📄 retry.asm
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SETB BANH_PHAI_DAO ;0 0 0 0 0 1 0 0
MOV BANH_TRAI,BANH_TRAI_TD4
MOV BANH_PHAI,BANH_PHAI_TD1
JMP THOAT_DK_VUNG
DK_VUNG_PHAI4:
CJNE A,#04H,DK_VUNG_PHAI5 ;DK VUNG PHAI4
SETB BANH_TRAI_DAO ;1 2 3 4 5 6 7 8
SETB BANH_PHAI_DAO ;0 0 0 0 0 1 1 0
MOV BANH_TRAI,BANH_TRAI_TD5
MOV BANH_PHAI,BANH_PHAI_TD1
JMP THOAT_DK_VUNG
DK_VUNG_PHAI5:
CJNE A,#05H,DK_VUNG_PHAI6 ;DK VUNG PHAI5
SETB BANH_TRAI_DAO ;1 2 3 4 5 6 7 8
SETB BANH_PHAI_DAO ;0 0 0 0 0 0 1 0
MOV BANH_TRAI,BANH_TRAI_TD6
MOV BANH_PHAI,BANH_PHAI_TD1
JMP THOAT_DK_VUNG
DK_VUNG_PHAI6:
CJNE A,#06H,DK_VUNG_PHAI7 ;DK VUNG PHAI6
SETB BANH_TRAI_DAO ;1 2 3 4 5 6 7 8
SETB BANH_PHAI_DAO ;0 0 0 0 0 0 1 1
MOV BANH_TRAI,BANH_TRAI_TD7
MOV BANH_PHAI,BANH_PHAI_TD1
JMP THOAT_DK_VUNG
DK_VUNG_PHAI7:
CJNE A,#07H,DK_VUNG_PHAI8 ;DK VUNG PHAI7
SETB BANH_TRAI_DAO ;1 2 3 4 5 6 7 8
SETB BANH_PHAI_DAO ;0 0 0 0 0 0 0 1
MOV BANH_TRAI,BANH_TRAI_TD8
MOV BANH_PHAI,BANH_PHAI_TD1
JMP THOAT_DK_VUNG
DK_VUNG_PHAI8:
CJNE A,#08H,DK_VUNG_TRAI1 ;DK VUNG PHAI8
SETB BANH_TRAI_DAO ;1 2 3 4 5 6 7 8
SETB BANH_PHAI_DAO ;0 0 0 0 0 0 0 1
MOV BANH_TRAI,#0
MOV BANH_PHAI,#100
JMP THOAT_DK_VUNG
;------
DK_VUNG_TRAI1:
CJNE A,#11H,DK_VUNG_TRAI2 ;DK VUNG TRAI1
SETB BANH_TRAI_DAO ;1 2 3 4 5 6 7 8
SETB BANH_PHAI_DAO ;0 0 0 1 0 0 0 0
MOV BANH_PHAI,BANH_PHAI_TD2
MOV BANH_TRAI,BANH_TRAI_TD1
JMP THOAT_DK_VUNG
DK_VUNG_TRAI2:
CJNE A,#12H,DK_VUNG_TRAI3 ;DK VUNG TRAI2
SETB BANH_TRAI_DAO ;1 2 3 4 5 6 7 8
SETB BANH_PHAI_DAO ;0 0 1 1 0 0 0 0
MOV BANH_PHAI,BANH_PHAI_TD3
MOV BANH_TRAI,BANH_TRAI_TD1
JMP THOAT_DK_VUNG
DK_VUNG_TRAI3:
CJNE A,#13H,DK_VUNG_TRAI4 ;DK VUNG TRAI3
SETB BANH_TRAI_DAO ;1 2 3 4 5 6 7 8
SETB BANH_PHAI_DAO ;0 0 1 0 0 0 0 0
MOV BANH_PHAI,BANH_PHAI_TD4
MOV BANH_TRAI,BANH_TRAI_TD1
JMP THOAT_DK_VUNG
DK_VUNG_TRAI4:
CJNE A,#14H,DK_VUNG_TRAI5 ;DK VUNG TRAI4
SETB BANH_TRAI_DAO ;1 2 3 4 5 6 7 8
SETB BANH_PHAI_DAO ;0 1 1 0 0 0 0 0
MOV BANH_PHAI,BANH_PHAI_TD5
MOV BANH_TRAI,BANH_TRAI_TD1
JMP THOAT_DK_VUNG
DK_VUNG_TRAI5:
CJNE A,#15H,DK_VUNG_TRAI6 ;DK VUNG TRAI5
SETB BANH_TRAI_DAO ;1 2 3 4 5 6 7 8
SETB BANH_PHAI_DAO ;0 1 0 0 0 0 0 0
MOV BANH_PHAI,BANH_PHAI_TD6
MOV BANH_TRAI,BANH_TRAI_TD1
JMP THOAT_DK_VUNG
DK_VUNG_TRAI6:
CJNE A,#16H,DK_VUNG_TRAI7 ;DK VUNG TRAI6
SETB BANH_TRAI_DAO ;1 2 3 4 5 6 7 8
SETB BANH_PHAI_DAO ;1 1 0 0 0 0 0 0
MOV BANH_PHAI,BANH_PHAI_TD7
MOV BANH_TRAI,BANH_TRAI_TD1
JMP THOAT_DK_VUNG
DK_VUNG_TRAI7:
CJNE A,#17H,DK_VUNG_TRAI8 ;DK VUNG TRAI7
SETB BANH_TRAI_DAO ;1 2 3 4 5 6 7 8
SETB BANH_PHAI_DAO ;1 0 0 0 0 0 0 0
MOV BANH_PHAI,BANH_PHAI_TD8
MOV BANH_TRAI,BANH_TRAI_TD1
JMP THOAT_DK_VUNG
DK_VUNG_TRAI8:
CJNE A,#18H,ERROR_DK_VUNG ;DK VUNG TRAI8
SETB BANH_TRAI_DAO ;1 2 3 4 5 6 7 8
SETB BANH_PHAI_DAO ;1 0 0 0 0 0 0 0
MOV BANH_PHAI,#0
MOV BANH_TRAI,#100
JMP THOAT_DK_VUNG
ERROR_DK_VUNG:
SETB BANH_TRAI_DAO ;1 2 3 4 5 6 7 8
SETB BANH_PHAI_DAO ;X X X X X X X X
MOV BANH_PHAI,#50
MOV BANH_TRAI,#50
THOAT_DK_VUNG:
RET
;========================================================================
CHO_QUA_VACH_NGANG:
CALL KT_QUA_VACH_NGANG ;CHO VACH NGANG
JNB BIT_QUA_VACH_NGANG,CHO_QUA_VACH_NGANG
RET
;======================= CUA_180 =================================================
CUA_180:
MOV BANH_PHAI,#0
MOV BANH_TRAI,#0
CLR BANH_PHAI_DAO
SETB BANH_TRAI_DAO
LCALL DELAY50MS
MOV BANH_TRAI,#60
MOV BANH_PHAI,#60
MOV BYTE_LED_THAP,#101
MOV BYTE_LED_CAO,#0
;******** THOAT VACH -> NHAN VACH ********
;TIME OUT 5S
MOV BYTE_DELAY_CAO,#1
MOV BYTE_DELAY_THAP,#100
SETB TR0
CUA_180_1: ;CHO` CB=00000011
JB TR0,TT_CUA_180_1
MOV BANH_TRAI,#80
MOV BANH_PHAI,#80
TT_CUA_180_1:
MOV BYTE_LED_THAP,BYTE_DELAY_THAP
MOV BYTE_LED_CAO,BYTE_DELAY_CAO
MOV C,CAMBIEN7
ORL C,CAMBIEN8
ANL C,/CAMBIEN3
ANL C,/CAMBIEN4
ANL C,/CAMBIEN5
ANL C,/CAMBIEN6
ANL C,/CAMBIEN1
ANL C,/CAMBIEN2
JNC CUA_180_1
;--
MOV BANH_TRAI,#40
MOV BANH_PHAI,#40
MOV BYTE_LED_THAP,#102
MOV BYTE_LED_CAO,#0
CALL DELAY100MS
;TIME OUT 5S
MOV BYTE_DELAY_CAO,#1
MOV BYTE_DELAY_THAP,#100
SETB TR0
CUA_180_2: ;CHO` CB=00111100
JB TR0,TT_CUA_180_2
MOV BANH_TRAI,#60
MOV BANH_PHAI,#60
TT_CUA_180_2:
MOV BYTE_LED_THAP,BYTE_DELAY_THAP
MOV BYTE_LED_CAO,BYTE_DELAY_CAO
MOV C,CAMBIEN3
ORL C,CAMBIEN4
ORL C,CAMBIEN5
ORL C,CAMBIEN6
ANL C,/CAMBIEN1
ANL C,/CAMBIEN2
ANL C,/CAMBIEN7
ANL C,/CAMBIEN8
JNC CUA_180_2
MOV BYTE_LED_THAP,#3
MOV BYTE_LED_CAO,#0
CALL DELAY100MS
;TIME OUT 5S
MOV BYTE_DELAY_CAO,#1
MOV BYTE_DELAY_THAP,#100
SETB TR0
CUA_180_3: ;CHO` CB=00000011
JB TR0,TT_CUA_180_3
MOV BANH_TRAI,#80
MOV BANH_PHAI,#80
TT_CUA_180_3:
MOV BYTE_LED_THAP,BYTE_DELAY_THAP
MOV BYTE_LED_CAO,BYTE_DELAY_CAO
MOV C,CAMBIEN7
ORL C,CAMBIEN8
ANL C,/CAMBIEN3
ANL C,/CAMBIEN4
ANL C,/CAMBIEN5
ANL C,/CAMBIEN6
ANL C,/CAMBIEN1
ANL C,/CAMBIEN2
JNC CUA_180_3
MOV BANH_TRAI,#40
MOV BANH_PHAI,#40
MOV BYTE_LED_THAP,#102
MOV BYTE_LED_CAO,#0
CALL DELAY100MS
;TIME OUT 5S
MOV BYTE_DELAY_CAO,#1
MOV BYTE_DELAY_THAP,#100
SETB TR0
CUA_180_4: ;CHO` CB=00111100
JB TR0,TT_CUA_180_4
MOV BANH_TRAI,#60
MOV BANH_PHAI,#60
TT_CUA_180_4:
MOV BYTE_LED_THAP,BYTE_DELAY_THAP
MOV BYTE_LED_CAO,BYTE_DELAY_CAO
MOV C,CAMBIEN3
ORL C,CAMBIEN4
ORL C,CAMBIEN5
ORL C,CAMBIEN6
ANL C,/CAMBIEN1
ANL C,/CAMBIEN2
ANL C,/CAMBIEN7
ANL C,/CAMBIEN8
JNC CUA_180_4
MOV BYTE_LED_THAP,#3
MOV BYTE_LED_CAO,#0
;******** THOAT CUA 180 ********
THOAT_CUA_180:
CALL DUNG
RET
;======================= CUA PHAI 90 ========================================================
CUA_PHAI_MU:
MOV BANH_PHAI,#50
MOV BANH_TRAI,#20
MOV ENCODER_THAP,#LOW(ENCODER_1_VACH*55/100)
MOV ENCODER_CAO,#HIGH(ENCODER_1_VACH*55/100)
SETB ACT_ENCODER
LOOP_CUA_PHAI_MU:
MOV BYTE_LED_THAP,ENCODER_THAP
MOV BYTE_LED_CAO,ENCODER_CAO
JB ACT_ENCODER,LOOP_CUA_PHAI_MU
CALL HAM_TOC
CALL CUA_PHAI_90
RET
;======================= CUA PHAI 90 ========================================================
CUA_PHAI_90:
MOV BANH_PHAI,#0
MOV BANH_TRAI,#0
CLR BANH_PHAI_DAO
SETB BANH_TRAI_DAO
LCALL DELAY50MS
MOV BANH_TRAI,#10
MOV BANH_PHAI,#100
CALL DELAY700MS
;-----
MOV BYTE_LED_THAP,#102
CUA_PHAI_902: ;CHO` CB=00000000
MOV C,CAMBIEN7
CPL C
ANL C,/CAMBIEN8
ANL C,/CAMBIEN2
ANL C,/CAMBIEN3
ANL C,/CAMBIEN4
ANL C,/CAMBIEN5
ANL C,/CAMBIEN6
JNC CUA_PHAI_902
CALL DELAY50MS
MOV BYTE_LED_THAP,#103
CUA_PHAI_903: ;CHO` CB=11000000
MOV C,CAMBIEN2
ANL C,CAMBIEN1
ANL C,/CAMBIEN8
ANL C,/CAMBIEN7
ANL C,/CAMBIEN3
ANL C,/CAMBIEN4
ANL C,/CAMBIEN5
ANL C,/CAMBIEN6
JNC CUA_PHAI_903
CALL DELAY50MS
MOV BYTE_LED_THAP,#104
CUA_PHAI_904: ;CHO` CB=001000000
MOV C,CAMBIEN3
;ORL C,CAMBIEN5
ANL C,CAMBIEN4
ANL C,/CAMBIEN8
ANL C,/CAMBIEN7
ANL C,/CAMBIEN6
ANL C,/CAMBIEN5
ANL C,/CAMBIEN2
ANL C,/CAMBIEN1
JNC CUA_PHAI_904
MOV BYTE_LED_THAP,#105
MOV BYTE_LED_CAO,#0
;******** THOAT CUA PHAI ********
THOAT_CUA_PHAI_90:
MOV BANH_PHAI,#0
MOV BANH_TRAI,#0
SETB BANH_PHAI_DAO
CLR BANH_TRAI_DAO
LCALL DELAY50MS
MOV BANH_TRAI,#255
MOV BANH_PHAI,#255
CALL DELAY100MS
MOV BANH_TRAI,#0
MOV BANH_PHAI,#0
SETB BANH_PHAI_DAO
SETB BANH_TRAI_DAO
CALL DELAY50MS
RET
;======================= CUA PHAI ========================================================
CUA_PHAI:
MOV ENCODER_THAP,#LOW(ENCODER_1_VACH*40/100)
MOV ENCODER_CAO,#HIGH(ENCODER_1_VACH*40/100)
CALL VAN_TOC_RAT_CHAM
CALL CHAY_THANG_ENCODER
CALL HAM_TOC
MOV BANH_PHAI,#0
MOV BANH_TRAI,#0
CLR BANH_PHAI_DAO
SETB BANH_TRAI_DAO
LCALL DELAY50MS
MOV BANH_TRAI,#85
MOV BANH_PHAI,#90
CALL DELAY100MS
;-----
MOV BYTE_LED_THAP,#102
CUA_PHAI2: ;CHO` CB=00000000
MOV C,CAMBIEN8
CPL C
ANL C,/CAMBIEN7
ANL C,/CAMBIEN2
ANL C,/CAMBIEN1
ANL C,/CAMBIEN3
ANL C,/CAMBIEN4
ANL C,/CAMBIEN5
ANL C,/CAMBIEN6
JNC CUA_PHAI2
CALL DELAY50MS
MOV BYTE_LED_THAP,#103
CUA_PHAI3: ;CHO` CB=11000000
MOV C,CAMBIEN1
ANL C,CAMBIEN2
ANL C,/CAMBIEN8
ANL C,/CAMBIEN7
ANL C,/CAMBIEN3
ANL C,/CAMBIEN4
ANL C,/CAMBIEN5
ANL C,/CAMBIEN6
JNC CUA_PHAI3
CALL DELAY50MS
MOV BYTE_LED_THAP,#104
CUA_PHAI4: ;CHO` CB=001000000
MOV C,CAMBIEN3
;ORL C,CAMBIEN5
ORL C,CAMBIEN4
ANL C,/CAMBIEN8
ANL C,/CAMBIEN7
ANL C,/CAMBIEN6
ANL C,/CAMBIEN5
ANL C,/CAMBIEN2
ANL C,/CAMBIEN1
JNC CUA_PHAI4
MOV BYTE_LED_THAP,#105
MOV BYTE_LED_CAO,#0
;******** THOAT CUA PHAI ********
THOAT_CUA_PHAI:
MOV BANH_PHAI,#0
MOV BANH_TRAI,#0
SETB BANH_PHAI_DAO
CLR BANH_TRAI_DAO
LCALL DELAY50MS
MOV BANH_TRAI,#200
MOV BANH_PHAI,#200
CALL DELAY100MS
MOV BANH_TRAI,#0
MOV BANH_PHAI,#0
SETB BANH_PHAI_DAO
SETB BANH_TRAI_DAO
CALL DELAY50MS
RET
;======================= CUA TRAI ========================
CUA_TRAI_ENCODER:
MOV BANH_TRAI,#0
MOV BANH_PHAI,#0
CLR BANH_TRAI_DAO
SETB BANH_PHAI_DAO
CALL DELAY50MS
MOV BANH_TRAI,#0
MOV BANH_PHAI,#200
MOV ENCODER_THAP,#LOW(ENCODER_1_VACH*26/10)
MOV ENCODER_CAO,#HIGH(ENCODER_1_VACH*26/10)
SETB ACT_ENCODER
LOOP_CUA_TRAI_ENCODER:
JNB ACT_ENCODER,THOAT_CUA_TRAI_ENCODER
MOV BYTE_LED_CAO,ENCODER_CAO ;<---
MOV BYTE_LED_THAP,ENCODER_THAP
SJMP LOOP_CUA_TRAI_ENCODER
THOAT_CUA_TRAI_ENCODER:
RET
;================= CUA PHAI ENCODER =======
CUA_PHAI_ENCODER:
MOV BANH_PHAI,#0
MOV BANH_TRAI,#0
CLR BANH_PHAI_DAO
SETB BANH_TRAI_DAO
CALL DELAY50MS
MOV BANH_PHAI,#0
MOV BANH_TRAI,#100
MOV ENCODER_THAP,#LOW(ENCODER_1_VACH)
MOV ENCODER_CAO,#HIGH(ENCODER_1_VACH)
SETB ACT_ENCODER
LOOP_CUA_PHAI_ENCODER:
JNB ACT_ENCODER,THOAT_CUA_PHAI_ENCODER
MOV BYTE_LED_CAO,ENCODER_CAO ;<---
MOV BYTE_LED_THAP,ENCODER_THAP
SJMP LOOP_CUA_PHAI_ENCODER
THOAT_CUA_PHAI_ENCODER:
RET
;======================= CUA TRAI ========================
CUA_TRAI:
MOV ENCODER_THAP,#LOW(ENCODER_1_VACH*35/100)
MOV ENCODER_CAO,#HIGH(ENCODER_1_VACH*35 /100)
CALL VAN_TOC_RAT_CHAM
CALL CHAY_THANG_ENCODER
CALL HAM_TOC
MOV BANH_PHAI,#0
MOV BANH_TRAI,#0
CLR BANH_TRAI_DAO
SETB BANH_PHAI_DAO
LCALL DELAY50MS
MOV BANH_TRAI,#120
MOV BANH_PHAI,#70
CALL DELAY300MS
;-----
MOV BYTE_LED_THAP,#202
CUA_TRAI2: ;CHO` CB=00000000
MOV C,CAMBIEN1
CPL C
ANL C,/CAMBIEN2
ANL C,/CAMBIEN7
ANL C,/CAMBIEN8
ANL C,/CAMBIEN3
ANL C,/CAMBIEN4
ANL C,/CAMBIEN5
ANL C,/CAMBIEN6
JNC CUA_TRAI2
CALL DELAY50MS
MOV BYTE_LED_THAP,#203
CUA_TRAI3: ;CHO` CB=00000011
MOV C,CAMBIEN8
ANL C,CAMBIEN7
ANL C,/CAMBIEN1
ANL C,/CAMBIEN2
ANL C,/CAMBIEN3
ANL C,/CAMBIEN4
ANL C,/CAMBIEN5
ANL C,/CAMBIEN6
JNC CUA_TRAI3
CALL DELAY50MS
MOV BYTE_LED_THAP,#204
CUA_TRAI4: ;CHO` CB=00000100
MOV C,CAMBIEN6
ORL C,CAMBIEN5
;ORL C,CAMBIEN4
ANL C,/CAMBIEN1
ANL C,/CAMBIEN2
ANL C,/CAMBIEN3
ANL C,/CAMBIEN4
ANL C,/CAMBIEN7
ANL C,/CAMBIEN8
JNC CUA_TRAI4
MOV BYTE_LED_THAP,#205
MOV BYTE_LED_CAO,#0
;******** THOAT CUA PHAI ********
THOAT_CUA_TRAI:
MOV BANH_PHAI,#0
MOV BANH_TRAI,#0
CLR BANH_PHAI_DAO
SETB BANH_TRAI_DAO
LCALL DELAY50MS
MOV BANH_TRAI,#200
MOV BANH_PHAI,#200
CALL DELAY100MS
MOV BANH_TRAI,#0
MOV BANH_PHAI,#0
SETB BANH_PHAI_DAO
SETB BANH_TRAI_DAO
CALL DELAY50MS
RET
;========= CUA TRAI 90 ===========
CUA_TRAI_90:
CALL DUNG
MOV BANH_PHAI,#0
MOV BANH_TRAI,#0
CLR BANH_TRAI_DAO
LCALL DELAY50MS
SETB BANH_PHAI_DAO
MOV BANH_TRAI,#55
MOV BANH_PHAI,#55
MOV BYTE_LED_THAP,#201
MOV BYTE_LED_CAO,#0
;******** THOAT VACH -> NHAN VACH ********
;TIME OUT 5S
MOV BYTE_DELAY_CAO,#1
MOV BYTE_DELAY_THAP,#100
SETB TR0
CUA_TRAI_901: ;CHO` CB=11000000
JB TR0,TT_CUA_TRAI_90_1
MOV BANH_TRAI,#65
MOV BANH_PHAI,#65
TT_CUA_TRAI_90_1:
MOV BYTE_LED_THAP,BYTE_DELAY_THAP
MOV BYTE_LED_CAO,BYTE_DELAY_CAO
MOV C,CAMBIEN1
ORL C,CAMBIEN2
ANL C,/CAMBIEN7
ANL C,/CAMBIEN8
ANL C,/CAMBIEN3
ANL C,/CAMBIEN4
ANL C,/CAMBIEN5
ANL C,/CAMBIEN6
JNC CUA_TRAI_901
MOV BANH_TRAI,#40
MOV BANH_PHAI,#40
MOV BYTE_LED_THAP,#202
MOV BYTE_LED_CAO,#0
CALL DELAY100MS
;TIME OUT 2.5S
MOV BYTE_DELAY_CAO,#1
MOV BYTE_DELAY_THAP,#100
SETB TR0
CUA_TRAI_902: ;CHO` CB=00111100
JB TR0,TT_CUA_TRAI_90_2
MOV BANH_TRAI,#60
MOV BANH_PHAI,#60
TT_CUA_TRAI_90_2:
MOV BYTE_LED_THAP,BYTE_DELAY_THAP
MOV BYTE_LED_CAO,BYTE_DELAY_CAO
MOV C,CAMBIEN3
ORL C,CAMBIEN4
ORL C,CAMBIEN5
ORL C,CAMBIEN6
ANL C,/CAMBIEN1
ANL C,/CAMBIEN2
ANL C,/CAMBIEN7
ANL C,/CAMBIEN8
JNC CUA_TRAI_902
MOV BYTE_LED_THAP,#13
MOV BYTE_LED_CAO,#0
;******** THOAT CUA PHAI ********
THOAT_CUA_TRAI_90:
CALL DUNG
RET
;======= XUAT PHAT TRAI ============================
XUAT_PHAT_TRAI:
;--BO TRAI
SETB BANH_PHAI_DAO
SETB BANH_TRAI_DAO
MOV BANH_PHAI,#255
MOV BANH_TRAI,#200
MOV ENCODER_THAP,#LOW(ENCODER_1_VACH*10)
MOV ENCODER_CAO,#HIGH(ENCODER_1_VACH*10)
SETB ACT_ENCODER
LOOP_XUAT_PHAT_TRAI1:
JNB ACT_ENCODER,THOAT_XUAT_PHAT_TRAI1
MOV BYTE_LED_CAO,ENCODER_CAO ;<---
MOV BYTE_LED_THAP,ENCODER_THAP
SJMP LOOP_XUAT_PHAT_TRAI1
THOAT_XUAT_PHAT_TRAI1:
MOV BYTE_LED_THAP,#1
MOV BANH_PHAI,#50
MOV BANH_TRAI,#50
RET
;====================== RESET ROBOT =======================================================
RESETROBOT:
;--------ENCODER
MOV R4,#20
MOV BYTE_LED_THAP,#231
MOV BYTE_LED_CAO,#0
;--------HIEN THI LED
MOV LED,#0
;--------DO DUONG
CLR BIT_NHO_PHAI
CLR BIT_NHO_TRAI
MOV DEM_VACH,#0
SETB BIT_TIM_VACH
;--------TRANG THAI BAN DAU CUA ROBOT
;----BANH
MOV BANH_TRAI,#0
MOV BANH_PHAI,#0
SETB BANH_TRAI_DAO
SETB BANH_PHAI_DAO
CALL DELAY50MS
TT_RESET:
MOV MOTOR_GHI_DIEM,#0
MOV MOTOR_NHA_CANG,#0
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