diff --git a/y2018/control_loops/superstructure/arm/arm.cc b/y2018/control_loops/superstructure/arm/arm.cc
index f3f58f8..d3cb262 100644
--- a/y2018/control_loops/superstructure/arm/arm.cc
+++ b/y2018/control_loops/superstructure/arm/arm.cc
@@ -44,7 +44,8 @@
 
 void Arm::Reset() { state_ = State::UNINITIALIZED; }
 
-void Arm::Iterate(const uint32_t *unsafe_goal, bool grab_box, bool open_claw,
+void Arm::Iterate(const ::aos::monotonic_clock::time_point monotonic_now,
+                  const uint32_t *unsafe_goal, bool grab_box, bool open_claw,
                   bool close_claw, const control_loops::ArmPosition *position,
                   const bool claw_beambreak_triggered,
                   const bool box_back_beambreak_triggered,
@@ -261,7 +262,7 @@
         if (claw_beambreak_triggered) {
           grab_state_ = GrabState::CLAW_CLOSE;
           // Snap time for the delay here.
-          claw_close_start_time_ = ::aos::monotonic_clock::now();
+          claw_close_start_time_ = monotonic_now;
         } else {
           grab_state_ = GrabState::SHORT_BOX;
         }
@@ -275,14 +276,14 @@
         if (claw_beambreak_triggered) {
           grab_state_ = GrabState::CLAW_CLOSE;
           // Snap time for the delay here.
-          claw_close_start_time_ = ::aos::monotonic_clock::now();
+          claw_close_start_time_ = monotonic_now;
         } else {
           grab_state_ = GrabState::WAIT_FOR_BOX;
         }
       }
       break;
     case GrabState::CLAW_CLOSE:
-      if (::aos::monotonic_clock::now() >
+      if (monotonic_now >
           claw_close_start_time_ + ::std::chrono::milliseconds(300)) {
         grab_state_ = GrabState::OPEN_INTAKE;
       }
diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index 0a4666a..8cd6b39 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -34,13 +34,13 @@
   static constexpr double kPathlessVMax() { return 5.0; }
   static constexpr double kGotoPathVMax() { return 6.0; }
 
-  void Iterate(const uint32_t *unsafe_goal, bool grab_box, bool open_claw,
+  void Iterate(const ::aos::monotonic_clock::time_point monotonic_now,
+               const uint32_t *unsafe_goal, bool grab_box, bool open_claw,
                bool close_claw, const control_loops::ArmPosition *position,
                const bool claw_beambreak_triggered,
                const bool box_back_beambreak_triggered,
-               const bool intake_clear_of_box,
-               bool suicide, bool trajectory_override,
-               double *proximal_output,
+               const bool intake_clear_of_box, bool suicide,
+               bool trajectory_override, double *proximal_output,
                double *distal_output, bool *release_arm_brake,
                bool *claw_closed, control_loops::ArmStatus *status);
 
diff --git a/y2018/control_loops/superstructure/superstructure.cc b/y2018/control_loops/superstructure/superstructure.cc
index 24a8880..572a7b0 100644
--- a/y2018/control_loops/superstructure/superstructure.cc
+++ b/y2018/control_loops/superstructure/superstructure.cc
@@ -45,6 +45,8 @@
     const control_loops::SuperstructureQueue::Position *position,
     control_loops::SuperstructureQueue::Output *output,
     control_loops::SuperstructureQueue::Status *status) {
+  const monotonic_clock::time_point monotonic_now =
+      event_loop()->monotonic_now();
   if (WasReset()) {
     LOG(ERROR, "WPILib reset, restarting\n");
     intake_left_.Reset();
@@ -105,6 +107,7 @@
     }
   }
   arm_.Iterate(
+      monotonic_now,
       unsafe_goal != nullptr ? &(unsafe_goal->arm_goal_position) : nullptr,
       unsafe_goal != nullptr ? unsafe_goal->grab_box : false, open_claw,
       unsafe_goal != nullptr ? unsafe_goal->close_claw : false,
@@ -148,7 +151,6 @@
       rotation_count_ = 0;
       stuck_count_ = 0;
     } else {
-      monotonic_clock::time_point monotonic_now = monotonic_clock::now();
       const bool stuck = position->box_distance < 0.20 &&
                    filtered_box_velocity_ > -0.05 &&
                    !position->box_back_beambreak_triggered;
@@ -263,7 +265,6 @@
   drivetrain_output_fetcher_.Fetch();
 
   vision_status_fetcher_.Fetch();
-  monotonic_clock::time_point monotonic_now = event_loop()->monotonic_now();
   if (status->estopped) {
     SendColors(0.5, 0.0, 0.0);
   } else if (!vision_status_fetcher_.get() ||