Điều khiển Robot từ xa bằng máy tính

[doandient]

tài liệu của bạn tôi nhớ em hữu ích thật, thank nhá ^^

[toinhoem1001]

Trên đây là một ví dụ viết cho giao tiếp từ máy tính xuống chip ...
__________________________________________
Private Sub Form_Load()

With MSComm1
.Settings = "9600,N,8,1"
.CommPort = 1
.RThreshold = 1
.SThreshold = 0
.InputMode = comInputModeText
.InputLen = 0
.Handshaking = comNone
.InBufferSize = 1024
.OutBufferSize = 1024
If .PortOpen = False Then
.PortOpen = True
End If

End With
End Sub
_________________________________________
Private Sub MSComm1_OnComm()
'Text2.SetFocus
'Text2.text = ""
Dim buffer As Variant
If MSComm1.CommEvent = comEvReceive Then
Text1.Text = MSComm1.Input
End If
End Sub
______________________________________
( Cái đoạn này có nghĩa là khi check vào ô R trên giao diện 3D máy tính thì robot sẽ rẽ phải...!!!)
Private Sub Option1_Click()
STATE_object_rotate_z car_handle, -7, OBJECT_SPACE
'MSComm1.Output = "R"
Text2.SetFocus
End Sub
_________________________________(còn nữa mà dài lắm....)
from: toinhoem1001@yahoo.com
add: công ty LLP, 204 nguyễn đình chính,phú nhuận,tphcm

[toinhoem1001]

nếu muốn sử dụng kiểu truyền 1bit có thể xem cái này :
__________________________________________________ __________________________________

;********************* chuong trinh viet cho remote tot nghiep *************
;******************* thuc thi chuong trinh ngay 26/4/2009 ******************
;************** designer : Nguyen hung thuong _ lop tu dong 04d2a **********
;*********** ^!^ my address : toinhoem1001@yahoo.com (0987876770) ^!^ ******
$include 8051.mc
;************* dinh cac dia chi bit su dung trong chuong trinh *************
;************* dia chi cac kenh truyen *************************************
kenh_1 bit p0.7
kenh_2 bit p0.6
kenh_3 bit p0.5
kenh_4 bit p0.4
;****************** dia chi cac nut nhan dc su dung ***********************
toi bit p3.0
lui bit p3.1
trai bit p3.2
phai bit p3.3
nang bit p3.4
ha bit p3.5
kep bit p3.6
nha bit p3.7
truot bit p0.0 ;**** truot lui ***
auto_manu bit p0.1
tang_toc bit p0.2 ;**** truot toi ***
reset_auto bit p0.3
;******************** cac thanh ghi trung gian *******************************
thoi_gian_tre data 2fh
;******************** phan thuc thi chuong trinh ****************************
org 0h
jmp main
org 03h
jmp ex0_isr
org 0bh
jmp t0_isr
org 13h
jmp ex1_isr
org 1bh
jmp t1_isr
;******************* than chuong trinh chinh *********************************
main:
Mov p0,#0ffh
mov p3,#0ffh
mov p2,#0h
mov tmod,#11h
mov ie,#10000000b
setb tf0
setb tf1
mov thoi_gian_tre,#3
start:
Jb auto_manu,chuong_trinh_tu_dong
jmp chuong_trinh_bang_tay
jmp start
;****************** chuong trinh ngat thuc thi khi robot hoat dong **********
;******************** ngat ngoai o ******************************************
ex0_isr:
Reti
;************************ ngat timer 0 **************************************
t0_isr:
Clr tr0
mov th0,#0ffh ;0feh
mov tl0,#18h ;00c
setb tr0
mov p2,#0h
reti
;************************* ngat ngoai 1 *************************************
ex1_isr:
Reti
;************************** ngat timer1 *************************************
t1_isr:
Clr tr1
mov th1,#0h ;0feh
mov tl1,#0h ;00c
setb tr1
mov p2,#0ffh
reti
;***************** cac chuong trinh con co ban ******************************
chuong_trinh_tu_dong:
Mov p0,#0fh
mov p2,#0ffh
jmp $
ret
chuong_trinh_bang_tay:
Kt_nut_toi:
Jb toi,kt_nut_lui
mov r0,#5
xac_nhan_nut_toi:
Djnz r0,xac_nhan_nut_toi
lcall chay_toi
jnb toi,kt_nut_toi
mov p2,#0ffh
mov p0,#0fh
lcall delay_50ms
ret
kt_nut_lui:
Jb lui,kt_nut_trai
mov r0,#5
xac_nhan_nut_lui:
Djnz r0,xac_nhan_nut_lui
lcall chay_lui
jnb lui,kt_nut_lui
mov p2,#0ffh
mov p0,#00fh
ret
kt_nut_trai:
Jb trai,kt_nut_phai
mov r0,#5
xac_nhan_nut_trai:
Djnz r0,xac_nhan_nut_trai
lcall re_trai
jnb trai,kt_nut_trai
mov p2,#0ffh
mov p0,#00fh
ret
kt_nut_phai:
Jb phai,kt_nut_nang
mov r0,#5
xac_nhan_nut_phai:
Djnz r0,xac_nhan_nut_phai
lcall re_phai
jnb phai,kt_nut_phai
mov p2,#0ffh
mov p0,#00fh
ret
kt_nut_nang:
Jb nang,kt_nut_ha
mov r0,#5
xac_nhan_nut_nang:
Djnz r0,xac_nhan_nut_nang
lcall nang
jnb nang,kt_nut_nang
mov p2,#0ffh
mov p0,#00fh
ret
kt_nut_ha:
Jb ha,kt_nut_kep
mov r0,#5
xac_nhan_nut_ha:
Djnz r0,xac_nhan_nut_ha
lcall ha_xuong
jnb ha,kt_nut_ha
mov p2,#0ffh
mov p0,#00fh
ret
kt_nut_kep:
Jb kep,kt_nut_nha
mov r0,#5
xac_nhan_nut_kep:
Djnz r0,xac_nhan_nut_kep
lcall kep
jnb kep,kt_nut_kep
mov p2,#0ffh
mov p0,#00fh
ret
kt_nut_nha:
Jb nha,kt_truot_toi
mov r0,#5
xac_nhan_nut_nha:
Djnz r0,xac_nhan_nut_nha
lcall nha
jnb nha,kt_nut_nha
mov p2,#0ffh
mov p0,#00fh
ret
kt_truot_toi:
Jb tang_toc,kt_truot_lui
mov r0,#5
xac_nhan_truot_toi:
Djnz r0,xac_nhan_truot_toi
lcall truot_toi
jnb tang_toc,kt_truot_toi
mov p2,#0h
mov p0,#0fh
ret
kt_truot_lui:
Jb truot,kt_nut_reset_robot_tu_dong
mov r0,#5
xac_nhan_truot_lui:
Djnz r0,xac_nhan_truot_lui
lcall truot_lui
jnb truot,kt_truot_lui
mov p2,#0h
mov p0,#0fh
ret
kt_nut_reset_robot_tu_dong:
Jb reset_auto,thoat_chuong_trinh
mov r0,#10
xac_nhan_nut_reset_auto:
Djnz r0,xac_nhan_nut_reset_auto
lcall reset_robot
jnb reset_auto,kt_nut_reset_robot_tu_dong
xoa_reset:
Mov p2,#00000001b
mov p0,#01111111b
mov thoi_gian_tre,#2
lcall delay_300ms
mov a,p3
cjne a,#11111111b,thoat_reset
jmp xoa_reset
thoat_reset:
Ret
thoat_chuong_trinh:
Jmp chuong_trinh_bang_tay
;************************** chuong trinh con nho *********************************
chay_toi:
Mov p2,#0h
mov p0,#01111111b
lcall delay_50ms
ret
chay_lui:
Mov p2,#0h
mov p0,#10111111b
lcall delay_50ms
ret
re_trai:
Mov p2,#0h
mov p0,#11011111b
lcall delay_50ms
ret
re_phai:
Mov p2,#0h
mov p0,#11101111b
lcall delay_50ms
ret
nang:
Mov p2,#0h
mov p0,#00111111b
lcall delay_50ms
ret
ha_xuong:
Mov p2,#0h
mov p0,#01011111b
lcall delay_50ms
ret
kep:
Mov p2,#0h
mov p0,#01101111b
lcall delay_50ms
ret
nha:
Mov p2,#0h
mov p0,#10011111b
lcall delay_50ms
ret
truot_toi:
Mov p2,#0h
mov p0,#11001111b
lcall delay_50ms
ret
truot_lui:
Mov p2,#0h
mov p0,#00011111b
lcall delay_50ms
ret
tang_toc:
Mov p2,#0h
mov p0,#00101111b
lcall delay_50ms
ret
giam_toc:
Mov p2,#0h
mov p0,#10001111b
lcall delay_50ms
ret
reset_robot:
Mov r1,#5
mov p2,#00000001b
mov a,#00011111b
reset_5lan:
Rrc a
mov p0,a
lcall delay_50ms
djnz r1,reset_5lan
ret
;***************************** ham tao thoi gian tre *********************************
delay_50ms:
De_1:
Mov r6,#5
de_2:
Mov r7,#250
djnz r7,$
djnz r6,de_2
mov r6,#0
ret
delay_100ms:
De_3:
Mov r6,#255
de_4:
Mov r7,#255
djnz r7,$
djnz r6,de_4
ret
delay_10ms:
De_16:
Mov r6,#2
de_17:
Mov r7,#250
djnz r7,$
djnz r6,de_17
ret

delay_300ms:
De_20:
Mov r6,#250
de_21:
Mov r7,#250
djnz r7,$
djnz r6,de_21
djnz thoi_gian_tre,de_20
ret

[toinhoem1001]

nếu muốn sử dụn kiểu truyền nhận 1byte có thể tham khảo đoạn code của mình xem :
__________________________________________________ ________________________
;*************** NGAY THUC THI CHUONG TRINH 17/3/2009 ***************
;********* DESIGNER NGUYEN HUNG THUONG_04D2A ******************
;********** CHUONG TRINH VIET CHO MACH RF TOT NGHIEP ***********
;************** GVHD : LAM TANG DUC ****************************
$INCLUDE 8051.MC
;******************** DINH DIA CHI BIT VA DIA CHI O NHO DUNG CHO CHUONG TRINH *****
;*********************** KENH TRUYEN DU LIEU PHAT *********************************
TX BIT P0.0
;********************** NUT NHAN CHON KENH TRUYEN *********************************
SW1 BIT P1.0
SW2 BIT P1.1
SW3 BIT P1.2
;********************** DIA CHI CAC O NHO CAN DUNG ********************************
DATA DATA 2FH
;********************* GIAI THUAT CUA CHUONG TRINH *******************************
;/1.PHAT CHUOI XUNG 1,0 TRONG KHOANG 30MS DE CHUAN BI CHO PHAN THU KIP HIEU VA NHAN
;/2.NGHI KHOANG THOI GIAN 1MS DE DONG BO MAY THU VA MAY PHAT
;/3.CAI DU LIEU MONG MUON VAO ---> MA HOA SANG MA MANCHESTER, NEU LA 1 -->10,NEU LA
;/0 --> 01, PHAT LAN LUOT CHO HET 8BIT DU LIEU
;4.PHAT XUNG CHOT KET THUC CHU TRINH PHAT. TRE KHOANG THOI GIAN CHO BO THU
;*************^!^ CHUONG TRINH CHINH ^!^ *****************************************
ORG 0H
JMP MAIN
ORG 03H
JMP EX0_ISR
ORG 0BH
JMP T0_ISR
ORG 13H
JMP EX1_ISR
ORG 1BH
JMP T1_ISR
ORG 23H
JMP COMMUNICATION
; ***************** BAT DAU VAO CHUONG TRINH CHINH *******************************
MAIN:
MOV P0,#0FFH
MOV P1,#0FFH
MOV TMOD,#00000001B ;********** TIMER 0 CHE DO 1(16BIT) *********
MOV TH0,#0FEH
MOV TL0,#4DH
MOV IE,#10000000B
START:
LCALL KT_NUT_NHAN
LCALL CHUAN_BI_PHAT_DU_LIEU
LCALL TO_MANCHESTER
LCALL KET_THUC_PHAT
RET
;***************** NGAT NGOAI 0 (EX0_ISR) ****************************************
EX0_ISR:
RET
;***************** NGAT TIMER 0 (T0_ISR) *****************************************
T0_ISR:
RET
;***************** NGAT NGOAI 1 (EX1_ISR) ****************************************
EX1_ISR:
RET
;****************** NGAT TIMER 1 (T1_ISR) ***************************************
T1_ISR:
RET
;********************* NGAT TRUYEN THONG NOI TIEP *******************************
COMMUNICATION:
RET
;******************* CAC CHUONG TRINH CON ***************************************
;**********^^^^^!! KIEM TRA CAC KENH TRUYEN DUOC NHAN !!^^^^^********************
KT_NUT-NHAN:
MOV R0,#50
KT_NUT1:
JB SW1,KT_NUT2
DJNZ R0,KT_NUT1 ;*****XAC NHAN PHAI NUT 1 DUOC NHAN ? ***
LCALL CHUONG_TRINH1 ; ******** TRUYEN KENH 1 *****************
RET
KT_NUT2:
JB SW2,KT_NUT3
DJNZ R0,KT_NUT2 ;******** XAC NHAN NUT 2 DUOC NHAN ? ****
LCALL CHUONG_TRINH2 ;********* TRUYEN KENH 2 *****************
RET
KT_NUT3:
JB SW3,THOAT_KT_NUT_NHAN
DJNZ R0,KT_NUT3 ;********* XAC NHAN NUT 3 DUOC NHAN ? ***
LCALL CHUONG_TRINH3 ;********* TRUYEN KENH 3 *****************
RET
THOAT_KT_NUT_NHAN:
RET
;***************** NOI DUNG CUA TUNG KENH TRUYEN DUOC CHON *********************
CHUONG_TRINH1:
MOV DATA,#10011001B
RET
CHUONG_TRINH2:
MOV DATA,#11111111B
RET
CHUONG_TRINH3:
MOV DATA,#00000000B
RET
;***************** BUOC CHUAN BI DUNG DE DONG BO 2 DU LIEU THU VA PHAT *********
;/ PHAT LIEN TUC CHUOI XUNG 0,1 TRONG KHOANG 40MS ******************************
CHUAN_BI_PHAT_DU_LIEU:
MOV R0,#35 ;*** PHAT KHOANG 35 LAN *************************
PHAT_MOI:
SETB TX
LCALL DELAY_400uS
CLR TX
LCALL DELAY_400uS
DJNZ R0,PHAT_MOI
LCALL DELAY_1mS ;*** DOI DONG BO CHO BO THU ********************
RET
;***************** DOI SANG MA MANCHESTER DE TRUYEN DU LIEU ********************
TO_MANCHESTER:
MOV R0,#8 ;********** DICH BIT 8 LAN *****************************
DICH_BIT:
MOV A,DATA
ANL A,#10000000B
CJNE A,#10000000B,BIT_0
CALL BIT_1
MOV A,DATA
RL A
MOV DATA,A
DJNZ R0,DICH_BIT
RET
BIT_0: ;*********** NEU LA BIT 0 ----> 01 **********************
CLR TX
LCALL DELAY_400uS
SETB TX
LCALL DELAY_400uS
RET
BIT_1: ;********** NEU LA BIT 1 ----> 10 ***********************
SETB TX
LCALL DELAY_400uS
CLR TX
LCALL DELAY_400uS
RET
;***************** PHAT XUNG KET THUC QUA TRINH PHAT DU LIEU **************
KET_THUC_PHAT:
SETB TX
LCALL DELAY_400uS
CLR TX
LCALL DELAY_400uS
LCALL DELAY_5mS ; ********** DOI BO THU XU LI XONG ************
RET
;**************** HAM TAO THOI GIAN TRE CHO QUA TRINH TRUYEN DU LIEU *****
DELAY_400uS:
CLR TF0
SETB TR0
JNB TF0,$
CLR TR0
RET
DELAY_1mS:
MOV R0,#3
TINH_DELAY1ms:
LCALL DELAY_400uS
DJNZ R0,TINH_DELAY1ms
RET
DELAY_5mS:
MOV R0,#12
TINH_DELAY5mS:
LCALL DELAY_400mS
DJNZ R0,TINH_DELAY5mS
RET


__________________________________________________ _______

[hammecuala]

tạ ơn chúa, đỡ phải tìm lòi con mặt

[toinhoem1001]

ảnh dành cho điều khiển đơn bit,có thể lập trình được. Cái này sài gòn bán không quá 100k cho 2 modul thu phát. Mình đem ra độ cái chuông nhấn từ xa cho khách hàng. Bề ngoài xù xì thế chứ bỏ trong hôp oai ra phết...

[toinhoem1001]

Chương trình này viết cho robot thực thi các hành động :

Nếu có gì phải quấy mong các cao thủ võ lâm chỉ bảo thêm.....
__________________________________________________ ________________________
;********************** CHUONG TRINH TU DONG DANH CHO ROBOT TOT NGHIEP ******************
;******************** DE TAI NCKH *****************************
;***********************LOP TU DONG *******************
;******************** MY ADDRESS : TOINHOEM1001@YAHOO.COM _ TEL : 0987876770 ***********
;***************** CHUONG TRINH THUC THI NGAY 2/5/2009 **********************************
$INCLUDE 8051.MC
;****************** DINH DIA CHI TRONG CHUONG TRINH *************************************
;******** CHUONG TRINH SU DUNG 5 DONG CO,TOI DA CO THE DUNG 10 DONG CO TU 2 PORT P2,P3***
L_MOTOR BIT P3.6
L_ROLE BIT P3.7
R_MOTOR BIT P3.4
R_ROLE BIT P3.5
DC_HA BIT P2.7 ;*** ROLE *******
DC_NANG BIT P2.6
DC_NHA BIT P2.1 ;*** ROLE *****
DC_KEP BIT P2.0
DC_TRUOT_TOI BIT P2.3 ;*** ROLE ******
DC_TRUOT_LUI BIT P2.2
ROLE_DC_DU_PHONG BIT P2.5
DC_DU_PHONG BIT P2.4
;**************** CAM BIEN CUA ROBOT ************************
CB_1 BIT P0.0
CB_2 BIT P0.1
CB_3 BIT P0.2
CB_4 BIT P0.3
CB_5 BIT P0.4
CB_6 BIT P0.5
CB_7 BIT P0.6
CB_8 BIT P0.7
;************ DIA CHI KENH TRUYEN TU REMOTE TU XA TOI ROBOT ****************************
KENH_1 BIT P1.0
KENH_2 BIT P1.1
KENH_3 BIT P1.2
KENH_4 BIT P1.3
;********* DIA CHI CONG TAC GIOI HAN HANH TRINH ROBOT ***********************************
CTHT_HA BIT P1.4
CTHT_NANG BIT P1.5
CTHT_TRUOT_TOI BIT P1.6
CTHT_TRUOT_LUI BIT P1.7
;************ DIA CHI CHO ENCODER VA CAM BIEN CONG NGHIEP *******************************
R_ENCODER BIT P3.2
RE_ENCODER BIT IE.0
CBCN BIT P3.3
;************** CAC THANH GHI DA CHUC NANG DUNG TRONG CHUONG TRINH **********************
THOI_GIAN_TRE DATA 2FH
SO_VACH DATA 2EH
KT_VAN_TOC DATA 2DH
TOCDO_R DATA 2CH
TOCDO_L DATA 2BH
KT_LO_TRINH DATA 2AH
TONG_CB DATA 29H
TOC_DO_RE_TRAI DATA 28H
TOC_DO_RE_PHAI DATA 27H
GIA_TRI_DAT DATA 26H
GIA_TRI_DAT_EN DATA 25H
R_ENCODER_THAP DATA 24H
R_ENCODER_CAO DATA 23H
;***************** CO NHO CHO THANH GHI NOI *****************
NHO_A DATA 21H
NHO_C BIT 20.1H
CO_ENCODER BIT 20.2H
;**************** CAC THANH GHI GIA TRI VAN TOC 2 BANH XE ***
;^^^^^^^^^^^^^^^^^^^^ RIGHT SPEED ^^^^^^^^^^^^^^^^^^^^^^^^^^^
RS_1 DATA 38H
RS_2 DATA 39H
RS_3 DATA 3AH
RS_4 DATA 3BH
RS_5 DATA 3CH
RS_6 DATA 3DH
RS_7 DATA 3EH
RS_8 DATA 3FH
;^^^^^^^^^^^^^^^^^^^^^ LEFT SPEED ^^^^^^^^^^^^^^^^^^^^^^^^^^^

LS_1 DATA 40H
LS_2 DATA 41H
LS_3 DATA 42H
LS_4 DATA 43H
LS_5 DATA 44H
LS_6 DATA 45H
LS_7 DATA 46H
LS_8 DATA 49H
;****************** PHAN DANH CHO CHUONG TRINH ******************************************
ORG 0H
JMP MAIN
ORG 03H
JMP EX0_ISR
ORG 0BH
JMP T0_ISR
ORG 13H
JMP EX1_ISR
ORG 1BH
JMP T1_ISR
MAIN:
MOV P2,#0FFH
MOV P0,#0FFH
MOV P1,#0FFH
MOV P3,#0FFH
MOV TMOD,#11H
MOV IE,#10000000B
SETB TF0
MOV R0,#255
MOV R3,#100
MOV R4,#255
START:
LCALL KT_NUT_NHAN
JMP START
;****************** CHUONG TRINH NGAT THUC THI KHI ROBOT HOAT DONG **********
;******************** NGAT NGOAI O ******************************************
EX0_ISR:
MOV NHO_C,C
MOV A,R_ENCODER_THAP
CJNE A,#0,GIAM_BYTE_THAP
MOV A,R_ENCODER_CAO
CJNE A,#0,GIAM_BYTE_CAO
CLR RE_ENCODER
SETB CO_ENCODER
JMP THOAT_EX0
GIAM_BYTE_CAO:
DEC R_ENCODER_CAO
MOV R_ENCODER_THAP,#255
JMP THOAT_EX0
GIAM_BYTE_THAP:
DEC R_ENCODER_THAP
THOAT_EX0:
MOV C,RE_ENCODER
RETI
;************************ NGAT TIMER 0 **************************************
T0_ISR:
CLR TR0
MOV TH0,#0FFH ;0FEH
MOV TL0,#18H ;00C
SETB TR0
LCALL BAM_XUNG
RETI
;************************* NGAT NGOAI 1 *************************************
EX1_ISR:
RETI
;************************** NGAT TIMER1 *************************************
T1_ISR:
CLR TR1
MOV TH1,#0FCH ;0FEH
MOV TL1,#18H ;00C
SETB TR1
LCALL DEM_VACH_NGANG
LCALL DO_DUONG
RETI
;******************** CHUONG TRINH CON **************************************
KT_NUT_NHAN:
MOV A,P1
LCALL DELAY_50MS
ANL A,#00001111B
DUNG_ROBOT_REMOTE:
CJNE A,#00000000B,KT_CHAY_TOI
LCALL DUNG_ROBOT
RET
KT_CHAY_TOI:
CJNE A,#00000001B,KT_CHAY_LUI
MOV TOCDO_R,#25
MOV TOCDO_L,#35
LCALL VAN_TOC_TRUNG_BINH
MOV KT_VAN_TOC,#2
LCALL LO_TRINH
MOV IE,#10001000B
SETB TF1
JMP $
RET
KT_CHAY_LUI:
CJNE A,#00000010B,KT_RE_TRAI
CLR R_ROLE
CLR L_ROLE
LCALL DELAY_50MS
LUI:
MOV TOCDO_L,#250
MOV TOCDO_R,#1
MOV GIA_TRI_DAT,#200
SETB IE.1
JB P1.1,LUI
CLR IE.1
LCALL DUNG_ROBOT
LCALL DELAY_50MS
RET
KT_RE_TRAI:
CJNE A,#00000100B,KT_RE_PHAI
MOV TOCDO_L,#0
MOV TOCDO_R,#1
MOV GIA_TRI_DAT,#250
SETB IE.1
JB P1.2,KT_RE_TRAI
CLR IE.1
LCALL DUNG_ROBOT
LCALL DELAY_50MS
RET
KT_RE_PHAI:
CJNE A,#00001000B,KT_NANG
MOV TOCDO_L,#100
MOV TOCDO_R,#0
MOV GIA_TRI_DAT,#250
SETB IE.1
JB P1.3,KT_RE_PHAI
CLR IE.1
LCALL DUNG_ROBOT
LCALL DELAY_50MS
RET
KT_NANG:
CJNE A,#00000011B,KT_HA
LCALL NANG
JB P1.0,KT_NANG
LCALL DUNG_NANG_HA
LCALL DELAY_50MS
RET
KT_HA:
CJNE A,#00000101B,KT_KEP
LCALL HA_XUONG
JB P1.2,KT_HA
LCALL DUNG_NANG_HA
LCALL DELAY_50MS
RET
KT_KEP:
CJNE A,#00001001B,KT_NHA
LCALL KEP
JB P1.3,KT_KEP
LCALL DUNG_KEP_NHA
LCALL DELAY_50MS
RET
KT_NHA:
CJNE A,#00000110B,KT_TRUOT_LUI
LCALL NHA
JB P1.2,KT_NHA
LCALL DUNG_KEP_NHA
LCALL DELAY_50MS
RET
KT_TRUOT_LUI:
CJNE A,#00000111B,KT_TRUOT_TOI
LCALL TRUOT_LUI
JB P1.2,KT_TRUOT_LUI
LCALL DUNG_TRUOT
LCALL DELAY_50MS
RET
KT_TRUOT_TOI:
CJNE A,#00000011B,THOAT_KT
LCALL TRUOT_TOI
JB P1.1,KT_TRUOT_TOI
LCALL DUNG_TRUOT
LCALL DELAY_50MS
RET
THOAT_KT:
RET
;**************** CHUONG TRINH CON BAM XUNG DIEU KHIEN TOC DO 2 DONG CO BANH XE ******
BAM_XUNG:
DJNZ R0,DIEU_XUNG_CAP1
MOV R0,#GIA_TRI_DAT
DIEU_XUNG_CAP1:
MOV R1,TOCDO_L
CJNE R1,#0,KHONG_LECH_TRAI
SETB L_MOTOR
SJMP TIEP
KHONG_LECH_TRAI:
CLR L_MOTOR
DJNZ R3,KHONG_LECH_TRAI
MOV R3,#250
DEC R1
MOV TOCDO_L,R1
TIEP:
MOV R2,TOCDO_R
CJNE R2,#0,KHONG_LECH_PHAI
SETB R_MOTOR
DJNZ R4,$
MOV R4,#110
RET
KHONG_LECH_PHAI:
CLR R_MOTOR
DEC R2
MOV TOCDO_R,R2
RET
;**************************** THAO TAC ROBOT ******************************************
NANG:
JNB CTHT_NANG,DUNG_NANG_HA
CLR DC_NANG
MOV THOI_GIAN_TRE,#2
LCALL DELAY_300MS
LCALL DUNG_NANG_HA
RET
HA_XUONG:
JNB CTHT_HA,DUNG_NANG_HA
CLR DC_NANG
CLR DC_HA
MOV THOI_GIAN_TRE,#2
LCALL DELAY_300MS
LCALL DUNG_NANG_HA
LCALL DELAY_50MS
RET
DUNG_NANG_HA:
SETB DC_NANG
SETB DC_HA
LCALL DELAY_50MS
RET
KEP:
CLR DC_KEP
MOV THOI_GIAN_TRE,#2
LCALL DELAY_300MS
LCALL DUNG_KEP_NHA
RET
NHA:
CLR DC_KEP
CLR DC_NHA
MOV THOI_GIAN_TRE,#2
LCALL DELAY_300MS
LCALL DUNG_KEP_NHA
RET
DUNG_KEP_NHA:
SETB DC_KEP
SETB DC_NHA
LCALL DELAY_50MS
RET
DUNG_ROBOT:
SETB R_MOTOR
SETB L_MOTOR
SETB R_ROLE
SETB L_ROLE
RET
TRUOT_LUI:
JNB CTHT_TRUOT_LUI,DUNG_TRUOT
CLR DC_TRUOT_LUI
MOV THOI_GIAN_TRE,#2
LCALL DELAY_300MS
LCALL DUNG_TRUOT
LCALL DELAY_50MS
RET
TRUOT_TOI:
JNB CTHT_TRUOT_TOI,DUNG_TRUOT
CLR DC_TRUOT_TOI
LCALL DELAY_50MS
CLR DC_TRUOT_LUI
MOV THOI_GIAN_TRE,#2
LCALL DELAY_300MS
LCALL DUNG_TRUOT
LCALL DELAY_50MS
RET
DUNG_TRUOT:
SETB DC_TRUOT_LUI
SETB DC_TRUOT_TOI
LCALL DELAY_50MS
RET
KHOI_DONG:
SETB IP.0
SETB RE_ENCODER
MOV R_ENCODER_CAO,#HIGH(10000)
MOV R_ENCODER_THAP,#LOW(25500)
MOV C,RE_ENCODER
CHO:
MOV TOCDO_L,#100
MOV TOCDO_R,#1
SETB IP.1
SETB IE.1
JC CHO
MOV IP,#0H
LCALL DUNG_ROBOT
RET
RE_TRAI_ENCODER:
SETB IP.0
SETB RE_ENCODER
MOV R_ENCODER_CAO,#HIGH(10000)
MOV R_ENCODER_THAP,#LOW(25500)
MOV C,RE_ENCODER
CHO_RE_TRAI:
MOV TOCDO_L,#0
MOV TOCDO_R,#1
MOV GIA_TRI_DAT,#250
SETB IP.1
SETB IE.1
JC CHO_RE_TRAI
MOV IP,#0H
CLR IE.1
LCALL DUNG_ROBOT
LCALL DELAY_50MS
RET
RE_PHAI_ENCODER:
SETB IP.0
SETB RE_ENCODER
MOV R_ENCODER_CAO,#HIGH(10000)
MOV R_ENCODER_THAP,#LOW(25500)
MOV C,RE_ENCODER
CHO_RE_PHAI:
MOV TOCDO_L,#100
MOV TOCDO_R,#0
MOV GIA_TRI_DAT,#250
SETB IP.1
SETB IE.1
JC CHO_RE_PHAI
MOV IP,#0H
CLR IE.1
LCALL DUNG_ROBOT
LCALL DELAY_50MS
RET
;******************CHUONG TRINH CON DO DUONG*****************
DO_DUONG:
DJNZ R0,DIEU_XUNG
MOV A,KT_VAN_TOC
CJNE A,#0,TRUNG_BINH
NHANH:
MOV R0,#50 ;50
LCALL VAN_TOC_MAX
JMP CHAY
TRUNG_BINH:
CJNE A,#1,CHAM
MOV R0,#255 ;50
LCALL VAN_TOC_TRUNG_BINH
JMP CHAY
CHAM:
MOV R0,#120 ;180
LCALL VAN_TOC_CHAM
CHAY:
LCALL QUET_CAM_BIEN
DIEU_XUNG:
MOV R1,TOCDO_L
CJNE R1,#0,KHONG_LECH_TRAI1
SETB L_MOTOR
SJMP TIEP1
KHONG_LECH_TRAI1:
CLR L_MOTOR
DEC R1
MOV TOCDO_L,R1
TIEP1:
MOV R2,TOCDO_R
CJNE R2,#0,KHONG_LECH_PHAI1
SETB R_MOTOR
DJNZ R4,$
MOV R4,#250
RET
KHONG_LECH_PHAI1:
CLR R_MOTOR
DEC R2
MOV TOCDO_R,R2
RET

;*******************QUET CAMBIEN***********
QUET_CAM_BIEN:
MOV A,P0
CJNE A,#00000000B,STEP0
NGANG_VACH:
MOV TOCDO_L,LS_1
MOV TOCDO_R,RS_5
RET
STEP0:
CJNE A,#11100111B,STEP1
CHAY_THANG:
MOV TOCDO_L,LS_1
MOV TOCDO_R,RS_5
RET
STEP1:
CJNE A,#11110111B,STEP2
LECH_PHAI_MUC1:
MOV TOCDO_L,LS_3
MOV TOCDO_R,RS_5
RET
STEP2:
CJNE A,#11110011B,STEP3
LECH_PHAI_MUC2:
MOV TOCDO_L,LS_2
MOV TOCDO_R,RS_4
RET
STEP3:
CJNE A,#11111011B,STEP4
LECH_PHAI_MUC3:
MOV TOCDO_L,LS_3
MOV TOCDO_R,RS_3
RET
STEP4:
CJNE A,#11111001B,STEP5
LECH_PHAI_MUC4:
MOV TOCDO_L,LS_5
MOV TOCDO_R,RS_3
RET
STEP5:
CJNE A,#11111101B,STEP6
LECH_PHAI_MUC5:
MOV TOCDO_L,LS_6
MOV TOCDO_R,RS_3
RET
STEP6:
CJNE A,#11111100B,STEP7
LECH_PHAI_MUC6:
MOV TOCDO_L,LS_6
MOV TOCDO_R,RS_2
RET
STEP7:
CJNE A,#11111110B,STEP8
LECH_PHAI_MUC7:
MOV TOCDO_L,LS_7
MOV TOCDO_R,RS_2
RET
STEP8:
CJNE A,#11101111B,STEP9
LECH_TRAI_MUC1:
MOV TOCDO_L,LS_1
MOV TOCDO_R,RS_5
RET
STEP9:
CJNE A,#11001111B,STEP10
LECH_TRAI_MUC2:
MOV TOCDO_L,LS_2
MOV TOCDO_R,RS_5
RET
STEP10:
CJNE A,#11011111B,STEP11
LECH_TRAI_MUC3:
MOV TOCDO_L,LS_1
MOV TOCDO_R,RS_6
RET
STEP11:
CJNE A,#10011111B,STEP12
LECH_TRAI_MUC4:
MOV TOCDO_L,LS_1
MOV TOCDO_R,RS_5
RET
STEP12:
CJNE A,#10111111B,STEP13
LECH_TRAI_MUC5:
MOV TOCDO_L,LS_2
MOV TOCDO_R,RS_6
RET
STEP13:
CJNE A,#00111111B,STEP14
LECH_TRAI_MUC6:
MOV TOCDO_L,LS_1
MOV TOCDO_R,RS_7
RET
STEP14:
CJNE A,#01111111B,STEP15
LECH_TRAI_MUC7:
MOV TOCDO_L,LS_1
MOV TOCDO_R,RS_7
RET
STEP15:
MOV TOCDO_L,LS_1
MOV TOCDO_R,RS_4
RET
;******************CHUONG TRINH CON DEM VACH*******
DEM_VACH_NGANG:
KT_VACH_NGANG:
MOV TONG_CB,#0
KT_CB2:
JB CB_2,KT_CB7
INC TONG_CB
KT_CB7:
JB CB_7,KT_CB8
INC TONG_CB
KT_CB8:
JB CB_8,KT_VACH
INC TONG_CB
KT_VACH:
MOV R2,TONG_CB
MOV TONG_CB,#0
CJNE R2,#3,THOAT
CHO_DEM:
MOV TOCDO_R,#40 ;100;150
MOV TOCDO_L,#20 ;70;170
LCALL DO_DUONG
JNB CB_7,CHO_DEM
DEM:
INC SO_VACH
MOV A,SO_VACH
CALL LO_TRINH
CJNE A,#0,THAO_TAC1
MOV KT_VAN_TOC,#2 ;*******CHAY CHAM DO DUONG ***********
RET
THOAT:
RET
THAO_TAC1: ;*********CHAY NHANH DO DUONG****
CJNE A,#1,THAO_TAC2
MOV KT_VAN_TOC,#0
RET
THAO_TAC2: ;********CHAY TRUNG BINH*******
CJNE A,#2,THAO_TAC3
MOV KT_VAN_TOC,#1
RET
THAO_TAC3:
LCALL DUNG_ROBOT
JMP $
RET
;********************* CHAY THANG VACH *********************
LO_TRINH:
MOVC A,@A+PC
RET
DB 0,0,6
;***************** CAC HAM VAN TOC DO DUONG******************
;***************** HAM VAN TOC MAX***************************
VAN_TOC_MAX:
MOV RS_1,#190
MOV RS_2,#100
MOV RS_3,#80 ;70
MOV RS_4,#55 ;45
MOV RS_5,#45 ;25
MOV RS_6,#15 ;8
MOV RS_7,#0

MOV LS_1,#255
MOV LS_2,#220
MOV LS_3,#200
MOV LS_4,#190
MOV LS_5,#170
MOV LS_6,#130
MOV LS_7,#0
RET

;****************HAM VAN TOC TRUNG BINH********************
VAN_TOC_TRUNG_BINH:
MOV RS_1,#15
MOV RS_2,#10
MOV RS_3,#8
MOV RS_4,#5
MOV RS_5,#3
MOV RS_6,#0
MOV RS_7,#0

MOV LS_1,#200
MOV LS_2,#140
MOV LS_3,#130
MOV LS_4,#120
MOV LS_5,#80
MOV LS_6,#70
MOV LS_7,#0
RET

;*****************HAM VAN TOC CHAM************************
VAN_TOC_CHAM:
MOV RS_1,#40 ;40
MOV RS_2,#38 ;38
MOV RS_3,#35 ;35
MOV RS_4,#30 ;30
MOV RS_5,#25 ;25
MOV RS_6,#10 ;10
MOV RS_7,#0

MOV LS_1,#40 ;40
MOV LS_2,#35 ;35
MOV LS_3,#30 ;30
MOV LS_4,#25 ;25
MOV LS_5,#20 ;20
MOV LS_6,#10 ;10
MOV LS_7,#0
RET

;*********************** CHUONG TRINH CON TAO THOI GIAN TRE ***************************
DELAY_50MS:
DE_1:
MOV R6,#100
DE_2:
MOV R7,#250
DJNZ R7,$
DJNZ R6,DE_2
MOV R6,#0
RET
DELAY_100MS:
DE_3:
MOV R6,#255
DE_4:
MOV R7,#255
DJNZ R7,$
DJNZ R6,DE_4
RET

DELAY_05MS:
DE_6:
MOV R6,#1
DE_7:
MOV R7,#250
DJNZ R7,$
DJNZ R6,DE_7
RET
DELAY_1MS:
DE_8:
MOV R6,#2
DE_9:
MOV R7,#250
DJNZ R7,$
DJNZ R6,DE_9
RET
DELAY_2MS:
DE_10:
MOV R6,#4
DE_11:
MOV R7,#250
DJNZ R7,$
DJNZ R6,DE_11
RET
DELAY_5MS:
DE_12:
MOV R6,#10
DE_13:
MOV R7,#250
DJNZ R7,$
DJNZ R6,DE_13
RET
DELAY_3MS:
DE_18:
MOV R6,#6
DE_19:
MOV R7,#250
DJNZ R7,$
DJNZ R6,DE_19
RET

DELAY_10MS:
DE_16:
MOV R6,#20
DE_17:
MOV R7,#250
DJNZ R7,$
DJNZ R6,DE_17
RET

DELAY_20MS:
DE_14:
MOV R6,#40
DE_15:
MOV R7,#250
DJNZ R7,$
DJNZ R6,DE_13
RET
DELAY_300MS:
DE_20:
MOV R6,#250
DE_21:
MOV R7,#250
DJNZ R7,$
DJNZ R6,DE_21
DJNZ THOI_GIAN_TRE,DE_20
RET


__________________________________________________ __________________
công ty llp,204,nguyễn đình chính,phú nhuận
cellphone: 0987876770

[toinhoem1001]

phần này viết cho remote điều khiển robot nếu nó vượt xa khỏi máy tính :
__________________________________________________ _____________
;********************* CHUONG TRINH VIET CHO REMOTE TOT NGHIEP *************
;******************* THUC THI CHUONG TRINH NGAY 26/4/2009 ******************
;************** DESIGNER : NGUYEN HUNG THUONG _ LOP TU DONG 04D2A **********
;*********** ^!^ MY ADDRESS : TOINHOEM1001@YAHOO.COM (0987876770) ^!^ ******
$INCLUDE 8051.MC
;************* DINH CAC DIA CHI BIT SU DUNG TRONG CHUONG TRINH *************
;************* DIA CHI CAC KENH TRUYEN *************************************
KENH_1 BIT P0.7
KENH_2 BIT P0.6
KENH_3 BIT P0.5
KENH_4 BIT P0.4
;****************** DIA CHI CAC NUT NHAN DC SU DUNG ***********************
TOI BIT P3.0
LUI BIT P3.1
TRAI BIT P3.2
PHAI BIT P3.3
NANG BIT P3.4
HA BIT P3.5
KEP BIT P3.6
NHA BIT P3.7
TRUOT BIT P0.0 ;**** TRUOT LUI ***
AUTO_MANU BIT P0.1
TANG_TOC BIT P0.2 ;**** TRUOT TOI ***
RESET_AUTO BIT P0.3
;******************** CAC THANH GHI TRUNG GIAN *******************************
THOI_GIAN_TRE DATA 2FH
;******************** PHAN THUC THI CHUONG TRINH ****************************
ORG 0H
JMP MAIN
ORG 03H
JMP EX0_ISR
ORG 0BH
JMP T0_ISR
ORG 13H
JMP EX1_ISR
ORG 1BH
JMP T1_ISR
;******************* THAN CHUONG TRINH CHINH *********************************
MAIN:
MOV P0,#0FFH
MOV P3,#0FFH
MOV P2,#0H
MOV TMOD,#11H
MOV IE,#10000000B
SETB TF0
SETB TF1
MOV THOI_GIAN_TRE,#3
START:
JB AUTO_MANU,CHUONG_TRINH_TU_DONG
JMP CHUONG_TRINH_BANG_TAY
JMP START
;****************** CHUONG TRINH NGAT THUC THI KHI ROBOT HOAT DONG **********
;******************** NGAT NGOAI O ******************************************
EX0_ISR:
RETI
;************************ NGAT TIMER 0 **************************************
T0_ISR:
CLR TR0
MOV TH0,#0FFH ;0FEH
MOV TL0,#18H ;00C
SETB TR0
MOV P2,#0H
RETI
;************************* NGAT NGOAI 1 *************************************
EX1_ISR:
RETI
;************************** NGAT TIMER1 *************************************
T1_ISR:
CLR TR1
MOV TH1,#0H ;0FEH
MOV TL1,#0H ;00C
SETB TR1
MOV P2,#0FFH
RETI
;***************** CAC CHUONG TRINH CON CO BAN ******************************
CHUONG_TRINH_TU_DONG:
MOV P0,#0FH
MOV P2,#0FFH
JMP $
RET
CHUONG_TRINH_BANG_TAY:
KT_NUT_TOI:
JB TOI,KT_NUT_LUI
MOV R0,#5
XAC_NHAN_NUT_TOI:
DJNZ R0,XAC_NHAN_NUT_TOI
LCALL CHAY_TOI
JNB TOI,KT_NUT_TOI
MOV P2,#0FFH
MOV P0,#0FH
LCALL DELAY_50MS
RET
KT_NUT_LUI:
JB LUI,KT_NUT_TRAI
MOV R0,#5
XAC_NHAN_NUT_LUI:
DJNZ R0,XAC_NHAN_NUT_LUI
LCALL CHAY_LUI
JNB LUI,KT_NUT_LUI
MOV P2,#0FFH
MOV P0,#00FH
RET
KT_NUT_TRAI:
JB TRAI,KT_NUT_PHAI
MOV R0,#5
XAC_NHAN_NUT_TRAI:
DJNZ R0,XAC_NHAN_NUT_TRAI
LCALL RE_TRAI
JNB TRAI,KT_NUT_TRAI
MOV P2,#0FFH
MOV P0,#00FH
RET
KT_NUT_PHAI:
JB PHAI,KT_NUT_NANG
MOV R0,#5
XAC_NHAN_NUT_PHAI:
DJNZ R0,XAC_NHAN_NUT_PHAI
LCALL RE_PHAI
JNB PHAI,KT_NUT_PHAI
MOV P2,#0FFH
MOV P0,#00FH
RET
KT_NUT_NANG:
JB NANG,KT_NUT_HA
MOV R0,#5
XAC_NHAN_NUT_NANG:
DJNZ R0,XAC_NHAN_NUT_NANG
LCALL NANG
JNB NANG,KT_NUT_NANG
MOV P2,#0FFH
MOV P0,#00FH
RET
KT_NUT_HA:
JB HA,KT_NUT_KEP
MOV R0,#5
XAC_NHAN_NUT_HA:
DJNZ R0,XAC_NHAN_NUT_HA
LCALL HA_XUONG
JNB HA,KT_NUT_HA
MOV P2,#0FFH
MOV P0,#00FH
RET
KT_NUT_KEP:
JB KEP,KT_NUT_NHA
MOV R0,#5
XAC_NHAN_NUT_KEP:
DJNZ R0,XAC_NHAN_NUT_KEP
LCALL KEP
JNB KEP,KT_NUT_KEP
MOV P2,#0FFH
MOV P0,#00FH
RET
KT_NUT_NHA:
JB NHA,KT_TRUOT_TOI
MOV R0,#5
XAC_NHAN_NUT_NHA:
DJNZ R0,XAC_NHAN_NUT_NHA
LCALL NHA
JNB NHA,KT_NUT_NHA
MOV P2,#0FFH
MOV P0,#00FH
RET
KT_TRUOT_TOI:
JB TANG_TOC,KT_TRUOT_LUI
MOV R0,#5
XAC_NHAN_TRUOT_TOI:
DJNZ R0,XAC_NHAN_TRUOT_TOI
LCALL TRUOT_TOI
JNB TANG_TOC,KT_TRUOT_TOI
MOV P2,#0H
MOV P0,#0FH
RET
KT_TRUOT_LUI:
JB TRUOT,KT_NUT_RESET_ROBOT_TU_DONG
MOV R0,#5
XAC_NHAN_TRUOT_LUI:
DJNZ R0,XAC_NHAN_TRUOT_LUI
LCALL TRUOT_LUI
JNB TRUOT,KT_TRUOT_LUI
MOV P2,#0H
MOV P0,#0FH
RET
KT_NUT_RESET_ROBOT_TU_DONG:
JB RESET_AUTO,THOAT_CHUONG_TRINH
MOV R0,#10
XAC_NHAN_NUT_RESET_AUTO:
DJNZ R0,XAC_NHAN_NUT_RESET_AUTO
LCALL RESET_ROBOT
JNB RESET_AUTO,KT_NUT_RESET_ROBOT_TU_DONG
XOA_RESET:
MOV P2,#00000001B
MOV P0,#01111111B
MOV THOI_GIAN_TRE,#2
LCALL DELAY_300MS
MOV A,P3
CJNE A,#11111111B,THOAT_RESET
JMP XOA_RESET
THOAT_RESET:
RET
THOAT_CHUONG_TRINH:
JMP CHUONG_TRINH_BANG_TAY
;************************** CHUONG TRINH CON NHO *********************************
CHAY_TOI:
MOV P2,#0H
MOV P0,#01111111B
LCALL DELAY_50MS
RET
CHAY_LUI:
MOV P2,#0H
MOV P0,#10111111B
LCALL DELAY_50MS
RET
RE_TRAI:
MOV P2,#0H
MOV P0,#11011111B
LCALL DELAY_50MS
RET
RE_PHAI:
MOV P2,#0H
MOV P0,#11101111B
LCALL DELAY_50MS
RET
NANG:
MOV P2,#0H
MOV P0,#00111111B
LCALL DELAY_50MS
RET
HA_XUONG:
MOV P2,#0H
MOV P0,#01011111B
LCALL DELAY_50MS
RET
KEP:
MOV P2,#0H
MOV P0,#01101111B
LCALL DELAY_50MS
RET
NHA:
MOV P2,#0H
MOV P0,#10011111B
LCALL DELAY_50MS
RET
TRUOT_TOI:
MOV P2,#0H
MOV P0,#11001111B
LCALL DELAY_50MS
RET
TRUOT_LUI:
MOV P2,#0H
MOV P0,#00011111B
LCALL DELAY_50MS
RET
TANG_TOC:
MOV P2,#0H
MOV P0,#00101111B
LCALL DELAY_50MS
RET
GIAM_TOC:
MOV P2,#0H
MOV P0,#10001111B
LCALL DELAY_50MS
RET
RESET_ROBOT:
MOV R1,#5
MOV P2,#00000001B
MOV A,#00011111B
RESET_5LAN:
RRC A
MOV P0,A
LCALL DELAY_50MS
DJNZ R1,RESET_5LAN
RET
;***************************** HAM TAO THOI GIAN TRE *********************************
DELAY_50MS:
DE_1:
MOV R6,#5
DE_2:
MOV R7,#250
DJNZ R7,$
DJNZ R6,DE_2
MOV R6,#0
RET
DELAY_100MS:
DE_3:
MOV R6,#255
DE_4:
MOV R7,#255
DJNZ R7,$
DJNZ R6,DE_4
RET
DELAY_10MS:
DE_16:
MOV R6,#2
DE_17:
MOV R7,#250
DJNZ R7,$
DJNZ R6,DE_17
RET

DELAY_300MS:
DE_20:
MOV R6,#250
DE_21:
MOV R7,#250
DJNZ R7,$
DJNZ R6,DE_21
DJNZ THOI_GIAN_TRE,DE_20
RET
__________________________________________________ __________

[hammecuala]

nhieu qua, phải từ từ mới đọc hết đc

[toinhoem1001]

chang ai reply lai chan qua nhi?

[hammecuala]

bài "sử dụng kiểu truyền 1bit" bị thiếu các lện call để gọi chương trình con (Kt_nut_toi; kt_nut_lui; kt_nut_trai; kt_nut_phai; kt_nut_nang; kt_nut_ha; kt_nut_kep; kt_nut_nha; kt_truot_toi; kt_truot_lui; kt_nut_reset_robot_tu_dong) phải không anh?

[hammecuala]

123456768901

[hammecuala]

bài "sử dụng kiểu truyền 1bit" thì 4 bit cao của P0 là kênh 1,2,3,4 có chức năng để làm gì vậy. Và port2 để làm gì vậy?

[hammecuala]

bài "truyền nhận 1 Byte" , trong chương trình chính Main thì đáng lẽ phải gọi ch tr con chuyển mã LCALL TO_MANCHESTER trước rồi mới gọi LCALL CHUAN_BI_PHAT_DU_LIEU và LCALL KET_THUC_PHAT . Nếu kg thì lần phát đầu tiên sẽ kg có dữ liệu hoặc dữ liệu bị sai thì robot sẽ hoạt động lung tung (xin chỉ giáo)

[toinhoem1001]

không phải như thế đâu?ví dụ thế này nhé....khi nào biết bộ phát bắt đầu phát và bộ thu bắt đầu thu và thu như thế nào đó là vấn đề đặt ra?...để đồng bộ tín hiệu thu và phát thì ta phải qui định:ví dụ thời gian này tao chuẩn bị bắt đầu phát nè...lo mà chuẩn bị thu đi...khi nào tao hô 1.2.3 thì là lúc tao phát đó nha...???đó cũng chính là lí do ta phải phát xung chuẩn bị trước rồi mới phát dữ liệu sau...kết thúc chuỗi xung bắt đầu cũng chính là lúc dữ liệu chuẩn bị đẩy qua bộ thu đó.
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