Smart Nerf Blaster

SYSTEM_THREAD(ENABLED);
// set all variables
// IR dart sensors
int sens1 = D7;
int sens2 = D6;
// remote firing controls
int PWM = D5;
int Pusher = D4;
int F1 = D3;
int F2 = D2;
int ManualFire = D1;
int Fmode = 1;
int Rev = A4;
int FireCommand = 0;
// variables for velocity calcs and Ammo counter
int Darts = 0;
float t1 = 0;
float t2 = 0;
float dt = 1;
float Distance = 5;
float Vdarts = 0;
int Mag = 25;
double Reload = A5;
float Darts0 = 0;
// code for sensor interupts
void Sensor1(void);
void Sensor2(void);
void FireSet(const char *event, const char *data);


void setup() {
 pinMode(sens1, INPUT);
 pinMode(sens2, INPUT);
 pinMode(PWM, OUTPUT);
 pinMode(Pusher, OUTPUT);
 pinMode(F1, INPUT);
 pinMode(F2, INPUT);
 pinMode(Rev, OUTPUT);
 pinMode(Reload, INPUT);
 pinMode(ManualFire, INPUT);
}

void loop() {
// subscribe to recieve FireCommand
Particle.subscribe("FireCommand1", FireSet, MY_DEVICES);
    
// sensor 1 controls and ammo counter
attachInterrupt(sens1, Sensor1, FALLING);


// sensor 2 controls and velocity calc
attachInterrupt(sens2, Sensor2, FALLING);

// reload detection
if ( Reload = 1 ) {
    Mag = 25;
}



// fire mode selection
if (F1 == HIGH) {
    Fmode = 1;
}
else if (F2 == HIGH){
    Fmode = 2;
}
else {
    Fmode = 3;
}

// manual activation of remote fire feature
if (ManualFire == HIGH){
    FireCommand = 1;
}

// remote firing
// single fire
if ( FireCommand == 1 ) {
    if ( Fmode == 1 ) {
        int Fire = 1;
        Darts0 = Darts;
        digitalWrite(Rev, HIGH);
        delay(250);
        while ( Darts < Darts0 + Fire ) {
            digitalWrite(Pusher, HIGH);
            // stop if mag is empty
            if (Mag <= 0){
                 FireCommand = 0;
            }
        }
        // stop and spin down
        digitalWrite(Rev, LOW);
        digitalWrite(Pusher, LOW);
        FireCommand = 0;
    }
    // 3 round burst
    else if ( Fmode == 2 ){
        int Fire = 3;
        Darts0 = Darts;
        digitalWrite(Rev, HIGH);
        delay(250);
        while ( Darts < Darts0 + Fire ) {
            digitalWrite(Pusher, HIGH);
            // stop if mag is empty
            if (Mag <= 0){
                 FireCommand = 0;
            }
        }
        // stop and spin down
        digitalWrite(Rev, LOW);
        digitalWrite(Pusher, LOW);
        FireCommand = 0;
    }
    // full auto
    else {
        digitalWrite(Rev, HIGH);
        delay(250);
        while ( FireCommand == 1 ) {
            digitalWrite(Pusher, HIGH);
            // stop if mag is empty
            if (Mag <= 0){
                 FireCommand = 0;
            }
        }
        // stop and spin down
        digitalWrite(Rev, LOW);
        digitalWrite(Pusher, LOW);
    }
    Particle.publish("TripwireReset", "Reset", 60, PRIVATE);
}
    
// PWM



}

void Sensor1()
{
 t1 = millis();
  Darts = Darts + 1;
  Mag = Mag - 1;
}

void Sensor2()
{
  t2 = millis();
  dt = t1 - t2;
  Vdarts = Distance / dt;
}
void FireSet(const char *event, const char *data) {
    if (data == "Fire") {
        FireCommand = 1;
    } 
    else {
        FireCommand = 0;
    }
}