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/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index a1e3f13..da1af82 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -121,6 +121,7 @@
status_builder.add_catapult(catapult_status_offset);
status_builder.add_solve_time(catapult_.solve_time());
status_builder.add_mpc_active(catapult_.mpc_active());
+ status_builder.add_shot_count(catapult_.shot_count());
(void)status->Send(status_builder.Finish());
}