diff --git a/frc971/control_loops/index/index.cc b/frc971/control_loops/index/index.cc
index 3932ab5..4ec77ba 100644
--- a/frc971/control_loops/index/index.cc
+++ b/frc971/control_loops/index/index.cc
@@ -109,7 +109,8 @@
 /*static*/ const int IndexMotor::kLiftingDelay = 2;
 /*static*/ const int IndexMotor::kLiftingTimeout = 65;
 /*static*/ const int IndexMotor::kShootingDelay = 10;
-/*static*/ const int IndexMotor::kLoweringDelay = 20;
+/*static*/ const int IndexMotor::kLoweringDelay = 4;
+/*static*/ const int IndexMotor::kLoweringTimeout = 120;
 
 // TODO(aschuh): Tune these.
 /*static*/ const double
@@ -900,6 +901,8 @@
       if (position->loader_top) {
         if (loader_countdown_ > 0) {
           --loader_countdown_;
+          loader_timeout_ = 0;
+          break;
         } else {
           loader_state_ = LoaderState::LIFTED;
         }
@@ -910,9 +913,10 @@
         if (loader_timeout_ > kLiftingTimeout) {
           LOG(ERROR, "Loader timeout while LIFTING %d\n", loader_timeout_);
           loader_state_ = LoaderState::LIFTED;
+        } else {
+          break;
         }
       }
-      break;
     case LoaderState::LIFTED:
       LOG(DEBUG, "Loader LIFTED\n");
       // Disc lifted.  Time to eject it out.
@@ -941,6 +945,7 @@
       disc_ejected_ = true;
       loader_state_ = LoaderState::LOWERING;
       loader_countdown_ = kLoweringDelay;
+      loader_timeout_ = 0;
       --hopper_disc_count_;
       ++shot_disc_count_;
     case LoaderState::LOWERING:
@@ -949,11 +954,24 @@
       loader_up_ = false;
       disc_clamped_ = false;
       disc_ejected_ = true;
-      if (loader_countdown_ > 0) {
-        --loader_countdown_;
-        break;
+      if (position->loader_bottom) {
+        if (loader_countdown_ > 0) {
+          --loader_countdown_;
+          loader_timeout_ = 0;
+          break;
+        } else {
+          loader_state_ = LoaderState::LOWERED;
+        }
       } else {
-        loader_state_ = LoaderState::LOWERED;
+        // Restart the countdown if it bounces back up or something.
+        loader_countdown_ = kLoweringDelay;
+        ++loader_timeout_;
+        if (loader_timeout_ > kLoweringTimeout) {
+          LOG(ERROR, "Loader timeout while LOWERING %d\n", loader_timeout_);
+          loader_state_ = LoaderState::LOWERED;
+        } else {
+          break;
+        }
       }
     case LoaderState::LOWERED:
       LOG(DEBUG, "Loader LOWERED\n");
diff --git a/frc971/control_loops/index/index.h b/frc971/control_loops/index/index.h
index 8abb119..7c68a7f 100644
--- a/frc971/control_loops/index/index.h
+++ b/frc971/control_loops/index/index.h
@@ -143,8 +143,12 @@
   static const int kLiftingTimeout;
   // Time that it takes to shoot the disc in cycles.
   static const int kShootingDelay;
-  // Time that it takes to lower the loader in cycles.
+  // Time that it takes to finish lowering the loader after the sensor is
+  // triggered in cycles.
   static const int kLoweringDelay;
+  // Time until we give up lowering and move on in cycles.
+  // It's a long time because we really don't want to ever hit this.
+  static const int kLoweringTimeout;
 
   // Object representing a Frisbee tracked by the indexer.
   class Frisbee {
diff --git a/frc971/control_loops/index/index_motor.q b/frc971/control_loops/index/index_motor.q
index 3956b18..f8fe449 100644
--- a/frc971/control_loops/index/index_motor.q
+++ b/frc971/control_loops/index/index_motor.q
@@ -45,8 +45,10 @@
     int32_t top_disc_negedge_count;
     double top_disc_negedge_position;
 
-    // Whether the hall effect for the loader being at the top is triggered.
+    // Whether the hall effects for the loader are triggered (have a magnet in
+	// front of them).
 	bool loader_top;
+	bool loader_bottom;
   };
 
   message Output {