atualizacoes do sonar

AgroBase/AgroBase/Forms/Movimentacao/frmMovDiagnosticos.cs

@@ -78,11 +78,11 @@ namespace AgroBase.Forms
                 return;
             }
 
-            foreach (var Motor in ((MovimentacaoModel)DispMov.Dados).Motores)
+            foreach (var Motor in DispMov.Dados.Motores)
             {
                 string ProtocoloMotor = Motor.ProtocoloTeste();
                 DispMov.EnviarDadosSerial(ProtocoloMotor);
-                Task.Delay(10);
+                System.Threading.Thread.Sleep(10);
             }
 
             tmrLeitura.Enabled = true;
@@ -90,12 +90,12 @@ namespace AgroBase.Forms
 
         private void tmrLeitura_Tick(object sender, EventArgs e)
         {
-            MovSensoriamentoMotor Motor = ((MovimentacaoModel)DispMov.Dados).Motores.FirstOrDefault(x => x.Comandar && x.Testando);
+            MovSensoriamentoMotor Motor = DispMov.Dados.Motores.FirstOrDefault(x => x.Comandar && x.Testando);
             if (Motor != null)
             {
                 PreencherDadosGrid(Motor);
             }
-            tmrLeitura.Enabled = ((MovimentacaoModel)DispMov.Dados).Motores.Any(x => x.Testando);
+            tmrLeitura.Enabled = DispMov.Dados.Motores.Any(x => x.Testando);
         }
     }
 }

AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.Designer.cs

@@ -28,9 +28,9 @@
         /// </summary>
         private void InitializeComponent()
         {
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea2 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea1 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend2 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend1 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series2 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.Series series1 = new System.Windows.Forms.DataVisualization.Charting.Series();
             this.pnlCamerasSolo = new System.Windows.Forms.Panel();
             this.pnlCameraSoloE = new System.Windows.Forms.Panel();
             this.picCameraSoloE = new System.Windows.Forms.PictureBox();
@@ -57,6 +57,7 @@
             this.gridDados = new System.Windows.Forms.DataGridView();
             this.tabDeteccoes = new System.Windows.Forms.TabPage();
             this.pnlDeteccoesRua = new System.Windows.Forms.Panel();
+            this.picSonar = new System.Windows.Forms.PictureBox();
             this.tabPulverizador = new System.Windows.Forms.TabPage();
             this.lblPressaoSP = new System.Windows.Forms.Label();
             this.nudPressaoSP = new System.Windows.Forms.NumericUpDown();
@@ -83,7 +84,7 @@
             this.btnIniciarOperacao = new System.Windows.Forms.Button();
             this.lblDistanciaEsquerda = new System.Windows.Forms.Label();
             this.lblDistanciaDireita = new System.Windows.Forms.Label();
-            this.picSonar = new System.Windows.Forms.PictureBox();
+            this.chbSonar = new System.Windows.Forms.CheckBox();
             this.pnlCamerasSolo.SuspendLayout();
             this.pnlCameraSoloE.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.picCameraSoloE)).BeginInit();
@@ -96,6 +97,7 @@
             ((System.ComponentModel.ISupportInitialize)(this.gridDados)).BeginInit();
             this.tabDeteccoes.SuspendLayout();
             this.pnlDeteccoesRua.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.picSonar)).BeginInit();
             this.tabPulverizador.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.nudPressaoSP)).BeginInit();
             this.pnlCameraRua.SuspendLayout();
@@ -104,7 +106,6 @@
             this.pnlDir_ET.SuspendLayout();
             this.pnlDir_DT.SuspendLayout();
             this.pnlDir_DF.SuspendLayout();
-            ((System.ComponentModel.ISupportInitialize)(this.picSonar)).BeginInit();
             this.SuspendLayout();
             // 
             // pnlCamerasSolo
@@ -112,17 +113,19 @@
             this.pnlCamerasSolo.BackColor = System.Drawing.Color.White;
             this.pnlCamerasSolo.Controls.Add(this.pnlCameraSoloE);
             this.pnlCamerasSolo.Controls.Add(this.pnlCameraSoloD);
-            this.pnlCamerasSolo.Location = new System.Drawing.Point(31, 404);
+            this.pnlCamerasSolo.Location = new System.Drawing.Point(23, 328);
+            this.pnlCamerasSolo.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.pnlCamerasSolo.Name = "pnlCamerasSolo";
-            this.pnlCamerasSolo.Size = new System.Drawing.Size(784, 227);
+            this.pnlCamerasSolo.Size = new System.Drawing.Size(588, 184);
             this.pnlCamerasSolo.TabIndex = 0;
             // 
             // pnlCameraSoloE
             // 
             this.pnlCameraSoloE.Controls.Add(this.picCameraSoloE);
-            this.pnlCameraSoloE.Location = new System.Drawing.Point(3, 3);
+            this.pnlCameraSoloE.Location = new System.Drawing.Point(2, 2);
+            this.pnlCameraSoloE.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.pnlCameraSoloE.Name = "pnlCameraSoloE";
-            this.pnlCameraSoloE.Size = new System.Drawing.Size(385, 219);
+            this.pnlCameraSoloE.Size = new System.Drawing.Size(289, 178);
             this.pnlCameraSoloE.TabIndex = 24;
             // 
             // picCameraSoloE
@@ -130,8 +133,9 @@
             this.picCameraSoloE.BackColor = System.Drawing.SystemColors.ButtonFace;
             this.picCameraSoloE.Dock = System.Windows.Forms.DockStyle.Fill;
             this.picCameraSoloE.Location = new System.Drawing.Point(0, 0);
+            this.picCameraSoloE.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.picCameraSoloE.Name = "picCameraSoloE";
-            this.picCameraSoloE.Size = new System.Drawing.Size(385, 219);
+            this.picCameraSoloE.Size = new System.Drawing.Size(289, 178);
             this.picCameraSoloE.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
             this.picCameraSoloE.TabIndex = 1;
             this.picCameraSoloE.TabStop = false;
@@ -139,9 +143,10 @@
             // pnlCameraSoloD
             // 
             this.pnlCameraSoloD.Controls.Add(this.picCameraSoloD);
-            this.pnlCameraSoloD.Location = new System.Drawing.Point(394, 3);
+            this.pnlCameraSoloD.Location = new System.Drawing.Point(296, 2);
+            this.pnlCameraSoloD.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.pnlCameraSoloD.Name = "pnlCameraSoloD";
-            this.pnlCameraSoloD.Size = new System.Drawing.Size(385, 219);
+            this.pnlCameraSoloD.Size = new System.Drawing.Size(289, 178);
             this.pnlCameraSoloD.TabIndex = 23;
             // 
             // picCameraSoloD
@@ -149,8 +154,9 @@
             this.picCameraSoloD.BackColor = System.Drawing.SystemColors.ButtonFace;
             this.picCameraSoloD.Dock = System.Windows.Forms.DockStyle.Fill;
             this.picCameraSoloD.Location = new System.Drawing.Point(0, 0);
+            this.picCameraSoloD.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.picCameraSoloD.Name = "picCameraSoloD";
-            this.picCameraSoloD.Size = new System.Drawing.Size(385, 219);
+            this.picCameraSoloD.Size = new System.Drawing.Size(289, 178);
             this.picCameraSoloD.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
             this.picCameraSoloD.TabIndex = 1;
             this.picCameraSoloD.TabStop = false;
@@ -159,25 +165,27 @@
             // 
             this.pnlAtuadores.BackColor = System.Drawing.Color.White;
             this.pnlAtuadores.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D;
-            this.pnlAtuadores.Location = new System.Drawing.Point(31, 637);
+            this.pnlAtuadores.Location = new System.Drawing.Point(23, 518);
+            this.pnlAtuadores.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.pnlAtuadores.Name = "pnlAtuadores";
-            this.pnlAtuadores.Size = new System.Drawing.Size(784, 155);
+            this.pnlAtuadores.Size = new System.Drawing.Size(589, 127);
             this.pnlAtuadores.TabIndex = 1;
             this.pnlAtuadores.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlAtuadores_Paint);
             // 
             // chartGraficos
             // 
-            chartArea2.Name = "ChartArea1";
+            chartArea1.Name = "ChartArea1";
-            this.chartGraficos.ChartAreas.Add(chartArea2);
+            this.chartGraficos.ChartAreas.Add(chartArea1);
-            legend2.Name = "Legend1";
+            legend1.Name = "Legend1";
-            this.chartGraficos.Legends.Add(legend2);
+            this.chartGraficos.Legends.Add(legend1);
-            this.chartGraficos.Location = new System.Drawing.Point(854, 9);
+            this.chartGraficos.Location = new System.Drawing.Point(640, 7);
+            this.chartGraficos.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.chartGraficos.Name = "chartGraficos";
-            series2.ChartArea = "ChartArea1";
+            series1.ChartArea = "ChartArea1";
-            series2.Legend = "Legend1";
+            series1.Legend = "Legend1";
-            series2.Name = "Series1";
+            series1.Name = "Series1";
-            this.chartGraficos.Series.Add(series2);
+            this.chartGraficos.Series.Add(series1);
-            this.chartGraficos.Size = new System.Drawing.Size(785, 392);
+            this.chartGraficos.Size = new System.Drawing.Size(589, 318);
             this.chartGraficos.TabIndex = 2;
             this.chartGraficos.Text = "chart1";
             // 
@@ -185,8 +193,9 @@
             // 
             this.lblDir_EF.AutoSize = true;
             this.lblDir_EF.Location = new System.Drawing.Point(1, 1);
+            this.lblDir_EF.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblDir_EF.Name = "lblDir_EF";
-            this.lblDir_EF.Size = new System.Drawing.Size(53, 16);
+            this.lblDir_EF.Size = new System.Drawing.Size(45, 13);
             this.lblDir_EF.TabIndex = 9;
             this.lblDir_EF.Text = "EF 000º";
             // 
@@ -194,26 +203,29 @@
             // 
             this.lblDir_DF.AutoSize = true;
             this.lblDir_DF.Location = new System.Drawing.Point(1, 1);
+            this.lblDir_DF.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblDir_DF.Name = "lblDir_DF";
-            this.lblDir_DF.Size = new System.Drawing.Size(54, 16);
+            this.lblDir_DF.Size = new System.Drawing.Size(46, 13);
             this.lblDir_DF.TabIndex = 10;
             this.lblDir_DF.Text = "DF 000º";
             // 
             // lblDir_DT
             // 
             this.lblDir_DT.AutoSize = true;
-            this.lblDir_DT.Location = new System.Drawing.Point(1, 3);
+            this.lblDir_DT.Location = new System.Drawing.Point(1, 2);
+            this.lblDir_DT.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblDir_DT.Name = "lblDir_DT";
-            this.lblDir_DT.Size = new System.Drawing.Size(55, 16);
+            this.lblDir_DT.Size = new System.Drawing.Size(47, 13);
             this.lblDir_DT.TabIndex = 11;
             this.lblDir_DT.Text = "DT 000º";
             // 
             // lblDir_ET
             // 
             this.lblDir_ET.AutoSize = true;
-            this.lblDir_ET.Location = new System.Drawing.Point(1, 3);
+            this.lblDir_ET.Location = new System.Drawing.Point(1, 2);
+            this.lblDir_ET.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblDir_ET.Name = "lblDir_ET";
-            this.lblDir_ET.Size = new System.Drawing.Size(54, 16);
+            this.lblDir_ET.Size = new System.Drawing.Size(46, 13);
             this.lblDir_ET.TabIndex = 12;
             this.lblDir_ET.Text = "ET 000º";
             // 
@@ -223,10 +235,11 @@
             this.tabControl1.Controls.Add(this.tabInformacoes);
             this.tabControl1.Controls.Add(this.tabDeteccoes);
             this.tabControl1.Controls.Add(this.tabPulverizador);
-            this.tabControl1.Location = new System.Drawing.Point(854, 407);
+            this.tabControl1.Location = new System.Drawing.Point(640, 331);
+            this.tabControl1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.tabControl1.Name = "tabControl1";
             this.tabControl1.SelectedIndex = 0;
-            this.tabControl1.Size = new System.Drawing.Size(628, 386);
+            this.tabControl1.Size = new System.Drawing.Size(471, 314);
             this.tabControl1.TabIndex = 17;
             // 
             // tabMapa
@@ -240,10 +253,11 @@
             this.tabMapa.Controls.Add(this.pnlAnguloGPS);
             this.tabMapa.Controls.Add(this.pnlAnguloMagnetometro);
             this.tabMapa.Controls.Add(this.lblMagnetometro);
-            this.tabMapa.Location = new System.Drawing.Point(4, 25);
+            this.tabMapa.Location = new System.Drawing.Point(4, 22);
+            this.tabMapa.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.tabMapa.Name = "tabMapa";
-            this.tabMapa.Padding = new System.Windows.Forms.Padding(3);
+            this.tabMapa.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.tabMapa.Size = new System.Drawing.Size(620, 357);
+            this.tabMapa.Size = new System.Drawing.Size(463, 288);
             this.tabMapa.TabIndex = 0;
             this.tabMapa.Text = "Mapa";
             this.tabMapa.UseVisualStyleBackColor = true;
@@ -251,52 +265,58 @@
             // lblGPSprecisao
             // 
             this.lblGPSprecisao.AutoSize = true;
-            this.lblGPSprecisao.Location = new System.Drawing.Point(6, 143);
+            this.lblGPSprecisao.Location = new System.Drawing.Point(4, 116);
+            this.lblGPSprecisao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblGPSprecisao.Name = "lblGPSprecisao";
-            this.lblGPSprecisao.Size = new System.Drawing.Size(105, 16);
+            this.lblGPSprecisao.Size = new System.Drawing.Size(86, 13);
             this.lblGPSprecisao.TabIndex = 31;
             this.lblGPSprecisao.Text = "Precisão: 0,00 m";
             // 
             // lblGPSaltitude
             // 
             this.lblGPSaltitude.AutoSize = true;
-            this.lblGPSaltitude.Location = new System.Drawing.Point(6, 175);
+            this.lblGPSaltitude.Location = new System.Drawing.Point(4, 142);
+            this.lblGPSaltitude.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblGPSaltitude.Name = "lblGPSaltitude";
-            this.lblGPSaltitude.Size = new System.Drawing.Size(88, 16);
+            this.lblGPSaltitude.Size = new System.Drawing.Size(74, 13);
             this.lblGPSaltitude.TabIndex = 30;
             this.lblGPSaltitude.Text = "Altitude: 0,0 m";
             // 
             // lblGPSvelocidade
             // 
             this.lblGPSvelocidade.AutoSize = true;
-            this.lblGPSvelocidade.Location = new System.Drawing.Point(6, 159);
+            this.lblGPSvelocidade.Location = new System.Drawing.Point(4, 129);
+            this.lblGPSvelocidade.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblGPSvelocidade.Name = "lblGPSvelocidade";
-            this.lblGPSvelocidade.Size = new System.Drawing.Size(92, 16);
+            this.lblGPSvelocidade.Size = new System.Drawing.Size(80, 13);
             this.lblGPSvelocidade.TabIndex = 29;
             this.lblGPSvelocidade.Text = "Vel.: 0,00 km/h";
             // 
             // lblGPSsatelites
             // 
             this.lblGPSsatelites.AutoSize = true;
-            this.lblGPSsatelites.Location = new System.Drawing.Point(6, 127);
+            this.lblGPSsatelites.Location = new System.Drawing.Point(4, 103);
+            this.lblGPSsatelites.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblGPSsatelites.Name = "lblGPSsatelites";
-            this.lblGPSsatelites.Size = new System.Drawing.Size(67, 16);
+            this.lblGPSsatelites.Size = new System.Drawing.Size(54, 13);
             this.lblGPSsatelites.TabIndex = 28;
             this.lblGPSsatelites.Text = "0 satélites";
             // 
             // pnlMapa
             // 
-            this.pnlMapa.Location = new System.Drawing.Point(119, 3);
+            this.pnlMapa.Location = new System.Drawing.Point(89, 2);
+            this.pnlMapa.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.pnlMapa.Name = "pnlMapa";
-            this.pnlMapa.Size = new System.Drawing.Size(498, 352);
+            this.pnlMapa.Size = new System.Drawing.Size(374, 286);
             this.pnlMapa.TabIndex = 0;
             // 
             // lblGPS
             // 
             this.lblGPS.AutoSize = true;
-            this.lblGPS.Location = new System.Drawing.Point(6, 3);
+            this.lblGPS.Location = new System.Drawing.Point(4, 2);
+            this.lblGPS.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblGPS.Name = "lblGPS";
-            this.lblGPS.Size = new System.Drawing.Size(35, 16);
+            this.lblGPS.Size = new System.Drawing.Size(29, 13);
             this.lblGPS.TabIndex = 19;
             this.lblGPS.Text = "GPS";
             // 
@@ -305,10 +325,10 @@
             this.pnlAnguloGPS.BackColor = System.Drawing.Color.White;
             this.pnlAnguloGPS.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos;
             this.pnlAnguloGPS.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
-            this.pnlAnguloGPS.Location = new System.Drawing.Point(9, 22);
+            this.pnlAnguloGPS.Location = new System.Drawing.Point(7, 18);
-            this.pnlAnguloGPS.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.pnlAnguloGPS.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.pnlAnguloGPS.Name = "pnlAnguloGPS";
-            this.pnlAnguloGPS.Size = new System.Drawing.Size(104, 103);
+            this.pnlAnguloGPS.Size = new System.Drawing.Size(78, 84);
             this.pnlAnguloGPS.TabIndex = 18;
             this.pnlAnguloGPS.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlAnguloGPS_Paint);
             // 
@@ -317,29 +337,31 @@
             this.pnlAnguloMagnetometro.BackColor = System.Drawing.Color.White;
             this.pnlAnguloMagnetometro.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos;
             this.pnlAnguloMagnetometro.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
-            this.pnlAnguloMagnetometro.Location = new System.Drawing.Point(9, 250);
+            this.pnlAnguloMagnetometro.Location = new System.Drawing.Point(7, 203);
-            this.pnlAnguloMagnetometro.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.pnlAnguloMagnetometro.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.pnlAnguloMagnetometro.Name = "pnlAnguloMagnetometro";
-            this.pnlAnguloMagnetometro.Size = new System.Drawing.Size(104, 103);
+            this.pnlAnguloMagnetometro.Size = new System.Drawing.Size(78, 84);
             this.pnlAnguloMagnetometro.TabIndex = 20;
             this.pnlAnguloMagnetometro.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlAnguloMagnetometro_Paint);
             // 
             // lblMagnetometro
             // 
             this.lblMagnetometro.AutoSize = true;
-            this.lblMagnetometro.Location = new System.Drawing.Point(6, 231);
+            this.lblMagnetometro.Location = new System.Drawing.Point(4, 188);
+            this.lblMagnetometro.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblMagnetometro.Name = "lblMagnetometro";
-            this.lblMagnetometro.Size = new System.Drawing.Size(94, 16);
+            this.lblMagnetometro.Size = new System.Drawing.Size(75, 13);
             this.lblMagnetometro.TabIndex = 21;
             this.lblMagnetometro.Text = "Magnetômetro";
             // 
             // tabInformacoes
             // 
             this.tabInformacoes.Controls.Add(this.gridDados);
-            this.tabInformacoes.Location = new System.Drawing.Point(4, 25);
+            this.tabInformacoes.Location = new System.Drawing.Point(4, 22);
+            this.tabInformacoes.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.tabInformacoes.Name = "tabInformacoes";
-            this.tabInformacoes.Padding = new System.Windows.Forms.Padding(3);
+            this.tabInformacoes.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.tabInformacoes.Size = new System.Drawing.Size(620, 357);
+            this.tabInformacoes.Size = new System.Drawing.Size(463, 288);
             this.tabInformacoes.TabIndex = 1;
             this.tabInformacoes.Text = "Informações";
             this.tabInformacoes.UseVisualStyleBackColor = true;
@@ -348,20 +370,22 @@
             // 
             this.gridDados.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
             this.gridDados.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.gridDados.Location = new System.Drawing.Point(3, 3);
+            this.gridDados.Location = new System.Drawing.Point(2, 2);
+            this.gridDados.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.gridDados.Name = "gridDados";
             this.gridDados.RowHeadersWidth = 51;
             this.gridDados.RowTemplate.Height = 24;
-            this.gridDados.Size = new System.Drawing.Size(614, 351);
+            this.gridDados.Size = new System.Drawing.Size(459, 284);
             this.gridDados.TabIndex = 0;
             // 
             // tabDeteccoes
             // 
             this.tabDeteccoes.Controls.Add(this.pnlDeteccoesRua);
-            this.tabDeteccoes.Location = new System.Drawing.Point(4, 25);
+            this.tabDeteccoes.Location = new System.Drawing.Point(4, 22);
+            this.tabDeteccoes.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.tabDeteccoes.Name = "tabDeteccoes";
-            this.tabDeteccoes.Padding = new System.Windows.Forms.Padding(3);
+            this.tabDeteccoes.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.tabDeteccoes.Size = new System.Drawing.Size(620, 357);
+            this.tabDeteccoes.Size = new System.Drawing.Size(463, 288);
             this.tabDeteccoes.TabIndex = 2;
             this.tabDeteccoes.Text = "Detecção rua";
             this.tabDeteccoes.UseVisualStyleBackColor = true;
@@ -370,21 +394,32 @@
             // 
             this.pnlDeteccoesRua.Controls.Add(this.picSonar);
             this.pnlDeteccoesRua.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.pnlDeteccoesRua.Location = new System.Drawing.Point(3, 3);
+            this.pnlDeteccoesRua.Location = new System.Drawing.Point(2, 2);
+            this.pnlDeteccoesRua.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.pnlDeteccoesRua.Name = "pnlDeteccoesRua";
-            this.pnlDeteccoesRua.Size = new System.Drawing.Size(614, 351);
+            this.pnlDeteccoesRua.Size = new System.Drawing.Size(459, 284);
             this.pnlDeteccoesRua.TabIndex = 0;
             // 
+            // picSonar
+            // 
+            this.picSonar.Location = new System.Drawing.Point(13, 13);
+            this.picSonar.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.picSonar.Name = "picSonar";
+            this.picSonar.Size = new System.Drawing.Size(434, 260);
+            this.picSonar.TabIndex = 0;
+            this.picSonar.TabStop = false;
+            // 
             // tabPulverizador
             // 
             this.tabPulverizador.Controls.Add(this.lblPressaoSP);
             this.tabPulverizador.Controls.Add(this.nudPressaoSP);
             this.tabPulverizador.Controls.Add(this.btnDesligarBomba);
             this.tabPulverizador.Controls.Add(this.btnLigarBomba);
-            this.tabPulverizador.Location = new System.Drawing.Point(4, 25);
+            this.tabPulverizador.Location = new System.Drawing.Point(4, 22);
+            this.tabPulverizador.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.tabPulverizador.Name = "tabPulverizador";
-            this.tabPulverizador.Padding = new System.Windows.Forms.Padding(3);
+            this.tabPulverizador.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.tabPulverizador.Size = new System.Drawing.Size(620, 357);
+            this.tabPulverizador.Size = new System.Drawing.Size(463, 288);
             this.tabPulverizador.TabIndex = 3;
             this.tabPulverizador.Text = "Pulverizador";
             this.tabPulverizador.UseVisualStyleBackColor = true;
@@ -393,23 +428,25 @@
             // 
             this.lblPressaoSP.AutoSize = true;
             this.lblPressaoSP.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lblPressaoSP.Location = new System.Drawing.Point(24, 14);
+            this.lblPressaoSP.Location = new System.Drawing.Point(18, 11);
+            this.lblPressaoSP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblPressaoSP.Name = "lblPressaoSP";
-            this.lblPressaoSP.Size = new System.Drawing.Size(89, 16);
+            this.lblPressaoSP.Size = new System.Drawing.Size(72, 13);
             this.lblPressaoSP.TabIndex = 29;
             this.lblPressaoSP.Text = "Pressão SP";
             // 
             // nudPressaoSP
             // 
             this.nudPressaoSP.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.nudPressaoSP.Location = new System.Drawing.Point(24, 33);
+            this.nudPressaoSP.Location = new System.Drawing.Point(18, 27);
+            this.nudPressaoSP.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.nudPressaoSP.Maximum = new decimal(new int[] {
             200,
             0,
             0,
             0});
             this.nudPressaoSP.Name = "nudPressaoSP";
-            this.nudPressaoSP.Size = new System.Drawing.Size(105, 22);
+            this.nudPressaoSP.Size = new System.Drawing.Size(79, 19);
             this.nudPressaoSP.TabIndex = 28;
             this.nudPressaoSP.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
             this.nudPressaoSP.ValueChanged += new System.EventHandler(this.nudPressaoSP_ValueChanged);
@@ -417,9 +454,10 @@
             // btnDesligarBomba
             // 
             this.btnDesligarBomba.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.btnDesligarBomba.Location = new System.Drawing.Point(325, 21);
+            this.btnDesligarBomba.Location = new System.Drawing.Point(244, 17);
+            this.btnDesligarBomba.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.btnDesligarBomba.Name = "btnDesligarBomba";
-            this.btnDesligarBomba.Size = new System.Drawing.Size(139, 34);
+            this.btnDesligarBomba.Size = new System.Drawing.Size(104, 28);
             this.btnDesligarBomba.TabIndex = 27;
             this.btnDesligarBomba.Text = "Desligar Bomba";
             this.btnDesligarBomba.UseVisualStyleBackColor = true;
@@ -428,9 +466,10 @@
             // btnLigarBomba
             // 
             this.btnLigarBomba.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.btnLigarBomba.Location = new System.Drawing.Point(158, 21);
+            this.btnLigarBomba.Location = new System.Drawing.Point(118, 17);
+            this.btnLigarBomba.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.btnLigarBomba.Name = "btnLigarBomba";
-            this.btnLigarBomba.Size = new System.Drawing.Size(139, 34);
+            this.btnLigarBomba.Size = new System.Drawing.Size(104, 28);
             this.btnLigarBomba.TabIndex = 26;
             this.btnLigarBomba.Text = "Ligar Bomba";
             this.btnLigarBomba.UseVisualStyleBackColor = true;
@@ -439,9 +478,10 @@
             // pnlCameraRua
             // 
             this.pnlCameraRua.Controls.Add(this.picCameraRua);
-            this.pnlCameraRua.Location = new System.Drawing.Point(186, 28);
+            this.pnlCameraRua.Location = new System.Drawing.Point(140, 23);
+            this.pnlCameraRua.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.pnlCameraRua.Name = "pnlCameraRua";
-            this.pnlCameraRua.Size = new System.Drawing.Size(476, 352);
+            this.pnlCameraRua.Size = new System.Drawing.Size(357, 286);
             this.pnlCameraRua.TabIndex = 22;
             // 
             // picCameraRua
@@ -449,8 +489,9 @@
             this.picCameraRua.BackColor = System.Drawing.SystemColors.ButtonFace;
             this.picCameraRua.Dock = System.Windows.Forms.DockStyle.Fill;
             this.picCameraRua.Location = new System.Drawing.Point(0, 0);
+            this.picCameraRua.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.picCameraRua.Name = "picCameraRua";
-            this.picCameraRua.Size = new System.Drawing.Size(476, 352);
+            this.picCameraRua.Size = new System.Drawing.Size(357, 286);
             this.picCameraRua.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
             this.picCameraRua.TabIndex = 0;
             this.picCameraRua.TabStop = false;
@@ -462,17 +503,19 @@
             this.pnlDir_EF.Controls.Add(this.btnRef_EF);
             this.pnlDir_EF.Controls.Add(this.lblDir_EF);
             this.pnlDir_EF.Location = new System.Drawing.Point(0, 0);
+            this.pnlDir_EF.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.pnlDir_EF.Name = "pnlDir_EF";
-            this.pnlDir_EF.Size = new System.Drawing.Size(200, 200);
+            this.pnlDir_EF.Size = new System.Drawing.Size(150, 162);
             this.pnlDir_EF.TabIndex = 23;
             // 
             // chbLivre_EF
             // 
             this.chbLivre_EF.AutoSize = true;
             this.chbLivre_EF.CheckAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.chbLivre_EF.Location = new System.Drawing.Point(135, 177);
+            this.chbLivre_EF.Location = new System.Drawing.Point(101, 144);
+            this.chbLivre_EF.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.chbLivre_EF.Name = "chbLivre_EF";
-            this.chbLivre_EF.Size = new System.Drawing.Size(58, 20);
+            this.chbLivre_EF.Size = new System.Drawing.Size(49, 17);
             this.chbLivre_EF.TabIndex = 17;
             this.chbLivre_EF.Text = "Livre";
             this.chbLivre_EF.UseVisualStyleBackColor = true;
@@ -480,18 +523,20 @@
             // chbCmd_EF
             // 
             this.chbCmd_EF.AutoSize = true;
-            this.chbCmd_EF.Location = new System.Drawing.Point(4, 177);
+            this.chbCmd_EF.Location = new System.Drawing.Point(3, 144);
+            this.chbCmd_EF.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.chbCmd_EF.Name = "chbCmd_EF";
-            this.chbCmd_EF.Size = new System.Drawing.Size(83, 20);
+            this.chbCmd_EF.Size = new System.Drawing.Size(68, 17);
             this.chbCmd_EF.TabIndex = 15;
             this.chbCmd_EF.Text = "Controlar";
             this.chbCmd_EF.UseVisualStyleBackColor = true;
             // 
             // btnRef_EF
             // 
-            this.btnRef_EF.Location = new System.Drawing.Point(148, 3);
+            this.btnRef_EF.Location = new System.Drawing.Point(111, 2);
+            this.btnRef_EF.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.btnRef_EF.Name = "btnRef_EF";
-            this.btnRef_EF.Size = new System.Drawing.Size(49, 23);
+            this.btnRef_EF.Size = new System.Drawing.Size(37, 19);
             this.btnRef_EF.TabIndex = 13;
             this.btnRef_EF.Text = "REF";
             this.btnRef_EF.UseVisualStyleBackColor = true;
@@ -502,18 +547,20 @@
             this.pnlDir_ET.Controls.Add(this.chbCmd_ET);
             this.pnlDir_ET.Controls.Add(this.btnRef_ET);
             this.pnlDir_ET.Controls.Add(this.lblDir_ET);
-            this.pnlDir_ET.Location = new System.Drawing.Point(0, 200);
+            this.pnlDir_ET.Location = new System.Drawing.Point(0, 162);
+            this.pnlDir_ET.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.pnlDir_ET.Name = "pnlDir_ET";
-            this.pnlDir_ET.Size = new System.Drawing.Size(200, 200);
+            this.pnlDir_ET.Size = new System.Drawing.Size(150, 162);
             this.pnlDir_ET.TabIndex = 24;
             // 
             // chbLivre_ET
             // 
             this.chbLivre_ET.AutoSize = true;
             this.chbLivre_ET.CheckAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.chbLivre_ET.Location = new System.Drawing.Point(135, 177);
+            this.chbLivre_ET.Location = new System.Drawing.Point(101, 144);
+            this.chbLivre_ET.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.chbLivre_ET.Name = "chbLivre_ET";
-            this.chbLivre_ET.Size = new System.Drawing.Size(58, 20);
+            this.chbLivre_ET.Size = new System.Drawing.Size(49, 17);
             this.chbLivre_ET.TabIndex = 16;
             this.chbLivre_ET.Text = "Livre";
             this.chbLivre_ET.UseVisualStyleBackColor = true;
@@ -521,18 +568,20 @@
             // chbCmd_ET
             // 
             this.chbCmd_ET.AutoSize = true;
-            this.chbCmd_ET.Location = new System.Drawing.Point(4, 177);
+            this.chbCmd_ET.Location = new System.Drawing.Point(3, 144);
+            this.chbCmd_ET.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.chbCmd_ET.Name = "chbCmd_ET";
-            this.chbCmd_ET.Size = new System.Drawing.Size(83, 20);
+            this.chbCmd_ET.Size = new System.Drawing.Size(68, 17);
             this.chbCmd_ET.TabIndex = 15;
             this.chbCmd_ET.Text = "Controlar";
             this.chbCmd_ET.UseVisualStyleBackColor = true;
             // 
             // btnRef_ET
             // 
-            this.btnRef_ET.Location = new System.Drawing.Point(148, 3);
+            this.btnRef_ET.Location = new System.Drawing.Point(111, 2);
+            this.btnRef_ET.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.btnRef_ET.Name = "btnRef_ET";
-            this.btnRef_ET.Size = new System.Drawing.Size(49, 23);
+            this.btnRef_ET.Size = new System.Drawing.Size(37, 19);
             this.btnRef_ET.TabIndex = 13;
             this.btnRef_ET.Text = "REF";
             this.btnRef_ET.UseVisualStyleBackColor = true;
@@ -543,18 +592,20 @@
             this.pnlDir_DT.Controls.Add(this.chbCmd_DT);
             this.pnlDir_DT.Controls.Add(this.btnRef_DT);
             this.pnlDir_DT.Controls.Add(this.lblDir_DT);
-            this.pnlDir_DT.Location = new System.Drawing.Point(648, 200);
+            this.pnlDir_DT.Location = new System.Drawing.Point(486, 162);
+            this.pnlDir_DT.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.pnlDir_DT.Name = "pnlDir_DT";
-            this.pnlDir_DT.Size = new System.Drawing.Size(200, 200);
+            this.pnlDir_DT.Size = new System.Drawing.Size(150, 162);
             this.pnlDir_DT.TabIndex = 24;
             // 
             // chbLivre_DT
             // 
             this.chbLivre_DT.AutoSize = true;
             this.chbLivre_DT.CheckAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.chbLivre_DT.Location = new System.Drawing.Point(135, 177);
+            this.chbLivre_DT.Location = new System.Drawing.Point(101, 144);
+            this.chbLivre_DT.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.chbLivre_DT.Name = "chbLivre_DT";
-            this.chbLivre_DT.Size = new System.Drawing.Size(58, 20);
+            this.chbLivre_DT.Size = new System.Drawing.Size(49, 17);
             this.chbLivre_DT.TabIndex = 19;
             this.chbLivre_DT.Text = "Livre";
             this.chbLivre_DT.UseVisualStyleBackColor = true;
@@ -562,18 +613,20 @@
             // chbCmd_DT
             // 
             this.chbCmd_DT.AutoSize = true;
-            this.chbCmd_DT.Location = new System.Drawing.Point(4, 177);
+            this.chbCmd_DT.Location = new System.Drawing.Point(3, 144);
+            this.chbCmd_DT.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.chbCmd_DT.Name = "chbCmd_DT";
-            this.chbCmd_DT.Size = new System.Drawing.Size(83, 20);
+            this.chbCmd_DT.Size = new System.Drawing.Size(68, 17);
             this.chbCmd_DT.TabIndex = 13;
             this.chbCmd_DT.Text = "Controlar";
             this.chbCmd_DT.UseVisualStyleBackColor = true;
             // 
             // btnRef_DT
             // 
-            this.btnRef_DT.Location = new System.Drawing.Point(148, 3);
+            this.btnRef_DT.Location = new System.Drawing.Point(111, 2);
+            this.btnRef_DT.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.btnRef_DT.Name = "btnRef_DT";
-            this.btnRef_DT.Size = new System.Drawing.Size(49, 23);
+            this.btnRef_DT.Size = new System.Drawing.Size(37, 19);
             this.btnRef_DT.TabIndex = 12;
             this.btnRef_DT.Text = "REF";
             this.btnRef_DT.UseVisualStyleBackColor = true;
@@ -584,18 +637,20 @@
             this.pnlDir_DF.Controls.Add(this.chbCmd_DF);
             this.pnlDir_DF.Controls.Add(this.btnRef_DF);
             this.pnlDir_DF.Controls.Add(this.lblDir_DF);
-            this.pnlDir_DF.Location = new System.Drawing.Point(648, 0);
+            this.pnlDir_DF.Location = new System.Drawing.Point(486, 0);
+            this.pnlDir_DF.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.pnlDir_DF.Name = "pnlDir_DF";
-            this.pnlDir_DF.Size = new System.Drawing.Size(200, 200);
+            this.pnlDir_DF.Size = new System.Drawing.Size(150, 162);
             this.pnlDir_DF.TabIndex = 24;
             // 
             // chbLivre_DF
             // 
             this.chbLivre_DF.AutoSize = true;
             this.chbLivre_DF.CheckAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.chbLivre_DF.Location = new System.Drawing.Point(135, 177);
+            this.chbLivre_DF.Location = new System.Drawing.Point(101, 144);
+            this.chbLivre_DF.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.chbLivre_DF.Name = "chbLivre_DF";
-            this.chbLivre_DF.Size = new System.Drawing.Size(58, 20);
+            this.chbLivre_DF.Size = new System.Drawing.Size(49, 17);
             this.chbLivre_DF.TabIndex = 18;
             this.chbLivre_DF.Text = "Livre";
             this.chbLivre_DF.UseVisualStyleBackColor = true;
@@ -603,18 +658,20 @@
             // chbCmd_DF
             // 
             this.chbCmd_DF.AutoSize = true;
-            this.chbCmd_DF.Location = new System.Drawing.Point(4, 177);
+            this.chbCmd_DF.Location = new System.Drawing.Point(3, 144);
+            this.chbCmd_DF.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.chbCmd_DF.Name = "chbCmd_DF";
-            this.chbCmd_DF.Size = new System.Drawing.Size(83, 20);
+            this.chbCmd_DF.Size = new System.Drawing.Size(68, 17);
             this.chbCmd_DF.TabIndex = 14;
             this.chbCmd_DF.Text = "Controlar";
             this.chbCmd_DF.UseVisualStyleBackColor = true;
             // 
             // btnRef_DF
             // 
-            this.btnRef_DF.Location = new System.Drawing.Point(148, 3);
+            this.btnRef_DF.Location = new System.Drawing.Point(111, 2);
+            this.btnRef_DF.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.btnRef_DF.Name = "btnRef_DF";
-            this.btnRef_DF.Size = new System.Drawing.Size(49, 23);
+            this.btnRef_DF.Size = new System.Drawing.Size(37, 19);
             this.btnRef_DF.TabIndex = 13;
             this.btnRef_DF.Text = "REF";
             this.btnRef_DF.UseVisualStyleBackColor = true;
@@ -622,9 +679,10 @@
             // btnIniciarOperacao
             // 
             this.btnIniciarOperacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.btnIniciarOperacao.Location = new System.Drawing.Point(1488, 724);
+            this.btnIniciarOperacao.Location = new System.Drawing.Point(1116, 588);
+            this.btnIniciarOperacao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.btnIniciarOperacao.Name = "btnIniciarOperacao";
-            this.btnIniciarOperacao.Size = new System.Drawing.Size(151, 65);
+            this.btnIniciarOperacao.Size = new System.Drawing.Size(113, 53);
             this.btnIniciarOperacao.TabIndex = 25;
             this.btnIniciarOperacao.Text = "Iniciar Operação";
             this.btnIniciarOperacao.UseVisualStyleBackColor = true;
@@ -634,9 +692,10 @@
             // 
             this.lblDistanciaEsquerda.AutoSize = true;
             this.lblDistanciaEsquerda.Font = new System.Drawing.Font("Mongolian Baiti", 9.25F, System.Drawing.FontStyle.Bold);
-            this.lblDistanciaEsquerda.Location = new System.Drawing.Point(206, 9);
+            this.lblDistanciaEsquerda.Location = new System.Drawing.Point(154, 7);
+            this.lblDistanciaEsquerda.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblDistanciaEsquerda.Name = "lblDistanciaEsquerda";
-            this.lblDistanciaEsquerda.Size = new System.Drawing.Size(184, 16);
+            this.lblDistanciaEsquerda.Size = new System.Drawing.Size(161, 14);
             this.lblDistanciaEsquerda.TabIndex = 26;
             this.lblDistanciaEsquerda.Text = "Distancia Esq: 00.00 cm";
             // 
@@ -644,26 +703,31 @@
             // 
             this.lblDistanciaDireita.AutoSize = true;
             this.lblDistanciaDireita.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold);
-            this.lblDistanciaDireita.Location = new System.Drawing.Point(459, 9);
+            this.lblDistanciaDireita.Location = new System.Drawing.Point(339, 7);
+            this.lblDistanciaDireita.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblDistanciaDireita.Name = "lblDistanciaDireita";
-            this.lblDistanciaDireita.Size = new System.Drawing.Size(179, 16);
+            this.lblDistanciaDireita.Size = new System.Drawing.Size(143, 13);
             this.lblDistanciaDireita.TabIndex = 27;
             this.lblDistanciaDireita.Text = "Distancia Dir: 00.00 cm";
             // 
-            // picSonar
+            // chbSonar
             // 
-            this.picSonar.Location = new System.Drawing.Point(17, 16);
+            this.chbSonar.AutoSize = true;
-            this.picSonar.Name = "picSonar";
+            this.chbSonar.Location = new System.Drawing.Point(227, 311);
-            this.picSonar.Size = new System.Drawing.Size(579, 320);
+            this.chbSonar.Margin = new System.Windows.Forms.Padding(2);
-            this.picSonar.TabIndex = 0;
+            this.chbSonar.Name = "chbSonar";
-            this.picSonar.TabStop = false;
+            this.chbSonar.Size = new System.Drawing.Size(183, 17);
+            this.chbSonar.TabIndex = 28;
+            this.chbSonar.Text = "Desvio de obstáculos automático";
+            this.chbSonar.UseVisualStyleBackColor = true;
             // 
             // frmOperacaoManual
             // 
-            this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F);
+            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
             this.BackColor = System.Drawing.Color.White;
-            this.ClientSize = new System.Drawing.Size(1651, 804);
+            this.ClientSize = new System.Drawing.Size(1238, 649);
+            this.Controls.Add(this.chbSonar);
             this.Controls.Add(this.btnIniciarOperacao);
             this.Controls.Add(this.lblDistanciaEsquerda);
             this.Controls.Add(this.tabControl1);
@@ -676,6 +740,7 @@
             this.Controls.Add(this.chartGraficos);
             this.Controls.Add(this.pnlAtuadores);
             this.Controls.Add(this.pnlCamerasSolo);
+            this.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.Name = "frmOperacaoManual";
             this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
             this.Text = "Operação Manual";
@@ -694,6 +759,7 @@
             ((System.ComponentModel.ISupportInitialize)(this.gridDados)).EndInit();
             this.tabDeteccoes.ResumeLayout(false);
             this.pnlDeteccoesRua.ResumeLayout(false);
+            ((System.ComponentModel.ISupportInitialize)(this.picSonar)).EndInit();
             this.tabPulverizador.ResumeLayout(false);
             this.tabPulverizador.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.nudPressaoSP)).EndInit();
@@ -707,7 +773,6 @@
             this.pnlDir_DT.PerformLayout();
             this.pnlDir_DF.ResumeLayout(false);
             this.pnlDir_DF.PerformLayout();
-            ((System.ComponentModel.ISupportInitialize)(this.picSonar)).EndInit();
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -768,5 +833,6 @@
         private System.Windows.Forms.CheckBox chbLivre_DT;
         private System.Windows.Forms.CheckBox chbLivre_DF;
         private System.Windows.Forms.PictureBox picSonar;
+        private System.Windows.Forms.CheckBox chbSonar;
     }
 }

AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs

@@ -21,6 +21,7 @@ namespace AgroBase.Forms.Operacoes
     public partial class frmOperacaoManual : Form
     {
         Timer tmrLeitura;
+        DateTime UltimoComandoDir = DateTime.Now;
 
         public frmOperacaoManual()
         {
@@ -100,24 +101,7 @@ namespace AgroBase.Forms.Operacoes
 
         public void AtualizarDados()
         {
-            var statusAtual = Variaveis.OperacaoEmAndamento.StatusAtual;
+            this.Text = Variaveis.OperacaoEmAndamento.TextoFormOperacao("Manual");
-
-            if (statusAtual == StatusOperacao.Parametrizando)
-            {
-                this.Text = "Operação Manual - Parametrização";
-            }
-            else if (statusAtual == StatusOperacao.Aguardando)
-            {
-                this.Text = "Operação Manual - Iniciando em " + (Variaveis.OperacaoEmAndamento.TempoAguardando.AddSeconds(Variaveis.OperacaoEmAndamento.TempoIniciarOperacao) - DateTime.Now).TotalSeconds.ToString("0") + " segundo" + ((Variaveis.OperacaoEmAndamento.TempoAguardando.AddSeconds(Variaveis.OperacaoEmAndamento.TempoIniciarOperacao) - DateTime.Now).TotalSeconds < 1 ? "" : "s") + "...";
-            }
-            else if (statusAtual == StatusOperacao.Concluido)
-            {
-                this.Text = "Operação Manual - Concluída";
-            }
-            else if (statusAtual == StatusOperacao.EmAndamento)
-            {
-                this.Text = "Operação Manual - Em andamento";
-            }
 
             pnlDir_DF.Invalidate();
             pnlDir_DT.Invalidate();
@@ -137,6 +121,28 @@ namespace AgroBase.Forms.Operacoes
             lblGPSprecisao.Text = "Precisão: " + GPSService.UltimaLeitura.PrecisaoHorizontal.ToString("0.00") + " m";
             lblGPSvelocidade.Text = "Vel.: " + GPSService.UltimaLeitura.Velocidade.ToString("0.00") + " km/h";
             lblGPSaltitude.Text = "Altitude: " + GPSService.UltimaLeitura.Altitude.ToString("0.0") + " m";
+
+            chbSonar.Enabled = Variaveis.OperacaoEmAndamento.DispSen.Dados.Sensores.Any(x => x.Componente == S_Code.sSNR && x.Inicializado);
+            if (!chbSonar.Enabled)
+            {
+                chbSonar.Checked = false;
+            }
+            var Sonar = Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal;
+            if (chbSonar.Checked && Sonar.DesvioNecessario && UltimoComandoDir.AddSeconds(1) < DateTime.Now)
+            {
+                GeneralJoystick.Angulo = Sonar.AnguloDesvio;
+                Direcao direcaoDesvio = Direcao.Cima;
+                if (GeneralJoystick.Angulo < 0)
+                {
+                    GeneralJoystick.Angulo *= -1;
+                    direcaoDesvio = Direcao.Baixo;
+                }
+                Variaveis.OperacaoEmAndamento.DispDir.Dados.Motores.ForEach(Motor =>
+                {
+                    Variaveis.OperacaoEmAndamento.DispDir.EnviarDadosSerial(Motor.ProtocoloComando(direcaoDesvio));
+                });
+                UltimoComandoDir = DateTime.Now;
+            }
         }
 
         

AgroBase/AgroBase/Forms/Operacoes/frmOperacaoMapaGPS.cs

@@ -344,24 +344,7 @@ namespace AgroBase.Forms.Operacoes
 
         private void AtualizarInformacoesGerais()
         {
-            var statusAtual = Variaveis.OperacaoEmAndamento.StatusAtual;
+            this.Text = Variaveis.OperacaoEmAndamento.TextoFormOperacao("Mapa GPS");
-
-            if (statusAtual == StatusOperacao.Parametrizando)
-            {
-                this.Text = "Operação Mapa GPS - Parametrização";
-            }
-            else if (statusAtual == StatusOperacao.Aguardando)
-            {
-                this.Text = "Operação Mapa GPS - Iniciando em " + (Variaveis.OperacaoEmAndamento.TempoAguardando.AddSeconds(Variaveis.OperacaoEmAndamento.TempoIniciarOperacao) - DateTime.Now).TotalSeconds.ToString("0") + " segundo" + ((Variaveis.OperacaoEmAndamento.TempoAguardando.AddSeconds(Variaveis.OperacaoEmAndamento.TempoIniciarOperacao) - DateTime.Now).TotalSeconds < 1 ? "" : "s") + "...";
-            }
-            else if (statusAtual == StatusOperacao.Concluido)
-            {
-                this.Text = "Operação Mapa GPS - Concluída";
-            }
-            else if (statusAtual == StatusOperacao.EmAndamento)
-            {
-                this.Text = "Operação Mapa GPS - Em andamento";
-            }
 
             //lblDistanciaEsquerda.Text = "Distancia da Esquerda: " + Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaEsquerda.ToString("0.00") + " cm";
             //lblDistanciaDireita.Text = "Distancia da Direita: " + Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaDireita.ToString("0.00") + " cm";

AgroBase/AgroBase/Forms/Sensoriamento/frmSenConfig.Designer.cs

@@ -49,6 +49,7 @@
             this.nudBateriaValor = new System.Windows.Forms.NumericUpDown();
             this.btnBateriaDefinir = new System.Windows.Forms.Button();
             this.gpbBateria = new System.Windows.Forms.GroupBox();
+            this.btnBateriaCalibrar = new System.Windows.Forms.Button();
             this.gpbCameras = new System.Windows.Forms.GroupBox();
             this.lblSolodir = new System.Windows.Forms.Label();
             this.cmbSoloDir = new System.Windows.Forms.ComboBox();
@@ -56,7 +57,7 @@
             this.cmbSoloEsq = new System.Windows.Forms.ComboBox();
             this.lblCaminho = new System.Windows.Forms.Label();
             this.cmbCaminho = new System.Windows.Forms.ComboBox();
-            this.btnBateriaCalibrar = new System.Windows.Forms.Button();
+            this.btnAtualizarCameras = new System.Windows.Forms.Button();
             ((System.ComponentModel.ISupportInitialize)(this.gridsTEN)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.gridsCOR)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.gridsTMP)).BeginInit();
@@ -72,30 +73,27 @@
             // gridsTEN
             // 
             this.gridsTEN.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
-            this.gridsTEN.Location = new System.Drawing.Point(20, 31);
+            this.gridsTEN.Location = new System.Drawing.Point(15, 25);
-            this.gridsTEN.Margin = new System.Windows.Forms.Padding(4);
             this.gridsTEN.Name = "gridsTEN";
             this.gridsTEN.RowHeadersWidth = 51;
-            this.gridsTEN.Size = new System.Drawing.Size(600, 153);
+            this.gridsTEN.Size = new System.Drawing.Size(450, 124);
             this.gridsTEN.TabIndex = 1;
             // 
             // gridsCOR
             // 
             this.gridsCOR.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
-            this.gridsCOR.Location = new System.Drawing.Point(20, 207);
+            this.gridsCOR.Location = new System.Drawing.Point(15, 168);
-            this.gridsCOR.Margin = new System.Windows.Forms.Padding(4);
             this.gridsCOR.Name = "gridsCOR";
             this.gridsCOR.RowHeadersWidth = 51;
-            this.gridsCOR.Size = new System.Drawing.Size(600, 153);
+            this.gridsCOR.Size = new System.Drawing.Size(450, 124);
             this.gridsCOR.TabIndex = 1;
             // 
             // btnSalvar
             // 
             this.btnSalvar.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Right)));
-            this.btnSalvar.Location = new System.Drawing.Point(1156, 682);
+            this.btnSalvar.Location = new System.Drawing.Point(867, 554);
-            this.btnSalvar.Margin = new System.Windows.Forms.Padding(4);
             this.btnSalvar.Name = "btnSalvar";
-            this.btnSalvar.Size = new System.Drawing.Size(100, 28);
+            this.btnSalvar.Size = new System.Drawing.Size(75, 23);
             this.btnSalvar.TabIndex = 3;
             this.btnSalvar.Text = "Salvar";
             this.btnSalvar.UseVisualStyleBackColor = true;
@@ -104,128 +102,117 @@
             // lblTensao
             // 
             this.lblTensao.AutoSize = true;
-            this.lblTensao.Location = new System.Drawing.Point(16, 11);
+            this.lblTensao.Location = new System.Drawing.Point(12, 9);
-            this.lblTensao.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lblTensao.Name = "lblTensao";
-            this.lblTensao.Size = new System.Drawing.Size(54, 16);
+            this.lblTensao.Size = new System.Drawing.Size(43, 13);
             this.lblTensao.TabIndex = 4;
             this.lblTensao.Text = "Tensão";
             // 
             // lblCorrente
             // 
             this.lblCorrente.AutoSize = true;
-            this.lblCorrente.Location = new System.Drawing.Point(16, 187);
+            this.lblCorrente.Location = new System.Drawing.Point(12, 152);
-            this.lblCorrente.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lblCorrente.Name = "lblCorrente";
-            this.lblCorrente.Size = new System.Drawing.Size(58, 16);
+            this.lblCorrente.Size = new System.Drawing.Size(47, 13);
             this.lblCorrente.TabIndex = 5;
             this.lblCorrente.Text = "Corrente";
             // 
             // lblTemperatura
             // 
             this.lblTemperatura.AutoSize = true;
-            this.lblTemperatura.Location = new System.Drawing.Point(16, 363);
+            this.lblTemperatura.Location = new System.Drawing.Point(12, 295);
-            this.lblTemperatura.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lblTemperatura.Name = "lblTemperatura";
-            this.lblTemperatura.Size = new System.Drawing.Size(85, 16);
+            this.lblTemperatura.Size = new System.Drawing.Size(67, 13);
             this.lblTemperatura.TabIndex = 7;
             this.lblTemperatura.Text = "Temperatura";
             // 
             // gridsTMP
             // 
             this.gridsTMP.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
-            this.gridsTMP.Location = new System.Drawing.Point(20, 383);
+            this.gridsTMP.Location = new System.Drawing.Point(15, 311);
-            this.gridsTMP.Margin = new System.Windows.Forms.Padding(4);
             this.gridsTMP.Name = "gridsTMP";
             this.gridsTMP.RowHeadersWidth = 51;
-            this.gridsTMP.Size = new System.Drawing.Size(600, 153);
+            this.gridsTMP.Size = new System.Drawing.Size(450, 124);
             this.gridsTMP.TabIndex = 6;
             // 
             // lblPressao
             // 
             this.lblPressao.AutoSize = true;
-            this.lblPressao.Location = new System.Drawing.Point(647, 11);
+            this.lblPressao.Location = new System.Drawing.Point(485, 9);
-            this.lblPressao.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lblPressao.Name = "lblPressao";
-            this.lblPressao.Size = new System.Drawing.Size(58, 16);
+            this.lblPressao.Size = new System.Drawing.Size(45, 13);
             this.lblPressao.TabIndex = 9;
             this.lblPressao.Text = "Pressão";
             // 
             // gridsULT
             // 
             this.gridsULT.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
-            this.gridsULT.Location = new System.Drawing.Point(20, 559);
+            this.gridsULT.Location = new System.Drawing.Point(15, 454);
-            this.gridsULT.Margin = new System.Windows.Forms.Padding(4);
             this.gridsULT.Name = "gridsULT";
             this.gridsULT.RowHeadersWidth = 51;
-            this.gridsULT.Size = new System.Drawing.Size(600, 153);
+            this.gridsULT.Size = new System.Drawing.Size(450, 124);
             this.gridsULT.TabIndex = 8;
             // 
             // lblFluxo
             // 
             this.lblFluxo.AutoSize = true;
-            this.lblFluxo.Location = new System.Drawing.Point(647, 187);
+            this.lblFluxo.Location = new System.Drawing.Point(485, 152);
-            this.lblFluxo.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lblFluxo.Name = "lblFluxo";
-            this.lblFluxo.Size = new System.Drawing.Size(89, 16);
+            this.lblFluxo.Size = new System.Drawing.Size(71, 13);
             this.lblFluxo.TabIndex = 11;
             this.lblFluxo.Text = "Fluxo (Vazão)";
             // 
             // gridsFLX
             // 
             this.gridsFLX.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
-            this.gridsFLX.Location = new System.Drawing.Point(651, 207);
+            this.gridsFLX.Location = new System.Drawing.Point(488, 168);
-            this.gridsFLX.Margin = new System.Windows.Forms.Padding(4);
             this.gridsFLX.Name = "gridsFLX";
             this.gridsFLX.RowHeadersWidth = 51;
-            this.gridsFLX.Size = new System.Drawing.Size(600, 153);
+            this.gridsFLX.Size = new System.Drawing.Size(450, 124);
             this.gridsFLX.TabIndex = 10;
             // 
             // lblMassa
             // 
             this.lblMassa.AutoSize = true;
-            this.lblMassa.Location = new System.Drawing.Point(647, 363);
+            this.lblMassa.Location = new System.Drawing.Point(485, 295);
-            this.lblMassa.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lblMassa.Name = "lblMassa";
-            this.lblMassa.Size = new System.Drawing.Size(199, 16);
+            this.lblMassa.Size = new System.Drawing.Size(155, 13);
             this.lblMassa.TabIndex = 13;
             this.lblMassa.Text = "Massa (Reservatório Herbicida)";
             // 
             // gridsMAS
             // 
             this.gridsMAS.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
-            this.gridsMAS.Location = new System.Drawing.Point(651, 383);
+            this.gridsMAS.Location = new System.Drawing.Point(488, 311);
-            this.gridsMAS.Margin = new System.Windows.Forms.Padding(4);
             this.gridsMAS.Name = "gridsMAS";
             this.gridsMAS.RowHeadersWidth = 51;
-            this.gridsMAS.Size = new System.Drawing.Size(600, 153);
+            this.gridsMAS.Size = new System.Drawing.Size(450, 124);
             this.gridsMAS.TabIndex = 12;
             // 
             // lblUltrassom
             // 
             this.lblUltrassom.AutoSize = true;
-            this.lblUltrassom.Location = new System.Drawing.Point(16, 539);
+            this.lblUltrassom.Location = new System.Drawing.Point(12, 438);
-            this.lblUltrassom.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lblUltrassom.Name = "lblUltrassom";
-            this.lblUltrassom.Size = new System.Drawing.Size(135, 16);
+            this.lblUltrassom.Size = new System.Drawing.Size(106, 13);
             this.lblUltrassom.TabIndex = 15;
             this.lblUltrassom.Text = "Ultrassom (Distancia)";
             // 
             // gridsPRS
             // 
             this.gridsPRS.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
-            this.gridsPRS.Location = new System.Drawing.Point(651, 31);
+            this.gridsPRS.Location = new System.Drawing.Point(488, 25);
-            this.gridsPRS.Margin = new System.Windows.Forms.Padding(4);
             this.gridsPRS.Name = "gridsPRS";
             this.gridsPRS.RowHeadersWidth = 51;
-            this.gridsPRS.Size = new System.Drawing.Size(600, 153);
+            this.gridsPRS.Size = new System.Drawing.Size(450, 124);
             this.gridsPRS.TabIndex = 14;
             // 
             // btnBateriaVer
             // 
-            this.btnBateriaVer.Location = new System.Drawing.Point(10, 67);
+            this.btnBateriaVer.Location = new System.Drawing.Point(8, 54);
+            this.btnBateriaVer.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.btnBateriaVer.Name = "btnBateriaVer";
-            this.btnBateriaVer.Size = new System.Drawing.Size(180, 23);
+            this.btnBateriaVer.Size = new System.Drawing.Size(135, 19);
             this.btnBateriaVer.TabIndex = 16;
             this.btnBateriaVer.Text = "Ver valor";
             this.btnBateriaVer.UseVisualStyleBackColor = true;
@@ -235,34 +222,36 @@
             // 
             this.cmbBateriaParametro.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbBateriaParametro.FormattingEnabled = true;
-            this.cmbBateriaParametro.Location = new System.Drawing.Point(9, 37);
+            this.cmbBateriaParametro.Location = new System.Drawing.Point(7, 30);
+            this.cmbBateriaParametro.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmbBateriaParametro.Name = "cmbBateriaParametro";
-            this.cmbBateriaParametro.Size = new System.Drawing.Size(181, 24);
+            this.cmbBateriaParametro.Size = new System.Drawing.Size(137, 21);
             this.cmbBateriaParametro.TabIndex = 17;
             // 
             // label2
             // 
             this.label2.AutoSize = true;
-            this.label2.Location = new System.Drawing.Point(7, 18);
+            this.label2.Location = new System.Drawing.Point(5, 15);
-            this.label2.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.label2.Name = "label2";
-            this.label2.Size = new System.Drawing.Size(70, 16);
+            this.label2.Size = new System.Drawing.Size(55, 13);
             this.label2.TabIndex = 19;
             this.label2.Text = "Parâmetro";
             // 
             // nudBateriaValor
             // 
-            this.nudBateriaValor.Location = new System.Drawing.Point(10, 97);
+            this.nudBateriaValor.Location = new System.Drawing.Point(8, 79);
+            this.nudBateriaValor.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.nudBateriaValor.Name = "nudBateriaValor";
-            this.nudBateriaValor.Size = new System.Drawing.Size(85, 22);
+            this.nudBateriaValor.Size = new System.Drawing.Size(64, 20);
             this.nudBateriaValor.TabIndex = 20;
             this.nudBateriaValor.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
             // 
             // btnBateriaDefinir
             // 
-            this.btnBateriaDefinir.Location = new System.Drawing.Point(101, 96);
+            this.btnBateriaDefinir.Location = new System.Drawing.Point(76, 78);
+            this.btnBateriaDefinir.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.btnBateriaDefinir.Name = "btnBateriaDefinir";
-            this.btnBateriaDefinir.Size = new System.Drawing.Size(89, 23);
+            this.btnBateriaDefinir.Size = new System.Drawing.Size(67, 19);
             this.btnBateriaDefinir.TabIndex = 21;
             this.btnBateriaDefinir.Text = "Definir";
             this.btnBateriaDefinir.UseVisualStyleBackColor = true;
@@ -276,24 +265,40 @@
             this.gpbBateria.Controls.Add(this.cmbBateriaParametro);
             this.gpbBateria.Controls.Add(this.nudBateriaValor);
             this.gpbBateria.Controls.Add(this.btnBateriaVer);
-            this.gpbBateria.Location = new System.Drawing.Point(650, 559);
+            this.gpbBateria.Location = new System.Drawing.Point(488, 454);
+            this.gpbBateria.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.gpbBateria.Name = "gpbBateria";
-            this.gpbBateria.Size = new System.Drawing.Size(205, 149);
+            this.gpbBateria.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.gpbBateria.Size = new System.Drawing.Size(154, 121);
             this.gpbBateria.TabIndex = 22;
             this.gpbBateria.TabStop = false;
             this.gpbBateria.Text = "Bateria";
             // 
+            // btnBateriaCalibrar
+            // 
+            this.btnBateriaCalibrar.Location = new System.Drawing.Point(8, 99);
+            this.btnBateriaCalibrar.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.btnBateriaCalibrar.Name = "btnBateriaCalibrar";
+            this.btnBateriaCalibrar.Size = new System.Drawing.Size(135, 19);
+            this.btnBateriaCalibrar.TabIndex = 22;
+            this.btnBateriaCalibrar.Text = "Calibrar";
+            this.btnBateriaCalibrar.UseVisualStyleBackColor = true;
+            this.btnBateriaCalibrar.Click += new System.EventHandler(this.btnBateriaCalibrar_Click);
+            // 
             // gpbCameras
             // 
+            this.gpbCameras.Controls.Add(this.btnAtualizarCameras);
             this.gpbCameras.Controls.Add(this.lblSolodir);
             this.gpbCameras.Controls.Add(this.cmbSoloDir);
             this.gpbCameras.Controls.Add(this.lblSoloesq);
             this.gpbCameras.Controls.Add(this.cmbSoloEsq);
             this.gpbCameras.Controls.Add(this.lblCaminho);
             this.gpbCameras.Controls.Add(this.cmbCaminho);
-            this.gpbCameras.Location = new System.Drawing.Point(861, 559);
+            this.gpbCameras.Location = new System.Drawing.Point(646, 454);
+            this.gpbCameras.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.gpbCameras.Name = "gpbCameras";
-            this.gpbCameras.Size = new System.Drawing.Size(263, 149);
+            this.gpbCameras.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.gpbCameras.Size = new System.Drawing.Size(197, 121);
             this.gpbCameras.TabIndex = 23;
             this.gpbCameras.TabStop = false;
             this.gpbCameras.Text = "Câmeras";
@@ -301,75 +306,73 @@
             // lblSolodir
             // 
             this.lblSolodir.AutoSize = true;
-            this.lblSolodir.Location = new System.Drawing.Point(7, 105);
+            this.lblSolodir.Location = new System.Drawing.Point(5, 78);
-            this.lblSolodir.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lblSolodir.Name = "lblSolodir";
-            this.lblSolodir.Size = new System.Drawing.Size(58, 16);
+            this.lblSolodir.Size = new System.Drawing.Size(47, 13);
             this.lblSolodir.TabIndex = 25;
             this.lblSolodir.Text = "Solo Dir.";
             // 
             // cmbSoloDir
             // 
-            this.cmbSoloDir.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbSoloDir.FormattingEnabled = true;
-            this.cmbSoloDir.Location = new System.Drawing.Point(74, 97);
+            this.cmbSoloDir.Location = new System.Drawing.Point(64, 72);
+            this.cmbSoloDir.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmbSoloDir.Name = "cmbSoloDir";
-            this.cmbSoloDir.Size = new System.Drawing.Size(181, 24);
+            this.cmbSoloDir.Size = new System.Drawing.Size(129, 21);
             this.cmbSoloDir.TabIndex = 24;
             // 
             // lblSoloesq
             // 
             this.lblSoloesq.AutoSize = true;
-            this.lblSoloesq.Location = new System.Drawing.Point(7, 75);
+            this.lblSoloesq.Location = new System.Drawing.Point(5, 54);
-            this.lblSoloesq.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lblSoloesq.Name = "lblSoloesq";
-            this.lblSoloesq.Size = new System.Drawing.Size(65, 16);
+            this.lblSoloesq.Size = new System.Drawing.Size(52, 13);
             this.lblSoloesq.TabIndex = 23;
             this.lblSoloesq.Text = "Solo Esq.";
             // 
             // cmbSoloEsq
             // 
-            this.cmbSoloEsq.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbSoloEsq.FormattingEnabled = true;
-            this.cmbSoloEsq.Location = new System.Drawing.Point(74, 67);
+            this.cmbSoloEsq.Location = new System.Drawing.Point(64, 47);
+            this.cmbSoloEsq.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmbSoloEsq.Name = "cmbSoloEsq";
-            this.cmbSoloEsq.Size = new System.Drawing.Size(181, 24);
+            this.cmbSoloEsq.Size = new System.Drawing.Size(129, 21);
             this.cmbSoloEsq.TabIndex = 22;
             // 
             // lblCaminho
             // 
             this.lblCaminho.AutoSize = true;
-            this.lblCaminho.Location = new System.Drawing.Point(7, 40);
+            this.lblCaminho.Location = new System.Drawing.Point(5, 25);
-            this.lblCaminho.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lblCaminho.Name = "lblCaminho";
-            this.lblCaminho.Size = new System.Drawing.Size(60, 16);
+            this.lblCaminho.Size = new System.Drawing.Size(48, 13);
             this.lblCaminho.TabIndex = 21;
             this.lblCaminho.Text = "Caminho";
             // 
             // cmbCaminho
             // 
-            this.cmbCaminho.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbCaminho.FormattingEnabled = true;
-            this.cmbCaminho.Location = new System.Drawing.Point(74, 37);
+            this.cmbCaminho.Location = new System.Drawing.Point(64, 23);
+            this.cmbCaminho.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmbCaminho.Name = "cmbCaminho";
-            this.cmbCaminho.Size = new System.Drawing.Size(181, 24);
+            this.cmbCaminho.Size = new System.Drawing.Size(129, 21);
             this.cmbCaminho.TabIndex = 20;
             // 
-            // btnBateriaCalibrar
+            // btnAtualizarCameras
             // 
-            this.btnBateriaCalibrar.Location = new System.Drawing.Point(10, 122);
+            this.btnAtualizarCameras.Location = new System.Drawing.Point(64, 99);
-            this.btnBateriaCalibrar.Name = "btnBateriaCalibrar";
+            this.btnAtualizarCameras.Margin = new System.Windows.Forms.Padding(2);
-            this.btnBateriaCalibrar.Size = new System.Drawing.Size(180, 23);
+            this.btnAtualizarCameras.Name = "btnAtualizarCameras";
-            this.btnBateriaCalibrar.TabIndex = 22;
+            this.btnAtualizarCameras.Size = new System.Drawing.Size(129, 19);
-            this.btnBateriaCalibrar.Text = "Calibrar";
+            this.btnAtualizarCameras.TabIndex = 26;
-            this.btnBateriaCalibrar.UseVisualStyleBackColor = true;
+            this.btnAtualizarCameras.Text = "Atualizar";
-            this.btnBateriaCalibrar.Click += new System.EventHandler(this.btnBateriaCalibrar_Click);
+            this.btnAtualizarCameras.UseVisualStyleBackColor = true;
+            this.btnAtualizarCameras.Click += new System.EventHandler(this.btnAtualizarCameras_Click);
             // 
             // frmSenConfig
             // 
-            this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F);
+            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(1272, 720);
+            this.ClientSize = new System.Drawing.Size(954, 585);
             this.Controls.Add(this.gpbCameras);
             this.Controls.Add(this.gpbBateria);
             this.Controls.Add(this.lblUltrassom);
@@ -387,7 +390,6 @@
             this.Controls.Add(this.gridsCOR);
             this.Controls.Add(this.gridsTEN);
             this.Controls.Add(this.btnSalvar);
-            this.Margin = new System.Windows.Forms.Padding(4);
             this.Name = "frmSenConfig";
             this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
             this.Text = "Sensoriamento - Parametrização";
@@ -440,5 +442,6 @@
         private System.Windows.Forms.Label lblCaminho;
         private System.Windows.Forms.ComboBox cmbCaminho;
         private System.Windows.Forms.Button btnBateriaCalibrar;
+        private System.Windows.Forms.Button btnAtualizarCameras;
     }
 }

AgroBase/AgroBase/Forms/Sensoriamento/frmSenConfig.cs

@@ -44,42 +44,7 @@ namespace AgroBase.Forms.Sensoriamento
                     {
                         Sensores = ((SensoriamentoModel)Disp.Dados).Sensores.ToList();
 
-                        Cameras = CameraService.AtualizaListaCameras();
+                        AtualizarCameras();
-                        cmbCaminho.Items.Clear();
-                        cmbCaminho.Items.AddRange(Cameras.Values.ToArray());
-                        string IDrua = ((SensoriamentoModel)Disp.Dados).CameraID_Caminho;
-                        if (Cameras.Any(x => x.Value == IDrua))
-                        {
-                            cmbCaminho.SelectedIndex = cmbCaminho.Items.IndexOf(IDrua);
-                        }
-                        else
-                        {
-                            cmbCaminho.Text = IDrua;
-                        }
-
-                        cmbSoloEsq.Items.Clear();
-                        cmbSoloEsq.Items.AddRange(Cameras.Values.ToArray());
-                        string IDsoloE = ((SensoriamentoModel)Disp.Dados).CameraID_SoloE;
-                        if (Cameras.Any(x => x.Value == IDsoloE))
-                        {
-                            cmbSoloEsq.SelectedIndex = cmbSoloEsq.Items.IndexOf(IDsoloE);
-                        }
-                        else
-                        {
-                            cmbSoloEsq.Text = IDsoloE;
-                        }
-
-                        cmbSoloDir.Items.Clear();
-                        cmbSoloDir.Items.AddRange(Cameras.Values.ToArray());
-                        string IDsoloD = ((SensoriamentoModel)Disp.Dados).CameraID_SoloD;
-                        if (Cameras.Any(x => x.Value == IDsoloD))
-                        {
-                            cmbSoloDir.SelectedIndex = cmbSoloDir.Items.IndexOf(IDsoloD);
-                        }
-                        else
-                        {
-                            cmbSoloDir.Text = IDsoloD;
-                        }
                         break;
                     }
                 case T_Code.Atu:
@@ -99,6 +64,51 @@ namespace AgroBase.Forms.Sensoriamento
             
         }
 
+        private void AtualizarCameras()
+        {
+            Cameras = CameraService.AtualizaListaCameras();
+            cmbCaminho.Items.Clear();
+            cmbCaminho.Items.AddRange(Cameras.Values.ToArray());
+            string IDrua = ((SensoriamentoModel)Disp.Dados).CameraID_Caminho;
+            if (Cameras.Any(x => x.Value == IDrua))
+            {
+                cmbCaminho.SelectedIndex = cmbCaminho.Items.IndexOf(IDrua);
+            }
+            else
+            {
+                cmbCaminho.Text = IDrua;
+            }
+
+            cmbSoloEsq.Items.Clear();
+            cmbSoloEsq.Items.AddRange(Cameras.Values.ToArray());
+            string IDsoloE = ((SensoriamentoModel)Disp.Dados).CameraID_SoloE;
+            if (Cameras.Any(x => x.Value == IDsoloE))
+            {
+                cmbSoloEsq.SelectedIndex = cmbSoloEsq.Items.IndexOf(IDsoloE);
+            }
+            else
+            {
+                cmbSoloEsq.Text = IDsoloE;
+            }
+
+            cmbSoloDir.Items.Clear();
+            cmbSoloDir.Items.AddRange(Cameras.Values.ToArray());
+            string IDsoloD = ((SensoriamentoModel)Disp.Dados).CameraID_SoloD;
+            if (Cameras.Any(x => x.Value == IDsoloD))
+            {
+                cmbSoloDir.SelectedIndex = cmbSoloDir.Items.IndexOf(IDsoloD);
+            }
+            else
+            {
+                cmbSoloDir.Text = IDsoloD;
+            }
+        }
+
+        private void btnAtualizarCameras_Click(object sender, EventArgs e)
+        {
+            AtualizarCameras();
+        }
+
         private void PopulaParametrosSensor()
         {
             foreach (var Sensor in Sensores)
@@ -220,5 +230,6 @@ namespace AgroBase.Forms.Sensoriamento
             PZEMService.EnviarComando(PZEMService.PortaPZEM, Comando);
         }
 
+        
     }
 }

AgroBase/AgroBase/Forms/frmPinout.Designer.cs

@@ -107,9 +107,10 @@
             // lblPinout
             // 
             this.lblPinout.AutoSize = true;
-            this.lblPinout.Location = new System.Drawing.Point(12, 11);
+            this.lblPinout.Location = new System.Drawing.Point(9, 9);
+            this.lblPinout.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblPinout.Name = "lblPinout";
-            this.lblPinout.Size = new System.Drawing.Size(44, 16);
+            this.lblPinout.Size = new System.Drawing.Size(37, 13);
             this.lblPinout.TabIndex = 227;
             this.lblPinout.Text = "Pinout";
             // 
@@ -118,10 +119,10 @@
             this.cmb22.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb22.Enabled = false;
             this.cmb22.FormattingEnabled = true;
-            this.cmb22.Location = new System.Drawing.Point(16, 724);
+            this.cmb22.Location = new System.Drawing.Point(12, 588);
-            this.cmb22.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb22.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb22.Name = "cmb22";
-            this.cmb22.Size = new System.Drawing.Size(148, 24);
+            this.cmb22.Size = new System.Drawing.Size(112, 21);
             this.cmb22.TabIndex = 226;
             this.cmb22.Visible = false;
             // 
@@ -130,10 +131,10 @@
             this.cmb21.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb21.Enabled = false;
             this.cmb21.FormattingEnabled = true;
-            this.cmb21.Location = new System.Drawing.Point(16, 694);
+            this.cmb21.Location = new System.Drawing.Point(12, 564);
-            this.cmb21.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb21.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb21.Name = "cmb21";
-            this.cmb21.Size = new System.Drawing.Size(148, 24);
+            this.cmb21.Size = new System.Drawing.Size(112, 21);
             this.cmb21.TabIndex = 225;
             this.cmb21.Visible = false;
             // 
@@ -141,10 +142,10 @@
             // 
             this.cmb20.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb20.FormattingEnabled = true;
-            this.cmb20.Location = new System.Drawing.Point(16, 663);
+            this.cmb20.Location = new System.Drawing.Point(12, 539);
-            this.cmb20.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb20.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb20.Name = "cmb20";
-            this.cmb20.Size = new System.Drawing.Size(148, 24);
+            this.cmb20.Size = new System.Drawing.Size(112, 21);
             this.cmb20.TabIndex = 224;
             this.cmb20.Visible = false;
             // 
@@ -153,10 +154,10 @@
             this.cmb23.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb23.Enabled = false;
             this.cmb23.FormattingEnabled = true;
-            this.cmb23.Location = new System.Drawing.Point(581, 724);
+            this.cmb23.Location = new System.Drawing.Point(436, 588);
-            this.cmb23.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb23.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb23.Name = "cmb23";
-            this.cmb23.Size = new System.Drawing.Size(148, 24);
+            this.cmb23.Size = new System.Drawing.Size(112, 21);
             this.cmb23.TabIndex = 223;
             this.cmb23.Visible = false;
             // 
@@ -165,10 +166,10 @@
             this.cmb24.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb24.Enabled = false;
             this.cmb24.FormattingEnabled = true;
-            this.cmb24.Location = new System.Drawing.Point(581, 694);
+            this.cmb24.Location = new System.Drawing.Point(436, 564);
-            this.cmb24.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb24.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb24.Name = "cmb24";
-            this.cmb24.Size = new System.Drawing.Size(148, 24);
+            this.cmb24.Size = new System.Drawing.Size(112, 21);
             this.cmb24.TabIndex = 222;
             this.cmb24.Visible = false;
             // 
@@ -176,20 +177,20 @@
             // 
             this.cmb25.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb25.FormattingEnabled = true;
-            this.cmb25.Location = new System.Drawing.Point(581, 663);
+            this.cmb25.Location = new System.Drawing.Point(436, 539);
-            this.cmb25.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb25.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb25.Name = "cmb25";
-            this.cmb25.Size = new System.Drawing.Size(148, 24);
+            this.cmb25.Size = new System.Drawing.Size(112, 21);
             this.cmb25.TabIndex = 221;
             this.cmb25.Visible = false;
             // 
             // btnSalvar
             // 
             this.btnSalvar.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Right)));
-            this.btnSalvar.Location = new System.Drawing.Point(1240, 810);
+            this.btnSalvar.Location = new System.Drawing.Point(934, 654);
-            this.btnSalvar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.btnSalvar.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.btnSalvar.Name = "btnSalvar";
-            this.btnSalvar.Size = new System.Drawing.Size(148, 39);
+            this.btnSalvar.Size = new System.Drawing.Size(111, 32);
             this.btnSalvar.TabIndex = 220;
             this.btnSalvar.Text = "Salvar";
             this.btnSalvar.UseVisualStyleBackColor = true;
@@ -199,10 +200,10 @@
             // 
             this.cmb26.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb26.FormattingEnabled = true;
-            this.cmb26.Location = new System.Drawing.Point(581, 634);
+            this.cmb26.Location = new System.Drawing.Point(436, 515);
-            this.cmb26.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb26.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb26.Name = "cmb26";
-            this.cmb26.Size = new System.Drawing.Size(148, 24);
+            this.cmb26.Size = new System.Drawing.Size(112, 21);
             this.cmb26.TabIndex = 219;
             this.cmb26.Visible = false;
             // 
@@ -210,10 +211,10 @@
             // 
             this.cmb27.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb27.FormattingEnabled = true;
-            this.cmb27.Location = new System.Drawing.Point(581, 604);
+            this.cmb27.Location = new System.Drawing.Point(436, 491);
-            this.cmb27.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb27.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb27.Name = "cmb27";
-            this.cmb27.Size = new System.Drawing.Size(148, 24);
+            this.cmb27.Size = new System.Drawing.Size(112, 21);
             this.cmb27.TabIndex = 218;
             this.cmb27.Visible = false;
             // 
@@ -221,10 +222,10 @@
             // 
             this.cmb28.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb28.FormattingEnabled = true;
-            this.cmb28.Location = new System.Drawing.Point(581, 574);
+            this.cmb28.Location = new System.Drawing.Point(436, 466);
-            this.cmb28.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb28.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb28.Name = "cmb28";
-            this.cmb28.Size = new System.Drawing.Size(148, 24);
+            this.cmb28.Size = new System.Drawing.Size(112, 21);
             this.cmb28.TabIndex = 217;
             this.cmb28.Visible = false;
             // 
@@ -232,10 +233,10 @@
             // 
             this.cmb29.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb29.FormattingEnabled = true;
-            this.cmb29.Location = new System.Drawing.Point(581, 544);
+            this.cmb29.Location = new System.Drawing.Point(436, 442);
-            this.cmb29.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb29.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb29.Name = "cmb29";
-            this.cmb29.Size = new System.Drawing.Size(148, 24);
+            this.cmb29.Size = new System.Drawing.Size(112, 21);
             this.cmb29.TabIndex = 216;
             this.cmb29.Visible = false;
             // 
@@ -243,10 +244,10 @@
             // 
             this.cmb30.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb30.FormattingEnabled = true;
-            this.cmb30.Location = new System.Drawing.Point(581, 514);
+            this.cmb30.Location = new System.Drawing.Point(436, 418);
-            this.cmb30.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb30.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb30.Name = "cmb30";
-            this.cmb30.Size = new System.Drawing.Size(148, 24);
+            this.cmb30.Size = new System.Drawing.Size(112, 21);
             this.cmb30.TabIndex = 215;
             this.cmb30.Visible = false;
             // 
@@ -254,10 +255,10 @@
             // 
             this.cmb31.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb31.FormattingEnabled = true;
-            this.cmb31.Location = new System.Drawing.Point(581, 484);
+            this.cmb31.Location = new System.Drawing.Point(436, 393);
-            this.cmb31.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb31.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb31.Name = "cmb31";
-            this.cmb31.Size = new System.Drawing.Size(148, 24);
+            this.cmb31.Size = new System.Drawing.Size(112, 21);
             this.cmb31.TabIndex = 214;
             this.cmb31.Visible = false;
             // 
@@ -265,10 +266,10 @@
             // 
             this.cmb32.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb32.FormattingEnabled = true;
-            this.cmb32.Location = new System.Drawing.Point(581, 454);
+            this.cmb32.Location = new System.Drawing.Point(436, 369);
-            this.cmb32.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb32.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb32.Name = "cmb32";
-            this.cmb32.Size = new System.Drawing.Size(148, 24);
+            this.cmb32.Size = new System.Drawing.Size(112, 21);
             this.cmb32.TabIndex = 213;
             this.cmb32.Visible = false;
             // 
@@ -276,10 +277,10 @@
             // 
             this.cmb33.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb33.FormattingEnabled = true;
-            this.cmb33.Location = new System.Drawing.Point(581, 423);
+            this.cmb33.Location = new System.Drawing.Point(436, 344);
-            this.cmb33.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb33.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb33.Name = "cmb33";
-            this.cmb33.Size = new System.Drawing.Size(148, 24);
+            this.cmb33.Size = new System.Drawing.Size(112, 21);
             this.cmb33.TabIndex = 212;
             this.cmb33.Visible = false;
             // 
@@ -287,10 +288,10 @@
             // 
             this.cmb34.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb34.FormattingEnabled = true;
-            this.cmb34.Location = new System.Drawing.Point(581, 394);
+            this.cmb34.Location = new System.Drawing.Point(436, 320);
-            this.cmb34.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb34.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb34.Name = "cmb34";
-            this.cmb34.Size = new System.Drawing.Size(148, 24);
+            this.cmb34.Size = new System.Drawing.Size(112, 21);
             this.cmb34.TabIndex = 211;
             this.cmb34.Visible = false;
             // 
@@ -298,10 +299,10 @@
             // 
             this.cmb35.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb35.FormattingEnabled = true;
-            this.cmb35.Location = new System.Drawing.Point(581, 364);
+            this.cmb35.Location = new System.Drawing.Point(436, 296);
-            this.cmb35.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb35.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb35.Name = "cmb35";
-            this.cmb35.Size = new System.Drawing.Size(148, 24);
+            this.cmb35.Size = new System.Drawing.Size(112, 21);
             this.cmb35.TabIndex = 210;
             this.cmb35.Visible = false;
             // 
@@ -309,10 +310,10 @@
             // 
             this.cmb36.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb36.FormattingEnabled = true;
-            this.cmb36.Location = new System.Drawing.Point(581, 334);
+            this.cmb36.Location = new System.Drawing.Point(436, 271);
-            this.cmb36.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb36.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb36.Name = "cmb36";
-            this.cmb36.Size = new System.Drawing.Size(148, 24);
+            this.cmb36.Size = new System.Drawing.Size(112, 21);
             this.cmb36.TabIndex = 209;
             this.cmb36.Visible = false;
             // 
@@ -320,10 +321,10 @@
             // 
             this.cmb37.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb37.FormattingEnabled = true;
-            this.cmb37.Location = new System.Drawing.Point(581, 304);
+            this.cmb37.Location = new System.Drawing.Point(436, 247);
-            this.cmb37.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb37.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb37.Name = "cmb37";
-            this.cmb37.Size = new System.Drawing.Size(148, 24);
+            this.cmb37.Size = new System.Drawing.Size(112, 21);
             this.cmb37.TabIndex = 208;
             this.cmb37.Visible = false;
             // 
@@ -331,10 +332,10 @@
             // 
             this.cmb38.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb38.FormattingEnabled = true;
-            this.cmb38.Location = new System.Drawing.Point(581, 274);
+            this.cmb38.Location = new System.Drawing.Point(436, 223);
-            this.cmb38.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb38.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb38.Name = "cmb38";
-            this.cmb38.Size = new System.Drawing.Size(148, 24);
+            this.cmb38.Size = new System.Drawing.Size(112, 21);
             this.cmb38.TabIndex = 207;
             this.cmb38.Visible = false;
             // 
@@ -342,10 +343,10 @@
             // 
             this.cmb39.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb39.FormattingEnabled = true;
-            this.cmb39.Location = new System.Drawing.Point(581, 244);
+            this.cmb39.Location = new System.Drawing.Point(436, 198);
-            this.cmb39.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb39.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb39.Name = "cmb39";
-            this.cmb39.Size = new System.Drawing.Size(148, 24);
+            this.cmb39.Size = new System.Drawing.Size(112, 21);
             this.cmb39.TabIndex = 206;
             this.cmb39.Visible = false;
             // 
@@ -353,10 +354,10 @@
             // 
             this.cmb40.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb40.FormattingEnabled = true;
-            this.cmb40.Location = new System.Drawing.Point(581, 214);
+            this.cmb40.Location = new System.Drawing.Point(436, 174);
-            this.cmb40.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb40.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb40.Name = "cmb40";
-            this.cmb40.Size = new System.Drawing.Size(148, 24);
+            this.cmb40.Size = new System.Drawing.Size(112, 21);
             this.cmb40.TabIndex = 205;
             this.cmb40.Visible = false;
             // 
@@ -364,10 +365,10 @@
             // 
             this.cmb41.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb41.FormattingEnabled = true;
-            this.cmb41.Location = new System.Drawing.Point(581, 183);
+            this.cmb41.Location = new System.Drawing.Point(436, 149);
-            this.cmb41.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb41.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb41.Name = "cmb41";
-            this.cmb41.Size = new System.Drawing.Size(148, 24);
+            this.cmb41.Size = new System.Drawing.Size(112, 21);
             this.cmb41.TabIndex = 204;
             this.cmb41.Visible = false;
             // 
@@ -376,10 +377,10 @@
             this.cmb42.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb42.Enabled = false;
             this.cmb42.FormattingEnabled = true;
-            this.cmb42.Location = new System.Drawing.Point(581, 154);
+            this.cmb42.Location = new System.Drawing.Point(436, 125);
-            this.cmb42.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb42.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb42.Name = "cmb42";
-            this.cmb42.Size = new System.Drawing.Size(148, 24);
+            this.cmb42.Size = new System.Drawing.Size(112, 21);
             this.cmb42.TabIndex = 203;
             this.cmb42.Visible = false;
             // 
@@ -388,10 +389,10 @@
             this.cmb43.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb43.Enabled = false;
             this.cmb43.FormattingEnabled = true;
-            this.cmb43.Location = new System.Drawing.Point(581, 124);
+            this.cmb43.Location = new System.Drawing.Point(436, 101);
-            this.cmb43.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb43.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb43.Name = "cmb43";
-            this.cmb43.Size = new System.Drawing.Size(148, 24);
+            this.cmb43.Size = new System.Drawing.Size(112, 21);
             this.cmb43.TabIndex = 202;
             this.cmb43.Visible = false;
             // 
@@ -400,10 +401,10 @@
             this.cmb44.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb44.Enabled = false;
             this.cmb44.FormattingEnabled = true;
-            this.cmb44.Location = new System.Drawing.Point(581, 94);
+            this.cmb44.Location = new System.Drawing.Point(436, 76);
-            this.cmb44.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb44.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb44.Name = "cmb44";
-            this.cmb44.Size = new System.Drawing.Size(148, 24);
+            this.cmb44.Size = new System.Drawing.Size(112, 21);
             this.cmb44.TabIndex = 201;
             this.cmb44.Visible = false;
             // 
@@ -411,10 +412,10 @@
             // 
             this.cmb19.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb19.FormattingEnabled = true;
-            this.cmb19.Location = new System.Drawing.Point(16, 634);
+            this.cmb19.Location = new System.Drawing.Point(12, 515);
-            this.cmb19.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb19.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb19.Name = "cmb19";
-            this.cmb19.Size = new System.Drawing.Size(148, 24);
+            this.cmb19.Size = new System.Drawing.Size(112, 21);
             this.cmb19.TabIndex = 200;
             this.cmb19.Visible = false;
             // 
@@ -422,10 +423,10 @@
             // 
             this.cmb18.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb18.FormattingEnabled = true;
-            this.cmb18.Location = new System.Drawing.Point(16, 604);
+            this.cmb18.Location = new System.Drawing.Point(12, 491);
-            this.cmb18.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb18.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb18.Name = "cmb18";
-            this.cmb18.Size = new System.Drawing.Size(148, 24);
+            this.cmb18.Size = new System.Drawing.Size(112, 21);
             this.cmb18.TabIndex = 199;
             this.cmb18.Visible = false;
             // 
@@ -433,10 +434,10 @@
             // 
             this.cmb17.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb17.FormattingEnabled = true;
-            this.cmb17.Location = new System.Drawing.Point(16, 574);
+            this.cmb17.Location = new System.Drawing.Point(12, 466);
-            this.cmb17.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb17.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb17.Name = "cmb17";
-            this.cmb17.Size = new System.Drawing.Size(148, 24);
+            this.cmb17.Size = new System.Drawing.Size(112, 21);
             this.cmb17.TabIndex = 198;
             this.cmb17.Visible = false;
             // 
@@ -444,10 +445,10 @@
             // 
             this.cmb16.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb16.FormattingEnabled = true;
-            this.cmb16.Location = new System.Drawing.Point(16, 544);
+            this.cmb16.Location = new System.Drawing.Point(12, 442);
-            this.cmb16.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb16.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb16.Name = "cmb16";
-            this.cmb16.Size = new System.Drawing.Size(148, 24);
+            this.cmb16.Size = new System.Drawing.Size(112, 21);
             this.cmb16.TabIndex = 197;
             this.cmb16.Visible = false;
             // 
@@ -455,10 +456,10 @@
             // 
             this.cmb15.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb15.FormattingEnabled = true;
-            this.cmb15.Location = new System.Drawing.Point(16, 514);
+            this.cmb15.Location = new System.Drawing.Point(12, 418);
-            this.cmb15.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb15.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb15.Name = "cmb15";
-            this.cmb15.Size = new System.Drawing.Size(148, 24);
+            this.cmb15.Size = new System.Drawing.Size(112, 21);
             this.cmb15.TabIndex = 196;
             this.cmb15.Visible = false;
             // 
@@ -466,10 +467,10 @@
             // 
             this.cmb14.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb14.FormattingEnabled = true;
-            this.cmb14.Location = new System.Drawing.Point(16, 484);
+            this.cmb14.Location = new System.Drawing.Point(12, 393);
-            this.cmb14.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb14.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb14.Name = "cmb14";
-            this.cmb14.Size = new System.Drawing.Size(148, 24);
+            this.cmb14.Size = new System.Drawing.Size(112, 21);
             this.cmb14.TabIndex = 195;
             this.cmb14.Visible = false;
             // 
@@ -477,10 +478,10 @@
             // 
             this.cmb13.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb13.FormattingEnabled = true;
-            this.cmb13.Location = new System.Drawing.Point(16, 454);
+            this.cmb13.Location = new System.Drawing.Point(12, 369);
-            this.cmb13.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb13.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb13.Name = "cmb13";
-            this.cmb13.Size = new System.Drawing.Size(148, 24);
+            this.cmb13.Size = new System.Drawing.Size(112, 21);
             this.cmb13.TabIndex = 194;
             this.cmb13.Visible = false;
             // 
@@ -488,10 +489,10 @@
             // 
             this.cmb12.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb12.FormattingEnabled = true;
-            this.cmb12.Location = new System.Drawing.Point(16, 423);
+            this.cmb12.Location = new System.Drawing.Point(12, 344);
-            this.cmb12.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb12.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb12.Name = "cmb12";
-            this.cmb12.Size = new System.Drawing.Size(148, 24);
+            this.cmb12.Size = new System.Drawing.Size(112, 21);
             this.cmb12.TabIndex = 193;
             this.cmb12.Visible = false;
             // 
@@ -499,10 +500,10 @@
             // 
             this.cmb11.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb11.FormattingEnabled = true;
-            this.cmb11.Location = new System.Drawing.Point(16, 394);
+            this.cmb11.Location = new System.Drawing.Point(12, 320);
-            this.cmb11.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb11.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb11.Name = "cmb11";
-            this.cmb11.Size = new System.Drawing.Size(148, 24);
+            this.cmb11.Size = new System.Drawing.Size(112, 21);
             this.cmb11.TabIndex = 192;
             this.cmb11.Visible = false;
             // 
@@ -510,10 +511,10 @@
             // 
             this.cmb10.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb10.FormattingEnabled = true;
-            this.cmb10.Location = new System.Drawing.Point(16, 364);
+            this.cmb10.Location = new System.Drawing.Point(12, 296);
-            this.cmb10.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb10.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb10.Name = "cmb10";
-            this.cmb10.Size = new System.Drawing.Size(148, 24);
+            this.cmb10.Size = new System.Drawing.Size(112, 21);
             this.cmb10.TabIndex = 191;
             this.cmb10.Visible = false;
             // 
@@ -521,10 +522,10 @@
             // 
             this.cmb9.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb9.FormattingEnabled = true;
-            this.cmb9.Location = new System.Drawing.Point(16, 334);
+            this.cmb9.Location = new System.Drawing.Point(12, 271);
-            this.cmb9.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb9.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb9.Name = "cmb9";
-            this.cmb9.Size = new System.Drawing.Size(148, 24);
+            this.cmb9.Size = new System.Drawing.Size(112, 21);
             this.cmb9.TabIndex = 190;
             this.cmb9.Visible = false;
             // 
@@ -532,10 +533,10 @@
             // 
             this.cmb8.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb8.FormattingEnabled = true;
-            this.cmb8.Location = new System.Drawing.Point(16, 304);
+            this.cmb8.Location = new System.Drawing.Point(12, 247);
-            this.cmb8.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb8.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb8.Name = "cmb8";
-            this.cmb8.Size = new System.Drawing.Size(148, 24);
+            this.cmb8.Size = new System.Drawing.Size(112, 21);
             this.cmb8.TabIndex = 189;
             this.cmb8.Visible = false;
             // 
@@ -543,10 +544,10 @@
             // 
             this.cmb7.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb7.FormattingEnabled = true;
-            this.cmb7.Location = new System.Drawing.Point(16, 274);
+            this.cmb7.Location = new System.Drawing.Point(12, 223);
-            this.cmb7.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb7.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb7.Name = "cmb7";
-            this.cmb7.Size = new System.Drawing.Size(148, 24);
+            this.cmb7.Size = new System.Drawing.Size(112, 21);
             this.cmb7.TabIndex = 188;
             this.cmb7.Visible = false;
             // 
@@ -554,10 +555,10 @@
             // 
             this.cmb6.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb6.FormattingEnabled = true;
-            this.cmb6.Location = new System.Drawing.Point(16, 244);
+            this.cmb6.Location = new System.Drawing.Point(12, 198);
-            this.cmb6.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb6.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb6.Name = "cmb6";
-            this.cmb6.Size = new System.Drawing.Size(148, 24);
+            this.cmb6.Size = new System.Drawing.Size(112, 21);
             this.cmb6.TabIndex = 187;
             this.cmb6.Visible = false;
             // 
@@ -565,10 +566,10 @@
             // 
             this.cmb5.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb5.FormattingEnabled = true;
-            this.cmb5.Location = new System.Drawing.Point(16, 214);
+            this.cmb5.Location = new System.Drawing.Point(12, 174);
-            this.cmb5.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb5.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb5.Name = "cmb5";
-            this.cmb5.Size = new System.Drawing.Size(148, 24);
+            this.cmb5.Size = new System.Drawing.Size(112, 21);
             this.cmb5.TabIndex = 186;
             this.cmb5.Visible = false;
             // 
@@ -576,10 +577,10 @@
             // 
             this.cmb4.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb4.FormattingEnabled = true;
-            this.cmb4.Location = new System.Drawing.Point(16, 183);
+            this.cmb4.Location = new System.Drawing.Point(12, 149);
-            this.cmb4.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb4.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb4.Name = "cmb4";
-            this.cmb4.Size = new System.Drawing.Size(148, 24);
+            this.cmb4.Size = new System.Drawing.Size(112, 21);
             this.cmb4.TabIndex = 185;
             this.cmb4.Visible = false;
             // 
@@ -588,10 +589,10 @@
             this.cmb3.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb3.Enabled = false;
             this.cmb3.FormattingEnabled = true;
-            this.cmb3.Location = new System.Drawing.Point(16, 154);
+            this.cmb3.Location = new System.Drawing.Point(12, 125);
-            this.cmb3.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb3.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb3.Name = "cmb3";
-            this.cmb3.Size = new System.Drawing.Size(148, 24);
+            this.cmb3.Size = new System.Drawing.Size(112, 21);
             this.cmb3.TabIndex = 184;
             this.cmb3.Visible = false;
             // 
@@ -600,10 +601,10 @@
             this.cmb2.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb2.Enabled = false;
             this.cmb2.FormattingEnabled = true;
-            this.cmb2.Location = new System.Drawing.Point(16, 124);
+            this.cmb2.Location = new System.Drawing.Point(12, 101);
-            this.cmb2.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb2.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb2.Name = "cmb2";
-            this.cmb2.Size = new System.Drawing.Size(148, 24);
+            this.cmb2.Size = new System.Drawing.Size(112, 21);
             this.cmb2.TabIndex = 183;
             this.cmb2.Visible = false;
             // 
@@ -612,10 +613,10 @@
             this.cmb1.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmb1.Enabled = false;
             this.cmb1.FormattingEnabled = true;
-            this.cmb1.Location = new System.Drawing.Point(16, 94);
+            this.cmb1.Location = new System.Drawing.Point(12, 76);
-            this.cmb1.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmb1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmb1.Name = "cmb1";
-            this.cmb1.Size = new System.Drawing.Size(148, 24);
+            this.cmb1.Size = new System.Drawing.Size(112, 21);
             this.cmb1.TabIndex = 182;
             this.cmb1.Visible = false;
             // 
@@ -623,20 +624,19 @@
             // 
             this.cbTipo.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cbTipo.FormattingEnabled = true;
-            this.cbTipo.Location = new System.Drawing.Point(16, 31);
+            this.cbTipo.Location = new System.Drawing.Point(12, 25);
-            this.cbTipo.Margin = new System.Windows.Forms.Padding(4);
             this.cbTipo.Name = "cbTipo";
-            this.cbTipo.Size = new System.Drawing.Size(148, 24);
+            this.cbTipo.Size = new System.Drawing.Size(112, 21);
             this.cbTipo.TabIndex = 228;
             this.cbTipo.SelectedIndexChanged += new System.EventHandler(this.cbTipo_SelectedIndexChanged);
             // 
             // imgESP32
             // 
             this.imgESP32.Image = global::AgroBase.Properties.Resources.esp32_s3;
-            this.imgESP32.Location = new System.Drawing.Point(169, 2);
+            this.imgESP32.Location = new System.Drawing.Point(127, 2);
-            this.imgESP32.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.imgESP32.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.imgESP32.Name = "imgESP32";
-            this.imgESP32.Size = new System.Drawing.Size(405, 847);
+            this.imgESP32.Size = new System.Drawing.Size(304, 688);
             this.imgESP32.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
             this.imgESP32.TabIndex = 181;
             this.imgESP32.TabStop = false;
@@ -644,9 +644,10 @@
             // picMCP
             // 
             this.picMCP.Image = global::AgroBase.Properties.Resources.mcp;
-            this.picMCP.Location = new System.Drawing.Point(15, 52);
+            this.picMCP.Location = new System.Drawing.Point(11, 42);
+            this.picMCP.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.picMCP.Name = "picMCP";
-            this.picMCP.Size = new System.Drawing.Size(278, 322);
+            this.picMCP.Size = new System.Drawing.Size(208, 262);
             this.picMCP.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
             this.picMCP.TabIndex = 229;
             this.picMCP.TabStop = false;
@@ -656,10 +657,10 @@
             this.cmbB7.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbB7.Enabled = false;
             this.cmbB7.FormattingEnabled = true;
-            this.cmbB7.Location = new System.Drawing.Point(299, 334);
+            this.cmbB7.Location = new System.Drawing.Point(224, 271);
-            this.cmbB7.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmbB7.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmbB7.Name = "cmbB7";
-            this.cmbB7.Size = new System.Drawing.Size(148, 24);
+            this.cmbB7.Size = new System.Drawing.Size(112, 21);
             this.cmbB7.TabIndex = 237;
             // 
             // cmbB6
@@ -667,10 +668,10 @@
             this.cmbB6.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbB6.Enabled = false;
             this.cmbB6.FormattingEnabled = true;
-            this.cmbB6.Location = new System.Drawing.Point(299, 304);
+            this.cmbB6.Location = new System.Drawing.Point(224, 247);
-            this.cmbB6.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmbB6.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmbB6.Name = "cmbB6";
-            this.cmbB6.Size = new System.Drawing.Size(148, 24);
+            this.cmbB6.Size = new System.Drawing.Size(112, 21);
             this.cmbB6.TabIndex = 236;
             // 
             // cmbB5
@@ -678,10 +679,10 @@
             this.cmbB5.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbB5.Enabled = false;
             this.cmbB5.FormattingEnabled = true;
-            this.cmbB5.Location = new System.Drawing.Point(299, 274);
+            this.cmbB5.Location = new System.Drawing.Point(224, 223);
-            this.cmbB5.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmbB5.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmbB5.Name = "cmbB5";
-            this.cmbB5.Size = new System.Drawing.Size(148, 24);
+            this.cmbB5.Size = new System.Drawing.Size(112, 21);
             this.cmbB5.TabIndex = 235;
             // 
             // cmbB4
@@ -689,10 +690,10 @@
             this.cmbB4.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbB4.Enabled = false;
             this.cmbB4.FormattingEnabled = true;
-            this.cmbB4.Location = new System.Drawing.Point(299, 244);
+            this.cmbB4.Location = new System.Drawing.Point(224, 198);
-            this.cmbB4.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmbB4.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmbB4.Name = "cmbB4";
-            this.cmbB4.Size = new System.Drawing.Size(148, 24);
+            this.cmbB4.Size = new System.Drawing.Size(112, 21);
             this.cmbB4.TabIndex = 234;
             // 
             // cmbB3
@@ -700,10 +701,10 @@
             this.cmbB3.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbB3.Enabled = false;
             this.cmbB3.FormattingEnabled = true;
-            this.cmbB3.Location = new System.Drawing.Point(299, 213);
+            this.cmbB3.Location = new System.Drawing.Point(224, 173);
-            this.cmbB3.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmbB3.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmbB3.Name = "cmbB3";
-            this.cmbB3.Size = new System.Drawing.Size(148, 24);
+            this.cmbB3.Size = new System.Drawing.Size(112, 21);
             this.cmbB3.TabIndex = 233;
             // 
             // cmbB2
@@ -711,10 +712,10 @@
             this.cmbB2.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbB2.Enabled = false;
             this.cmbB2.FormattingEnabled = true;
-            this.cmbB2.Location = new System.Drawing.Point(299, 184);
+            this.cmbB2.Location = new System.Drawing.Point(224, 150);
-            this.cmbB2.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmbB2.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmbB2.Name = "cmbB2";
-            this.cmbB2.Size = new System.Drawing.Size(148, 24);
+            this.cmbB2.Size = new System.Drawing.Size(112, 21);
             this.cmbB2.TabIndex = 232;
             // 
             // cmbB1
@@ -722,10 +723,10 @@
             this.cmbB1.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbB1.Enabled = false;
             this.cmbB1.FormattingEnabled = true;
-            this.cmbB1.Location = new System.Drawing.Point(299, 154);
+            this.cmbB1.Location = new System.Drawing.Point(224, 125);
-            this.cmbB1.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmbB1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmbB1.Name = "cmbB1";
-            this.cmbB1.Size = new System.Drawing.Size(148, 24);
+            this.cmbB1.Size = new System.Drawing.Size(112, 21);
             this.cmbB1.TabIndex = 231;
             // 
             // cmbB0
@@ -733,10 +734,10 @@
             this.cmbB0.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbB0.Enabled = false;
             this.cmbB0.FormattingEnabled = true;
-            this.cmbB0.Location = new System.Drawing.Point(299, 124);
+            this.cmbB0.Location = new System.Drawing.Point(224, 101);
-            this.cmbB0.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmbB0.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmbB0.Name = "cmbB0";
-            this.cmbB0.Size = new System.Drawing.Size(148, 24);
+            this.cmbB0.Size = new System.Drawing.Size(112, 21);
             this.cmbB0.TabIndex = 230;
             // 
             // cmbA7
@@ -744,10 +745,10 @@
             this.cmbA7.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbA7.Enabled = false;
             this.cmbA7.FormattingEnabled = true;
-            this.cmbA7.Location = new System.Drawing.Point(468, 334);
+            this.cmbA7.Location = new System.Drawing.Point(351, 271);
-            this.cmbA7.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmbA7.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmbA7.Name = "cmbA7";
-            this.cmbA7.Size = new System.Drawing.Size(148, 24);
+            this.cmbA7.Size = new System.Drawing.Size(112, 21);
             this.cmbA7.TabIndex = 245;
             // 
             // cmbA6
@@ -755,10 +756,10 @@
             this.cmbA6.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbA6.Enabled = false;
             this.cmbA6.FormattingEnabled = true;
-            this.cmbA6.Location = new System.Drawing.Point(468, 304);
+            this.cmbA6.Location = new System.Drawing.Point(351, 247);
-            this.cmbA6.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmbA6.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmbA6.Name = "cmbA6";
-            this.cmbA6.Size = new System.Drawing.Size(148, 24);
+            this.cmbA6.Size = new System.Drawing.Size(112, 21);
             this.cmbA6.TabIndex = 244;
             // 
             // cmbA5
@@ -766,10 +767,10 @@
             this.cmbA5.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbA5.Enabled = false;
             this.cmbA5.FormattingEnabled = true;
-            this.cmbA5.Location = new System.Drawing.Point(468, 274);
+            this.cmbA5.Location = new System.Drawing.Point(351, 223);
-            this.cmbA5.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmbA5.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmbA5.Name = "cmbA5";
-            this.cmbA5.Size = new System.Drawing.Size(148, 24);
+            this.cmbA5.Size = new System.Drawing.Size(112, 21);
             this.cmbA5.TabIndex = 243;
             // 
             // cmbA4
@@ -777,10 +778,10 @@
             this.cmbA4.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbA4.Enabled = false;
             this.cmbA4.FormattingEnabled = true;
-            this.cmbA4.Location = new System.Drawing.Point(468, 244);
+            this.cmbA4.Location = new System.Drawing.Point(351, 198);
-            this.cmbA4.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmbA4.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmbA4.Name = "cmbA4";
-            this.cmbA4.Size = new System.Drawing.Size(148, 24);
+            this.cmbA4.Size = new System.Drawing.Size(112, 21);
             this.cmbA4.TabIndex = 242;
             // 
             // cmbA3
@@ -788,10 +789,10 @@
             this.cmbA3.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbA3.Enabled = false;
             this.cmbA3.FormattingEnabled = true;
-            this.cmbA3.Location = new System.Drawing.Point(468, 213);
+            this.cmbA3.Location = new System.Drawing.Point(351, 173);
-            this.cmbA3.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmbA3.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmbA3.Name = "cmbA3";
-            this.cmbA3.Size = new System.Drawing.Size(148, 24);
+            this.cmbA3.Size = new System.Drawing.Size(112, 21);
             this.cmbA3.TabIndex = 241;
             // 
             // cmbA2
@@ -799,10 +800,10 @@
             this.cmbA2.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbA2.Enabled = false;
             this.cmbA2.FormattingEnabled = true;
-            this.cmbA2.Location = new System.Drawing.Point(468, 184);
+            this.cmbA2.Location = new System.Drawing.Point(351, 150);
-            this.cmbA2.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmbA2.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmbA2.Name = "cmbA2";
-            this.cmbA2.Size = new System.Drawing.Size(148, 24);
+            this.cmbA2.Size = new System.Drawing.Size(112, 21);
             this.cmbA2.TabIndex = 240;
             // 
             // cmbA1
@@ -810,10 +811,10 @@
             this.cmbA1.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbA1.Enabled = false;
             this.cmbA1.FormattingEnabled = true;
-            this.cmbA1.Location = new System.Drawing.Point(468, 154);
+            this.cmbA1.Location = new System.Drawing.Point(351, 125);
-            this.cmbA1.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmbA1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmbA1.Name = "cmbA1";
-            this.cmbA1.Size = new System.Drawing.Size(148, 24);
+            this.cmbA1.Size = new System.Drawing.Size(112, 21);
             this.cmbA1.TabIndex = 239;
             // 
             // cmbA0
@@ -821,19 +822,20 @@
             this.cmbA0.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbA0.Enabled = false;
             this.cmbA0.FormattingEnabled = true;
-            this.cmbA0.Location = new System.Drawing.Point(468, 124);
+            this.cmbA0.Location = new System.Drawing.Point(351, 101);
-            this.cmbA0.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmbA0.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.cmbA0.Name = "cmbA0";
-            this.cmbA0.Size = new System.Drawing.Size(148, 24);
+            this.cmbA0.Size = new System.Drawing.Size(112, 21);
             this.cmbA0.TabIndex = 238;
             // 
             // lblB1
             // 
             this.lblB1.AutoSize = true;
             this.lblB1.Font = new System.Drawing.Font("Microsoft Sans Serif", 16.2F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lblB1.Location = new System.Drawing.Point(352, 90);
+            this.lblB1.Location = new System.Drawing.Point(264, 73);
+            this.lblB1.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblB1.Name = "lblB1";
-            this.lblB1.Size = new System.Drawing.Size(34, 32);
+            this.lblB1.Size = new System.Drawing.Size(28, 26);
             this.lblB1.TabIndex = 246;
             this.lblB1.Text = "B";
             // 
@@ -841,9 +843,10 @@
             // 
             this.lblA1.AutoSize = true;
             this.lblA1.Font = new System.Drawing.Font("Microsoft Sans Serif", 16.2F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lblA1.Location = new System.Drawing.Point(523, 90);
+            this.lblA1.Location = new System.Drawing.Point(392, 73);
+            this.lblA1.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblA1.Name = "lblA1";
-            this.lblA1.Size = new System.Drawing.Size(34, 32);
+            this.lblA1.Size = new System.Drawing.Size(28, 26);
             this.lblA1.TabIndex = 247;
             this.lblA1.Text = "A";
             // 
@@ -851,9 +854,10 @@
             // 
             this.txtMCP1.Enabled = false;
             this.txtMCP1.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.txtMCP1.Location = new System.Drawing.Point(468, 52);
+            this.txtMCP1.Location = new System.Drawing.Point(351, 42);
+            this.txtMCP1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.txtMCP1.Name = "txtMCP1";
-            this.txtMCP1.Size = new System.Drawing.Size(148, 30);
+            this.txtMCP1.Size = new System.Drawing.Size(112, 26);
             this.txtMCP1.TabIndex = 248;
             this.txtMCP1.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
             // 
@@ -861,9 +865,10 @@
             // 
             this.lblMCP1.AutoSize = true;
             this.lblMCP1.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lblMCP1.Location = new System.Drawing.Point(299, 55);
+            this.lblMCP1.Location = new System.Drawing.Point(224, 45);
+            this.lblMCP1.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblMCP1.Name = "lblMCP1";
-            this.lblMCP1.Size = new System.Drawing.Size(144, 25);
+            this.lblMCP1.Size = new System.Drawing.Size(119, 20);
             this.lblMCP1.TabIndex = 249;
             this.lblMCP1.Text = "Endereço I2C";
             // 
@@ -891,9 +896,11 @@
             this.gpbMCP1.Controls.Add(this.cmbA0);
             this.gpbMCP1.Controls.Add(this.cmbA2);
             this.gpbMCP1.Controls.Add(this.cmbA1);
-            this.gpbMCP1.Location = new System.Drawing.Point(759, 12);
+            this.gpbMCP1.Location = new System.Drawing.Point(569, 10);
+            this.gpbMCP1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.gpbMCP1.Name = "gpbMCP1";
-            this.gpbMCP1.Size = new System.Drawing.Size(632, 385);
+            this.gpbMCP1.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.gpbMCP1.Size = new System.Drawing.Size(474, 313);
             this.gpbMCP1.TabIndex = 250;
             this.gpbMCP1.TabStop = false;
             this.gpbMCP1.Text = "Expansor de GPIO";
@@ -901,9 +908,10 @@
             // chbMCP1
             // 
             this.chbMCP1.AutoSize = true;
-            this.chbMCP1.Location = new System.Drawing.Point(15, 23);
+            this.chbMCP1.Location = new System.Drawing.Point(11, 19);
+            this.chbMCP1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.chbMCP1.Name = "chbMCP1";
-            this.chbMCP1.Size = new System.Drawing.Size(160, 20);
+            this.chbMCP1.Size = new System.Drawing.Size(133, 17);
             this.chbMCP1.TabIndex = 250;
             this.chbMCP1.Text = "MCP23017 conectado";
             this.chbMCP1.UseVisualStyleBackColor = true;
@@ -911,10 +919,10 @@
             // 
             // frmPinout
             // 
-            this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F);
+            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
             this.BackColor = System.Drawing.Color.White;
-            this.ClientSize = new System.Drawing.Size(1408, 862);
+            this.ClientSize = new System.Drawing.Size(1056, 697);
             this.Controls.Add(this.gpbMCP1);
             this.Controls.Add(this.cbTipo);
             this.Controls.Add(this.lblPinout);
@@ -964,7 +972,6 @@
             this.Controls.Add(this.cmb2);
             this.Controls.Add(this.cmb1);
             this.Controls.Add(this.imgESP32);
-            this.Margin = new System.Windows.Forms.Padding(4);
             this.Name = "frmPinout";
             this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
             this.Text = "Pinout";

AgroBase/AgroBase/Models/MapasModel.cs

@@ -179,7 +179,7 @@ namespace AgroBase.Models
 
             if (Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.DesvioNecessario)
             {
-                AjustarTrajetoriaParaDesvio(Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.ObstaculosDetectados.OrderBy(x => x.DistanciaMedia).First(x => x.DeslocamentoNecessarioDesvio > 0));
+                AjustarTrajetoriaParaDesvio(Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.ObstaculoCritico);
             }
 
             GPSService.AtualizarTrajetoriaDinamica();

AgroBase/AgroBase/Models/Modules/MovimentacaoModel.cs

@@ -568,8 +568,8 @@ namespace AgroBase.Models
             var Alm = Alarmes.FirstOrDefault(x => x.Tipo == _Alarme.Tipo);
             if (Alm == null)
             {
-                Alarmes.Add(_Alarme);
+                Alm = _Alarme;
-                Alm = Alarmes.FirstOrDefault(x => x.Tipo == _Alarme.Tipo);
+                Alarmes.Add(Alm);
                 Adicionado = true;
             }
 

AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs

@@ -330,6 +330,8 @@ namespace AgroBase.Models.Modules
                             new string[] { "Angulo X Acrescentar", "5" },
                             new string[] { "Angulo Y Acrescentar", "30" },
                         },
+                        LimiteMinimo = 40, 
+                        LimiteMaximo = 9999,
                     },
 
                 },
@@ -540,6 +542,20 @@ namespace AgroBase.Models.Modules
                                     angulo,
                                     posicao,
                                 };
+                                /*string protocolo = Dados[2];
+                                int posicao = -1;
+                                int.TryParse(protocolo.Split('_')[0], out posicao);
+                                var Leituras = new Dictionary<int, int>();
+                                foreach (var leitura in protocolo.Split('_')[1].Trim().Split('-'))
+                                {
+                                    if (leitura == "")
+                                    {
+                                        break;
+                                    }
+                                    int distancia = int.Parse(leitura.Split(',')[0]);
+                                    int angulo = int.Parse(leitura.Split(',')[1]);
+                                    Leituras.Add(angulo, distancia);
+                                }*/
 
                                 if (Sensor.ID == "SNR_F")
                                 {
@@ -569,9 +585,39 @@ namespace AgroBase.Models.Modules
                                     {
                                         leituras.Add(new SonarLeituraModel(angulo, distancia));
                                     }
-                                    
+                                    /*foreach (var leitura in Leituras)
+                                    {
+                                        if (leituras.Any(x => x.Angulo == leitura.Key))
+                                        {
+                                            leituras.First(x => x.Angulo == leitura.Key).Momento = DateTime.Now;
+                                            leituras.First(x => x.Angulo == leitura.Key).Distancia = leitura.Value;
+                                        }
+                                        else
+                                        {
+                                            leituras.Add(new SonarLeituraModel(leitura.Key, leitura.Value));
+                                        }
+                                    }*/
+
+
+
+                                    Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaEsquerda = Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.DistanciaEsquerda;
+                                    Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaDireita = Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.DistanciaDireita;
+
                                     Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.PosicaoAtual = posicao;
                                     Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.AtualizarSonar();
+
+                                    if (
+                                        Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.DesvioNecessario && 
+                                        Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.DirecaoDesvio == Direcao.Parado && 
+                                        Variaveis.OperacaoEmAndamento.DispMov.Dados.Conectado
+                                    )
+                                    {
+                                        foreach (var _motor in Variaveis.OperacaoEmAndamento.DispMov.Dados.Motores)
+                                        {
+                                            string ProtocoloParada = _motor.ProtocoloComando(Direcao.Frente, true);
+                                            Variaveis.OperacaoEmAndamento.DispMov.EnviarDadosSerial(ProtocoloParada);
+                                        }
+                                    }
                                 }
                                 
                                 AtualizaGrafico = true;

AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs

@@ -136,7 +136,7 @@ namespace AgroBase.Models.Operacoes
             foreach (var ProtocoloMotor in Protocolos)
             {
                 Dispositivo.EnviarDadosSerial(ProtocoloMotor);
-                Task.Delay(10);
+                System.Threading.Thread.Sleep(10);
             }
 
             return Protocolos.ToList();
@@ -363,7 +363,7 @@ namespace AgroBase.Models.Operacoes
                             ManobraConcluida = false;
                             etapaAtual = StatusCarroMapa.EntrandoRua;
                             GPSService.AtualizaLeituraSimulacao();
-                            Task.Delay(500);
+                            System.Threading.Thread.Sleep(500);
                         }
                     }
                     // Se o robô não estiver dentro da entrelinha de cana
@@ -417,7 +417,7 @@ namespace AgroBase.Models.Operacoes
 
                 _EtapaAtual = etapaAtual;
 
-                _EtapaAtual = StatusCarroMapa.Direcionando;
+                //_EtapaAtual = StatusCarroMapa.Direcionando;
 
                 return _EtapaAtual;
             }

AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs

@@ -112,8 +112,13 @@ namespace AgroBase.Models
                 // Operação em andamento
                 else
                 {
+                    // Se a operacao atual for manual
+                    if (Variaveis.OperacaoEmAndamento.Modo == ModoOperacao.Manual)
+                    {
+                        etapaAtual = StatusOperacao.EmAndamento;
+                    }
                     // Se o trajeto foi finalizado
-                    if (Variaveis.OperacaoEmAndamento.OpMapaGPS.Concluido)
+                    else if (Variaveis.OperacaoEmAndamento.OpMapaGPS.Concluido)
                     {
                         etapaAtual = StatusOperacao.Concluido;
                     }
@@ -160,7 +165,7 @@ namespace AgroBase.Models
 
                 _EtapaAtual = etapaAtual;
 
-                _EtapaAtual = StatusOperacao.EmAndamento;
+                //_EtapaAtual = StatusOperacao.EmAndamento;
 
                 return _EtapaAtual;
             }
@@ -690,6 +695,33 @@ namespace AgroBase.Models
                 MessageBox.Show(Variaveis.OperacaoEmAndamento.ErroOperacaoLiberada, "Conexão de módulos pendentes", MessageBoxButtons.OK, MessageBoxIcon.Warning);
             }
         }
+    
+        public string TextoFormOperacao(string ModoNome)
+        {
+            var statusAtual = Variaveis.OperacaoEmAndamento.StatusAtual;
+
+            if (statusAtual == StatusOperacao.Parametrizando)
+            {
+                return "Operação " + ModoNome + " - Parametrização";
+            }
+            else if (statusAtual == StatusOperacao.Aguardando)
+            {
+                return "Operação " + ModoNome + " - Iniciando em " + (Variaveis.OperacaoEmAndamento.TempoAguardando.AddSeconds(Variaveis.OperacaoEmAndamento.TempoIniciarOperacao) - DateTime.Now).TotalSeconds.ToString("0") + " segundo" + ((Variaveis.OperacaoEmAndamento.TempoAguardando.AddSeconds(Variaveis.OperacaoEmAndamento.TempoIniciarOperacao) - DateTime.Now).TotalSeconds < 1 ? "" : "s") + "...";
+            }
+            else if (statusAtual == StatusOperacao.Concluido)
+            {
+                return "Operação " + ModoNome + " - Concluída";
+            }
+            else if (statusAtual == StatusOperacao.EmAndamento)
+            {
+                return "Operação " + ModoNome + " - Em andamento";
+            }
+            else
+            {
+                return "Operação " + ModoNome;
+            }
+        }
+    
     }
 
     public class OperacaoSensoriamentoModel

AgroBase/AgroBase/Models/SonarModel.cs

@@ -21,6 +21,20 @@ namespace AgroBase.Models
 
         public List<SonarRegistroModel> Deteccoes { get; set; } = new List<SonarRegistroModel>();
         public List<SonarObstaculoDetectadoModel> ObstaculosDetectados { get; set; } = new List<SonarObstaculoDetectadoModel>();
+        public SonarObstaculoDetectadoModel ObstaculoCritico
+        {
+            get
+            {
+                if (ObstaculosDetectados.Any())
+                {
+                    return ObstaculosDetectados.OrderBy(x => x.DistanciaMedia).FirstOrDefault(x => x.DirecaoDesvio == Direcao.Parado || x.DeslocamentoNecessarioDesvio > 0);
+                }
+                else
+                {
+                    return null;
+                }
+            }
+        }
         public int maxDistanceCm { get; set; } = 200;
         public static int anguloAcrescentar { get; set; } = 5;
         public int PosicaoAtual { get; set; } = 0;
@@ -28,6 +42,47 @@ namespace AgroBase.Models
         public static double MargemSegurancaDesvio { get; set; } = 5;
         private int LarguraMinimaObstaculo { get; set; } = 10;
         public bool DesvioNecessario { get; set;} = false;
+        public Direcao DirecaoDesvio
+        {
+            get
+            {
+                if (!ObstaculosDetectados.Any())
+                {
+                    AnguloDesvio = 0;
+                    return Direcao.Frente;
+                }
+                else if (ObstaculosDetectados.Any(x => x.DirecaoDesvio == Direcao.Parado))
+                {
+                    AnguloDesvio = 0;
+                    return Direcao.Parado;
+                }
+                else if (ObstaculosDetectados.Count() == 1)
+                {
+                    AnguloDesvio = ObstaculoCritico.AnguloParaDesvio;
+                    return ObstaculoCritico.DirecaoDesvio;
+                }
+                else
+                {
+                    if (ObstaculosDetectados.Count(x => x.Aesquerda) > ObstaculosDetectados.Count(x => x.Adireita))
+                    {
+                        if (ObstaculoCritico.DirecaoDesvio == Direcao.Esquerda)
+                        {
+                            AnguloDesvio = ObstaculoCritico.AnguloParaDesvioDireita;
+                        }
+                        return Direcao.Direita;
+                    }
+                    else
+                    {
+                        if (ObstaculoCritico.DirecaoDesvio == Direcao.Direita)
+                        {
+                            AnguloDesvio = ObstaculoCritico.AnguloParaDesvioEsquerda;
+                        }
+                        return Direcao.Esquerda;
+                    }
+                }
+            }
+        }
+        public double AnguloDesvio { get; set; }
         public double DistanciaEsquerda { get; set; }
         public double DistanciaDireita { get; set; }
 
@@ -72,8 +127,8 @@ namespace AgroBase.Models
                 double scaledDistance = (i == 0 ? maxDistanceCm : detection.Distancia) * pixelsPerCm;
 
                 // Calcula as posições finais ajustadas para a escala
-                int x = (int)(Math.Cos(detection.Angulo * Math.PI / 180) * scaledDistance);
+                int x = (int)(Math.Cos((180 - detection.Angulo) * Math.PI / 180) * scaledDistance);
-                int y = (int)(Math.Sin(detection.Angulo * Math.PI / 180) * scaledDistance);
+                int y = (int)(Math.Sin((180 - detection.Angulo) * Math.PI / 180) * scaledDistance);
 
                 // Desenha uma linha do centro até o ponto detectado, ajustado para a escala
                 g.DrawLine(i == 0 ? new Pen(Color.Red, 7) : Pens.Red, centerX, centerY, centerX + x, centerY - y);
@@ -84,7 +139,7 @@ namespace AgroBase.Models
             DrawObstacles(g, centerX, centerY);
 
             // Adiciona as novas informações visuais aqui
-            DrawAdditionalInfo(g, detections.First().Angulo, detections.First().Distancia);
+            DrawAdditionalInfo(g, 180 - detections.First().Angulo, detections.First().Distancia);
 
             // Desenha a trajetória de desvio
             DrawTrajectory(g, centerX, centerY);
@@ -153,34 +208,39 @@ namespace AgroBase.Models
             foreach (var obstaculo in ObstaculosDetectados)
             {
                 // Calcula a posição e o tamanho do obstáculo no radar
-                double anguloInicialRad = obstaculo.AnguloInicial * Math.PI / 180;
+                double anguloInicialRad = (180 - obstaculo.AnguloInicial) * Math.PI / 180;
-                double anguloFinalRad = obstaculo.AnguloFinal * Math.PI / 180;
+                double anguloFinalRad = (180 - obstaculo.AnguloFinal) * Math.PI / 180;
 
                 // Calcula a largura do obstáculo no radar em pixels
                 double larguraObstaculoPixels = obstaculo.Largura * pixelsPerCm;
                 int posicaoAtual = Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.PosicaoAtual;
                 var deteccoes = Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.Deteccoes.First(x => x.Posicao == posicaoAtual).Leituras.OrderBy(x => x.Angulo).ToList();
-                var leituraInicial = deteccoes.First(x => x.Angulo == obstaculo.AnguloInicial);
+                var leituraInicial = deteccoes.FirstOrDefault(x => x.Angulo == obstaculo.AnguloInicial);
-                var leituraFinal = deteccoes.First(x => x.Angulo == obstaculo.AnguloFinal);
+                var leituraFinal = deteccoes.FirstOrDefault(x => x.Angulo == obstaculo.AnguloFinal);
+                if (leituraInicial == null || leituraFinal == null)
+                {
+                    continue;
+                }
+                
                 int idxPontoInicial = deteccoes.IndexOf(leituraInicial);
                 int idxPontoFinal = deteccoes.IndexOf(leituraFinal);
 
                 List<Point> pontos = new List<Point>();
                 for (int i = idxPontoInicial; i <= idxPontoFinal; i++)
                 {
-                    double anguloRad = deteccoes[i].Angulo * Math.PI / 180;
+                    double anguloRad = (180 - deteccoes[i].Angulo) * Math.PI / 180;
-                    var ponto = new Point(centerX + (int)(Math.Cos(anguloRad) * deteccoes[i].Distancia),
+                    var ponto = new Point(centerX + ((int)(Math.Cos(anguloRad) * (deteccoes[i].Distancia * pixelsPerCm))),
-                                          centerY - (int)(Math.Sin(anguloRad) * deteccoes[i].Distancia));
+                                          centerY - ((int)(Math.Sin(anguloRad) * (deteccoes[i].Distancia * pixelsPerCm))));
                     pontos.Add(ponto);
                 }
 
                 pontos.Add(new Point(
-                    pontos[pontos.Count - 1].X + (int)(Math.Cos(anguloFinalRad) * larguraObstaculoPixels), 
+                    pontos[pontos.Count - 1].X + ((int)(Math.Cos(anguloFinalRad) * larguraObstaculoPixels)), 
-                    pontos[pontos.Count - 1].Y - (int)(Math.Sin(anguloFinalRad) * larguraObstaculoPixels))
+                    pontos[pontos.Count - 1].Y - ((int)(Math.Sin(anguloFinalRad) * larguraObstaculoPixels)))
                 );
                 pontos.Add(new Point(
-                    pontos[0].X + (int)(Math.Cos(anguloInicialRad) * larguraObstaculoPixels),
+                    pontos[0].X + ((int)(Math.Cos(anguloInicialRad) * larguraObstaculoPixels)),
-                    pontos[0].Y - (int)(Math.Sin(anguloInicialRad) * larguraObstaculoPixels))
+                    pontos[0].Y - ((int)(Math.Sin(anguloInicialRad) * larguraObstaculoPixels)))
                 );
 
                 g.FillPolygon(Brushes.Yellow, pontos.ToArray());
@@ -201,24 +261,27 @@ namespace AgroBase.Models
             // Verifica se há obstáculos detectados para evitar erros
             if (ObstaculosDetectados.Any())
             {
-                SonarObstaculoDetectadoModel obstaculoCritico = ObstaculosDetectados.OrderBy(o => o.DistanciaMedia).First();
+                SonarObstaculoDetectadoModel obstaculoCritico = ObstaculoCritico;
 
-                string anguloDesvioText = $"Ângulo de Desvio: {obstaculoCritico.AnguloParaDesvio.ToString("0.00")}°";
+                if (obstaculoCritico != null)
-                string distanciaObstaculoText = $"Distância até Obstáculo: {obstaculoCritico.DistanciaMedia.ToString("0.00")} cm";
+                {
-                string larguraObstaculoText = $"Largura do Obstáculo: {obstaculoCritico.Largura.ToString("0.00")} cm";
+                    string anguloDesvioText = $"Ângulo de Desvio: Ob {obstaculoCritico.AnguloParaDesvio.ToString("0.00")} Tj {AnguloDesvio.ToString("0.00")}°";
-                string tempoColisaoText = $"Tempo até Colisão: {obstaculoCritico.TempoAteColisao.ToString("0.00")} s";
+                    string distanciaObstaculoText = $"Distância até Obstáculo: {obstaculoCritico.DistanciaMedia.ToString("0.00")} cm";
-                string direcaoDesvioText = $"Direção para Desvio: {obstaculoCritico.DirecaoDesvio.ToString()}";
+                    string larguraObstaculoText = $"Largura do Obstáculo: {obstaculoCritico.Largura.ToString("0.00")} cm";
+                    string tempoColisaoText = $"Tempo até Colisão: {obstaculoCritico.TempoAteColisao.ToString("0.00")} s";
+                    string direcaoDesvioText = $"Direção para Desvio: Ob {obstaculoCritico.DirecaoDesvio.ToString()} Tj {DirecaoDesvio.ToString()}";
 
-                // Define a posição inicial para as informações adicionais
+                    // Define a posição inicial para as informações adicionais
-                int startX = 10;
+                    int startX = 10;
-                int startY = picSonar.Height - 100; // Ajuste conforme necessário para não sobrepor outros elementos
+                    int startY = picSonar.Height - 100; // Ajuste conforme necessário para não sobrepor outros elementos
 
-                // Desenha o texto no radar
+                    // Desenha o texto no radar
-                g.DrawString(anguloDesvioText, new Font("Arial", 10), Brushes.White, startX, startY);
+                    g.DrawString(anguloDesvioText, new Font("Arial", 10), Brushes.White, startX, startY);
-                g.DrawString(distanciaObstaculoText, new Font("Arial", 10), Brushes.White, startX, startY + 20);
+                    g.DrawString(distanciaObstaculoText, new Font("Arial", 10), Brushes.White, startX, startY + 20);
-                g.DrawString(larguraObstaculoText, new Font("Arial", 10), Brushes.White, startX, startY + 40);
+                    g.DrawString(larguraObstaculoText, new Font("Arial", 10), Brushes.White, startX, startY + 40);
-                g.DrawString(tempoColisaoText, new Font("Arial", 10), Brushes.White, startX, startY + 60);
+                    g.DrawString(tempoColisaoText, new Font("Arial", 10), Brushes.White, startX, startY + 60);
-                g.DrawString(direcaoDesvioText, new Font("Arial", 10), Brushes.White, startX, startY + 80);
+                    g.DrawString(direcaoDesvioText, new Font("Arial", 10), Brushes.White, startX, startY + 80);
+                }
             }
         }
 
@@ -226,10 +289,8 @@ namespace AgroBase.Models
         {
             if (DesvioNecessario)
             {
-                SonarObstaculoDetectadoModel obstaculoCritico = ObstaculosDetectados.OrderBy(o => o.DistanciaMedia).First();
-
                 // Calcula o ângulo final considerando o ângulo de desvio
-                double anguloDesvioRad = (obstaculoCritico.AnguloParaDesvio + 90) * (Math.PI / 180); // +90 para ajustar a referência
+                double anguloDesvioRad = (AnguloDesvio + 90) * (Math.PI / 180); // +90 para ajustar a referência
 
                 // Calcula a posição final da trajetória
                 double distanciaObstaculo = maxDistanceCm * pixelsPerCm;
@@ -241,6 +302,19 @@ namespace AgroBase.Models
 
                 // Desenha a linha de trajetória
                 g.DrawLine(penTrajectory, centerX, centerY, centerX + desvioX, centerY - desvioY);
+
+                // Calcula o ângulo final considerando o ângulo de desvio
+                double anguloDesvioObRad = (ObstaculoCritico.AnguloParaDesvio + 90) * (Math.PI / 180); // +90 para ajustar a referência
+
+                // Calcula a posição final da trajetória
+                int desvioXob = (int)(Math.Cos(anguloDesvioObRad) * distanciaObstaculo);
+                int desvioYob = (int)(Math.Sin(anguloDesvioObRad) * distanciaObstaculo);
+
+                // Cria um Pen tracejado azul
+                Pen penTrajectoryOb = new Pen(Color.Cyan, 3) { DashPattern = new float[] { 4, 2 } }; // Ajuste o padrão de traço conforme necessário
+
+                // Desenha a linha de trajetória
+                g.DrawLine(penTrajectoryOb, centerX, centerY, centerX + desvioXob, centerY - desvioYob);
             }
         }
 
@@ -250,6 +324,8 @@ namespace AgroBase.Models
 
         public void ProcessarDados()
         {
+            CalcularDistanciasLaterais();
+
             DesvioNecessario = false;
 
             // Limpa a lista de obstáculos para o novo processamento
@@ -282,7 +358,54 @@ namespace AgroBase.Models
             CalcularDirecaoDesvio();
         }
 
-        private List<List<SonarLeituraModel>> AgruparLeiturasPorProximidade(List<SonarLeituraModel> leituras)
+        /*private List<List<SonarLeituraModel>> AgruparLeiturasPorProximidade(List<SonarLeituraModel> leituras)
+        {
+            int maxAnguloDiferenca = anguloAcrescentar * 3; // Diferença máxima de ângulo (em graus) para considerar leituras no mesmo grupo
+            const int maxDistanciaDiferenca = 20; // Diferença máxima de distância (em cm) para considerar leituras no mesmo grupo
+
+            List<List<SonarLeituraModel>> grupos = new List<List<SonarLeituraModel>>();
+            List<SonarLeituraModel> grupoAtual = new List<SonarLeituraModel>();
+
+            // Ordena as leituras por ângulo para processamento sequencial
+            var leiturasOrdenadas = leituras.OrderBy(l => l.Angulo).ToList();
+
+            foreach (var leitura in leiturasOrdenadas)
+            {
+                if (grupoAtual.Count == 0)
+                {
+                    // Se o grupo atual está vazio, simplesmente adiciona a leitura atual ao grupo
+                    grupoAtual.Add(leitura);
+                }
+                else
+                {
+                    // Compara a leitura atual com a última leitura do grupo atual
+                    var ultimaLeitura = grupoAtual.Last();
+                    if (Math.Abs(leitura.Angulo - ultimaLeitura.Angulo) <= maxAnguloDiferenca &&
+                        Math.Abs(leitura.Distancia - ultimaLeitura.Distancia) <= maxDistanciaDiferenca)
+                    {
+                        // Se a leitura atual está próxima da última leitura, adiciona ao mesmo grupo
+                        grupoAtual.Add(leitura);
+                    }
+                    else
+                    {
+                        // Se a leitura atual está longe da última leitura, considera como um novo grupo
+                        grupos.Add(new List<SonarLeituraModel>(grupoAtual)); // Adiciona o grupo atual aos grupos
+                        grupoAtual.Clear(); // Limpa o grupo atual
+                        grupoAtual.Add(leitura); // Inicia um novo grupo com a leitura atual
+                    }
+                }
+            }
+
+            if (grupoAtual.Count > 0)
+            {
+                // Adiciona o último grupo aos grupos, se não estiver vazio
+                grupos.Add(grupoAtual);
+            }
+
+            return grupos.Where(x => x.All(y => y.Distancia <= maxDistanceCm)).ToList();
+        }*/
+
+        public List<List<SonarLeituraModel>> AgruparLeiturasPorProximidade(List<SonarLeituraModel> leituras)
         {
             int maxAnguloDiferenca = anguloAcrescentar * 3; // Diferença máxima de ângulo (em graus) para considerar leituras no mesmo grupo
             const int maxDistanciaDiferenca = 20; // Diferença máxima de distância (em cm) para considerar leituras no mesmo grupo
@@ -336,8 +459,8 @@ namespace AgroBase.Models
             // Filtra leituras correspondentes aos ângulos de interesse
             //var leiturasDireita = Deteccoes.SelectMany(d => d.Leituras.Where(l => l.Angulo <= 4)).ToList();
             //var leiturasEsquerda = Deteccoes.SelectMany(d => d.Leituras.Where(l => l.Angulo >= 176)).ToList();
-            var leiturasDireita = Deteccoes.Where(d => d.Posicao == 1).SelectMany(d => d.Leituras.Where(l => l.Angulo <= anguloAcrescentar)).ToList();
+            var leiturasEsquerda = Deteccoes.Where(d => d.Posicao == 1).SelectMany(d => d.Leituras.Where(l => l.Angulo <= anguloAcrescentar)).ToList();
-            var leiturasEsquerda = Deteccoes.Where(d => d.Posicao == 1).SelectMany(d => d.Leituras.Where(l => l.Angulo >= 180 - anguloAcrescentar)).ToList();
+            var leiturasDireita = Deteccoes.Where(d => d.Posicao == 1).SelectMany(d => d.Leituras.Where(l => l.Angulo >= 180 - anguloAcrescentar)).ToList();
 
             // Calcula as médias
             if (leiturasDireita.Any() && leiturasEsquerda.Any())
@@ -350,17 +473,19 @@ namespace AgroBase.Models
         // Método para decidir a direção do desvio
         public void CalcularDirecaoDesvio()
         {
-            // Calcula distâncias médias laterais
-            CalcularDistanciasLaterais();
-
             foreach (var obstaculo in ObstaculosDetectados)
             {
                 // Inicializa variáveis para determinar a melhor direção de desvio
                 double espacoLivreDireita = DistanciaDireita - obstaculo.DeslocamentoNecessarioDireita;
                 double espacoLivreEsquerda = DistanciaEsquerda - obstaculo.DeslocamentoNecessarioEsquerda;
 
+                var Sensor = Variaveis.OperacaoEmAndamento.DispSen.Dados.Sensores.FirstOrDefault(x => x.Componente == S_Code.sSNR);
+                if (Sensor != null && obstaculo.DistanciaMedia < Sensor.LimiteMinimo)
+                {
+                    obstaculo.DirecaoDesvio = Direcao.Parado;
+                }
                 // Decisão de direção baseada no espaço livre ajustado
-                if (espacoLivreDireita > espacoLivreEsquerda && espacoLivreDireita > 0)
+                else if (espacoLivreDireita > espacoLivreEsquerda && espacoLivreDireita > 0)
                 {
                     obstaculo.DirecaoDesvio = Direcao.Direita;
                 }
@@ -577,39 +702,65 @@ namespace AgroBase.Models
         {
             get
             {
-                // Usando trigonometria para calcular o ângulo necessário
+                double anguloDesvio = 0;
-                // Nota: Assegure-se de converter o resultado de arco seno para graus, se necessário
-                double anguloRad = Math.Atan(DistanciaMedia / DeslocamentoNecessarioDesvio);
-                double anguloDesvio = (anguloRad * (180 / Math.PI)); // Convertendo radianos para graus
-
                 Direcao direcaoDesvio = DirecaoDesvio;
 
                 if (direcaoDesvio == Direcao.Esquerda)
                 {
-                    anguloDesvio = 90 - anguloDesvio;
+                    anguloDesvio = AnguloParaDesvioEsquerda;
                 }
                 else if (direcaoDesvio == Direcao.Direita)
                 {
-                    anguloDesvio = anguloDesvio - 90;
+                    anguloDesvio = AnguloParaDesvioDireita;
                 }
 
                 // Atribuição do ângulo calculado ao ângulo de desvio, com verificação de limites
                 return Math.Min(anguloDesvio, SonarModel.AnguloDesvioMaximo);
             }
         }
+        public double AnguloParaDesvioEsquerda
+        {
+            get
+            {
+                // Usando trigonometria para calcular o ângulo necessário
+                // Nota: Assegure-se de converter o resultado de arco seno para graus, se necessário
+                double anguloRad = Math.Atan(DistanciaMedia / DeslocamentoNecessarioEsquerda);
+                double anguloDesvio = (anguloRad * (180 / Math.PI)); // Convertendo radianos para graus
+
+                anguloDesvio = 90 - anguloDesvio;
+
+                // Atribuição do ângulo calculado ao ângulo de desvio, com verificação de limites
+                return Math.Min(anguloDesvio, SonarModel.AnguloDesvioMaximo);
+            }
+        }
+        public double AnguloParaDesvioDireita
+        {
+            get
+            {
+                // Usando trigonometria para calcular o ângulo necessário
+                // Nota: Assegure-se de converter o resultado de arco seno para graus, se necessário
+                double anguloRad = Math.Atan(DistanciaMedia / DeslocamentoNecessarioDireita);
+                double anguloDesvio = (anguloRad * (180 / Math.PI)); // Convertendo radianos para graus
+
+                anguloDesvio = anguloDesvio - 90;
+
+                // Atribuição do ângulo calculado ao ângulo de desvio, com verificação de limites
+                return Math.Min(anguloDesvio, SonarModel.AnguloDesvioMaximo);
+            }
+        }
         public Direcao DirecaoDesvio { get; set; }
         public bool Adireita
         {
             get
             {
-                return AnguloInicial < 90 || AnguloFinal > 270;
+                return AnguloFinal > 90 && AnguloInicial < 270;
             }
         }
         public bool Aesquerda
         {
             get
             {
-                return AnguloFinal > 90 && AnguloInicial < 270;
+                return AnguloInicial < 90 || AnguloFinal > 270;
             }
         }
         public GPSModel Coordenadas

AgroBase/AgroBase/Python/Scripts/green-detector.py

@@ -31,7 +31,8 @@ def detect_objects(conf_threshold, nms_threshold, _camera_index):
     lower_green = np.array([35, 50, 100])  # Valores de limite inferior (Hue, Saturation, Value)
     upper_green = np.array([90, 255, 255])  # Valores de limite superior (Hue, Saturation, Value)
 
-    cap = cv2.VideoCapture(_camera_index, cv2.CAP_DSHOW)
+    #cap = cv2.VideoCapture(_camera_index, cv2.CAP_DSHOW)
+    cap = cv2.VideoCapture(_camera_index, cv2.CAP_MSMF)
     width = cap.get(cv2.CAP_PROP_FRAME_WIDTH)
     height = cap.get(cv2.CAP_PROP_FRAME_HEIGHT)
     readings = []

AgroBase/AgroBase/Python/Scripts/weed-detector.py

@@ -40,7 +40,8 @@ app = Flask(__name__)
 
 # Função adaptada para detecção de ervas usando YOLO
 def detect_objects(conf_threshold, nms_threshold, _camera_index):
-    cap = cv2.VideoCapture(_camera_index, cv2.CAP_DSHOW)
+    #cap = cv2.VideoCapture(_camera_index, cv2.CAP_DSHOW)
+    cap = cv2.VideoCapture(_camera_index, cv2.CAP_MSMF)
     width = cap.get(cv2.CAP_PROP_FRAME_WIDTH)
     height = cap.get(cv2.CAP_PROP_FRAME_HEIGHT)
     readings = []

AgroBase/AgroBase/Services/DispositivosService.cs

@@ -12,7 +12,6 @@ using System.Collections.Generic;
 using System.IO;
 using System.IO.Ports;
 using System.Linq;
-using System.Threading.Tasks;
 using System.Windows.Forms;
 using static AgroBase.Models.Enuns;
 
@@ -554,24 +553,31 @@ namespace AgroBase.Comum
                 return;
             }
 
-            string Caminho = Variaveis.CaminhoLogsDispositivos + Dispositivo;
+            try
-            string NomeLog = _CriadoEm.ToString("dd_MM_yyyy_mm_ss") + ".json";
-            if (!Directory.Exists(Caminho))
             {
-                Directory.CreateDirectory(Caminho);
+                string Caminho = Variaveis.CaminhoLogsDispositivos + Dispositivo;
+                string NomeLog = _CriadoEm.ToString("dd_MM_yyyy_mm_ss") + ".json";
+                if (!Directory.Exists(Caminho))
+                {
+                    Directory.CreateDirectory(Caminho);
+                }
+                if (!File.Exists(Caminho + "/" + NomeLog))
+                {
+                    string jsonLog = JsonConvert.SerializeObject(Logs, Formatting.None);
+                    File.WriteAllText(Caminho + "/" + NomeLog, jsonLog.Substring(0, jsonLog.Length - 1));
+                }
+                else
+                {
+                    string jsonLog = JsonConvert.SerializeObject(Logs, Formatting.None);
+                    jsonLog = jsonLog.Substring(1, jsonLog.Length - 2);
+                    File.AppendAllText(Caminho + "/" + NomeLog, "," + jsonLog);
+                }
+                Logs = new List<DispositivoLogModel>();
             }
-            if (!File.Exists(Caminho + "/" + NomeLog))
+            catch (Exception ex)
             {
-                string jsonLog = JsonConvert.SerializeObject(Logs, Formatting.None);
+
-                File.WriteAllText(Caminho + "/" + NomeLog, jsonLog.Substring(0, jsonLog.Length - 1));
             }
-            else
-            {
-                string jsonLog = JsonConvert.SerializeObject(Logs, Formatting.None);
-                jsonLog = jsonLog.Substring(1, jsonLog.Length - 2);
-                File.AppendAllText(Caminho + "/" + NomeLog, "," + jsonLog);
-            }
-            Logs = new List<DispositivoLogModel>();
         }
 
         private void clbDispositivos_ItemCheck(object sender, ItemCheckEventArgs e)
@@ -739,7 +745,7 @@ namespace AgroBase.Comum
                     if (ProtocoloConfiguracao != "")
                     {
                         EnviarDadosSerial(ProtocoloConfiguracao);
-                        Task.Delay(100);
+                        System.Threading.Thread.Sleep(100);
                     }
                 }
             }
@@ -755,7 +761,7 @@ namespace AgroBase.Comum
                         if (ProtocoloConfiguracao != "")
                         {
                             EnviarDadosSerial(ProtocoloConfiguracao);
-                            Task.Delay(100);
+                            System.Threading.Thread.Sleep(100);
                         }
                     }
                 }

AgroBase/AgroBase/Services/PythonService.cs

@@ -32,8 +32,8 @@ namespace AgroBase.Services
                 Args += ' '.ToString() + '"'.ToString() + arg + '"'.ToString();
             }
             Process pythonProcess = new Process();
-            //pythonProcess.StartInfo.FileName = "C:\\Users\\USER\\AppData\\Local\\Programs\\Python\\Python311\\python";
+            pythonProcess.StartInfo.FileName = "C:\\Users\\USER\\AppData\\Local\\Programs\\Python\\Python311\\python";
-            pythonProcess.StartInfo.FileName = "python";
+            //pythonProcess.StartInfo.FileName = "python";
             pythonProcess.StartInfo.Arguments = ScriptPath + Args;
             pythonProcess.StartInfo.UseShellExecute = false;
             pythonProcess.StartInfo.RedirectStandardOutput = true;

AgroBase/AgroBase/bin/Debug/Logs/Sen/18_04_2024_32_40.json

@@ -0,0 +1 @@
+[{"Momento":"2024-04-18T16:32:54.0287523-03:00","Protocolo":"258TMVET;1;411;1;00200;00;035;-1.038","Enviado":true},{"Momento":"2024-04-18T16:32:54.0297594-03:00","Protocolo":"#532;SNR_F;1_129,72-181,73-182,74-95,75-136,76-151,77-182,78-182,79-152,80-118,81-136,82-117,83-117,84-107,85-107,86-110,87-182,88-102,89-75,90-181,91-114,92-140,93-142,94-113,95-153,96-109,97-150,98-110,99-181,100-108,101-109,102-113,103-117,104-117,105-112,106-0,0-$\r","Enviado":false},{"Momento":"2024-04-18T16:32:54.1460397-03:00","Protocolo":"258TMVEF;1;411;1;00200;00;025;-1.038","Enviado":true},{"Momento":"2024-04-18T16:32:54.2579367-03:00","Protocolo":"258TMVDT;1;411;1;00200;00;032;-1.038","Enviado":true},{"Momento":"2024-04-18T16:32:54.3678406-03:00","Protocolo":"258TMVDF;1;411;1;00200;00;033;-1.038","Enviado":true},{"Momento":"2024-04-18T16:32:54.4784299-03:00","Protocolo":"258AB3V ;1;322;1;00500;10;0-1;0x44  ;219   ","Enviado":true},{"Momento":"2024-04-18T16:32:54.5888271-03:00","Protocolo":"258AB5V ;1;322;1;00500;10;0-1;0x41  ;219   ","Enviado":true},{"Momento":"2024-04-18T16:32:54.6981099-03:00","Protocolo":"258AB7V2;1;322;1;00500;10;0-1;0x40  ;219   ","Enviado":true},{"Momento":"2024-04-18T16:32:54.8073462-03:00","Protocolo":"258AB12V;1;322;0;00500;10;0-1;0x43  ;226   ","Enviado":true},{"Momento":"2024-04-18T16:32:54.9160771-03:00","Protocolo":"258TBAT ;1;411;0;00500;05;0-1;0.0000","Enviado":true},{"Momento":"2024-04-18T16:32:55.0281124-03:00","Protocolo":"258SUESQ;1;531;0;01000;02;0-1,0-1","Enviado":true},{"Momento":"2024-04-18T16:32:55.1358576-03:00","Protocolo":"258SUDIR;1;531;0;01000;02;0-1,0-1","Enviado":true},{"Momento":"2024-04-18T16:32:55.2450915-03:00","Protocolo":"258SMAG ;1;855;1;00500;15;0-1","Enviado":true},{"Momento":"2024-04-18T16:32:55.3553347-03:00","Protocolo":"258SNR_F;1;532;1;01000;20;017,005,016,004;1     ;30    ","Enviado":true},{"Momento":"2024-04-18T16:32:55.4641557-03:00","Protocolo":"258LEDMN;1;013","Enviado":true},{"Momento":"2024-04-18T16:32:55.5746781-03:00","Protocolo":"258LEDAT;1;012","Enviado":true},{"Momento":"2024-04-18T16:32:55.6849254-03:00","Protocolo":"258LEDOP;1;014","Enviado":true},{"Momento":"2024-04-18T16:32:55.7951556-03:00","Protocolo":"258MD   ;1;0050021;22","Enviado":true}

AgroBase/AgroBase/bin/Debug/Operacoes/18_03_2024_15_50_31/trajetoria.json

@@ -0,0 +1 @@
+[{"Latitude":-22.339442335994335,"Longitude":-47.264067138109773,"DataHora":"2024-03-18T15:50:36.4668405-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":0.0},{"Latitude":-22.339442335994335,"Longitude":-47.264067138109773,"DataHora":"2024-03-18T15:50:41.4446266-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":0.0},{"Latitude":-22.339566770425247,"Longitude":-47.263998524140789,"DataHora":"2024-03-18T15:50:46.4513129-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":0.0},{"Latitude":-22.339649665078522,"Longitude":-47.263954035496013,"DataHora":"2024-03-18T15:50:51.5328695-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":0.0},{"Latitude":-22.339797742622608,"Longitude":-47.263905810772087,"DataHora":"2024-03-18T15:50:56.4783482-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":0.0},{"Latitude":-22.339797742622608,"Longitude":-47.263905810772087,"DataHora":"2024-03-18T15:51:01.455266-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":0.0},{"Latitude":-22.339797742622608,"Longitude":-47.263905810772087,"DataHora":"2024-03-18T15:51:06.4678739-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":0.0},{"Latitude":-22.339797742622608,"Longitude":-47.263905810772087,"DataHora":"2024-03-18T15:51:11.4587182-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":0.0},{"Latitude":-22.339797742622608,"Longitude":-47.263905810772087,"DataHora":"2024-03-18T15:51:11.4587182-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":0.0}]