Add a catapult test which takes a shot.
It is hard to test that the optimization problem actually works
correctly, but we can check the plumbing to make sure it takes and
counts shots correctly.
Change-Id: I506fc2113d61471cb997e38e289de8f77a2ed4ab
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022/control_loops/superstructure/catapult/catapult.cc b/y2022/control_loops/superstructure/catapult/catapult.cc
index 00bb3b3..e4d76d3 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult.cc
@@ -367,6 +367,7 @@
CHECK_NOTNULL(catapult_voltage);
*catapult_voltage = 0.0;
if (catapult_mpc_.started()) {
+ ++shot_count_;
// Finished the catapult, time to fire.
catapult_state_ = CatapultState::RESETTING;
}