diff --git a/frc971/control_loops/shooter/shooter.cc b/frc971/control_loops/shooter/shooter.cc
index b6d71c6..8e283ff 100755
--- a/frc971/control_loops/shooter/shooter.cc
+++ b/frc971/control_loops/shooter/shooter.cc
@@ -155,6 +155,54 @@
   return power;
 }
 
+void ShooterMotor::CheckCalibrations(
+    const control_loops::ShooterGroup::Position *position) {
+  CHECK_NOTNULL(position);
+  const frc971::constants::Values &values = constants::GetValues();
+
+  // TODO(austin): Validate that this is the right edge.
+  // If we see a posedge on any of the hall effects,
+  if (position->pusher_proximal.posedge_count != last_proximal_posedge_count_ &&
+      !last_proximal_current_) {
+    proximal_posedge_validation_cycles_left_ = 2;
+  }
+  if (proximal_posedge_validation_cycles_left_ > 0) {
+    if (position->pusher_proximal.current) {
+      --proximal_posedge_validation_cycles_left_;
+      if (proximal_posedge_validation_cycles_left_ == 0) {
+        shooter_.SetCalibration(
+            position->pusher_proximal.posedge_value,
+            values.shooter.pusher_proximal.upper_angle);
+
+        LOG(DEBUG, "Setting calibration using proximal sensor\n");
+        zeroed_ = true;
+      }
+    } else {
+      proximal_posedge_validation_cycles_left_ = 0;
+    }
+  }
+
+  if (position->pusher_distal.posedge_count != last_distal_posedge_count_ &&
+      !last_distal_current_) {
+    distal_posedge_validation_cycles_left_ = 2;
+  }
+  if (distal_posedge_validation_cycles_left_ > 0) {
+    if (position->pusher_distal.current) {
+      --distal_posedge_validation_cycles_left_;
+      if (distal_posedge_validation_cycles_left_ == 0) {
+        shooter_.SetCalibration(
+            position->pusher_distal.posedge_value,
+            values.shooter.pusher_distal.upper_angle);
+
+        LOG(DEBUG, "Setting calibration using distal sensor\n");
+        zeroed_ = true;
+      }
+    } else {
+      distal_posedge_validation_cycles_left_ = 0;
+    }
+  }
+}
+
 // Positive is out, and positive power is out.
 void ShooterMotor::RunIteration(
     const control_loops::ShooterGroup::Goal *goal,
@@ -330,49 +378,7 @@
       shooter_.SetGoalPosition(0.0, 0.0);
 
       if (position) {
-        // TODO(austin): Validate that this is the right edge.
-        // If we see a posedge on any of the hall effects,
-        if (position->pusher_proximal.posedge_count !=
-                last_proximal_posedge_count_ &&
-            !last_proximal_current_) {
-          proximal_posedge_validation_cycles_left_ = 2;
-        }
-        if (proximal_posedge_validation_cycles_left_ > 0) {
-          if (position->pusher_proximal.current) {
-            --proximal_posedge_validation_cycles_left_;
-            if (proximal_posedge_validation_cycles_left_ == 0) {
-              shooter_.SetCalibration(
-                  position->pusher_proximal.posedge_value,
-                  values.shooter.pusher_proximal.upper_angle);
-
-              LOG(DEBUG, "Setting calibration using proximal sensor\n");
-              zeroed_ = true;
-            }
-          } else {
-            proximal_posedge_validation_cycles_left_ = 0;
-          }
-        }
-
-        if (position->pusher_distal.posedge_count !=
-                last_distal_posedge_count_ &&
-            !last_distal_current_) {
-          distal_posedge_validation_cycles_left_ = 2;
-        }
-        if (distal_posedge_validation_cycles_left_ > 0) {
-          if (position->pusher_distal.current) {
-            --distal_posedge_validation_cycles_left_;
-            if (distal_posedge_validation_cycles_left_ == 0) {
-              shooter_.SetCalibration(
-                  position->pusher_distal.posedge_value,
-                  values.shooter.pusher_distal.upper_angle);
-
-              LOG(DEBUG, "Setting calibration using distal sensor\n");
-              zeroed_ = true;
-            }
-          } else {
-            distal_posedge_validation_cycles_left_ = 0;
-          }
-        }
+        CheckCalibrations(position);
 
         // Latch if the plunger is far enough back to trigger the hall effect.
         // This happens when the distal sensor is triggered.
@@ -552,6 +558,10 @@
           latch_piston_ = false;
         } else {
           latch_piston_ = true;
+
+          if (position) {
+            CheckCalibrations(position);
+          }
         }
       } else {
         // The plunger isn't all the way back, or it is and it is unlatched, so
diff --git a/frc971/control_loops/shooter/shooter.h b/frc971/control_loops/shooter/shooter.h
index 820b15f..2cb688f 100755
--- a/frc971/control_loops/shooter/shooter.h
+++ b/frc971/control_loops/shooter/shooter.h
@@ -16,6 +16,7 @@
 namespace testing {
 class ShooterTest_UnloadWindupPositive_Test;
 class ShooterTest_UnloadWindupNegative_Test;
+class ShooterTest_RezeroWhileUnloading_Test;
 };
 
 using ::aos::time::Time;
@@ -93,6 +94,9 @@
 
   void CapGoal();
 
+  // Friend the test classes for acces to the internal state.
+  friend class testing::ShooterTest_RezeroWhileUnloading_Test;
+
  private:
   // The offset between what is '0' (0 rate on the spring) and the 0 (all the
   // way cocked).
@@ -125,6 +129,7 @@
 
   double PowerToPosition(double power);
   double PositionToPower(double position);
+  void CheckCalibrations(const control_loops::ShooterGroup::Position *position);
 
   typedef enum {
     STATE_INITIALIZE = 0,
@@ -156,6 +161,7 @@
   // Friend the test classes for acces to the internal state.
   friend class testing::ShooterTest_UnloadWindupPositive_Test;
   friend class testing::ShooterTest_UnloadWindupNegative_Test;
+  friend class testing::ShooterTest_RezeroWhileUnloading_Test;
 
   // Enter state STATE_UNLOAD
   void Unload() {
diff --git a/frc971/control_loops/shooter/shooter_lib_test.cc b/frc971/control_loops/shooter/shooter_lib_test.cc
index 37b186b..90f7692 100755
--- a/frc971/control_loops/shooter/shooter_lib_test.cc
+++ b/frc971/control_loops/shooter/shooter_lib_test.cc
@@ -63,12 +63,12 @@
     SetPhysicalSensors(&last_position_message_);
   }
 
-  // Returns the absolute angle of the wrist.
+  // Returns the absolute angle of the shooter.
   double GetAbsolutePosition() const {
     return shooter_plant_->Y(0, 0) + kPositionOffset;
   }
 
-  // Returns the adjusted angle of the wrist.
+  // Returns the adjusted angle of the shooter.
   double GetPosition() const {
     return GetAbsolutePosition() - initial_position_;
   }
@@ -351,7 +351,7 @@
   EXPECT_NEAR(power, shooter_motor_.PositionToPower(position), 1e-5);
 }
 
-// Tests that the wrist zeros correctly and goes to a position.
+// Tests that the shooter zeros correctly and goes to a position.
 TEST_F(ShooterTest, GoesToValue) {
   shooter_queue_group_.goal.MakeWithBuilder().shot_power(70.0).Send();
   for (int i = 0; i < 200; ++i) {
@@ -368,7 +368,7 @@
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
 }
 
-// Tests that the wrist zeros correctly and goes to a position.
+// Tests that the shooter zeros correctly and goes to a position.
 TEST_F(ShooterTest, Fire) {
   shooter_queue_group_.goal.MakeWithBuilder().shot_power(70.0).Send();
   for (int i = 0; i < 120; ++i) {
@@ -408,7 +408,7 @@
   EXPECT_TRUE(hit_fire);
 }
 
-// Tests that the wrist zeros correctly and goes to a position.
+// Tests that the shooter zeros correctly and goes to a position.
 TEST_F(ShooterTest, FireLong) {
   shooter_queue_group_.goal.MakeWithBuilder().shot_power(70.0).Send();
   for (int i = 0; i < 150; ++i) {
@@ -458,7 +458,7 @@
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
 }
 
-// Tests that the wrist zeros correctly and goes to a position.
+// Tests that the shooter zeros correctly and goes to a position.
 TEST_F(ShooterTest, MoveGoal) {
   shooter_queue_group_.goal.MakeWithBuilder().shot_power(70.0).Send();
   for (int i = 0; i < 150; ++i) {
@@ -485,7 +485,6 @@
 }
 
 
-// Tests that the wrist zeros correctly and goes to a position.
 TEST_F(ShooterTest, Unload) {
   shooter_queue_group_.goal.MakeWithBuilder().shot_power(70.0).Send();
   for (int i = 0; i < 150; ++i) {
@@ -511,7 +510,42 @@
   EXPECT_EQ(ShooterMotor::STATE_READY_UNLOAD, shooter_motor_.state());
 }
 
-// Tests that the wrist zeros correctly and goes to a position.
+// Tests that it rezeros while unloading.
+TEST_F(ShooterTest, RezeroWhileUnloading) {
+  shooter_queue_group_.goal.MakeWithBuilder().shot_power(70.0).Send();
+  for (int i = 0; i < 150; ++i) {
+    shooter_motor_plant_.SendPositionMessage();
+    shooter_motor_.Iterate();
+    shooter_motor_plant_.Simulate();
+    SimulateTimestep(true);
+  }
+  EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
+
+  shooter_motor_.shooter_.offset_ += 0.01;
+  for (int i = 0; i < 50; ++i) {
+    shooter_motor_plant_.SendPositionMessage();
+    shooter_motor_.Iterate();
+    shooter_motor_plant_.Simulate();
+    SimulateTimestep(true);
+  }
+
+  shooter_queue_group_.goal.MakeWithBuilder().unload_requested(true).Send();
+
+  for (int i = 0;
+       i < 800 && shooter_motor_.state() != ShooterMotor::STATE_READY_UNLOAD;
+       ++i) {
+    shooter_motor_plant_.SendPositionMessage();
+    shooter_motor_.Iterate();
+    shooter_motor_plant_.Simulate();
+    SimulateTimestep(true);
+  }
+
+  EXPECT_NEAR(constants::GetValues().shooter.upper_limit,
+              shooter_motor_plant_.GetAbsolutePosition(), 0.015);
+  EXPECT_EQ(ShooterMotor::STATE_READY_UNLOAD, shooter_motor_.state());
+}
+
+// Tests that the shooter zeros correctly and goes to a position.
 TEST_F(ShooterTest, UnloadWindupNegative) {
   shooter_queue_group_.goal.MakeWithBuilder().shot_power(70.0).Send();
   for (int i = 0; i < 150; ++i) {
@@ -551,7 +585,7 @@
   EXPECT_GE(3, capped_goal_count);
 }
 
-// Tests that the wrist zeros correctly and goes to a position.
+// Tests that the shooter zeros correctly and goes to a position.
 TEST_F(ShooterTest, UnloadWindupPositive) {
   shooter_queue_group_.goal.MakeWithBuilder().shot_power(70.0).Send();
   for (int i = 0; i < 150; ++i) {
@@ -595,7 +629,7 @@
   return (pair.lower_angle + pair.upper_angle) / 2.0;
 }
 
-// Tests that the wrist zeros correctly and goes to a position.
+// Tests that the shooter zeros correctly and goes to a position.
 TEST_F(ShooterTest, StartsOnDistal) {
   Reinitialize(HallEffectMiddle(constants::GetValues().shooter.pusher_distal));
   shooter_queue_group_.goal.MakeWithBuilder().shot_power(70.0).Send();
@@ -614,7 +648,7 @@
 }
 
 
-// Tests that the wrist zeros correctly and goes to a position.
+// Tests that the shooter zeros correctly and goes to a position.
 TEST_F(ShooterTest, StartsOnProximal) {
   Reinitialize(
       HallEffectMiddle(constants::GetValues().shooter.pusher_proximal));