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[已解决] 关于AGV小车通过蓝牙控制走线的问题

int E2 = 5;    //定义M1使能端
int E1 = 6;    //定义M2使能端
int M2 = 4; //定义M1控制端
int M1 = 7; //定义M2控制端
int H1 = 2; //定义霍尔传感器左1
int H2 = 3; //定义霍尔传感器左2
int H3 = 8; //定义霍尔传感器中
int H4 = 9; //定义霍尔传感器右2
int H5 = 10; //定义霍尔传感器右1
int stateH1;
int stateH2;
int stateH3;
int stateH4;
int stateH5;

void stop(void) {             //停止
  digitalWrite(E1, LOW);
  digitalWrite(E2, LOW);
}

void advance(char a, char b) {       //前进
  analogWrite (E1, a);          //PWM调速
  digitalWrite(M1, HIGH);
  analogWrite (E2, b);
  digitalWrite(M2, HIGH);
}
void back_off (char a, char b) {       //后退

  analogWrite (E1, a);
  digitalWrite(M1, LOW);
  analogWrite (E2, b);
  digitalWrite(M2, LOW);
}
void turn_L (char a, char b) {       //左转
  analogWrite (E1, a);
  digitalWrite(M1, LOW);
  analogWrite (E2, b);
  digitalWrite(M2, HIGH);
}
void turn_R (char a, char b) {       //右转
  analogWrite (E1, a);
  digitalWrite(M1, HIGH);
  analogWrite (E2, b);
  digitalWrite(M2, LOW);
}

void setup() {
  int i;
  int move;
  pinMode (H1, INPUT);
  pinMode (H2, INPUT);
  pinMode (H3, INPUT);
  pinMode (H4, INPUT);
  pinMode (H5, INPUT);

  for (i = 3; i <= 10; i++)
pinMode(i, OUTPUT);
  Serial.begin(9600);// put your setup code here, to run once:
  // wdt_enable(WDTO_120MS);//打开看门狗（防止死机）
  delay(1000);
}

void loop() {
  char val;
  val = Serial.read();    //读串口
  if (val != -1) {
switch (val)
{
   case'A': zuozhuan(); break;
   case'B': youzhuan(); break;
   case'C': zhixing(); break;
   case'D': back_off(100, 100); break;
   default: stop(); break;
}
// if (val == 'A' ) {
//    zuozhuan();
//    //Serial.print('A');
// }
// else if (val == 'B') {
//    youzhuan();
//    // Serial.print("B");
// }
// else if (val == 'C') {
//    zhixing();
//    // Serial.print('C');
// }
// else {
//    stop();
// }
  }
}

void zuozhuan()
{
  stateH1 = digitalRead (H1);
  stateH2 = digitalRead (H2);
  stateH3 = digitalRead (H3);
  stateH4 = digitalRead (H4);
  stateH5 = digitalRead (H5);
  /* Hall Sensor */
  if ((stateH1 == LOW  && stateH2 == LOW && stateH3 == HIGH && stateH4 == LOW && stateH5 == LOW) || (stateH1 == LOW  && stateH2 == HIGH && stateH3 == HIGH && stateH4 == HIGH && stateH5 == LOW) || (stateH1 == HIGH  && stateH2 == LOW && stateH3 == LOW && stateH4 == LOW && stateH5 == HIGH) || (stateH1 == LOW  && stateH2 == HIGH && stateH3 == LOW && stateH4 == HIGH && stateH5 == LOW)) //前进
  {
advance(150, 150);
  }
  else if (( stateH5 == LOW && stateH4 == LOW && stateH3 == LOW && stateH2 == HIGH && stateH1 == LOW ) || ( stateH5 == LOW && stateH4 == LOW && stateH3 == HIGH && stateH2 == HIGH  && stateH1 == LOW)) //偏右转
  {
advance(150, 155);
  }
  else if (( stateH5 == LOW && stateH4 == HIGH && stateH3 == LOW && stateH2 == LOW && stateH1 == LOW ) || ( stateH5 == LOW && stateH4 == HIGH && stateH3 == HIGH && stateH2 == LOW  && stateH1 == LOW)) //偏左转
  {
advance(155, 150);
  }
  else if ((stateH5 == HIGH && stateH4 == HIGH && stateH3 == HIGH && stateH2 == LOW && stateH1 == LOW) || ( stateH5 == HIGH && stateH4 == HIGH && stateH3 == LOW && stateH2 == LOW && stateH1 == LOW ) || (stateH5 == HIGH && stateH4 == LOW && stateH3 == HIGH && stateH2 == LOW && stateH1 == LOW) || ( stateH5 == HIGH && stateH4 == LOW && stateH3 == LOW && stateH2 == LOW && stateH1 == LOW) || (stateH5 == HIGH && stateH4 == LOW && stateH3 == LOW && stateH2 == HIGH && stateH1 == LOW) || (stateH5 == HIGH && stateH4 == HIGH && stateH3 == LOW && stateH2 == HIGH && stateH1 == LOW) || (stateH5 == HIGH && stateH4 == HIGH)) //左转
  {
turn_L(100, 180);
//advance(0, 80);
delay(600);
  }
  else
  {
stop();
  }
}
void youzhuan()
{
  stateH1 = digitalRead (H1);
  stateH2 = digitalRead (H2);
  stateH3 = digitalRead (H3);
  stateH4 = digitalRead (H4);
  stateH5 = digitalRead (H5);
  /* Hall Sensor */
  if ((stateH1 == LOW  && stateH2 == LOW && stateH3 == HIGH && stateH4 == LOW && stateH5 == LOW) || (stateH1 == LOW  && stateH2 == HIGH && stateH3 == HIGH && stateH4 == HIGH && stateH5 == LOW) || (stateH1 == HIGH  && stateH2 == LOW && stateH3 == LOW && stateH4 == LOW && stateH5 == HIGH) || (stateH1 == LOW  && stateH2 == HIGH && stateH3 == LOW && stateH4 == HIGH && stateH5 == LOW)) //前进
  {
advance(150, 150);
  }
  else if (( stateH5 == LOW && stateH4 == LOW && stateH3 == LOW && stateH2 == HIGH && stateH1 == LOW ) || ( stateH5 == LOW && stateH4 == LOW && stateH3 == HIGH && stateH2 == HIGH  && stateH1 == LOW)) //偏右转
  {
advance(150, 155);
  }
  else if (( stateH5 == LOW && stateH4 == HIGH && stateH3 == LOW && stateH2 == LOW && stateH1 == LOW ) || ( stateH5 == LOW && stateH4 == HIGH && stateH3 == HIGH && stateH2 == LOW  && stateH1 == LOW)) //偏左转
  {
advance(155, 150);
  }
  else if ((stateH5 == LOW && stateH4 == LOW && stateH3 == HIGH && stateH2 == HIGH && stateH1 == HIGH) || (stateH5 == LOW && stateH4 == LOW && stateH3 == LOW && stateH2 == HIGH && stateH1 == HIGH) || (stateH5 == LOW && stateH4 == LOW && stateH3 == HIGH && stateH2 == LOW && stateH1 == HIGH) || (stateH5 == LOW && stateH4 == LOW && stateH3 == LOW && stateH2 == LOW && stateH1 == HIGH) || (stateH5 == LOW && stateH4 == LOW && stateH3 == LOW && stateH2 == HIGH && stateH1 == HIGH) || (stateH5 == LOW && stateH4 == HIGH && stateH3 == LOW && stateH2 == HIGH && stateH1 == HIGH) || (stateH2 == HIGH && stateH1 == HIGH)) //右转
  {
turn_R(180, 100 );
// advance(80, 0);
delay(600);
  }
  else
  {
stop();
  }
}
void zhixing()
{
  stateH1 = digitalRead (H1);
  stateH2 = digitalRead (H2);
  stateH3 = digitalRead (H3);
  stateH4 = digitalRead (H4);
  stateH5 = digitalRead (H5);
  /* Hall Sensor */
  if ((stateH1 == LOW  && stateH2 == LOW && stateH3 == HIGH && stateH4 == LOW && stateH5 == LOW) || (stateH1 == LOW  && stateH2 == HIGH && stateH3 == HIGH && stateH4 == HIGH && stateH5 == LOW) || (stateH1 == HIGH  && stateH2 == LOW && stateH3 == LOW && stateH4 == LOW && stateH5 == HIGH) || (stateH1 == LOW  && stateH2 == HIGH && stateH3 == LOW && stateH4 == HIGH && stateH5 == LOW)) //前进
  {
advance(150, 150);
  }
  else if (( stateH5 == LOW && stateH4 == LOW && stateH3 == LOW && stateH2 == HIGH && stateH1 == LOW ) || ( stateH5 == LOW && stateH4 == LOW && stateH3 == HIGH && stateH2 == HIGH  && stateH1 == LOW)) //偏右转
  {
advance(150, 155);
  }
  else if (( stateH5 == LOW && stateH4 == HIGH && stateH3 == LOW && stateH2 == LOW && stateH1 == LOW ) || ( stateH5 == LOW && stateH4 == HIGH && stateH3 == HIGH && stateH2 == LOW  && stateH1 == LOW)) //偏左转
  {
advance(155, 150);
  }
  else if ((stateH5 == HIGH && stateH4 == HIGH && stateH3 == HIGH && stateH2 == LOW && stateH1 == LOW) || ( stateH5 == HIGH && stateH4 == HIGH && stateH3 == LOW && stateH2 == LOW && stateH1 == LOW ) || (stateH5 == HIGH && stateH4 == LOW && stateH3 == HIGH && stateH2 == LOW && stateH1 == LOW) || ( stateH5 == HIGH && stateH4 == LOW && stateH3 == LOW && stateH2 == LOW && stateH1 == LOW) || (stateH5 == HIGH && stateH4 == LOW && stateH3 == LOW && stateH2 == HIGH && stateH1 == LOW) || (stateH5 == HIGH && stateH4 == HIGH && stateH3 == LOW && stateH2 == HIGH && stateH1 == LOW) || (stateH5 == HIGH && stateH4 == HIGH)) //左转
  {
turn_L(100, 180);
//advance(0, 80);
delay(600);
  }
  else if ((stateH5 == LOW && stateH4 == LOW && stateH3 == HIGH && stateH2 == HIGH && stateH1 == HIGH) || (stateH5 == LOW && stateH4 == LOW && stateH3 == LOW && stateH2 == HIGH && stateH1 == HIGH) || (stateH5 == LOW && stateH4 == LOW && stateH3 == HIGH && stateH2 == LOW && stateH1 == HIGH) || (stateH5 == LOW && stateH4 == LOW && stateH3 == LOW && stateH2 == LOW && stateH1 == HIGH) || (stateH5 == LOW && stateH4 == LOW && stateH3 == LOW && stateH2 == HIGH && stateH1 == HIGH) || (stateH5 == LOW && stateH4 == HIGH && stateH3 == LOW && stateH2 == HIGH && stateH1 == HIGH) || (stateH2 == HIGH && stateH1 == HIGH)) //右转
  {
turn_R(180, 100 );
// advance(80, 0);
delay(600);
  }
  else
  {
stop();
  }
}

以上为代码，问题是在下位机（AGV小车）接收到A、B、C等符号时，小车虽然运动，但是霍尔传感器仿佛完全无效，像瞎子。请各位大佬求解