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📄 td_tt.lst

📁 Robot control assembly program.
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                     946    
0608 754001          947            MOV     DEM_VACH,#1
060B 121FDC          948            CALL    VAN_TOC_CHAM
060E 121304          949            CALL    CHAY_THANG
                     950    
                     951    ;--CUA TRAI
0611 121B6E          952            CALL    CUA_TRAI
                     953    ;--CHAY THANG 3 VACH
0614 121FDC          954            CALL    VAN_TOC_CHAM
0617 1212D3          955            CALL    CHAY_THANG_TIM_VACH_NGANG
                     956    
061A 754001          957            MOV     DEM_VACH,#1
061D 121FAB          958            CALL    VAN_TOC_TB
0620 121304          959            CALL    CHAY_THANG
                     960    
0623 754001          961            MOV     DEM_VACH,#1
0626 121FDC          962            CALL    VAN_TOC_CHAM
0629 121304          963            CALL    CHAY_THANG
                     964    
062C 121950          965            CALL    CUA_PHAI
                     966    ;--CHAY THANG 1 VACH
062F 121FDC          967            CALL    VAN_TOC_CHAM
0632 1212D3          968            CALL    CHAY_THANG_TIM_VACH_NGANG
                     969    
0635 121F5F          970            CALL    DUNG
0638 12108C          971            CALL    GHI_DIEM
063B 122377          972            CALL    DELAY30S
063E 121181          973            CALL    GIU_DIEM
                     974    
0641 2039FD          975            JB      NUT_TT1,$
0644 752E58          976            MOV     BYTE_LED_THAP,#88
0647 12230B          977            CALL    DELAY1S
064A 015A            978            JMP     START
                     979    
                     980    ;=========CHUONH TRINH 1=========
064C                 981    CHUONG_TRINH_PHAI3:     
                     982    ;--GHI O 2 DIEM DOI PHUONG PHIA DOI PHUONG,CHONG RETRY
                     983    ;--RA VUNG XUAT PHAT
064C 121DD4          984            CALL    XUAT_PHAT_PHAI
                     985    ;--CHAY THANG 10 VACH
TD_TT                                                                                                         PAGE 18

064F 121F7A          986            CALL    VAN_TOC_MAX
0652 1212D3          987            CALL    CHAY_THANG_TIM_VACH_NGANG
                     988            
0655 754008          989            MOV     DEM_VACH,#8
0658 121F7A          990            CALL    VAN_TOC_MAX
065B 121304          991            CALL    CHAY_THANG
                     992    
065E 754001          993            MOV     DEM_VACH,#1
0661 121FDC          994            CALL    VAN_TOC_CHAM
0664 121304          995            CALL    CHAY_THANG
                     996    
                     997    ;--CUA PHAI
0667 121950          998            CALL    CUA_PHAI
                     999    ;--CHAY THANG 4 VACH
066A 121FDC         1000            CALL    VAN_TOC_CHAM
066D 1212D3         1001            CALL    CHAY_THANG_TIM_VACH_NGANG
                    1002            
0670 754001         1003            MOV     DEM_VACH,#1
0673 121FAB         1004            CALL    VAN_TOC_TB
0676 121304         1005            CALL    CHAY_THANG
                    1006    
0679 754001         1007            MOV     DEM_VACH,#1
067C 121F7A         1008            CALL    VAN_TOC_MAX
067F 121304         1009            CALL    CHAY_THANG
                    1010    
0682 754001         1011            MOV     DEM_VACH,#1
0685 121FDC         1012            CALL    VAN_TOC_CHAM
0688 121304         1013            CALL    CHAY_THANG
                    1014    
                    1015    ;--CUA PHAI
068B 121950         1016            CALL    CUA_PHAI
                    1017    ;--CHAY THANG 9 VACH
068E 121FDC         1018            CALL    VAN_TOC_CHAM
0691 1212D3         1019            CALL    CHAY_THANG_TIM_VACH_NGANG
                    1020            
0694 754001         1021            MOV     DEM_VACH,#1
0697 121FAB         1022            CALL    VAN_TOC_TB
069A 121304         1023            CALL    CHAY_THANG
                    1024    
069D 754006         1025            MOV     DEM_VACH,#6
06A0 121F7A         1026            CALL    VAN_TOC_MAX
06A3 121304         1027            CALL    CHAY_THANG
                    1028    
06A6 754001         1029            MOV     DEM_VACH,#1
06A9 121FDC         1030            CALL    VAN_TOC_CHAM
06AC 121304         1031            CALL    CHAY_THANG
                    1032    
                    1033    ;--CUA TRAI
06AF 121B6E         1034            CALL    CUA_TRAI
                    1035    ;--CHAY THANG 5 VACH
06B2 121FDC         1036            CALL    VAN_TOC_CHAM
06B5 1212D3         1037            CALL    CHAY_THANG_TIM_VACH_NGANG
                    1038            
06B8 754001         1039            MOV     DEM_VACH,#1
06BB 121FAB         1040            CALL    VAN_TOC_TB
06BE 121304         1041            CALL    CHAY_THANG
                    1042    
06C1 754002         1043            MOV     DEM_VACH,#2
TD_TT                                                                                                         PAGE 19

06C4 121F7A         1044            CALL    VAN_TOC_MAX
06C7 121304         1045            CALL    CHAY_THANG
                    1046    
06CA 754001         1047            MOV     DEM_VACH,#1
06CD 121FDC         1048            CALL    VAN_TOC_CHAM
06D0 121304         1049            CALL    CHAY_THANG
                    1050            
                    1051    ;--CUA TRAI
06D3 121B6E         1052            CALL    CUA_TRAI
                    1053    ;--CHAY THANG 2 VACH
06D6 121FDC         1054            CALL    VAN_TOC_CHAM
06D9 1212D3         1055            CALL    CHAY_THANG_TIM_VACH_NGANG
                    1056    
06DC 754001         1057            MOV     DEM_VACH,#1
06DF 121FDC         1058            CALL    VAN_TOC_CHAM
06E2 121304         1059            CALL    CHAY_THANG
                    1060    
                    1061    ;--CUA TRAI
06E5 121B6E         1062            CALL    CUA_TRAI
                    1063    ;--CHAY THANG 1 VACH
06E8 121FDC         1064            CALL    VAN_TOC_CHAM
06EB 1212D3         1065            CALL    CHAY_THANG_TIM_VACH_NGANG
                    1066    
06EE 121F5F         1067            CALL    DUNG
06F1 12108C         1068            CALL    GHI_DIEM
06F4 122377         1069            CALL    DELAY30S
06F7 121181         1070            CALL    GIU_DIEM
                    1071    
06FA 2039FD         1072            JB      NUT_TT1,$
06FD 752E58         1073            MOV     BYTE_LED_THAP,#88
0700 12230B         1074            CALL    DELAY1S
0703 015A           1075            JMP     START
                    1076    ;=========CHUONH TRINH 12=========
0705                1077    CHUONG_TRINH_PHAI4:     
                    1078    ;--GHI O 2 DIEM DOI PHUONG PHIA THAP DOI PHUONG
                    1079    ;--RA VUNG XUAT PHAT
0705 121DD4         1080            CALL    XUAT_PHAT_PHAI
                    1081    ;--CHAY THANG 11 VACH
0708 121F7A         1082            CALL    VAN_TOC_MAX
070B 1212D3         1083            CALL    CHAY_THANG_TIM_VACH_NGANG
                    1084            
070E 754008         1085            MOV     DEM_VACH,#8
0711 121F7A         1086            CALL    VAN_TOC_MAX
0714 121304         1087            CALL    CHAY_THANG
                    1088    
0717 754001         1089            MOV     DEM_VACH,#1
071A 121FDC         1090            CALL    VAN_TOC_CHAM
071D 121304         1091            CALL    CHAY_THANG
                    1092    
                    1093    ;--CUA PHAI
0720 121950         1094            CALL    CUA_PHAI
                    1095    ;--CHAY THANG 4 VACH
0723 121FDC         1096            CALL    VAN_TOC_CHAM
0726 1212D3         1097            CALL    CHAY_THANG_TIM_VACH_NGANG
                    1098            
0729 754001         1099            MOV     DEM_VACH,#1
072C 121FAB         1100            CALL    VAN_TOC_TB
072F 121304         1101            CALL    CHAY_THANG
TD_TT                                                                                                         PAGE 20

                    1102    
0732 754001         1103            MOV     DEM_VACH,#1
0735 121F7A         1104            CALL    VAN_TOC_MAX
0738 121304         1105            CALL    CHAY_THANG
                    1106    
073B 754001         1107            MOV     DEM_VACH,#1
073E 121FDC         1108            CALL    VAN_TOC_CHAM
0741 121304         1109            CALL    CHAY_THANG
                    1110    
                    1111    ;--CUA PHAI
0744 121950         1112            CALL    CUA_PHAI
                    1113    ;--CHAY THANG 9 VACH
0747 121FDC         1114            CALL    VAN_TOC_CHAM
074A 1212D3         1115            CALL    CHAY_THANG_TIM_VACH_NGANG
                    1116            
074D 754001         1117            MOV     DEM_VACH,#1
0750 121FAB         1118            CALL    VAN_TOC_TB
0753 121304         1119            CALL    CHAY_THANG
                    1120    
0756 754006         1121            MOV     DEM_VACH,#6
0759 121F7A         1122            CALL    VAN_TOC_MAX
075C 121304         1123            CALL    CHAY_THANG
                    1124    
075F 754001         1125            MOV     DEM_VACH,#1
0762 121FDC         1126            CALL    VAN_TOC_CHAM
0765 121304         1127            CALL    CHAY_THANG
                    1128    
                    1129    ;--CUA TRAI
0768 121B6E         1130            CALL    CUA_TRAI
                    1131    ;--CHAY THANG 3 VACH
076B 121FDC         1132            CALL    VAN_TOC_CHAM
076E 1212D3         1133            CALL    CHAY_THANG_TIM_VACH_NGANG
                    1134    
0771 754001         1135            MOV     DEM_VACH,#1
0774 121FAB         1136            CALL    VAN_TOC_TB
0777 121304         1137            CALL    CHAY_THANG
                    1138    
077A 754001         1139            MOV     DEM_VACH,#1
077D 121FDC         1140            CALL    VAN_TOC_CHAM
0780 121304         1141            CALL    CHAY_THANG
                    1142            
                    1143    ;--CUA TRAI
0783 121B6E         1144            CALL    CUA_TRAI
                    1145    ;--CHAY THANG 1 VACH
0786 121FDC         1146            CALL    VAN_TOC_CHAM
0789 1212D3         1147            CALL    CHAY_THANG_TIM_VACH_NGANG
                    1148    
078C 121F5F         1149            CALL    DUNG
078F 12108C         1150            CALL    GHI_DIEM
0792 122377         1151            CALL    DELAY30S
0795 121181         1152            CALL    GIU_DIEM
                    1153    
0798 2039FD         1154            JB      NUT_TT1,$
079B 752E58         1155            MOV     BYTE_LED_THAP,#88
079E 12230B         1156            CALL    DELAY1S
07A1 015A           1157            JMP     START
                    1158    ;=========CHUONH TRINH TRANG 1=========
07A3                1159    CHUONG_TRINH_TRANG2:    
TD_TT                                                                                                         PAGE 21

                    1160    ;--GHI O 1 DIEM
                    1161    ;--RA VUNG XUAT PHAT
07A3 121DD4         1162            CALL    XUAT_PHAT_PHAI
                    1163    ;--CHAY THANG 7 VACH    
07A6 121F7A         1164            CALL    VAN_TOC_MAX
07A9 1212D3         1165            CALL    CHAY_THANG_TIM_VACH_NGANG
                    1166            
07AC 754005         1167            MOV     DEM_VACH,#5
07AF 121F7A         1168            CALL    VAN_TOC_MAX
07B2 121304         1169            CALL    CHAY_THANG
                    1170    
07B5 754001         1171            MOV     DEM_VACH,#1
07B8 121FDC         1172            CALL    VAN_TOC_CHAM
07BB 121304         1173            CALL    CHAY_THANG
                    1174    
                    1175    ;--CUA PHAI
07BE 1218B9         1176            CALL    CUA_PHAI_O_1_DIEM
07C1 12104A         1177            CALL    GHI_O_1_DIEM
07C4 1210F2         1178            CALL    HIEU_CHINH_DIEM
07C7 754400         1179            MOV     ENCODER_CAO,#HIGH(ENCODER_1_VACH/10)
07CA 754320         1180            MOV   

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