Arduino Uno双舵机项目（定时器+水位传感器触发）代码故障咨询

核心问题点 #

• 两个舵机共用全局angle变量，舵机A的角度修改会直接干扰舵机B的状态判断，反过来也一样，逻辑完全混乱
• 大量使用阻塞函数delay()，执行delay的8秒内，所有按键检测、24小时计时、水位检测逻辑全部停止运行
• 按钮逻辑不符合需求：当前逻辑是按下按键保持舵机开启、松开就关闭，需求是触发后开启固定时长
• 水位判断逻辑无触发锁止，只要水位持续低于300就会反复执行8秒延迟，导致程序全程卡死
• loop函数中重复定义waterLevel局部变量，与全局变量冲突，属于不规范写法

修复后代码 #

#include <Servo.h>
Servo myservoA;
Servo myservoB;

const int BUTTONA_PIN = 8;
const int BUTTONB_PIN = 6;
const int SERVOA_PIN  = 9;
const int SERVOB_PIN  = 7;
const int WATER_SENSOR_PIN = A0;

// 24小时自动触发相关参数
unsigned long dayTimer_ms = 0;
const unsigned long AUTO_OPEN_DELAY_MS = 86400000UL;
const unsigned long OPEN_DURATION_MS = 8000UL;

// 舵机A独立状态变量
unsigned long servoA_start_ms = 0;
bool servoA_isRunning = false;

// 舵机B独立状态变量
unsigned long servoB_start_ms = 0;
bool servoB_isRunning = false;

// 水位检测相关变量
int waterLevel = 0;
bool waterTriggered = false;

void setup(){
  myservoA.attach(SERVOA_PIN);
  myservoB.attach(SERVOB_PIN);
  pinMode(BUTTONA_PIN, INPUT_PULLUP);
  pinMode(BUTTONB_PIN, INPUT_PULLUP);
  myservoA.write(0);
  myservoB.write(0);
}

void loop() {
  unsigned long now = millis();

  // millis溢出处理
  if(now < dayTimer_ms) {
    dayTimer_ms = now;
  }

  // 舵机A 24小时自动触发逻辑
  if(!servoA_isRunning && (now - dayTimer_ms > AUTO_OPEN_DELAY_MS)) {
    dayTimer_ms = now;
    servoA_isRunning = true;
    servoA_start_ms = now;
    myservoA.write(180);
  }

  // 舵机A 按键触发逻辑
  if(!servoA_isRunning && !digitalRead(BUTTONA_PIN)) {
    servoA_isRunning = true;
    servoA_start_ms = now;
    myservoA.write(180);
  }

  // 舵机A 运行时长判断，到点自动关闭
  if(servoA_isRunning && (now - servoA_start_ms >= OPEN_DURATION_MS)) {
    myservoA.write(0);
    servoA_isRunning = false;
  }

  // 舵机B 按键触发逻辑
  if(!servoB_isRunning && !digitalRead(BUTTONB_PIN)) {
    servoB_isRunning = true;
    servoB_start_ms = now;
    myservoB.write(180);
  }

  // 水位检测逻辑
  waterLevel = analogRead(WATER_SENSOR_PIN);
  if(!servoB_isRunning && waterLevel <= 300 && !waterTriggered) {
    waterTriggered = true;
    servoB_isRunning = true;
    servoB_start_ms = now;
    myservoB.write(180);
  }
  // 水位恢复正常后重置触发标记，避免反复触发
  if(waterLevel > 300) {
    waterTriggered = false;
  }

  // 舵机B 运行时长判断，到点自动关闭
  if(servoB_isRunning && (now - servoB_start_ms >= OPEN_DURATION_MS)) {
    myservoB.write(0);
    servoB_isRunning = false;
  }
}

内容的提问来源于stack exchange，提问作者Matthew Kerry