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controle do motor atraves do modulo MOV

This commit is contained in:
Diego Freitas 2024-06-06 07:32:10 -03:00
parent d922f2df8c
commit a5c221c859
34 changed files with 890 additions and 628 deletions
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@ -31,6 +31,8 @@ namespace AgroBase.Forms.Movimentacao
{ {
this.gpbSentido = new System.Windows.Forms.GroupBox(); this.gpbSentido = new System.Windows.Forms.GroupBox();
this.gpbDF = new System.Windows.Forms.GroupBox(); this.gpbDF = new System.Windows.Forms.GroupBox();
this.lblDFEndereco = new System.Windows.Forms.Label();
this.txtDFEndereco = new System.Windows.Forms.TextBox();
this.cmbDFFrente = new System.Windows.Forms.ComboBox(); this.cmbDFFrente = new System.Windows.Forms.ComboBox();
this.cmbDFTras = new System.Windows.Forms.ComboBox(); this.cmbDFTras = new System.Windows.Forms.ComboBox();
this.cmbDFDireita = new System.Windows.Forms.ComboBox(); this.cmbDFDireita = new System.Windows.Forms.ComboBox();
@ -40,6 +42,8 @@ namespace AgroBase.Forms.Movimentacao
this.lblDFTras = new System.Windows.Forms.Label(); this.lblDFTras = new System.Windows.Forms.Label();
this.lblDFFrente = new System.Windows.Forms.Label(); this.lblDFFrente = new System.Windows.Forms.Label();
this.gpbEF = new System.Windows.Forms.GroupBox(); this.gpbEF = new System.Windows.Forms.GroupBox();
this.label1 = new System.Windows.Forms.Label();
this.txtEFEndereco = new System.Windows.Forms.TextBox();
this.cmbEFFrente = new System.Windows.Forms.ComboBox(); this.cmbEFFrente = new System.Windows.Forms.ComboBox();
this.cmbEFTras = new System.Windows.Forms.ComboBox(); this.cmbEFTras = new System.Windows.Forms.ComboBox();
this.cmbEFDireita = new System.Windows.Forms.ComboBox(); this.cmbEFDireita = new System.Windows.Forms.ComboBox();
@ -49,6 +53,8 @@ namespace AgroBase.Forms.Movimentacao
this.lblEFTras = new System.Windows.Forms.Label(); this.lblEFTras = new System.Windows.Forms.Label();
this.lblEFFrente = new System.Windows.Forms.Label(); this.lblEFFrente = new System.Windows.Forms.Label();
this.gpbDT = new System.Windows.Forms.GroupBox(); this.gpbDT = new System.Windows.Forms.GroupBox();
this.label3 = new System.Windows.Forms.Label();
this.txtDTEndereco = new System.Windows.Forms.TextBox();
this.cmbDTFrente = new System.Windows.Forms.ComboBox(); this.cmbDTFrente = new System.Windows.Forms.ComboBox();
this.cmbDTTras = new System.Windows.Forms.ComboBox(); this.cmbDTTras = new System.Windows.Forms.ComboBox();
this.cmbDTDireita = new System.Windows.Forms.ComboBox(); this.cmbDTDireita = new System.Windows.Forms.ComboBox();
@ -58,6 +64,8 @@ namespace AgroBase.Forms.Movimentacao
this.lblDTTras = new System.Windows.Forms.Label(); this.lblDTTras = new System.Windows.Forms.Label();
this.lblDTFrente = new System.Windows.Forms.Label(); this.lblDTFrente = new System.Windows.Forms.Label();
this.gpbET = new System.Windows.Forms.GroupBox(); this.gpbET = new System.Windows.Forms.GroupBox();
this.label2 = new System.Windows.Forms.Label();
this.txtETEndereco = new System.Windows.Forms.TextBox();
this.cmbETFrente = new System.Windows.Forms.ComboBox(); this.cmbETFrente = new System.Windows.Forms.ComboBox();
this.cmbETTras = new System.Windows.Forms.ComboBox(); this.cmbETTras = new System.Windows.Forms.ComboBox();
this.cmbETDireita = new System.Windows.Forms.ComboBox(); this.cmbETDireita = new System.Windows.Forms.ComboBox();
@ -76,14 +84,6 @@ namespace AgroBase.Forms.Movimentacao
this.lblRampa = new System.Windows.Forms.Label(); this.lblRampa = new System.Windows.Forms.Label();
this.nudRampa = new System.Windows.Forms.NumericUpDown(); this.nudRampa = new System.Windows.Forms.NumericUpDown();
this.btnSalvar = new System.Windows.Forms.Button(); this.btnSalvar = new System.Windows.Forms.Button();
this.txtDFEndereco = new System.Windows.Forms.TextBox();
this.lblDFEndereco = new System.Windows.Forms.Label();
this.label1 = new System.Windows.Forms.Label();
this.txtEFEndereco = new System.Windows.Forms.TextBox();
this.label2 = new System.Windows.Forms.Label();
this.txtETEndereco = new System.Windows.Forms.TextBox();
this.label3 = new System.Windows.Forms.Label();
this.txtDTEndereco = new System.Windows.Forms.TextBox();
this.gpbSentido.SuspendLayout(); this.gpbSentido.SuspendLayout();
this.gpbDF.SuspendLayout(); this.gpbDF.SuspendLayout();
this.gpbEF.SuspendLayout(); this.gpbEF.SuspendLayout();
@ -102,11 +102,11 @@ namespace AgroBase.Forms.Movimentacao
this.gpbSentido.Controls.Add(this.gpbEF); this.gpbSentido.Controls.Add(this.gpbEF);
this.gpbSentido.Controls.Add(this.gpbDT); this.gpbSentido.Controls.Add(this.gpbDT);
this.gpbSentido.Controls.Add(this.gpbET); this.gpbSentido.Controls.Add(this.gpbET);
this.gpbSentido.Location = new System.Drawing.Point(15, 14); this.gpbSentido.Location = new System.Drawing.Point(11, 11);
this.gpbSentido.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.gpbSentido.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbSentido.Name = "gpbSentido"; this.gpbSentido.Name = "gpbSentido";
this.gpbSentido.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2); this.gpbSentido.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbSentido.Size = new System.Drawing.Size(501, 429); this.gpbSentido.Size = new System.Drawing.Size(376, 349);
this.gpbSentido.TabIndex = 40; this.gpbSentido.TabIndex = 40;
this.gpbSentido.TabStop = false; this.gpbSentido.TabStop = false;
this.gpbSentido.Text = "Sentido de giro"; this.gpbSentido.Text = "Sentido de giro";
@ -123,84 +123,107 @@ namespace AgroBase.Forms.Movimentacao
this.gpbDF.Controls.Add(this.lblDFDireita); this.gpbDF.Controls.Add(this.lblDFDireita);
this.gpbDF.Controls.Add(this.lblDFTras); this.gpbDF.Controls.Add(this.lblDFTras);
this.gpbDF.Controls.Add(this.lblDFFrente); this.gpbDF.Controls.Add(this.lblDFFrente);
this.gpbDF.Location = new System.Drawing.Point(260, 26); this.gpbDF.Location = new System.Drawing.Point(195, 21);
this.gpbDF.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.gpbDF.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbDF.Name = "gpbDF"; this.gpbDF.Name = "gpbDF";
this.gpbDF.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2); this.gpbDF.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbDF.Size = new System.Drawing.Size(224, 193); this.gpbDF.Size = new System.Drawing.Size(168, 157);
this.gpbDF.TabIndex = 9; this.gpbDF.TabIndex = 9;
this.gpbDF.TabStop = false; this.gpbDF.TabStop = false;
this.gpbDF.Text = "M4 - Direito Frente (DF)"; this.gpbDF.Text = "M4 - Direito Frente (DF)";
// //
// lblDFEndereco
//
this.lblDFEndereco.AutoSize = true;
this.lblDFEndereco.Location = new System.Drawing.Point(10, 127);
this.lblDFEndereco.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDFEndereco.Name = "lblDFEndereco";
this.lblDFEndereco.Size = new System.Drawing.Size(53, 13);
this.lblDFEndereco.TabIndex = 9;
this.lblDFEndereco.Text = "Endereço";
//
// txtDFEndereco
//
this.txtDFEndereco.Location = new System.Drawing.Point(66, 124);
this.txtDFEndereco.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.txtDFEndereco.Name = "txtDFEndereco";
this.txtDFEndereco.Size = new System.Drawing.Size(92, 20);
this.txtDFEndereco.TabIndex = 8;
this.txtDFEndereco.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// cmbDFFrente // cmbDFFrente
// //
this.cmbDFFrente.FormattingEnabled = true; this.cmbDFFrente.FormattingEnabled = true;
this.cmbDFFrente.Location = new System.Drawing.Point(88, 31); this.cmbDFFrente.Location = new System.Drawing.Point(66, 25);
this.cmbDFFrente.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.cmbDFFrente.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.cmbDFFrente.Name = "cmbDFFrente"; this.cmbDFFrente.Name = "cmbDFFrente";
this.cmbDFFrente.Size = new System.Drawing.Size(121, 24); this.cmbDFFrente.Size = new System.Drawing.Size(92, 21);
this.cmbDFFrente.TabIndex = 7; this.cmbDFFrente.TabIndex = 7;
// //
// cmbDFTras // cmbDFTras
// //
this.cmbDFTras.FormattingEnabled = true; this.cmbDFTras.FormattingEnabled = true;
this.cmbDFTras.Location = new System.Drawing.Point(88, 62); this.cmbDFTras.Location = new System.Drawing.Point(66, 50);
this.cmbDFTras.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.cmbDFTras.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.cmbDFTras.Name = "cmbDFTras"; this.cmbDFTras.Name = "cmbDFTras";
this.cmbDFTras.Size = new System.Drawing.Size(121, 24); this.cmbDFTras.Size = new System.Drawing.Size(92, 21);
this.cmbDFTras.TabIndex = 6; this.cmbDFTras.TabIndex = 6;
// //
// cmbDFDireita // cmbDFDireita
// //
this.cmbDFDireita.FormattingEnabled = true; this.cmbDFDireita.FormattingEnabled = true;
this.cmbDFDireita.Location = new System.Drawing.Point(88, 91); this.cmbDFDireita.Location = new System.Drawing.Point(66, 74);
this.cmbDFDireita.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.cmbDFDireita.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.cmbDFDireita.Name = "cmbDFDireita"; this.cmbDFDireita.Name = "cmbDFDireita";
this.cmbDFDireita.Size = new System.Drawing.Size(121, 24); this.cmbDFDireita.Size = new System.Drawing.Size(92, 21);
this.cmbDFDireita.TabIndex = 5; this.cmbDFDireita.TabIndex = 5;
// //
// cmbDFEsquerda // cmbDFEsquerda
// //
this.cmbDFEsquerda.FormattingEnabled = true; this.cmbDFEsquerda.FormattingEnabled = true;
this.cmbDFEsquerda.Location = new System.Drawing.Point(88, 124); this.cmbDFEsquerda.Location = new System.Drawing.Point(66, 101);
this.cmbDFEsquerda.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.cmbDFEsquerda.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.cmbDFEsquerda.Name = "cmbDFEsquerda"; this.cmbDFEsquerda.Name = "cmbDFEsquerda";
this.cmbDFEsquerda.Size = new System.Drawing.Size(121, 24); this.cmbDFEsquerda.Size = new System.Drawing.Size(92, 21);
this.cmbDFEsquerda.TabIndex = 4; this.cmbDFEsquerda.TabIndex = 4;
// //
// lblDFEsquerda // lblDFEsquerda
// //
this.lblDFEsquerda.AutoSize = true; this.lblDFEsquerda.AutoSize = true;
this.lblDFEsquerda.Location = new System.Drawing.Point(13, 127); this.lblDFEsquerda.Location = new System.Drawing.Point(10, 103);
this.lblDFEsquerda.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDFEsquerda.Name = "lblDFEsquerda"; this.lblDFEsquerda.Name = "lblDFEsquerda";
this.lblDFEsquerda.Size = new System.Drawing.Size(66, 16); this.lblDFEsquerda.Size = new System.Drawing.Size(52, 13);
this.lblDFEsquerda.TabIndex = 3; this.lblDFEsquerda.TabIndex = 3;
this.lblDFEsquerda.Text = "Esquerda"; this.lblDFEsquerda.Text = "Esquerda";
// //
// lblDFDireita // lblDFDireita
// //
this.lblDFDireita.AutoSize = true; this.lblDFDireita.AutoSize = true;
this.lblDFDireita.Location = new System.Drawing.Point(13, 94); this.lblDFDireita.Location = new System.Drawing.Point(10, 76);
this.lblDFDireita.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDFDireita.Name = "lblDFDireita"; this.lblDFDireita.Name = "lblDFDireita";
this.lblDFDireita.Size = new System.Drawing.Size(46, 16); this.lblDFDireita.Size = new System.Drawing.Size(37, 13);
this.lblDFDireita.TabIndex = 2; this.lblDFDireita.TabIndex = 2;
this.lblDFDireita.Text = "Direita"; this.lblDFDireita.Text = "Direita";
// //
// lblDFTras // lblDFTras
// //
this.lblDFTras.AutoSize = true; this.lblDFTras.AutoSize = true;
this.lblDFTras.Location = new System.Drawing.Point(13, 64); this.lblDFTras.Location = new System.Drawing.Point(10, 52);
this.lblDFTras.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDFTras.Name = "lblDFTras"; this.lblDFTras.Name = "lblDFTras";
this.lblDFTras.Size = new System.Drawing.Size(35, 16); this.lblDFTras.Size = new System.Drawing.Size(28, 13);
this.lblDFTras.TabIndex = 1; this.lblDFTras.TabIndex = 1;
this.lblDFTras.Text = "Trás"; this.lblDFTras.Text = "Trás";
// //
// lblDFFrente // lblDFFrente
// //
this.lblDFFrente.AutoSize = true; this.lblDFFrente.AutoSize = true;
this.lblDFFrente.Location = new System.Drawing.Point(13, 34); this.lblDFFrente.Location = new System.Drawing.Point(10, 28);
this.lblDFFrente.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDFFrente.Name = "lblDFFrente"; this.lblDFFrente.Name = "lblDFFrente";
this.lblDFFrente.Size = new System.Drawing.Size(45, 16); this.lblDFFrente.Size = new System.Drawing.Size(37, 13);
this.lblDFFrente.TabIndex = 0; this.lblDFFrente.TabIndex = 0;
this.lblDFFrente.Text = "Frente"; this.lblDFFrente.Text = "Frente";
// //
@ -216,84 +239,107 @@ namespace AgroBase.Forms.Movimentacao
this.gpbEF.Controls.Add(this.lblEFDireita); this.gpbEF.Controls.Add(this.lblEFDireita);
this.gpbEF.Controls.Add(this.lblEFTras); this.gpbEF.Controls.Add(this.lblEFTras);
this.gpbEF.Controls.Add(this.lblEFFrente); this.gpbEF.Controls.Add(this.lblEFFrente);
this.gpbEF.Location = new System.Drawing.Point(17, 26); this.gpbEF.Location = new System.Drawing.Point(13, 21);
this.gpbEF.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.gpbEF.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbEF.Name = "gpbEF"; this.gpbEF.Name = "gpbEF";
this.gpbEF.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2); this.gpbEF.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbEF.Size = new System.Drawing.Size(224, 193); this.gpbEF.Size = new System.Drawing.Size(168, 157);
this.gpbEF.TabIndex = 9; this.gpbEF.TabIndex = 9;
this.gpbEF.TabStop = false; this.gpbEF.TabStop = false;
this.gpbEF.Text = "M2 - Esquerdo Frente (EF)"; this.gpbEF.Text = "M2 - Esquerdo Frente (EF)";
// //
// label1
//
this.label1.AutoSize = true;
this.label1.Location = new System.Drawing.Point(10, 127);
this.label1.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(53, 13);
this.label1.TabIndex = 11;
this.label1.Text = "Endereço";
//
// txtEFEndereco
//
this.txtEFEndereco.Location = new System.Drawing.Point(66, 124);
this.txtEFEndereco.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.txtEFEndereco.Name = "txtEFEndereco";
this.txtEFEndereco.Size = new System.Drawing.Size(92, 20);
this.txtEFEndereco.TabIndex = 10;
this.txtEFEndereco.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// cmbEFFrente // cmbEFFrente
// //
this.cmbEFFrente.FormattingEnabled = true; this.cmbEFFrente.FormattingEnabled = true;
this.cmbEFFrente.Location = new System.Drawing.Point(88, 31); this.cmbEFFrente.Location = new System.Drawing.Point(66, 25);
this.cmbEFFrente.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.cmbEFFrente.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.cmbEFFrente.Name = "cmbEFFrente"; this.cmbEFFrente.Name = "cmbEFFrente";
this.cmbEFFrente.Size = new System.Drawing.Size(121, 24); this.cmbEFFrente.Size = new System.Drawing.Size(92, 21);
this.cmbEFFrente.TabIndex = 7; this.cmbEFFrente.TabIndex = 7;
// //
// cmbEFTras // cmbEFTras
// //
this.cmbEFTras.FormattingEnabled = true; this.cmbEFTras.FormattingEnabled = true;
this.cmbEFTras.Location = new System.Drawing.Point(88, 62); this.cmbEFTras.Location = new System.Drawing.Point(66, 50);
this.cmbEFTras.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.cmbEFTras.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.cmbEFTras.Name = "cmbEFTras"; this.cmbEFTras.Name = "cmbEFTras";
this.cmbEFTras.Size = new System.Drawing.Size(121, 24); this.cmbEFTras.Size = new System.Drawing.Size(92, 21);
this.cmbEFTras.TabIndex = 6; this.cmbEFTras.TabIndex = 6;
// //
// cmbEFDireita // cmbEFDireita
// //
this.cmbEFDireita.FormattingEnabled = true; this.cmbEFDireita.FormattingEnabled = true;
this.cmbEFDireita.Location = new System.Drawing.Point(88, 91); this.cmbEFDireita.Location = new System.Drawing.Point(66, 74);
this.cmbEFDireita.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.cmbEFDireita.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.cmbEFDireita.Name = "cmbEFDireita"; this.cmbEFDireita.Name = "cmbEFDireita";
this.cmbEFDireita.Size = new System.Drawing.Size(121, 24); this.cmbEFDireita.Size = new System.Drawing.Size(92, 21);
this.cmbEFDireita.TabIndex = 5; this.cmbEFDireita.TabIndex = 5;
// //
// cmbEFEsquerda // cmbEFEsquerda
// //
this.cmbEFEsquerda.FormattingEnabled = true; this.cmbEFEsquerda.FormattingEnabled = true;
this.cmbEFEsquerda.Location = new System.Drawing.Point(88, 124); this.cmbEFEsquerda.Location = new System.Drawing.Point(66, 101);
this.cmbEFEsquerda.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.cmbEFEsquerda.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.cmbEFEsquerda.Name = "cmbEFEsquerda"; this.cmbEFEsquerda.Name = "cmbEFEsquerda";
this.cmbEFEsquerda.Size = new System.Drawing.Size(121, 24); this.cmbEFEsquerda.Size = new System.Drawing.Size(92, 21);
this.cmbEFEsquerda.TabIndex = 4; this.cmbEFEsquerda.TabIndex = 4;
// //
// lblEFEsquerda // lblEFEsquerda
// //
this.lblEFEsquerda.AutoSize = true; this.lblEFEsquerda.AutoSize = true;
this.lblEFEsquerda.Location = new System.Drawing.Point(13, 127); this.lblEFEsquerda.Location = new System.Drawing.Point(10, 103);
this.lblEFEsquerda.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblEFEsquerda.Name = "lblEFEsquerda"; this.lblEFEsquerda.Name = "lblEFEsquerda";
this.lblEFEsquerda.Size = new System.Drawing.Size(66, 16); this.lblEFEsquerda.Size = new System.Drawing.Size(52, 13);
this.lblEFEsquerda.TabIndex = 3; this.lblEFEsquerda.TabIndex = 3;
this.lblEFEsquerda.Text = "Esquerda"; this.lblEFEsquerda.Text = "Esquerda";
// //
// lblEFDireita // lblEFDireita
// //
this.lblEFDireita.AutoSize = true; this.lblEFDireita.AutoSize = true;
this.lblEFDireita.Location = new System.Drawing.Point(13, 94); this.lblEFDireita.Location = new System.Drawing.Point(10, 76);
this.lblEFDireita.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblEFDireita.Name = "lblEFDireita"; this.lblEFDireita.Name = "lblEFDireita";
this.lblEFDireita.Size = new System.Drawing.Size(46, 16); this.lblEFDireita.Size = new System.Drawing.Size(37, 13);
this.lblEFDireita.TabIndex = 2; this.lblEFDireita.TabIndex = 2;
this.lblEFDireita.Text = "Direita"; this.lblEFDireita.Text = "Direita";
// //
// lblEFTras // lblEFTras
// //
this.lblEFTras.AutoSize = true; this.lblEFTras.AutoSize = true;
this.lblEFTras.Location = new System.Drawing.Point(13, 64); this.lblEFTras.Location = new System.Drawing.Point(10, 52);
this.lblEFTras.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblEFTras.Name = "lblEFTras"; this.lblEFTras.Name = "lblEFTras";
this.lblEFTras.Size = new System.Drawing.Size(35, 16); this.lblEFTras.Size = new System.Drawing.Size(28, 13);
this.lblEFTras.TabIndex = 1; this.lblEFTras.TabIndex = 1;
this.lblEFTras.Text = "Trás"; this.lblEFTras.Text = "Trás";
// //
// lblEFFrente // lblEFFrente
// //
this.lblEFFrente.AutoSize = true; this.lblEFFrente.AutoSize = true;
this.lblEFFrente.Location = new System.Drawing.Point(13, 34); this.lblEFFrente.Location = new System.Drawing.Point(10, 28);
this.lblEFFrente.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblEFFrente.Name = "lblEFFrente"; this.lblEFFrente.Name = "lblEFFrente";
this.lblEFFrente.Size = new System.Drawing.Size(45, 16); this.lblEFFrente.Size = new System.Drawing.Size(37, 13);
this.lblEFFrente.TabIndex = 0; this.lblEFFrente.TabIndex = 0;
this.lblEFFrente.Text = "Frente"; this.lblEFFrente.Text = "Frente";
// //
@ -309,84 +355,107 @@ namespace AgroBase.Forms.Movimentacao
this.gpbDT.Controls.Add(this.lblDTDireita); this.gpbDT.Controls.Add(this.lblDTDireita);
this.gpbDT.Controls.Add(this.lblDTTras); this.gpbDT.Controls.Add(this.lblDTTras);
this.gpbDT.Controls.Add(this.lblDTFrente); this.gpbDT.Controls.Add(this.lblDTFrente);
this.gpbDT.Location = new System.Drawing.Point(260, 223); this.gpbDT.Location = new System.Drawing.Point(195, 181);
this.gpbDT.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.gpbDT.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbDT.Name = "gpbDT"; this.gpbDT.Name = "gpbDT";
this.gpbDT.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2); this.gpbDT.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbDT.Size = new System.Drawing.Size(224, 193); this.gpbDT.Size = new System.Drawing.Size(168, 157);
this.gpbDT.TabIndex = 9; this.gpbDT.TabIndex = 9;
this.gpbDT.TabStop = false; this.gpbDT.TabStop = false;
this.gpbDT.Text = "M3 - Direito Trás (DT)"; this.gpbDT.Text = "M3 - Direito Trás (DT)";
// //
// label3
//
this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(10, 127);
this.label3.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(53, 13);
this.label3.TabIndex = 11;
this.label3.Text = "Endereço";
//
// txtDTEndereco
//
this.txtDTEndereco.Location = new System.Drawing.Point(66, 124);
this.txtDTEndereco.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.txtDTEndereco.Name = "txtDTEndereco";
this.txtDTEndereco.Size = new System.Drawing.Size(92, 20);
this.txtDTEndereco.TabIndex = 10;
this.txtDTEndereco.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// cmbDTFrente // cmbDTFrente
// //
this.cmbDTFrente.FormattingEnabled = true; this.cmbDTFrente.FormattingEnabled = true;
this.cmbDTFrente.Location = new System.Drawing.Point(88, 31); this.cmbDTFrente.Location = new System.Drawing.Point(66, 25);
this.cmbDTFrente.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.cmbDTFrente.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.cmbDTFrente.Name = "cmbDTFrente"; this.cmbDTFrente.Name = "cmbDTFrente";
this.cmbDTFrente.Size = new System.Drawing.Size(121, 24); this.cmbDTFrente.Size = new System.Drawing.Size(92, 21);
this.cmbDTFrente.TabIndex = 7; this.cmbDTFrente.TabIndex = 7;
// //
// cmbDTTras // cmbDTTras
// //
this.cmbDTTras.FormattingEnabled = true; this.cmbDTTras.FormattingEnabled = true;
this.cmbDTTras.Location = new System.Drawing.Point(88, 62); this.cmbDTTras.Location = new System.Drawing.Point(66, 50);
this.cmbDTTras.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.cmbDTTras.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.cmbDTTras.Name = "cmbDTTras"; this.cmbDTTras.Name = "cmbDTTras";
this.cmbDTTras.Size = new System.Drawing.Size(121, 24); this.cmbDTTras.Size = new System.Drawing.Size(92, 21);
this.cmbDTTras.TabIndex = 6; this.cmbDTTras.TabIndex = 6;
// //
// cmbDTDireita // cmbDTDireita
// //
this.cmbDTDireita.FormattingEnabled = true; this.cmbDTDireita.FormattingEnabled = true;
this.cmbDTDireita.Location = new System.Drawing.Point(88, 91); this.cmbDTDireita.Location = new System.Drawing.Point(66, 74);
this.cmbDTDireita.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.cmbDTDireita.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.cmbDTDireita.Name = "cmbDTDireita"; this.cmbDTDireita.Name = "cmbDTDireita";
this.cmbDTDireita.Size = new System.Drawing.Size(121, 24); this.cmbDTDireita.Size = new System.Drawing.Size(92, 21);
this.cmbDTDireita.TabIndex = 5; this.cmbDTDireita.TabIndex = 5;
// //
// cmbDTEsquerda // cmbDTEsquerda
// //
this.cmbDTEsquerda.FormattingEnabled = true; this.cmbDTEsquerda.FormattingEnabled = true;
this.cmbDTEsquerda.Location = new System.Drawing.Point(88, 124); this.cmbDTEsquerda.Location = new System.Drawing.Point(66, 101);
this.cmbDTEsquerda.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.cmbDTEsquerda.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.cmbDTEsquerda.Name = "cmbDTEsquerda"; this.cmbDTEsquerda.Name = "cmbDTEsquerda";
this.cmbDTEsquerda.Size = new System.Drawing.Size(121, 24); this.cmbDTEsquerda.Size = new System.Drawing.Size(92, 21);
this.cmbDTEsquerda.TabIndex = 4; this.cmbDTEsquerda.TabIndex = 4;
// //
// lblDTEsquerda // lblDTEsquerda
// //
this.lblDTEsquerda.AutoSize = true; this.lblDTEsquerda.AutoSize = true;
this.lblDTEsquerda.Location = new System.Drawing.Point(13, 127); this.lblDTEsquerda.Location = new System.Drawing.Point(10, 103);
this.lblDTEsquerda.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDTEsquerda.Name = "lblDTEsquerda"; this.lblDTEsquerda.Name = "lblDTEsquerda";
this.lblDTEsquerda.Size = new System.Drawing.Size(66, 16); this.lblDTEsquerda.Size = new System.Drawing.Size(52, 13);
this.lblDTEsquerda.TabIndex = 3; this.lblDTEsquerda.TabIndex = 3;
this.lblDTEsquerda.Text = "Esquerda"; this.lblDTEsquerda.Text = "Esquerda";
// //
// lblDTDireita // lblDTDireita
// //
this.lblDTDireita.AutoSize = true; this.lblDTDireita.AutoSize = true;
this.lblDTDireita.Location = new System.Drawing.Point(13, 94); this.lblDTDireita.Location = new System.Drawing.Point(10, 76);
this.lblDTDireita.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDTDireita.Name = "lblDTDireita"; this.lblDTDireita.Name = "lblDTDireita";
this.lblDTDireita.Size = new System.Drawing.Size(46, 16); this.lblDTDireita.Size = new System.Drawing.Size(37, 13);
this.lblDTDireita.TabIndex = 2; this.lblDTDireita.TabIndex = 2;
this.lblDTDireita.Text = "Direita"; this.lblDTDireita.Text = "Direita";
// //
// lblDTTras // lblDTTras
// //
this.lblDTTras.AutoSize = true; this.lblDTTras.AutoSize = true;
this.lblDTTras.Location = new System.Drawing.Point(13, 64); this.lblDTTras.Location = new System.Drawing.Point(10, 52);
this.lblDTTras.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDTTras.Name = "lblDTTras"; this.lblDTTras.Name = "lblDTTras";
this.lblDTTras.Size = new System.Drawing.Size(35, 16); this.lblDTTras.Size = new System.Drawing.Size(28, 13);
this.lblDTTras.TabIndex = 1; this.lblDTTras.TabIndex = 1;
this.lblDTTras.Text = "Trás"; this.lblDTTras.Text = "Trás";
// //
// lblDTFrente // lblDTFrente
// //
this.lblDTFrente.AutoSize = true; this.lblDTFrente.AutoSize = true;
this.lblDTFrente.Location = new System.Drawing.Point(13, 34); this.lblDTFrente.Location = new System.Drawing.Point(10, 28);
this.lblDTFrente.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDTFrente.Name = "lblDTFrente"; this.lblDTFrente.Name = "lblDTFrente";
this.lblDTFrente.Size = new System.Drawing.Size(45, 16); this.lblDTFrente.Size = new System.Drawing.Size(37, 13);
this.lblDTFrente.TabIndex = 0; this.lblDTFrente.TabIndex = 0;
this.lblDTFrente.Text = "Frente"; this.lblDTFrente.Text = "Frente";
// //
@ -402,84 +471,107 @@ namespace AgroBase.Forms.Movimentacao
this.gpbET.Controls.Add(this.lblETDireita); this.gpbET.Controls.Add(this.lblETDireita);
this.gpbET.Controls.Add(this.lblETTras); this.gpbET.Controls.Add(this.lblETTras);
this.gpbET.Controls.Add(this.lblETFrente); this.gpbET.Controls.Add(this.lblETFrente);
this.gpbET.Location = new System.Drawing.Point(17, 223); this.gpbET.Location = new System.Drawing.Point(13, 181);
this.gpbET.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.gpbET.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbET.Name = "gpbET"; this.gpbET.Name = "gpbET";
this.gpbET.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2); this.gpbET.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbET.Size = new System.Drawing.Size(224, 193); this.gpbET.Size = new System.Drawing.Size(168, 157);
this.gpbET.TabIndex = 0; this.gpbET.TabIndex = 0;
this.gpbET.TabStop = false; this.gpbET.TabStop = false;
this.gpbET.Text = "M1 - Esquerdo Trás (ET)"; this.gpbET.Text = "M1 - Esquerdo Trás (ET)";
// //
// label2
//
this.label2.AutoSize = true;
this.label2.Location = new System.Drawing.Point(10, 127);
this.label2.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(53, 13);
this.label2.TabIndex = 11;
this.label2.Text = "Endereço";
//
// txtETEndereco
//
this.txtETEndereco.Location = new System.Drawing.Point(66, 124);
this.txtETEndereco.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.txtETEndereco.Name = "txtETEndereco";
this.txtETEndereco.Size = new System.Drawing.Size(92, 20);
this.txtETEndereco.TabIndex = 10;
this.txtETEndereco.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// cmbETFrente // cmbETFrente
// //
this.cmbETFrente.FormattingEnabled = true; this.cmbETFrente.FormattingEnabled = true;
this.cmbETFrente.Location = new System.Drawing.Point(88, 31); this.cmbETFrente.Location = new System.Drawing.Point(66, 25);
this.cmbETFrente.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.cmbETFrente.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.cmbETFrente.Name = "cmbETFrente"; this.cmbETFrente.Name = "cmbETFrente";
this.cmbETFrente.Size = new System.Drawing.Size(121, 24); this.cmbETFrente.Size = new System.Drawing.Size(92, 21);
this.cmbETFrente.TabIndex = 7; this.cmbETFrente.TabIndex = 7;
// //
// cmbETTras // cmbETTras
// //
this.cmbETTras.FormattingEnabled = true; this.cmbETTras.FormattingEnabled = true;
this.cmbETTras.Location = new System.Drawing.Point(88, 62); this.cmbETTras.Location = new System.Drawing.Point(66, 50);
this.cmbETTras.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.cmbETTras.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.cmbETTras.Name = "cmbETTras"; this.cmbETTras.Name = "cmbETTras";
this.cmbETTras.Size = new System.Drawing.Size(121, 24); this.cmbETTras.Size = new System.Drawing.Size(92, 21);
this.cmbETTras.TabIndex = 6; this.cmbETTras.TabIndex = 6;
// //
// cmbETDireita // cmbETDireita
// //
this.cmbETDireita.FormattingEnabled = true; this.cmbETDireita.FormattingEnabled = true;
this.cmbETDireita.Location = new System.Drawing.Point(88, 91); this.cmbETDireita.Location = new System.Drawing.Point(66, 74);
this.cmbETDireita.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.cmbETDireita.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.cmbETDireita.Name = "cmbETDireita"; this.cmbETDireita.Name = "cmbETDireita";
this.cmbETDireita.Size = new System.Drawing.Size(121, 24); this.cmbETDireita.Size = new System.Drawing.Size(92, 21);
this.cmbETDireita.TabIndex = 5; this.cmbETDireita.TabIndex = 5;
// //
// cmbETEsquerda // cmbETEsquerda
// //
this.cmbETEsquerda.FormattingEnabled = true; this.cmbETEsquerda.FormattingEnabled = true;
this.cmbETEsquerda.Location = new System.Drawing.Point(88, 124); this.cmbETEsquerda.Location = new System.Drawing.Point(66, 101);
this.cmbETEsquerda.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.cmbETEsquerda.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.cmbETEsquerda.Name = "cmbETEsquerda"; this.cmbETEsquerda.Name = "cmbETEsquerda";
this.cmbETEsquerda.Size = new System.Drawing.Size(121, 24); this.cmbETEsquerda.Size = new System.Drawing.Size(92, 21);
this.cmbETEsquerda.TabIndex = 4; this.cmbETEsquerda.TabIndex = 4;
// //
// lblETEsquerda // lblETEsquerda
// //
this.lblETEsquerda.AutoSize = true; this.lblETEsquerda.AutoSize = true;
this.lblETEsquerda.Location = new System.Drawing.Point(13, 127); this.lblETEsquerda.Location = new System.Drawing.Point(10, 103);
this.lblETEsquerda.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblETEsquerda.Name = "lblETEsquerda"; this.lblETEsquerda.Name = "lblETEsquerda";
this.lblETEsquerda.Size = new System.Drawing.Size(66, 16); this.lblETEsquerda.Size = new System.Drawing.Size(52, 13);
this.lblETEsquerda.TabIndex = 3; this.lblETEsquerda.TabIndex = 3;
this.lblETEsquerda.Text = "Esquerda"; this.lblETEsquerda.Text = "Esquerda";
// //
// lblETDireita // lblETDireita
// //
this.lblETDireita.AutoSize = true; this.lblETDireita.AutoSize = true;
this.lblETDireita.Location = new System.Drawing.Point(13, 94); this.lblETDireita.Location = new System.Drawing.Point(10, 76);
this.lblETDireita.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblETDireita.Name = "lblETDireita"; this.lblETDireita.Name = "lblETDireita";
this.lblETDireita.Size = new System.Drawing.Size(46, 16); this.lblETDireita.Size = new System.Drawing.Size(37, 13);
this.lblETDireita.TabIndex = 2; this.lblETDireita.TabIndex = 2;
this.lblETDireita.Text = "Direita"; this.lblETDireita.Text = "Direita";
// //
// lblETTras // lblETTras
// //
this.lblETTras.AutoSize = true; this.lblETTras.AutoSize = true;
this.lblETTras.Location = new System.Drawing.Point(13, 64); this.lblETTras.Location = new System.Drawing.Point(10, 52);
this.lblETTras.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblETTras.Name = "lblETTras"; this.lblETTras.Name = "lblETTras";
this.lblETTras.Size = new System.Drawing.Size(35, 16); this.lblETTras.Size = new System.Drawing.Size(28, 13);
this.lblETTras.TabIndex = 1; this.lblETTras.TabIndex = 1;
this.lblETTras.Text = "Trás"; this.lblETTras.Text = "Trás";
// //
// lblETFrente // lblETFrente
// //
this.lblETFrente.AutoSize = true; this.lblETFrente.AutoSize = true;
this.lblETFrente.Location = new System.Drawing.Point(13, 34); this.lblETFrente.Location = new System.Drawing.Point(10, 28);
this.lblETFrente.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblETFrente.Name = "lblETFrente"; this.lblETFrente.Name = "lblETFrente";
this.lblETFrente.Size = new System.Drawing.Size(45, 16); this.lblETFrente.Size = new System.Drawing.Size(37, 13);
this.lblETFrente.TabIndex = 0; this.lblETFrente.TabIndex = 0;
this.lblETFrente.Text = "Frente"; this.lblETFrente.Text = "Frente";
// //
@ -493,11 +585,11 @@ namespace AgroBase.Forms.Movimentacao
this.groupBox1.Controls.Add(this.nudNumPolos); this.groupBox1.Controls.Add(this.nudNumPolos);
this.groupBox1.Controls.Add(this.lblRampa); this.groupBox1.Controls.Add(this.lblRampa);
this.groupBox1.Controls.Add(this.nudRampa); this.groupBox1.Controls.Add(this.nudRampa);
this.groupBox1.Location = new System.Drawing.Point(15, 447); this.groupBox1.Location = new System.Drawing.Point(11, 363);
this.groupBox1.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.groupBox1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.groupBox1.Name = "groupBox1"; this.groupBox1.Name = "groupBox1";
this.groupBox1.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2); this.groupBox1.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.groupBox1.Size = new System.Drawing.Size(501, 81); this.groupBox1.Size = new System.Drawing.Size(376, 66);
this.groupBox1.TabIndex = 135; this.groupBox1.TabIndex = 135;
this.groupBox1.TabStop = false; this.groupBox1.TabStop = false;
this.groupBox1.Text = "Ajustes"; this.groupBox1.Text = "Ajustes";
@ -505,23 +597,24 @@ namespace AgroBase.Forms.Movimentacao
// lblDiametroRoda // lblDiametroRoda
// //
this.lblDiametroRoda.AutoSize = true; this.lblDiametroRoda.AutoSize = true;
this.lblDiametroRoda.Location = new System.Drawing.Point(374, 25); this.lblDiametroRoda.Location = new System.Drawing.Point(280, 20);
this.lblDiametroRoda.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDiametroRoda.Name = "lblDiametroRoda"; this.lblDiametroRoda.Name = "lblDiametroRoda";
this.lblDiametroRoda.Size = new System.Drawing.Size(99, 16); this.lblDiametroRoda.Size = new System.Drawing.Size(78, 13);
this.lblDiametroRoda.TabIndex = 43; this.lblDiametroRoda.TabIndex = 43;
this.lblDiametroRoda.Text = "Diâmetro Roda"; this.lblDiametroRoda.Text = "Diâmetro Roda";
// //
// nudDiametroRoda // nudDiametroRoda
// //
this.nudDiametroRoda.Location = new System.Drawing.Point(377, 45); this.nudDiametroRoda.Location = new System.Drawing.Point(283, 37);
this.nudDiametroRoda.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.nudDiametroRoda.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.nudDiametroRoda.Maximum = new decimal(new int[] { this.nudDiametroRoda.Maximum = new decimal(new int[] {
20000, 20000,
0, 0,
0, 0,
0}); 0});
this.nudDiametroRoda.Name = "nudDiametroRoda"; this.nudDiametroRoda.Name = "nudDiametroRoda";
this.nudDiametroRoda.Size = new System.Drawing.Size(113, 22); this.nudDiametroRoda.Size = new System.Drawing.Size(85, 20);
this.nudDiametroRoda.TabIndex = 42; this.nudDiametroRoda.TabIndex = 42;
this.nudDiametroRoda.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; this.nudDiametroRoda.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
this.nudDiametroRoda.Value = new decimal(new int[] { this.nudDiametroRoda.Value = new decimal(new int[] {
@ -534,23 +627,24 @@ namespace AgroBase.Forms.Movimentacao
// lblRPMMax // lblRPMMax
// //
this.lblRPMMax.AutoSize = true; this.lblRPMMax.AutoSize = true;
this.lblRPMMax.Location = new System.Drawing.Point(252, 25); this.lblRPMMax.Location = new System.Drawing.Point(189, 20);
this.lblRPMMax.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblRPMMax.Name = "lblRPMMax"; this.lblRPMMax.Name = "lblRPMMax";
this.lblRPMMax.Size = new System.Drawing.Size(87, 16); this.lblRPMMax.Size = new System.Drawing.Size(70, 13);
this.lblRPMMax.TabIndex = 41; this.lblRPMMax.TabIndex = 41;
this.lblRPMMax.Text = "RPM Máximo"; this.lblRPMMax.Text = "RPM Máximo";
// //
// nudRPMMax // nudRPMMax
// //
this.nudRPMMax.Location = new System.Drawing.Point(255, 45); this.nudRPMMax.Location = new System.Drawing.Point(191, 37);
this.nudRPMMax.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.nudRPMMax.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.nudRPMMax.Maximum = new decimal(new int[] { this.nudRPMMax.Maximum = new decimal(new int[] {
20000, 20000,
0, 0,
0, 0,
0}); 0});
this.nudRPMMax.Name = "nudRPMMax"; this.nudRPMMax.Name = "nudRPMMax";
this.nudRPMMax.Size = new System.Drawing.Size(113, 22); this.nudRPMMax.Size = new System.Drawing.Size(85, 20);
this.nudRPMMax.TabIndex = 40; this.nudRPMMax.TabIndex = 40;
this.nudRPMMax.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; this.nudRPMMax.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
this.nudRPMMax.Value = new decimal(new int[] { this.nudRPMMax.Value = new decimal(new int[] {
@ -563,23 +657,24 @@ namespace AgroBase.Forms.Movimentacao
// lblNumPolos // lblNumPolos
// //
this.lblNumPolos.AutoSize = true; this.lblNumPolos.AutoSize = true;
this.lblNumPolos.Location = new System.Drawing.Point(130, 25); this.lblNumPolos.Location = new System.Drawing.Point(98, 20);
this.lblNumPolos.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblNumPolos.Name = "lblNumPolos"; this.lblNumPolos.Name = "lblNumPolos";
this.lblNumPolos.Size = new System.Drawing.Size(112, 16); this.lblNumPolos.Size = new System.Drawing.Size(88, 13);
this.lblNumPolos.TabIndex = 36; this.lblNumPolos.TabIndex = 36;
this.lblNumPolos.Text = "Número de Polos"; this.lblNumPolos.Text = "Número de Polos";
// //
// nudNumPolos // nudNumPolos
// //
this.nudNumPolos.Location = new System.Drawing.Point(133, 45); this.nudNumPolos.Location = new System.Drawing.Point(100, 37);
this.nudNumPolos.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.nudNumPolos.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.nudNumPolos.Maximum = new decimal(new int[] { this.nudNumPolos.Maximum = new decimal(new int[] {
12, 999,
0, 0,
0, 0,
0}); 0});
this.nudNumPolos.Name = "nudNumPolos"; this.nudNumPolos.Name = "nudNumPolos";
this.nudNumPolos.Size = new System.Drawing.Size(113, 22); this.nudNumPolos.Size = new System.Drawing.Size(85, 20);
this.nudNumPolos.TabIndex = 35; this.nudNumPolos.TabIndex = 35;
this.nudNumPolos.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; this.nudNumPolos.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
this.nudNumPolos.Value = new decimal(new int[] { this.nudNumPolos.Value = new decimal(new int[] {
@ -592,116 +687,49 @@ namespace AgroBase.Forms.Movimentacao
// lblRampa // lblRampa
// //
this.lblRampa.AutoSize = true; this.lblRampa.AutoSize = true;
this.lblRampa.Location = new System.Drawing.Point(7, 25); this.lblRampa.Location = new System.Drawing.Point(5, 20);
this.lblRampa.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblRampa.Name = "lblRampa"; this.lblRampa.Name = "lblRampa";
this.lblRampa.Size = new System.Drawing.Size(117, 16); this.lblRampa.Size = new System.Drawing.Size(95, 13);
this.lblRampa.TabIndex = 33; this.lblRampa.TabIndex = 33;
this.lblRampa.Text = "Rampa ( x 100ms )"; this.lblRampa.Text = "Rampa ( x 100ms )";
// //
// nudRampa // nudRampa
// //
this.nudRampa.Location = new System.Drawing.Point(11, 45); this.nudRampa.Location = new System.Drawing.Point(8, 37);
this.nudRampa.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.nudRampa.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.nudRampa.Maximum = new decimal(new int[] { this.nudRampa.Maximum = new decimal(new int[] {
15, 15,
0, 0,
0, 0,
0}); 0});
this.nudRampa.Name = "nudRampa"; this.nudRampa.Name = "nudRampa";
this.nudRampa.Size = new System.Drawing.Size(113, 22); this.nudRampa.Size = new System.Drawing.Size(85, 20);
this.nudRampa.TabIndex = 31; this.nudRampa.TabIndex = 31;
this.nudRampa.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; this.nudRampa.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
this.nudRampa.ValueChanged += new System.EventHandler(this.nudRampa_ValueChanged); this.nudRampa.ValueChanged += new System.EventHandler(this.nudRampa_ValueChanged);
// //
// btnSalvar // btnSalvar
// //
this.btnSalvar.Location = new System.Drawing.Point(363, 532); this.btnSalvar.Location = new System.Drawing.Point(272, 432);
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.Name = "btnSalvar";
this.btnSalvar.Size = new System.Drawing.Size(153, 30); this.btnSalvar.Size = new System.Drawing.Size(115, 24);
this.btnSalvar.TabIndex = 136; this.btnSalvar.TabIndex = 136;
this.btnSalvar.Text = "Salvar"; this.btnSalvar.Text = "Salvar";
this.btnSalvar.UseVisualStyleBackColor = true; this.btnSalvar.UseVisualStyleBackColor = true;
this.btnSalvar.Click += new System.EventHandler(this.btnSalvar_Click); this.btnSalvar.Click += new System.EventHandler(this.btnSalvar_Click);
// //
// txtDFEndereco
//
this.txtDFEndereco.Location = new System.Drawing.Point(88, 153);
this.txtDFEndereco.Name = "txtDFEndereco";
this.txtDFEndereco.Size = new System.Drawing.Size(121, 22);
this.txtDFEndereco.TabIndex = 8;
this.txtDFEndereco.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// lblDFEndereco
//
this.lblDFEndereco.AutoSize = true;
this.lblDFEndereco.Location = new System.Drawing.Point(13, 156);
this.lblDFEndereco.Name = "lblDFEndereco";
this.lblDFEndereco.Size = new System.Drawing.Size(66, 16);
this.lblDFEndereco.TabIndex = 9;
this.lblDFEndereco.Text = "Endereço";
//
// label1
//
this.label1.AutoSize = true;
this.label1.Location = new System.Drawing.Point(13, 156);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(66, 16);
this.label1.TabIndex = 11;
this.label1.Text = "Endereço";
//
// txtEFEndereco
//
this.txtEFEndereco.Location = new System.Drawing.Point(88, 153);
this.txtEFEndereco.Name = "txtEFEndereco";
this.txtEFEndereco.Size = new System.Drawing.Size(121, 22);
this.txtEFEndereco.TabIndex = 10;
this.txtEFEndereco.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label2
//
this.label2.AutoSize = true;
this.label2.Location = new System.Drawing.Point(13, 156);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(66, 16);
this.label2.TabIndex = 11;
this.label2.Text = "Endereço";
//
// txtETEndereco
//
this.txtETEndereco.Location = new System.Drawing.Point(88, 153);
this.txtETEndereco.Name = "txtETEndereco";
this.txtETEndereco.Size = new System.Drawing.Size(121, 22);
this.txtETEndereco.TabIndex = 10;
this.txtETEndereco.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label3
//
this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(13, 156);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(66, 16);
this.label3.TabIndex = 11;
this.label3.Text = "Endereço";
//
// txtDTEndereco
//
this.txtDTEndereco.Location = new System.Drawing.Point(88, 153);
this.txtDTEndereco.Name = "txtDTEndereco";
this.txtDTEndereco.Size = new System.Drawing.Size(121, 22);
this.txtDTEndereco.TabIndex = 10;
this.txtDTEndereco.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// frmMovConfig // frmMovConfig
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F); this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.BackColor = System.Drawing.Color.White; this.BackColor = System.Drawing.Color.White;
this.ClientSize = new System.Drawing.Size(531, 577); this.ClientSize = new System.Drawing.Size(398, 469);
this.Controls.Add(this.btnSalvar); this.Controls.Add(this.btnSalvar);
this.Controls.Add(this.groupBox1); this.Controls.Add(this.groupBox1);
this.Controls.Add(this.gpbSentido); this.Controls.Add(this.gpbSentido);
this.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.MaximizeBox = false; this.MaximizeBox = false;
this.Name = "frmMovConfig"; this.Name = "frmMovConfig";
this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen; this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;

558
AgroBase/AgroBase/Forms/frmAcompanhamento.Designer.cs generated
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AgroBase/AgroBase/Models/Modules/MovimentacaoModel.cs
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@ -158,7 +158,7 @@ namespace AgroBase.Models
Motor.RPM = rpm; Motor.RPM = rpm;
double temperatura = 0; double temperatura = 0;
double.TryParse(Dados[3].Replace(".", ","), out temperatura); double.TryParse(Dados[3].Replace(".", ","), out temperatura);
temperatura = FuncoesMatematicas.CalcularTemperatura(temperatura, 0); temperatura = FuncoesMatematicas.CalcularTemperatura(temperatura, -1.038);
Motor.Temperatura = temperatura; Motor.Temperatura = temperatura;
double tensao = 0; double tensao = 0;
double.TryParse(Dados[4].Replace(".", ","), out tensao); double.TryParse(Dados[4].Replace(".", ","), out tensao);

6
AgroBase/AgroBase/Models/Modules/PinoutModel.cs
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@ -208,10 +208,10 @@ namespace AgroBase.Models.Modules
new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 8, ComponenteID = "", Descricao = "28", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 8, ComponenteID = "", Descricao = "28", Funcao = FuncoesPinout.Desabilitado, Habilitado = false },
new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 15, ComponenteID = "", Descricao = "29", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 15, ComponenteID = "", Descricao = "29", Funcao = FuncoesPinout.NaoConectado, Habilitado = true },
new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 2, ComponenteID = "", Descricao = "30", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 2, ComponenteID = "", Descricao = "30", Funcao = FuncoesPinout.NaoConectado, Habilitado = true },
new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 0, ComponenteID = "", Descricao = "31", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 0, ComponenteID = "", Descricao = "31", Funcao = FuncoesPinout.NaoConectado, Habilitado = false },
new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 4, ComponenteID = "", Descricao = "32", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 4, ComponenteID = "", Descricao = "32", Funcao = FuncoesPinout.NaoConectado, Habilitado = true },
new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 16, ComponenteID = "", Descricao = "33", Funcao = FuncoesPinout.RX, Habilitado = false }, new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 16, ComponenteID = "", Descricao = "33", Funcao = FuncoesPinout.RX, Habilitado = true },
new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 17, ComponenteID = "", Descricao = "34", Funcao = FuncoesPinout.TX, Habilitado = false }, new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 17, ComponenteID = "", Descricao = "34", Funcao = FuncoesPinout.TX, Habilitado = true },
new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 5, ComponenteID = "", Descricao = "35", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 5, ComponenteID = "", Descricao = "35", Funcao = FuncoesPinout.NaoConectado, Habilitado = true },
new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 18, ComponenteID = "", Descricao = "36", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 18, ComponenteID = "", Descricao = "36", Funcao = FuncoesPinout.NaoConectado, Habilitado = true },
new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 19, ComponenteID = "", Descricao = "37", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 19, ComponenteID = "", Descricao = "37", Funcao = FuncoesPinout.NaoConectado, Habilitado = true },

11
AgroBase/AgroBase/Services/DispositivosService.cs
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@ -751,8 +751,15 @@ namespace AgroBase.Comum
F_Code funcao = (F_Code)(val); F_Code funcao = (F_Code)(val);
if (funcao == F_Code.Msg) if (funcao == F_Code.Msg)
{ {
int _id = int.Parse(Recebido.Split(';')[1]); try
FilaService.MarcarMensagemRecebida(_id); {
int _id = int.Parse(Recebido.Split(';')[1]);
FilaService.MarcarMensagemRecebida(_id);
}
catch
{
}
} }
} }
} }

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AgroBase/AgroBase/bin/Debug/Parametros/parametersDir.par
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AgroBase/AgroBase/bin/Debug/Parametros/parametersMov.par
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AgroBase/AgroBase/bin/Debug/Parametros/parametersSen.par
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AgroBase/AgroBase/bin/Debug/Parametros/pinoutDir.pin
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18
AgroBase/AgroBase/bin/Debug/Python/Output/mapa_gps.html
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@ -25,7 +25,7 @@
<meta name="viewport" content="width=device-width, <meta name="viewport" content="width=device-width,
initial-scale=1.0, maximum-scale=1.0, user-scalable=no" /> initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
<style> <style>
#map_43bf289ffdd8be3323b96d63504f91d8 { #map_459afd82b51d20eef5f835f948f180a0 {
position: relative; position: relative;
width: 100.0%; width: 100.0%;
height: 100.0%; height: 100.0%;
@ -39,14 +39,14 @@
<body> <body>
<div class="folium-map" id="map_43bf289ffdd8be3323b96d63504f91d8" ></div> <div class="folium-map" id="map_459afd82b51d20eef5f835f948f180a0" ></div>
</body> </body>
<script> <script>
var map_43bf289ffdd8be3323b96d63504f91d8 = L.map( var map_459afd82b51d20eef5f835f948f180a0 = L.map(
"map_43bf289ffdd8be3323b96d63504f91d8", "map_459afd82b51d20eef5f835f948f180a0",
{ {
center: [0.0, 0.0], center: [0.0, 0.0],
crs: L.CRS.EPSG3857, crs: L.CRS.EPSG3857,
@ -60,13 +60,13 @@
var tile_layer_c7d1c3f23602424bb5472c5862dca97e = L.tileLayer( var tile_layer_accc0020d010bc302c3d24b743a95dc6 = L.tileLayer(
"https://tile.openstreetmap.org/{z}/{x}/{y}.png", "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
{"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false} {"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false}
); );
tile_layer_c7d1c3f23602424bb5472c5862dca97e.addTo(map_43bf289ffdd8be3323b96d63504f91d8); tile_layer_accc0020d010bc302c3d24b743a95dc6.addTo(map_459afd82b51d20eef5f835f948f180a0);
</script> </script>
@ -87,7 +87,7 @@
} }
trajeto_json_add({"features": []}); trajeto_json_add({"features": []});
trajeto_json.addTo(map_43bf289ffdd8be3323b96d63504f91d8); trajeto_json.addTo(map_459afd82b51d20eef5f835f948f180a0);
function adicionarGeometria(novaGeometria) { function adicionarGeometria(novaGeometria) {
trajeto_json.addData(novaGeometria); trajeto_json.addData(novaGeometria);
@ -145,7 +145,7 @@
var marcadorDinamico = L.marker([0, 0], { var marcadorDinamico = L.marker([0, 0], {
icon: customIcon icon: customIcon
}).addTo(map_43bf289ffdd8be3323b96d63504f91d8); }).addTo(map_459afd82b51d20eef5f835f948f180a0);
// Conectar ao broker MQTT // Conectar ao broker MQTT
const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@ -183,7 +183,7 @@
marcadorDinamico.setRotationAngle(angulo); marcadorDinamico.setRotationAngle(angulo);
adicionarCoordenada("Tj", [novaLongitude, novaLatitude]); adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
map_43bf289ffdd8be3323b96d63504f91d8.setView(novaPosicao, map_43bf289ffdd8be3323b96d63504f91d8.getZoom()); map_459afd82b51d20eef5f835f948f180a0.setView(novaPosicao, map_459afd82b51d20eef5f835f948f180a0.getZoom());
}); });
function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) { function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

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AgroBase/AgroBase/obj/Debug/AgroBase.csproj.GenerateResource.cache
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163
Firmware/Modulos/ModbusService.h
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@ -20,11 +20,15 @@ class ModbusGetResponse {
byte _command_code; byte _command_code;
byte _num_registers; byte _num_registers;
double _value; double _value;
bool _success; bool _success = false;
ModbusGetResponse() : _address(0), _command_code(0), _num_registers(0), _value(0.0) {} ModbusGetResponse() : _address(0), _command_code(0), _num_registers(0), _value(0.0) {}
}; };
// Definir prioridades
#define PRIORITY_HIGH 1
#define PRIORITY_LOW 0
// Estrutura para armazenar dados da mensagem Modbus // Estrutura para armazenar dados da mensagem Modbus
struct ModbusMessage { struct ModbusMessage {
uint8_t slaveAddress; uint8_t slaveAddress;
@ -34,6 +38,8 @@ struct ModbusMessage {
uint8_t* response; uint8_t* response;
uint8_t* length; uint8_t* length;
SemaphoreHandle_t responseSemaphore; SemaphoreHandle_t responseSemaphore;
uint8_t priority;
bool waitCallback;
}; };
// Fila para armazenar mensagens Modbus // Fila para armazenar mensagens Modbus
@ -57,81 +63,103 @@ uint16_t calculateCRC(const uint8_t* data, uint8_t length) {
return crc; return crc;
} }
// Tarefa para processar a fila de mensagens Modbus void processModbusMessage(ModbusMessage& message) {
uint8_t command[8];
command[0] = message.slaveAddress;
command[1] = message.functionCode;
command[2] = (message.registerAddress >> 8) & 0xFF; // Big endian
command[3] = message.registerAddress & 0xFF;
// Converter o valor inteiro para o formato adequado
command[4] = (message.value >> 8) & 0xFF; // Big endian
command[5] = message.value & 0xFF;
uint16_t crc = calculateCRC(command, 6);
command[6] = crc & 0xFF;
command[7] = (crc >> 8) & 0xFF;
// Alternar para modo de transmissão
digitalWrite(DE_RE_PIN, HIGH);
vTaskDelay(pdMS_TO_TICKS(1)); // Pequeno atraso para garantir que o modo de transmissão esteja ativo
SerialDriver.write(command, 8);
if (Debug) {
// Imprimir o comando em formato hexadecimal
Serial.print("Comando enviado: ");
for (int i = 0; i < 8; i++) {
if (command[i] < 0x10) {
Serial.print("0"); // Adiciona um zero à esquerda para bytes menores que 0x10
}
Serial.print(command[i], HEX);
Serial.print(" ");
}
Serial.println();
}
// Alternar para modo de recepção
SerialDriver.flush(); // Garantir que todos os dados foram enviados
digitalWrite(DE_RE_PIN, LOW);
vTaskDelay(pdMS_TO_TICKS(1)); // Pequeno atraso para garantir que o modo de recepção esteja ativo
*message.length = 0;
if (message.waitCallback) {
// Aguardar a resposta
vTaskDelay(pdMS_TO_TICKS(100)); // Ajuste o tempo de delay conforme necessário
// Ler a resposta
if (SerialDriver.available()) {
*message.length = SerialDriver.readBytes(message.response, SerialDriver.available());
if (Debug) {
// Imprimir a resposta em formato hexadecimal
Serial.print("Resposta recebida: ");
for (int i = 0; i < *message.length; i++) {
if (message.response[i] < 0x10) {
Serial.print("0"); // Adiciona um zero à esquerda para bytes menores que 0x10
}
Serial.print(message.response[i], HEX);
Serial.print(" ");
}
Serial.println();
}
}
}
else {
vTaskDelay(pdMS_TO_TICKS(50));
}
// Sinalizar que a resposta está disponível
xSemaphoreGive(message.responseSemaphore);
}
void processModbusQueue(void* pvParameters) { void processModbusQueue(void* pvParameters) {
ModbusMessage message; ModbusMessage message;
while (true) { while (true) {
// Aguardar até que uma mensagem esteja disponível na fila // Aguardar até que uma mensagem esteja disponível na fila
if (xQueueReceive(modbusQueue, &message, portMAX_DELAY) == pdPASS) { if (xQueueReceive(modbusQueue, &message, portMAX_DELAY) == pdPASS) {
uint8_t command[8]; // Processar mensagem de alta prioridade imediatamente
if (message.priority == PRIORITY_HIGH) {
command[0] = message.slaveAddress; // Processar mensagem de alta prioridade
command[1] = message.functionCode; processModbusMessage(message);
command[2] = (message.registerAddress >> 8) & 0xFF; // Big endian
command[3] = message.registerAddress & 0xFF;
// Converter o valor inteiro para o formato adequado
command[4] = (message.value >> 8) & 0xFF; // Big endian
command[5] = message.value & 0xFF;
uint16_t crc = calculateCRC(command, 6);
command[6] = crc & 0xFF;
command[7] = (crc >> 8) & 0xFF;
// Alternar para modo de transmissão
digitalWrite(DE_RE_PIN, HIGH);
vTaskDelay(1); // Pequeno atraso para garantir que o modo de transmissão esteja ativo
SerialDriver.write(command, 8);
if (Debug) {
// Imprimir o comando em formato hexadecimal
Serial.print("Comando enviado: ");
for (int i = 0; i < 8; i++) {
if (command[i] < 0x10) {
Serial.print("0"); // Adiciona um zero à esquerda para bytes menores que 0x10
}
Serial.print(command[i], HEX);
Serial.print(" ");
}
Serial.println();
}
// Alternar para modo de recepção
SerialDriver.flush(); // Garantir que todos os dados foram enviados
digitalWrite(DE_RE_PIN, LOW);
delay(1); // Pequeno atraso para garantir que o modo de recepção esteja ativo
// Aguardar a resposta
delay(100); // Ajuste o tempo de delay conforme necessário
// Ler a resposta
if (SerialDriver.available()) {
*message.length = SerialDriver.readBytes(message.response, SerialDriver.available());
if (Debug) {
// Imprimir a resposta em formato hexadecimal
Serial.print("Resposta recebida: ");
for (int i = 0; i < *message.length; i++) {
if (message.response[i] < 0x10) {
Serial.print("0"); // Adiciona um zero à esquerda para bytes menores que 0x10
}
Serial.print(message.response[i], HEX);
Serial.print(" ");
}
Serial.println();
}
} else { } else {
*message.length = 0; // Verificar se há mensagens de alta prioridade na fila
ModbusMessage highPriorityMessage;
if (xQueuePeek(modbusQueue, &highPriorityMessage, 0) == pdPASS && highPriorityMessage.priority == PRIORITY_HIGH) {
// Recolocar a mensagem de baixa prioridade na fila
xQueueSendToBack(modbusQueue, &message, 0);
} else {
// Processar mensagem de baixa prioridade
processModbusMessage(message);
}
} }
// Sinalizar que a resposta está disponível
xSemaphoreGive(message.responseSemaphore);
} }
} }
} }
// Função para inicializar o Modbus // Função para inicializar o Modbus
void InicializarModbus(bool _debug = false) { void InicializarModbus(bool _debug = false) {
SerialDriver.begin(9600, SERIAL_8N2, RXD1, TXD1); SerialDriver.begin(9600, SERIAL_8N2, RXD1, TXD1);
@ -152,9 +180,8 @@ void InicializarModbus(bool _debug = false) {
xTaskCreate(processModbusQueue, "ProcessModbusQueue", 4096, NULL, 1, NULL); xTaskCreate(processModbusQueue, "ProcessModbusQueue", 4096, NULL, 1, NULL);
} }
// Função para construir o comando Modbus // Função para construir o comando Modbus
void sendModbusCommand(uint8_t slaveAddress, uint8_t functionCode, uint16_t registerAddress, int value, uint8_t* response, uint8_t& length) { void sendModbusCommand(uint8_t slaveAddress, uint8_t functionCode, uint16_t registerAddress, int value, uint8_t* response, uint8_t& length, bool waitCallback) {
ModbusMessage message; ModbusMessage message;
message.slaveAddress = slaveAddress; message.slaveAddress = slaveAddress;
message.functionCode = functionCode; message.functionCode = functionCode;
@ -162,6 +189,8 @@ void sendModbusCommand(uint8_t slaveAddress, uint8_t functionCode, uint16_t regi
message.value = value; message.value = value;
message.response = response; message.response = response;
message.length = &length; message.length = &length;
message.priority = functionCode == 0x06 ? PRIORITY_HIGH : PRIORITY_LOW;
message.waitCallback = waitCallback;
message.responseSemaphore = xSemaphoreCreateBinary(); message.responseSemaphore = xSemaphoreCreateBinary();
// Adicionar a mensagem à fila // Adicionar a mensagem à fila
@ -174,6 +203,4 @@ void sendModbusCommand(uint8_t slaveAddress, uint8_t functionCode, uint16_t regi
vSemaphoreDelete(message.responseSemaphore); vSemaphoreDelete(message.responseSemaphore);
} }
#endif #endif

154
Firmware/Movimentação/Movimentacao_v19/Movimentacao_v19.ino
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@ -111,8 +111,8 @@ class Motor {
AtualizarDadosControle(true); AtualizarDadosControle(true);
} }
ModbusGetResponse EnviarComandoModbus(byte endereco, byte funcao, byte registro, int valor) { ModbusGetResponse EnviarComandoModbus(byte endereco, byte funcao, byte registro, int valor, bool aguardarResposta = true) {
const int maxTentativas = 3; const int maxTentativas = 2;
int tentativas = 0; int tentativas = 0;
bool sucesso = false; bool sucesso = false;
ModbusGetResponse resposta; ModbusGetResponse resposta;
@ -121,57 +121,64 @@ class Motor {
uint8_t response[256]; uint8_t response[256];
uint8_t length = 0; uint8_t length = 0;
sendModbusCommand(endereco, funcao, registro, valor, response, length); sendModbusCommand(endereco, funcao, registro, valor, response, length, aguardarResposta);
// GET if (aguardarResposta) {
if (funcao == 0x03) { // GET
if (length >= 5) { // Verifica se a resposta tem pelo menos 5 bytes (endereco, codigo_comando, numero_registros, 2 bytes de dados, 2 bytes de CRC) if (funcao == 0x03) {
resposta._success = true; if (length >= 5) { // Verifica se a resposta tem pelo menos 5 bytes (endereco, codigo_comando, numero_registros, 2 bytes de dados, 2 bytes de CRC)
resposta._address = response[0]; resposta._success = true;
resposta._command_code = response[1]; resposta._address = response[0];
resposta._num_registers = response[2]; resposta._command_code = response[1];
resposta._num_registers = response[2];
if (resposta._num_registers == 2) { // Caso de 2 bytes (sem ponto flutuante) if (resposta._num_registers == 2) { // Caso de 2 bytes (sem ponto flutuante)
uint16_t value = (response[3] << 8) | response[4]; // Combina os dois bytes uint16_t value = (response[3] << 8) | response[4]; // Combina os dois bytes
resposta._value = static_cast<double>(value); // Converte para double resposta._value = static_cast<double>(value); // Converte para double
sucesso = true; sucesso = true;
} else if (resposta._num_registers == 4 && length >= 7) { // Caso de 4 bytes (com ponto flutuante) } else if (resposta._num_registers == 4 && length >= 7) { // Caso de 4 bytes (com ponto flutuante)
uint16_t highBytes = (response[3] << 8) | response[4]; // Combina os dois primeiros bytes uint16_t highBytes = (response[3] << 8) | response[4]; // Combina os dois primeiros bytes
uint16_t lowBytes = (response[5] << 8) | response[6]; // Combina os dois últimos bytes uint16_t lowBytes = (response[5] << 8) | response[6]; // Combina os dois últimos bytes
// Converte para double // Converte para double
resposta._value = highBytes + (lowBytes / 10000.0); // Supondo que os valores após a vírgula são representados em 4 dígitos decimais resposta._value = highBytes + (lowBytes / 10000.0); // Supondo que os valores após a vírgula são representados em 4 dígitos decimais
sucesso = true; sucesso = true;
} else { } else {
Serial.println("Numero de registros inesperado ou resposta incompleta."); Serial.println("Numero de registros inesperado ou resposta incompleta.");
resposta._success = false; resposta._success = false;
} }
} else { } else {
Serial.println("Resposta incompleta."); Serial.println("Resposta incompleta.");
resposta._success = false; resposta._success = false;
} }
}
// SET
else if (funcao == 0x06) {
if (length >= 8) {
resposta._success = true;
resposta._address = response[0];
resposta._command_code = response[1];
resposta._num_registers = 0;
resposta._value = (response[4] << 8) | response[5];
sucesso = true;
} else {
Serial.println("Erro ao enviar comando");
resposta._success = false;
}
}
tentativas++;
if (!sucesso) {
Serial.print("Tentativa ");
Serial.print(tentativas);
Serial.println(" falhou, tentando novamente...");
}
} }
// SET else {
else if (funcao == 0x06) { sucesso = true;
if (length >= 8) { resposta._success = sucesso;
resposta._success = true;
resposta._address = response[0];
resposta._command_code = response[1];
resposta._num_registers = 0;
resposta._value = (response[4] << 8) | response[5];
sucesso = true;
} else {
Serial.println("Erro ao enviar comando");
resposta._success = false;
}
} }
tentativas++;
if (!sucesso) {
Serial.print("Tentativa ");
Serial.print(tentativas);
Serial.println(" falhou, tentando novamente...");
}
} }
if (!sucesso) { if (!sucesso) {
@ -179,20 +186,24 @@ class Motor {
} }
return resposta; return resposta;
} }
bool ConfigurarDriver() { bool ConfigurarDriver() {
bool sucesso = false;
ModbusGetResponse a = EnviarComandoModbus(_endereco, 0x06, 0x00B6, 1); ModbusGetResponse a = EnviarComandoModbus(_endereco, 0x06, 0x00B6, 1);
ModbusGetResponse b = EnviarComandoModbus(_endereco, 0x06, 0x0076, 0); if (a._success) {
ModbusGetResponse c = EnviarComandoModbus(_endereco, 0x06, 0x0086, _numPolos); ModbusGetResponse b = EnviarComandoModbus(_endereco, 0x06, 0x0076, 0);
ModbusGetResponse d = EnviarComandoModbus(_endereco, 0x06, 0x008A, _rampa); if (b._success) {
ModbusGetResponse e = EnviarComandoModbus(_endereco, 0x06, 0x0092, _rpmMax); ModbusGetResponse c = EnviarComandoModbus(_endereco, 0x06, 0x0086, _numPolos);
if (c._success) {
sucesso = a._success && b._success && c._success && d._success && e._success; ModbusGetResponse d = EnviarComandoModbus(_endereco, 0x06, 0x008A, _rampa);
if (d._success) {
return sucesso; ModbusGetResponse e = EnviarComandoModbus(_endereco, 0x06, 0x0092, _rpmMax);
return e._success;
}
}
}
}
return false;
} }
void AtualizarDadosControle(bool reset = false) { void AtualizarDadosControle(bool reset = false) {
@ -207,7 +218,7 @@ class Motor {
_RPM_SP = 0; _RPM_SP = 0;
} }
if (_SentidoSP != Parado && _SentidoSP != _Sentido) { /*if (_SentidoSP != Parado && _SentidoSP != _Sentido) {
int std = EnviarComandoModbus(_endereco, 0x06, 0x006D, _SentidoSP == Horario ? 1 : 0)._value; int std = EnviarComandoModbus(_endereco, 0x06, 0x006D, _SentidoSP == Horario ? 1 : 0)._value;
_Sentido = !Ligado ? Parado : std == 0 ? Horario : Antihorario; _Sentido = !Ligado ? Parado : std == 0 ? Horario : Antihorario;
} }
@ -219,7 +230,24 @@ class Motor {
} }
if (_Ligado != Ligado) { if (_Ligado != Ligado) {
Ligado = EnviarComandoModbus(_endereco, 0x06, 0x0066, _Ligado ? 1 : 0)._value == 1; Ligado = EnviarComandoModbus(_endereco, 0x06, 0x0066, _Ligado ? 1 : 0)._value == 1;
}*/
/*if (_SentidoSP != Parado && _SentidoSP != _Sentido) {
EnviarComandoModbus(_endereco, 0x06, 0x006D, _SentidoSP == Horario ? 1 : 0, false);
} }
if (_RPM_SP != RPM_SP) {
EnviarComandoModbus(_endereco, 0x06, 0x0056, _RPM_SP, false);
}
if (_Freio != Freio) {
EnviarComandoModbus(_endereco, 0x06, 0x006A, _Freio ? 1 : 0, false);
}
if (_Ligado != Ligado) {
EnviarComandoModbus(_endereco, 0x06, 0x0066, _Ligado ? 1 : 0, false);
}*/
EnviarComandoModbus(_endereco, 0x06, 0x006D, _SentidoSP == Horario ? 1 : 0, false);
EnviarComandoModbus(_endereco, 0x06, 0x0056, _RPM_SP, false);
EnviarComandoModbus(_endereco, 0x06, 0x006A, _Freio ? 1 : 0, false);
EnviarComandoModbus(_endereco, 0x06, 0x0066, _Ligado ? 1 : 0, false);
} }
@ -247,7 +275,7 @@ class Motor {
if (intMillis >= _TaxaAmostragem) { if (intMillis >= _TaxaAmostragem) {
AferirTemperatura(); AferirTemperatura();
AferirDadosDriver(); //AferirDadosDriver();
EnviarDadosSerial(MontarProtocoloSensor(sBLD, _ID, MontarDadosProtocoloBLD(RPM, Temperatura, Tensao, CorrenteMax, Ligado, _Sentido, Freio, CodAlarme, TemperaturaDriver))); EnviarDadosSerial(MontarProtocoloSensor(sBLD, _ID, MontarDadosProtocoloBLD(RPM, Temperatura, Tensao, CorrenteMax, Ligado, _Sentido, Freio, CodAlarme, TemperaturaDriver)));
firstMilis = millis(); firstMilis = millis();
@ -265,9 +293,9 @@ class Motor {
Freio = EnviarComandoModbus(_endereco, 0x03, 0x006A, 1)._value == 1; Freio = EnviarComandoModbus(_endereco, 0x03, 0x006A, 1)._value == 1;
_Sentido = Ligado ? EnviarComandoModbus(_endereco, 0x03, 0x006D, 1)._value == 1 ? Horario : Antihorario : Parado; _Sentido = Ligado ? EnviarComandoModbus(_endereco, 0x03, 0x006D, 1)._value == 1 ? Horario : Antihorario : Parado;
CodAlarme = EnviarComandoModbus(_endereco, 0x03, 0x0076, 1)._value; CodAlarme = EnviarComandoModbus(_endereco, 0x03, 0x0076, 1)._value;
Tensao = EnviarComandoModbus(_endereco, 0x03, 0x00C8, 1)._value; Tensao = EnviarComandoModbus(_endereco, 0x03, 0x00C8, 2)._value;
CorrenteMax = EnviarComandoModbus(_endereco, 0x03, 0x0096, 1)._value; CorrenteMax = EnviarComandoModbus(_endereco, 0x03, 0x0096, 2)._value;
TemperaturaDriver = EnviarComandoModbus(_endereco, 0x03, 0x00D2, 1)._value; TemperaturaDriver = EnviarComandoModbus(_endereco, 0x03, 0x00D2, 2)._value;
} }
void AferirTemperatura() { void AferirTemperatura() {

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