#include <Adafruit_NeoPixel.h>
#include <Servo.h>

//pin to control relay
#define relayPin 4

// PIR connection pin
#define pirPin 2
bool pirState;

//Buzzer onnection pin
#define buzzerPin 9
bool buzzerState;

// Neopixel connection pin and number of pixels 
#define neoPixel 3 
#define NUMPIXELS 16

// Servo connections pins
#define servoPin 5 //Servo to turn turret
#define servoDartPin 6 //Servo to load dart in fly launcher

bool alarmState = HIGH;
byte alarmCounter = 0;


//Timing variables
unsigned long currentMillis;
unsigned long servoStartMillis = 0;
unsigned long dartLoaderStartMillis = 0;
const byte alarmDelay = 250;
const byte loaderDelay = 500;
unsigned long alarmStartMillis = 0;
const unsigned StepPeriod = 50;
const int StepIncrement = 2;

// Create Servo objects
Servo servo; //Turret rotation
Servo servoDart; //Dart loading

// Create NeoPixel object
Adafruit_NeoPixel pixels(NUMPIXELS, neoPixel, NEO_GRB + NEO_KHZ800);


void SERVO_sweep(){
  static int pos = 0;
  static int increment = StepIncrement;

  if (currentMillis - servoStartMillis >= StepPeriod)
  {
    servoStartMillis = currentMillis;
    
    pos += increment;
    if (pos > 180)
    {
      pos = 180;
      increment = -StepIncrement;
    }
    
    if (pos < 0)
    {
      pos = 0;
      increment = StepIncrement;
    }
    
    servo.write(pos);
  }
}

void alarm(bool state){
  
  if(currentMillis - alarmStartMillis >= alarmDelay && alarmCounter < 10){
    if(state == HIGH){
      tone(buzzerPin, 300);
      for(int i=0; i<NUMPIXELS; i++) { // For each pixel...
      pixels.setPixelColor(i, pixels.Color(200, 0, 0));
      }
      pixels.show();   // Send the updated pixel colors to the hardware.
      } else {
      pixels.clear(); // Set all pixel colors to 'off'
      pixels.show();
      noTone(buzzerPin);  
      }
      alarmState = !alarmState;
      alarmCounter += 1;
      alarmStartMillis = currentMillis;
    }
    alarmCounter = 0;
}

void dartLoader(){
  if(currentMillis - dartLoaderStartMillis >= loaderDelay){
    servoDart.write(90);
  } else {
    servoDart.write(180);
  }
  dartLoaderStartMillis = currentMillis;
}

void setup(){
	Serial.begin(9600);
  	pinMode(pirPin, INPUT);
  	pinMode(buzzerPin, OUTPUT);
    pinMode(relayPin, OUTPUT);
  	pixels.begin();
    servo.attach(servoPin); //Activate servo 
    servoDart.attach(servoDartPin); //Activate dart pushing servo
    
}


void loop(){
  currentMillis = millis();
  pirState = digitalRead(pirPin);
  SERVO_sweep();
  dartLoader(); 
  
  /*
  if(pirState == HIGH){
    digitalWrite(relayPin, HIGH);
    alarm(alarmState); //pass the nuber of times the alarm should flash
    
  } else {
    digitalWrite(relayPin, LOW);
  }
*/
}