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diff --git a/AgroBase/AgroBase/AgroBase.csproj b/AgroBase/AgroBase/AgroBase.csproj
index 7618f6dcd..2e425d1e4 100644
--- a/AgroBase/AgroBase/AgroBase.csproj
+++ b/AgroBase/AgroBase/AgroBase.csproj
@@ -436,6 +436,7 @@
+
diff --git a/AgroBase/AgroBase/Forms/frmAcompanhamento.cs b/AgroBase/AgroBase/Forms/frmAcompanhamento.cs
index e8bb3a1d4..22490cbd7 100644
--- a/AgroBase/AgroBase/Forms/frmAcompanhamento.cs
+++ b/AgroBase/AgroBase/Forms/frmAcompanhamento.cs
@@ -379,14 +379,16 @@ namespace AgroBase.Forms
private void pnlOrientacaoGPS_Paint(object sender, PaintEventArgs e)
{
- double Angulo = GPSService.UltimaLeitura.CursoVerdadeiro;
- FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)Angulo, -90);
+ double Angulo = GPSService.UltimaLeitura.OrientacaoReal;
+ double AnguloMovimento = GPSService.UltimaLeitura.OrientacaoReal;
+ FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)Angulo, -90, (float)AnguloMovimento);
}
private void pnlOrientacaoMagnetometro_Paint(object sender, PaintEventArgs e)
{
double Angulo = Variaveis.OperacaoEmAndamento.Sensoriamento.WitMotion.AnguloCorrigido;
- FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)Angulo, -90);
+ double AnguloCorrigido = Variaveis.OperacaoEmAndamento.Sensoriamento.WitMotion.AnguloCorrigido;
+ FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)Angulo, -90, (float)AnguloCorrigido);
}
diff --git a/AgroBase/AgroBase/Models/KalmanFilter.cs b/AgroBase/AgroBase/Models/KalmanFilter.cs
new file mode 100644
index 000000000..54c7e7bcb
--- /dev/null
+++ b/AgroBase/AgroBase/Models/KalmanFilter.cs
@@ -0,0 +1,41 @@
+namespace AgroBase.Models
+{
+ public class KalmanFilter
+ {
+ private double _valorEstimado; // Estado estimado (Temperatura filtrada)
+ private double _erroEstimado; // Erro da estimativa
+ private double _erroMedicao; // Incerteza da medição (ruído do sensor)
+ private double _erroProcesso; // Incerteza do modelo (ajuste fino)
+
+ public KalmanFilter(double erroMedicao = 2.0, double erroProcesso = 0.1)
+ {
+ _erroMedicao = erroMedicao;
+ _erroProcesso = erroProcesso;
+ _valorEstimado = 0;
+ _erroEstimado = 1; // Inicializa com uma incerteza grande
+ }
+
+ public double Filtrar(double valorMedido)
+ {
+ // 1. Predição
+ _erroEstimado += _erroProcesso;
+
+ // 2. Cálculo do ganho de Kalman
+ double ganhoKalman = _erroEstimado / (_erroEstimado + _erroMedicao);
+
+ // 3. Atualização do estado estimado
+ _valorEstimado = _valorEstimado + ganhoKalman * (valorMedido - _valorEstimado);
+
+ // 4. Atualização do erro estimado
+ _erroEstimado = (1 - ganhoKalman) * _erroEstimado;
+
+ return _valorEstimado;
+ }
+
+ public void Reset(double novoValorEstimado = 0)
+ {
+ _valorEstimado = novoValorEstimado;
+ _erroEstimado = 1;
+ }
+ }
+}
diff --git a/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs b/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs
index 514ab5155..af5dc7fd7 100644
--- a/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs
+++ b/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs
@@ -1273,6 +1273,8 @@ namespace AgroBase.Models.Modules
}
}
+ private KalmanFilter filtroKalman = new KalmanFilter(erroMedicao: 1.0, erroProcesso: 0.05);
+
private void AtualizarTemperatura()
{
if (Variaveis.OperacaoEmAndamento.DispSen != null)
@@ -1282,7 +1284,9 @@ namespace AgroBase.Models.Modules
{
if (double.TryParse(Sensor.Parametros[0][1].Replace(".", ","), out double fatorCalibracao))
{
- _atual = FuncoesMatematicas.CalcularTemperatura(_leitura, fatorCalibracao);
+ double temperaturaAtual = FuncoesMatematicas.CalcularTemperatura(_leitura, fatorCalibracao);
+
+ _atual = filtroKalman.Filtrar(temperaturaAtual);
AtualizarExtremos();
}
@@ -1293,7 +1297,7 @@ namespace AgroBase.Models.Modules
}
}
}
-
+
private void AtualizarExtremos()
{
if (_atual > ValorMaximo)
diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
index 9de2c0ab8..f5cc5981d 100644
--- a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
+++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
@@ -806,6 +806,8 @@ namespace AgroBase.Models
Controle.Angulo = 0;
Controle.PercentualVelocidadeSP = 0;
+ Controle.TiposControle.ForEach(x => x.UltimaDirecao = Direcao.Parado);
+ Controle.TipoMovimento = TipoMovimentoDirecional.RodasDianteiras;
GPSTrajetoria = new List();
diff --git a/AgroBase/AgroBase/Models/Variaveis.cs b/AgroBase/AgroBase/Models/Variaveis.cs
index 6059d7779..df73dbe50 100644
--- a/AgroBase/AgroBase/Models/Variaveis.cs
+++ b/AgroBase/AgroBase/Models/Variaveis.cs
@@ -1066,26 +1066,31 @@ namespace AgroBase.Models
return Tc;
}*/
- public static double CalcularTemperatura(double leitura, double offset)
+ public static double CalcularTemperatura(double leitura, double offset = 0.0)
{
- double Vs = 5.0; // TENSÃO DE SAÍDA DO ESP32
- double Beta = 3950; // VALOR DE BETA
- double To = 298.15; // VALOR EM KELVIN REFERENTE A 25° CELSIUS
- double Ro = 10000; // RESISTÊNCIA DO NTC A 25°C
- double adcMax = 4096.0;
- double Vout, Rt = 0;
- double T, Tc, Tf, adc = 0;
+ double Vs = 5.0; // Tensão de referência do divisor de tensão
+ double Beta = 3950.0; // Coeficiente Beta do NTC
+ double To = 298.15; // Temperatura em Kelvin correspondente a 25°C
+ double Ro = 10000.0; // Resistência do NTC a 25°C
+ double adcMax = 4095.0; // Valor máximo do ADC (12 bits ESP32)
- // CALCULOS PARA CONVERSÃO DA LEITURA RECEBIDA PELO ESP32 EM TEMPERATURA EM °C
- Vout = (leitura * Vs / adcMax) + offset;
- Rt = Ro * (Vs / Vout - 1);
- T = 1 / (1 / To + Math.Log(Rt / Ro) / Beta);
- Tc = T - 273.15;
- Tf = Tc * 9 / 5 + 32;
+ // Calcula a tensão de saída do divisor
+ double Vout = leitura * Vs / adcMax;
- Tc = Math.Round(Tc, 2);
+ // ⚠️ Evita erros matemáticos para valores extremos ⚠️
+ if (Vout <= 0.001) return -100.0; // Se tensão for quase zero, temperatura muito baixa
+ if (Vout >= Vs) return double.NaN; // Se Vout for igual a Vs, leitura inválida
- return Tc;
+ // Calcula a resistência do NTC
+ double Rt = Ro * (Vout / (Vs - Vout));
+
+ // Aplica a equação de Steinhart-Hart para calcular a temperatura em Kelvin
+ double T = 1.0 / (1.0 / To + Math.Log(Rt / Ro) / Beta);
+
+ // Converte Kelvin para Celsius e aplica offset
+ double Tc = T - 273.15 + offset;
+
+ return Math.Round(Tc, 2);
}
public static bool ValorEstaEntre(double valorAtual, double valorComparar, double margem)
diff --git a/AgroBase/AgroBase/Models/WT901CModel.cs b/AgroBase/AgroBase/Models/WT901CModel.cs
index e180a844e..f7b6ed0e4 100644
--- a/AgroBase/AgroBase/Models/WT901CModel.cs
+++ b/AgroBase/AgroBase/Models/WT901CModel.cs
@@ -49,16 +49,10 @@ namespace AgroBase.Models
{
get
{
- double angulo = AngleZ * -1;
-
- // ✅ Ajusta para o intervalo de 0° a 360° (caso o sensor use -180° a 180°)
- if (angulo < 0)
- {
- angulo += 360;
- }
+ double angulo = AngleZ;
// ✅ Aplica o offset armazenado
- return GPSUtils.NormalizarAngulo(angulo + Offset);
+ return GPSUtils.NormalizarAngulo(GPSUtils.NormalizarAngulo(angulo) + Offset);
}
}
public double Offset { get; set; } = 0.0;
diff --git a/AgroBase/AgroBase/bin/Debug/AgroBase.pdb b/AgroBase/AgroBase/bin/Debug/AgroBase.pdb
index e0f4ba16a..6f9c97d2d 100644
Binary files a/AgroBase/AgroBase/bin/Debug/AgroBase.pdb and b/AgroBase/AgroBase/bin/Debug/AgroBase.pdb differ
diff --git a/AgroBase/AgroBase/bin/Debug/Logs/Mks_err.txt b/AgroBase/AgroBase/bin/Debug/Logs/Mks_err.txt
index 2f710027d..c62541caa 100644
--- a/AgroBase/AgroBase/bin/Debug/Logs/Mks_err.txt
+++ b/AgroBase/AgroBase/bin/Debug/Logs/Mks_err.txt
@@ -17274,3 +17274,18 @@ Parameter name: source
21/01/2025 16:05:46:534 - Endereço 245 (192.168.105.11): Dados recebidos de um endereço inválido: [3 245 2 245]
21/01/2025 16:05:46:534 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
21/01/2025 16:05:46:538 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+07/02/2025 10:55:35:412 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=33
+07/02/2025 10:55:36:424 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=33
+07/02/2025 10:55:36:447 - Endereço 0 (192.168.105.11): Dados recebidos de um endereço inválido: [0 0 0 49]
+07/02/2025 10:55:36:448 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+07/02/2025 10:55:39:622 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=38
+07/02/2025 10:55:39:677 - Endereço 3 (192.168.105.11): Erro ao enviar comando: Index was outside the bounds of the array.
+07/02/2025 10:55:43:752 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=33
+07/02/2025 10:55:44:765 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=False, Parametro=33
+07/02/2025 10:55:44:834 - Endereço 0 (192.168.105.11): Dados recebidos de um endereço inválido: [0 0 0 49]
+07/02/2025 10:55:44:834 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+07/02/2025 10:59:10:025 - Endereço 183 (192.168.105.11): Dados recebidos de um endereço inválido: [251 183 159 115 63 0 0 74]
+07/02/2025 10:59:10:026 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+07/02/2025 10:59:20:105 - Endereço 255 (192.168.105.11): Dados recebidos de um endereço inválido: [251 255]
+07/02/2025 10:59:20:105 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
+07/02/2025 10:59:20:110 - Endereço 4 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
diff --git a/AgroBase/AgroBase/bin/Debug/Parametros/parametersMvd-2_0.par b/AgroBase/AgroBase/bin/Debug/Parametros/parametersMvd-2_0.par
index 103459b25..dd27588f0 100644
--- a/AgroBase/AgroBase/bin/Debug/Parametros/parametersMvd-2_0.par
+++ b/AgroBase/AgroBase/bin/Debug/Parametros/parametersMvd-2_0.par
@@ -1 +1 @@
-{"tmrRegistrador":{"_uiControl":null,"State":2,"IsRunning":false,"IsStopped":true,"IsCreated":false,"Interval":1000,"StackTrace":"MovimentacaoUnificadaModel.IniciarRegistrador","Id":"tmrRegistrador_Mvd","TimeTick":"00:00:00"},"tmrRegistradorMOV":{"_uiControl":null,"State":2,"IsRunning":false,"IsStopped":true,"IsCreated":false,"Interval":1000,"StackTrace":"MovimentacaoUnificadaModel.IniciarRegistrador","Id":"tmrRegistrador_Mov","TimeTick":"00:00:00"},"tmrRegistradorDIR":{"_uiControl":null,"State":2,"IsRunning":false,"IsStopped":true,"IsCreated":false,"Interval":1000,"StackTrace":"MovimentacaoUnificadaModel.IniciarRegistrador","Id":"tmrRegistrador_Dir","TimeTick":"00:00:00"},"Conectado":false,"DistanciaPercorridaOperacao":0.0,"TempoEmAtividade":0.0,"DistanciaPercorridaTotal":0.0,"DistanciaPercorridaParcial":0.0,"VelocidadeMedia":0.0,"DiametroRoda":0.365,"ReducaoMotorBLDC":5.0,"RPM_Max_MotorBLDC":500.0,"IP_Mov":"192.168.105.10","IP_Dir":"192.168.105.11","Modulos":[{"Modulo_ID":"ET","Disponivel":false,"RequisitarDados":false,"Conectado":false,"MovMotor":{"ID":"Mov","Endereco":"0x01","EnderecoByte":1,"LeituraLigado":true,"ComandoLigado":true,"CodigoAlarme":0,"AlarmeMotor":false,"RPM_SP":0,"RPM_SP_Controle":0,"RPM_SP_Leitura":0,"Sentido_SP":1,"NumeroPolos":10,"Rampa":0,"OffsetLeitura":1.0,"RPM_Roda":0.0,"Sentido":0,"Temperatura":0.0,"TemperaturaDriver":0.0,"Tensao":0.0,"Corrente_Barramento":0.0,"Corrente_Motor":0.0,"Potencia":0.0,"CicloTrabalho":0.0,"RPM_Motor":0.0,"VelocidadeInstantanea":0.0,"Comandar":true,"AlarmeSensores":false,"Inicializado":false,"Leitura":null,"ConfigSentidos":{"RodasDianteiras":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0},"RodasTraseiras":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0},"MovimentoDiagonal":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0},"MovimentoArco":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0},"RotacionarNoEixo":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0},"MovimentoLateral":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0},"Diagnostico":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0}},"Funcoes":[12,14,9,5,10],"LogGrafico":[],"Alarmes":[{"Tipo":411,"Valor":"NaN","Minimo":false,"Maximo":false,"ParaMinimo":false,"ParaMaximo":false}],"ConfigFreio":{"Incremental":true,"AnguloInicial":10,"Leitura":false,"Controle":false}},"DirMotor":{"ID":"Dir","Endereco":"0x01","EnderecoByte":1,"Sentido_SP":0,"Angulo_SP":0.0,"Angulo_Offset":0.0,"Velocidade_Max":600.0,"Velocidade":180,"Sentido":0,"Angulo":0.0,"RPM":0.0,"IN1_Atuado":false,"IN2_Atuado":false,"Comandar":false,"Inicializado":false,"Leitura":null,"UltimaDirecao":4,"UltimoComandoEnviado":"2025-01-21T15:59:14.5285856-03:00","RetornandoAzero":false,"EmMovimento":false,"AtingiuAnguloSP":true,"ConfigSentidos":{"RodasDianteiras":{"Frente":0,"Tras":0,"Esquerda":0,"Direita":0,"Parado":0},"RodasTraseiras":{"Frente":0,"Tras":0,"Esquerda":2,"Direita":1,"Parado":0},"MovimentoDiagonal":{"Frente":0,"Tras":0,"Esquerda":1,"Direita":2,"Parado":0},"MovimentoArco":{"Frente":0,"Tras":0,"Esquerda":2,"Direita":1,"Parado":0},"RotacionarNoEixo":{"Frente":0,"Tras":0,"Esquerda":1,"Direita":1,"Parado":0},"MovimentoLateral":{"Frente":0,"Tras":0,"Esquerda":1,"Direita":2,"Parado":0},"Diagnostico":{"Frente":2,"Tras":1,"Esquerda":1,"Direita":2,"Parado":0}},"Funcoes":[13,9,14,41]}},{"Modulo_ID":"EF","Disponivel":false,"RequisitarDados":false,"Conectado":false,"MovMotor":{"ID":"Mov","Endereco":"0x03","EnderecoByte":3,"LeituraLigado":true,"ComandoLigado":true,"CodigoAlarme":0,"AlarmeMotor":false,"RPM_SP":0,"RPM_SP_Controle":0,"RPM_SP_Leitura":0,"Sentido_SP":1,"NumeroPolos":10,"Rampa":0,"OffsetLeitura":1.0,"RPM_Roda":0.0,"Sentido":0,"Temperatura":0.0,"TemperaturaDriver":0.0,"Tensao":0.0,"Corrente_Barramento":0.0,"Corrente_Motor":0.0,"Potencia":0.0,"CicloTrabalho":0.0,"RPM_Motor":0.0,"VelocidadeInstantanea":0.0,"Comandar":true,"AlarmeSensores":false,"Inicializado":false,"Leitura":null,"ConfigSentidos":{"RodasDianteiras":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0},"RodasTraseiras":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0},"MovimentoDiagonal":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0},"MovimentoArco":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0},"RotacionarNoEixo":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0},"MovimentoLateral":{"Frente":2,"Tras":1,"Esquerda":0,"Direita":0,"Parado":0},"Diagnostico":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0}},"Funcoes":[12,14,9,5,10],"LogGrafico":[],"Alarmes":[{"Tipo":411,"Valor":"NaN","Minimo":false,"Maximo":false,"ParaMinimo":false,"ParaMaximo":false}],"ConfigFreio":{"Incremental":true,"AnguloInicial":10,"Leitura":false,"Controle":false}},"DirMotor":{"ID":"Dir","Endereco":"0x03","EnderecoByte":3,"Sentido_SP":0,"Angulo_SP":0.0,"Angulo_Offset":0.0,"Velocidade_Max":600.0,"Velocidade":180,"Sentido":0,"Angulo":0.0,"RPM":0.0,"IN1_Atuado":false,"IN2_Atuado":false,"Comandar":true,"Inicializado":false,"Leitura":null,"UltimaDirecao":4,"UltimoComandoEnviado":"2025-01-21T16:05:46.4894392-03:00","RetornandoAzero":false,"EmMovimento":false,"AtingiuAnguloSP":true,"ConfigSentidos":{"RodasDianteiras":{"Frente":0,"Tras":0,"Esquerda":2,"Direita":1,"Parado":0},"RodasTraseiras":{"Frente":0,"Tras":0,"Esquerda":0,"Direita":0,"Parado":0},"MovimentoDiagonal":{"Frente":0,"Tras":0,"Esquerda":2,"Direita":1,"Parado":0},"MovimentoArco":{"Frente":0,"Tras":0,"Esquerda":2,"Direita":1,"Parado":0},"RotacionarNoEixo":{"Frente":0,"Tras":0,"Esquerda":1,"Direita":1,"Parado":0},"MovimentoLateral":{"Frente":0,"Tras":0,"Esquerda":2,"Direita":1,"Parado":0},"Diagnostico":{"Frente":2,"Tras":1,"Esquerda":1,"Direita":2,"Parado":0}},"Funcoes":[13,9,14,41]}},{"Modulo_ID":"DT","Disponivel":false,"RequisitarDados":false,"Conectado":false,"MovMotor":{"ID":"Mov","Endereco":"0x02","EnderecoByte":2,"LeituraLigado":true,"ComandoLigado":true,"CodigoAlarme":0,"AlarmeMotor":false,"RPM_SP":0,"RPM_SP_Controle":0,"RPM_SP_Leitura":0,"Sentido_SP":1,"NumeroPolos":10,"Rampa":0,"OffsetLeitura":1.0,"RPM_Roda":0.0,"Sentido":0,"Temperatura":0.0,"TemperaturaDriver":0.0,"Tensao":0.0,"Corrente_Barramento":0.0,"Corrente_Motor":0.0,"Potencia":0.0,"CicloTrabalho":0.0,"RPM_Motor":0.0,"VelocidadeInstantanea":0.0,"Comandar":true,"AlarmeSensores":false,"Inicializado":false,"Leitura":null,"ConfigSentidos":{"RodasDianteiras":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0},"RodasTraseiras":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0},"MovimentoDiagonal":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0},"MovimentoArco":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0},"RotacionarNoEixo":{"Frente":2,"Tras":1,"Esquerda":0,"Direita":0,"Parado":0},"MovimentoLateral":{"Frente":2,"Tras":1,"Esquerda":0,"Direita":0,"Parado":0},"Diagnostico":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0}},"Funcoes":[12,14,9,5,10],"LogGrafico":[],"Alarmes":[{"Tipo":411,"Valor":"NaN","Minimo":false,"Maximo":false,"ParaMinimo":false,"ParaMaximo":false}],"ConfigFreio":{"Incremental":false,"AnguloInicial":170,"Leitura":false,"Controle":false}},"DirMotor":{"ID":"Dir","Endereco":"0x02","EnderecoByte":2,"Sentido_SP":0,"Angulo_SP":0.0,"Angulo_Offset":0.0,"Velocidade_Max":600.0,"Velocidade":180,"Sentido":0,"Angulo":0.0,"RPM":0.0,"IN1_Atuado":false,"IN2_Atuado":false,"Comandar":false,"Inicializado":false,"Leitura":null,"UltimaDirecao":4,"UltimoComandoEnviado":"2025-01-21T15:59:14.5285856-03:00","RetornandoAzero":false,"EmMovimento":false,"AtingiuAnguloSP":true,"ConfigSentidos":{"RodasDianteiras":{"Frente":0,"Tras":0,"Esquerda":0,"Direita":0,"Parado":0},"RodasTraseiras":{"Frente":0,"Tras":0,"Esquerda":1,"Direita":2,"Parado":0},"MovimentoDiagonal":{"Frente":0,"Tras":0,"Esquerda":2,"Direita":1,"Parado":0},"MovimentoArco":{"Frente":0,"Tras":0,"Esquerda":1,"Direita":2,"Parado":0},"RotacionarNoEixo":{"Frente":0,"Tras":0,"Esquerda":1,"Direita":1,"Parado":0},"MovimentoLateral":{"Frente":0,"Tras":0,"Esquerda":2,"Direita":1,"Parado":0},"Diagnostico":{"Frente":2,"Tras":1,"Esquerda":1,"Direita":2,"Parado":0}},"Funcoes":[13,9,14,41]}},{"Modulo_ID":"DF","Disponivel":false,"RequisitarDados":false,"Conectado":false,"MovMotor":{"ID":"Mov","Endereco":"0x04","EnderecoByte":4,"LeituraLigado":true,"ComandoLigado":true,"CodigoAlarme":0,"AlarmeMotor":false,"RPM_SP":0,"RPM_SP_Controle":0,"RPM_SP_Leitura":0,"Sentido_SP":1,"NumeroPolos":10,"Rampa":0,"OffsetLeitura":1.0,"RPM_Roda":0.0,"Sentido":0,"Temperatura":0.0,"TemperaturaDriver":0.0,"Tensao":0.0,"Corrente_Barramento":0.0,"Corrente_Motor":0.0,"Potencia":0.0,"CicloTrabalho":0.0,"RPM_Motor":0.0,"VelocidadeInstantanea":0.0,"Comandar":true,"AlarmeSensores":false,"Inicializado":false,"Leitura":null,"ConfigSentidos":{"RodasDianteiras":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0},"RodasTraseiras":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0},"MovimentoDiagonal":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0},"MovimentoArco":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0},"RotacionarNoEixo":{"Frente":2,"Tras":1,"Esquerda":0,"Direita":0,"Parado":0},"MovimentoLateral":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0},"Diagnostico":{"Frente":1,"Tras":2,"Esquerda":0,"Direita":0,"Parado":0}},"Funcoes":[12,14,9,5,10],"LogGrafico":[],"Alarmes":[{"Tipo":411,"Valor":"NaN","Minimo":false,"Maximo":false,"ParaMinimo":false,"ParaMaximo":false}],"ConfigFreio":{"Incremental":false,"AnguloInicial":170,"Leitura":false,"Controle":false}},"DirMotor":{"ID":"Dir","Endereco":"0x04","EnderecoByte":4,"Sentido_SP":0,"Angulo_SP":0.0,"Angulo_Offset":0.0,"Velocidade_Max":600.0,"Velocidade":180,"Sentido":0,"Angulo":0.0,"RPM":0.0,"IN1_Atuado":false,"IN2_Atuado":false,"Comandar":true,"Inicializado":false,"Leitura":null,"UltimaDirecao":4,"UltimoComandoEnviado":"2025-01-21T16:05:46.4904367-03:00","RetornandoAzero":false,"EmMovimento":false,"AtingiuAnguloSP":true,"ConfigSentidos":{"RodasDianteiras":{"Frente":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