diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index 24bb00d..abf3aef 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -281,11 +281,26 @@
       (turret_intake_state_ == RequestedIntake::kFront
            ? constants::Values::kTurretFrontIntakePos()
            : constants::Values::kTurretBackIntakePos());
-  // Turn to the loading position as close to the middle of the range as
-  // possible. Do the unwraping before we have a ball so we don't have to unwrap
-  // to shoot.
-  turret_loading_position = frc971::zeroing::Wrap(
-      values_->turret_range.middle_soft(), turret_loading_position, 2.0 * M_PI);
+  if (transitioning_second_ball_) {
+    // Turn to the loading position as close to the current position as
+    // possible since we just aimed.
+    turret_loading_position =
+        turret_.estimated_position() +
+        aos::math::NormalizeAngle(turret_loading_position -
+                                  turret_.estimated_position());
+  }
+
+  if (!transitioning_second_ball_ ||
+      (turret_loading_position > values_->turret_range.upper ||
+       turret_loading_position < values_->turret_range.lower)) {
+    // Turn to the loading position as close to the middle of the range as
+    // possible. Do the unwraping before we have a ball so we don't have to
+    // unwrap to shoot if we aren't transitioning a second ball. If we are doing
+    // the second ball, we need to reset back to the middle of the range
+    turret_loading_position =
+        frc971::zeroing::Wrap(values_->turret_range.middle_soft(),
+                              turret_loading_position, 2.0 * M_PI);
+  }
 
   turret_loading_goal_buffer.Finish(
       frc971::control_loops::CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
@@ -345,6 +360,7 @@
           (turret_intake_state_ == RequestedIntake::kBack &&
            !back_intake_has_ball_)) {
         state_ = SuperstructureState::IDLE;
+        transitioning_second_ball_ = false;
         break;
       }
 
@@ -493,6 +509,8 @@
         fire_ = false;
         discarding_ball_ = false;
         state_ = SuperstructureState::IDLE;
+        transitioning_second_ball_ =
+            (front_intake_has_ball_ || back_intake_has_ball_);
       }
 
       break;
@@ -619,6 +637,7 @@
   }
   status_builder.add_front_intake_has_ball(front_intake_has_ball_);
   status_builder.add_back_intake_has_ball(back_intake_has_ball_);
+  status_builder.add_transitioning_second_ball(transitioning_second_ball_);
 
   status_builder.add_aimer(aimer_offset);
 
diff --git a/y2022/control_loops/superstructure/superstructure.h b/y2022/control_loops/superstructure/superstructure.h
index edb3831..5e3415c 100644
--- a/y2022/control_loops/superstructure/superstructure.h
+++ b/y2022/control_loops/superstructure/superstructure.h
@@ -103,6 +103,7 @@
   SuperstructureState state_ = SuperstructureState::IDLE;
   bool front_intake_has_ball_ = false;
   bool back_intake_has_ball_ = false;
+  bool transitioning_second_ball_ = false;
   std::optional<double> last_shot_angle_ = std::nullopt;
   RequestedIntake turret_intake_state_ = RequestedIntake::kFront;
 
diff --git a/y2022/control_loops/superstructure/superstructure_lib_test.cc b/y2022/control_loops/superstructure/superstructure_lib_test.cc
index cbc71d4..e582d9e 100644
--- a/y2022/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022/control_loops/superstructure/superstructure_lib_test.cc
@@ -997,8 +997,9 @@
             SuperstructureState::TRANSFERRING);
   EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
             IntakeState::INTAKE_BACK_BALL);
+  EXPECT_TRUE(superstructure_status_fetcher_->transitioning_second_ball());
   EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(),
-              constants::Values::kTurretBackIntakePos(), 0.001);
+              -constants::Values::kTurretBackIntakePos(), 0.001);
 
   // Since the intake beambreak hasn't triggered in a while, it should realize
   // the ball was lost.
@@ -1006,6 +1007,7 @@
   ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
   EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 1);
   EXPECT_EQ(superstructure_status_fetcher_->state(), SuperstructureState::IDLE);
+  EXPECT_FALSE(superstructure_status_fetcher_->transitioning_second_ball());
   EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
             IntakeState::NO_BALL);
 }
diff --git a/y2022/control_loops/superstructure/superstructure_status.fbs b/y2022/control_loops/superstructure/superstructure_status.fbs
index 44dc19a..bfa8f3f 100644
--- a/y2022/control_loops/superstructure/superstructure_status.fbs
+++ b/y2022/control_loops/superstructure/superstructure_status.fbs
@@ -51,6 +51,8 @@
   // Whether the front/rear intakes currently are holding balls.
   front_intake_has_ball:bool (id: 18);
   back_intake_has_ball:bool (id: 19);
+  // Whether we just shot a ball and are transitioning a second one
+  transitioning_second_ball:bool (id: 24);
   // Whether the flippers are open for shooting
   flippers_open:bool (id: 12);
   // Whether the flippers failed to open and we are retrying