diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index 1f0d1fc..3961990 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -281,19 +281,11 @@
       (turret_intake_state_ == RequestedIntake::kFront
            ? constants::Values::kTurretFrontIntakePos()
            : constants::Values::kTurretBackIntakePos());
-  // Turn to the loading position as close to the current position as
-  // possible.
-  turret_loading_position =
-      turret_.estimated_position() +
-      aos::math::NormalizeAngle(turret_loading_position -
-                                turret_.estimated_position());
-  // if out of range, reset back to within +/- pi of zero.
-  if (turret_loading_position > values_->turret_range.upper ||
-      turret_loading_position < values_->turret_range.lower) {
-    turret_loading_position =
-        frc971::zeroing::Wrap(values_->turret_range.middle_soft(),
-                              turret_loading_position, 2.0 * M_PI);
-  }
+  // 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);
 
   turret_loading_goal_buffer.Finish(
       frc971::control_loops::CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
@@ -357,6 +349,7 @@
       }
 
       turret_goal = &turret_loading_goal_buffer.message();
+      aimer_.UpdateTurretGoal(turret_loading_position);
 
       const bool turret_near_goal =
           std::abs(turret_.estimated_position() - turret_loading_position) <
@@ -495,7 +488,7 @@
 
       // Once the shot is complete and the catapult is back to its return
       // position, go back to IDLE
-      if (catapult_.shot_count() > prev_shot_count_ ) {
+      if (catapult_.shot_count() > prev_shot_count_) {
         prev_shot_count_ = catapult_.shot_count();
         fire_ = false;
         discarding_ball_ = false;
diff --git a/y2022/control_loops/superstructure/superstructure_lib_test.cc b/y2022/control_loops/superstructure/superstructure_lib_test.cc
index ff243e2..cbc71d4 100644
--- a/y2022/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022/control_loops/superstructure/superstructure_lib_test.cc
@@ -998,7 +998,7 @@
   EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
             IntakeState::INTAKE_BACK_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.
@@ -1010,7 +1010,7 @@
             IntakeState::NO_BALL);
 }
 
-TEST_F(SuperstructureTest, TestTurretWrapsWhenLoading) {
+TEST_F(SuperstructureTest, TestTurretUnWrapsWhenLoading) {
   SetEnabled(true);
   WaitUntilZeroed();
 
@@ -1032,21 +1032,22 @@
   EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(), kTurretGoal,
               0.001);
 
-  superstructure_plant_.set_intake_beambreak_front(true);
+  superstructure_plant_.set_intake_beambreak_back(true);
   RunFor(dt() * 2);
 
   ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
   EXPECT_EQ(superstructure_status_fetcher_->state(),
             SuperstructureState::TRANSFERRING);
   EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
-            IntakeState::INTAKE_FRONT_BALL);
+            IntakeState::INTAKE_BACK_BALL);
 
   RunFor(std::chrono::seconds(3));
 
   ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
   EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(),
-              -constants::Values::kTurretFrontIntakePos() - 2.0 * M_PI, 0.001);
-  // it chooses -pi because -pi is closer to -4 than positive pi
+              constants::Values::kTurretBackIntakePos(), 0.001);
+  // It goes to -pi instead of +pi because -pi is closest to the center of the
+  // range at -1.675.
 }
 
 // Make sure that the front and back intakes are never switched
diff --git a/y2022/control_loops/superstructure/turret/aiming.h b/y2022/control_loops/superstructure/turret/aiming.h
index 4eabe3e..a762298 100644
--- a/y2022/control_loops/superstructure/turret/aiming.h
+++ b/y2022/control_loops/superstructure/turret/aiming.h
@@ -24,6 +24,9 @@
 
   void Update(const Status *status, ShotMode shot_mode);
 
+  void UpdateTurretGoal(double turret_goal) {
+    goal_.mutable_message()->mutate_unsafe_goal(turret_goal);
+  }
   const Goal *TurretGoal() const { return &goal_.message(); }
 
   // Returns the distance to the goal, in meters.