From a5418e3c7c82710b0d73a6aa92bdeadb378f10d1 Mon Sep 17 00:00:00 2001
From: Michael Kennedy <34204085+mlists@users.noreply.github.com>
Date: Mon, 29 Jan 2024 13:47:28 +1100
Subject: [PATCH] Add a has_just_fired check that auto can poll

---
 controllers/shooter.py | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/controllers/shooter.py b/controllers/shooter.py
index 0c2cbbbc..bb57d441 100644
--- a/controllers/shooter.py
+++ b/controllers/shooter.py
@@ -11,7 +11,14 @@ class Shooter(StateMachine):
     should_fire = will_reset_to(False)
     SHOOTING_TIME_DURATION = 3
 
+    def __init__(self) -> None:
+        self.just_fired = False
+
+    def has_just_fired(self) -> bool:
+        return self.just_fired
+
     def shoot(self) -> None:
+        """Engage the state machine to attempt a shot, needs to be called repeatedly"""
         self.should_fire = True
         self.engage()
 
@@ -30,6 +37,7 @@ def update_ranging(self) -> None:
     @default_state
     def idle(self) -> None:
         """Run ranging whenever we are not doing anything else"""
+        self.just_fired = False
         self.update_ranging()
         if self.should_fire:
             self.next_state("acquiring")
@@ -69,5 +77,6 @@ def shooting(self) -> None:
 
     @state
     def resetting(self) -> None:
+        self.just_fired = True
         self.shooter_component.stop_injection()
         self.done()