#include <stdbool.h> bool isServoRunning = false; Clear_Buffer(); while (1) { if (RxBuffer[0] != 0) { HAL_Delay(1000); strx = strstr((const char*)RxBuffer, (const char*)"manual_feed"); if (strx == NULL) { printf("手动喂食获取失败"); } else { len = strlen(strx); number = strx[13]; printf("手动喂食获取成功"); HAL_Delay(500); printf("收到信息：manual_feed=%c", number); HAL_Delay(500); // 停止舵机转动 isServoRunning = false; if (number - '0' == 1) { isServoRunning = true; HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1); while (isServoRunning) { __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, 1000); HAL_Delay(1000); } } else if (number - '0' == 0) { __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, 1500); HAL_Delay(1000); } Clear_Buffer(); } Clear_Buffer(); } HAL_Delay(500); }改成舵机转5s后停止

您可以将代码修改如下，以使舵机转动 5 秒后停止：

#include <stdbool.h>

bool isServoRunning = false;
int servoDuration = 5000; // 舵机转动时间（单位：毫秒）

Clear_Buffer();

while (1)
{
    if (RxBuffer[0] != 0)
    {
        HAL_Delay(1000);
        strx = strstr((const char*)RxBuffer, (const char*)"manual_feed");
        if (strx == NULL)
        {
            printf("手动喂食获取失败");
        }
        else
        {
            len = strlen(strx);
            number = strx[13];
            printf("手动喂食获取成功");
            HAL_Delay(500);
            printf("收到信息：manual_feed=%c", number);
            HAL_Delay(500);

            // 停止舵机转动
            isServoRunning = false;

            if (number - '0' == 1)
            {
                isServoRunning = true;
                HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);

                // 舵机转动 5 秒
                for (int i = 0; i < servoDuration / 1000; i++)
                {
                    __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, 1000);
                    HAL_Delay(1000);
                }

                // 停止舵机转动
                isServoRunning = false;
            }
            else if (number - '0' == 0)
            {
                __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, 1500);
                HAL_Delay(1000);
            }

            Clear_Buffer();
        }

        Clear_Buffer();
    }

    HAL_Delay(500);
}

这样修改后，舵机将会在收到 "manual_feed=1" 的指令后转动 5 秒，然后停止转动。如果收到 "manual_feed=0" 的指令，则舵机将转到中间位置，并保持不动。