diff --git a/README.md b/README.md
index 21067ef..c47d902 100644
--- a/README.md
+++ b/README.md
@@ -57,6 +57,16 @@ ESP32-S3-BOX-3 which provides:
   - Genesis emulator (gwenesis) - full speed / buttery smooth when muted; unmuted it runs a little slower but has nice sound
     - Regular Controls (D-Pad/A/B/C/Start/Select) (note: A is mapped to B, B is mapped to A, and C is mapped to Y)
   - Doom engine (prboom) - full speed with audio and control inputs. A is fire/enter, B is strafe/backspace, X is use, Y is weapontoggle, START is escape, and SELECT is map.
+    - Added haptic feedback to doom for when the player
+      - Fires a weapon (depending on the weapon that is fired)
+      - Receives damage (depending on amount of health / armor damage received)
+      - Interacts, e.g. with doors
+      - Picks up a weapon
+      - Picks up ammo
+      - Picks up health
+      - Picks up armor
+      - Picks up a power up
+      - Picks up a card / key
   - LVGL main menu with rom select (including boxart display) and settings page
     (all generated from Squareline Studio)
   - LVGL emulation paused menu with save slot select, save slot image display,
@@ -122,6 +132,7 @@ This project has the following features (still WIP):
    - [x] MSX emulator
    - [x] Sega Mega Drive / Genesis emulator
    - [x] Doom
+     - [x] Haptics :rocket:
    - [ ] Dark Forces (WIP)
    - [ ] SNES emulator (WIP)
  - [x] uSD card (FAT) filesystem over SPI
diff --git a/components/doom/prboom/p_inter.c b/components/doom/prboom/p_inter.c
index be4341b..2a3e27a 100644
--- a/components/doom/prboom/p_inter.c
+++ b/components/doom/prboom/p_inter.c
@@ -113,6 +113,11 @@ static boolean P_GiveAmmo(player_t *player, ammotype_t ammo, int num)
   else
     num = clipammo[ammo]/2;
 
+  // [WILLIAM] - trigger haptic effect for the player picking up ammo
+  // printf("Player %d picked up ammo %d\n",
+  //        player - players, num);
+  R_PlayerPickupAmmo(player, ammo, num);
+
   // give double ammo in trainer mode, you'll need in nightmare
   if (gameskill == sk_baby || gameskill == sk_nightmare)
     num <<= 1;
@@ -210,6 +215,11 @@ static boolean P_GiveWeapon(player_t *player, weapontype_t weapon, boolean dropp
       gaveweapon = true;
       player->weaponowned[weapon] = true;
       player->pendingweapon = weapon;
+      // [WILLIAM] - trigger haptic effect for the player picking up a weapon
+      //
+      // printf("Player %d picked up weapon %d\n",
+      //       player - players, weapon);
+      R_PlayerPickupWeapon(player, weapon);
     }
   return gaveweapon || gaveammo;
 }
@@ -227,6 +237,10 @@ static boolean P_GiveBody(player_t *player, int num)
   if (player->health > maxhealth)
     player->health = maxhealth;
   player->mo->health = player->health;
+  // [WILLIAM] - trigger haptic effect for the player picking up health
+  // printf("Player %d picked up health %d\n",
+  //        player - players, num);
+  R_PlayerPickupHealth(player, num);
   return true;
 }
 
@@ -243,6 +257,10 @@ static boolean P_GiveArmor(player_t *player, int armortype)
     return false;   // don't pick up
   player->armortype = armortype;
   player->armorpoints = hits;
+  // [WILLIAM] - trigger haptic effect for the player picking up armor
+  // printf("Player %d picked up armor %d\n",
+  //        player - players, armortype);
+  R_PlayerPickupArmor(player, armortype);
   return true;
 }
 
@@ -256,6 +274,11 @@ static void P_GiveCard(player_t *player, card_t card)
     return;
   player->bonuscount = BONUSADD;
   player->cards[card] = 1;
+
+  // [WILLIAM] - trigger haptic effect for the player picking up a card
+  // printf("Player %d picked up card %d\n",
+  //        player - players, card);
+  R_PlayerPickupCard(player, card);
 }
 
 //
@@ -289,6 +312,12 @@ boolean P_GivePower(player_t *player, int power)
 
   if (player->powers[power] >= 0)
     player->powers[power] = tics[power];
+
+  // [WILLIAM] - trigger haptic effect for the player picking up a powerup
+  // printf("Player %d picked up powerup %d\n",
+  //        player - players, power);
+  R_PlayerPickupPowerUp(player, power);
+
   return true;
 }
 
@@ -332,6 +361,7 @@ void P_TouchSpecialThing(mobj_t *special, mobj_t *toucher)
 
         // bonus items
     case SPR_BON1:
+      R_PlayerPickupHealth(player, 1);
       player->health++;               // can go over 100%
       if (player->health > (maxhealth * 2))
         player->health = (maxhealth * 2);
@@ -340,6 +370,7 @@ void P_TouchSpecialThing(mobj_t *special, mobj_t *toucher)
       break;
 
     case SPR_BON2:
+      R_PlayerPickupArmor(player, 1);
       player->armorpoints++;          // can go over 100%
       if (player->armorpoints > max_armor)
         player->armorpoints = max_armor;
@@ -349,6 +380,7 @@ void P_TouchSpecialThing(mobj_t *special, mobj_t *toucher)
       break;
 
     case SPR_SOUL:
+      R_PlayerPickupHealth(player, soul_health);
       player->health += soul_health;
       if (player->health > max_soul)
         player->health = max_soul;
@@ -360,6 +392,7 @@ void P_TouchSpecialThing(mobj_t *special, mobj_t *toucher)
     case SPR_MEGA:
       if (gamemode != commercial)
         return;
+      R_PlayerPickupHealth(player, mega_health);
       player->health = mega_health;
       player->mo->health = player->health;
       P_GiveArmor (player,blue_armor_class);
@@ -808,9 +841,10 @@ void P_DamageMobj(mobj_t *target,mobj_t *inflictor, mobj_t *source, int damage)
           (player->cheats&CF_GODMODE || player->powers[pw_invulnerability]))
         return;
 
+      int saved = 0;
       if (player->armortype)
         {
-          int saved = player->armortype == 1 ? damage/3 : damage/2;
+          saved = player->armortype == 1 ? damage/3 : damage/2;
           if (player->armorpoints <= saved)
             {
               // armor is used up
@@ -825,6 +859,14 @@ void P_DamageMobj(mobj_t *target,mobj_t *inflictor, mobj_t *source, int damage)
       if (player->health < 0)
         player->health = 0;
 
+      // [WILLIAM]: trigger haptic effect for the player getting injured based
+      //            on the amount of damage received (armor/base). Use damage
+      //            (hits to health) and saved (hits to armor) to determine.
+      //
+      // printf("Player %d took %d damage (%d saved)\n",
+      //        player - players, damage, saved);
+      R_PlayerHurt(player, damage, saved);
+
       player->attacker = source;
       player->damagecount += damage;  // add damage after armor / invuln
 
diff --git a/components/doom/prboom/p_map.c b/components/doom/prboom/p_map.c
index 8db3443..52994d8 100644
--- a/components/doom/prboom/p_map.c
+++ b/components/doom/prboom/p_map.c
@@ -1727,7 +1727,7 @@ boolean PTR_NoWayTraverse(intercept_t* in)
 // Looks for special lines in front of the player to activate.
 //
 void P_UseLines (player_t*  player)
-  {
+{
   int     angle;
   fixed_t x1;
   fixed_t y1;
@@ -1749,10 +1749,12 @@ void P_UseLines (player_t*  player)
   //
   // This added test makes the "oof" sound work on 2s lines -- killough:
 
-  if (P_PathTraverse ( x1, y1, x2, y2, PT_ADDLINES, PTR_UseTraverse ))
-    if (!comp[comp_sound] && !P_PathTraverse ( x1, y1, x2, y2, PT_ADDLINES, PTR_NoWayTraverse ))
+  if (P_PathTraverse ( x1, y1, x2, y2, PT_ADDLINES, PTR_UseTraverse )) {
+    if (!comp[comp_sound] && !P_PathTraverse ( x1, y1, x2, y2, PT_ADDLINES, PTR_NoWayTraverse )) {
       S_StartSound (usething, sfx_noway);
+    }
   }
+}
 
 
 //
diff --git a/components/doom/prboom/p_pspr.c b/components/doom/prboom/p_pspr.c
index 8b4579e..bb59de3 100644
--- a/components/doom/prboom/p_pspr.c
+++ b/components/doom/prboom/p_pspr.c
@@ -282,6 +282,12 @@ static void P_FireWeapon(player_t *player)
   newstate = weaponinfo[player->readyweapon].atkstate;
   P_SetPsprite(player, ps_weapon, newstate);
   P_NoiseAlert(player->mo, player->mo);
+  // [WILLIAM]: trigger haptic effect for firing the weapon based on the
+  //            weaponinfo[player->readyweapon]. player->readyweapon is the
+  //            weapon enum (e.g. 0 is fist, 1 is gun, 2 is shotgun, etc.).
+  //
+  // printf("P_FireWeapon: %d\n", player->readyweapon);
+  R_PlayerFire(player);
 }
 
 //
diff --git a/components/doom/prboom/p_switch.c b/components/doom/prboom/p_switch.c
index 05883fa..aa6220d 100644
--- a/components/doom/prboom/p_switch.c
+++ b/components/doom/prboom/p_switch.c
@@ -318,9 +318,11 @@ P_UseSpecialLine
       linefunc = EV_DoGenCrusher;
     }
 
-    if (linefunc)
+    if (linefunc) {
+      // [WILLIAM] - Callback to trigger haptics when using a switch
+      R_PlayerInteract(thing->player, line->special);
       switch((line->special & TriggerType) >> TriggerTypeShift)
-      {
+        {
         case PushOnce:
           if (!side)
             if (linefunc(line))
@@ -340,7 +342,8 @@ P_UseSpecialLine
           return true;
         default:  // if not a switch/push type, do nothing here
           return false;
-      }
+        }
+    }
   }
 
   // Switches that other things can activate.
@@ -372,6 +375,11 @@ P_UseSpecialLine
   if (!P_CheckTag(line))  //jff 2/27/98 disallow zero tag on some types
     return false;
 
+  if (thing->player) {
+    // [WILLIAM] - Callback to trigger haptics when using a switch
+    R_PlayerInteract(thing->player, line->special);
+  }
+
   // Dispatch to handler according to linedef type
   switch (line->special)
   {
diff --git a/components/doom/prboom/r_main.h b/components/doom/prboom/r_main.h
index 89a36ee..0845cdb 100644
--- a/components/doom/prboom/r_main.h
+++ b/components/doom/prboom/r_main.h
@@ -117,4 +117,29 @@ void R_Init(void);                           // Called by startup code.
 void R_SetViewSize(int blocks);              // Called by M_Responder.
 void R_ExecuteSetViewSize(void);             // cph - called by D_Display to complete a view resize
 
+//
+// HAPTICS - functions to call for various events that should trigger haptics
+//
+
+// called when the player fires a weapon, can get player->readyweapon to know
+// which weapon to use for the haptic feedback
+void R_PlayerFire(player_t *player);
+
+// called when the player picks up a weapon, can get player->readyweapon to know
+// which weapon
+void R_PlayerPickupWeapon(player_t *player, int weapon);
+
+void R_PlayerPickupAmmo(player_t *player, ammotype_t ammo, int num);
+void R_PlayerPickupHealth(player_t *player, int health);
+void R_PlayerPickupArmor(player_t *player, int armor);
+void R_PlayerPickupCard(player_t *player, card_t card);
+void R_PlayerPickupPowerUp(player_t *player, int powerup);
+
+void R_PlayerInteract(player_t *player, int special);
+
+// called when the player is hurt. damage is the amount of health lost, saved is
+// the amount of health saved by armor (which is the same as the amount of armor
+// lost)
+void R_PlayerHurt(player_t *player, int damage, int saved);
+
 #endif
diff --git a/components/doom/src/doom.cpp b/components/doom/src/doom.cpp
index f080672..c3c4ea4 100644
--- a/components/doom/src/doom.cpp
+++ b/components/doom/src/doom.cpp
@@ -21,6 +21,32 @@ static std::unique_ptr<espp::Task> audio_task;
 
 static const char *doom_argv[10];
 
+enum class WeaponHaptics : int {
+    FIST = 3,
+    PISTOL = 2,
+    SHOTGUN = 10,
+    CHAINGUN = 12,
+    ROCKET_LAUNCHER = 27,
+    PLASMA_RIFLE = 14,
+    BFG9000 = 47,
+    CHAINSAW = 15,
+    SUPER_SHOTGUN = 52
+};
+
+// NOTE: The order of the enum values must match the order of the weapons in the
+//       game, which is the wp_* enum values defined in doomdef.h
+static constexpr int WeaponHapticLookup[] = {
+    (int)WeaponHaptics::FIST,
+    (int)WeaponHaptics::PISTOL,
+    (int)WeaponHaptics::SHOTGUN,
+    (int)WeaponHaptics::CHAINGUN,
+    (int)WeaponHaptics::ROCKET_LAUNCHER,
+    (int)WeaponHaptics::PLASMA_RIFLE,
+    (int)WeaponHaptics::BFG9000,
+    (int)WeaponHaptics::CHAINSAW,
+    (int)WeaponHaptics::SUPER_SHOTGUN
+};
+
 // prboom includes
 extern "C" {
     /////////////////////////////////////////////
@@ -96,6 +122,76 @@ extern "C" {
         {(int)GamepadState::Button::Y, &key_weapontoggle},
     };
 
+    void R_PlayerFire(player_t *player) {
+        static auto& box = BoxEmu::get();
+        int weapon_fired = player->readyweapon;
+        if (weapon_fired >= 0 && weapon_fired < sizeof(WeaponHapticLookup) / sizeof(WeaponHapticLookup[0])) {
+            int haptic_effect_index = WeaponHapticLookup[weapon_fired];
+            box.play_haptic_effect(haptic_effect_index);
+        } else {
+            // Handle invalid weapon index (e.g., log an error or use a default effect)
+            // For now, we skip playing the haptic effect.
+            // Example: box.play_haptic_effect(DEFAULT_HAPTIC_EFFECT);
+        }
+    }
+
+    void R_PlayerHurt(player_t *player, int damage, int saved) {
+        static auto& box = BoxEmu::get();
+        int haptic_effect_index = 0;
+        if (damage > 5) {
+            // 70 - transition ramp down long smooth 1 - 100 to 0%
+            // 75 - transition ramp down short smooth 2 - 100 to 0%
+            haptic_effect_index = saved > 0 ? 70 : 75;
+        } else if (damage > 0) {
+            // 78 - transition ramp down medium sharp 1 - 100 to 0%
+            // 64 - transition hum 100%
+            haptic_effect_index = saved > 0 ? 78 : 64;
+        }
+        box.play_haptic_effect(haptic_effect_index);
+    }
+
+    void R_PlayerInteract(player_t *player, int special) {
+        static auto& box = BoxEmu::get();
+        // play 4 (sharp click - 100%)
+        box.play_haptic_effect(4);
+    }
+
+    void R_PlayerPickupWeapon(player_t *player, int weapon) {
+        static auto& box = BoxEmu::get();
+        // play 29 (short double click strong 3 - 60%)
+        box.play_haptic_effect(29);
+    }
+
+    void R_PlayerPickupAmmo(player_t *player, ammotype_t ammo, int num) {
+        static auto& box = BoxEmu::get();
+        // play 34 (short double sharp tick 1 - 100%)
+        box.play_haptic_effect(34);
+    }
+
+    void R_PlayerPickupHealth(player_t *player, int health) {
+        static auto& box = BoxEmu::get();
+        // play 18 (strong click 2 - 80%)
+        box.play_haptic_effect(18);
+    }
+
+    void R_PlayerPickupArmor(player_t *player, int armor) {
+        static auto& box = BoxEmu::get();
+        // play 19 (strong click 3 - 60%)
+        box.play_haptic_effect(19);
+    }
+
+    void R_PlayerPickupCard(player_t *player, card_t card) {
+        static auto& box = BoxEmu::get();
+        // play 5 (sharp click - 60%)
+        box.play_haptic_effect(5);
+    }
+
+    void R_PlayerPickupPowerUp(player_t *player, int powerup) {
+        static auto& box = BoxEmu::get();
+        // play 12 (triple click - 100%)
+        box.play_haptic_effect(12);
+    }
+
     void I_StartFrame(void) {
     }
 
@@ -244,7 +340,7 @@ extern "C" {
 
         if (haveSFX) {
             int16_t *audioBuffer = (int16_t *)mixbuffer;
-            int16_t *audioBufferEnd = audioBuffer + AUDIO_BUFFER_LENGTH;
+            const int16_t *audioBufferEnd = audioBuffer + AUDIO_BUFFER_LENGTH;
             while (audioBuffer < audioBufferEnd) {
                 int totalSample = 0;
                 int totalSources = 0;
diff --git a/components/gui/include/gui.hpp b/components/gui/include/gui.hpp
index 1294f19..eb6b35d 100644
--- a/components/gui/include/gui.hpp
+++ b/components/gui/include/gui.hpp
@@ -103,6 +103,10 @@ class Gui {
     paused_ = false;
   }
 
+  int get_haptic_waveform() const {
+    return haptic_waveform_;
+  }
+
   void set_haptic_waveform(int new_waveform) {
     if (new_waveform > 123) {
       new_waveform = 1;
diff --git a/components/msx/src/msx.cpp b/components/msx/src/msx.cpp
index a24bcad..d6f7d7e 100644
--- a/components/msx/src/msx.cpp
+++ b/components/msx/src/msx.cpp
@@ -274,8 +274,6 @@ void TrashMachine(void)
 void SetColor(byte N, byte R, byte G, byte B)
 {
     uint16_t color = make_color(R, G, B);
-    // color = (color >> 8) | (color << 8);
-    color = color;
     if (N)
         XPal[N] = color;
     else
@@ -362,7 +360,6 @@ unsigned int WaitKey(void)
     // wait no more than 100ms for the user to press any key
     while (!wait_for_key(GamepadState::Button::ANY, true, 100)) {
         // wait for key
-        continue;
     }
 
     return GetKey();
diff --git a/components/pool_allocator/include/pool_allocator.h b/components/pool_allocator/include/pool_allocator.h
index 86ec5d4..70a6069 100644
--- a/components/pool_allocator/include/pool_allocator.h
+++ b/components/pool_allocator/include/pool_allocator.h
@@ -16,7 +16,7 @@ extern "C" {
 
 void pool_create(void* region, size_t size);
 void pool_destroy();
-int pool_contains(void* ptr);
+int pool_contains(const void* ptr);
 void* pool_alloc(size_t size);
 void pool_free(void* ptr);
 
diff --git a/components/pool_allocator/src/pool_allocator.c b/components/pool_allocator/src/pool_allocator.c
index 96851d3..c6c67eb 100644
--- a/components/pool_allocator/src/pool_allocator.c
+++ b/components/pool_allocator/src/pool_allocator.c
@@ -28,7 +28,7 @@ void pool_create(void* mem, size_t size) {
     free_list->next = NULL;
 }
 
-int pool_contains(void* ptr) {
+int pool_contains(const void* ptr) {
     return (ptr >= memory_pool && ptr < memory_pool + memory_pool_size);
 }
 
diff --git a/components/shared_memory/src/shared_memory.c b/components/shared_memory/src/shared_memory.c
index a7457c7..94a1b3b 100644
--- a/components/shared_memory/src/shared_memory.c
+++ b/components/shared_memory/src/shared_memory.c
@@ -69,7 +69,7 @@ void* shared_mem_allocate(const shared_mem_request_t* request) {
 }
 
 void shared_mem_clear(void) {
-    printf("Num bytes allocated: %d\n", current_offset_);
+    printf("Num bytes allocated: %d\n", (int)current_offset_);
     // TODO: Use SIMD-accelerated memset from ESP32s3 vector instructions
     memset(memory_pool_, 0, TOTAL_MEMORY_SIZE);
     current_offset_ = 0;
diff --git a/main/cart.hpp b/main/cart.hpp
index 8d406e4..d198965 100644
--- a/main/cart.hpp
+++ b/main/cart.hpp
@@ -284,7 +284,7 @@ class Cart {
     return menu_->get_selected_slot();
   }
 
-  virtual std::string get_save_path(bool bypass_exist_check=false) const {
+  std::string get_save_path(bool bypass_exist_check=false) const {
     namespace fs = std::filesystem;
     auto save_path =
       savedir_ + "/" +
@@ -297,7 +297,7 @@ class Cart {
     return "";
   }
 
-  virtual std::string get_paused_image_path() const {
+  std::string get_paused_image_path() const {
     namespace fs = std::filesystem;
     auto save_path =
       savedir_ + "/paused" +
@@ -305,7 +305,7 @@ class Cart {
     return save_path;
   }
 
-  virtual std::string get_screenshot_path(bool bypass_exist_check=false) const {
+  std::string get_screenshot_path(bool bypass_exist_check=false) const {
     auto save_path = get_save_path(bypass_exist_check);
     if (!save_path.empty()) {
       return save_path + get_screenshot_extension();
diff --git a/main/main.cpp b/main/main.cpp
index 963d3c9..25f3372 100644
--- a/main/main.cpp
+++ b/main/main.cpp
@@ -88,6 +88,7 @@ extern "C" void app_main(void) {
     }
 
     // have broken out of the loop, let the user know we're processing...
+    emu.set_haptic_effect(gui.get_haptic_waveform());
     emu.play_haptic_effect();
 
     gui.pause();