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co ai co code va so do nguyen li dung 89s52 ko cho em xin voi .
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Đây là code cho con tự động trên sala viết bằng asm, bạn tham khảo thử
Code:org 000h LM BIT P2.7 LM_LUI BIT P2.6 RM BIT P2.5 RM_LUI BIT P2.4 RMXT BIT P0.2 RMXP BIT P0.3 RML BIT P2.1 RMX BIT P2.0 RMX1 BIT P0.0 RML1 BIT P0.1 LSN BIT P1.1 LST BIT P1.0 RST BIT P1.3 RSN BIT P1.2 COI BIT P1.4 k1 BIT P3.0 K2 BIT P3.1 K3 BIT P3.2 K4 BIT P3.3 k5 BIT P3.4 K6 BIT P3.5 K7 BIT P3.6 K8 BIT P3.7 mov p0,#0FFH mov p1,#0FFH mov p2,#0FFH mov p3,#0FFH MOV TMOD,#01010101B MAIN: JB P3.3,SD JMP SANXANH SD: JB P3.6,SX JMP SANDO SX: JB P3.0,MAIN JMP CHINHCOCAU SANXANH: JB P3.0,SX1 JMP BLUE1 SX1: JB P3.1,SX2 JMP BLUE2 SX2: JB P3.2,SANXANH JMP BLUE3 SANDO: JB P3.0,SD1 JMP RED1 SD1: JB P3.1,SD2 JMP RED2 SD2: JB P3.2,SANDO JMP RED3 BLUE1: CALL CTXUATPHAT CALL DELAY03 CALL CTQUEOPHAI CALL DELAY03 CALL CHAO CALL CHAY CALL CTQUALINE CALL CHAY CALL CTQUALINE CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEOPHAI CALL CTGAPQUA CALL DELAY05 MOV TH1,#HIGH(-450) MOV TL1,#LOW(-450) CLR TF1 SETB TR1 CLR RM_LUI CLR LM_LUI DXP17: CLR LM CLR RM JNB TF1,DXP17 SETB RM SETB LM SETB RM_LUI SETB LM_LUI CALL DELAY05 CALL DELAY05 CALL CTQUEOPHAICOQUA CALL DELAY05 CALL CHAO CALL CHAY CALL CTCHUANBIQUEO MOV 32H,#4 MOV 31H,#200 CLR RM_LUI CLR RM CLR LM XP56: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ CLR RM MOV 30H,#50 DJNZ 30H,$ DJNZ 31H,XP56 DJNZ 32H,XP56 XP57: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ CLR RM MOV 30H,#50 DJNZ 30H,$ JB RSN,XP57 SETB RM SETB RM_LUI SETB LM CALL DELAY05 CALL CHAO CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEOPHAICOQUA CALL CTBOQUA CLR RMXT CALL DELAY05 JB P3.7,$ SETB RMXT CALL DELAY05 CALL CTQUEOPHAI CALL DELAY05 CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEOTRAI CALL DELAY05 CALL CHAO CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEOPHAI CLR RMXT CLR RMXP CALL DELAY05 JB P3.7,$ SETB RMXP CALL DELAY01 SETB RMXT CALL DELAY05 CALL CHAO CALL CHAY MOV TH1,#HIGH(-50) MOV TL1,#LOW(-50) CLR TF1 SETB TR1 DXP60: SETB LM SETB RM MOV 30H,#150 DJNZ 30H,$ CLR RM CLR LM MOV 30H,#50 DJNZ 30H,$ JNB TF1,DXP60 SETB RM SETB LM CALL DUNG CLR RML1 CLR RMX1 CALL DELAY05 SETB RML1 SETB RMX1 MOV TH0,#HIGH(-100) MOV TL0,#LOW(-100) CLR TF0 SETB TR0 DXP61: CLR RML JNB TF0,DXP61 SETB RML CLR RMXT CALL DELAY05 JB P3.7,$ SETB RMXT CALL DELAY05 MOV TH1,#HIGH(-200) MOV TL1,#LOW(-200) CLR TF1 SETB TR1 CLR RM_LUI CLR LM_LUI DXP62: CLR LM CLR RM JNB TF1,DXP62 SETB RM SETB LM SETB RM_LUI SETB LM_LUI CALL DELAY05 CALL DELAY05 CALL CTQUEOPHAICOQUA CALL DELAY05 CALL CHAO CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEOPHAICOQUA CALL DELAY05 CALL CHAO CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEOPHAICOQUA CALL CTBOQUA JMP $ BLUE2: CALL CTDAU CALL CHAO CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEOPHAICOQUA CALL CTBOQUA JMP $ BLUE3: CALL CTDAU CALL CHAO CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEOPHAICOQUA CALL CTBOQUA JMP $ RED1: CALL CTXUATPHAT CALL DELAY03 CALL CTQUEOTRAI CALL DELAY03 CALL CHAO CALL CHAY CALL CTQUALINE CALL CHAY CALL CTQUALINE CALL CHAY CALL CTQUALINE CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEOTRAI CALL CTGAPQUADO CALL DELAY05 MOV TH1,#HIGH(-450) MOV TL1,#LOW(-450) CLR TF1 SETB TR1 CLR RM_LUI CLR LM_LUI XP17: CLR LM CLR RM JNB TF1,XP17 SETB RM SETB LM SETB RM_LUI SETB LM_LUI CALL DELAY05 CALL DELAY05 CALL CTQUEOTRAICOQUA CALL CHAO CALL CHAY CALL QUALINE CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEO1LINETRAI CALL CHAO CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEOTRAICOQUA CALL CTBOQUA CLR RMXT CALL DELAY05 JB P3.7,$ SETB RMXT CALL CTQUEOTRAI CALL CHAO CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEOPHAI CALL CHAO CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEOTRAI CLR RMXP CLR RMXT CALL DELAY05 JB P3.7,$ SETB RMXP CALL DELAY01 SETB RMXT CALL DELAY05 CALL CHAY MOV TH1,#HIGH(-50) MOV TL1,#LOW(-50) CLR TF1 SETB TR1 XP45: SETB LM SETB RM MOV 30H,#150 DJNZ 30H,$ CLR RM CLR LM MOV 30H,#50 DJNZ 30H,$ JNB TF1,XP45 SETB RM SETB LM CALL DUNG CLR RML1 CLR RMX1 CALL DELAY05 SETB RML1 SETB RMX1 MOV TH0,#HIGH(-100) MOV TL0,#LOW(-100) CLR TF0 SETB TR0 XP46: CLR RML JNB TF0,XP46 SETB RML CLR RMXT CALL DELAY05 JB P3.7,$ SETB RMXT CALL CTRED2 CALL CHAO CALL CHAY CALL QUALINE CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEOTRAICOQUA CALL CTBOQUA JMP $ RED2: CALL CTXUATPHAT CALL DELAY03 CALL CTQUEOTRAI CALL DELAY03 CALL CHAO CALL CHAY CALL CTQUALINE CALL CHAY CALL CTQUALINE CALL CHAY CALL CTQUALINE CALL CHAY CALL CTQUALINE CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEOTRAI CALL CTGAPQUADO CALL CTRED2 CALL CHAO CALL CHAY CALL QUALINE CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEOTRAICOQUA CALL CTBOQUA JMP $ RED3: CALL CTXUATPHAT CALL DELAY03 CALL CTQUEOTRAI CALL DELAY03 CALL CHAO CALL CHAY CALL CTQUALINE CALL CHAY CALL CTQUALINE CALL CHAY CALL CTQUALINE CALL CHAY CALL CTQUALINE CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEOTRAI CALL CTGAPQUADO CALL CTRED2 CALL CHAO CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEOTRAICOQUA CALL CTBOQUA JMP $ CHINHCOCAU: JB P3.3,COCAU1 COCAU1T: CLR RML JNB P3.3,COCAU1T SETB RML JMP CHINHCOCAU COCAU1: JB P3.2,COCAU2 COCAU2T: SETB RMX CALL DELAY01 CLR RMX CALL DELAY01 JNB P3.2,COCAU2T SETB RMX JMP CHINHCOCAU COCAU2: JB P3.0,COCAU3 COCAU3T: CLR RMX1 JNB P3.0,COCAU3T SETB RMX1 JMP CHINHCOCAU COCAU3: JB P3.1,COCAU4 CLR RML1 COCAU4T: CLR RMX1 JNB P3.1,COCAU4T SETB RMX1 SETB RML1 JMP CHINHCOCAU COCAU4: JB P3.6,COCAU5 COCAU5T: CLR RMXT JNB P3.6,COCAU5T SETB RMXT JMP CHINHCOCAU COCAU5: JB P3.7,CHINHCOCAU CLR RMXP COCAU7T: CLR RMXT JNB P3.7,COCAU7T SETB RMXT SETB RMXP JMP CHINHCOCAU ;------------------------- CHAY: CLR RM CLR LM BD1X: MOV A,P1 ANL A,#00001111B CJNE A,#00001011B,TTX CALL CHAY1 JMP BD1X TTX: CJNE A,#00000011B,TT1X CALL CHAY2 JMP BD1X TT1X: CJNE A,#00000111B,TT2X SETB RM CLR LM JMP BD1X TT2X: CJNE A,#00001101B,TT3X CALL CHAY3 JMP BD1X TT3X: CJNE A,#00001100B,TT4X CALL CHAY4 JMP BD1X TT4X: CJNE A,#00001110B,TT5X SETB LM CLR RM JMP BD1X TT5X: CJNE A,#00001111B,TT7X CLR LM CLR RM BD1X1: JMP BD1X TT7X: CJNE A,#00000000B,TT8X JMP THOATX TT8X: CJNE A,#00001000B,TT9X JMP THOATX TT9X: CJNE A,#00000001B,BD1X1 JMP THOATX THOATX: SETB LM SETB RM RET ;------------------------- CHAY1: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR LM MOV 30H,#100 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ RET ;---------------------- CHAY2: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ CLR RM MOV 30H,#100 DJNZ 30H,$ RET ;---------------------- CHAY3: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR RM MOV 30H,#100 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ RET ;---------------------- CHAY4: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ CLR LM MOV 30H,#100 DJNZ 30H,$ RET ;------------------------- CHAYT1: CLR RM CLR LM BD1: MOV A,P1 ANL A,#00001111B CJNE A,#00001011B,TT CALL CHAY1T JMP BD1 TT: CJNE A,#00000011B,TT1 CALL CHAY2T JMP BD1 TT1: CJNE A,#00000111B,TT2 SETB RM CLR LM JMP BD1 TT2: CJNE A,#00001101B,TT3 CALL CHAY3T JMP BD1 TT3: CJNE A,#00001100B,TT4 CALL CHAY4T JMP BD1 TT4: CJNE A,#00001110B,TT5 SETB LM CLR RM JMP BD1 TT5: CJNE A,#00001111B,TT7 CALL CHAY5T JMP BD1 TT7: CJNE A,#00000000B,TT8 JMP THOAT TT8: CJNE A,#00001000B,TT9 JMP THOAT TT9: CJNE A,#00000001B,BD1 JMP THOAT THOAT: SETB LM SETB RM SETB RM_LUI SETB LM_LUI RET QUALINE: MOV 31H,#10 QL: CALL DOENCORDER DJNZ 31H,QL SETB RM SETB LM RET THANG: CLR RM_LUI CLR LM_LUI CLR RM CLR LM MOV 31H,#250 MOV 30H,#250 THT: DJNZ 30H,THT DJNZ 31H,THT SETB LM SETB RM SETB RM_LUI SETB LM_LUI RET ;------------------------- CHAY1T: SETB LM SETB RM MOV 30H,#50 DJNZ 30H,$ CLR LM MOV 30H,#100 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ RET ;---------------------- CHAY2T: SETB LM SETB RM MOV 30H,#50 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ CLR RM MOV 30H,#100 DJNZ 30H,$ RET ;---------------------- CHAY3T: SETB LM SETB RM MOV 30H,#50 DJNZ 30H,$ CLR RM MOV 30H,#100 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ RET ;---------------------- CHAY4T: SETB LM SETB RM MOV 30H,#50 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ CLR LM MOV 30H,#100 DJNZ 30H,$ RET ;---------------------- CHAY5T: SETB LM SETB RM MOV 30H,#50 DJNZ 30H,$ CLR RM CLR LM MOV 30H,#100 DJNZ 30H,$ RET ;------------------------- DOENCORDER: MOV TH1,#HIGH(-10) MOV TL1,#LOW(-10) CLR TF1 SETB TR1 CLR RM CLR LM BD: MOV A,P1 ANL A,#00001111B CJNE A,#00001011B,T CALL CHAY1 JB TF1,ZZ1 JMP BD ZZ1: JMP HET T: CJNE A,#00000011B,T1X CALL CHAY2 JB TF1,ZZ2 JMP BD ZZ2: JMP HET T1X: CJNE A,#00000111B,T2 CLR LM SETB RM JB TF1,ZZ3 JMP BD ZZ3: JMP HET T2: CJNE A,#00001101B,T3 CALL CHAY3 JB TF1,ZZ4 JMP BD ZZ4: JMP HET T3: CJNE A,#00001100B,T4 CALL CHAY4 JB TF1,ZZ5 JMP BD ZZ5: JMP HET T4: CJNE A,#00001110B,T5 CLR RM SETB LM JB TF1,ZZ6 JMP BD ZZ6: JMP HET T5: CJNE A,#00001111B,T6 CLR RM CLR LM JB TF1,ZZ7 JMP BD ZZ7: JMP HET T6: CJNE A,#00001001B,T7 CLR RM CLR LM JB TF1,ZZ8 JMP BD ZZ8: JMP HET T7: CJNE A,#00000000B,T8 CLR RM CLR LM JB TF1,ZZ9 JMP BD ZZ9: JMP HET T8: CJNE A,#00001000B,T9 CLR RM CLR LM JB TF1,ZZ10 JMP BD ZZ10: JMP HET T9: CJNE A,#00000001B,T10 CLR RM CLR LM JB TF1,ZZ11 JMP BD ZZ11: JMP HET T10: CJNE A,#00000110B,T11 CLR RM CLR LM JB TF1,ZZ12 JMP BD ZZ12: JMP HET T11: CJNE A,#00001010B,T12 CLR RM CLR LM JB TF1,ZZ13 BDC: JMP BD ZZ13: JMP HET T12: CJNE A,#00000101B,BDC CLR RM CLR LM JB TF1,ZZ14 JMP BD ZZ14: JMP HET HET: SETB RM SETB LM RET ;******************** DOENCORDER0: CLR RM CLR LM T0BD: MOV A,P1 ANL A,#00001111B CJNE A,#00001011B,T0T CALL CHAYT01 JNB P3.6,T0ZZ1 JMP T0BD T0ZZ1: JMP T0HET T0T: CJNE A,#00000011B,T0T1X CALL CHAYT02 JNB P3.6,T0ZZ2 JMP T0BD T0ZZ2: JMP T0HET T0T1X: CJNE A,#00000111B,T0T2 CLR LM SETB RM JNB P3.6,T0ZZ3 JMP T0BD T0ZZ3: JMP T0HET T0T2: CJNE A,#00001101B,T0T3 CALL CHAYT03 JNB P3.6,T0ZZ4 JMP T0BD T0ZZ4: JMP T0HET T0T3: CJNE A,#00001100B,T0T4 CALL CHAYT04 JNB P3.6,T0ZZ5 JMP T0BD T0ZZ5: JMP T0HET T0T4: CJNE A,#00001110B,T0T5 CLR RM SETB LM JNB P3.6,T0ZZ6 JMP T0BD T0ZZ6: JMP T0HET T0T5: CJNE A,#00001111B,T0T6 CALL CHAYT05 JNB P3.6,T0ZZ7 JMP T0BD T0ZZ7: JMP T0HET T0T6: CJNE A,#00001001B,T0T7 CALL CHAYT05 JNB P3.6,T0ZZ8 JMP T0BD T0ZZ8: JMP T0HET T0T7: CJNE A,#00000000B,T0T8 CALL CHAYT05 JNB P3.6,T0ZZ9 JMP T0BD T0ZZ9: JMP T0HET T0T8: CJNE A,#00001000B,T0T9 CALL CHAYT05 JNB P3.6,T0ZZ10 JMP T0BD T0ZZ10: JMP T0HET T0T9: CJNE A,#00000001B,T0T10 CALL CHAYT05 JNB P3.6,T0ZZ11 JMP T0BD T0ZZ11: JMP T0HET T0T10: CJNE A,#00000110B,T0T11 CALL CHAYT05 JNB P3.6,T0ZZ12 JMP T0BD T0ZZ12: JMP T0HET T0T11: CJNE A,#00001010B,T0T12 CALL CHAYT05 JNB P3.6,T0ZZ13 T0BDC: JMP T0BD T0ZZ13: JMP T0HET T0T12: CJNE A,#00000101B,T0BDC CALL CHAYT05 JNB P3.6,T0ZZ14 JMP T0BD T0ZZ14: JMP T0HET T0HET: SETB RM SETB LM RET ;------------------------- CHAYT01: SETB LM SETB RM MOV 30H,#70 DJNZ 30H,$ CLR LM MOV 30H,#20 DJNZ 30H,$ CLR RM MOV 30H,#40 DJNZ 30H,$ RET ;---------------------- CHAYT02: SETB LM SETB RM MOV 30H,#70 DJNZ 30H,$ CLR LM MOV 30H,#40 DJNZ 30H,$ CLR RM MOV 30H,#40 DJNZ 30H,$ RET ;---------------------- CHAYT03: SETB LM SETB RM MOV 30H,#70 DJNZ 30H,$ CLR RM MOV 30H,#20 DJNZ 30H,$ CLR LM MOV 30H,#40 DJNZ 30H,$ RET ;---------------------- CHAYT04: SETB LM SETB RM MOV 30H,#70 DJNZ 30H,$ CLR RM MOV 30H,#40 DJNZ 30H,$ CLR LM MOV 30H,#40 DJNZ 30H,$ RET ;---------------------- CHAYT05: SETB LM SETB RM MOV 30H,#70 DJNZ 30H,$ CLR RM MOV 30H,#10 DJNZ 30H,$ CLR LM MOV 30H,#40 DJNZ 30H,$ RET XOAYTRAI: XTT: CLR RMXT JNB P3.7,XTT CLR RMXT JB P3.7,XPT1 SETB RMXT RET XOAYPHAI: CLR RMXP XPT: CLR RMXT JNB P3.7,XPT SETB RMXT SETB RMXP XPT1: CLR RMXP CLR RMXT JB P3.7,XPT1 SETB RMXP SETB RMXT RET ;--------------------- QUEOPHAI: CLR RM CLR RM_LUI CLR LM MOV 32H,#2 MEO1: MOV 31H,#100 MEO: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ CLR RM MOV 30H,#10 DJNZ 30H,$ DJNZ 31H,MEO DJNZ 32H,MEO1 QTT: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ CLR RM MOV 30H,#10 DJNZ 30H,$ JB RST,QTT QTT1: SETB LM SETB RM MOV 30H,#50 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ CLR RM MOV 30H,#10 DJNZ 30H,$ JB RSN,QTT1 SETB RM SETB LM SETB RM_LUI SETB LM_LUI RET ;--------------------- QUEOTRAI: CLR LM_LUI CLR RM CLR LM MOV 32H,#2 MAO1: MOV 31H,#100 MAO: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ CLR LM MOV 30H,#10 DJNZ 30H,$ DJNZ 31H,MAO DJNZ 32H,MAO1 QPT: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ CLR LM MOV 30H,#10 DJNZ 30H,$ JB LST,QPT QPT1: SETB LM SETB RM MOV 30H,#50 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ CLR LM MOV 30H,#10 DJNZ 30H,$ JB LSN,QPT1 SETB RM SETB LM SETB LM_LUI SETB RM_LUI RET DELAY02: MOV 32H,#1 MOV 33H,#80 MOV 34H,#80 III: DJNZ 34H,III DJNZ 33H,III DJNZ 32H,III RET DELAY03: MOV 32H,#3 MOV 33H,#100 MOV 34H,#100 LL: DJNZ 34H,LL DJNZ 33H,LL DJNZ 32H,LL RET DELAY04: MOV 32H,#4 MOV 33H,#100 MOV 34H,#100 LLL: DJNZ 34H,LLL DJNZ 33H,LLL DJNZ 32H,LLL RET DELAY05: MOV 32H,#5 MOV 33H,#100 MOV 34H,#100 KK: DJNZ 34H,KK DJNZ 33H,KK DJNZ 32H,KK RET DELAY01: MOV 32H,#1 MOV 33H,#60 MOV 34H,#60 HH1: DJNZ 34H,HH1 DJNZ 33H,HH1 DJNZ 32H,HH1 RET DUNG: CLR RM_LUI CLR LM_LUI MOV 31H,#50 MOV 30H,#250 DU: CLR RM CLR LM DJNZ 30H,DU DJNZ 31H,DU SETB LM SETB RM SETB LM_LUI SETB RM_LUI RET CTQUEOTRAI: CLR LM_LUI CLR RM CLR LM MOV 32H,#3 MOV 31H,#200 XP181: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ CLR LM MOV 30H,#20 DJNZ 30H,$ DJNZ 31H,XP181 DJNZ 32H,XP181 CLR LM_LUI CLR RM CLR LM XP1: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ CLR LM MOV 30H,#20 DJNZ 30H,$ JB LST,XP1 CLR LM_LUI CLR RM CLR LM XP2: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ CLR LM MOV 30H,#20 DJNZ 30H,$ JB LSN,XP2 CLR LM_LUI CLR RM CLR LM MOV 32H,#2 MOV 31H,#200 XP3: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ CLR LM MOV 30H,#20 DJNZ 30H,$ DJNZ 31H,XP3 DJNZ 32H,XP3 XP4: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ CLR LM MOV 30H,#20 DJNZ 30H,$ JB LST,XP4 XP5: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ CLR LM MOV 30H,#20 DJNZ 30H,$ JB LSN,XP5 SETB RM SETB LM SETB LM_LUI RET CTQUALINE: MOV TH1,#HIGH(-100) MOV TL1,#LOW(-100) CLR TF1 SETB TR1 XP6: CLR RM CLR LM JNB TF1,XP6 SETB RM SETB LM RET CTXUATPHAT: MOV TH1,#HIGH(-100) MOV TL1,#LOW(-100) CLR TF1 SETB TR1 XP: CLR RM CLR LM JNB TF1,XP SETB RM SETB LM MOV TH1,#HIGH(-80) MOV TL1,#LOW(-80) CLR TF1 SETB TR1 XP0: SETB LM SETB RM MOV 30H,#150 DJNZ 30H,$ CLR RM CLR LM MOV 30H,#50 DJNZ 30H,$ JNB TF1,XP0 SETB RM SETB LM CALL DUNG RET CTCHUANBIQUEO: MOV TH1,#HIGH(-100) MOV TL1,#LOW(-100) CLR TF1 SETB TR1 XP9: SETB LM SETB RM MOV 30H,#150 DJNZ 30H,$ CLR RM CLR LM MOV 30H,#50 DJNZ 30H,$ JNB TF1,XP9 SETB RM SETB LM CALL DUNG RET CTQUEOTRAICOQUA: CLR LM_LUI CLR RM CLR LM MOV 32H,#3 MOV 31H,#200 XP18: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ CLR LM MOV 30H,#30 DJNZ 30H,$ DJNZ 31H,XP18 DJNZ 32H,XP18 CLR LM_LUI CLR RM CLR LM XP23: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ CLR LM MOV 30H,#30 DJNZ 30H,$ JB LST,XP23 CLR LM_LUI CLR RM CLR LM XP24: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ CLR LM MOV 30H,#30 DJNZ 30H,$ JB LSN,XP24 CLR LM_LUI CLR RM CLR LM MOV 32H,#2 MOV 31H,#200 XP25: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ CLR LM MOV 30H,#30 DJNZ 30H,$ DJNZ 31H,XP25 DJNZ 32H,XP25 XP26: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ CLR LM MOV 30H,#30 DJNZ 30H,$ JB LST,XP26 XP27: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ CLR LM MOV 30H,#30 DJNZ 30H,$ JB LSN,XP27 SETB RM SETB LM SETB LM_LUI RET CHAO: MOV TH1,#HIGH(-50) MOV TL1,#LOW(-50) CLR TF1 SETB TR1 XP34: SETB LM SETB RM MOV 30H,#50 DJNZ 30H,$ CLR RM CLR LM MOV 30H,#50 DJNZ 30H,$ JNB TF1,XP34 SETB RM SETB LM SETB RM_LUI SETB LM_LUI RET CTQUEOPHAI: MOV 32H,#3 MOV 31H,#200 CLR RM_LUI CLR RM CLR LM XP39: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ CLR RM MOV 30H,#50 DJNZ 30H,$ DJNZ 31H,XP39 DJNZ 32H,XP39 XP40: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ CLR RM MOV 30H,#50 DJNZ 30H,$ JB RST,XP40 XP41: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ CLR RM MOV 30H,#50 DJNZ 30H,$ JB RSN,XP41 MOV 32H,#2 MOV 31H,#200 CLR RM_LUI CLR RM CLR LM XP42: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ CLR RM MOV 30H,#50 DJNZ 30H,$ DJNZ 31H,XP42 DJNZ 32H,XP42 XP43: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ CLR RM MOV 30H,#50 DJNZ 30H,$ JB RST,XP43 XP44: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ CLR RM MOV 30H,#50 DJNZ 30H,$ JB RSN,XP44 SETB RM SETB RM_LUI SETB LM RET CTQUEOPHAICOQUA: MOV 32H,#3 MOV 31H,#200 CLR RM_LUI CLR RM CLR LM XP50: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ CLR RM MOV 30H,#50 DJNZ 30H,$ DJNZ 31H,XP50 DJNZ 32H,XP50 XP51: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ CLR RM MOV 30H,#50 DJNZ 30H,$ JB RST,XP51 XP52: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ CLR RM MOV 30H,#50 DJNZ 30H,$ JB RSN,XP52 MOV 32H,#2 MOV 31H,#200 CLR RM_LUI CLR RM CLR LM XP53: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ CLR RM MOV 30H,#50 DJNZ 30H,$ DJNZ 31H,XP53 DJNZ 32H,XP53 XP54: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ CLR RM MOV 30H,#50 DJNZ 30H,$ JB RST,XP54 XP55: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR LM MOV 30H,#150 DJNZ 30H,$ CLR RM MOV 30H,#50 DJNZ 30H,$ JB RSN,XP55 SETB RM SETB RM_LUI SETB LM RET CTBOQUA: CALL DELAY05 CALL CHAO CALL CHAY CALL QUALINE CALL CHAY MOV TH1,#HIGH(-25) MOV TL1,#LOW(-25) CLR TF1 SETB TR1 XP36: SETB LM SETB RM MOV 30H,#200 DJNZ 30H,$ CLR RM CLR LM MOV 30H,#50 DJNZ 30H,$ JNB TF1,XP36 SETB RM SETB LM CALL DUNG CLR RMXP CLR RMXT CALL DELAY05 JB P3.7,$ SETB RMXP SETB RMXP CALL DELAY01 SETB RMXT MOV TH0,#HIGH(-100) MOV TL0,#LOW(-100) CLR TF0 SETB TR0 XP37: CLR RMX CALL DELAY01 SETB RMX CALL DELAY01 JNB TF0,XP37 SETB RMX CALL DELAY05 CLR RMX1 CALL DELAY03 SETB RMX1 MOV TH1,#HIGH(-200) MOV TL1,#LOW(-200) CLR TF1 SETB TR1 CLR RM_LUI CLR LM_LUI XP38: CLR LM CLR RM JNB TF1,XP38 SETB RM SETB LM SETB RM_LUI SETB LM_LUI CALL DELAY05 RET CTGAPQUA: CLR RMXT CLR RMXP CALL DELAY05 JB P3.7,$ SETB RMXP CALL DELAY01 SETB RMXT CALL CHAY MOV TH1,#HIGH(-50) MOV TL1,#LOW(-50) CLR TF1 SETB TR1 DXP15: SETB LM SETB RM MOV 30H,#150 DJNZ 30H,$ CLR RM CLR LM MOV 30H,#50 DJNZ 30H,$ JNB TF1,DXP15 SETB RM SETB LM CALL DUNG CLR RML1 CLR RMX1 CALL DELAY05 SETB RML1 SETB RMX1 MOV TH0,#HIGH(-100) MOV TL0,#LOW(-100) CLR TF0 SETB TR0 DXP16: CLR RML JNB TF0,DXP16 SETB RML CLR RMXT CALL DELAY05 JB P3.7,$ SETB RMXT RET CTDAU: CALL CTXUATPHAT CALL DELAY03 CALL CTQUEOPHAI CALL DELAY03 CALL CHAO CALL CHAY CALL CTQUALINE CALL CHAY CALL CTQUALINE CALL CHAY CALL CTQUALINE CALL CHAY CALL CTQUALINE CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEOPHAI CALL CTGAPQUA CALL DELAY05 MOV TH1,#HIGH(-220) MOV TL1,#LOW(-220) CLR TF1 SETB TR1 CLR RM_LUI CLR LM_LUI DXP70: CLR LM CLR RM JNB TF1,DXP70 SETB RM SETB LM SETB RM_LUI SETB LM_LUI CALL DELAY05 CALL DELAY05 CALL CTQUEOPHAICOQUA CALL DELAY03 CALL CHAO CALL CHAY CALL QUALINE CALL CHAY CALL QUALINE CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEOPHAICOQUA RET CTGAPQUADO: CLR RMXT CLR RMXP CALL DELAY05 JB P3.7,$ SETB RMXP CALL DELAY01 SETB RMXT CALL CHAO CALL CHAY MOV TH1,#HIGH(-50) MOV TL1,#LOW(-50) CLR TF1 SETB TR1 XP15: SETB LM SETB RM MOV 30H,#150 DJNZ 30H,$ CLR RM CLR LM MOV 30H,#50 DJNZ 30H,$ JNB TF1,XP15 SETB RM SETB LM CALL DUNG CLR RML1 CLR RMX1 CALL DELAY05 SETB RML1 SETB RMX1 MOV TH0,#HIGH(-100) MOV TL0,#LOW(-100) CLR TF0 SETB TR0 XP16: CLR RML JNB TF0,XP16 SETB RML CLR RMXT CALL DELAY05 JB P3.7,$ CLR RMXP CALL DELAY01 SETB RMXP SETB RMXT RET CTQUEO1LINETRAI: MOV 32H,#4 MOV 31H,#200 CLR LM_LUI CLR RM CLR LM DXP56: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ CLR LM MOV 30H,#30 DJNZ 30H,$ DJNZ 31H,DXP56 DJNZ 32H,DXP56 DXP57: SETB LM SETB RM MOV 30H,#1 DJNZ 30H,$ CLR RM MOV 30H,#150 DJNZ 30H,$ CLR LM MOV 30H,#30 DJNZ 30H,$ JB LSN,DXP57 SETB RM SETB LM_LUI SETB LM RET CTRED2: CALL DELAY05 MOV TH1,#HIGH(-220) MOV TL1,#LOW(-220) CLR TF1 SETB TR1 CLR RM_LUI CLR LM_LUI XP47: CLR LM CLR RM JNB TF1,XP47 SETB RM SETB LM SETB RM_LUI SETB LM_LUI CALL DELAY05 CALL CTQUEOTRAICOQUA CALL CHAO CALL CHAY CALL CTQUALINE CALL CHAY CALL CTQUALINE CALL CHAY CALL CTQUALINE CALL CHAY CALL CTCHUANBIQUEO CALL CTQUEOTRAICOQUA RET RET END -
trong quyển vi điều khiển của KIều xuân Thực có cả đấySửa biến tần, Servo, Máy hàn , Máy tính công nghiệp, Nguồn xung 0978666571
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anh co cai code nao don gian hon khong a? cho 4 cam bien vao va 2 dau ra vi em chi can ro theo mot duong vach den ma thoiComment
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Hình như bạn đọc chưa kỹ? Phần lập trình cho robot là lập trình với dòng AVR(cụ thể là ATMEGA128) làm j có phải 8051 đâu. Với những người mới chỉ làm quen với 8051 thì khó mà hiểu được.Nguyên văn bởi phamtinh.dt Xem bài viếtComment
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đối với dò đường chưa cần đến phải dùng avr.8051 cũng có thể thỏa mãn.còn có điều kiện thì dùng Avr thôi.Nguyên văn bởi robocon2011 Xem bài viết
khanh090991 có code nhưng ở trong sách dài lắm ngại gõSửa biến tần, Servo, Máy hàn , Máy tính công nghiệp, Nguồn xung 0978666571
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Để bữa nào rảnh mình gởi code cho. Mình code bằng asm nhe bạn. Mạch điều khiển bạn định điều khiển bao nhiêu động cơ?Comment
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Tất nhiên rùi. Ngay cả lập trình robocon dùng 8051 vẫn ok(trừ khi dùng xử lý ảnh). Nhưng ý Tôi muốn nói ở đây đó là về cuốn sách mà bạn giớ thiệu, thì phần lập trình cho robot đó là dùng avr chứ k phải 8051.Nguyên văn bởi phamtinh.dt Xem bài viết
The end.Comment
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đây là code dò đường cho robot dung 8051, ở đây ngõ ra có 3 động cơ.bạn tham khảo thử nhé
;chuong trinh dieu xung PWM cho 9051
;nguoi viet: phamtrongvn@gmail.com
;ngay viet: 7/05/2011
;MCU 89xx
;=============================
count_timer equ 31h
;============PWM===============
PWM1 equ 32h
PWM2 equ 33h
#define PWM_PORT1 P1.4 ;motor RIGHT
#define DAO_MOTORR P1.5
#define PWM_PORT2 P1.6 ;motor LEFT
#define DAO_MOTORL P1.7
;===========define sensor=======
#define SENSOR0 P2.7
#define SENSOR1 P2.6
#define SENSOR2 P2.5
#define SENSOR3 P2.4
#define SENSOR4 P2.3
#define SENSOR5 P2.2
#define SENSOR6 P2.1
#define SENSOR7 P2.0
#define SENSOR P2
;==============================
org 0000h
ljmp main
org 0Bh
ljmp EXtimer0
org 03h
ljmp ngat_ngoai0
org 40h
main:
mov p1,#000
lcall khaibaothanhghi
start:
lcall kiemtracambien
sjmp start
;==============================
;chuong trinh phuc vu ngat ngoai0 de xua ly vat can
ngat_ngoai0:
jb p3.2,thoat_ngat_ngoai0
;xu ly quay dau
lcall dungdongco
setb PWM_PORT1
setb DAO_MOTORL
jb SENSOR3,$
clr PWM_PORT1
clr DAO_MOTORL
mov ie,#10000000b
setb ex0 ;cho phep ngat ngoai 0 de phat hien vat can
setb it0 ;ngat ngoai 0 o canh xung
mov IP,#04h ; cho phep ngat ngoai uu tien hon ngat trong
mov sp,#5fh
MOV TMOD,#00000010b
mov th0,#(-100)
setb EA
setb ET0
setb TR0
clr c
thoat_ngat_ngoai0:
reti
;==============================
khaibaothanhghi:
mov p1,#00h
mov ie,#10000000b
setb ex0 ;cho phep ngat ngoai 0 de phat hien vat can
setb it0 ;ngat ngoai 0 o canh xung
mov IP,#04h ; cho phep ngat ngoai uu tien hon ngat trong
mov sp,#5fh
MOV TMOD,#00000010b
mov th0,#(-100)
setb EA
setb ET0
setb TR0
;====
mov count_timer,#0
mov PWM1,#50
mov PWM2,#50
ret
;==============================
kiemtracambien:
jb SENSOR4,nhan1
lcall tocdo1
nhan1:
jb SENSOR3,nhan2
lcall tocdo2
nhan2:
jb SENSOR5,nhan3
lcall tocdo3
nhan3:
jb SENSOR2,nhan4
lcall tocdo4
nhan4:
jb SENSOR6,nhan5
lcall tocdo5
nhan5:
jb SENSOR1,nhan6
lcall tocdo6
nhan6:
jb SENSOR7,nhan7
lcall tocdo7
nhan7:
jb SENSOR0,nhan8
lcall tocdo8
nhan8:
ret
;==============================
tocdo1:
mov PWM1,#50
MOV PWM2,#50
ret
;==============================
tocdo2:
mov PWM1,#50
MOV PWM2,#50
ret
;==============================
tocdo3:
mov PWM1,#50
MOV PWM2,#40
ret
;==============================
tocdo4:
mov PWM1,#40
MOV PWM2,#50
ret
;==============================
tocdo5:
mov PWM1,#50
MOV PWM2,#25
ret
;==============================
tocdo6:
mov PWM1,#25
MOV PWM2,#50
ret
;==============================
tocdo7:
mov PWM1,#50
MOV PWM2,#10
ret
;==============================
tocdo8:
mov PWM1,#10
MOV PWM2,#50
ret
;=============================
dungdongco:
mov PWM1,#0
MOV PWM2,#0
ret
;==============================
EXtimer0:
PUSH acc
inc count_timer
mov a,count_timer
cjne a,#100,EXt1
mov count_timer,#0
EXt1:
mov a,count_timer
;=====================
clr c
cjne a,PWM1,EXt11
EXt11:
jnc EXt111
setb PWM_PORT1
sjmp EXt2
EXt111:
clr PWM_PORT1
EXt2:
clr c
cjne a,PWM2,EXt22
EXt22:
jnc EXt222
setb PWM_PORT2
sjmp end_EXtimer0
EXt222:
clr PWM_PORT2
end_EXtimer0:
POP acc
reti
;==============================
delay_nhieu:
mov r7,#255
djnz r7,$
ret
;==============================
delay500ms:
mov r0,#200
d2: mov r1,#255
d3:
djnz r1,d3
djnz r0,d2
ret
end
dientu2.tkComment
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uh sorry mình nhầm.Nguyên văn bởi robocon2011 Xem bài viếtSửa biến tần, Servo, Máy hàn , Máy tính công nghiệp, Nguồn xung 0978666571
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ok. 8051 viết tốt màComment
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