
		MOVLW 		D'129'		  	  ; SET BAUD RATE
		MOVWF		SPBRG		  	  ; BAUD RATE 38.4K
 		BCF		TXSTA, BRGH		; LOW SPEED BAUD RATE
		BCF 		TXSTA, SYNC		; ASYNCHRONOUS
		BCF		TXSTA, TX9		; 8-BIT TRANSMITION
		BSF		TXSTA, TXEN     	; ENABLE TRANSMIT
		BSF		RCSTA, CREN		; ENABLE RECEIVER
		BSF		RCSTA, SPEN		; ENABLE ASYNCHRONOUS SERIAL PORT




;=============================================================================
;			INITIAL POSITION (CENTER)
;=============================================================================

		MOVLW	D'15'		;	LEFT HIP
		CALL	SERTX
		MOVLW	D'8'
		CALL	SERTX
		MOVLW	0X20		;	POSITION CENTER(800)***
		CALL	SERTX
		MOVLW	0X03		
		CALL	SERTX
		MOVLW	0X0D
		CALL	SERTX
		
		MOVLW	D'14'		;	RIGHT HIP
		CALL	SERTX
		MOVLW	D'8'
		CALL	SERTX
		MOVLW	0X3E		;	POSITION CENTER(830)
		CALL	SERTX
		MOVLW	0X03		
		CALL	SERTX
		MOVLW	0X0D
		CALL	SERTX

		MOVLW	D'11'		;	LEFT KNEE
		CALL	SERTX
		MOVLW	D'8'
		CALL	SERTX
		MOVLW	0X20		;	POSITION CENTER(800)***
		CALL	SERTX
		MOVLW	0X03	
		CALL	SERTX
		MOVLW	0X0D
		CALL	SERTX

		MOVLW	D'10'		;	RIGHT KNEE
		CALL	SERTX
		MOVLW	D'8'
		CALL	SERTX
		MOVLW	0XEE		;	POSITION CENTER(750)
		CALL	SERTX
		MOVLW	0X02		
		CALL	SERTX
		MOVLW	0X0D
		CALL	SERTX

		MOVLW	D'7'		;	LEFT ANKLE
		CALL	SERTX
		MOVLW	D'8'
		CALL	SERTX
		MOVLW	0XE4		;	POSITION CENTER(740)***
		CALL	SERTX
		MOVLW	0X02		
		CALL	SERTX
		MOVLW	0X0D
		CALL	SERTX
		

;==============================================================================
;		SERIAL TRANSMITION
;==============================================================================

SERTX	BTFSS	PIR1, TXIF	; CHECK BUFFER IS EMPTY
		GOTO	$-1
		MOVWF	TXREG		; TRANSMIT
		NOP
		RETURN

------------------------------------------------------------------------------
; the program above will only execute the instruction to turn the LEFT ANKLE.
		 