diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index 4c5f235..f62109c 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -234,14 +234,19 @@
     output_struct.washing_machine_spinner_voltage = 0.0;
     output_struct.feeder_voltage = 0.0;
     output_struct.intake_roller_voltage = 0.0;
+    output_struct.climber_voltage = 0.0;
     if (unsafe_goal) {
-      output_struct.climber_voltage =
-          std::clamp(unsafe_goal->climber_voltage(), -12.0f, 12.0f);
+      if (unsafe_goal->has_turret()) {
+        output_struct.climber_voltage =
+            std::clamp(unsafe_goal->climber_voltage(), -12.0f, 12.0f);
 
-      // Make sure the turret is relatively close to the goal before turning the
-      // climber on.
-      if (std::abs(turret_.goal(0) - turret_.position()) > 0.1) {
-        output_struct.climber_voltage = 0;
+        // Make sure the turret is relatively close to the goal before turning
+        // the climber on.
+        CHECK(unsafe_goal->has_turret());
+        if (std::abs(unsafe_goal->turret()->unsafe_goal() -
+                     turret_.position()) > 0.1) {
+          output_struct.climber_voltage = 0;
+        }
       }
 
       if (unsafe_goal->shooting() || unsafe_goal->intake_preloading()) {
diff --git a/y2020/control_loops/superstructure/superstructure_lib_test.cc b/y2020/control_loops/superstructure/superstructure_lib_test.cc
index b34273c..56521d7 100644
--- a/y2020/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2020/control_loops/superstructure/superstructure_lib_test.cc
@@ -942,25 +942,39 @@
   {
     auto builder = superstructure_goal_sender_.MakeBuilder();
 
+    // Since there is a turret lockout, we need to set a turret goal...
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), M_PI / 2.0);
+
     Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
 
     goal_builder.add_climber_voltage(-10.0);
+    goal_builder.add_turret(turret_offset);
 
     ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
-  // Give it time to stabilize.
-  RunFor(chrono::seconds(1));
+  // The turret needs to move out of the way first.  This takes some time.
+  RunFor(chrono::milliseconds(100));
+  EXPECT_EQ(superstructure_plant_.climber_voltage(), 0.0);
 
-  // Can go backwards.
+  // Now, we should be far enough that it should work.
+  RunFor(chrono::seconds(10));
   EXPECT_EQ(superstructure_plant_.climber_voltage(), -10.0);
 
   {
     auto builder = superstructure_goal_sender_.MakeBuilder();
 
+    // Since there is a turret lockout, we need to set a turret goal...
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), M_PI / 2.0);
+
     Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
 
     goal_builder.add_climber_voltage(10.0);
+    goal_builder.add_turret(turret_offset);
 
     ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }