Nerf select fire pseudocode

gistfile1.txt

const uint16_t pusherTimeout = 300; // ms
const uint16_t pusherDebounceTime = 50; // ms

const uint8_t pusherMotorPin;
const uint8_t ccSwitchPin;

uint32_t time = 0;
uint32_t pusherTimeOn = 0;
uint32_t pusherTimeOff = 0;

bool ccSwitchPressed;
bool pusherState = 0;
uint8_t shotsToFire = 0;

void loop() {
  ccSwitchPressed = digitalRead(ccSwitchPin);
  time = millis();
  
  if (ccSwitchPressed == 1) { // if pusher is back
    if (pusherState == 0 && shotsToFire > 0) { // and pusher is not running and it should be
      digitalWrite(pusherMotorPin, 1);
      pusherState = 1;
      timePusherOn = time;
      shotsToFire -= 1;
    } else if (pusherState == 1 && time - timePusherOn > pusherDebounceTime) { // either pusher has finished its cycle or it failed to run. Stop
      digitalWrite(pusherMotorPin, 0);
      pusherState = 0;
      timePusherOff = time;
    }
  } else { // if pusher is forward
    if (pusherState == 0 && shotsToFire > 0) { // and pusher isn't on
      digitalWrite(pusherMotorPin, 1); // turn pusher on
      timePusherOn = time;
      pusherState = 1;
    } else if (time - timePusherOn > pusherTimeout) { // if pusher has been running for too long. probably stalled, should protect gearbox
      digitalWrite(pusherMotorPin, 0);
      pusherState = 0;
      timePusherOff = time;
      shotsToFire = 0;
      // throw error or something?
    }
  }
}