为什么我的 if 语句被跳过以及如何停止 if 语句相互冲突？

Question

我正在创建一个使用直流电机来改变自行车齿轮的程序。 我有一个直流电机用于后齿轮组，即 1-9，我有一个直流电机用于中间齿轮，即 1-3。 我遇到的问题是，当我从 9 档切换到 8 档时，我按下一个按钮，电机就会一直运行。

这是我的齿轮九功能：

void GearNine() {   //CHANGE FROM GEAR 9-10, or 10-9
  int target = 888;   // TARGET FOR GEAR 10

  // read the pushbutton input pin:
  buttonState = digitalRead(buttonPin);
  //  buttonState2 = digitalRead(buttonPin2);

  // compare the buttonState to its previous state
  if (buttonState != lastButtonState) {
    //if the state has changed, increment the counter
    if (buttonState == HIGH) {
      // if the current state is HIGH then the button went from off to on:
      
      //Turn on motor A
      MotorA_Forwards();
      MotorB_Backwards();
     }
  }
  if (pos >= 838) {   //GO TO GEAR 1 ON MOTOR 1
      MotorAOff();   //TURN MOTOR OFF
  }
  if (pos2 <= 50){   //GO TO GEAR 1 ON MOTOR 2
      MotorBOff();   //TURN MOTOR OFF
      buttonPushCounter2++; //ADD TO GEAR COUNTER
  }
  
  
  
//      delay(50);
  lastButtonState = buttonState;
    Serial.print(" Motor target: ");
    Serial.print(target);
    Serial.print(" pos1: ");
    Serial.print(pos);
    Serial.print(" pos2: ");
    Serial.print(pos2);
    Serial.print(" Gear: ");
    Serial.print(buttonPushCounter2);
    Serial.println();


        buttonState2 = digitalRead(buttonPin2);

  // compare the buttonState to its previous state
  if (buttonState2 != lastButtonState2) {
    //if the state has changed, increment the counter
    if (buttonState2 == HIGH) {
      
      // if the current state is HIGH then the button went from off to on:
      //Turn on motor B
      MotorB_Backwards();

      if (pos2 <= 7050) {   // WAS IN GEAR 9 BUT GO BACK TO GEAR 8
        MotorBOff();
        buttonPushCounter2--;  //MINUS 1 FROM GEAR COUNTER: WAS 9, NOW 8
      }
    }
  }
//  if (pos2 <= 7050) {   // WAS IN GEAR 2 BUT GO BACK TO GEAR 1
//  MotorBOff();
//  buttonPushCounter2--;  //MINUS 1 FROM GEAR COUNTER: WAS 2, NOW 1
//  }
  
  lastButtonState2 = buttonState2;
  lastButtonState = buttonState;
    
    Serial.print(" Motor target: ");
    Serial.print(target);
    Serial.print(" pos1: ");
    Serial.print(pos);
    Serial.print(" pos2: ");
    Serial.print(pos2);
    Serial.print(" Gear: ");
    Serial.print(buttonPushCounter2);
    Serial.println();

}

正如你在底部附近看到的，我有这些代码行让齿轮在说MotorB_Backwards();的代码行之后回到齿轮 8 MotorB_Backwards(); ：

if (pos2 <= 7050) {   // WAS IN GEAR 9 BUT GO BACK TO GEAR 8
        MotorBOff();
        buttonPushCounter2--;  //MINUS 1 FROM GEAR COUNTER: WAS 9, NOW 8
      }

如果我在这里有这些代码行，如果按下按钮，电机将不会停止运行。 如果我在这些行下方有注释掉的代码，那么 if 语句与代码中略高于此的 if 语句冲突：

  }
  if (pos >= 838) {   //GO TO GEAR 2
      MotorAOff();   //TURN MOTOR OFF
  }
  if (pos2 <= 50){
      MotorBOff();
      buttonPushCounter2++;
  }

它与这些 if 语句冲突的原因是，如果我想转到 10 档。电机 A 将转到 838 位，但电机 B 不会下降到 50 的 pos2，而是会停在 7050 的 pos2，因为这些 if 语句相互冲突。 所以基本上我不确定我的 if 语句是否正确，或者我是否将它放在正确的位置，甚至想知道是否有更好的方法来做到这一点。 非常感谢任何人的帮助。 谢谢你。