CCS 4.104 năm 2010

[bavinhlhu]

bản css 4.104 này đã crack chưa vậy hả bác ơi.
với lại bác nào có thể lí giải dùm cho mình với . mình đang làm dự án với bài tập như sau trong file đính kèm , khi biên dịch nó cứ báo là đã vượt quá dung lượng cho phép , nhung theo điều tra thì không thể nào vượt quá bộ nhớ rom của nó được . ai có thể giúp mình với.

#include <16F887.h>
#fuses HS, NOWDT,NOLVP,put//,wrt_50%
#use delay (clock=12000000) // define crystal = 8MHz
#use rs232(baud=9600, xmit=PIN_c6,rcv=PIN_c7)
#use fast_io(a)
#use fast_io(b)
#use fast_io(c)
#use fast_io(d)
//#include<math.h>
// 0 1 2 3 4 5 6 7 8 9
//byte const ma_led[] = {0xC0,0xF9,0xA4,0xB0,0x99,0x92,0x82,0xF8,0x80,0x90 ,255};
//byte const ma_quet[6]={0b11111110,0b11111101,0b11111011,0b11110111,0b11 101111,0b11011111};
//byte const ma_chu[]={"thang di cho kia tao chem chet cha may luon nghe chua $"};
//byte so[6];
#define u unsigned
u int8 i,j,t,bien_line,so_line,lech_line;
u int8 speed_trai0,speed_trai1,speed_trai2,speed_trai3,sp eed_trai4,speed_trai5,speed_trai6,speed_trai7;
u int8 speed_phai0,speed_phai1,speed_phai2,speed_phai3,sp eed_phai4,speed_phai5,speed_phai6,speed_phai7;
u int16 bien_encoder;



#byte porta=5
#byte portb=6
#byte portc=7
#byte portd=8
#byte porte=9


//#byte porte=9
#byte txreg=0x19
#byte rcreg=0x1a
#byte cb = portd

#bit cb0 =portd.0 //ben trai
#bit cb1 =portd.1
#bit cb2 =portd.2
#bit cb3 =portd.3 // o giua ben trai

#bit cb4 =portd.4// o giua ben phai
#bit cb5 =portd.5
#bit cb6 =portd.6
#bit cb7 =portd.7// ben phai




#bit nut_xd =porta.0
#bit nut_ct1 =porta.1
#bit nut_ct2 =porta.2
#bit nut_ct3 =porta.3

#bit role_khoa_trai = porta.4
#bit role_khoa_phai = porta.5
#bit role_trai = porta.6
#bit role_phai = porta.7

#define dc_trai set_pwm1_duty
#define dc_phai set_pwm2_duty



#int_timer0
void TIMER0_isr()
{

}


#int_timer1
void TIMER1_isr()
{
}


#INT_EXT // ngat encoder
void encoder_isr()
{
++bien_encoder;
}

//xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
void kt_line()
{ bien_line=0;
if (!cb0) ++bien_line;if (!cb1) ++bien_line;if (!cb2) ++bien_line;if (!cb3) ++bien_line;if (!cb4) ++bien_line;
if(!cb5) ++bien_line;if (!cb6) ++bien_line;if (!cb7) ++bien_line;
}
//xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx

void dem_line()
{ kt_line();
if ((bien_line>4) && (bien_encoder>150) ) {++so_line;bien_encoder=0;}
}
//xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
void do_line()
{
if (cb==0){dc_trai(speed_trai0);dc_phai(speed_phai0); lech_line=0;}
else if(cb3==0 && cb4==0){dc_trai(speed_trai0);dc_phai(speed_phai0); lech_line=0;}//11100111

else if(cb3==0 && cb4==1){dc_trai(speed_trai0);dc_phai(speed_phai1); lech_line=0;}//11101111

else if(cb3==1 && cb4==0){dc_trai(speed_trai1);dc_phai(speed_phai0); lech_line=0;}//11110111

else if(cb2==0 && cb3==0){dc_trai(speed_trai0);dc_phai(speed_phai2); lech_line=0;}//11001111

else if(cb5==0 && cb4==0){dc_trai(speed_trai2);dc_phai(speed_phai0); lech_line=0;}//11110011

else if(cb2==0 && cb3==1){dc_trai(speed_trai0);dc_phai(speed_phai3); lech_line=1;}//11011111

else if(cb5==0 && cb4==1){dc_trai(speed_trai3);dc_phai(speed_phai0); lech_line=2;}//11111011

else if(cb1==0 && cb2==0){dc_trai(speed_trai0);dc_phai(speed_phai4); lech_line=1;}//10011111

else if(cb5==0 && cb6==0){dc_trai(speed_trai4);dc_phai(speed_phai0); lech_line=2;}//11111001

else if(cb1==0 && cb2==1){dc_trai(speed_trai0);dc_phai(speed_phai5); lech_line=1;}//10111111

else if(cb6==0 && cb5==1){dc_trai(speed_trai5);dc_phai(speed_phai0); lech_line=2;}//11111101

else if(cb0==0 && cb1==0){dc_trai(speed_trai0);dc_phai(speed_phai6); lech_line=1;}//00111111

else if(cb6==0 && cb7==0){dc_trai(speed_trai6);dc_phai(speed_phai0); lech_line=2;}//11111100

else if(cb0==0 && cb1==1){dc_trai(speed_trai0);dc_phai(speed_phai7); lech_line=1;}//01111111

else if(cb7==0 && cb6==1){dc_trai(speed_trai7);dc_phai(speed_phai0); lech_line=2;}//11111110
else if(cb=255)
{if (lech_line==1){dc_trai(0);dc_phai(255);}
else if(lech_line==2){dc_trai(255);dc_phai(0);}
}
}
//***************************************


void chay_dem_line(u int8 line_can_di)
{so_line=0;
do{
dem_line();
do_line();
}while(line_can_di>=so_line);
}

//xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
void chay_do_line_encoder(u int16 tam)
{bien_encoder=0;while(bien_encoder<tam){ do_line();}
}
//xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
void queo_trai()
{u char i;
role_khoa_trai=1;role_khoa_phai=1;role_trai=0;role _phai=1;dc_trai(200); dc_phai(200);
while(i<100)
{ if (!cb0) ++i;
else i=0;
}
i=0;
while(i<100)
{ if (cb0) ++i;
else i=0;
}

i=0;
while(i<100)
{ if (cb2) ++i;
else i=0;
}

role_khoa_trai=0;role_khoa_phai=0;role_trai=1;role _phai=1;delay_ms(100);
role_khoa_trai=1;role_khoa_phai=1;
}//xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
void queo_phai()
{u char i;
role_khoa_trai=1;role_khoa_phai=1;role_phai=0;role _trai=1;dc_trai(200); dc_phai(200);
while(i<100)
{ if (!cb7) ++i;
else i=0;
}
i=0;
while(i<100)
{ if (cb7) ++i;
else i=0;
}

i=0;
while(i<100)
{ if (cb5) ++i;
else i=0;
}

role_khoa_trai=0;role_khoa_phai=0;role_trai=1;role _phai=1;delay_ms(100);
role_khoa_trai=1;role_khoa_phai=1;
}
//xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
void toc_do1()
{ speed_trai0=255;speed_phai0=255;
speed_trai1=230;speed_phai1=230;
speed_trai2=200;speed_phai2=200;
speed_trai3=150;speed_phai3=150;
speed_trai4=120;speed_phai4=120;
speed_trai5=80;speed_phai5=80;
speed_trai6=30;speed_phai6=30;
speed_trai7=10;speed_phai7=10;
}

void chay_xanh1()
{ dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);

toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);

toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
}

//xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx

void main()
{
set_tris_a(0);
set_tris_b(0b11110000);
set_tris_d(0);
set_tris_c(0b10000000);
output_c(255);
output_d(255);
#zero_ram
set_timer0(100);
set_timer1(50000);
set_timer2(1);
setup_timer_0 (RTCC_DIV_32|RTCC_INTERNAL);
setup_timer_1 (T1_INTERNAL|T1_DIV_BY_8);

enable_interrupts(int_timer0);
enable_interrupts(int_timer1);

// khai bao ngat ngoai dung encoder
enable_interrupts(INT_EXT);//ngat ngoai
ext_int_edge( H_TO_L );//co su thay doi tu cao xuong thap



// phan khai bao pwm
setup_timer_2(T2_DIV_BY_16,200,16);
set_timer2(100);
setup_ccp1(CCP_PWM); // Configure CCP1 as a PWM
setup_ccp2(CCP_pwm); // Configure CCP2 as a PWM

set_pwm1_duty(0); // dung motor
set_pwm2_duty(0); // dung motor

enable_interrupts(global);

//while(true)
//{
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);

dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();
dc_trai(0);dc_phai(15);
toc_do1();chay_dem_line(10);
toc_do1();chay_do_line_encoder(1000);
queo_trai();
queo_phai();


chay_xanh1();// xin mọi người chú ý đến chỗ này nếu mình bỏ thì báo 22% còn mình khong bỏ thì lại báo full mặc dù chương trình chay_xanh1(); này cùng lắm là 5% nữa là cùng thôi .


}