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📄 retry.lst

📁 Robot control assembly program.
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00BF 3042FD          220            JNB     NUT_PHAI2,$
00C2 75FE00          221            MOV     MOTOR_NHA_CANG,#0
                     222    
00C5 808F            223            JMP     START
                     224    
                     225    ;=========CHUONH TRINH 3=========
00C7                 226    CHUONG_TRINH_TRAI3:
                     227    ;DAO GHI DIEM
00C7 752E03          228            MOV     BYTE_LED_THAP,#3
                     229    
00CA 75FD00          230            MOV     MOTOR_GHI_DIEM,#0
00CD C292            231            CLR     MOTOR_GHI_DIEM_DAO
00CF 12107D          232            CALL    DELAY50MS
RETRY                                                                                                         PAGE 5

                     233    
00D2 75FD32          234            MOV     MOTOR_GHI_DIEM,#50
00D5 3043FD          235            JNB     NUT_PHAI3,$
00D8 75FE00          236            MOV     MOTOR_NHA_CANG,#0
                     237    
00DB 0156            238            JMP     START
                     239    
                     240    ;=========CHUONH TRINH 4=========
00DD                 241    CHUONG_TRINH_TRAI4:
                     242    ;---CAN BT GHI DIEM
00DD 120D0D          243            CALL    XUAT_PHAT_TRAI  
00E0 12063F          244            CALL    CHAY_THANG_MU_HAM_TOC
                     245    ;--CUA PHAI
00E3 120A6C          246            CALL    CUA_PHAI_MU
                     247    
                     248    ;---CHAY THANG 7 VACH
00E6 120DF4          249            CALL    VAN_TOC_TB
00E9 120656          250            CALL    CHAY_THANG_TIM_VACH_NGANG
                     251    
00EC 754001          252            MOV     DEM_VACH,#1
00EF 120DBD          253            CALL    VAN_TOC_MAX
00F2 120668          254            CALL    CHAY_THANG
                     255    ;GHI DIEM
00F5 75FDFF          256            MOV     MOTOR_GHI_DIEM,#255
                     257    
00F8 754003          258            MOV     DEM_VACH,#3
00FB 120DBD          259            CALL    VAN_TOC_MAX
00FE 120668          260            CALL    CHAY_THANG
                     261    
0101 120616          262            CALL    CHAY_THANG_HAM_TOC
0104 120616          263            CALL    CHAY_THANG_HAM_TOC
                     264    
0107 120B0E          265            CALL    CUA_PHAI
                     266    ;---CHAY THANG 8 VACH
010A 120DF4          267            CALL    VAN_TOC_TB
010D 120656          268            CALL    CHAY_THANG_TIM_VACH_NGANG
                     269    
0110 75FD00          270            MOV     MOTOR_GHI_DIEM,#0
                     271    
0113 754005          272            MOV     DEM_VACH,#5
0116 120DBD          273            CALL    VAN_TOC_MAX
0119 120668          274            CALL    CHAY_THANG
                     275    
011C 120616          276            CALL    CHAY_THANG_HAM_TOC
011F 120616          277            CALL    CHAY_THANG_HAM_TOC
                     278    
0122 120BF1          279            CALL    CUA_TRAI
                     280    ;---CHAY THANG 8 VACH
0125 120DF4          281            CALL    VAN_TOC_TB
0128 120656          282            CALL    CHAY_THANG_TIM_VACH_NGANG
                     283    
012B 754005          284            MOV     DEM_VACH,#5
012E 120DBD          285            CALL    VAN_TOC_MAX
0131 120668          286            CALL    CHAY_THANG
                     287    
0134 120616          288            CALL    CHAY_THANG_HAM_TOC
0137 120616          289            CALL    CHAY_THANG_HAM_TOC
                     290    
RETRY                                                                                                         PAGE 6

013A 120B0E          291            CALL    CUA_PHAI
                     292    ;---CHAY THANG 4 VACH
013D 120DF4          293            CALL    VAN_TOC_TB
0140 120656          294            CALL    CHAY_THANG_TIM_VACH_NGANG
                     295    
0143 754002          296            MOV     DEM_VACH,#2
0146 120DBD          297            CALL    VAN_TOC_MAX
0149 120668          298            CALL    CHAY_THANG
                     299    
014C 120616          300            CALL    CHAY_THANG_HAM_TOC
                     301    
014F 120B0E          302            CALL    CUA_PHAI
                     303    ;---CHAY THANG LUI VACH
0152 75FB00          304            MOV     BANH_TRAI,#0
0155 75FC00          305            MOV     BANH_PHAI,#0
0158 C290            306            CLR     BANH_TRAI_DAO
015A C291            307            CLR     BANH_PHAI_DAO
015C 12107D          308            CALL    DELAY50MS
                     309    
015F 75FB00          310            MOV     BANH_TRAI,#0
0162 75FCB4          311            MOV     BANH_PHAI,#180
0165 1210FB          312            CALL    DELAY1S
                     313    ;--CUA TRAI
0168 75FB00          314            MOV     BANH_TRAI,#0
016B 75FC00          315            MOV     BANH_PHAI,#0
016E C290            316            CLR     BANH_TRAI_DAO
0170 D291            317            SETB    BANH_PHAI_DAO
0172 12107D          318            CALL    DELAY50MS
                     319    
0175 75FB64          320            MOV     BANH_TRAI,#100
0178 75FCC8          321            MOV     BANH_PHAI,#200
017B 1210FB          322            CALL    DELAY1S
017E 75FEFF          323            MOV     MOTOR_NHA_CANG,#255
0181 120D64          324            CALL    DUNG
                     325            
                     326    ;---CHAY LUI
0184 120D88          327            CALL    DUNG_MOTOR
0187 2037FD          328            JB      NUT_TRAI1,$
018A 752E58          329            MOV     BYTE_LED_THAP,#88
018D 1210FB          330            CALL    DELAY1S
0190 0156            331            JMP     START
                     332    
                     333    ;========= CHUONH TRINH 5 =========
0192                 334    CHUONG_TRINH_TRAI5:     
                     335    ;---CHIA CAT VUNG BT
0192 120D0D          336            CALL    XUAT_PHAT_TRAI  
0195 12063F          337            CALL    CHAY_THANG_MU_HAM_TOC
                     338    ;--CUA PHAI
0198 120A6C          339            CALL    CUA_PHAI_MU
                     340    
                     341    ;---CHAY THANG 7 VACH
019B 120E2B          342            CALL    VAN_TOC_CHAM
019E 120656          343            CALL    CHAY_THANG_TIM_VACH_NGANG
                     344    
01A1 754002          345            MOV     DEM_VACH,#2
01A4 120DBD          346            CALL    VAN_TOC_MAX
01A7 120668          347            CALL    CHAY_THANG
                     348    ;GHI DIEM
RETRY                                                                                                         PAGE 7

01AA 75FDFF          349            MOV     MOTOR_GHI_DIEM,#255
                     350    
01AD 754002          351            MOV     DEM_VACH,#2
01B0 120DBD          352            CALL    VAN_TOC_MAX
01B3 120668          353            CALL    CHAY_THANG
                     354    
01B6 120616          355            CALL    CHAY_THANG_HAM_TOC
01B9 120616          356            CALL    CHAY_THANG_HAM_TOC
                     357    
01BC 120B0E          358            CALL    CUA_PHAI
                     359    ;---CHAY THANG 8 VACH
01BF 120E2B          360            CALL    VAN_TOC_CHAM
01C2 120656          361            CALL    CHAY_THANG_TIM_VACH_NGANG
                     362    
01C5 75FD00          363            MOV     MOTOR_GHI_DIEM,#0
                     364    
01C8 754005          365            MOV     DEM_VACH,#5
01CB 120DBD          366            CALL    VAN_TOC_MAX
01CE 120668          367            CALL    CHAY_THANG
                     368    
01D1 120616          369            CALL    CHAY_THANG_HAM_TOC
01D4 120616          370            CALL    CHAY_THANG_HAM_TOC
                     371    
01D7 120BF1          372            CALL    CUA_TRAI
                     373    ;---CHAY THANG 12 VACH
01DA 120E2B          374            CALL    VAN_TOC_CHAM
01DD 120656          375            CALL    CHAY_THANG_TIM_VACH_NGANG
                     376    
01E0 754009          377            MOV     DEM_VACH,#9
01E3 120DBD          378            CALL    VAN_TOC_MAX
01E6 120668          379            CALL    CHAY_THANG
                     380    
01E9 120616          381            CALL    CHAY_THANG_HAM_TOC
01EC 120616          382            CALL    CHAY_THANG_HAM_TOC
                     383    
01EF 120B0E          384            CALL    CUA_PHAI
                     385    ;---CHAY 2 VACH
01F2 75FB14          386            MOV     BANH_TRAI,#20
01F5 75FC64          387            MOV     BANH_PHAI,#100
01F8 120977          388            CALL    CHO_QUA_VACH_NGANG
                     389    
                     390    ;--NHA_CANG
01FB 75FEFF          391            MOV     MOTOR_NHA_CANG,#255
01FE 121109          392            CALL    DELAY2S
                     393    
0201 120D88          394            CALL    DUNG_MOTOR
0204 2037FD          395            JB      NUT_TRAI1,$
0207 752E58          396            MOV     BYTE_LED_THAP,#88
020A 1210FB          397            CALL    DELAY1S
020D 0156            398            JMP     START
                     399    
                     400    ;=========CHUONH TRINH 1=========
020F                 401    CHUONG_TRINH_PHAI1:
                     402    ;--- SIAP
020F 120D0D          403            CALL    XUAT_PHAT_TRAI  
0212 12063F          404            CALL    CHAY_THANG_MU_HAM_TOC
0215 120A6C          405            CALL    CUA_PHAI_MU
                     406    
RETRY                                                                                                         PAGE 8

                     407    ;---CHAY THANG 1 VACH
0218 120E2B          408            CALL    VAN_TOC_CHAM
021B 120656          409            CALL    CHAY_THANG_TIM_VACH_NGANG
021E 120B0E          410            CALL    CUA_PHAI
                     411    ;--NHA QUA ,LUI
0221 75FDFF          412            MOV     MOTOR_GHI_DIEM,#255
0224 75FB00          413            MOV     BANH_TRAI,#0
0227 75FC00          414            MOV     BANH_PHAI,#0
022A C290            415            CLR     BANH_TRAI_DAO
022C C291            416            CLR     BANH_PHAI_DAO
022E 12107D          417            CALL    DELAY50MS
                     418    
0231 75FC82          419            MOV     BANH_PHAI,#130
0234 75FB64          420            MOV     BANH_TRAI,#100
0237 1210FB          421            CALL    DELAY1S
023A 75FC00          422            MOV     BANH_PHAI,#0
023D 75FB00          423            MOV     BANH_TRAI,#0
0240 75FD00          424            MOV     MOTOR_GHI_DIEM,#0
0243 75FC2D          425            MOV     BANH_PHAI,#45
0246 75FB23          426            MOV     BANH_TRAI,#35
0249 121125          427            CALL    DELAY5S
024C 75FC00          428            MOV     BANH_PHAI,#0
024F 75FB00          429            MOV     BANH_TRAI,#0
                     430    
0252 2037FD          431            JB      NUT_TRAI1,$
0255 752E58          432            MOV     BYTE_LED_THAP,#88
0258 1210FB          433            CALL    DELAY1S
025B 0156            434            JMP     START
                     435    
                     436    ;=========CHUONH TRINH 2=========
025D                 437    CHUONG_TRINH_PHAI2:
                     438    ;--BAO VE O 2 DIEM

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