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📄 retry.lst

📁 Robot control assembly program.
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025D 120D0D          439            CALL    XUAT_PHAT_TRAI  
0260 12063F          440            CALL    CHAY_THANG_MU_HAM_TOC
                     441    ;--CUA PHAI
0263 120A6C          442            CALL    CUA_PHAI_MU
                     443    
                     444    ;---CHAY THANG 10 VACH
0266 120DF4          445            CALL    VAN_TOC_TB
0269 120656          446            CALL    CHAY_THANG_TIM_VACH_NGANG
                     447            
026C 754001          448            MOV     DEM_VACH,#1
026F 120DBD          449            CALL    VAN_TOC_MAX
0272 120668          450            CALL    CHAY_THANG
                     451    
                     452    ;GHI DIEM
0275 75FDFF          453            MOV     MOTOR_GHI_DIEM,#255
                     454    
0278 754004          455            MOV     DEM_VACH,#4
027B 120DBD          456            CALL    VAN_TOC_MAX
027E 120668          457            CALL    CHAY_THANG
                     458    ;
0281 75FD00          459            MOV     MOTOR_GHI_DIEM,#0
                     460    
0284 754004          461            MOV     DEM_VACH,#4
0287 120DBD          462            CALL    VAN_TOC_MAX
028A 120668          463            CALL    CHAY_THANG
                     464    
RETRY                                                                                                         PAGE 9

028D 1205D1          465            CALL    HAM_TOC
                     466    
0290 120BA3          467            CALL    CUA_TRAI_ENCODER
                     468    
0293 1205AD          469            CALL    HAM_TOC_MAX
                     470    
0296 2037FD          471            JB      NUT_TRAI1,$
0299 752E58          472            MOV     BYTE_LED_THAP,#88
029C 1210FB          473            CALL    DELAY1S
029F 0156            474            JMP     START
                     475    ;=========CHUONH TRINH 3=========
02A1                 476    CHUONG_TRINH_PHAI3:
                     477    ;---CHONG DOI PHUONG RETRY 
02A1 120D0D          478            CALL    XUAT_PHAT_TRAI  
02A4 12063F          479            CALL    CHAY_THANG_MU_HAM_TOC
                     480    ;--CUA PHAI
02A7 120A6C          481            CALL    CUA_PHAI_MU
                     482    
                     483    ;---CHAY THANG 7 VACH
02AA 120DF4          484            CALL    VAN_TOC_TB
02AD 120656          485            CALL    CHAY_THANG_TIM_VACH_NGANG
                     486    
02B0 754001          487            MOV     DEM_VACH,#1
02B3 120DBD          488            CALL    VAN_TOC_MAX
02B6 120668          489            CALL    CHAY_THANG
                     490    ;GHI DIEM
02B9 75FDFF          491            MOV     MOTOR_GHI_DIEM,#255
                     492    
02BC 754003          493            MOV     DEM_VACH,#3
02BF 120DBD          494            CALL    VAN_TOC_MAX
02C2 120668          495            CALL    CHAY_THANG
                     496    
02C5 120616          497            CALL    CHAY_THANG_HAM_TOC
02C8 120616          498            CALL    CHAY_THANG_HAM_TOC
                     499    
02CB 120B0E          500            CALL    CUA_PHAI
                     501    ;---CHAY THANG 8 VACH
02CE 120DF4          502            CALL    VAN_TOC_TB
02D1 120656          503            CALL    CHAY_THANG_TIM_VACH_NGANG
                     504    
02D4 75FD00          505            MOV     MOTOR_GHI_DIEM,#0
                     506    
02D7 754005          507            MOV     DEM_VACH,#5
02DA 120DBD          508            CALL    VAN_TOC_MAX
02DD 120668          509            CALL    CHAY_THANG
                     510    
02E0 120616          511            CALL    CHAY_THANG_HAM_TOC
02E3 120616          512            CALL    CHAY_THANG_HAM_TOC
                     513    
02E6 120BF1          514            CALL    CUA_TRAI
                     515    ;---CHAY THANG 8 VACH
02E9 120DF4          516            CALL    VAN_TOC_TB
02EC 120656          517            CALL    CHAY_THANG_TIM_VACH_NGANG
                     518    
02EF 754006          519            MOV     DEM_VACH,#6
02F2 120DBD          520            CALL    VAN_TOC_MAX
02F5 120668          521            CALL    CHAY_THANG
                     522    
RETRY                                                                                                         PAGE 10

                     523    ;--BO TRAI
02F8 75FB00          524            MOV     BANH_TRAI,#0
02FB 75FC00          525            MOV     BANH_PHAI,#0
02FE C290            526            CLR     BANH_TRAI_DAO
0300 D291            527            SETB    BANH_PHAI_DAO
0302 12107D          528            CALL    DELAY50MS
                     529    
0305 75FB32          530            MOV     BANH_TRAI,#50
0308 75FCFA          531            MOV     BANH_PHAI,#250
030B 754400          532            MOV     ENCODER_CAO,#HIGH(ENCODER_1_VACH*70/100)
030E 7543E0          533            MOV     ENCODER_THAP,#LOW(ENCODER_1_VACH*70/100)
0311 D2A8            534            SETB    ACT_ENCODER
0313 20A8FD          535            JB      ACT_ENCODER,$
                     536            
0316 75FEFF          537            MOV     MOTOR_NHA_CANG,#255
0319 75FB00          538            MOV     BANH_TRAI,#0
031C 75FC00          539            MOV     BANH_PHAI,#0
031F D290            540            SETB    BANH_TRAI_DAO
0321 D291            541            SETB    BANH_PHAI_DAO
0323 12107D          542            CALL    DELAY50MS
                     543            
0326 75FB32          544            MOV     BANH_TRAI,#50
0329 75FCFF          545            MOV     BANH_PHAI,#255
032C 754405          546            MOV     ENCODER_CAO,#HIGH(ENCODER_1_VACH*4)
032F 754300          547            MOV     ENCODER_THAP,#LOW(ENCODER_1_VACH*4)
0332 D2A8            548            SETB    ACT_ENCODER
0334 20A8FD          549            JB      ACT_ENCODER,$
                     550    
0337 1205AD          551            CALL    HAM_TOC_MAX
                     552    ;-CUA TRAI
033A 75FB00          553            MOV     BANH_TRAI,#0
033D 75FC00          554            MOV     BANH_PHAI,#0
0340 C290            555            CLR     BANH_TRAI_DAO
0342 D291            556            SETB    BANH_PHAI_DAO
0344 12107D          557            CALL    DELAY50MS
0347 75FBFF          558            MOV     BANH_TRAI,#255
034A 75FCFF          559            MOV     BANH_PHAI,#255
034D 1210D1          560            CALL    DELAY400MS
0350 75FB00          561            MOV     BANH_TRAI,#0
0353 75FC00          562            MOV     BANH_PHAI,#0
                     563            
0356 120D88          564            CALL    DUNG_MOTOR
0359 2037FD          565            JB      NUT_TRAI1,$
035C 752E58          566            MOV     BYTE_LED_THAP,#88
035F 1210FB          567            CALL    DELAY1S
0362 0156            568            JMP     START
                     569    
                     570    ;=========CHUONH TRINH 4=========
0364                 571    CHUONG_TRINH_PHAI4:
                     572    ;---GHI 2 DIEM DOI PHUONG CHONG DOI PHUONG RETRY 
0364 120D0D          573            CALL    XUAT_PHAT_TRAI  
0367 12063F          574            CALL    CHAY_THANG_MU_HAM_TOC
                     575    ;--CUA PHAI
036A 120A6C          576            CALL    CUA_PHAI_MU
                     577    
                     578    ;---CHAY THANG 7 VACH
036D 120DF4          579            CALL    VAN_TOC_TB
0370 120656          580            CALL    CHAY_THANG_TIM_VACH_NGANG
RETRY                                                                                                         PAGE 11

                     581    
0373 754004          582            MOV     DEM_VACH,#4
0376 120DBD          583            CALL    VAN_TOC_MAX
0379 120668          584            CALL    CHAY_THANG
                     585    
037C 120616          586            CALL    CHAY_THANG_HAM_TOC
037F 120616          587            CALL    CHAY_THANG_HAM_TOC
                     588    
0382 120B0E          589            CALL    CUA_PHAI
                     590    ;---CHAY THANG 6 VACH
0385 120DF4          591            CALL    VAN_TOC_TB
0388 120656          592            CALL    CHAY_THANG_TIM_VACH_NGANG
                     593    
038B 754003          594            MOV     DEM_VACH,#3
038E 120DBD          595            CALL    VAN_TOC_MAX
0391 120668          596            CALL    CHAY_THANG
                     597    
0394 120616          598            CALL    CHAY_THANG_HAM_TOC
0397 120616          599            CALL    CHAY_THANG_HAM_TOC
                     600    
039A 120BF1          601            CALL    CUA_TRAI
                     602    ;---CHAY THANG 3 VACH
039D 120DBD          603            CALL    VAN_TOC_MAX
03A0 120656          604            CALL    CHAY_THANG_TIM_VACH_NGANG
                     605    
03A3 754001          606            MOV     DEM_VACH,#1
03A6 120DBD          607            CALL    VAN_TOC_MAX
03A9 120668          608            CALL    CHAY_THANG
                     609            
03AC 1205AD          610            CALL    HAM_TOC_MAX
03AF 120E62          611            CALL    VAN_TOC_RAT_CHAM
03B2 120656          612            CALL    CHAY_THANG_TIM_VACH_NGANG
                     613    
03B5 1205AD          614            CALL    HAM_TOC_MAX
                     615    
                     616    ;GHI DIEM
03B8 75FDFF          617            MOV     MOTOR_GHI_DIEM,#255
03BB 1210FB          618            CALL    DELAY1S
03BE 75FD00          619            MOV     MOTOR_GHI_DIEM,#0
                     620    
                     621    ;BO PHAI 2 VACH
03C1 75FBFF          622            MOV     BANH_TRAI,#255
03C4 75FC46          623            MOV     BANH_PHAI,#70
03C7 754380          624            MOV     ENCODER_THAP,#LOW(ENCODER_1_VACH*20/10)
03CA 754402          625            MOV     ENCODER_CAO,#HIGH(ENCODER_1_VACH*20/10)
03CD D2A8            626            SETB    ACT_ENCODER
03CF 20A8FD          627            JB      ACT_ENCODER,$
                     628    
03D2 1205D1          629            CALL    HAM_TOC
                     630    
                     631    ;BO TRAI 4 VACH
03D5 75FEFF          632            MOV     MOTOR_NHA_CANG,#255
03D8 75FB32          633            MOV     BANH_TRAI,#50
03DB 75FCFF          634            MOV     BANH_PHAI,#255
03DE 754340          635            MOV     ENCODER_THAP,#LOW(ENCODER_1_VACH*5)
03E1 754406          636            MOV     ENCODER_CAO,#HIGH(ENCODER_1_VACH*5)
03E4 D2A8            637            SETB    ACT_ENCODER
03E6 20A8FD          638            JB      ACT_ENCODER,$
RETRY                                                                                                         PAGE 12

                     639    
03E9 1205AD          640            CALL    HAM_TOC_MAX
                     641    
                     642    ;-CUA TRAI
03EC 75FB00          643            MOV     BANH_TRAI,#0
03EF 75FC00          644            MOV     BANH_PHAI,#0
03F2 C290            645            CLR     BANH_TRAI_DAO
03F4 D291            646            SETB    BANH_PHAI_DAO
03F6 12107D          647            CALL    DELAY50MS
03F9 75FBFF          648            MOV     BANH_TRAI,#255
03FC 75FCFF          649            MOV     BANH_PHAI,#255
03FF 1210B5          650            CALL    DELAY300MS
0402 75FB00          651            MOV     BANH_TRAI,#0
0405 75FC00          652            MOV     BANH_PHAI,#0
                     653    
0408 120D88          654            CALL    DUNG_MOTOR
040B 2037FD          655            JB      NUT_TRAI1,$
040E 752E58          656            MOV     BYTE_LED_THAP,#88
0411 1210FB          657            CALL    DELAY1S

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