写一个arduino程序，水位传感器water sensor 控制电机慢速转动；超声波传感器感知到前方50cm内有障碍时控制电机快速转动；光线传感器控制led,在光线暗时打开LED；陀螺仪传感器在感知到坠落时控制语音喇叭播放“attention”。

非常感谢您的提问！以下是一个示例的 Arduino 程序，该程序可以实现您所描述的功能：

#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BNO055.h>
#include <Adafruit_MotorShield.h>
#include <Adafruit_SSD1306.h>
#include <NewPing.h>

#define WATER_SENSOR_PIN A0
#define ULTRASONIC_TRIG_PIN 2
#define ULTRASONIC_ECHO_PIN 3
#define GYROSCOPE_ADDRESS 0x28
#define LED_PIN 4
#define MOTOR1_PWM_PIN 10
#define MOTOR2_PWM_PIN 11
#define MOTOR_CTRL_PIN 12
#define BUZZER_PIN A1

// Initialize the sensors
Adafruit_BNO055 bno = Adafruit_BNO055(GYROSCOPE_ADDRESS);
Adafruit_MotorShield motorShield = Adafruit_MotorShield();
Adafruit_DCMotor *motor1 = motorShield.getMotor(1);
Adafruit_DCMotor *motor2 = motorShield.getMotor(2);
NewPing ultraSonicSensor(ULTRASONIC_TRIG_PIN, ULTRASONIC_ECHO_PIN, 50); // 50cm maximum distance

// Initialize the OLED display
Adafruit_SSD1306 display(128, 32, &Wire, -1);

void setup() {
  Serial.begin(9600);

  // Initialize the motor shield
  motorShield.begin();
  motor1->setSpeed(150);
  motor2->setSpeed(150);
  motor1->run(RELEASE);
  motor2->run(RELEASE);
  pinMode(MOTOR_CTRL_PIN, INPUT_PULLUP);

  // Initialize the display
  display.begin(SSD1306_SWITCHCAPVCC, 0x3C);
  display.clearDisplay();
  display.setTextSize(1);
  display.setTextColor(WHITE);

  // Initialize the gyroscope
  if (!bno.begin())
  {
    display.setCursor(0, 10);
    display.print("GYRO FAILED");
    display.display();
    while (1);
  }

  // Initialize the buzzer
  pinMode(BUZZER_PIN, OUTPUT);
}

void loop() {
  // Read the water sensor and control the motor's speed
  int waterLevel = analogRead(WATER_SENSOR_PIN);
  int motorSpeed = map(waterLevel, 0, 1023, 0, 255);
  motor1->setSpeed(motorSpeed);
  motor2->setSpeed(motorSpeed);

  // Read the ultrasonic sensor and control the motor's direction
  int distance = ultraSonicSensor.ping_cm();
  if (distance < 50)
  {
    motor1->run(FORWARD);
    motor2->run(BACKWARD);
  }
  else
  {
    motor1->run(RELEASE);
    motor2->run(RELEASE);
  }

  // Read the light sensor and control the LED
  int lightLevel = analogRead(A2);
  bool isLightDark = lightLevel < 500;
  digitalWrite(LED_PIN, isLightDark ? HIGH : LOW);

  // Read the gyroscope and play a sound if the device falls
  sensors_event_t event;
  bno.getEvent(&event);
  if (event.orientation.yaw > 180 || event.orientation.pitch > 45 || event.orientation.pitch < -45)
  {
    digitalWrite(BUZZER_PIN, HIGH);
  }
  else
  {
    digitalWrite(BUZZER_PIN, LOW);
  }

  // Display the sensor values on the OLED display
  display.clearDisplay();
  display.setCursor(0, 0);
  display.print("Water level: ");
  display.print(waterLevel);
  display.setCursor(0, 10);
  display.print("Distance: ");
  display.print(distance);
  display.setCursor(0, 20);
  display.print("Light level: ");
  display.print(lightLevel);
  display.display();

  // Slow down the loop to save battery
  delay(100);
}

上述代码假设您已能够正确连接传感器和电机。在代码中，我们使用了 Adafruit 公司的一些库，这些库可在以下链接中下载和安装：https://learn.adafruit.com/adafruit-all-about-arduino-libraries-install-use。

希望这个程序能够帮到您，如果您有更多的问题请随时问我！