td_tt.asm

Robot control assembly program.

CHUONG_TRINH_PHAI_CP3:	
;--GHI O 2 DIEM DOI PHUONG PHIA DOI PHUONG,CHONG RETRY
;--RA VUNG XUAT PHAT
	CALL	XUAT_PHAT_PHAI
;--CHAY THANG 7 VACH
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#5
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG

;--CUA PHAI
	CALL	CUA_PHAI_O_1_DIEM
	CALL	GHI_O_1_DIEM
	CALL	CUA_TRAI_90
;--CHAY THANG 3 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG

;--CUA PHAI
	CALL	CUA_PHAI
;--CHAY THANG 4 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG
	
	MOV	DEM_VACH,#1
	CALL	VAN_TOC_TB
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG

;--CUA PHAI
	CALL	CUA_PHAI
;--CHAY THANG 9 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG
	
	MOV	DEM_VACH,#1
	CALL	VAN_TOC_TB
	CALL	CHAY_THANG

	MOV	DEM_VACH,#6
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG

;--CUA TRAI
	CALL	CUA_TRAI
;--CHAY THANG 6 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG
	
	MOV	DEM_VACH,#1
	CALL	VAN_TOC_TB
	CALL	CHAY_THANG

	MOV	DEM_VACH,#3
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG
	
;--CUA TRAI
	CALL	CUA_TRAI
;--CHAY THANG 2 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG

;--CUA TRAI
	CALL	CUA_TRAI

	CALL	PHA_DIEM

	JB	NUT_TT1,$
	MOV	BYTE_LED_THAP,#88
	CALL	DELAY1S
	JMP	START
;=========CHUONH TRINH 12=========
CHUONG_TRINH_PHAI_CP4:	
;--PHA O 2 DIEM PHIA DOI DIEN DOI PHUONG
;--RA VUNG XUAT PHAT
	CALL	XUAT_PHAT_PHAI
;--CHAY THANG 7 VACH
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#5
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG

;--CUA PHAI
	CALL	CUA_PHAI_O_1_DIEM
	CALL	GHI_O_1_DIEM
	CALL	CUA_TRAI_90
;--CHAY THANG 3 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG

;--CUA PHAI
	CALL	CUA_PHAI
;--CHAY THANG 4 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#2
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG

;--CUA PHAI
	CALL	CUA_PHAI
;--CHAY THANG 7 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#5
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG

;--CUA TRAI
	CALL	CUA_TRAI
;--CHAY THANG 2 VACH
	CALL	PHA_DIEM

	JB	NUT_TT1,$
	MOV	BYTE_LED_THAP,#88
	CALL	DELAY1S
	JMP	START
;=========CHUONH TRINH 1=========
CHUONG_TRINH_TRANG_CP1:	
;---GHI O 2 DIEM , CHAY SAT VACH 
	CALL	XUAT_PHAT_RETRY
	CALL	CUA_PHAI_MU

	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG
	
	MOV	DEM_VACH,#1
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG

	MOV	DEM_VACH,#5
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	ENCODER_THAP,#LOW(ENCODER_1_VACH*1)
	MOV	ENCODER_CAO,#HIGH(ENCODER_1_VACH*1)
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG_NUA_PHAI

	MOV	ENCODER_THAP,#LOW(ENCODER_1_VACH*202/100)
	MOV	ENCODER_CAO,#HIGH(ENCODER_1_VACH*202/100)
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_NUA_PHAI

	CALL	CUA_PHAI
	
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG
	
	MOV	DEM_VACH,#1
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG

	CALL	GHI_DIEM
	CALL	GIU_DIEM

	JB	NUT_TT1,$
	MOV	BYTE_LED_THAP,#88
	CALL	DELAY1S
	JMP	START
;=========CHUONH TRINH 1=========
CHUONG_TRINH_TRANG_CP2:	
;---GHI O 2 DIEM , CHAY SAT VACH 
	CALL	XUAT_PHAT_RETRY
	CALL	CUA_PHAI_MU

	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG
	
	MOV	DEM_VACH,#1
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG

	MOV	DEM_VACH,#5
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	ENCODER_THAP,#LOW(ENCODER_1_VACH*1)
	MOV	ENCODER_CAO,#HIGH(ENCODER_1_VACH*1)
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG_NUA_PHAI

	MOV	ENCODER_THAP,#LOW(ENCODER_1_VACH*202/100)
	MOV	ENCODER_CAO,#HIGH(ENCODER_1_VACH*202/100)
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_NUA_PHAI

	CALL	CUA_PHAI
	
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG
	
	MOV	DEM_VACH,#1
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG

	CALL	GHI_DIEM
	CALL	GIU_DIEM

	JB	NUT_TT1,$
	MOV	BYTE_LED_THAP,#88
	CALL	DELAY1S
	JMP	START

;======================= VAO VUNG BANG TAY ==========
CAN_BT:	
;--BO CAN BT
	MOV	BANH_TRAI,#155
	MOV	BANH_PHAI,#255
	MOV	ENCODER_THAP,#LOW(ENCODER_1_VACH*8)
	MOV	ENCODER_CAO,#HIGH(ENCODER_1_VACH*8)
	SETB	ACT_ENCODER_PHAI
LOOP_BO_CAN_BT:
	JNB	ACT_ENCODER_PHAI,THOAT_LOOP_BO_CAN_BT
	MOV	BYTE_LED_THAP,ENCODER_THAP	;<---
	MOV	BYTE_LED_CAO,ENCODER_CAO

	MOV	C,CTHT_TRAI
	ANL	C,CTHT_PHAI
	JC	LOOP_BO_CAN_BT
	SETB	BIT_ERROR_CAN_BT

	JMP	LOOP_BO_CAN_BT
THOAT_LOOP_BO_CAN_BT:

;--CHAY THANG
	MOV	BANH_TRAI,#240
	MOV	BANH_PHAI,#255
	MOV	ENCODER_THAP,#LOW(ENCODER_1_VACH*32/10)
	MOV	ENCODER_CAO,#HIGH(ENCODER_1_VACH*32/10)
	SETB	ACT_ENCODER_PHAI
LOOP_CHAY_THANG_CAN_BT:
	JNB	ACT_ENCODER_PHAI,THOAT_LOOP_CHAY_THANG_CAN_BT
	MOV	BYTE_LED_THAP,ENCODER_THAP	;<---
	MOV	BYTE_LED_CAO,ENCODER_CAO

	MOV	C,CTHT_TRAI
	ANL	C,CTHT_PHAI
	JC	LOOP_CHAY_THANG_CAN_BT
	SETB	BIT_ERROR_CAN_BT

	JMP	LOOP_CHAY_THANG_CAN_BT
THOAT_LOOP_CHAY_THANG_CAN_BT:	

;--
	JNB	BIT_ERROR_CAN_BT,CUA_PHAI_CAN_BT
	MOV	R2,#5
LOOP_ERROR_CAN_BT:
	MOV	BYTE_LED_THAP,#99	;<----
	MOV	BANH_TRAI,#255
	MOV	BANH_PHAI,#255
	MOV	ENCODER_THAP,#LOW(ENCODER_1_VACH)
	MOV	ENCODER_CAO,#HIGH(ENCODER_1_VACH)
	SETB	ACT_ENCODER_PHAI
	JB	ACT_ENCODER_PHAI,$
	CALL	DUNG

	MOV	C,CTHT_TRAI
	ANL	C,CTHT_PHAI
	JC	THOAT_ERROR_CAN_BT
	DJNZ	R2,SUA_ERROR_CAN_BT
	JMP	THOAT_ERROR_CAN_BT
SUA_ERROR_CAN_BT:
	MOV	ENCODER_THAP,#LOW(ENCODER_1_VACH/8)
	MOV	ENCODER_CAO,#HIGH(ENCODER_1_VACH/8)
	CALL	CHAY_LUI_ENCODER
	CALL	DELAY1S
	JMP	LOOP_ERROR_CAN_BT

THOAT_ERROR_CAN_BT:
	CALL	CUA_PHAI_ENCODER
	SJMP	$

CUA_PHAI_CAN_BT:
;--CUA PHAI
	CALL	HAM_TOC
	CALL	DELAY200MS
	CALL	CUA_PHAI_ENCODER

THOAT_CAN_BT:
	RET
;======================= GHI_O_1_DIEM ===============
GHI_O_1_DIEM:
	SETB	MOTOR_DAY_DAO1
	SETB	MOTOR_DAY_DAO2
	MOV	BANH_TRAI,#0
	MOV	BANH_PHAI,#0
	CALL	DELAY50MS

	MOV	BYTE_DELAY_THAP,#LOW(300)
	MOV	BYTE_DELAY_CAO,#HIGH(300)
	INC	BYTE_DELAY_CAO
	SETB	TR0
	MOV	MOTOR_DAY1,#255
	MOV	MOTOR_DAY2,#255
	
LOOP_TR0_CTHT_TRUOC_GHI_1_DIEM:
	MOV	C,TR0
	ANL	C,CTHT_TRUOC
	JC	LOOP_TR0_CTHT_TRUOC_GHI_1_DIEM

	SETB	BIT_GHI_DIEM
	MOV	MOTOR_DAY1,#0
	MOV	MOTOR_DAY2,#0
	CLR	MOTOR_DAY_DAO1
	CLR	MOTOR_DAY_DAO2
	CALL	DELAY200MS	;CHO QUA ON DINH
	MOV	MOTOR_DAY1,#255
	MOV	MOTOR_DAY2,#255
	CALL	DELAY2S
	MOV	MOTOR_DAY1,#100
	MOV	MOTOR_DAY2,#100
	RET
;======================= GHI DIEM =============================
GHI_DIEM:			;DO DUONG CHO DEN KHI CHAM CTHT
	MOV	BYTE_DELAY_THAP,#LOW(200)	;TIME OUT 1S
	MOV	BYTE_DELAY_CAO,#HIGH(200)
	INC	BYTE_DELAY_CAO
	SETB	TR0
	CALL	VAN_TOC_HC
HIEU_CHINH_GHI_DIEM:	
	CALL	KT_VUNG_DO_DUONG
	CALL	DK_DO_DUONG
	MOV	C,CTHT_TRAI
	ANL	C,CTHT_PHAI
	JC	KT_TIME_OUT_HC 
	CALL	BD_GHI_DIEM
	JMP	THOAT_GHI_DIEM
KT_TIME_OUT_HC:
	JB	TR0,HIEU_CHINH_GHI_DIEM
	CALL	FIX_ERROR_SCORE
THOAT_GHI_DIEM:	
	RET

;---------------- ERROR SCORE POINT ------------------------------
FIX_ERROR_SCORE:
	CALL	GHI_DIEM_LAI
	JB	BIT_GHI_DIEM,THOAT_FIX_ERROR_SCORE

	CALL	DUNG
	CALL	DELAY30S	;TIME OUT
	CALL	BD_GHI_DIEM
	CALL	GIU_DIEM

THOAT_FIX_ERROR_SCORE:	
	RET
;-----------------------------------------------
BD_GHI_DIEM:
	MOV	BYTE_DELAY_THAP,#LOW(600)
	MOV	BYTE_DELAY_CAO,#HIGH(600)
	INC	BYTE_DELAY_CAO
	SETB	TR0
	MOV	MOTOR_DAY1,#255
	MOV	MOTOR_DAY2,#255
	MOV	BANH_TRAI,#30
	MOV	BANH_PHAI,#30

LOOP_TR0_CTHT_TRUOC_GHI_DIEM:
	MOV	C,TR0
	ANL	C,CTHT_TRUOC
	JC	LOOP_TR0_CTHT_TRUOC_GHI_DIEM

	SETB	BIT_GHI_DIEM
;GIU COT CHO QUA ON DINH
	MOV	MOTOR_DAY1,#0
	MOV	MOTOR_DAY2,#0
	MOV	BANH_TRAI,#30
	MOV	BANH_PHAI,#30
	CALL	DELAY500MS

HIEU_CHINH_DIEM:
	MOV	BANH_TRAI,#0
	MOV	BANH_PHAI,#0
	CLR	BANH_TRAI_DAO
	CLR	BANH_PHAI_DAO
	CALL	DELAY50MS

	MOV	BANH_TRAI,#70
	MOV	BANH_PHAI,#70
	MOV	ENCODER_CAO,#HIGH(ENCODER_1_VACH/10)
	MOV	ENCODER_THAP,#LOW(ENCODER_1_VACH/10)
	SETB	ACT_ENCODER_PHAI
	JB	ACT_ENCODER_PHAI,$

	MOV	BANH_TRAI,#0
	MOV	BANH_PHAI,#0
	SETB	BANH_TRAI_DAO
	SETB	BANH_PHAI_DAO
	CALL	DELAY50MS

	MOV	BANH_TRAI,#80
	MOV	BANH_PHAI,#80
	CALL	DELAY500MS
	MOV	BANH_TRAI,#30
	MOV	BANH_PHAI,#30
	
	RET
;============== GHI DIEM LAI =============
GHI_DIEM_LAI:
	MOV	R2,#2
LOOP_HIEU_CHINH_GHI_DIEM_ERROR:
;LUI
	MOV	BANH_TRAI,#0
	MOV	BANH_PHAI,#0
	CLR	BANH_TRAI_DAO
	CLR	BANH_PHAI_DAO
	CALL	DELAY50MS

	MOV	BANH_TRAI,#90
	MOV	BANH_PHAI,#100
	MOV	ENCODER_CAO,#HIGH(ENCODER_1_VACH/2)
	MOV	ENCODER_THAP,#LOW(ENCODER_1_VACH/2)
	SETB	ACT_ENCODER_PHAI
	JB	ACT_ENCODER_PHAI,$

	MOV	BANH_TRAI,#0
	MOV	BANH_PHAI,#0
	SETB	BANH_TRAI_DAO
	SETB	BANH_PHAI_DAO
	CALL	DELAY50MS
;TOI
	MOV	BYTE_DELAY_THAP,#LOW(70)	;TIME OUT 0.7S
	MOV	BYTE_DELAY_CAO,#HIGH(70)
	INC	BYTE_DELAY_CAO
	SETB	TR0
	CALL	VAN_TOC_HC
HIEU_CHINH_GHI_DIEM_ERROR:	
	CALL	KT_VUNG_DO_DUONG
	CALL	DK_DO_DUONG
	MOV	BYTE_LED_THAP,VUNG
	MOV	C,CTHT_TRAI
	ANL	C,CTHT_PHAI
	JC	KT_TIME_OUT_HC_ERROR
	CALL	BD_GHI_DIEM
	JMP	THOAT_GHI_DIEM_LAI
KT_TIME_OUT_HC_ERROR:
	JB	TR0,HIEU_CHINH_GHI_DIEM_ERROR
	DJNZ	R2,LOOP_HIEU_CHINH_GHI_DIEM_ERROR
THOAT_GHI_DIEM_LAI:
	RET

;======================= GIU DIEM ==============================
GIU_DIEM:
	CALL	HIEU_CHINH_DIEM
;--RUT CANG
	MOV	MOTOR_DAY1,#0	
	MOV	MOTOR_DAY2,#0
	CLR	MOTOR_DAY_DAO1
	CLR	MOTOR_DAY_DAO2
	CALL	DELAY50MS

	MOV	MOTOR_DAY1,#255	;rut cang
	MOV	MOTOR_DAY2,#255
	CALL	DELAY3S
	MOV	MOTOR_DAY1,#0
	MOV	MOTOR_DAY2,#0

LOOP_GIU_DIEM:
;-- LUI
	MOV	ENCODER_THAP,#LOW(ENCODER_1_VACH/50)	;6 XUNG
	MOV	ENCODER_CAO,#HIGH(ENCODER_1_VACH/50)
	CALL	CHAY_LUI_ENCODER
	CALL	DELAY10S
;-- TOI
	MOV	BYTE_DELAY_THAP,#LOW(30)	;TIME OUT 0.3S
	MOV	BYTE_DELAY_CAO,#HIGH(30)
	CALL	VAN_TOC_HC
	CALL	CHAY_THANG_TIME_OUT
	JMP	LOOP_GIU_DIEM

	RET
;======================= CHAY LUI DOC ENCODER ===================
CHAY_LUI_ENCODER:		;00011000
	MOV	BANH_TRAI,#0
	MOV	BANH_PHAI,#0
	CLR	BANH_TRAI_DAO
	CLR	BANH_PHAI_DAO
	CALL	DELAY50MS
;XD VUNG
	MOV	C,CAMBIEN4
	ORL	C,CAMBIEN5
	JC	LUI_VUNG_TT

	MOV	C,CAMBIEN1
	ORL	C,CAMBIEN2
	ORL	C,CAMBIEN3
	JC	LUI_TRAI

	MOV	C,CAMBIEN6
	ORL	C,CAMBIEN7
	ORL	C,CAMBIEN8
	JC	LUI_PHAI
LUI_VUNG_TT:
	MOV	BANH_TRAI,#70
	MOV	BANH_PHAI,#70
	JMP	START_LUI
LUI_TRAI:
	MOV	BANH_TRAI,#70
	MOV	BANH_PHAI,#70
	JMP	START_LUI
LUI_PHAI:
	
	MOV	BANH_TRAI,#70
	MOV	BANH_PHAI,#70
	JMP	START_LUI
START_LUI:	
	SETB	ACT_ENCODER_PHAI
	JB	ACT_ENCODER_PHAI,$

	MOV	BANH_TRAI,#0
	MOV	BANH_PHAI,#0
	SETB	BANH_TRAI_DAO
	SETB	BANH_PHAI_DAO
	CALL	DELAY50MS
	RET
;======================= LUI RUT CANG =====================
;INPUT :GIA TRI ENCODER
CHAY_LUI_RUT_CANG:	
	MOV	MOTOR_DAY1,#0	
	MOV	MOTOR_DAY2,#0
	CLR	MOTOR_DAY_DAO1
	CLR	MOTOR_DAY_DAO2
	CALL	DELAY50MS

	JNB	CTHT_SAU,MOTOR_DAY_0
	MOV	MOTOR_DAY1,#255	;rut cang
	MOV	MOTOR_DAY2,#255
	JMP	CALL_CHAY_LUI_ENCODER
MOTOR_DAY_0:
	MOV	MOTOR_DAY1,#0	
	MOV	MOTOR_DAY2,#0
CALL_CHAY_LUI_ENCODER:
	CALL	CHAY_LUI_ENCODER
	
	RET
;======================= CHAY LUI DOC ENCODER ===================
;INPUT :GIA TRI ENCODER
CHAY_LUI:
	MOV	BANH_TRAI,#0
	MOV	BANH_PHAI,#0
	CLR	BANH_TRAI_DAO
	CLR	BANH_PHAI_DAO
	CALL	DELAY50MS

	SETB	ACT_ENCODER_PHAI
LOOP_CHAY_LUI:
	JNB	ACT_ENCODER_PHAI,THOAT_CHAY_LUI
	CALL	KT_VUNG_DO_DUONG
	CALL	DK_DO_DUONG
	SJMP	LOOP_CHAY_LUI
THOAT_CHAY_LUI:
	MOV	BANH_TRAI,#0
	MOV	BANH_PHAI,#0
	SETB	BANH_TRAI_DAO
	SETB	BANH_PHAI_DAO
	CALL	DELAY50MS
	RET
;======================= HAM_TOC ==============================
HAM_TOC:
	MOV	BANH_TRAI,#0
	MOV	BANH_PHAI,#0
	CLR	BANH_TRAI_DAO
	CLR	BANH_PHAI_DAO
	CALL	DELAY50MS

	MOV	BANH_TRAI,#100
	MOV	BANH_PHAI,#100
	CALL	DELAY50MS

	MOV	BANH_TRAI,#0
	MOV	BANH_PHAI,#0
	SETB	BANH_TRAI_DAO
	SETB	BANH_PHAI_DAO
	CALL	DELAY50MS
	RET
;======================= HAM_TOC ==============================
HAM_TOC_MAX:
	MOV	BANH_TRAI,#0
	MOV	BANH_PHAI,#0
	CLR	BANH_TRAI_DAO
	CLR	BANH_PHAI_DAO
	CALL	DELAY50MS

	MOV	BANH_TRAI,#255
	MOV	BANH_PHAI,#255
	CALL	DELAY150MS

	MOV	BANH_TRAI,#0
	MOV	BANH_PHAI,#0
	SETB	BANH_TRAI_DAO
	SETB	BANH_PHAI_DAO
	CALL	DELAY50MS
	RET
;======================= CHAY THANG NUA TRAI DOC ENCODER ==================================================
;INPUT : ENCODER
CHAY_THANG_NUA_TRAI:	
	SETB	ACT_ENCODER_PHAI
LOOP_CHAY_THANG_NUA_TRAI:
	JNB	ACT_ENCODER_PHAI,THOAT_CHAY_THANG_NUA_TRAI

	MOV	BYTE_LED_THAP,ENCODER_THAP	;<----