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📄 td_bien.asm

📁 Robot control assembly program.
💻 ASM
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12345 
	CALL	CHAY_THANG

	CALL	CUA_PHAI
;--CHAY THANG 5 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#3
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_RAT_CHAM
	CALL	CHAY_THANG	

	CALL	CUA_TRAI
;--CHAY THANG 12 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#10
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	ENCODER_THAP,#LOW(ENCODER_1_VACH)
	MOV	ENCODER_CAO,#HIGH(ENCODER_1_VACH)
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_ENCODER

	CALL	CAN_BT

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

;=========CHUONH TRINH =========
CHUONG_TRINH_TRAI3:
;--GHI O 2 DIEM GAN PHIA DOI PHUONG
;--RA VUNG XUAT PHAT
	CALL	XUAT_PHAT_PHAI
;--CHAY THANG 11 VACH
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#9
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_RAT_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_RAT_CHAM
	CALL	CHAY_THANG

;--CUA TRAI
	CALL	CUA_TRAI
;--CHAY THANG 1 VACH
	CALL	VAN_TOC_TB
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_TB
	CALL	CHAY_THANG

;--CUA PHAI
	CALL	CUA_PHAI
;--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_RAT_CHAM
	CALL	CHAY_THANG

;--CUA PHAI
	CALL	CUA_PHAI
;--CHAY THANG 2 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_TB
	CALL	CHAY_THANG

;--CUA PHAI
	CALL	CUA_PHAI
;--CHAY THANG 1 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG
	

	CALL	GHI_DIEM

;=================== CAN BT =======
	MOV	ENCODER_THAP,#LOW(ENCODER_1_VACH*5/10)
	MOV	ENCODER_CAO,#HIGH(ENCODER_1_VACH*5/10)
	CALL	CHAY_LUI_RUT_CANG

	CALL	CUA_PHAI_90
;--CHAY THANG 2 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_TB
	CALL	CHAY_THANG

	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_RAT_CHAM
	CALL	CHAY_THANG

	CALL	CUA_TRAI
;--CHAY THANG 2 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_TB
	CALL	CHAY_THANG

	CALL	CUA_PHAI
;--CHAY THANG 5 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,#2
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_RAT_CHAM
	CALL	CHAY_THANG	

	CALL	CUA_TRAI
;--CHAY THANG 12 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,#9
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	ENCODER_THAP,#LOW(ENCODER_1_VACH)
	MOV	ENCODER_CAO,#HIGH(ENCODER_1_VACH)
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_ENCODER

	CALL	CAN_BT	
	CALL	DUNG

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

;=========CHUONH TRINH 1=========
CHUONG_TRINH_TRAI4:	
;--GHI O 2 DIEM GAN PHIA TTAM
;--RA VUNG XUAT PHAT
	CALL	XUAT_PHAT_PHAI
;--CHAY THANG 11 VACH
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#9
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_RAT_CHAM
	CALL	CHAY_THANG

;--CUA PHAI
	CALL	CUA_PHAI
;--CHAY THANG 5 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,#2
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_RAT_CHAM
	CALL	CHAY_THANG

;--CUA PHAI
	CALL	CUA_PHAI
;--CHAY THANG 2 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_TB
	CALL	CHAY_THANG

;--CUA PHAI
	CALL	CUA_TRAI
;--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_RAT_CHAM
	CALL	CHAY_THANG

;--CUA TRAI
	CALL	CUA_TRAI
;--CHAY THANG 1 VACH
	CALL	VAN_TOC_CHAM	;<-----
	CALL	CHAY_THANG_TIM_VACH_NGANG


	CALL	GHI_DIEM
;========== CAN BT ==============
	MOV	ENCODER_THAP,#LOW(ENCODER_1_VACH/2)
	MOV	ENCODER_CAO,#HIGH(ENCODER_1_VACH/2)
	CALL	CHAY_LUI_RUT_CANG

	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_RAT_CHAM
	CALL	CHAY_THANG

;
	CALL	CUA_PHAI
;--CHAY THANG 2 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_TB
	CALL	CHAY_THANG

	CALL	CUA_TRAI
;--CHAY THANG 6 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#4
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_RAT_CHAM
	CALL	CHAY_THANG

	CALL	CUA_TRAI
;--CHAY THANG 12 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#10
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	ENCODER_THAP,#LOW(ENCODER_1_VACH)
	MOV	ENCODER_CAO,#HIGH(ENCODER_1_VACH)
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_ENCODER

	CALL	CAN_BT	
	CALL	DUNG

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

;=========CHUONH TRINH 1=========
CHUONG_TRINH_PHAI1:	
;--GHI O 2 DIEM PHIA DOI DIEN DOI PHUONG
;--RA VUNG XUAT PHAT
	CALL	XUAT_PHAT_PHAI
;--CHAY THANG 10 VACH
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#8
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_RAT_CHAM
	CALL	CHAY_THANG

;--CUA PHAI
	CALL	CUA_PHAI
;--CHAY THANG 5 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,#2
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_RAT_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,#1
	CALL	VAN_TOC_TB
	CALL	CHAY_THANG

	MOV	DEM_VACH,#4
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_RAT_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
	

	CALL	GHI_DIEM
	CALL	DELAY15S
	CALL	GIU_DIEM

	JB	NUT_TT1,$
	MOV	BYTE_LED_THAP,#88
	CALL	DELAY1S
	JMP	START
;=========CHUONH TRINH 1=========
CHUONG_TRINH_PHAI2:	
;--PHIA THAP 
;--RA VUNG XUAT PHAT
	CALL	XUAT_PHAT_PHAI
;--CHAY THANG 10 VACH
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#8
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_RAT_CHAM
	CALL	CHAY_THANG

;--CUA PHAI
	CALL	CUA_PHAI
;--CHAY THANG 5 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,#2
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_RAT_CHAM
	CALL	CHAY_THANG

;--CUA PHAI
	CALL	CUA_PHAI
;--CHAY THANG 5 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,#2
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_RAT_CHAM
	CALL	CHAY_THANG

;--CUA TRAI
	CALL	CUA_TRAI
;--CHAY THANG 3 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#2
	CALL	VAN_TOC_TB
	CALL	CHAY_THANG

	CALL	CUA_PHAI
;--CHAY THANG 1 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG


	CALL	GHI_DIEM
	CALL	DELAY15S
	CALL	GIU_DIEM

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

;=========CHUONH TRINH 1=========
CHUONG_TRINH_PHAI3:	
;--GHI O 2 DIEM DOI PHUONG PHIA DOI PHUONG,CHONG RETRY
;--RA VUNG XUAT PHAT
	CALL	XUAT_PHAT_PHAI
;--CHAY THANG 10 VACH
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#8
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_RAT_CHAM
	CALL	CHAY_THANG

;--CUA PHAI
	CALL	CUA_PHAI
;--CHAY THANG 5 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,#2
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_RAT_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_RAT_CHAM
	CALL	CHAY_THANG

;--CUA TRAI
	CALL	CUA_TRAI
;--CHAY THANG 5 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,#2
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_RAT_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
;--CHAY THANG 1 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG


	CALL	GHI_DIEM
	CALL	DELAY15S
	CALL	GIU_DIEM

	JB	NUT_TT1,$
	MOV	BYTE_LED_THAP,#88
	CALL	DELAY1S
	JMP	START
;=========CHUONH TRINH 12=========
CHUONG_TRINH_PHAI4:	
;--GHI O 2 DIEM DOI PHUONG PHIA THAP DOI PHUONG
;--RA VUNG XUAT PHAT
	CALL	XUAT_PHAT_PHAI
;--CHAY THANG 10 VACH
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG_TIM_VACH_NGANG
	
	MOV	DEM_VACH,#8
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_RAT_CHAM
	CALL	CHAY_THANG

;--CUA PHAI
	CALL	CUA_PHAI
;--CHAY THANG 5 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG
	
	MOV	DEM_VACH,#3
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_RAT_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,#7
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_RAT_CHAM
	CALL	CHAY_THANG

;--CUA TRAI
	CALL	CUA_TRAI
;--CHAY THANG 3 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

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


	CALL	GHI_DIEM
	CALL	DELAY15S
	CALL	GIU_DIEM

	JB	NUT_TT1,$
	MOV	BYTE_LED_THAP,#88
	CALL	DELAY1S
	JMP	START
;=========CHUONH TRINH TRANG 1=========
CHUONG_TRINH_TRANG2:	
;--GHI O 1 DIEM,CAN BT
;--RA VUNG XUAT PHAT
	CALL	XUAT_PHAT_PHAI
;--CHAY THANG 8 VACH	
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#6
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_RAT_CHAM
	CALL	CHAY_THANG

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

	CALL	GHI_O_1_DIEM

	CALL	CUA_TRAI_90	
;--CHAY THANG 2 VACH
	CALL	VAN_TOC_TB
12345

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