diff --git a/y2020/control_loops/python/turret.py b/y2020/control_loops/python/turret.py
index e276457..5a27afb 100644
--- a/y2020/control_loops/python/turret.py
+++ b/y2020/control_loops/python/turret.py
@@ -22,12 +22,12 @@
     name='Turret',
     motor=control_loop.Vex775Pro(),
     G=(6.0 / 60.0) * (26.0 / 150.0),
-    J=0.11,
-    q_pos=0.40,
-    q_vel=7.0,
+    J=0.20,
+    q_pos=0.30,
+    q_vel=4.5,
     kalman_q_pos=0.12,
-    kalman_q_vel=2.0,
-    kalman_q_voltage=3.0,
+    kalman_q_vel=10.0,
+    kalman_q_voltage=12.0,
     kalman_r_position=0.05)
 
 def main(argv):
diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index 9a6c3cd..b9ba172 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -64,6 +64,17 @@
 
   climber_.Iterate(unsafe_goal, output != nullptr ? &(output_struct) : nullptr);
 
+  const PotAndAbsoluteEncoderProfiledJointStatus *const turret_status =
+      GetMutableTemporaryPointer(*status->fbb(), turret_status_offset);
+
+  if (output != nullptr) {
+    // Friction is a pain and putting a really high burden on the integrator.
+    double velocity_sign = turret_status->velocity() * kTurretFrictionGain;
+    output_struct.turret_voltage +=
+        std::clamp(velocity_sign, -kTurretFrictionVoltageLimit,
+                   kTurretFrictionVoltageLimit);
+  }
+
   bool zeroed;
   bool estopped;
 
@@ -74,9 +85,6 @@
     const AbsoluteEncoderProfiledJointStatus *const intake_status =
         GetMutableTemporaryPointer(*status->fbb(), intake_status_offset);
 
-    const PotAndAbsoluteEncoderProfiledJointStatus *const turret_status =
-        GetMutableTemporaryPointer(*status->fbb(), turret_status_offset);
-
     zeroed = hood_status->zeroed() && intake_status->zeroed() &&
              turret_status->zeroed();
     estopped = hood_status->estopped() || intake_status->estopped() ||
diff --git a/y2020/control_loops/superstructure/superstructure.h b/y2020/control_loops/superstructure/superstructure.h
index d8ce917..d5f4235 100644
--- a/y2020/control_loops/superstructure/superstructure.h
+++ b/y2020/control_loops/superstructure/superstructure.h
@@ -21,6 +21,11 @@
   explicit Superstructure(::aos::EventLoop *event_loop,
                           const ::std::string &name = "/superstructure");
 
+  // Terms to control the velocity gain for the friction compensation, and the
+  // voltage cap.
+  static constexpr double kTurretFrictionGain = 10.0;
+  static constexpr double kTurretFrictionVoltageLimit = 1.5;
+
   using PotAndAbsoluteEncoderSubsystem =
       ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
           ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator,
diff --git a/y2020/control_loops/superstructure/superstructure_goal.fbs b/y2020/control_loops/superstructure/superstructure_goal.fbs
index f066ab0..c7fe643 100644
--- a/y2020/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2020/control_loops/superstructure/superstructure_goal.fbs
@@ -27,9 +27,7 @@
   // Positive is rollers intaking to Washing Machine.
   roller_voltage:float;
 
-  // 0 = facing the front of the robot. Positive rotates counterclockwise.
-  // TODO(Kai): Define which wrap of the shooter is 0 if it can rotate past
-  // forward more than once.
+  // 0 = facing the back of the robot. Positive rotates counterclockwise.
   turret:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
 
   // Only applies if shooter_tracking = false.
diff --git a/y2020/control_loops/superstructure/superstructure_lib_test.cc b/y2020/control_loops/superstructure/superstructure_lib_test.cc
index f68db08..f74b111 100644
--- a/y2020/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2020/control_loops/superstructure/superstructure_lib_test.cc
@@ -243,9 +243,14 @@
     intake_U << superstructure_output_fetcher_->intake_joint_voltage() +
                     intake_plant_->voltage_offset();
 
+    const double turret_velocity_sign =
+        turret_plant_->X(1) * Superstructure::kTurretFrictionGain;
     ::Eigen::Matrix<double, 1, 1> turret_U;
     turret_U << superstructure_output_fetcher_->turret_voltage() +
-                    turret_plant_->voltage_offset();
+                    turret_plant_->voltage_offset() -
+                    std::clamp(turret_velocity_sign,
+                               -Superstructure::kTurretFrictionVoltageLimit,
+                               Superstructure::kTurretFrictionVoltageLimit);
 
     ::Eigen::Matrix<double, 1, 1> accelerator_left_U;
     accelerator_left_U