Merge "Only update the catapult firing bool when enabled"
diff --git a/y2022/control_loops/superstructure/catapult/catapult.cc b/y2022/control_loops/superstructure/catapult/catapult.cc
index bcfeb24..a04d8c9 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult.cc
@@ -342,7 +342,9 @@
latched_shot_velocity = catapult_goal->shot_velocity();
}
- if (catapult_.running()) {
+ // Don't update last_firing_ if the catapult is disabled, so that we actually
+ // end up firing once it's enabled
+ if (catapult_.running() && !catapult_disabled) {
last_firing_ = fire;
}