shoot_task.h File Reference

Header file for shoot task state machine and control logic. More...

#include <stdint.h>
#include "stm32f4xx_hal.h"

Go to the source code of this file.

Data Structures
struct	ShootTask
	Structure for shoot task configuration and state tracking. More...

Typedefs
typedef struct ShootTask	ShootTask
	Forward declaration of ShootTask structure.
typedef void(*	shoot_fcn_t) (ShootTask *shoot_task)
	Function pointer type for shoot task state functions.

Functions
void	shoot_task_state_0_init (ShootTask *shoot_task)
	Initializes the shoot task (state 0).
void	shoot_task_run (ShootTask *shoot_task)
	Executes the current shoot task state.
void	shoot_task_state_1_wait (ShootTask *shoot_task)
	Waits for user input to activate shoot sequence (state 1).
void	shoot_task_state_2_unshield (ShootTask *shoot_task)
	Lowers servo shield prior to firing laser (state 2).
void	shoot_task_state_3_shoot (ShootTask *shoot_task)
	Fires the laser and returns to wait state after release (state 3).

Detailed Description

Header file for shoot task state machine and control logic.

Author

Andrew Carr

Created on: Jun 3, 2025

Function Documentation

shoot_task_run()

void shoot_task_run

(

ShootTask *

shoot_task

)

Executes the current shoot task state.

Parameters

shoot_task

Pointer to ShootTask structure.

Executes the current shoot task state.

Checks that the current state index is valid and calls the corresponding state handler. Falls into an infinite loop if the state index is invalid.

Parameters

shoot_task

Pointer to ShootTask structure.

shoot_task_state_0_init()

void shoot_task_state_0_init

(

ShootTask *

shoot_task

)

Initializes the shoot task (state 0).

Parameters

shoot_task

Pointer to ShootTask structure.

Initializes laser and servo to unshielded state and moves to state 1.

Parameters

shoot_task

Pointer to ShootTask structure.

shoot_task_state_1_wait()

void shoot_task_state_1_wait

(

ShootTask *

shoot_task

)

Waits for user input to activate shoot sequence (state 1).

Parameters

shoot_task

Pointer to ShootTask structure.

Waits for user input to activate shoot sequence (state 1).

Keeps laser on and servo unshielded. Advances to state 2 when button is pressed.

Parameters

shoot_task

Pointer to ShootTask structure.

shoot_task_state_2_unshield()

void shoot_task_state_2_unshield

(

ShootTask *

shoot_task

)

Lowers servo shield prior to firing laser (state 2).

Parameters

shoot_task

Pointer to ShootTask structure.

Lowers servo shield prior to firing laser (state 2).

After lowering shield, transitions to state 3. Also checks for early button release to return to state 1.

Parameters

shoot_task

Pointer to ShootTask structure.

shoot_task_state_3_shoot()

void shoot_task_state_3_shoot

(

ShootTask *

shoot_task

)

Fires the laser and returns to wait state after release (state 3).

Parameters

shoot_task

Pointer to ShootTask structure.

Fires the laser and returns to wait state after release (state 3).

Turns off laser and returns to wait state once the button is released.

Parameters

shoot_task

Pointer to ShootTask structure.