简介

去年五一之前给三只小龟做了个自动喂食器：赶在五一之前给乌龟做个自动喂食器，刚好一年过去了（我这拖延症），升级到了 2.0 版本，主要是增加了自动水循环系统。

update：乌龟自动喂食器再次升级

结构设计

在结构上增加了一个循环水箱，一个过滤水箱。水从循环水箱里抽出来，经过过滤水箱后给乌龟们洗澡喝水，再回流到了循环水箱里面。画了一个示意图：
schematic
在经过一段时间的循环后，水必然会减少，除了乌龟们用的，还有蒸发的，所以还得往循环水箱里面加水。既然自动化了，当然不能让我每天盯着水少了就加啊。于是我就增加了一个检测水位的装置：
Water-Level2
检测到了低水位后，水泵就打开，从水桶里往循环水箱里加水，一直加到高水位后水泵就停止了。
你问桶里没水了怎么办？当然是我手动加了，我可舍不得钱买一个能电动控制的水龙头，一个星期加一桶水，顺便清晰一下几个水箱，更换一下过滤棉。

硬件设计

主控还是 ESP8266 模块，除了自动喂食器的电机驱动，增加了两个水泵的电源控制继电器，再用两个 IO 来检测水位。
一个水泵是循环抽水的，可以通过云端设置开关的时间间隔，另一个水泵是加水的，当检测到低水位时，该水泵就打开，水位到最高点时自动关闭水泵。
监测水位的我用的是干簧管和磁铁，在防水上没什么问题，也不用多余的工作。
Water-Level1
中间的白色浮子里面嵌入了一个小磁铁，可以飘浮在水中，随着水位升降。当水面下降时，磁铁会靠近底下的干簧管，干簧管短路，IO 电平由低变高。水位上升的时候磁铁会离开底下的干簧管，干簧管开路，IO 由高变低，当靠近上面的干簧管后，IO由低变高，说明水面到了高水位。
开始本来的想法是用水的导电性来设计水位传感器的，淘宝上卖的也基本都是这类，因为水箱离主控板比较远，线缆一长，ADC 转换的时候容易出错，所以我就改成了用 IO 电平变化来监测水位了。
电路很简单，也没考虑很多，能用就行，仅供 DIY 用。
PCB

软件设计

软件设计还是 ESP8266 模块作为 Arduino 板联网控制，通过 Arduino IoT Cloud 连接设备。
Arduino Cloud IoT 使用入门指南

Arduino 代码很简单，注释我也写得很详细，流程图如下：
flowchart

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#include "thingProperties.h"


const char* softwareVersion = "2.1";

const int pwm1Pin = 12; 
const int pwm2Pin = 14; 
const int pumpPin = 13; 
const int pumpINPin = 16; 
const int pumpLowPin = 5; 
const int pumpHighPin = 4; 


bool systemFault = false; 


bool pumpINRunning = false;
unsigned long pumpINStartTime = 0; 
const unsigned long PUMP_TIMEOUT_MS = 2 * 60 * 1000; 


unsigned long lastLowPinDebounceTime = 0; 
unsigned long lastHighPinDebounceTime = 0; 
const long DEBOUNCE_DELAY_MS = 300; 

int debouncedLowPinState = LOW;  
int debouncedHighPinState = LOW; 
int lastLowReading = -1;
int lastHighReading = -1;







int debounceRead(int pin, int& lastStableState, unsigned long& lastDebounceTime,int& lastReading) {
  int reading = digitalRead(pin); 

  
  if (reading != lastReading) {
    lastDebounceTime = millis();
  }

  
  if ((millis() - lastDebounceTime) > DEBOUNCE_DELAY_MS) {
    if (reading != lastStableState){
    lastStableState = reading;
    }
  }
  lastReading = reading;
  return lastStableState; 
}



bool motorRunning = false;
unsigned long motorStartTime = 0; 
const unsigned long motorRunDurationMillis = 25 * 1000; 


unsigned long motorCycleStartTime = 0; 
unsigned long motorCycleDurationMillis = 0; 


bool pumpRunning = false; 
bool pumpOnPeriod = false; 
unsigned long lastPumpToggleTime = 0; 
unsigned long pumpOnDurationMillis = 0; 
unsigned long pumpOffDurationMillis = 0; 


void startMotor();
void stopMotor();
void setPumpState(bool state);
void stopPump();


void setup() {
  
  Serial.begin(115200);
  
  Serial.println("Software Version: " + String(softwareVersion));
  delay(100); 

  
  initProperties();

  
  ArduinoCloud.begin(ArduinoIoTPreferredConnection);
  
  pinMode(pwm1Pin, OUTPUT);
  pinMode(pwm2Pin, OUTPUT);
  pinMode(pumpPin, OUTPUT);
  pinMode(pumpINPin, OUTPUT);
  pinMode(pumpHighPin, INPUT);
  pinMode(pumpLowPin, INPUT);

  
  analogWrite(pwm1Pin, 0);
  analogWrite(pwm2Pin, 0);
  digitalWrite(pumpPin, LOW);
  digitalWrite(pumpINPin, LOW);

  
  
  motorCycleStartTime = millis(); 
  lastPumpToggleTime = millis(); 
  

  Serial.println("Arduino Cloud Connected!");
  






  setDebugMessageLevel(2);
  ArduinoCloud.printDebugInfo();
}

void loop() {
  ArduinoCloud.update();

  
  
  debouncedLowPinState = debounceRead(pumpLowPin, debouncedLowPinState, lastLowPinDebounceTime, lastLowReading);
  debouncedHighPinState = debounceRead(pumpHighPin, debouncedHighPinState, lastHighPinDebounceTime, lastHighReading);
  
  Serial.printf("实时状态 -> 低水位: %d, 高水位: %d, 水泵运行中: %d\n",
                debouncedLowPinState, debouncedHighPinState, pumpINRunning);

  
  if ((debouncedHighPinState == HIGH && debouncedLowPinState == LOW) && pumpINRunning == true) {
      digitalWrite(pumpINPin, LOW);
      Serial.printf("水泵状态: 关闭\n");
      
      pumpINRunning = false;
  }
  
  
  if ((debouncedLowPinState == HIGH && debouncedHighPinState == LOW) && pumpINRunning == false && !systemFault) {
      digitalWrite(pumpINPin, HIGH);
      Serial.printf("水泵状态: 开启\n");
      pumpINStartTime = millis();
      
      pumpINRunning = true;
  }

  
  if (pumpINRunning == true) {
    if (millis() - pumpINStartTime >= PUMP_TIMEOUT_MS) {
      digitalWrite(pumpINPin, LOW);
      Serial.printf("进水泵状态: 关闭 (超时 - 系统可能故障！)\n");
      pumpINRunning = false;
      systemFault = true; 
    }
  }

  
  
  
  motorCycleDurationMillis = (unsigned long)motorCloudCycleHours * 3600UL * 1000UL; 
  if (motorCloudControl && !motorRunning && motorCycleDurationMillis > 0 && (millis() - motorCycleStartTime >= motorCycleDurationMillis)) {
    Serial.println("Motor triggered by automatic cycle.");
    startMotor();
    motorStartTime = millis(); 
    motorRunning = true;
    motorCycleStartTime = millis(); 
  }

  
  if (motorRunning && (millis() - motorStartTime >= motorRunDurationMillis)) {
    Serial.println("Motor run duration finished.");
    stopMotor();
    motorRunning = false;
    
    
  }

  
  
  if (pumpCloudControl && !systemFault) {
    
    pumpOnDurationMillis = (unsigned long)pumpCloudOnSecond * 1000UL; 
    pumpOffDurationMillis = (unsigned long)pumpCloudOffSecond * 1000UL; 

    
    if (pumpOnPeriod) { 
      if (millis() - lastPumpToggleTime >= pumpOnDurationMillis && pumpOnDurationMillis > 0) {
        Serial.println("Pump ON period finished, switching to OFF.");
        pumpOnPeriod = false; 
        lastPumpToggleTime = millis(); 
        setPumpState(pumpOnPeriod); 
      }
    } else { 
       if (millis() - lastPumpToggleTime >= pumpOffDurationMillis && pumpOffDurationMillis > 0) {
        Serial.println("Pump OFF period finished, switching to ON.");
        pumpOnPeriod = true; 
        lastPumpToggleTime = millis(); 
        setPumpState(pumpOnPeriod); 
       }
    }
    pumpRunning = true; 
    setPumpState(pumpOnPeriod); 
  } else {
      
      if(pumpRunning) { 
        Serial.println("Pump Cloud control turned OFF, stopping pump cycle.");
        stopPump();
        pumpRunning = false;
        pumpOnPeriod = false; 
      }
  }  
delay(50);  
}

void startMotor() {
  digitalWrite(pwm1Pin, HIGH); 
  digitalWrite(pwm2Pin, LOW);
  Serial.println("Motor started.");
}

void stopMotor() {
  digitalWrite(pwm1Pin, LOW);
  digitalWrite(pwm2Pin, LOW); 
  Serial.println("Motor stopped.");
}

void setPumpState(bool state) {
  digitalWrite(pumpPin, state ? HIGH : LOW);

}

void stopPump() {
  setPumpState(false); 
}






void onPumpCloudControlChange()  {
  Serial.printf("pumpCloudControl changed to: %s\n", pumpCloudControl ? "true" : "false");
  if (pumpCloudControl) {
    
    Serial.println("Starting pump cycle from Cloud.");
    pumpRunning = true;
    pumpOnPeriod = true;
    lastPumpToggleTime = millis(); 
    setPumpState(pumpOnPeriod); 
  } else {
    
    Serial.println("Stopping pump cycle from Cloud.");
    stopPump();
    pumpRunning = false;
    pumpOnPeriod = false; 
  }
}





void onMotorCloudControlChange()  {
  Serial.printf("motorCloudControl changed to: %s\n", motorCloudControl ? "true" : "false");
  if (motorCloudControl) {
    
    startMotor();
    motorStartTime = millis();
    motorRunning = true;
  } else {
    
    stopMotor();
    motorRunning = false;
  }
}





void onMotorCloudCycleHoursChange()  {
	motorCycleStartTime = millis();
}






void onPumpCloudOffSecondChange()  {
  
}





void onPumpCloudOnSecondChange()  {
  
}

可以看到上面的代码是 V2.1 版本，因为 V2.0 开始用的第一天，从乌龟槽流到循环水箱的下水管堵住了，导致水没法循环了，所以循环水箱里的水一直减少，加水的泵一直就加，一满桶水很快没了。我赶紧关闭了电源进行清理。
结果没过两天，早上五点多被嗡嗡声吵醒了，我一看，循环水箱没水了，水桶也没水了，导致加水泵一直开着，还不知道干烧了多久。我还在想昨晚桶里水不少，为什么这样，仔细一看，水桶底漏了一个洞。靠，刚烧了固件就连续出现两个意外，促使我完善了代码。
于是我就增加了加水泵保护的代码，持续工作时长超过两分钟自动停止，并报故障，直到系统重启。

下载 Arduino APP，登录，可以看到设备上线了，点击按键控制，因为 Arduino IoT Cloud 对免费版的 Cloud Variables 总数量有限制，所以开关项就这么几个了。
phone

以上所有原始文件在此，仅供参考，有问题自己搜索或问 AI：
https://github.com/harry10086/Autofeed