📄 td_bien.asm

📁 Robot control assembly program.
💻 ASM
📖 第 1 页 / 共 5 页
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	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_TB
	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_CHAM
	CALL	CHAY_THANG

	MOV	ENCODER_THAP,#LOW(ENCODER_1_VACH*3/10)
	MOV	ENCODER_CAO,#HIGH(ENCODER_1_VACH*3/10)
	CALL	CHAY_LUI_ENCODER
;--CUA 180
	CALL	CUA_TRAI_180

;--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 11 VACH	
	CALL	VAN_TOC_CHAM
	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

	CALL	CAN_BT

	CALL	DUNG

	JB	NUT_TT1,$
	MOV	BYTE_LED_THAP,#88
	CALL	DELAY1S
	JMP	START
;=========CHUONG TRINH 1A ========
CHUONG_TRINH_TRANG1:	
;--CHO RETRY ,GHI O 1 DIEM 
;--RA VUNG XUAT PHAT
	CALL	XUAT_PHAT_PHAI
;--CHAY THANG 12 VACH
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#10
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_RAT_CHAM
	CALL	CHAY_THANG

	CALL	HAM_TOC

	CALL	DELAY2MIN
	
	MOV	ENCODER_THAP,#LOW(ENCODER_1_VACH*30/100)
	MOV	ENCODER_CAO,#HIGH(ENCODER_1_VACH*30/100)
	CALL	VAN_TOC_RAT_CHAM
	CALL	CHAY_THANG_ENCODER

	CALL	CUA_PHAI_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_TB
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_TB
	CALL	CHAY_THANG
;--GHI DIEM
	CALL	GHI_O_1_DIEM
	CALL	DELAY2S
;-- RUT CANG
	MOV	ENCODER_THAP,#LOW(ENCODER_1_VACH*35/10)
	MOV	ENCODER_CAO,#HIGH(ENCODER_1_VACH*35/10)
	CALL	CHAY_LUI_ENCODER

	CALL	DUNG

	JB	NUT_TT1,$
	MOV	BYTE_LED_THAP,#88
	CALL	DELAY1S
	JMP	START
;=========CHUONH TRINH 1=========
CHUONG_TRINH_TT_CP1:
;--PHA O TT PHIA DOI DIEN DOI PHUONG
;--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 1 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_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

	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_RAT_CHAM
	CALL	CHAY_THANG

;--CUA PHAI
	CALL	CUA_PHAI
;--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 2 VACH
	CALL	PHA_DIEM

	JB	NUT_TT1,$
	MOV	BYTE_LED_THAP,#88
	CALL	DELAY1S
	JMP	START
;==========CHUONG TRINH  2 =====
CHUONG_TRINH_TT_CP2:	
;--PHA O TT PHIA THAP
;--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 1 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_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

	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,#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 PHAI
	CALL	CUA_PHAI
;--CHAY THANG 2 VACH
	CALL	PHA_DIEM

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

;==========CHUONG TRINH  3 =====
CHUONG_TRINH_TT_CP3:	
;--GHI O TT PHIA DOI PHUONG
;--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 1 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_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG

;--CUA PHAI
	CALL	CUA_PHAI
;--CHAY THANG 11 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,#7
	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 3 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_RAT_CHAM
	CALL	CHAY_THANG

;--CUA PHAI
	CALL	CUA_PHAI
	CALL	PHA_DIEM

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

;==========CHUONG TRINH  4 =====
CHUONG_TRINH_TT_CP4:
;--GHI O TT PHIA THAP DOI PHUONG
;--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 1 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_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

	MOV	DEM_VACH,#1
	CALL	VAN_TOC_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 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 TRAI
	CALL	CUA_TRAI
;--CHAY THANG 3 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_RAT_CHAM
	CALL	CHAY_THANG

;--CUA TRAI
	CALL	CUA_TRAI
	CALL	PHA_DIEM

	JB	NUT_TT1,$
	MOV	BYTE_LED_THAP,#88
	CALL	DELAY1S
	JMP	START
;==========CHUONG TRINH  5 =====
CHUONG_TRINH_TRAI_CP1:	
;--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 1 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG
	
	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_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,#2
	CALL	VAN_TOC_MAX
	CALL	CHAY_THANG

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

;==========CHUONG TRINH  6 =====
CHUONG_TRINH_TRAI_CP2:
;--PHA O 2 DIEM PHIA THAP
;--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 1 VACH
	CALL	VAN_TOC_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG
	
	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_RAT_CHAM
	CALL	CHAY_THANG
;--CUA PHAI
	CALL	CUA_PHAI
;--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 2 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	ENCODER_THAP,#LOW(ENCODER_1_VACH*3)
	MOV	ENCODER_CAO,#HIGH(ENCODER_1_VACH*3)
	CALL	CHAY_THANG_NUA_PHAI
;--CUA PHAI
	CALL	CUA_PHAI
;--CHAY THANG 1 VACH
	CALL	PHA_DIEM

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

;=========CHUONH TRINH =========
CHUONG_TRINH_TRAI_CP3:
;--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_CHAM
	CALL	CHAY_THANG_TIM_VACH_NGANG

	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,#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 PHAI
	CALL	CUA_PHAI
;--CHAY THANG 2 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

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

;=========CHUONH TRINH 1=========
CHUONG_TRINH_TRAI_CP4:	
;--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 3 VACH
	CALL	VAN_TOC_TB
💿 文件大小 187 K
👤 上传用户 peterzhang1982
📂 所属分类汇编语言
🏷️ 相关标签

#assembly #control #program #Robot
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