DateTime.MinValue; // Reinicia o timestamp
+            _ultimaAtualizacao = DateTime.MinValue;
         }
     }
-}
+}
\ No newline at end of file
diff --git a/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs b/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs
new file mode 100644
index 000000000..0236f9654
--- /dev/null
+++ b/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs
@@ -0,0 +1,880 @@
+using AgroBase.Services;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using static AgroBase.Models.Enums;
+
+namespace AgroBase.Models
+{
+    public class TrajetoriaMapaOperacaoModel
+    {
+        public TrajetoriaMapaOperacaoModel(List> RuasMapa)
+        {
+            RuasPlantacao = new List>(RuasMapa);
+        }
+
+        public List> RuasPlantacao { get; set; }
+        public List> Corredores { get; set; }
+        public List CorredoresNaoFinalizados
+        {
+            get
+            {
+                var corredores = _TrajetoriaFixa
+                    .Where(x => !x.Visitado)
+                    .GroupBy(x => x.idxCorredor)
+                    .Select(x => x.Key)
+                    .ToList();
+
+                return corredores;
+            }
+        }
+        private List CorredoresLarguras { get; set; }
+        public List _TrajetoriaFixa { get; set; }
+        public List TrajetoriaFixa
+        {
+            get
+            {
+                return _TrajetoriaFixa.Select(x => x.Posicao).ToList();
+            }
+        }
+        public List TrajetoriaDinamica
+        {
+            get
+            {
+                List Trajetoria = new List() { GPSService.UltimaLeitura };
+                Trajetoria.AddRange(_TrajetoriaFixa.Where(x => !x.Visitado).OrderBy(x => x.idxPonto).Select(x => x.Posicao).ToList());
+                return Trajetoria;
+            }
+        }
+        public int IdxCorredorAtual
+        {
+            get
+            {
+                return PontoAtual?.idxCorredor ?? 0;
+            }
+        }
+        public DateTime UltimaAtualizacaoDados { get; set; } = DateTime.MinValue;
+        public double DistanciaProjecaoRua { get; set; } = 0.8;
+        public static double DistanciaEntrePontos { get; set; } = 1.0;
+        public static double DistanciaEntrePontosCurva { get; set; } = 0.25;
+        private double DistanciaManobraEntreRuas { get; set; } = 3.0;
+        public GPSModel PrimeiroPontoRuaMapa
+        {
+            get
+            {
+                var Trajetoria = RuasPlantacao;
+
+                if (Trajetoria.Any(x => x.Any()) && Trajetoria.Count() > IdxCorredorAtual)
+                {
+                    var primeiroPontoRua = Trajetoria.Skip(IdxCorredorAtual).First().First();
+                    return primeiroPontoRua;
+                }
+                else
+                {
+                    return new GPSModel();
+                }
+
+            }
+        }
+        public GPSModel UltimoPontoRuaMapa
+        {
+            get
+            {
+                var Trajetoria = RuasPlantacao;
+
+                if (Trajetoria.Any(x => x.Any()) && Trajetoria.Count() > IdxCorredorAtual)
+                {
+                    var ultimoPontoRua = Trajetoria.Skip(IdxCorredorAtual).First().Last();
+                    return ultimoPontoRua;
+                }
+                else
+                {
+                    return new GPSModel();
+                }
+            }
+        }
+        public int ExtremoMaisProximoMapa
+        {
+            get
+            {
+                double distPP = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, PrimeiroPontoRuaMapa);
+                double distUP = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, UltimoPontoRuaMapa);
+
+                // 0 para mais próximo do primeiro ponto da rua (ENTRANDO)
+                // 1 para mais próximo do último ponto da rua (SAINDO)
+                return (distPP < distUP) ? 0 : 1;
+            }
+        }
+        public Enums.DirecaoCarroRua DirecaoCaminho
+        {
+            get
+            {
+                return PontoAtual?.Direcao ?? Enums.DirecaoCarroRua.Parado;
+            }
+        }
+        public double AnguloMedioCorredor
+        {
+            get
+            {
+                return GPSService.CalcularOrientacao(PontoAtual.Posicao, ProximoPonto.Posicao);
+            }
+        }
+        public double AnguloCaminho
+        {
+            get
+            {
+                GPSModel pontoComparar = ProximoPonto != null ? ProximoPonto.Posicao : PontoAtual.Posicao;
+                double angulo = GPSService.CalcularOrientacao(GPSService.UltimaLeitura, pontoComparar);
+                return angulo;
+            }
+        }
+        public double DistanciaEsquerda
+        {
+            get
+            {
+                if (IdxCorredorAtual >= Corredores.Count())
+                {
+                    return 0;
+                }
+
+                double distancia = 0;
+
+                var primeiroPontoCorredor = Corredores[IdxCorredorAtual].FirstOrDefault();
+                var pontoCorredor = _TrajetoriaFixa.FirstOrDefault(x => x.Posicao.Latitude == primeiroPontoCorredor.Latitude && x.Posicao.Longitude == primeiroPontoCorredor.Longitude);
+
+                double distPP = GPSService.DistanciaEntrePontos(pontoCorredor.Posicao, PrimeiroPontoRuaMapa);
+                double distUP = GPSService.DistanciaEntrePontos(pontoCorredor.Posicao, UltimoPontoRuaMapa);
+                int extremoInicial = (distPP < distUP) ? 0 : 1;
+
+                List rua = new List();
+
+                if (extremoInicial == 0)
+                {
+                    rua = RuasPlantacao[IdxCorredorAtual + 1];
+                }
+                else
+                {
+                    rua = RuasPlantacao[IdxCorredorAtual];
+                }
+
+                // Calcula a menor distância entre o robô e a rua selecionada
+                distancia = GPSService.CalcularMenorDistanciaAteTrecho(GPSService.UltimaLeitura, rua);
+                distancia -= (VariaveisEquipamento.LarguraEsquerda / 100.0);
+
+                return distancia;
+            }
+        }
+        public double DistanciaDireita
+        {
+            get
+            {
+                if (IdxCorredorAtual >= Corredores.Count())
+                {
+                    return 0;
+                }
+
+                double distancia = 0;
+
+                var primeiroPontoCorredor = Corredores[IdxCorredorAtual].FirstOrDefault();
+                var pontoCorredor = _TrajetoriaFixa.FirstOrDefault(x => x.Posicao.Latitude == primeiroPontoCorredor.Latitude && x.Posicao.Longitude == primeiroPontoCorredor.Longitude);
+
+                double distPP = GPSService.DistanciaEntrePontos(pontoCorredor.Posicao, PrimeiroPontoRuaMapa);
+                double distUP = GPSService.DistanciaEntrePontos(pontoCorredor.Posicao, UltimoPontoRuaMapa);
+                int extremoInicial = (distPP < distUP) ? 0 : 1;
+
+                List rua = new List();
+
+                if (extremoInicial == 0)
+                {
+                    rua = RuasPlantacao[IdxCorredorAtual];
+                }
+                else
+                {
+                    rua = RuasPlantacao[IdxCorredorAtual + 1];
+                }
+
+                // Calcula a menor distância entre o robô e a rua selecionada
+                distancia = GPSService.CalcularMenorDistanciaAteTrecho(GPSService.UltimaLeitura, rua);
+                distancia -= (VariaveisEquipamento.LarguraDireita / 100.0);
+
+                return distancia;
+            }
+        }
+
+        public PontoTrajetoriaModel PontoAtual
+        {
+            get
+            {
+                if (_TrajetoriaFixa == null)
+                {
+                    return null;
+                }
+
+                return _TrajetoriaFixa.Where(x => x.Visitado).OrderBy(x => x.idxPonto).LastOrDefault();
+            }
+        }
+        public PontoTrajetoriaModel ProximoPonto
+        {
+            get
+            {
+                if (_TrajetoriaFixa == null || !_TrajetoriaFixa.Any(x => !x.Visitado))
+                {
+                    return PontoAtual;
+                }
+
+                return _TrajetoriaFixa.Where(x => !x.Visitado).OrderBy(x => x.idxPonto).FirstOrDefault();
+            }
+        }
+        public bool NaMargemDoCorredor
+        {
+            get
+            {
+                bool naMargem = _TrajetoriaFixa.Any(x => x.NaMargem && x.PontoBorda);
+
+                return naMargem;
+            }
+        }
+        public bool DentroCorredor
+        {
+            get
+            {
+                bool pontoRua = _TrajetoriaFixa.Any(x => x.idxCorredor == IdxCorredorAtual && x.NaMargem && x.Tipo == Enums.TipoPontoRua.Rua);
+                bool pontoBorda = _TrajetoriaFixa.Any(x => x.idxCorredor == IdxCorredorAtual && x.NaMargem && x.PontoBorda);
+
+                return pontoRua || pontoBorda;
+            }
+        }
+        public bool ManobrandoEntreRuas
+        {
+            get
+            {
+                // Caso o robo esteja manobrando em direcao a uma rua, qualquer movimento feito sera considerado aproximacao do primeiro ponto da rua
+                
+                bool proximoAentrada = (ProximoPonto.PontoBorda || ProximoPonto.PontoLigacao) && ProximoPonto.DistanciaAtual < DistanciaManobraEntreRuas;
+                return (proximoAentrada && StatusAtual == StatusCarroMapa.Direcionando) || NaMargemDoCorredor;
+            }
+        }
+        private Enums.StatusCarroMapa _statusAtual = Enums.StatusCarroMapa.Parado;
+        public Enums.StatusCarroMapa StatusAtual
+        {
+            get
+            {
+                return _statusAtual;
+            }
+        }
+        
+
+
+        public double DistanciaTotal { get; private set; }
+        public double DistanciaPercorrida
+        {
+            get
+            {
+                double percorrido = GPSService.DistanciaDoTrecho(Variaveis.OperacaoEmAndamento.GPSTrajetoria);
+                return percorrido;
+            }
+        }
+        public double DistanciaRestante
+        {
+            get
+            {
+                double restante = GPSService.DistanciaDoTrecho(TrajetoriaDinamica);
+                return restante;
+            }
+        }
+
+        public string TempoEstimadoOperacao(double velocidadeSemErvas, double velocidadeComErvas)
+        {
+            // Conversão de velocidades para m/s
+            double velocidadeSemErvasMs = ((velocidadeSemErvas * 1000.0) / 3600.0) * 0.8; // 80%
+            double velocidadeComErvasMs = (velocidadeComErvas * 1000.0) / 3600.0;
+
+            // Supondo que metade do percurso tem ervas e a outra metade não tem
+            double distanciaComErvas = DistanciaTotal * VariaveisOperacao.PercentualComErvas;
+            double distanciaSemErvas = DistanciaTotal * VariaveisOperacao.PercentualSemErvas;
+
+            // Tempo em segundos para cada parte do percurso
+            double tempoSemErvas = velocidadeSemErvasMs > 0 ? distanciaSemErvas / velocidadeSemErvasMs : 0;
+            double tempoComErvas = velocidadeComErvasMs > 0 ? distanciaComErvas / velocidadeComErvasMs : 0;
+
+            // Tempo total em segundos
+            double tempoTotalSegundos = tempoSemErvas + tempoComErvas;
+
+            // Conversão para horas, minutos e segundos
+            TimeSpan tempoTotal = TimeSpan.FromSeconds(tempoTotalSegundos);
+
+            return $"{tempoTotal.Hours:D2}:{tempoTotal.Minutes:D2}:{tempoTotal.Seconds:D2}";
+        }
+
+        public string TempoEstimadoRestante()
+        {
+            // Velocidades em RPM
+            double velocidadeSemErvas = FuncoesMatematicas.CalculaVelocidadeRPM(Variaveis.OperacaoEmAndamento.Controle.RPM_Max) * 0.8;
+            double velocidadeComErvas = FuncoesMatematicas.CalculaVelocidadeRPM(Variaveis.OperacaoEmAndamento.Controle.RPM_Min);
+
+            // Conversão de velocidades para m/s
+            double velocidadeSemErvasMs = (velocidadeSemErvas * 1000) / 3600;
+            double velocidadeComErvasMs = (velocidadeComErvas * 1000) / 3600;
+
+            // Distâncias (em metros)
+            double distanciaRestante = DistanciaRestante;
+
+            // Calcular a distância restante sem ervas e com ervas
+            double distanciaSemErvasRestante = distanciaRestante * VariaveisOperacao.PercentualSemErvas;
+            double distanciaComErvasRestante = distanciaRestante * VariaveisOperacao.PercentualComErvas;
+
+            // Calcular o tempo restante para as áreas sem ervas e com ervas
+            double tempoRestanteSemErvas = distanciaSemErvasRestante / velocidadeSemErvasMs;
+            double tempoRestanteComErvas = distanciaComErvasRestante / velocidadeComErvasMs;
+
+            // Tempo total restante em segundos
+            double tempoTotalRestanteSegundos = tempoRestanteSemErvas + tempoRestanteComErvas;
+
+            // Conversão para horas, minutos e segundos
+            TimeSpan tempoTotalRestante = TimeSpan.FromSeconds(tempoTotalRestanteSegundos);
+
+            return $"{tempoTotalRestante.Hours:D2}:{tempoTotalRestante.Minutes:D2}:{tempoTotalRestante.Seconds:D2}";
+        }
+
+
+        public void LoopAtualizaDados()
+        {
+            #region ATUALIZACAO DE STATUS DO CARRO NO MAPA
+
+            bool dentroCorredor = DentroCorredor;
+            var proximoPonto = ProximoPonto;
+            var pontoAtual = PontoAtual;
+
+            Enums.StatusCarroMapa statusAtual = Enums.StatusCarroMapa.Parado;
+            if (proximoPonto != null)
+            {
+                if (!dentroCorredor && (pontoAtual.PontoLigacao || proximoPonto.PontoLigacao))
+                {
+                    statusAtual = Enums.StatusCarroMapa.Direcionando;
+                }
+                else if (_TrajetoriaFixa.Any(x => x.NaMargem && x.Tipo == Enums.TipoPontoRua.BordaEntrada))
+                {
+                    statusAtual = Enums.StatusCarroMapa.EntrandoRua;
+                }
+                else if (dentroCorredor && !NaMargemDoCorredor)
+                {
+                    statusAtual = Enums.StatusCarroMapa.CaminhandoRua;
+                }
+                else if (_TrajetoriaFixa.Any(x => x.NaMargem && x.Tipo == Enums.TipoPontoRua.BordaSaida))
+                {
+                    statusAtual = Enums.StatusCarroMapa.SaindoRua;
+                }
+                else if (!dentroCorredor && (!pontoAtual.PontoLigacao && !proximoPonto.PontoLigacao))
+                {
+                    statusAtual = Enums.StatusCarroMapa.Manobrando;
+                }
+            }
+            _statusAtual = statusAtual;
+            #endregion
+
+            #region PONTO ATUAL
+
+            double dt = Math.Min((1.0 / GPSService.TaxaAmostragemHz), (UltimaAtualizacaoDados - GPSService.UltimaLeitura.Momento).TotalSeconds);
+
+            if (_TrajetoriaFixa.Any(x => x.NaMargem && !x.Visitado))
+            {
+                double velocidadeCarroMs = FuncoesMatematicas.CalculaVelocidadeMsPercentual(Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeSP);
+
+                // Distância máxima percorrida entre leituras
+                double distanciaMaxima = (velocidadeCarroMs / GPSService.TaxaAmostragemHz);
+
+                double distanciaEntrePontos = PontoAtual.Tipo == TipoPontoRua.CruvaEntreCorredores ? DistanciaEntrePontosCurva : DistanciaEntrePontos;
+
+                // Quantidade de pontos que podem ser cobertos na margem
+                int pontosCobertos = (int)Math.Ceiling(distanciaMaxima / distanciaEntrePontos) * 2;
+
+                // Marcar como visitados todos os pontos dentro da margem
+                double limiteDistancia = pontosCobertos * distanciaEntrePontos;
+
+
+                var _trajetoriaFixa = _TrajetoriaFixa.Where(x => !x.Visitado).Take(pontosCobertos).ToList();
+
+                foreach (var ponto in _trajetoriaFixa.Where(x => x.NaMargem))
+                {
+                    if (ponto.DistanciaTrajeto <= limiteDistancia)
+                    {
+                        ponto.Visitado = true;
+                    }
+                }
+            }
+
+            UltimaAtualizacaoDados = GPSService.UltimaLeitura.Momento;
+
+            #endregion
+
+            Variaveis.OperacaoEmAndamento.AtualizaInformacoesControleOperacao();
+
+            GPSService.AtualizarTrajetoriaDinamica();
+        }
+
+        private (List>, List) ProjetarCorredores()
+        {
+            var corredores = new List>();
+            var larguras = new List();
+
+            for (int i = 0; i < RuasPlantacao.Count - 1; i++)
+            {
+                var rua1 = RuasPlantacao[i];
+                var rua2 = RuasPlantacao[i + 1];
+
+                // Garantir que as ruas tenham o mesmo número de pontos
+                if (rua1.Count != rua2.Count)
+                {
+                    if (rua1.Count > rua2.Count)
+                    {
+                        rua2 = GPSService.InterpolarRota(rua2, rua1.Count);
+                    }
+                    else
+                    {
+                        rua1 = GPSService.InterpolarRota(rua1, rua2.Count);
+                    }
+                }
+
+                var corredor = new List();
+
+                // Calcular pontos médios entre as duas ruas e interpolar a cada 25 cm
+                for (int j = 0; j < rua1.Count - 1; j++)
+                {
+                    var ponto1Rua1 = rua1[j];
+                    var ponto2Rua1 = rua1[j + 1];
+                    var ponto1Rua2 = rua2[j];
+                    var ponto2Rua2 = rua2[j + 1];
+
+                    var pontoMedioInicial = GPSService.PontoMedio(ponto1Rua1, ponto1Rua2);
+                    var pontoMedioFinal = GPSService.PontoMedio(ponto2Rua1, ponto2Rua2);
+
+                    var distancia = GPSService.DistanciaEntrePontos(pontoMedioInicial, pontoMedioFinal);
+
+                    int numInterpolacoes = (int)(distancia / DistanciaEntrePontos);
+
+                    for (int k = 0; k <= numInterpolacoes; k++)
+                    {
+                        double t = k / (double)numInterpolacoes;
+                        var pontoInterpolado = GPSService.InterpolarPonto(pontoMedioInicial, pontoMedioFinal, t);
+                        corredor.Add(pontoInterpolado);
+                    }
+                }
+
+                // Remover pontos que estão a menos de 25 cm de distância
+                corredor = RemoverPontosMuitoProximos(corredor, DistanciaEntrePontos);
+
+                // Calcular largura média entre as duas ruas
+                double larguraCorredor = CalcularLarguraMediaDoCorredor(rua1, rua2);
+
+                corredores.Add(corredor);
+                larguras.Add(larguraCorredor);
+            }
+
+            return (corredores, larguras);
+        }
+
+        // Método auxiliar para remover pontos muito próximos
+        private List RemoverPontosMuitoProximos(List pontos, double distanciaMinima)
+        {
+            if (pontos == null || pontos.Count == 0)
+                return pontos;
+
+            var resultado = new List { pontos[0] }; // Sempre incluir o primeiro ponto
+
+            for (int i = 1; i < pontos.Count; i++)
+            {
+                var distancia = GPSService.DistanciaEntrePontos(resultado.Last(), pontos[i]);
+                if (distancia >= distanciaMinima)
+                {
+                    resultado.Add(pontos[i]);
+                }
+            }
+
+            return resultado;
+        }
+
+
+        public static double CalcularLarguraMediaDoCorredor(List rua1, List rua2)
+        {
+            // 1. Interpolar as duas ruas para garantir pontos uniformemente distribuídos
+            List rua1Interpolada = GPSService.InterpolarRota(rua1, Convert.ToInt32(GPSService.DistanciaDoTrecho(rua1)));
+            List rua2Interpolada = GPSService.InterpolarRota(rua2, Convert.ToInt32(GPSService.DistanciaDoTrecho(rua2)));
+
+            double somaDistancias = 0;
+            int totalPontos = 0;
+
+            // 2. Para cada ponto da rua1 interpolada, encontrar o mais próximo na rua2 interpolada
+            foreach (var ponto1 in rua1Interpolada)
+            {
+                var pontoMaisProximo = rua2Interpolada.OrderBy(ponto2 => GPSService.DistanciaEntrePontos(ponto1, ponto2)).First();
+
+                double distancia = GPSService.DistanciaEntrePontos(ponto1, pontoMaisProximo);
+
+                somaDistancias += distancia;
+                totalPontos++;
+            }
+
+            // 3. Retorna a largura média do corredor
+            return totalPontos > 0 ? somaDistancias / totalPontos : 0;
+        }
+
+        public double DistanciaEntreRuas(List> ruas)
+        {
+            double distanciaTotal = 0;
+
+            if (ruas.Count < 2)
+            {
+                // Se houver menos de duas ruas, não há distância a calcular
+                return distanciaTotal;
+            }
+
+            double menorDistancia = double.MaxValue;
+
+            for (int i = 0; i < ruas.Count - 1; i++)
+            {
+                List ruaAtual = ruas[i];
+                List proximaRua = ruas[i + 1];
+
+                // Calcule a distância entre as duas ruas (rua atual e próxima rua)
+                // Aqui você pode usar o método GPSService.CalcularDistanciaPontos
+                // ou uma função personalizada para calcular a distância entre as ruas
+
+
+                foreach (GPSModel pontoAtual in ruaAtual)
+                {
+                    foreach (GPSModel pontoProxima in proximaRua)
+                    {
+                        // Calcular a distância entre pontoAtual e pontoProxima
+                        double distancia = GPSService.DistanciaEntrePontos(pontoAtual, pontoProxima);
+
+                        // Verifique se esta é a menor distância
+                        if (distancia < menorDistancia)
+                        {
+                            menorDistancia = distancia;
+                        }
+                    }
+                }
+
+                // Adiciona a menor distância encontrada à distância total
+                distanciaTotal += menorDistancia;
+            }
+
+            double distanciaMedia = distanciaTotal / ruas.Count();
+
+            return menorDistancia;
+        }
+
+       
+
+
+
+        public List ProjetarTrajetoriaFixa()
+        {
+            List _trajetoriaFixa = new List();
+            (Corredores, CorredoresLarguras) = ProjetarCorredores();
+
+            double larguraCorredorPadrao = 1.5;
+            Enums.DirecaoCarroRua direcaoAtual = ExtremoMaisProximoMapa == 0 ? Enums.DirecaoCarroRua.Ida : Enums.DirecaoCarroRua.Volta;
+
+            PontoTrajetoriaModel PontoRobo = new PontoTrajetoriaModel()
+            {
+                idxCorredor = 0,
+                idxPonto = _trajetoriaFixa.Count(),
+                idxPontoCorredor = 0,
+                Posicao = GPSService.UltimaLeitura,
+                Direcao = direcaoAtual,
+                Tipo = Enums.TipoPontoRua.PosicaoRobo,
+                Orientacao = 0,
+                Visitado = true,
+                LarguraCorredor = 1.0
+            };
+            _trajetoriaFixa.Add(PontoRobo);
+
+            for (int idx = 0; idx < Corredores.Count(); idx++) 
+            {
+                List CorredorAtual = Corredores[idx];
+
+                if (idx % 2 != 0)
+                {
+                    CorredorAtual.Reverse();
+                }
+
+                double anguloProjetar1 = GPSService.CalcularOrientacao(CorredorAtual.Skip(1).First(), CorredorAtual.First());
+                GPSModel PrimeiroPonto = GPSService.ProjetarPontoDeslocado(CorredorAtual.First(), DistanciaProjecaoRua, anguloProjetar1);
+                double anguloProjetar2 = GPSService.CalcularOrientacao(CorredorAtual.Skip(CorredorAtual.Count() - 2).First(), CorredorAtual.Last());
+                GPSModel UltimoPonto = GPSService.ProjetarPontoDeslocado(CorredorAtual.Last(), DistanciaProjecaoRua, anguloProjetar2);
+
+                var ultimoPontoTrajetoria = _trajetoriaFixa.LastOrDefault();
+
+                PontoTrajetoriaModel PontoInicial = new PontoTrajetoriaModel()
+                {
+                    idxCorredor = idx,
+                    idxPonto = _trajetoriaFixa.Count(), 
+                    idxPontoCorredor = _trajetoriaFixa.Count(x => x.idxCorredor == idx),
+                    Posicao = PrimeiroPonto, 
+                    Direcao = direcaoAtual, 
+                    Tipo = Enums.TipoPontoRua.LigacaoEntrada,
+                    Orientacao = GPSService.CalcularOrientacao(ultimoPontoTrajetoria.Posicao, PrimeiroPonto),
+                    Visitado = false, 
+                    LarguraCorredor = larguraCorredorPadrao
+                };
+
+                bool PontoInicialAdicionado = false;
+                // Criar curva suave para ligacao dos corredores
+                if (idx > 0)
+                {
+                    // Verifica se a distância entre o ultimo ponto da rua anterior e o primeiro ponto da nova rua é curto o bastante para gerar a curva de manobra
+                    double distancia = GPSService.DistanciaEntrePontos(ultimoPontoTrajetoria.Posicao, PontoInicial.Posicao);
+                    bool distanciaMinima = distancia < DistanciaManobraEntreRuas;
+
+                    if (distanciaMinima)
+                    {
+                        int pontosAdicionr = Convert.ToInt32(CorredoresLarguras[idx] / DistanciaEntrePontosCurva);
+                        bool CurvaParaEsquerda = (ExtremoMaisProximoMapa == 0 && direcaoAtual == DirecaoCarroRua.Volta) || (ExtremoMaisProximoMapa == 1 && direcaoAtual == DirecaoCarroRua.Ida);
+                        GPSModel P0 = CalcularPontoControle(_trajetoriaFixa[_trajetoriaFixa.Count() - 2].Posicao, ultimoPontoTrajetoria.Posicao, PrimeiroPonto, DistanciaProjecaoRua);
+                        List CurvaConexao = GerarCurvaConexao(ultimoPontoTrajetoria.Posicao, PrimeiroPonto, P0, pontosAdicionr);
+
+                        foreach (var ponto in CurvaConexao)
+                        {
+                            _trajetoriaFixa.Add(new PontoTrajetoriaModel()
+                            {
+                                idxCorredor = idx,
+                                idxPonto = _trajetoriaFixa.Count(),
+                                idxPontoCorredor = _trajetoriaFixa.Count(x => x.idxCorredor == idx),
+                                Posicao = ponto,
+                                Direcao = DirecaoCarroRua.Manobra,
+                                Tipo = Enums.TipoPontoRua.CruvaEntreCorredores,
+                                Orientacao = GPSService.CalcularOrientacao(_trajetoriaFixa.Last().Posicao, ponto),
+                                Visitado = false,
+                                LarguraCorredor = larguraCorredorPadrao
+                            });
+                        }
+                        PontoInicialAdicionado = true;
+                    }
+                }
+
+                if (!PontoInicialAdicionado)
+                {
+                    _trajetoriaFixa.Add(PontoInicial);
+                }
+
+                foreach (GPSModel pontoAtual in CorredorAtual)
+                {
+                    int idxPonto = CorredorAtual.IndexOf(pontoAtual);
+                    bool bordaEntrada = idxPonto == 0;
+                    bool bordaSaida = idxPonto == CorredorAtual.Count() - 1;
+
+                    PontoTrajetoriaModel PontoTrajetoria = new PontoTrajetoriaModel()
+                    {
+                        idxCorredor = idx,
+                        idxPonto = _trajetoriaFixa.Count(),
+                        idxPontoCorredor = _trajetoriaFixa.Count(x => x.idxCorredor == idx),
+                        Posicao = pontoAtual,
+                        Direcao = direcaoAtual,
+                        Tipo = bordaEntrada ? Enums.TipoPontoRua.BordaEntrada : bordaSaida ? Enums.TipoPontoRua.BordaSaida : Enums.TipoPontoRua.Rua,
+                        Orientacao = GPSService.CalcularOrientacao(_trajetoriaFixa.Last().Posicao, pontoAtual),
+                        Visitado = false,
+                        LarguraCorredor = CorredoresLarguras[idx]
+                    };
+
+                    _trajetoriaFixa.Add(PontoTrajetoria);
+                }
+
+                PontoTrajetoriaModel PontoFinal = new PontoTrajetoriaModel()
+                {
+                    idxCorredor = idx,
+                    idxPonto = _trajetoriaFixa.Count(),
+                    idxPontoCorredor = _trajetoriaFixa.Count(x => x.idxCorredor == idx),
+                    Posicao = UltimoPonto,
+                    Direcao = direcaoAtual,
+                    Tipo = Enums.TipoPontoRua.LigacaoSaida,
+                    Orientacao = GPSService.CalcularOrientacao(_trajetoriaFixa.Last().Posicao, UltimoPonto),
+                    Visitado = false,
+                    LarguraCorredor = larguraCorredorPadrao
+                };
+                _trajetoriaFixa.Add(PontoFinal);
+
+                direcaoAtual = direcaoAtual == Enums.DirecaoCarroRua.Ida ? Enums.DirecaoCarroRua.Volta : Enums.DirecaoCarroRua.Ida;
+            }
+
+            _TrajetoriaFixa = new List(_trajetoriaFixa);
+
+            DistanciaTotal = GPSService.DistanciaDoTrecho(_trajetoriaFixa.Select(x => x.Posicao).ToList());
+
+            return _TrajetoriaFixa;
+        }
+
+        public static GPSModel CalcularPontoControle(GPSModel penultimoPontoRuaAtual, GPSModel ultimoPontoRuaAtual, GPSModel primeiroPontoProximaRua, double distancia)
+        {
+            double anguloCurva = GPSService.CalcularOrientacao(penultimoPontoRuaAtual, ultimoPontoRuaAtual);
+            double angulo = GPSService.CalcularOrientacao(ultimoPontoRuaAtual, primeiroPontoProximaRua);
+            double lat = (ultimoPontoRuaAtual.Latitude + primeiroPontoProximaRua.Latitude) / 2;
+            double lon = (ultimoPontoRuaAtual.Longitude + primeiroPontoProximaRua.Longitude) / 2;
+            GPSModel pontoMedio = new GPSModel()
+            {
+                Latitude = lat,
+                Longitude = lon,
+            };
+
+            bool ParaDentro = (angulo - anguloCurva) > 0;
+
+            // Ajuste o ângulo com base na direção da curva
+            double ajusteAngulo = (ParaDentro ? 270 : 90);
+
+            // Projetar um ponto a uma certa distância na direção ajustada
+            return GPSService.ProjetarPontoDeslocado(pontoMedio, distancia, angulo + ajusteAngulo);
+        }
+
+        public static List GerarCurvaConexao(GPSModel ultimoPontoRuaAtual, GPSModel primeiroPontoProximaRua, GPSModel pontoControle, int numeroPontos)
+        {
+            List pontosCurva = new List();
+            for (int i = 0; i <= numeroPontos; i++)
+            {
+                double t = i / (double)numeroPontos;
+                pontosCurva.Add(CalcularBezierQuadratica(ultimoPontoRuaAtual, pontoControle, primeiroPontoProximaRua, t));
+            }
+            return pontosCurva;
+        }
+
+        public static GPSModel CalcularBezierQuadratica(GPSModel p0, GPSModel p1, GPSModel p2, double t)
+        {
+            double x = Math.Pow(1 - t, 2) * p0.Latitude + 2 * (1 - t) * t * p1.Latitude + Math.Pow(t, 2) * p2.Latitude;
+            double y = Math.Pow(1 - t, 2) * p0.Longitude + 2 * (1 - t) * t * p1.Longitude + Math.Pow(t, 2) * p2.Longitude;
+            return new GPSModel { Latitude = x, Longitude = y };
+        }
+
+
+        public void AjustarTrajetoriaParaDesvio(Obstaculo obstaculo)
+        {
+            GPSModel posicaoAtual = GPSService.UltimaLeitura;
+
+            double distanciaObstaculo = ((double)obstaculo.DistanciaMedia_mm / 1000);
+            double larguraObstaculo = ((double)obstaculo.Largura_mm / 1000);
+            double anguloCaminho = AnguloCaminho;
+            double anguloDesvioInicial = anguloCaminho + obstaculo.AnguloParaDesvio;
+            double anguloDesvioFinal = anguloCaminho - obstaculo.AnguloParaDesvio;
+
+            GPSModel ponto1 = GPSService.GerarPontoDeslocado(posicaoAtual, anguloDesvioInicial, distanciaObstaculo);
+            GPSModel ponto2 = GPSService.GerarPontoDeslocado(ponto1, anguloCaminho, larguraObstaculo);
+            GPSModel ponto3 = GPSService.GerarPontoDeslocado(ponto2, anguloDesvioFinal, distanciaObstaculo);
+            List lista = new List()
+            {
+                ponto1,
+                ponto2,
+                ponto3
+            };
+
+            var idxRemover = EncontrarIndiceFinalDesvio(TrajetoriaDinamica, ponto3, distanciaObstaculo);
+            TrajetoriaDinamica.RemoveRange(1, idxRemover);
+            TrajetoriaDinamica.InsertRange(1, lista);
+        }
+
+        private int EncontrarIndiceFinalDesvio(List trajetoria, GPSModel ultimoWaypointDesvio, double distanciaSeguranca)
+        {
+            // Encontrar o índice do waypoint que está imediatamente após o retorno do desvio
+            // Este é um método simplificado. A lógica exata pode variar dependendo da precisão necessária.
+            double distanciaAnterior = 0;
+            for (int i = 0; i < trajetoria.Count; i++)
+            {
+                double distancia = GPSService.DistanciaEntrePontos(trajetoria[i], ultimoWaypointDesvio);
+                bool aumentando = distancia > distanciaAnterior;
+                distanciaAnterior = distancia;
+                if (distancia < distanciaSeguranca)
+                {
+                    if (aumentando)
+                    {
+                        return i;
+                    }
+                }
+            }
+            return 0; // Se não encontrar, assuma o último waypoint
+        }
+
+    }
+
+    public class PontoTrajetoriaModel
+    {
+        public int idxCorredor {  get; set; }
+        public int idxPonto {  get; set; }
+        public int idxPontoCorredor {  get; set; }
+        public GPSModel Posicao { get; set; }
+        public double Orientacao { get; set; }
+        public Enums.DirecaoCarroRua Direcao { get; set; }
+        public double DistanciaTrajeto
+        {
+            get
+            {
+                var pontoAtual = Variaveis.OperacaoEmAndamento.Trajetoria.PontoAtual;
+                int idxPontoAtual = pontoAtual.idxPonto;
+                int qtdPontos = idxPonto - idxPontoAtual;
+                double distancia = 0;
+                if (qtdPontos == 1)
+                {
+                    distancia = pontoAtual.DistanciaAtual;
+                }
+                else
+                {
+                    distancia = GPSService.DistanciaDoTrecho(Variaveis.OperacaoEmAndamento.Trajetoria.TrajetoriaFixa.Skip(idxPontoAtual).ToList().Take(qtdPontos).ToList());
+                }
+                double ditanciaP0 = pontoAtual.Aproximando ? pontoAtual.DistanciaAtual : -pontoAtual.DistanciaAtual;
+                distancia += ditanciaP0;
+
+                return distancia;
+            }
+        }
+        public double DistanciaAtual
+        {
+            get
+            {
+                double Ditancia = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, Posicao);
+                return Ditancia;
+            }
+        }
+        public double DistanciaAnterior
+        {
+            get
+            {
+                double Ditancia = GPSService.DistanciaEntrePontos(GPSService.PenultimaLeitura, Posicao);
+                return Ditancia;
+            }
+        }
+        public bool Aproximando
+        {
+            get
+            {
+                double OrientacaoAtual = GPSService.CalcularOrientacao(GPSService.UltimaLeitura, Posicao);
+                double OrientacaoAnterior = GPSService.CalcularOrientacao(GPSService.PenultimaLeitura, Posicao);
+                double Dif = Math.Abs(OrientacaoAtual - OrientacaoAnterior);
+                bool SeAproximando = (Dif <= 10.0 && DistanciaAtual < DistanciaAnterior); // Mesma orientacao entre as leituras de posicao do robo e a distancia atual for maior que a distancia anterior
+                bool PassouPeloPonto = Dif >= 90.0; // Se a orientacao entre a posicao atual do robo em relacao ao ponto for muito grande, indica que o sentido esta oposto, entao o ponto esta entre as posicoes atual e anterior
+
+                return SeAproximando && !PassouPeloPonto;
+            }
+        }
+        public double LarguraCorredor { get; set; }
+        public bool NaMargem
+        {
+            get
+            {
+                bool DentroDaMargem = DistanciaAtual < (LarguraCorredor / 1.2);
+                return DentroDaMargem;
+            }
+        }
+        public bool Visitado { get; set; } = false;
+        public Enums.TipoPontoRua Tipo { get; set; }
+        public bool PontoBorda
+        {
+            get
+            {
+                return Tipo == Enums.TipoPontoRua.BordaEntrada || Tipo == Enums.TipoPontoRua.BordaSaida;
+            }
+        }
+        public bool PontoLigacao
+        {
+            get
+            {
+                return Tipo == Enums.TipoPontoRua.LigacaoEntrada || Tipo == Enums.TipoPontoRua.LigacaoSaida;
+            }
+        }
+    }
+}
diff --git a/AgroBase/AgroBase/Models/TreinamentoIAModel.cs b/AgroBase/AgroBase/Models/TreinamentoIAModel.cs
new file mode 100644
index 000000000..141320d60
--- /dev/null
+++ b/AgroBase/AgroBase/Models/TreinamentoIAModel.cs
@@ -0,0 +1,243 @@
+using AgroBase.Services;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+
+namespace AgroBase.Models
+{
+    public class TreinamentoIAModel
+    {
+        public RobotState Current_State { get; set; } = new RobotState();
+        public void UpdateCurrentRobotState()
+        {
+            List ProximosPontos = new List();
+            var Trajetoria = Variaveis.OperacaoEmAndamento.Trajetoria;
+
+            GPSModel PosicaoAtual = new GPSModel()
+            {
+                Latitude = Current_State.Position.Latitude,
+                Longitude = Current_State.Position.Longitude,
+                CursoVerdadeiro = Current_State.Position.Orientation
+            };
+
+            ProximosPontos = Trajetoria.TrajetoriaDinamica
+                .Skip(Trajetoria.ProximoPonto.idxPonto)
+                .Take(10)
+                .Select(x =>
+                {
+                    var Ponto = Trajetoria._TrajetoriaFixa.First(y => y.Posicao.Latitude == x.Latitude && y.Posicao.Longitude == x.Longitude);
+
+                    return new NextPoint
+                    {
+                        Distance = Ponto.DistanciaTrajeto,
+                        EstimatedTime = Current_State.Control.Speed > 0 ? Ponto.DistanciaTrajeto / Current_State.Control.Speed : 999999,
+                        Latitude = x.Latitude,
+                        Longitude = x.Longitude,
+                        Orientation = GPSService.CalcularOrientacao(PosicaoAtual, x),
+                        Approaching = Ponto.Aproximando
+                    };
+                })
+                .ToList();
+
+            Current_State.Timestamp = DateTime.Now;
+            Current_State.Status = Variaveis.OperacaoEmAndamento.Trajetoria.StatusAtual;
+            Current_State.Street = new StreetStatus()
+            {
+                Orientation = Variaveis.OperacaoEmAndamento.Trajetoria.AnguloCaminho,
+                EdgeStreet = Variaveis.OperacaoEmAndamento.Trajetoria.NaMargemDoCorredor,
+                InsideStreet = Variaveis.OperacaoEmAndamento.Trajetoria.DentroCorredor,
+                Street_End_Position = new Position()
+                {
+                    Latitude = Trajetoria.Corredores.LastOrDefault()?.LastOrDefault().Latitude ?? Current_State.Position.Latitude, 
+                    Longitude = Trajetoria.Corredores.LastOrDefault()?.LastOrDefault().Longitude ?? Current_State.Position.Longitude
+                }
+            };
+            Current_State.DistanceToEdges.Right = Variaveis.OperacaoEmAndamento.Trajetoria.DistanciaDireita;
+            Current_State.DistanceToEdges.Left = Variaveis.OperacaoEmAndamento.Trajetoria.DistanciaEsquerda;
+            Current_State.NextPoints = ProximosPontos;
+            Current_State.Obstacles = new List();
+        }
+        public RobotState PrevioustState { get; set; } = new RobotState();
+        public void SavePreviousState()
+        {
+            RobotState previous = new RobotState()
+            {
+                Control = new RobotControl()
+                {
+                    Speed = Current_State.Control.Speed,
+                    MovementType = Current_State.Control.MovementType,
+                    Angle = Current_State.Control.Angle
+                },
+                DistanceToEdges = new DistanceToEdges()
+                {
+                    Left = Current_State.DistanceToEdges.Left,
+                    Right = Current_State.DistanceToEdges.Right
+                },
+                NextPoints = new List(Current_State.NextPoints),
+                Obstacles = new List(Current_State.Obstacles), 
+                Position = new Position()
+                {
+                    Latitude = Current_State.Position.Latitude, 
+                    Longitude = Current_State.Position.Longitude, 
+                    Orientation = Current_State.Position.Orientation
+                }, 
+                Status = Current_State.Status,
+                Street = new StreetStatus()
+                {
+                    EdgeStreet = Current_State.Street.EdgeStreet, 
+                    Orientation = Current_State.Street.Orientation, 
+                    InsideStreet = Current_State.Street.InsideStreet
+                },
+                Timestamp = Current_State.Timestamp,
+            };
+
+            PrevioustState = previous;
+
+            UpdateDeltas();
+        }
+        public RobotDeltas Deltas { get; set; } = new RobotDeltas();
+        public void UpdateDeltas()
+        {
+            if (Current_State != null && Current_State.Timestamp > DateTime.MinValue && PrevioustState != null && PrevioustState.Timestamp > DateTime.MinValue)
+            {
+                var deltaLatitude = Current_State.Position.Latitude - PrevioustState.Position.Latitude;
+                var deltaLongitude = Current_State.Position.Longitude - PrevioustState.Position.Longitude;
+                var deltaPositionDistance = (Current_State.NextPoints.FirstOrDefault()?.Distance - PrevioustState.NextPoints.FirstOrDefault()?.Distance) ?? 0;
+
+                Deltas = new RobotDeltas()
+                {
+                    PositionDelta = new PositionDelta()
+                    {
+                        DeltaLatitude = deltaLatitude,
+                        DeltaLongitude = deltaLongitude,
+                        DeltaPositionDistance = deltaPositionDistance
+                    },
+                    DeltaAngle = Current_State.Control.Angle - PrevioustState.Control.Angle,
+                    DeltaSpeed = Current_State.Control.Speed - PrevioustState.Control.Speed,
+                    DeltaOrientation = GPSService.NormalizarAngulo(Current_State.Position.Orientation - PrevioustState.Position.Orientation),
+                    DeltaDistanceToEdgesLeft = Current_State.DistanceToEdges?.Left - PrevioustState.DistanceToEdges?.Left ?? 0,
+                    DeltaDistanceToEdgesRight = Current_State.DistanceToEdges?.Right - PrevioustState.DistanceToEdges?.Right ?? 0,
+                    DeltaTimestamp = (Current_State.Timestamp - PrevioustState.Timestamp).TotalSeconds
+                };
+            }
+            else
+            {
+                Deltas = new RobotDeltas();
+            }
+        }
+        public List PositionHistory { get; set; } = new List();
+        public void AddPosition(Position position)
+        {
+            PositionHistory.Add(position);
+
+            // Limitar o número de posições armazenadas
+            if (PositionHistory.Count > 10) // Por exemplo, mantenha as últimas 10 posições
+            {
+                PositionHistory.RemoveAt(0); // Remove a posição mais antiga
+            }
+
+            Current_State.Position = new Position()
+            {
+                Latitude = position.Latitude,
+                Longitude = position.Longitude,
+                Orientation = position.Orientation
+            };
+        }
+        public List LastControls { get; set; } = new List();
+        public void AddControl(RobotControl control)
+        {
+            LastControls.Add(control);
+
+            // Limitar o número de controles armazenados
+            if (LastControls.Count > 5)
+            {
+                LastControls.RemoveAt(0); // Remove o controle mais antigo
+            }
+
+            Current_State.Control = new RobotControl()
+            {
+                Angle = control.Angle,
+                MovementType = control.MovementType == Enums.TipoMovimentoDirecional.RodasTraseiras ? Enums.TipoMovimentoDirecional.MovimentoArco : Enums.TipoMovimentoDirecional.RodasDianteiras,
+                Speed = Variaveis.OperacaoEmAndamento.SimulacaoRpmControle
+            };
+        }
+    }
+
+    public class RobotState
+    {
+        public Enums.StatusCarroMapa Status { get; set; }
+        public Position Position { get; set; } = new Position();
+        public StreetStatus Street { get; set; } = new StreetStatus();
+        public RobotControl Control { get; set; } = new RobotControl();
+        public DistanceToEdges DistanceToEdges { get; set; } = new DistanceToEdges();
+        public List Obstacles { get; set; } = new List();
+        public List NextPoints { get; set; } = new List();
+        public DateTime Timestamp { get; set; } = DateTime.MinValue;
+    }
+
+    public class Position
+    {
+        public double Latitude { get; set; }
+        public double Longitude { get; set; }
+        public double Orientation { get; set; }
+    }
+
+    public class StreetStatus
+    {
+        public bool InsideStreet { get; set; } // se o robo estiver dentro do corredor
+        public bool EdgeStreet { get; set; } // se o robo estiver proximo as margens de entrada ou saida de um corredor
+        public double Orientation { get; set; } // angulo medio formado entre os pontos da rua
+        public Position Street_End_Position { get; set; } = new Position(); // ultimo ponto da rua
+    }
+
+    public class RobotControl
+    {
+        public double Speed { get; set; } // velocidade em m/s
+        public double Angle { get; set; } // angulo do controle direcional
+        public Enums.TipoMovimentoDirecional MovementType { get; set; }
+        public bool Reset { get; set; }
+    }
+
+    public class DistanceToEdges
+    {
+        public double Left { get; set; } // distancia ate a borda esquerda em metros
+        public double Right { get; set; } // distancia ate a borda direita em metros
+    }
+
+    public class RobotObstacle
+    {
+        public double Distance { get; set; } // distancia do obstaculo em metros
+        public double Width { get; set; } // largura do obstaculo na tela em px
+        public double SidePercentual { get; set; } // 0 - mais para a esuqerda ; 100 - mais para a direita
+    }
+
+    public class NextPoint
+    {
+        public double Latitude { get; set; }
+        public double Longitude { get; set; }
+        public double Orientation { get; set; } // orientacao entre a posicao atual do robo ate esse ponto
+        public double Distance { get; set; } // distancia entre a posicao atual do robo ate esse ponto
+        public double EstimatedTime { get; set; } // tempo estimado ate o robo alcancar esse ponto
+        public bool Approaching { get; set; }
+    }
+
+    public class RobotDeltas
+    {
+        public PositionDelta PositionDelta { get; set; } = new PositionDelta(); // Diferenças de posição
+        public double DeltaSpeed { get; set; } // Diferença de velocidade
+        public double DeltaAngle { get; set; } // Diferença no ângulo direcional
+        public double DeltaOrientation { get; set; } // Diferença na orientação do robô
+        public double DeltaDistanceToEdgesLeft { get; set; } // Variação da distância à borda esquerda
+        public double DeltaDistanceToEdgesRight { get; set; } // Variação da distância à borda direita
+        public double DeltaTimestamp { get; set; } // Variação de tempo entre estados
+    }
+
+    public class PositionDelta
+    {
+        public double DeltaLatitude { get; set; } // Diferença de latitude
+        public double DeltaLongitude { get; set; } // Diferença de longitude
+        public double DeltaPositionDistance { get; set; } // Distância linear entre os dois estados
+    }
+
+
+}
diff --git a/AgroBase/AgroBase/Models/Variaveis.cs b/AgroBase/AgroBase/Models/Variaveis.cs
index edbbe16a1..55089f4b8 100644
--- a/AgroBase/AgroBase/Models/Variaveis.cs
+++ b/AgroBase/AgroBase/Models/Variaveis.cs
@@ -72,10 +72,11 @@ namespace AgroBase.Models
 
     public static class VariaveisEquipamento
     {
-        public static double LarguraEsquerda { get; } = 60;
-        public static double LarguraDireita { get; } = 25;
-        public static double ComprimentoFrente { get; } = 35;
-        public static double ComprimentoTras { get; } = 90;
+        public static double LarguraEsquerda { get; } = 42;
+        public static double LarguraDireita { get; } = 42;
+        public static double ComprimentoFrente { get; } = 62;
+        public static double ComprimentoTras { get; } = 62;
+        public static double DistanciaEntreEixos { get; } = 92;
         public static double LarguraEquipamentoMm
         {
             get
@@ -132,6 +133,13 @@ namespace AgroBase.Models
             }
         }
         public static int TempoEntrePingsConexao { get; set; } = 10000;
+        public static int TempoMaximoSalvarLogs
+        {
+            get
+            {
+                return TempoEntrePingsConexao * 2;
+            }
+        }
         public static Dictionary AnguloFreio { get; } = new Dictionary()
         {
             { AcaoFreio.Ativar, 15 },
@@ -227,6 +235,84 @@ namespace AgroBase.Models
         }
 
 
+        public static GPSModel SimularNovaPosicao(TipoMovimentoDirecional tipoMovimento, double anguloControle, double velocidadeMs, double tempoDelta, double anguloAtual, GPSModel PosicaoAtual)
+        {
+            // Converte o ângulo de controle para radianos
+            double anguloControleRad = anguloControle * (Math.PI / 180.0);
+
+            // Evita divisão por zero (caso o ângulo seja muito pequeno)
+            double R = Math.Abs(anguloControleRad) < 0.01 ? 99999 : (DistanciaEntreEixos / 100.0) / Math.Tan(anguloControleRad);
+
+            // Ajusta o raio de curva de acordo com o tipo de movimento
+            switch (tipoMovimento)
+            {
+                case TipoMovimentoDirecional.RodasDianteiras:
+                    // Apenas as rodas dianteiras viram -> usa o raio padrão
+                    break;
+
+                case TipoMovimentoDirecional.RodasTraseiras:
+                    // Apenas as rodas traseiras viram -> mesmo efeito que as dianteiras
+                    break;
+
+                case TipoMovimentoDirecional.MovimentoArco:
+                    // Rodas dianteiras e traseiras viram em sentidos opostos, reduzindo muito o raio
+                    R *= 0.5; // Reduz o raio pela metade para uma curva mais fechada
+                    break;
+
+                case TipoMovimentoDirecional.MovimentoDiagonal:
+                    // Todas as rodas viram na mesma direção, o robô desliza sem mudar a frente
+                    // Isso significa que o ângulo do robô **não muda** ao longo do tempo
+                    //return anguloAtual; // Mantém a orientação original
+                    break;
+            }
+
+            // Calcula a rotação angular com base na velocidade e no raio
+            double omega = velocidadeMs / R;
+
+            // Calcula a variação angular no tempo (em radianos)
+            double deltaTheta = omega * tempoDelta;
+
+            // Converte para graus e atualiza a orientação do robô
+            double novoAngulo = GPSService.NormalizarAngulo(anguloAtual + (deltaTheta * (180.0 / Math.PI)));
+
+
+
+            // Calcula a distância com base no tempo passado (em segundos)
+            double distancia = velocidadeMs * tempoDelta;
+
+            double latitude = PosicaoAtual.Latitude;
+            double longitude = PosicaoAtual.Longitude;
+
+            // Conversão de ângulo de graus para radianos
+            double anguloRad = anguloAtual * (Math.PI / 180);
+
+            // Raio da Terra em metros
+            double raioTerra = GPSService.RaioDaTerra;
+
+            // Calcular deslocamento de latitude em radianos
+            double deltaLat = distancia * Math.Cos(anguloRad) / raioTerra;
+            // Converter de radianos para graus
+            double _latAtt = latitude + deltaLat * (180 / Math.PI);
+
+            // Calcular deslocamento de longitude em radianos
+            double deltaLong = distancia * Math.Sin(anguloRad) / (raioTerra * Math.Cos(latitude * (Math.PI / 180)));
+            // Converter de radianos para graus
+            double _longAtt = longitude + deltaLong * (180 / Math.PI);
+
+            GPSModel novoPonto = new GPSModel()
+            {
+                Momento = DateTime.Now,
+                Latitude = _latAtt,
+                Longitude = _longAtt,
+                OrientacaoReal = novoAngulo,
+                Distancia = distancia,
+                Velocidade = velocidadeMs,
+            };
+
+            return novoPonto;
+        }
+
+
     }
 
     public static class VariaveisOperacao
@@ -1036,6 +1122,18 @@ namespace AgroBase.Models
             return Velocidade / 3.6;
         }
 
+        public static double ConverteMsParaKmh(double Velocidade)
+        {
+            return Velocidade * 3.6;
+        }
+
+        public static double CalculaVelocidadeMsPercentual(double percentual)
+        {
+            double Velocidade = ConverteKmhParaMs(CalculaVelocidadeRPM((percentual / 100.0) * VariaveisEquipamento.RPM_Max_Roda));
+            return Velocidade;
+        }
+
+
     }
 
 }
diff --git a/AgroBase/AgroBase/Models/VariaveisMonitoramento.cs b/AgroBase/AgroBase/Models/VariaveisMonitoramento.cs
new file mode 100644
index 000000000..0137b0b24
--- /dev/null
+++ b/AgroBase/AgroBase/Models/VariaveisMonitoramento.cs
@@ -0,0 +1,120 @@
+using AgroBase.Models;
+using AgroBase.Services;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+
+namespace AgroMonitor
+{
+    public class VariaveisMonitoramento
+    {
+        private static Dictionary> EquipamentosPadrao 
+        {
+            get
+            {
+                return new Dictionary>()
+                {
+                    {
+                        Variaveis.ConexaoLoRa.parametros.address,
+                        new List()
+                        {
+                            new LoRaProtocoloTransmissaoModel()
+                            {
+                                CodigoFalha = 0,
+                                EnderecoCarro = Variaveis.ConexaoLoRa.parametros.address,
+                                Coordenadas = new LoRaProtocoloTransmissaoCoordenadasModel()
+                                {
+                                    Latitude = GPSService.UltimaLeitura.Latitude,
+                                    Longitude = GPSService.UltimaLeitura.Longitude,
+                                    Orientacao = GPSService.UltimaLeitura.CursoVerdadeiro
+                                },
+                                Momento = DateTime.Now,
+                                RecebidoEm = DateTime.Now,
+                                Operacao = new LoRaProtocoloTransmissaoOperacaoModel()
+                                {
+                                    idxRuaAtual = 0,
+                                    PercentualOperacao = 0,
+                                    PercentualRua = 0, 
+                                    statusCarro = Enums.StatusCarroMapa.Parado, 
+                                    statusOperacao = Enums.StatusOperacao.Parado, 
+                                    TempoEstimado = "", 
+                                    TempoOperacao = 0
+                                },
+                                Sensores = new LoRaProtocoloTransmissaoSensoresModel()
+                                {
+                                    DistanciaPercorrida = 0,
+                                    ErvasIdentificadas = 0,
+                                    HerbicidaConsumido = 0,
+                                    HerbicidaPorErva = 0,
+                                    OrientacaoCaminho = 0,
+                                    PercentualBateria = 0,
+                                    PercentualReservatorio = 0,
+                                    PressaoLinha = 0,
+                                    TemperaturaCampo = 0,
+                                    TemperaturaMotores = 0,
+                                    Velocidade = 0
+                                }
+                            }
+                        }
+                    }
+                };
+            }
+        }
+        //public static LoRaService ComunicacaoLoRa = new LoRaService();
+
+        public static Dictionary EquipamentosConectados
+        {
+            get
+            {
+                Dictionary Equipamentos = new Dictionary()
+                {
+                    {
+                        EquipamentosPadrao.First().Key, EquipamentosPadrao.First().Value.First()
+                    }
+                };
+
+                if (LoRaService.Iniciado)
+                {
+                    lock (LoRaService._dadosOperacaoLock)
+                    {
+                        // Mensagens dos equipamentos conectados dentro dos ultimos 10 segundos
+                        var Mensagens = LoRaService.LeituraDadosOperacao.Where(x => x.RecebidoEm.AddMilliseconds(VariaveisEquipamento.TempoMaximoSalvarLogs) > DateTime.Now).ToList();
+                        var _equipamentos = Mensagens
+                            .GroupBy(x => x.EnderecoCarro)
+                            .OrderBy(x => x.Key)
+                            .ToDictionary(x => x.Key, x => x.OrderByDescending(y => y.RecebidoEm).FirstOrDefault());
+                        foreach (var item in _equipamentos)
+                        {
+                            Equipamentos.Add(item.Key, item.Value);
+                        }
+                    }
+                }
+
+                return Equipamentos;
+            }
+        }
+        public static Dictionary> EquipamentosConectadosLogs
+        {
+            get
+            {
+                Dictionary> Equipamentos = new Dictionary>(EquipamentosPadrao);
+
+                if (LoRaService.Iniciado)
+                {
+                    // Mensagens dos equipamentos conectados dentro dos ultimos 10 segundos
+                    var Mensagens = LoRaService.LeituraDadosOperacao.Where(x => x.RecebidoEm.AddMilliseconds(VariaveisEquipamento.TempoMaximoSalvarLogs) > DateTime.Now).ToList();
+                    var _equipamentos = Mensagens
+                        .GroupBy(x => x.EnderecoCarro)
+                        .ToDictionary(x => x.Key, x => x.OrderBy(y => y.RecebidoEm).ToList());
+                    foreach (var item in _equipamentos)
+                    {
+                        Equipamentos.Add(item.Key, item.Value);
+                    }
+                }
+
+                return Equipamentos;
+            }
+        }
+        public static readonly object _EquipamentosConectadosLogsLock = new object();
+    }
+}
diff --git a/AgroBase/AgroBase/Services/APIService.cs b/AgroBase/AgroBase/Services/APIService.cs
index 422005dd3..8f79c3fb2 100644
--- a/AgroBase/AgroBase/Services/APIService.cs
+++ b/AgroBase/AgroBase/Services/APIService.cs
@@ -13,8 +13,20 @@ namespace AgroBase.Services
     public class APIService
     {
         private static AsyncTaskTimerModel tmrMonitoramento;
-        private static string Endpoint { get; set; } = frmInstancial.DebugMode ? "http://localhost:1337/agrobase/" : "https://zendioninc.com.br/api/agrobase/";
-        private static string UrlDownloadArquivos { get; set; } = "https://zendioninc.com.br/agrobase/downloads";
+        private static string Endpoint
+        {
+            get
+            {
+                return frmInstancial.DebugMode ? "http://localhost:1337/agrobase/" : "https://zendioninc.com.br/api/agrobase/";
+            }
+        }
+        private static string UrlDownloadArquivos
+        {
+            get
+            {
+                return "https://zendioninc.com.br/agrobase/downloads";
+            }
+        }
         private static bool _hasInternet
         {
             get
diff --git a/AgroBase/AgroBase/Services/CoulombCounterService.cs b/AgroBase/AgroBase/Services/CoulombCounterService.cs
index 1d78c015a..cf4aa9094 100644
--- a/AgroBase/AgroBase/Services/CoulombCounterService.cs
+++ b/AgroBase/AgroBase/Services/CoulombCounterService.cs
@@ -16,7 +16,7 @@ namespace AgroBase.Services
 
         private double CargaMaxima { get; set; }
         private double CargaAtual { get; set; }
-        private double CargaAtualAmp
+        public double CargaAtualAmp
         {
             get
             {
@@ -24,6 +24,13 @@ namespace AgroBase.Services
             }
         }
         private double Consumido { get; set; }
+        public double _Consumido
+        {
+            get
+            {
+                return Consumido;
+            }
+        }
         public double ConsumidoAmp
         {
             get
diff --git a/AgroBase/AgroBase/Services/GPSService.cs b/AgroBase/AgroBase/Services/GPSService.cs
index bce6f96f7..0153e342e 100644
--- a/AgroBase/AgroBase/Services/GPSService.cs
+++ b/AgroBase/AgroBase/Services/GPSService.cs
@@ -3,8 +3,11 @@ using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
 using System.Globalization;
+using System.IO;
 using System.IO.Ports;
 using System.Linq;
+using System.Net.Sockets;
+using System.Text;
 using System.Threading.Tasks;
 using static AgroBase.Models.Enums;
 
@@ -35,9 +38,12 @@ namespace AgroBase.Services
         public static GPSModel UltimaLeitura = new GPSModel();
         public static GPSModel PenultimaLeitura = new GPSModel();
 
+        public static int TaxaAmostragemHz { get; set; } = 5;
+
         public static double RaioDaTerra = 6378137; // Raio da Terra em Km
         public static double ConversaoNosKmh = 1.852;
         public static double ConversaoNosMs = 0.514;
+        public static bool CorrecaoRTK = true;
 
         public static void AtualizarPortaCOM(SerialPort Porta)
         {
@@ -52,6 +58,8 @@ namespace AgroBase.Services
 
             PortaGPS.BaudRate = Porta.BaudRate;
             PortaGPS.PortName = Porta.PortName;
+            PortaGPS.ReadTimeout = 2000; // Timeout de 2 segundos
+            PortaGPS.WriteTimeout = 2000; // Timeout de 2 segundos
             PortaGPS.DataReceived -= PortaGPS_DataReceived;
             PortaGPS.DataReceived += PortaGPS_DataReceived;
 
@@ -60,6 +68,7 @@ namespace AgroBase.Services
             if (Iniciado)
             {
                 DefinirDispositivo();
+                Task.Run(async () => await AplicarCorrecaoRTK());
             }
         }
 
@@ -77,71 +86,437 @@ namespace AgroBase.Services
             }
         }
 
+        private static void ConfigurarModulo()
+        {
+
+        }
+
+        private static StringBuilder _buffer = new StringBuilder();
+
         private static void PortaGPS_DataReceived(object sender, SerialDataReceivedEventArgs e)
         {
-            if (PortaGPS.IsOpen)
+            try
             {
-                string Recebido = SerialService.ReadLineWithTimeout(PortaGPS, 2000);
-                if (Recebido.Length > 2)
+                if (!PortaGPS.IsOpen)
                 {
-                    ProcessarStringNMEA(Recebido);
+                    return;
+                }
+
+                // Lê os dados disponíveis na porta
+                string recebido = PortaGPS.ReadExisting();
+
+                // Adiciona ao buffer
+                _buffer.Append(recebido);
+
+                // Processa mensagens completas (separadas por "\n")
+                string[] mensagens = _buffer.ToString().Split('\n');
+
+                // Processa todas as mensagens completas
+                for (int i = 0; i < mensagens.Length - 1; i++)
+                {
+                    string mensagem = mensagens[i].Trim();
+                    if (mensagem.Length > 0)
+                    {
+                        ProcessarDadosNMEA(mensagem);
+                    }
+                }
+
+                if (mensagens.Length > 0)
+                {
+                    // Mantém o que sobrou no buffer (última mensagem incompleta)
+                    _buffer.Clear();
+                    _buffer.Append(mensagens[mensagens.Length - 1]);
+                }
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine("Erro ao processar dados da porta serial: " + ex.Message);
+            }
+        }
+
+
+
+        private static void ProcessarDadosNMEA(string nmeaData)
+        {
+            var linhas = nmeaData.Split('\n');
+            foreach (var linha in linhas)
+            {
+                if (string.IsNullOrWhiteSpace(linha)) continue;
+
+                var sentenca = linha.Trim();
+
+                // Identifica o tipo de sentença
+                if (sentenca.StartsWith("$GNGGA"))
+                {
+                    ProcessarGNGGA(sentenca);
+                    AtualizarCoordenadasGPS();
+                }
+                else if (sentenca.StartsWith("$GNRMC"))
+                {
+                    ProcessarGNRMC(sentenca);
+                }
+                else if (sentenca.StartsWith("$GNVTG"))
+                {
+                    ProcessarGNVTG(sentenca);
+                }
+                else if (sentenca.StartsWith("$GPGSV") || sentenca.StartsWith("$GLGSV") || sentenca.StartsWith("$GBGSV") || sentenca.StartsWith("$GAGSV"))
+                {
+                    ProcessarGSV(sentenca);
+                }
+                else if (sentenca.StartsWith("$GPVTG"))
+                {
+                    ProcessarGPVTG(sentenca);
+                }
+                else if (sentenca.StartsWith("$GNTHS") || sentenca.StartsWith("$GPTHS"))
+                {
+                    ProcessarGNTHS(sentenca);
+                }
+                else
+                {
+                    Console.WriteLine($"Sentença desconhecida: {sentenca}");
+                }
+            }
+        }
+
+        private static void ProcessarGNGGA(string sentenca)
+        {
+            var campos = sentenca.Split(',');
+
+            string horaUTC = campos[1].Replace(".", ",");
+            string latitudeRaw = campos[2].Replace(".", ",");
+            string hemisferioLat = campos[3].Replace(".", ",");
+            string longitudeRaw = campos[4].Replace(".", ",");
+            string hemisferioLon = campos[5].Replace(".", ",");
+            string qualidade = campos[6].Replace(".", ",");
+            string satelitesUsados = campos[7].Replace(".", ",");
+            string hdop = campos[8].Replace(".", ",");
+            string altitudeRaw = campos[9].Replace(".", ",");
+
+            // Conversão de Latitude
+            double latitude = 0;
+            if (!string.IsNullOrEmpty(latitudeRaw))
+            {
+                double latitudeGraus = double.Parse(latitudeRaw.Substring(0, 2));
+                double latitudeMinutos = double.Parse(latitudeRaw.Substring(2)) / 60.0;
+                latitude = latitudeGraus + latitudeMinutos;
+                if (hemisferioLat == "S") latitude *= -1;
+            }
+
+
+            // Conversão de Longitude
+            double longitude = 0;
+            if (!string.IsNullOrEmpty(longitudeRaw))
+            {
+                double longitudeGraus = double.Parse(longitudeRaw.Substring(0, 3));
+                double longitudeMinutos = double.Parse(longitudeRaw.Substring(3)) / 60.0;
+                longitude = longitudeGraus + longitudeMinutos;
+                if (hemisferioLon == "W") longitude *= -1;
+            }
+
+            double.TryParse(altitudeRaw, out double altitude);
+
+            double.TryParse(hdop, out double precisao);
+
+            int.TryParse(satelitesUsados, out int nsatelites);
+
+            int.TryParse(qualidade, out int fix);
+
+
+            //Console.WriteLine($"GNGGA: Hora={horaUTC}, Latitude={latitude}, Longitude={longitude}, Qualidade={qualidade}, Satélites={satelitesUsados}, HDOP={hdop}, Altitude={altitude}");
+
+            PenultimaLeitura.Momento = UltimaLeitura.Momento;
+            PenultimaLeitura.Latitude = UltimaLeitura.Latitude;
+            PenultimaLeitura.Longitude = UltimaLeitura.Longitude;
+            PenultimaLeitura.Altitude = UltimaLeitura.Altitude;
+            PenultimaLeitura.PrecisaoHorizontal = UltimaLeitura.PrecisaoHorizontal;
+            PenultimaLeitura.NumeroSatelites = UltimaLeitura.NumeroSatelites;
+            PenultimaLeitura.QualidadeFix = UltimaLeitura.QualidadeFix;
+            PenultimaLeitura.DataHora = UltimaLeitura.DataHora;
+
+            // Armazenar os valores na última leitura
+            UltimaLeitura.Momento = DateTime.Now;
+            UltimaLeitura.Latitude = latitude;
+            UltimaLeitura.Longitude = longitude;
+            UltimaLeitura.Altitude = altitude;
+            UltimaLeitura.PrecisaoHorizontal = precisao;
+            UltimaLeitura.NumeroSatelites = nsatelites;
+            UltimaLeitura.QualidadeFix = (TiposCorrecaoGPS)fix;
+
+            // Parse a hora do formato HHmmss.ss
+            if (!string.IsNullOrEmpty(horaUTC) && TimeSpan.TryParseExact(horaUTC.Substring(0, 6), "hhmmss", CultureInfo.InvariantCulture, out TimeSpan timeOfDay))
+            {
+                DateTime currentDate = DateTime.UtcNow.Date;
+                UltimaLeitura.DataHora = currentDate.Add(timeOfDay);
+            }
+        }
+
+        private static void ProcessarGNRMC(string sentenca)
+        {
+            var campos = sentenca.Split(',');
+
+            string horaUTC = campos[1].Replace(".", ",");
+            string status = campos[2].Replace(".", ",");
+            string latitudeRaw = campos[3].Replace(".", ",");
+            string hemisferioLat = campos[4].Replace(".", ",");
+            string longitudeRaw = campos[5].Replace(".", ",");
+            string hemisferioLon = campos[6].Replace(".", ",");
+            string velocidadeSobreSolo = campos[7].Replace(".", ",");
+            string curso = campos[8].Replace(".", ",");
+            string data = campos[9].Replace(".", ",");
+            string variaçãoMagnetica = campos[10].Replace(".", ",");
+
+            double.TryParse(variaçãoMagnetica, out double variacaoMag);
+
+            PenultimaLeitura.Momento = UltimaLeitura.Momento;
+            PenultimaLeitura.VariacaoMagnetica = UltimaLeitura.VariacaoMagnetica;
+
+            UltimaLeitura.Momento = DateTime.Now;
+            UltimaLeitura.VariacaoMagnetica = variacaoMag;
+
+            //Console.WriteLine($"GNRMC: Hora={horaUTC}, Status={status}, Latitude={latitudeRaw}{hemisferioLat}, Longitude={longitudeRaw}{hemisferioLon}, Velocidade={velocidadeSobreSolo}, Curso={curso}, Data={data}, Variação Magnética={variaçãoMagnetica}");
+        }
+
+        private static void ProcessarGNVTG(string sentenca)
+        {
+            var campos = sentenca.Split(',');
+
+            string cursoVerdadeiro = campos[1].Replace(".", ",");
+            string referenciaCurso = campos[2].Replace(".", ","); // T = Verdadeiro, M = Magnético
+            string velocidadeSobreSoloKnots = campos[5].Replace(".", ",");
+            string velocidadeSobreSoloKmh = campos[7].Replace(".", ",");
+
+            //Console.WriteLine($"GNVTG: Curso Verdadeiro={cursoVerdadeiro}{referenciaCurso}, Velocidade (nós)={velocidadeSobreSoloKnots}, Velocidade (km/h)={velocidadeSobreSoloKmh}");
+
+            PenultimaLeitura.Momento = UltimaLeitura.Momento;
+            PenultimaLeitura.CursoVerdadeiro = UltimaLeitura.CursoVerdadeiro;
+            PenultimaLeitura.Velocidade = UltimaLeitura.Velocidade;
+
+            UltimaLeitura.Momento = DateTime.Now;
+
+            double.TryParse(cursoVerdadeiro, out double curso);
+            UltimaLeitura.CursoVerdadeiro = curso;
+
+            double.TryParse(velocidadeSobreSoloKmh, out double velocidade);
+            UltimaLeitura.Velocidade = velocidade;
+        }
+
+        private static void ProcessarGSV(string sentenca)
+        {
+            var campos = sentenca.Split(',');
+
+            string tipoSistema = sentenca.Substring(1, 2); // GP = GPS, GL = GLONASS, etc.
+            string totalSentencas = campos[1];
+            string sentencaAtual = campos[2];
+            string satelitesVisiveis = campos[3];
+
+            PenultimaLeitura.Momento = UltimaLeitura.Momento;
+            PenultimaLeitura.SatelitesEmVista = new List(UltimaLeitura.SatelitesEmVista);
+            
+
+            UltimaLeitura.Momento = DateTime.Now;
+
+            int.TryParse(sentencaAtual, out int sentAtual);
+            int.TryParse(totalSentencas, out int sentTotal);
+            int.TryParse(satelitesVisiveis, out int visiveis);
+
+            if (!UltimaLeitura.SatelitesEmVista.Any(x => x.TipoSistema == tipoSistema))
+            {
+                UltimaLeitura.SatelitesEmVista.Add(new GPSSatelitesEmVistaModel()
+                {
+                    TipoSistema = tipoSistema,
+                    Sentencas = new List()
+                });
+            }
+
+            var leitura = UltimaLeitura.SatelitesEmVista.First(x => x.TipoSistema == tipoSistema);
+
+            //Console.WriteLine($"GSV: Sistema={tipoSistema}, Sentença {sentencaAtual}/{totalSentencas}, Satélites Visíveis={satelitesVisiveis}");
+
+            if (!leitura.Sentencas.Any(x => x.SentencaAtual == sentAtual))
+            {
+                leitura.Sentencas.Add(new GPSSatelitesEmVistaSentencaModel()
+                {
+                    SentencaAtual = sentAtual,
+                    SentencasTotal = sentTotal,
+                    QuantidadeSatelites = visiveis,
+                    Dados = new List()
+                });
+            }
+
+            var _sentenca = leitura.Sentencas.First(x => x.SentencaAtual == sentAtual);
+
+            _sentenca.Dados = new List();
+
+            for (int i = 4; i < campos.Length; i += 4)
+            {
+                if (i + 3 < campos.Length)
+                {
+                    string prn = campos[i];
+                    string elevacaoRaw = campos[i + 1];
+                    string azimuteRaw = campos[i + 2];
+                    string snrRaw = campos[i + 3];
+
+                    //Console.WriteLine($"  Satélite PRN={prn}, Elevação={elevacaoRaw}, Azimute={azimuteRaw}, SNR={snrRaw}");
+
+                    double.TryParse(elevacaoRaw, out double elevacao);
+                    double.TryParse(azimuteRaw, out double azimute);
+                    double.TryParse(snrRaw, out double snr);
+
+                    _sentenca.Dados.Add(new GPSSatelitesEmVistaDadosModel()
+                    {
+                        PRN = prn, 
+                        Elevacao = elevacao, 
+                        Azimute = azimute,
+                        QualidadeSinal = snr
+                    });
+                }
+            }
+        }
+
+        private static void ProcessarGPVTG(string sentenca)
+        {
+            var campos = sentenca.Split(',');
+
+            if (campos.Length >= 9)
+            {
+                string cursoVerdadeiro = campos[1].Replace(".", ",");
+                string referenciaCurso = campos[2]; // T = Verdadeiro, M = Magnético
+                string velocidadeSobreSoloKnots = campos[5].Replace(".", ",");
+                string velocidadeSobreSoloKmh = campos[7].Replace(".", ",");
+
+                //Console.WriteLine($"GPVTG: Curso Verdadeiro={cursoVerdadeiro}{referenciaCurso}, " + $"Velocidade (nós)={velocidadeSobreSoloKnots}, Velocidade (km/h)={velocidadeSobreSoloKmh}");
+
+                PenultimaLeitura.Momento = UltimaLeitura.Momento;
+                PenultimaLeitura.CursoVerdadeiro = UltimaLeitura.CursoVerdadeiro;
+                PenultimaLeitura.Velocidade = UltimaLeitura.Velocidade;
+
+                UltimaLeitura.Momento = DateTime.Now;
+
+                double curso = 0;
+                double.TryParse(cursoVerdadeiro, out curso);
+                UltimaLeitura.CursoVerdadeiro = curso;
+
+                double velocidade = 0;
+                double.TryParse(velocidadeSobreSoloKmh, out velocidade);
+                UltimaLeitura.Velocidade = velocidade;
+            }
+            else
+            {
+                Console.WriteLine("GPVTG: Sentença malformada ou incompleta.");
+            }
+        }
+
+        private static void ProcessarGNTHS(string sentenca)
+        {
+            // Remove o caractere de início '$' e divide os campos
+            var campos = sentenca.TrimStart('$').Split(',');
+
+            if (campos.Length < 2)
+            {
+                Console.WriteLine("Sentença incompleta.");
+                return;
+            }
+
+            if (campos.Length > 2 && string.IsNullOrEmpty(campos[1]))
+            {
+                return;
+            }
+
+            try
+            {
+                // Parsing dos campos
+                double headingTrue = double.Parse(campos[1]); // Campo 
+                string status = campos[2].Split('*')[0];     // Campo 
+                string checksum = campos[2].Split('*')[1];   // Campo 
+
+                PenultimaLeitura.Momento = UltimaLeitura.Momento;
+                PenultimaLeitura.OrientacaoReal = UltimaLeitura.OrientacaoReal;
+                PenultimaLeitura.TipoOrientacao = UltimaLeitura.TipoOrientacao;
+
+                UltimaLeitura.Momento = DateTime.Now;
+                UltimaLeitura.OrientacaoReal = headingTrue;
+                UltimaLeitura.TipoOrientacao = status;
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine($"Erro ao processar a sentença: {ex.Message}");
+            }
+        }
+
+
+
+
+        private static async Task AplicarCorrecaoRTK()
+        {
+            // Configurações do NTRIP caster para RTK2Go
+            string host = "gps-ntrip.ibge.gov.br";
+            int port = 2101;
+            string mountpoint = "EESC0";
+            string username = "Zendion"; // Geralmente vazio para RTK2Go
+            string password = "Diego21*"; // Geralmente vazio para RTK2Go
+
+            while (true) // Loop para reconectar em caso de falha
+            {
+                try
+                {
+                    // Construa o cabeçalho da solicitação
+                    string credentials = string.IsNullOrEmpty(username)
+                        ? ""
+                        : Convert.ToBase64String(Encoding.ASCII.GetBytes($"{username}:{password}"));
+
+                    string request = $"GET /{mountpoint} HTTP/1.0\r\n" +
+                                     $"User-Agent: NTRIP Client/2.0\r\n" +
+                                     $"Accept: */*\r\n" +
+                                     $"Connection: keep-alive\r\n" +
+                                     (!string.IsNullOrEmpty(credentials) ? $"Authorization: Basic {credentials}\r\n" : "") +
+                                     "\r\n";
+
+                    // Estabeleça a conexão
+                    using (TcpClient client = new TcpClient(host, port))
+                    using (NetworkStream stream = client.GetStream())
+                    using (StreamWriter writer = new StreamWriter(stream, Encoding.ASCII))
+                    {
+                        writer.Write(request);
+                        writer.Flush();
+
+                        // Leia a resposta
+                        using (StreamReader reader = new StreamReader(stream, Encoding.ASCII))
+                        {
+                            string response = await reader.ReadLineAsync();
+                            if (response.Contains("200 OK"))
+                            {
+                                Console.WriteLine("Conexão bem-sucedida ao mountpoint!");
+
+                                byte[] buffer = new byte[4096];
+                                int bytesRead;
+                                while ((bytesRead = await stream.ReadAsync(buffer, 0, buffer.Length)) > 0)
+                                {
+                                    if (CorrecaoRTK)
+                                    {
+                                        PortaGPS.Write(buffer, 0, bytesRead); // Envia os dados RTCM para o GPS
+                                        //Console.WriteLine($"Enviando {bytesRead} bytes de correção RTCM para o GPS");
+                                    }
+                                }
+                            }
+                            else
+                            {
+                                Console.WriteLine($"Falha na conexão: {response}");
+                                await Task.Delay(5000); // Aguarde antes de tentar novamente
+                            }
+                        }
+                    }
+                }
+                catch (Exception ex)
+                {
+                    Console.WriteLine($"Erro na conexão RTK: {ex.Message}");
+                    await Task.Delay(5000); // Aguarde antes de tentar novamente
                 }
             }
         }
 
 
-        public static void ProcessarStringNMEA(string nmeaString)
-        {
-            if (string.IsNullOrWhiteSpace(nmeaString))
-                return;
 
-            string[] parts = nmeaString.Split(',');
 
-            switch (parts[0])
-            {
-                // Global Positioning System Fix Data
-                case "$GPGGA":
-                    PenultimaLeitura.Latitude = UltimaLeitura.Latitude;
-                    PenultimaLeitura.Longitude = UltimaLeitura.Longitude;
-                    PenultimaLeitura.Altitude = UltimaLeitura.Altitude;
-                    PenultimaLeitura.PrecisaoHorizontal = UltimaLeitura.PrecisaoHorizontal;
-                    PenultimaLeitura.DataHora = UltimaLeitura.DataHora;
-                    PenultimaLeitura.NumeroSatelites = UltimaLeitura.NumeroSatelites;
-                    PenultimaLeitura.Velocidade = UltimaLeitura.Velocidade;
-                    PenultimaLeitura.Orientacao = UltimaLeitura.Orientacao;
-                    PenultimaLeitura.Momento = UltimaLeitura.Momento;
-
-                    if (parts[2] != "" && parts[3] != "")
-                    {
-                        UltimaLeitura.Latitude = ConvertToDecimalDegrees(parts[2], parts[3], 2); // ConvertToDouble(parts[2]);
-                    }
-                    if (parts[4] != "" && parts[5] != "")
-                    {
-                        UltimaLeitura.Longitude = ConvertToDecimalDegrees(parts[4], parts[5], 3); // ConvertToDouble(parts[4]);
-                    }
-                    UltimaLeitura.NumeroSatelites = int.TryParse(parts[7], out int numSat) ? numSat : 0;
-                    UltimaLeitura.PrecisaoHorizontal = double.TryParse(parts[8], NumberStyles.Float, CultureInfo.InvariantCulture, out double hdop) ? hdop : 0;
-                    UltimaLeitura.Altitude = ConvertToDouble(parts[9]);
-                    UltimaLeitura.Orientacao = CalcularOrientacao(PenultimaLeitura, UltimaLeitura);
-                    UltimaLeitura.Momento = DateTime.Now;
-
-                    //APIService.AtualizarCoordenadasGPS(UltimaLeitura, APIService.GPS_IDcoordenadasRobo);
-                    AtualizarCoordenadasGPS();
-
-                    PortaGPS.DiscardInBuffer();
-                    PortaGPS.DiscardOutBuffer();
-                    break;
-
-                // Recommended minimum specific GPS/Transit data
-                case "$GPRMC":
-                    UltimaLeitura.DataHora = ParseDateTime(parts[9], parts[1], -3);
-                    UltimaLeitura.Velocidade = ConvertKnotsToKmh(ConvertToDouble(parts[7]));
-                    break;
-
-                    // Você pode adicionar mais cases aqui para outros tipos de sentenças NMEA que você deseja processar
-            }
-
-        }
 
         private static double ConvertToDecimalDegrees(string nmeaCoordinate, string direction, int digits)
         {
@@ -247,6 +622,34 @@ namespace AgroBase.Services
             return heading;
         }
 
+        public static double CalcularMenorDistanciaAteTrecho(GPSModel posicaoRobo, List rua, double espacoEntrePontos = 0.2)
+        {
+            double menorDistancia = double.MaxValue;
+
+            for (int i = 0; i < rua.Count - 1; i++)
+            {
+                GPSModel pontoA = rua[i];
+                GPSModel pontoB = rua[i + 1];
+
+                // Comprimento do segmento em metros
+                double distanciaSegmento = DistanciaEntrePontos(pontoA, pontoB);
+
+                // Quantidade de pontos a interpolar
+                int numInterpolacoes = (int)(distanciaSegmento / espacoEntrePontos);
+
+                for (int j = 0; j <= numInterpolacoes; j++)
+                {
+                    double fator = (double)j / numInterpolacoes;
+                    GPSModel pontoInterpolado = InterpolarPonto(pontoA, pontoB, fator);
+
+                    // Calcula a distância até o ponto interpolado
+                    double distancia = DistanciaEntrePontos(posicaoRobo, pontoInterpolado);
+                    menorDistancia = Math.Min(menorDistancia, distancia);
+                }
+            }
+
+            return menorDistancia;
+        }
 
         public static double NormalizarAngulo(double angulo)
         {
@@ -279,217 +682,6 @@ namespace AgroBase.Services
             return diferenca;
         }
 
-        public static (GPSModel, bool) PontoMaisProximoRuaProjetada(List RuaProjetada, TrajetoriaTipo trajetoriaTipo)
-        {
-            int idxUltimoPonto =
-                trajetoriaTipo == TrajetoriaTipo.Rua ? Variaveis.OperacaoEmAndamento.Mapa.IdxUltimoPontoTrajetoria :
-                trajetoriaTipo == TrajetoriaTipo.Dinamica ? Variaveis.OperacaoEmAndamento.Mapa.IdxUltimoPontoTrajetoriaDinamica :
-                0;
-
-            // Verifica se a lista está vazia
-            if (RuaProjetada == null || RuaProjetada.Count == 0)
-            {
-                return (null, false);
-            }
-
-            // Inicializa variáveis
-            GPSModel pontoMaisProximo = RuaProjetada[idxUltimoPonto];
-            double menorDistancia = double.MaxValue;
-
-            GPSModel posicaoAtual = UltimaLeitura;
-            GPSModel posicaoAnterior = PenultimaLeitura;
-            bool seAproximandoAnterior = false;
-
-            Dictionary> PontosAproximacao = new Dictionary>();
-
-            // Itera sobre os pontos da rua projetada
-            foreach (var ponto in RuaProjetada.Skip(idxUltimoPonto))
-            {
-                int idxPonto = RuaProjetada.IndexOf(ponto);
-                double distanciaAtual = DistanciaEntrePontos(posicaoAtual, ponto);
-                double distanciaAnterior = DistanciaEntrePontos(posicaoAnterior, ponto);
-                bool mesmaPosicao = distanciaAtual == distanciaAnterior;
-                bool seAproximando = (distanciaAtual < distanciaAnterior) || (mesmaPosicao && idxUltimoPonto == 0);
-
-                // Caso o robo esteja indo ate a entrada de uma nova rua, considerar que sempre esta se aproximando do primeiro ponto
-                if (!seAproximando)
-                {
-                    //seAproximando = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.StatusAtual == StatusCarroMapa.Direcionando;
-                    seAproximando = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.EmManobra;
-                }
-
-                PontosAproximacao.Add(idxPonto, new Dictionary() { { ponto, seAproximando } });
-
-                if (distanciaAtual <= menorDistancia)
-                {
-                    menorDistancia = distanciaAtual;
-
-                    if (!seAproximando)
-                    {
-                        pontoMaisProximo = ponto;
-
-                        if (idxPonto > idxUltimoPonto)
-                        {
-                            idxUltimoPonto = idxPonto;
-                        }
-                    }
-
-
-                    
-                    /*else if (distanciaAnterior < distanciaAtual && RuaProjetada.Count() > (idxPonto + 1))
-                    {
-                        idxPonto++;
-                        pontoMaisProximo = RuaProjetada[idxPonto];
-                        idxUltimoPonto = idxPonto;
-                    }*/
-
-                    if (seAproximando && !seAproximandoAnterior)
-                    {
-                        seAproximandoAnterior = seAproximando;
-                        break;
-                    }
-                }
-                else if (distanciaAnterior < distanciaAtual)
-                {
-                    /*menorDistancia = distanciaAnterior;
-                    pontoMaisProximo = ponto;
-                    if (idxPonto > idxUltimoPonto)
-                    {
-                        idxUltimoPonto = idxPonto;
-                    }*/
-
-                    break;
-                }
-                else
-                {
-                    break;
-                }
-
-                seAproximandoAnterior = seAproximando;
-            }
-
-            switch (trajetoriaTipo)
-            {
-                case TrajetoriaTipo.Rua:
-                    Variaveis.OperacaoEmAndamento.Mapa.IdxUltimoPontoTrajetoria = idxUltimoPonto;
-                    Variaveis.OperacaoEmAndamento.Mapa.AproximandoUltimoPontoTrajetoria = PontosAproximacao[idxUltimoPonto].First().Value;
-                    break;
-                case TrajetoriaTipo.Dinamica:
-                    Variaveis.OperacaoEmAndamento.Mapa.IdxUltimoPontoTrajetoriaDinamica = idxUltimoPonto;
-                    break;
-            }
-
-            return (PontosAproximacao[idxUltimoPonto].First().Key, PontosAproximacao[idxUltimoPonto].First().Value);
-
-        }
-
-        public static GPSModel PontoMaisProximoRuaMapa(List RuaMapa)
-        {
-            int idxUltimoPonto = 0;
-
-            // Verifica se a lista está vazia
-            if (RuaMapa == null || RuaMapa.Count == 0)
-            {
-                return new GPSModel();
-            }
-
-            // Inicializa variáveis
-            GPSModel pontoMaisProximo = RuaMapa[idxUltimoPonto];
-
-            GPSModel posicaoAtual = UltimaLeitura;
-            GPSModel posicaoAnterior = PenultimaLeitura;
-
-            Dictionary PontosAproximacao = new Dictionary();
-
-            // Itera sobre os pontos da rua projetada
-            foreach (var ponto in RuaMapa.Skip(idxUltimoPonto))
-            {
-                int idxPonto = RuaMapa.IndexOf(ponto);
-                double distanciaAtual = DistanciaEntrePontos(posicaoAtual, ponto);
-                double distanciaAnterior = DistanciaEntrePontos(posicaoAnterior, ponto);
-                bool mesmaPosicao = distanciaAtual == distanciaAnterior;
-                bool seAproximando = (distanciaAtual < distanciaAnterior) || (mesmaPosicao && idxUltimoPonto == 0);
-
-                if (seAproximando)
-                {
-                    PontosAproximacao.Add(ponto, distanciaAtual);
-                }
-            }
-
-            var PontosAproximando = PontosAproximacao.OrderBy(x => x.Value).ToList();
-
-            return PontosAproximando.FirstOrDefault().Key;
-        }
-
-        public static GPSModel PontoMaisProximoRuaProjetada2(List RuaProjetada)
-        {
-            // Verifica se a lista está vazia
-            if (RuaProjetada == null || RuaProjetada.Count == 0)
-            {
-                return null;
-            }
-
-            // Inicializa variáveis
-            GPSModel pontoMaisProximo = RuaProjetada[0];
-            double menorDistancia = double.MaxValue;
-            bool estaAproximando = false;
-            bool inverteu = false;
-
-            //double distanciaPercorrida = DistanciaDoTrecho(Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual]);
-
-            // Calcula a direção (aproximando ou afastando) com base nas primeiras distâncias
-            double distanciaAtual = 0;
-            double distanciaAnterior = 0;
-
-            GPSModel posicaoAtual = UltimaLeitura;
-            GPSModel posicaoAnterior = PenultimaLeitura;
-
-            // Itera sobre os pontos da rua projetada
-            foreach (var ponto in RuaProjetada)
-            {
-                int idx = RuaProjetada.IndexOf(ponto);
-                
-                // Calcula a distância entre a última leitura e o ponto atual
-                distanciaAtual = DistanciaEntrePontos(posicaoAtual, ponto);
-                distanciaAnterior = DistanciaEntrePontos(posicaoAnterior, ponto);
-
-                //double distanciaTrecho = DistanciaDoTrecho(RuaProjetada.Take(idx + 1).ToList());
-
-                double distanciaComparar = distanciaAtual; // + distanciaTrecho;
-
-                // Atualiza o ponto mais próximo e a menor distância se apropriado
-                if (distanciaComparar <= menorDistancia)
-                {
-                    menorDistancia = distanciaComparar;
-                    pontoMaisProximo = ponto;
-                }
-                else
-                {
-                    inverteu = true;
-                }
-
-                estaAproximando = distanciaAtual < distanciaAnterior;
-
-                Console.WriteLine("Ponto: " + idx + " - Distancia Atual: " + distanciaAtual.ToString(".00") + " - Distancia Anterior: " + distanciaAnterior.ToString("0.00") + " - Aproximando: " + (estaAproximando ? "Sim" : "Nao"));
-
-                
-
-                // Verifica se houve inversão na direção
-                if (estaAproximando && pontoMaisProximo != ponto)
-                {
-                    // O robô começou a se afastar
-                    break;
-                }
-                else if (inverteu)
-                {
-                    break;
-                }
-            }
-
-            return pontoMaisProximo;
-
-        }
-
         public static double DistanciaEntrePontos(GPSModel P1, GPSModel P2)
         {
             double lat1 = P1.Latitude;
@@ -598,7 +790,7 @@ namespace AgroBase.Services
             if (VariaveisOperacao.PosicaoBase != null)
             {
                 byte enderecoBase = Variaveis.OperacaoEmAndamento.DispSen.Dados.LoRaParametrosBase.address;
-                EnviarCoordenadasParaMapa(VariaveisOperacao.PosicaoBase.Latitude, VariaveisOperacao.PosicaoBase.Longitude, VariaveisOperacao.PosicaoBase.Orientacao, false, enderecoBase);
+                EnviarCoordenadasParaMapa(VariaveisOperacao.PosicaoBase.Latitude, VariaveisOperacao.PosicaoBase.Longitude, VariaveisOperacao.PosicaoBase.CursoVerdadeiro, false, enderecoBase);
             }
 
             if (Variaveis.OperacaoEmAndamento.Iniciado)
@@ -613,23 +805,24 @@ namespace AgroBase.Services
                     PrecisaoHorizontal = UltimaLeitura.PrecisaoHorizontal,
                     Velocidade = UltimaLeitura.Velocidade
                 });
-                if (Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua.Count() - 1 < Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual)
+                int idxCorredor = Variaveis.OperacaoEmAndamento.Trajetoria.IdxCorredorAtual;
+                if (Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua.Count() - 1 < idxCorredor)
                 {
                     Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua.Add(new List());
                 }
 
-                if (Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual < Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua.Count())
+                if (idxCorredor < Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua.Count())
                 {
-                    Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].Add(Variaveis.OperacaoEmAndamento.GPSTrajetoria[Variaveis.OperacaoEmAndamento.GPSTrajetoria.Count - 1]);
+                    Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua[idxCorredor].Add(Variaveis.OperacaoEmAndamento.GPSTrajetoria[Variaveis.OperacaoEmAndamento.GPSTrajetoria.Count - 1]);
 
-                    if (Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida.Count - 1 < Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual)
+                    if (Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida.Count - 1 < idxCorredor)
                     {
                         Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida.Add(0);
                     }
 
-                    if (Variaveis.OperacaoEmAndamento.GPSTrajetoria.Count > 1 && Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida.Count() > Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual)
+                    if (Variaveis.OperacaoEmAndamento.GPSTrajetoria.Count > 1 && Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida.Count() > idxCorredor)
                     {
-                        Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual] += DistanciaEntrePontos(Variaveis.OperacaoEmAndamento.GPSTrajetoria[Variaveis.OperacaoEmAndamento.GPSTrajetoria.Count - 1], Variaveis.OperacaoEmAndamento.GPSTrajetoria[Variaveis.OperacaoEmAndamento.GPSTrajetoria.Count - 2]);
+                        Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida[idxCorredor] += DistanciaEntrePontos(Variaveis.OperacaoEmAndamento.GPSTrajetoria[Variaveis.OperacaoEmAndamento.GPSTrajetoria.Count - 1], Variaveis.OperacaoEmAndamento.GPSTrajetoria[Variaveis.OperacaoEmAndamento.GPSTrajetoria.Count - 2]);
                     }
                 }
             }
@@ -640,6 +833,7 @@ namespace AgroBase.Services
             double angulo = ((Variaveis.OperacaoEmAndamento.Sensoriamento?.AnguloCarro ?? 0) - 180);
             EnviarCoordenadasParaMapa(UltimaLeitura.Latitude, UltimaLeitura.Longitude, angulo, Variaveis.OperacaoEmAndamento.Iniciado, ID);
 
+            Variaveis.OperacaoEmAndamento.Trajetoria?.LoopAtualizaDados();
         }
 
         public static void EnviarCoordenadasParaMapa(double Latitude, double Longitude, double Orientacao, bool EmFoco, int ID)
@@ -663,9 +857,9 @@ namespace AgroBase.Services
 
         public static void AtualizarTrajetoriaDinamica()
         {
-            lock (Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica_Lock)
+            if (Variaveis.OperacaoEmAndamento.Trajetoria?.TrajetoriaDinamica?.Any() ?? false)
             {
-                List TJ = new List(Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica);
+                List TJ = new List(Variaveis.OperacaoEmAndamento.Trajetoria.TrajetoriaDinamica);
                 var Trajetoria = TJ.Select(x => new
                 {
                     latitude = x.Latitude,
@@ -708,6 +902,50 @@ namespace AgroBase.Services
             return pontos;
         }
 
+        public static GPSModel InterpolarPonto(GPSModel pontoInicial, GPSModel pontoFinal, double t)
+        {
+            // Interpolar latitude e longitude
+            double latInterpolada = pontoInicial.Latitude + t * (pontoFinal.Latitude - pontoInicial.Latitude);
+            double lonInterpolada = pontoInicial.Longitude + t * (pontoFinal.Longitude - pontoInicial.Longitude);
+
+            // Interpolar orientação, se necessário
+            double orientacaoInterpolada = pontoInicial.CursoVerdadeiro + t * (pontoFinal.CursoVerdadeiro - pontoInicial.CursoVerdadeiro);
+
+            return new GPSModel
+            {
+                Latitude = latInterpolada,
+                Longitude = lonInterpolada,
+                CursoVerdadeiro = orientacaoInterpolada
+            };
+        }
+
+        public static List InterpolarRota(List rotaOriginal, int novaQuantidadeDePontos)
+        {
+            var rotaInterpolada = new List();
+            int quantidadeOriginal = rotaOriginal.Count;
+
+            for (int i = 0; i < novaQuantidadeDePontos; i++)
+            {
+                // Proporção do ponto na rota original
+                double t = (double)i / (novaQuantidadeDePontos - 1);
+                double indiceInterpolado = t * (quantidadeOriginal - 1);
+
+                int indiceInferior = (int)Math.Floor(indiceInterpolado);
+                int indiceSuperior = Math.Min(indiceInferior + 1, quantidadeOriginal - 1);
+
+                double proporcao = indiceInterpolado - indiceInferior;
+
+                var pontoInterpolado = InterpolarPonto(
+                    rotaOriginal[indiceInferior],
+                    rotaOriginal[indiceSuperior],
+                    proporcao);
+
+                rotaInterpolada.Add(pontoInterpolado);
+            }
+
+            return rotaInterpolada;
+        }
+
         public static GPSModel PontoMedio(GPSModel P1, GPSModel P2)
         {
             return new GPSModel()
@@ -717,6 +955,35 @@ namespace AgroBase.Services
             };
         }
 
+        public static GPSModel GerarPontoDeslocado(GPSModel pontoInicial, double angulo, double distancia)
+        {
+            double latitude = pontoInicial.Latitude;
+            double longitude = pontoInicial.Longitude;
+
+            // Conversão de ângulo de graus para radianos
+            double anguloRad = angulo * (Math.PI / 180);
+
+            // Raio da Terra em metros
+            double raioTerra = GPSService.RaioDaTerra;
+
+            // Calcular deslocamento de latitude em radianos
+            double deltaLat = distancia * Math.Cos(anguloRad) / raioTerra;
+            // Converter de radianos para graus
+            double latAtt = latitude + deltaLat * (180 / Math.PI);
+
+            // Calcular deslocamento de longitude em radianos
+            double deltaLong = distancia * Math.Sin(anguloRad) / (raioTerra * Math.Cos(latitude * (Math.PI / 180)));
+            // Converter de radianos para graus
+            double longAtt = longitude + deltaLong * (180 / Math.PI);
+
+            return new GPSModel()
+            {
+                Latitude = latAtt,
+                Longitude = longAtt,
+            };
+        }
+
+
         public static bool EstaEntrePontos(GPSModel posicao, GPSModel pontoA, GPSModel pontoB, double margem = 0.000001)
         {
             /*// Calcule a distância entre os pontos usando a fórmula de Haversine ou similar
@@ -745,7 +1012,7 @@ namespace AgroBase.Services
             double Angulo = 0.0;
             double DistAngulo = 0.0;
 
-            int Indice = Variaveis.OperacaoEmAndamento.Mapa.mapaService.MapaUrl != "" ? Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual : 0;
+            int Indice = Variaveis.OperacaoEmAndamento.Mapa.mapaService.MapaUrl != "" ? Variaveis.OperacaoEmAndamento.Trajetoria?.IdxCorredorAtual ?? 0 : 0;
 
             try
             {
@@ -778,7 +1045,10 @@ namespace AgroBase.Services
                 DistAngulo = 0.0;
             }
 
-            Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroGPS = Angulo;
+            Variaveis.OperacaoEmAndamento.Sensoriamento.VariacaoMagneticaGPS = UltimaLeitura.VariacaoMagnetica;
+            Variaveis.OperacaoEmAndamento.Sensoriamento.CursoVerdadeiroCarroGPS = UltimaLeitura.CursoVerdadeiro;
+            Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroGPS = UltimaLeitura.OrientacaoReal;
+            Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroGPSMovimento = Angulo;
             Variaveis.OperacaoEmAndamento.Sensoriamento.DistAnguloCarroGPS = DistAngulo;
 
             DefinirAnguloCarro();
@@ -795,68 +1065,131 @@ namespace AgroBase.Services
             {
                 // Obtém os ângulos de ambos os sensores
                 double anguloWT901C = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroBussola;
+                double cursoRealGPS = Variaveis.OperacaoEmAndamento.Sensoriamento.CursoVerdadeiroCarroGPS;
                 double anguloGPS = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroGPS;
+                double anguloGPSMovimento = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroGPSMovimento;
                 double distAnguloGPS = Variaveis.OperacaoEmAndamento.Sensoriamento.DistAnguloCarroGPS;
+                double variacaoMagnetica = Variaveis.OperacaoEmAndamento.Sensoriamento.VariacaoMagneticaGPS;
 
-                anguloFinal = UnificarAngulos(anguloWT901C, anguloGPS, distAnguloGPS);
+                anguloFinal = UnificarAngulos(anguloWT901C, cursoRealGPS, anguloGPSMovimento, distAnguloGPS, anguloGPS, variacaoMagnetica);
             }
             else if (witIniciado)
             {
                 // Apenas o WT901C está disponível
                 anguloFinal = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroBussola;
             }
-            else
+            else if (gpsIniciado)
             {
                 // Apenas o GPS está disponível
-                anguloFinal = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroGPS;
+                double cursoRealGPS = Variaveis.OperacaoEmAndamento.Sensoriamento.CursoVerdadeiroCarroGPS;
+                double anguloGPS = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroGPS;
+                double anguloGPSMovimento = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroGPSMovimento;
+                double distAnguloGPS = Variaveis.OperacaoEmAndamento.Sensoriamento.DistAnguloCarroGPS;
+                double variacaoMagnetica = Variaveis.OperacaoEmAndamento.Sensoriamento.VariacaoMagneticaGPS;
+
+                anguloFinal = UnificarAngulos(null, cursoRealGPS, anguloGPSMovimento, distAnguloGPS, anguloGPS, variacaoMagnetica);
+            }
+            else
+            {
+                anguloFinal = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroGPSMovimento;
             }
 
             // Atualiza o ângulo final
+            //anguloFinal = UltimaLeitura.OrientacaoReal;
             Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro = anguloFinal;
         }
 
-        public static double UnificarAngulos(double anguloWT901C, double anguloGPS, double distGPS)
+        public static double UnificarAngulos(double? anguloWT901C, double cursoVerdadeiroGPS, double anguloGPSMovimento, double distGPS, double orientacaoRealGPS, double variacaoMagnetica)
         {
             double anguloFinal = 0.0;
 
-            double difMax = 50.0;         // Diferença angular máxima permitida
-            double pesoMaxGps = 0.7;      // Peso máximo do GPS
-            double distanciaMaxima = 1.8; // Distância em metros para atingir pesoMaxGps
-            bool pesoGpsCrescente = true;
+            // Parâmetros ajustáveis
+            double difMax = 50.0;             // Diferença angular máxima permitida
+            double pesoMaxHeading = 0.8;      // Peso máximo para o heading (orientacaoRealGPS)
+            double pesoMaxGps = 0.6;          // Peso máximo combinado do GPS e movimento
+            double pesoMaxGpsMovimento = 0.4; // Peso máximo para o ângulo de movimento
+            double distanciaMaxima = 1.8;     // Distância máxima em metros para peso do GPS
 
-            // Calcula a diferença absoluta entre os ângulos nos dois sentidos
-            double diferencaHorario = (anguloWT901C - anguloGPS + 360) % 360;
-            double diferencaAntihorario = (anguloGPS - anguloWT901C + 360) % 360;
-            double diferencaAngulo = Math.Min(diferencaHorario, diferencaAntihorario);
+            // Corrigir ângulos com variação magnética
+            cursoVerdadeiroGPS = ((cursoVerdadeiroGPS - variacaoMagnetica) + 360) % 360;
+            anguloGPSMovimento = ((anguloGPSMovimento - variacaoMagnetica) + 360) % 360;
+            orientacaoRealGPS = ((orientacaoRealGPS - variacaoMagnetica) + 360) % 360;
 
-            // Apenas combina os ângulos se a diferença for menor que o limite
-            if (diferencaAngulo <= difMax)
+            // Normalização do WT901C
+            if (anguloWT901C.HasValue)
+                anguloWT901C = ((anguloWT901C.Value - variacaoMagnetica) + 360) % 360;
+
+            // Inicialização de pesos
+            double pesoWT901C = 0.0;
+            double pesoHeading = 0.0;
+            double pesoGPS = 0.0;
+            double pesoGPSMovimento = 0.0;
+
+            if (anguloWT901C.HasValue)
             {
-                // Calcula o peso do GPS baseado na diferença angular e na distância
-                double pesoAngular = Math.Pow((pesoGpsCrescente ? 0 : -1) + (diferencaAngulo / difMax), 2); // Curva quadrática para a diferença angular
-                double pesoDistancia = Math.Min(distGPS / distanciaMaxima, 1.0);  // Peso crescente baseado na distância
+                // Diferença angular entre WT901C e orientacaoRealGPS
+                double diferencaWT901C_Heading = Math.Min(
+                    (anguloWT901C.Value - orientacaoRealGPS + 360) % 360,
+                    (orientacaoRealGPS - anguloWT901C.Value + 360) % 360
+                );
 
-                // Combina os dois pesos para determinar o peso final do GPS
-                double pesoGPS = Math.Min(pesoAngular + pesoDistancia, pesoMaxGps);
-                double pesoWT901C = 1 - pesoGPS; // Complementar do peso do GPS
+                // Diferença angular entre WT901C e cursoVerdadeiroGPS
+                double diferencaWT901C_GPS = Math.Min(
+                    (anguloWT901C.Value - cursoVerdadeiroGPS + 360) % 360,
+                    (cursoVerdadeiroGPS - anguloWT901C.Value + 360) % 360
+                );
 
-                // Converte os ângulos para coordenadas no círculo unitário
-                double xWT901C = Math.Cos(Math.PI * anguloWT901C / 180.0);
-                double yWT901C = Math.Sin(Math.PI * anguloWT901C / 180.0);
-                double xGPS = Math.Cos(Math.PI * anguloGPS / 180.0);
-                double yGPS = Math.Sin(Math.PI * anguloGPS / 180.0);
+                // Peso baseado nas diferenças angulares
+                pesoHeading = Math.Max(0, 1 - Math.Pow(diferencaWT901C_Heading / difMax, 2)) * pesoMaxHeading;
+                pesoGPS = Math.Max(0, 1 - Math.Pow(diferencaWT901C_GPS / difMax, 2)) * pesoMaxGps;
+                pesoGPSMovimento = Math.Min(distGPS / distanciaMaxima, pesoMaxGpsMovimento);
 
-                // Combina as coordenadas utilizando os pesos
-                double xFinal = (pesoWT901C * xWT901C) + (pesoGPS * xGPS);
-                double yFinal = (pesoWT901C * yWT901C) + (pesoGPS * yGPS);
-
-                // Converte o vetor resultante de volta para um ângulo em graus
-                anguloFinal = (Math.Atan2(yFinal, xFinal) * 180.0 / Math.PI + 360) % 360;
+                // Peso do WT901C é complementar
+                pesoWT901C = 1 - (pesoHeading + pesoGPS + pesoGPSMovimento);
             }
             else
             {
-                // Prioriza o WT901C se a diferença for muito grande
-                anguloFinal = anguloWT901C;
+                // Diferença entre heading e curso verdadeiro
+                double diferencaHeading_Curso = Math.Min(
+                    (orientacaoRealGPS - cursoVerdadeiroGPS + 360) % 360,
+                    (cursoVerdadeiroGPS - orientacaoRealGPS + 360) % 360
+                );
+
+                // Peso baseado na diferença entre heading e curso verdadeiro
+                pesoHeading = pesoMaxHeading;
+                pesoGPS = Math.Max(0, 1 - Math.Pow(diferencaHeading_Curso / difMax, 2)) * pesoMaxGps;
+                pesoGPSMovimento = Math.Min(distGPS / distanciaMaxima, pesoMaxGpsMovimento);
+            }
+
+            // Coordenadas no círculo unitário
+            double xHeading = Math.Cos(Math.PI * orientacaoRealGPS / 180.0);
+            double yHeading = Math.Sin(Math.PI * orientacaoRealGPS / 180.0);
+            double xGPS = Math.Cos(Math.PI * cursoVerdadeiroGPS / 180.0);
+            double yGPS = Math.Sin(Math.PI * cursoVerdadeiroGPS / 180.0);
+            double xGPSMovimento = Math.Cos(Math.PI * anguloGPSMovimento / 180.0);
+            double yGPSMovimento = Math.Sin(Math.PI * anguloGPSMovimento / 180.0);
+            double xWT901C = 0.0;
+            double yWT901C = 0.0;
+
+            if (anguloWT901C.HasValue)
+            {
+                xWT901C = Math.Cos(Math.PI * anguloWT901C.Value / 180.0);
+                yWT901C = Math.Sin(Math.PI * anguloWT901C.Value / 180.0);
+            }
+
+            // Combinação ponderada dos vetores
+            double xFinal = (pesoHeading * xHeading) + (pesoWT901C * xWT901C) + (pesoGPS * xGPS) + (pesoGPSMovimento * xGPSMovimento);
+            double yFinal = (pesoHeading * yHeading) + (pesoWT901C * yWT901C) + (pesoGPS * yGPS) + (pesoGPSMovimento * yGPSMovimento);
+
+            // Verificar magnitude para consistência
+            double magnitude = Math.Sqrt(xFinal * xFinal + yFinal * yFinal);
+            if (magnitude < 0.5) // Alta divergência
+            {
+                anguloFinal = orientacaoRealGPS;
+            }
+            else
+            {
+                anguloFinal = (Math.Atan2(yFinal, xFinal) * 180.0 / Math.PI + 360) % 360;
             }
 
             return anguloFinal;
@@ -864,5 +1197,98 @@ namespace AgroBase.Services
 
 
 
+
+
+
+        public static double CalcularDistanciaPerpendicular(GPSModel ponto, GPSModel segmentoA, GPSModel segmentoB)
+        {
+            double latA = segmentoA.Latitude, lonA = segmentoA.Longitude;
+            double latB = segmentoB.Latitude, lonB = segmentoB.Longitude;
+            double latP = ponto.Latitude, lonP = ponto.Longitude;
+
+            // Vetores
+            double vx = latB - latA;
+            double vy = lonB - lonA;
+            double wx = latP - latA;
+            double wy = lonP - lonA;
+
+            // Projeção do vetor P em relação a AB
+            double c1 = wx * vx + wy * vy;
+            double c2 = vx * vx + vy * vy;
+            double b = c1 / c2;
+
+            // Ponto projetado na reta AB
+            double latProj = latA + b * vx;
+            double lonProj = lonA + b * vy;
+
+            // Distância entre o ponto real e o ponto projetado na reta
+            return DistanciaEntrePontos(new GPSModel() { Latitude = latProj, Longitude = lonProj }, ponto);
+        }
+
+        public static double CalcularDistanciaPerpendicular2(GPSModel pontoA, GPSModel pontoB, GPSModel pontoRobo)
+        {
+            // Converter latitude e longitude para metros usando uma projeção aproximada
+            var pontoAMetros = ConverterLatLongParaMetros(pontoA, pontoRobo);
+            var pontoBMetros = ConverterLatLongParaMetros(pontoB, pontoRobo);
+            var pontoRoboMetros = ConverterLatLongParaMetros(pontoRobo, pontoA);
+
+            // Vetores
+            var vetorAB = (x: pontoBMetros.x - pontoAMetros.x, y: pontoBMetros.y - pontoAMetros.y);
+            var vetorAR = (x: pontoRoboMetros.x - pontoAMetros.x, y: pontoRoboMetros.y - pontoAMetros.y);
+
+            // Produto escalar e magnitude do vetor AB
+            double produtoEscalar = vetorAR.x * vetorAB.x + vetorAR.y * vetorAB.y;
+            double magnitudeAB = Math.Sqrt(vetorAB.x * vetorAB.x + vetorAB.y * vetorAB.y);
+
+            // Projeção do vetor AR sobre AB (posição projetada do robô no segmento AB)
+            double t = produtoEscalar / (magnitudeAB * magnitudeAB);
+            t = Math.Max(0, Math.Min(1, t)); // Restringir t entre 0 e 1 para manter no segmento
+
+            // Coordenadas do ponto projetado
+            var pontoProjetado = (
+                x: pontoAMetros.x + t * vetorAB.x,
+                y: pontoAMetros.y + t * vetorAB.y
+            );
+
+            // Distância entre o ponto projetado e o robô
+            double distancia = Math.Sqrt(
+                Math.Pow(pontoRoboMetros.x - pontoProjetado.x, 2) +
+                Math.Pow(pontoRoboMetros.y - pontoProjetado.y, 2)
+            );
+
+            return distancia;
+        }
+
+        public static (double x, double y) ConverterLatLongParaMetros(GPSModel ponto, GPSModel referencia)
+        {
+            double lat1 = GrausParaRadianos(referencia.Latitude);
+            double lon1 = GrausParaRadianos(referencia.Longitude);
+            double lat2 = GrausParaRadianos(ponto.Latitude);
+            double lon2 = GrausParaRadianos(ponto.Longitude);
+
+            double dLat = lat2 - lat1;
+            double dLon = lon2 - lon1;
+
+            double a = Math.Sin(dLat / 2) * Math.Sin(dLat / 2) +
+                       Math.Cos(lat1) * Math.Cos(lat2) *
+                       Math.Sin(dLon / 2) * Math.Sin(dLon / 2);
+
+            double c = 2 * Math.Atan2(Math.Sqrt(a), Math.Sqrt(1 - a));
+
+            double distancia = RaioDaTerra * c;
+
+            // Calcular coordenadas x e y relativas ao ponto de referência
+            double x = distancia * Math.Cos(lat1) * Math.Sin(dLon);
+            double y = distancia * Math.Sin(dLat);
+
+            return (x, y);
+        }
+
+        private static double GrausParaRadianos(double graus)
+        {
+            return graus * Math.PI / 180;
+        }
+
+
     }
 }
diff --git a/AgroBase/AgroBase/Services/LoRaSerializer.cs b/AgroBase/AgroBase/Services/LoRaSerializer.cs
index b7ed3c6b7..9074b4282 100644
--- a/AgroBase/AgroBase/Services/LoRaSerializer.cs
+++ b/AgroBase/AgroBase/Services/LoRaSerializer.cs
@@ -132,7 +132,7 @@ namespace AgroBase.Services
             // Serializar Coordenadas (LoRaProtocoloTransmissaoCoordenadasModel)
             bytes.AddRange(BitConverter.GetBytes(model.Latitude));
             bytes.AddRange(BitConverter.GetBytes(model.Longitude));
-            bytes.AddRange(BitConverter.GetBytes(model.Orientacao));
+            bytes.AddRange(BitConverter.GetBytes(model.CursoVerdadeiro));
 
             return bytes.ToArray();
         }
@@ -153,7 +153,7 @@ namespace AgroBase.Services
             // Desserializar Coordenadas (LoRaProtocoloTransmissaoCoordenadasModel)
             model.Latitude = BitConverter.ToDouble(bytes, index);
             model.Longitude = BitConverter.ToDouble(bytes, index + sizeof(double));
-            model.Orientacao = BitConverter.ToDouble(bytes, index + 2 * sizeof(double));
+            model.CursoVerdadeiro = BitConverter.ToDouble(bytes, index + 2 * sizeof(double));
 
             return (Endereco, model);
         }
diff --git a/AgroBase/AgroBase/Services/LoRaService.cs b/AgroBase/AgroBase/Services/LoRaService.cs
index 7de49b78e..a224d97b4 100644
--- a/AgroBase/AgroBase/Services/LoRaService.cs
+++ b/AgroBase/AgroBase/Services/LoRaService.cs
@@ -1,4 +1,5 @@
 using AgroBase.Models;
+using AgroMonitor;
 using System;
 using System.Collections.Generic;
 using System.IO.Ports;
@@ -224,11 +225,8 @@ namespace AgroBase.Services
             tmrEnvio = new AsyncTaskTimerModel("tmrEnvio", tmrEnvio_Tick, 500);
             tmrEnvio.Start();
 
-            if (Variaveis.IsAgroMonitor)
-            {
-                tmrPing = new AsyncTaskTimerModel("tmrPing", tmrPing_Tick, VariaveisEquipamento.TempoEntrePingsConexao);
-                tmrEnvio.Start();
-            }
+            tmrPing = new AsyncTaskTimerModel("tmrPing", tmrPing_Tick, VariaveisEquipamento.TempoEntrePingsConexao);
+            tmrPing.Start();
         }
 
         public static void PararRotinas()
@@ -453,6 +451,10 @@ namespace AgroBase.Services
                                 lock (_dadosOperacaoLock)
                                 {
                                     LeituraDadosOperacao.Add(Dados);
+                                    if (LeituraDadosOperacao.Count() > 5)
+                                    {
+                                        LeituraDadosOperacao.RemoveAt(0);
+                                    }
                                 }
                                 Console.WriteLine($"{Dados.RecebidoEm.ToString("HH:mm:ss.fff")} Dados de operação recebidos: Mod_ID = {Dados.EnderecoCarro}");
                                 break;
@@ -762,10 +764,22 @@ namespace AgroBase.Services
 
         public static async Task tmrPing_Tick()
         {
-            if (!Variaveis.OperacaoEmAndamento.Iniciado)
+            if (Variaveis.IsAgroMonitor)
             {
-                Console.WriteLine("Enviando ping de comunicação para a base...");
-                EnviarDadosParaBase();
+                byte EnderecoBase = Variaveis.ConexaoLoRa.parametros.address;
+                //GPSService.EnviarCoordenadasParaMapa(GPSService.UltimaLeitura.Latitude, GPSService.UltimaLeitura.Longitude, GPSService.UltimaLeitura.Orientacao, false, Convert.ToInt32(EnderecoBase));
+                foreach (var Equipamento in VariaveisMonitoramento.EquipamentosConectados.Where(x => x.Key != EnderecoBase))
+                {
+                    EnviarDadosPosicao(EnderecoBase, Equipamento.Key);
+                }
+            }
+            else
+            {
+                if (!Variaveis.OperacaoEmAndamento.Iniciado)
+                {
+                    Console.WriteLine("Enviando ping de comunicação para a base...");
+                    EnviarDadosParaBase();
+                }
             }
         }
 
@@ -794,7 +808,7 @@ namespace AgroBase.Services
                         TempoOperacao = Convert.ToInt32(Variaveis.OperacaoEmAndamento.Tempo.TotalSeconds),
                         PercentualRua = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua,
                         PercentualOperacao = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoTrajeto,
-                        TempoEstimado = Variaveis.OperacaoEmAndamento.TempoEstimadoOperacao(velocidadeMax, velocidadeMin),
+                        TempoEstimado = Variaveis.OperacaoEmAndamento.Trajetoria?.TempoEstimadoOperacao(velocidadeMax, velocidadeMin),
                     },
                     Coordenadas = new LoRaProtocoloTransmissaoCoordenadasModel()
                     {
@@ -823,7 +837,7 @@ namespace AgroBase.Services
             }
         }
 
-        public static void EnviarDadosPosicao(byte EnderecoRemetente, byte EnderecoDestinatario)
+        private static void EnviarDadosPosicao(byte EnderecoRemetente, byte EnderecoDestinatario)
         {
             if (Iniciado && Variaveis.IsAgroMonitor)
             {
diff --git a/AgroBase/AgroBase/Services/ModbusService.cs b/AgroBase/AgroBase/Services/ModbusService.cs
index 650d7c6c6..4945c3ce4 100644
--- a/AgroBase/AgroBase/Services/ModbusService.cs
+++ b/AgroBase/AgroBase/Services/ModbusService.cs
@@ -13,7 +13,14 @@ namespace AgroBase.Services
     public class ModbusService
     {
         public static readonly object _lock = new object();
-        public static int TaxaAmostragem { get; set; } = 500;
+        private static int TaxaAmostragem { get; set; } = 500;
+        public static int TempoLimiteConexao
+        {
+            get
+            {
+                return 20 * TaxaAmostragem;
+            }
+        }
         public static bool Verificando { get; set; } = false;
         public static bool EnvioLiberado { get; set; } = true;
 
diff --git a/AgroBase/AgroBase/Services/MqttService.cs b/AgroBase/AgroBase/Services/MqttService.cs
index 94ca681e1..65b92c8de 100644
--- a/AgroBase/AgroBase/Services/MqttService.cs
+++ b/AgroBase/AgroBase/Services/MqttService.cs
@@ -81,7 +81,7 @@ public class MqttService
         Task.Run(async () =>
         {
             await AdicionarNovoTopico(MapasVariaveisModel.TopicoCoordenadasGPS);
-            await AdicionarNovoTopico(MapasVariaveisModel.TopicoSelecaoRuasMapa, true, 1, async (message) => { Variaveis.OperacaoEmAndamento.OpMapaGPS.AtualizarRuasSelecionadas(); });
+            await AdicionarNovoTopico(MapasVariaveisModel.TopicoSelecaoRuasMapa, true, 1, async (message) => { Variaveis.OperacaoEmAndamento.Mapa.AtualizarRuasSelecionadas(); });
             await AdicionarNovoTopico(MapasVariaveisModel.TopicoTrajetoriaDinamica);
             await AdicionarNovoTopico(CamerasVaraiveisModel.TopicoEnvioBitmap);
         });
diff --git a/AgroBase/AgroBase/Services/PZEMService.cs b/AgroBase/AgroBase/Services/PZEMService.cs
index 572b886b7..6813593e7 100644
--- a/AgroBase/AgroBase/Services/PZEMService.cs
+++ b/AgroBase/AgroBase/Services/PZEMService.cs
@@ -15,7 +15,7 @@ namespace AgroBase.Services
         {
             get
             {
-                return UltimaLeitura.DataHora.AddMilliseconds(ModbusService.TaxaAmostragem * 20) > DateTime.Now;
+                return UltimaLeitura.DataHora.AddMilliseconds(ModbusService.TempoLimiteConexao) > DateTime.Now;
             }
         }
 
@@ -200,7 +200,7 @@ namespace AgroBase.Services
             Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria = Math.Round(FuncoesMatematicas.Map(UltimaLeitura.Tensao, TensaoMinima, TensaoMaxima, 0.0, 100.0), 2);
             if (Variaveis.OperacaoEmAndamento.DispSen != null)
             {
-                Variaveis.OperacaoEmAndamento.DispSen.Dados.BateriaCargaConsumida = ContadorCarga.ConsumidoAmp;
+                Variaveis.OperacaoEmAndamento.DispSen.Dados.BateriaCargaConsumida = ContadorCarga._Consumido;
             }
 
             return Sucesso;
diff --git a/AgroBase/AgroBase/Services/SerialService.cs b/AgroBase/AgroBase/Services/SerialService.cs
index 5aae5739c..a33c03db1 100644
--- a/AgroBase/AgroBase/Services/SerialService.cs
+++ b/AgroBase/AgroBase/Services/SerialService.cs
@@ -2,8 +2,10 @@
 using AgroBase.Models;
 using System;
 using System.Collections.Generic;
+using System.IO;
 using System.IO.Ports;
 using System.Linq;
+using System.Management;
 using System.Text;
 using System.Threading;
 using System.Threading.Tasks;
@@ -425,20 +427,43 @@ namespace AgroBase.Services
 
         public static string ReadLineWithTimeout(SerialPort porta, int timeout)
         {
-            CancellationTokenSource cts = new CancellationTokenSource();
-            Task task = Task.Run(() => porta.ReadLine(), cts.Token);
+            using (CancellationTokenSource cts = new CancellationTokenSource())
+            {
+                try
+                {
+                    Task task = Task.Run(() =>
+                    {
+                        if (porta.IsOpen) // Verifica se a porta está aberta
+                        {
+                            return porta.ReadLine();
+                        }
+                        throw new IOException("A porta serial não está aberta.");
+                    }, cts.Token);
 
-            if (task.Wait(timeout))
-            {
-                return task.Result;
-            }
-            else
-            {
-                cts.Cancel();
-                return ""; // ou string.Empty, dependendo de como você deseja lidar com isso
+                    if (task.Wait(timeout))
+                    {
+                        return task.Result;
+                    }
+                    else
+                    {
+                        cts.Cancel();
+                        return ""; // Retorna vazio se o timeout for atingido
+                    }
+                }
+                catch (IOException ex)
+                {
+                    Console.WriteLine($"Erro de I/O: {ex.Message}");
+                    return ""; // Ou trate como necessário
+                }
+                catch (Exception ex)
+                {
+                    Console.WriteLine($"Erro: {ex.Message}");
+                    return ""; // Ou trate como necessário
+                }
             }
         }
 
+
         public static void AtualizarDispositivos()
         {
             bool PrimeiraExecucao = !Variaveis.DispositivosConectados.Any();
@@ -824,7 +849,10 @@ namespace AgroBase.Services
                 Recebido = Encoding.ASCII.GetString(buffer);
             }
 
-            if (Recebido.Contains("$GPTXT") || Recebido.Contains("$GPRMC") || Recebido.Contains("$GPGGA") || Recebido.Contains("$GPGLL"))
+            if (
+                (Recebido.Contains("$GPTXT") || Recebido.Contains("$GPRMC") || Recebido.Contains("$GPGGA") || Recebido.Contains("$GPGLL")) || 
+                (Recebido.Contains("$GNGGA") || Recebido.Contains("$GPVTG") || Recebido.Contains("$GPGSV"))
+            )
             {
                 GPSService.AtualizarPortaCOM(Porta);
                 AtualizarConsole("Dispositivo GPS encontrado");
diff --git a/AgroBase/AgroBase/Services/SyncDataService.cs b/AgroBase/AgroBase/Services/SyncDataService.cs
index c5d28ee5e..fe8cdb6c2 100644
--- a/AgroBase/AgroBase/Services/SyncDataService.cs
+++ b/AgroBase/AgroBase/Services/SyncDataService.cs
@@ -176,7 +176,7 @@ namespace AgroBase.Services
             return SyncOperacao.Completo;
         }
 
-        public static byte[] CompactarArquivos(List<(string caminhoOriginal, string nomeComPrefixo, string subPasta)> arquivosParaSyncar)
+        private static byte[] CompactarArquivos(List<(string caminhoOriginal, string nomeComPrefixo, string subPasta)> arquivosParaSyncar)
         {
             using (var memoryStream = new MemoryStream())
             {
diff --git a/AgroBase/AgroBase/Services/UltrasonicA05Service.cs b/AgroBase/AgroBase/Services/UltrasonicA05Service.cs
index ab2e248f5..65b510a02 100644
--- a/AgroBase/AgroBase/Services/UltrasonicA05Service.cs
+++ b/AgroBase/AgroBase/Services/UltrasonicA05Service.cs
@@ -14,7 +14,7 @@ namespace AgroBase.Services
         {
             get
             {
-                return DadosLeitura.Momento.AddMilliseconds(ModbusService.TaxaAmostragem * 20) > DateTime.Now;
+                return DadosLeitura.Momento.AddMilliseconds(ModbusService.TempoLimiteConexao) > DateTime.Now;
             }
         }
 
diff --git a/AgroBase/AgroBase/Services/WT901CService.cs b/AgroBase/AgroBase/Services/WT901CService.cs
index 775155cc0..64fdd9a1b 100644
--- a/AgroBase/AgroBase/Services/WT901CService.cs
+++ b/AgroBase/AgroBase/Services/WT901CService.cs
@@ -16,7 +16,7 @@ namespace AgroBase.Services
         {
             get
             {
-                return DadosLeitura.Momento.AddMilliseconds(ModbusService.TaxaAmostragem * 20) > DateTime.Now;
+                return DadosLeitura.Momento.AddMilliseconds(ModbusService.TempoLimiteConexao) > DateTime.Now;
             }
         }
 
diff --git a/AgroBase/AgroBase/bin/Debug/AgroBase.pdb b/AgroBase/AgroBase/bin/Debug/AgroBase.pdb
index e29d6edfea8c759ae372ebdb8af0912a09fc8e7c..344329483baae30e5237cc14a021331609d19a3a 100644
GIT binary patch
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zn9l;fVj+w8nr~Rlw=7{P%UI5Le9sDgU?o4Yil6wI)vRGH>-dHB{K{|q&IUH}2Y<4O
zzu3&*B;1Q*H;Pb{-Pwa;>`8Ia2!PUBQo`JSw14QpA)FRbTRe&csGu#rFb
zlTG}^X13fj-F=aEqX_bWRr4;+IKL>Ci2XQcma43gyI7e_K
zM^TzG98FouaSX?D9OXHl6F8BRIGGAmq!N`mg(_5~8mDp^r&FCX2)CrJ$(fwR+0>#o
zb*M`{&Y?c%67Fx-kn?CnW17&E^J&HfG^YjOepjt%O&i*BA?>(`_FT**TuKMh=}0HS
zee}A}m2Pw=gC6vx7rp62CVjb#EV9X=AN?7?Kn5|G%NfEIT**}o-m-6_?-=G(34*DrVp9)_!oavO9ZFj6EsNUZk-%CD@0O>`N*3
zBRrnt01o6J4(1RJ{eRlKtD6P@00^LiV8PwpgS)#FEfgu%(&Fy6Gp`#EzI(}A;0CxO
zg;df=CxgVEY9?7^lS3|fB>!6rer*e1jdiK~)5
z_6c*qAx9i@LWC%%#E6s3-x>(mr&?i^HP+c+lOS7c6Jm#5_Sh%P0f!uM%n1>qoDw6>
l8RuMZ$rab!aLXO{Jn+a9&%E%;8}EGZ$rs=Jkj(!Z_yyw=F|z;w

diff --git a/AgroBase/AgroBase/bin/Debug/DawnCache/data_1 b/AgroBase/AgroBase/bin/Debug/DawnCache/data_1
index daef0d2bf97348fdbf33984cd15a2d8261ee8ae0..07f33286c439adab52d3dc3912fcd16de9831e0a 100644
GIT binary patch
delta 155
qcmZoTAkc6?V8aasriz}4fqLxn4=Y~I=+@sDxL$r^!h!+BkGKF)AVwAd

delta 155
rcmZoTAkc6?V8aasCXLLAfqLv`v(Mam(5b&MaJ~G-gareLA8`Qyc;-fC

diff --git a/AgroBase/AgroBase/bin/Debug/GPUCache/data_1 b/AgroBase/AgroBase/bin/Debug/GPUCache/data_1
index 44cee670ac58959083eba3790946426ea3d9e1b7..d4238b639c39c881fd4f3b4f1e8f5bffac1552a2 100644
GIT binary patch
delta 62
zcmZoTAkc6?V8aassSn-^VBo|Dq1hl5gFD|uLoxOb3oBmE=+>W@__0Z;O^LBhiD{V<
G^FILZ{}B%W

delta 62
zcmZoTAkc6?V8aassRbGgV9>(}q1hl5!$i)BhGOj1x@T@Z=+vK>__0Z;O^LBhiD{V<
G^FILN2N1{r

diff --git a/AgroBase/AgroBase/bin/Debug/Logs/Mbs_err.txt b/AgroBase/AgroBase/bin/Debug/Logs/Mbs_err.txt
index 8f8e4a186..48c9b5063 100644
--- a/AgroBase/AgroBase/bin/Debug/Logs/Mbs_err.txt
+++ b/AgroBase/AgroBase/bin/Debug/Logs/Mbs_err.txt
@@ -289,3 +289,24 @@
 20/12/2024 16:48:14:661 - Porta COM107 - 0: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
 
 09/01/2025 16:45:45:498 - Porta COM112 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+14/01/2025 14:07:40:419 - Porta COM - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+14/01/2025 14:22:43:079 - Porta COM19 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+14/01/2025 14:29:16:150 - Porta COM - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+14/01/2025 16:05:52:877 - Porta COM19 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+14/01/2025 16:19:03:875 - Porta COM43 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+15/01/2025 15:26:20:187 - Porta COM - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+15/01/2025 15:46:47:355 - Porta COM - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+15/01/2025 16:00:47:686 - Porta COM20 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+15/01/2025 16:10:55:583 - Porta COM - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+15/01/2025 16:13:25:418 - Porta COM - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+15/01/2025 16:45:50:114 - Porta COM - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+15/01/2025 16:54:15:223 - Porta COM43 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+15/01/2025 16:54:28:732 - Porta COM - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+21/01/2025 16:09:30:216 - Porta COM114 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+27/01/2025 15:02:55:994 - Porta COM47 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+27/01/2025 15:03:17:972 - Porta COM47 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+27/01/2025 15:19:48:999 - Porta COM20 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+27/01/2025 15:20:11:593 - Porta COM20 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+29/01/2025 10:31:26:832 - Porta COM20 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+29/01/2025 14:06:11:484 - Porta COM20 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+29/01/2025 14:28:23:051 - Porta COM20 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
diff --git a/AgroBase/AgroBase/bin/Debug/Logs/Mks_err.txt b/AgroBase/AgroBase/bin/Debug/Logs/Mks_err.txt
index 4ef9f5fa2..2f710027d 100644
--- a/AgroBase/AgroBase/bin/Debug/Logs/Mks_err.txt
+++ b/AgroBase/AgroBase/bin/Debug/Logs/Mks_err.txt
@@ -17151,3 +17151,126 @@ Parameter name: source
 20/12/2024 16:54:22:422 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
 20/12/2024 16:54:23:292 - Endereço 2 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
 20/12/2024 16:54:32:285 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=46
+21/01/2025 15:19:49:853 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=33
+21/01/2025 15:19:50:859 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=33
+21/01/2025 15:19:50:921 - Endereço 0 (192.168.105.11): Dados recebidos de um endereço inválido: [0 0 0 49]
+21/01/2025 15:19:50:921 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:19:59:236 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=38
+21/01/2025 15:19:59:246 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=38
+21/01/2025 15:20:10:574 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=38
+21/01/2025 15:20:10:579 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=38
+21/01/2025 15:20:14:656 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=33
+21/01/2025 15:20:15:672 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=33
+21/01/2025 15:20:15:750 - Endereço 0 (192.168.105.11): Dados recebidos de um endereço inválido: [0 0 0 49]
+21/01/2025 15:20:15:751 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:21:50:890 - Endereço 159 (192.168.105.11): Dados recebidos de um endereço inválido: [160 159 245]
+21/01/2025 15:21:50:890 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:21:53:505 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:21:55:271 - Endereço 255 (192.168.105.11): Dados recebidos de um endereço inválido: [251 255]
+21/01/2025 15:21:55:271 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:21:55:740 - Endereço 160 (192.168.105.11): Dados recebidos de um endereço inválido: [125 160 255]
+21/01/2025 15:21:55:741 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:21:56:293 - Endereço 251 (192.168.105.11): Dados recebidos de um endereço inválido: [253 251 255 191 245]
+21/01/2025 15:21:56:293 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:21:56:298 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:21:56:804 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:21:56:816 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:21:57:884 - Endereço 255 (192.168.105.11): Dados recebidos de um endereço inválido: [3 255 2 245 251 2 51 0]
+21/01/2025 15:21:57:884 - Endereço 2 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:21:58:583 - Endereço 245 (192.168.105.11): Dados recebidos de um endereço inválido: [2 245]
+21/01/2025 15:21:58:584 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:00:249 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:00:255 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:00:907 - Endereço 4 (192.168.105.11): Erro ao enviar comando: Index was outside the bounds of the array.
+21/01/2025 15:22:00:927 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:22:01:418 - Endereço 245 (192.168.105.11): Dados recebidos de um endereço inválido: [79 245]
+21/01/2025 15:22:01:419 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:02:012 - Endereço 68 (192.168.105.11): Dados recebidos de um endereço inválido: [251 68 80 255 245]
+21/01/2025 15:22:02:012 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:02:019 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:22:03:152 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:04:593 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:04:653 - Endereço 1 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:22:04:735 - Endereço 245 (192.168.105.11): Dados recebidos de um endereço inválido: [3 245 2 245]
+21/01/2025 15:22:04:735 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:04:745 - Endereço 254 (192.168.105.11): Dados recebidos de um endereço inválido: [251 254]
+21/01/2025 15:22:04:746 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:22:06:514 - Endereço 159 (192.168.105.11): Dados recebidos de um endereço inválido: [160 159 245]
+21/01/2025 15:22:06:514 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:07:001 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=46
+21/01/2025 15:22:08:037 - Endereço 228 (192.168.105.11): Dados recebidos de um endereço inválido: [251 228]
+21/01/2025 15:22:08:037 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:22:11:459 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:13:157 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:22:13:163 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:22:13:670 - Endereço 195 (192.168.105.11): Dados recebidos de um endereço inválido: [251 195]
+21/01/2025 15:22:13:671 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:14:905 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:14:915 - Endereço 1 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:22:15:448 - Endereço 108 (192.168.105.11): Dados recebidos de um endereço inválido: [251 108 212 168]
+21/01/2025 15:22:15:448 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:15:992 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:22:15:998 - Endereço 255 (192.168.105.11): Dados recebidos de um endereço inválido: [251 255]
+21/01/2025 15:22:15:999 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:22:18:167 - Endereço 245 (192.168.105.11): Dados recebidos de um endereço inválido: [3 245 2 245]
+21/01/2025 15:22:18:167 - Endereço 2 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:22:18:170 - Endereço 2 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:22:18:770 - Endereço 4 (192.168.105.11): Erro ao enviar comando: Index was outside the bounds of the array.
+21/01/2025 15:22:19:267 - Endereço 4 (192.168.105.11): Erro ao enviar comando: Index was outside the bounds of the array.
+21/01/2025 15:22:21:003 - Endereço 1 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:22:21:448 - Endereço 159 (192.168.105.11): Dados recebidos de um endereço inválido: [160 159 245]
+21/01/2025 15:22:21:448 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:22:125 - Endereço 245 (192.168.105.11): Dados recebidos de um endereço inválido: [3 245 2 245]
+21/01/2025 15:22:22:125 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:22:135 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:22:610 - Endereço 4 (192.168.105.11): Erro ao enviar comando: Index was outside the bounds of the array.
+21/01/2025 15:22:24:228 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:24:267 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:24:361 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:22:24:364 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:22:25:454 - Endereço 245 (192.168.105.11): Dados recebidos de um endereço inválido: [2 245]
+21/01/2025 15:22:25:455 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:26:032 - Endereço 177 (192.168.105.11): Dados recebidos de um endereço inválido: [251 177 3 245 2 245 208 249]
+21/01/2025 15:22:26:032 - Endereço 1 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:22:27:170 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:27:181 - Endereço 2 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:22:27:776 - Endereço 255 (192.168.105.11): Dados recebidos de um endereço inválido: [168 255]
+21/01/2025 15:22:27:776 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:29:983 - Endereço 255 (192.168.105.11): Dados recebidos de um endereço inválido: [251 255 253 159 191]
+21/01/2025 15:22:29:983 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:30:985 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:31:018 - Endereço 1 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:22:31:548 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:32:206 - Endereço 245 (192.168.105.11): Dados recebidos de um endereço inválido: [2 245]
+21/01/2025 15:22:32:206 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:32:219 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:22:33:264 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:36:520 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:22:36:581 - Endereço 1 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:22:37:137 - Endereço 159 (192.168.105.11): Dados recebidos de um endereço inválido: [160 159 245]
+21/01/2025 15:22:37:137 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:30:01:775 - Endereço 63 (192.168.105.11): Dados recebidos de um endereço inválido: [251 63 118 2 246 1 48]
+21/01/2025 15:30:01:775 - Endereço 2 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:30:29:876 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:30:38:721 - Endereço 4 (192.168.105.11): Erro ao enviar comando: Index was outside the bounds of the array.
+21/01/2025 15:30:40:298 - Endereço 84 (192.168.105.11): Dados recebidos de um endereço inválido: [251 84 31 245]
+21/01/2025 15:30:40:298 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:30:41:388 - Endereço 245 (192.168.105.11): Dados recebidos de um endereço inválido: [3 245 2 245]
+21/01/2025 15:30:41:388 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:30:44:169 - Endereço 159 (192.168.105.11): Dados recebidos de um endereço inválido: [80 159 245]
+21/01/2025 15:30:44:170 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:30:44:187 - Endereço 1 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 15:30:48:621 - Endereço 4 (192.168.105.11): Erro ao enviar comando: Index was outside the bounds of the array.
+21/01/2025 15:30:49:391 - Endereço 245 (192.168.105.11): Dados recebidos de um endereço inválido: [2 245]
+21/01/2025 15:30:49:392 - Endereço 2 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=46
+21/01/2025 15:30:59:293 - Endereço 131 (192.168.105.11): Dados recebidos de um endereço inválido: [251 131]
+21/01/2025 15:30:59:293 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:57:21:388 - Endereço 132 (192.168.105.11): Dados recebidos de um endereço inválido: [251 132 245 3 245]
+21/01/2025 15:57:21:389 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
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+21/01/2025 15:57:24:350 - Endereço 2 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=13
+21/01/2025 15:57:40:612 - Endereço 1 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=46
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+21/01/2025 16:05:46:534 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+21/01/2025 16:05:46:538 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
diff --git a/AgroBase/AgroBase/bin/Debug/Parametros/parametersAtu-1_0.par b/AgroBase/AgroBase/bin/Debug/Parametros/parametersAtu-1_0.par
index 7dd0383bd..bfb66475d 100644
--- a/AgroBase/AgroBase/bin/Debug/Parametros/parametersAtu-1_0.par
+++ b/AgroBase/AgroBase/bin/Debug/Parametros/parametersAtu-1_0.par
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diff --git a/AgroBase/AgroBase/bin/Debug/Parametros/parametersMvd-2_0.par b/AgroBase/AgroBase/bin/Debug/Parametros/parametersMvd-2_0.par
index 8cda30863..8a7d906f5 100644
--- a/AgroBase/AgroBase/bin/Debug/Parametros/parametersMvd-2_0.par
+++ b/AgroBase/AgroBase/bin/Debug/Parametros/parametersMvd-2_0.par
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