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;
           }
diff --git a/y2022/control_loops/superstructure/catapult/catapult.h b/y2022/control_loops/superstructure/catapult/catapult.h
index a5ffc92..a8141a0 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.h
+++ b/y2022/control_loops/superstructure/catapult/catapult.h
@@ -198,6 +198,9 @@
 
   bool mpc_active() const { return !use_profile_; }
 
+  // Returns the number of shots taken.
+  int shot_count() const { return shot_count_; }
+
   // Runs either the MPC or the profiled subsystem depending on if we are
   // shooting or not.  Returns the status.
   const flatbuffers::Offset<
@@ -219,6 +222,8 @@
 
   bool last_firing_ = false;
   bool use_profile_ = true;
+
+  int shot_count_ = 0;
 };
 
 }  // namespace catapult
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());
 }
diff --git a/y2022/control_loops/superstructure/superstructure_lib_test.cc b/y2022/control_loops/superstructure/superstructure_lib_test.cc
index 7ab3c30..6147851 100644
--- a/y2022/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022/control_loops/superstructure/superstructure_lib_test.cc
@@ -97,6 +97,8 @@
   void set_peak_acceleration(double value) { peak_acceleration_ = value; }
   void set_peak_velocity(double value) { peak_velocity_ = value; }
 
+  void set_controller_index(size_t index) { plant_->set_index(index); }
+
   PositionSensorSimulator *encoder() { return &encoder_; }
 
  private:
@@ -195,6 +197,11 @@
                 superstructure_status_fetcher_->intake_back());
             turret_.Simulate(superstructure_output_fetcher_->turret_voltage(),
                              superstructure_status_fetcher_->turret());
+            if (superstructure_status_fetcher_->mpc_active()) {
+              catapult_.set_controller_index(0);
+            } else {
+              catapult_.set_controller_index(1);
+            }
             catapult_.Simulate(
                 superstructure_output_fetcher_->catapult_voltage(),
                 superstructure_status_fetcher_->catapult());
@@ -750,6 +757,88 @@
                   constants::Values::kIntakeRange().upper);
 }
 
+// Make sure that we can shoot the catapult and reload it.
+TEST_F(SuperstructureTest, ShootCatapult) {
+  SetEnabled(true);
+  superstructure_plant_.intake_front()->InitializePosition(
+      constants::Values::kIntakeRange().middle());
+  superstructure_plant_.intake_back()->InitializePosition(
+      constants::Values::kIntakeRange().middle());
+
+  WaitUntilZeroed();
+
+  {
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        catapult_return_position_offset =
+            CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+                *builder.fbb(), constants::Values::kCatapultRange().lower,
+                CreateProfileParameters(*builder.fbb(), 4.0, 20.0));
+
+    CatapultGoal::Builder catapult_goal_builder =
+        builder.MakeBuilder<CatapultGoal>();
+
+    catapult_goal_builder.add_fire(false);
+    catapult_goal_builder.add_shot_position(0.3);
+    catapult_goal_builder.add_shot_velocity(15.0);
+    catapult_goal_builder.add_return_position(catapult_return_position_offset);
+    flatbuffers::Offset<CatapultGoal> catapult_goal_offset =
+        catapult_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_catapult(catapult_goal_offset);
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
+  }
+
+  RunFor(chrono::seconds(5));
+
+  ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+  EXPECT_FALSE(superstructure_status_fetcher_->mpc_active());
+  EXPECT_FLOAT_EQ(superstructure_status_fetcher_->catapult()->position(),
+                  constants::Values::kCatapultRange().lower);
+
+  {
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        catapult_return_position_offset =
+            CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+                *builder.fbb(), constants::Values::kCatapultRange().lower,
+                CreateProfileParameters(*builder.fbb(), 4.0, 20.0));
+
+    CatapultGoal::Builder catapult_goal_builder =
+        builder.MakeBuilder<CatapultGoal>();
+
+    catapult_goal_builder.add_fire(true);
+    catapult_goal_builder.add_shot_position(0.5);
+    catapult_goal_builder.add_shot_velocity(20.0);
+    catapult_goal_builder.add_return_position(catapult_return_position_offset);
+    flatbuffers::Offset<CatapultGoal> catapult_goal_offset =
+        catapult_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+    goal_builder.add_catapult(catapult_goal_offset);
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
+  }
+
+  RunFor(chrono::milliseconds(100));
+
+  ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+  EXPECT_TRUE(superstructure_status_fetcher_->mpc_active());
+  EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 0);
+
+  EXPECT_GT(superstructure_status_fetcher_->catapult()->position(),
+            constants::Values::kCatapultRange().lower + 0.1);
+  RunFor(chrono::milliseconds(1950));
+
+  ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+  EXPECT_NEAR(superstructure_status_fetcher_->catapult()->position(),
+              constants::Values::kCatapultRange().lower, 1e-3);
+  EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 1);
+}
+
 }  // namespace testing
 }  // namespace superstructure
 }  // namespace control_loops
diff --git a/y2022/control_loops/superstructure/superstructure_status.fbs b/y2022/control_loops/superstructure/superstructure_status.fbs
index 8033d8a..4487f1d 100644
--- a/y2022/control_loops/superstructure/superstructure_status.fbs
+++ b/y2022/control_loops/superstructure/superstructure_status.fbs
@@ -23,6 +23,9 @@
 
   solve_time:double (id: 7);
   mpc_active:bool (id: 8);
+
+  // The number of shots we have taken.
+  shot_count:int32 (id: 9);
 }
 
 root_type Status;