将3个火焰传感器和伺服系统连接到Arduino Fire Fighter时出现问题

将3个火焰传感器和伺服系统连接到Arduino Fire Fighter时出现问题

我一直在尝试制作 Arduino 消防机器人，但在将 3 个火焰传感器和伺服系统连接在一起时遇到了一些问题。当我上传以下代码（我在写作结尾处发布）时，我的机器人向后移动并检测到前传感器处的火焰，并在 16×2 LCD 显示屏上显示“Flame on Front”，并且 5v 泵泵出水和红色LED 闪烁。但我希望我的机器人能够按以下方式工作 – 最初，我的机器人将处于静止状态。

机器人前部安装有 3 个传感器。还有一个SG90伺服器用于旋转水箱（该水箱中有一个5v水泵电机，水泵电机将从该水箱中抽出水）。

当三个火焰传感器中的任何一个检测到火焰时，舵机将朝该方向旋转，当前面的火焰传感器检测到火焰时，舵机将呈 90 度角，水将被泵出。

LCD 将显示火焰传感器的状态。但机器人无法正常工作。我无法将 3 个火焰传感器和伺服系统连接在一起。正如我之前所说，我的机器人没有按照我的预期工作。

int pos = 0;    
boolean fire = false;

#include <LiquidCrystal.h>  
int Contrast=20;// for adjusting the brightness of the LCD , 20 is selected for the contrast of LCD
LiquidCrystal lcd(30,31,32,33,34,35);   
int buzz= 38; //for led or buzzer
#define Left_S 9 // left sensor
#define Right_S 8     // right sensor
#define Forward_S 23  //forward sensor
#define LM1 52 //for pump motor     
#define LM2 53 //for pump motor
#define IN1 5   //for motor  
#define IN2 4  // for motor    
#define IN3 3      //for motor
#define IN4 22     // for motor
//int flame_pin1 = HIGH ; 
int LEDR= 36; // for danger signal
int LEDB=37;// for safe signal

void setup ( )  {
   analogWrite(6,Contrast);
     lcd.begin(16, 2);
      pinMode(Left_S, INPUT);
  pinMode(Left_S, INPUT);
  pinMode(Right_S, INPUT);
     pinMode (Forward_S,OUTPUT);
     pinMode (LEDB,OUTPUT);
 pinMode(LM1, OUTPUT);
 pinMode(LM2, OUTPUT);
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
  pinMode( buzz,OUTPUT );
  pinMode(LEDR,OUTPUT);
  pinMode(LEDB, OUTPUT);
 // pinMode ( flame_sensor_pinM , INPUT ); 
  //Serial.begin ( 9600 );
   myservo.attach(25);
  myservo.write(90);
}
 void put_off_fire()
{
    delay (500);
 
    digitalWrite(IN1, HIGH);
    digitalWrite(IN2, HIGH);
    digitalWrite(IN3, HIGH);
    digitalWrite(IN4, HIGH);
    
   digitalWrite(LM1, HIGH); 
   digitalWrite(LM2, LOW);
   delay(500);
    
    for (pos = 50; pos <= 130; pos += 1) { 
    myservo.write(pos); 
    delay(10);  
  }
  for (pos = 130; pos >= 50; pos -= 1) { 
    myservo.write(pos); 
    delay(10);
  }
  
  digitalWrite(LM1,LOW);
  digitalWrite(LM2,LOW);
  myservo.write(90);
  
  fire=false;
}
 

void loop ( ){
   myservo.write(90); //Sweep_Servo();  
 
    if (digitalRead(Left_S) ==1 && digitalRead(Right_S)==1 && digitalRead(Forward_S) ==1) //If Fire not detected all sensors are zero
    {
    //Do not move the robot
    lcd.setCursor(0, 1);
      lcd.print("No flame");
    digitalWrite(IN1, HIGH);
    digitalWrite(IN2, HIGH);
    digitalWrite(IN3, HIGH);
    digitalWrite(IN4, HIGH);
    digitalWrite(LEDR,LOW);
    digitalWrite(LEDB,HIGH);
    digitalWrite(buzz,LOW);
    }
    
    else if (digitalRead(Left_S) ==0) //If Fire is straight ahead
    {
    //Move the robot forward
    lcd.setCursor(0, 1);
      lcd.print("Flame on Left");
    digitalWrite(IN1, HIGH);
    digitalWrite(IN2, LOW);
    digitalWrite(IN3, HIGH);
    digitalWrite(IN2, LOW);
    digitalWrite(LEDR,HIGH);
    digitalWrite(LEDB,LOW);
    digitalWrite(buzz,HIGH);
    fire = true;
    
    }
    else if (digitalRead(Forward_S) ==0) //If Fire is straight ahead
    {
    //Move the robot forward
    lcd.setCursor(0, 1);
      lcd.print("Flame on front");
    digitalWrite(IN1, HIGH);
    digitalWrite(IN2, LOW);
    digitalWrite(IN3, HIGH);
    digitalWrite(IN2, LOW);
    digitalWrite(LEDR,HIGH);
    digitalWrite(LEDB,LOW);
    digitalWrite(buzz,HIGH);
    fire = true;
    
    }
    
    
    
    else if (digitalRead(Right_S) ==0) //If Fire is to the right
    {
    //Move the robot right
    lcd.setCursor(0, 1);
      lcd.print("Flame on Right");
    digitalWrite(IN1, HIGH);
    digitalWrite(IN2, HIGH);
    digitalWrite(IN3, HIGH);
    digitalWrite(IN4, LOW);
    digitalWrite(LEDR,HIGH);
    digitalWrite(LEDB,LOW);
    digitalWrite(buzz,HIGH);
    fire= true;
    }
    
     delay(300); //Slow down the speed of robot
 
     while (fire == true)
     {
      put_off_fire();
     }
}