📄 retry.lst
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0414 0156 658 JMP START
659
660
661 ;=========CHUONH TRINH 5=========
0416 662 CHUONG_TRINH_PHAI5:
663 ;---NEM QUA CAN BT GHI DIEM
0416 120D0D 664 CALL XUAT_PHAT_TRAI
0419 12063F 665 CALL CHAY_THANG_MU_HAM_TOC
666 ;--CUA PHAI
041C 120A6C 667 CALL CUA_PHAI_MU
668
669 ;---CHAY THANG 7 VACH
041F 120DF4 670 CALL VAN_TOC_TB
0422 120656 671 CALL CHAY_THANG_TIM_VACH_NGANG
672
0425 754004 673 MOV DEM_VACH,#4
0428 120DBD 674 CALL VAN_TOC_MAX
042B 120668 675 CALL CHAY_THANG
676
042E 120616 677 CALL CHAY_THANG_HAM_TOC
0431 120616 678 CALL CHAY_THANG_HAM_TOC
679
0434 120B0E 680 CALL CUA_PHAI
681 ;---CHAY THANG 8 VACH
0437 120DF4 682 CALL VAN_TOC_TB
043A 120656 683 CALL CHAY_THANG_TIM_VACH_NGANG
684
043D 754005 685 MOV DEM_VACH,#5
0440 120DBD 686 CALL VAN_TOC_MAX
0443 120668 687 CALL CHAY_THANG
688
0446 120616 689 CALL CHAY_THANG_HAM_TOC
0449 120616 690 CALL CHAY_THANG_HAM_TOC
691
044C 120BF1 692 CALL CUA_TRAI
693 ;---CHAY THANG 7 VACH
044F 120DF4 694 CALL VAN_TOC_TB
0452 120656 695 CALL CHAY_THANG_TIM_VACH_NGANG
696
RETRY PAGE 13
0455 754004 697 MOV DEM_VACH,#4
0458 120DBD 698 CALL VAN_TOC_MAX
045B 120668 699 CALL CHAY_THANG
700
045E 120616 701 CALL CHAY_THANG_HAM_TOC
0461 120616 702 CALL CHAY_THANG_HAM_TOC
703
0464 120B0E 704 CALL CUA_PHAI
705 ;---CHAY THANG 4 VACH
0467 120DF4 706 CALL VAN_TOC_TB
046A 120656 707 CALL CHAY_THANG_TIM_VACH_NGANG
708
046D 754002 709 MOV DEM_VACH,#2
0470 120DF4 710 CALL VAN_TOC_TB
0473 120668 711 CALL CHAY_THANG
712
0476 1205D1 713 CALL HAM_TOC
714
0479 120E62 715 CALL VAN_TOC_RAT_CHAM
047C 120656 716 CALL CHAY_THANG_TIM_VACH_NGANG
717
047F 120BF1 718 CALL CUA_TRAI
719 ;GHI DIEM
0482 75FDFF 720 MOV MOTOR_GHI_DIEM,#255
721
0485 120E62 722 CALL VAN_TOC_RAT_CHAM
0488 120656 723 CALL CHAY_THANG_TIM_VACH_NGANG
048B 75FD00 724 MOV MOTOR_GHI_DIEM,#0
725 ;--
048E 120BF1 726 CALL CUA_TRAI
727
0491 754001 728 MOV DEM_VACH,#1
0494 120E2B 729 CALL VAN_TOC_CHAM
0497 120668 730 CALL CHAY_THANG
731 ;BO PHAI
049A 75FBFF 732 MOV BANH_TRAI,#255
049D 75FC0A 733 MOV BANH_PHAI,#10
04A0 754403 734 MOV ENCODER_CAO,#HIGH(ENCODER_1_VACH*3)
04A3 7543C0 735 MOV ENCODER_THAP,#LOW(ENCODER_1_VACH*3)
04A6 D2A8 736 SETB ACT_ENCODER
04A8 20A8FD 737 JB ACT_ENCODER,$
738
04AB 75FEFF 739 MOV MOTOR_NHA_CANG,#255
740
04AE 754403 741 MOV ENCODER_CAO,#HIGH(ENCODER_1_VACH*3)
04B1 7543C0 742 MOV ENCODER_THAP,#LOW(ENCODER_1_VACH*3)
04B4 D2A8 743 SETB ACT_ENCODER
04B6 20A8FD 744 JB ACT_ENCODER,$
745
04B9 1205AD 746 CALL HAM_TOC_MAX
747
748 ;-CUA TRAI
04BC 75FB00 749 MOV BANH_TRAI,#0
04BF 75FC00 750 MOV BANH_PHAI,#0
04C2 C290 751 CLR BANH_TRAI_DAO
04C4 D291 752 SETB BANH_PHAI_DAO
04C6 12107D 753 CALL DELAY50MS
04C9 75FBFF 754 MOV BANH_TRAI,#255
RETRY PAGE 14
04CC 75FCFF 755 MOV BANH_PHAI,#255
04CF 1210D1 756 CALL DELAY400MS
04D2 75FB00 757 MOV BANH_TRAI,#0
04D5 75FC00 758 MOV BANH_PHAI,#0
759
04D8 120D88 760 CALL DUNG_MOTOR
04DB 2037FD 761 JB NUT_TRAI1,$
04DE 752E58 762 MOV BYTE_LED_THAP,#88
04E1 1210FB 763 CALL DELAY1S
04E4 0156 764 JMP START
765
766 ;======================= HAM_TOC 1 VACH ==============================
04E6 767 HAM_TOC_ENCODER_1VACH:
04E6 C290 768 CLR BANH_TRAI_DAO
04E8 C291 769 CLR BANH_PHAI_DAO
04EA 75FB00 770 MOV BANH_TRAI,#0
04ED 75FC00 771 MOV BANH_PHAI,#0
04F0 12107D 772 CALL DELAY50MS
773
04F3 754700 774 MOV BYTE_DELAY_CAO,#HIGH(30) ;TGIAN HAM
04F6 75461E 775 MOV BYTE_DELAY_THAP,#LOW(30)
04F9 0547 776 INC BYTE_DELAY_CAO
04FB D28C 777 SETB TR0
778
04FD 754320 779 MOV ENCODER_THAP,#LOW(ENCODER_1_VACH*45/50)
0500 754401 780 MOV ENCODER_CAO,#HIGH(ENCODER_1_VACH*45/50)
0503 D2A8 781 SETB ACT_ENCODER
782
0505 75FB32 783 MOV BANH_TRAI,#50
0508 75FC32 784 MOV BANH_PHAI,#50
050B 785 LOOP_HAM_TOC_ENCODER_1VACH: ;TIMEOUT : ROBOT KO VUOT QUA DC DOAN
HAM TOC
050B 30A818 786 JNB ACT_ENCODER,SETB_DAO_BANH_ENCODER_1VACH ; --> TU TANG TOC VUOT QUA
050E 208CFA 787 JB TR0,LOOP_HAM_TOC_ENCODER_1VACH ;KT_TIME OUT : TIME OUT -> DO DUONG
DOAN CON LAI
0511 D290 788 SETB BANH_TRAI_DAO
0513 D291 789 SETB BANH_PHAI_DAO
0515 75FB00 790 MOV BANH_TRAI,#0
0518 75FC00 791 MOV BANH_PHAI,#0
051B 12107D 792 CALL DELAY50MS
051E 120E2B 793 CALL VAN_TOC_CHAM
0521 1205F5 794 CALL CHAY_THANG_ENCODER
0524 800D 795 SJMP THOAT_HAM_TOC_ENCODER_1VACH
0526 796 SETB_DAO_BANH_ENCODER_1VACH:
0526 75FB00 797 MOV BANH_TRAI,#0
0529 75FC00 798 MOV BANH_PHAI,#0
052C D290 799 SETB BANH_TRAI_DAO
052E D291 800 SETB BANH_PHAI_DAO
0530 12107D 801 CALL DELAY50MS
0533 802 THOAT_HAM_TOC_ENCODER_1VACH:
0533 22 803 RET
804
805 ;======================= HAM_TOC 2 VACH ==============================
0534 806 HAM_TOC_ENCODER_2VACH: ;2 VACH
0534 C290 807 CLR BANH_TRAI_DAO
0536 C291 808 CLR BANH_PHAI_DAO
0538 75FB00 809 MOV BANH_TRAI,#0
RETRY PAGE 15
053B 75FC00 810 MOV BANH_PHAI,#0
053E 12107D 811 CALL DELAY50MS
812 ;--------
0541 752E0B 813 MOV BYTE_LED_THAP,#11 ;<---
0544 75FB64 814 MOV BANH_TRAI,#100
0547 75FC64 815 MOV BANH_PHAI,#100
054A 754380 816 MOV ENCODER_THAP,#LOW(ENCODER_1_VACH*2/5)
054D 754400 817 MOV ENCODER_CAO,#HIGH(ENCODER_1_VACH*2/5)
0550 D2A8 818 SETB ACT_ENCODER
0552 819 LOOP_HAM_TOC_ENCODER_2VACH_1:
0552 20A8FD 820 JB ACT_ENCODER,LOOP_HAM_TOC_ENCODER_2VACH_1
821
822 ;--------
0555 752E0C 823 MOV BYTE_LED_THAP,#12 ;<---
0558 75FB96 824 MOV BANH_TRAI,#150
055B 75FC96 825 MOV BANH_PHAI,#150
055E 754380 826 MOV ENCODER_THAP,#LOW(ENCODER_1_VACH*2/5)
0561 754400 827 MOV ENCODER_CAO,#HIGH(ENCODER_1_VACH*2/5)
0564 D2A8 828 SETB ACT_ENCODER
0566 829 LOOP_HAM_TOC_ENCODER_2VACH_2:
0566 20A8FD 830 JB ACT_ENCODER,LOOP_HAM_TOC_ENCODER_2VACH_2
831
832 ;-----
0569 752E0D 833 MOV BYTE_LED_THAP,#13 ;<---
056C 834 HAM_TOC_ENCODER_2VACH_TIME_OUT:
056C 754700 835 MOV BYTE_DELAY_CAO,#HIGH(50) ;0.5S
056F 754632 836 MOV BYTE_DELAY_THAP,#LOW(50)
0572 0547 837 INC BYTE_DELAY_CAO
0574 D28C 838 SETB TR0
839
0576 754320 840 MOV ENCODER_THAP,#LOW(ENCODER_1_VACH*45/50)
0579 754401 841 MOV ENCODER_CAO,#HIGH(ENCODER_1_VACH*45/50)
057C D2A8 842 SETB ACT_ENCODER
843
057E 75FB32 844 MOV BANH_TRAI,#50
0581 75FC32 845 MOV BANH_PHAI,#50
0584 846 LOOP_HAM_TOC_ENCODER_2VACH_TIME_OUT: ;TIMEOUT : ROBOT KO VUOT QUA
DC DOAN HAM TOC
0584 30A818 847 JNB ACT_ENCODER,SETB_DAO_BANH_ENCODER_2VACH_TIME_OUT ; --> TU T
ANG TOC VUOT QUA
0587 208CFA 848 JB TR0,LOOP_HAM_TOC_ENCODER_2VACH_TIME_OUT ;KT_TIME OUT : TIME OUT -> D
O DUONG DOAN CON LAI
849
058A D290 850 SETB BANH_TRAI_DAO
058C D291 851 SETB BANH_PHAI_DAO
058E 75FB00 852 MOV BANH_TRAI,#0
0591 75FC00 853 MOV BANH_PHAI,#0
0594 12107D 854 CALL DELAY50MS
0597 120E2B 855 CALL VAN_TOC_CHAM
059A 1205F5 856 CALL CHAY_THANG_ENCODER
059D 800D 857 SJMP THOAT_HAM_TOC_ENCODER_2VACH_TIME_OUT
059F 858 SETB_DAO_BANH_ENCODER_2VACH_TIME_OUT:
059F 75FB00 859 MOV BANH_TRAI,#0
05A2 75FC00 860 MOV BANH_PHAI,#0
05A5 D290 861 SETB BANH_TRAI_DAO
05A7 D291 862 SETB BANH_PHAI_DAO
05A9 12107D 863 CALL DELAY50MS
05AC 864 THOAT_HAM_TOC_ENCODER_2VACH_TIME_OUT:
RETRY PAGE 16
05AC 22 865 RET
866
867 ;======================= HAM_TOC ==============================
05AD 868 HAM_TOC_MAX:
05AD 75FB00 869 MOV BANH_TRAI,#0
05B0 75FC00 870 MOV BANH_PHAI,#0
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