diff --git a/frc971/actions/action.h b/frc971/actions/action.h
index 9ae31e8..b9aaba6 100644
--- a/frc971/actions/action.h
+++ b/frc971/actions/action.h
@@ -73,7 +73,8 @@
         abort_ = false;
         return true;
       }
-      if (::aos::time::Time::Now() >= end_time) {
+      if (end_time != ::aos::time::Time(0, 0) &&
+          ::aos::time::Time::Now() >= end_time) {
         LOG(INFO, "WaitUntil timed out\n");
         return true;
       }
diff --git a/frc971/actions/action_client.h b/frc971/actions/action_client.h
index 2a7d65f..4b3e048 100644
--- a/frc971/actions/action_client.h
+++ b/frc971/actions/action_client.h
@@ -80,6 +80,9 @@
       if (has_started_) {
         queue_group_->status.FetchNextBlocking();
       } else {
+        if (queue_group_->status->running) {
+          has_started_ = true;
+        }
         queue_group_->status.FetchNextBlocking();
         if (queue_group_->status->running) {
           // Wait until it reports that it is running to start.
diff --git a/frc971/actions/shoot_action.cc b/frc971/actions/shoot_action.cc
index 3e73b67..fa0e791 100644
--- a/frc971/actions/shoot_action.cc
+++ b/frc971/actions/shoot_action.cc
@@ -15,7 +15,6 @@
 constexpr double ShootAction::kOffsetRadians;
 constexpr double ShootAction::kClawShootingSeparation;
 constexpr double ShootAction::kClawShootingSeparationGoal;
-constexpr ::aos::time::Time ShootAction::kTimeout;
 
 ShootAction::ShootAction(actions::ShootActionQueueGroup* s)
     : actions::ActionBase<actions::ShootActionQueueGroup>(s) {}
@@ -49,10 +48,9 @@
 
 void ShootAction::InnerRunAction() {
   LOG(INFO, "Shooting at the current angle and power.\n");
-  const ::aos::time::Time end_time = ::aos::time::Time::Now() + kTimeout;
 
   // wait for claw to be ready
-  if (WaitUntil(::std::bind(&ShootAction::DoneSetupShot, this), end_time)) {
+  if (WaitUntil(::std::bind(&ShootAction::DoneSetupShot, this))) {
     return;
   }
 
@@ -87,7 +85,7 @@
   }
 
   // wait for record of shot having been fired
-  if (WaitUntil(::std::bind(&ShootAction::DoneShot, this), end_time)) return;
+  if (WaitUntil(::std::bind(&ShootAction::DoneShot, this))) return;
 
   // Turn the intake off.
   control_loops::claw_queue_group.goal.FetchLatest();
diff --git a/frc971/actions/shoot_action.h b/frc971/actions/shoot_action.h
index c5ebb07..cc44bee 100644
--- a/frc971/actions/shoot_action.h
+++ b/frc971/actions/shoot_action.h
@@ -25,9 +25,6 @@
   static constexpr double kOffsetRadians = 0.4;
   static constexpr double kClawShootingSeparation = 0.10;
   static constexpr double kClawShootingSeparationGoal = 0.10;
-  // If we don't get to actually shooting within this amount of time, we stop to
-  // avoid firing unexpectedly after a long delay.
-  static constexpr ::aos::time::Time kTimeout = ::aos::time::Time::InSeconds(1);
 
  protected:
   // completed shot