diff --git a/y2024/control_loops/superstructure/aiming.cc b/y2024/control_loops/superstructure/aiming.cc
index 5bb1d19..a21c09d 100644
--- a/y2024/control_loops/superstructure/aiming.cc
+++ b/y2024/control_loops/superstructure/aiming.cc
@@ -9,7 +9,7 @@
 using y2024::control_loops::superstructure::Aimer;
 
 // When the turret is at 0 the note will be leaving the robot at PI.
-static constexpr double kTurretZeroOffset = M_PI;
+static constexpr double kTurretZeroOffset = M_PI - 0.22;
 
 Aimer::Aimer(aos::EventLoop *event_loop,
              const y2024::Constants *robot_constants)
@@ -29,12 +29,20 @@
     frc971::control_loops::aiming::ShotMode shot_mode,
     frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoalStatic
         *turret_goal) {
+  if (status == nullptr) {
+    return;
+  }
   const frc971::control_loops::Pose robot_pose({status->x(), status->y(), 0},
                                                status->theta());
-  joystick_state_fetcher_.Fetch();
-  CHECK_NOTNULL(joystick_state_fetcher_.get());
+  aos::Alliance alliance = aos::Alliance::kRed;
+  if (!joystick_state_fetcher_.Fetch() && !received_joystick_state_) {
+    received_joystick_state_ = false;
+  } else {
+    received_joystick_state_ = true;
 
-  aos::Alliance alliance = joystick_state_fetcher_->alliance();
+    CHECK_NOTNULL(joystick_state_fetcher_.get());
+    alliance = joystick_state_fetcher_->alliance();
+  }
 
   const frc971::control_loops::Pose red_alliance_goal(
       frc971::ToEigenOrDie<3, 1>(*robot_constants_->common()
@@ -68,12 +76,11 @@
                      robot_constants_->common()->turret()->range()),
                  interpolation_table_.Get(current_goal_.target_distance)
                      .shot_speed_over_ground,
-                 /*wrap_mode=*/0.0, kTurretZeroOffset},
+                 /*wrap_mode=*/0.15, kTurretZeroOffset},
       RobotState{
           robot_pose, {xdot, ydot}, linear_angular(1), current_goal_.position});
 
   turret_goal->set_unsafe_goal(current_goal_.position);
-  turret_goal->set_goal_velocity(current_goal_.velocity);
 }
 
 flatbuffers::Offset<AimerStatus> Aimer::PopulateStatus(
diff --git a/y2024/control_loops/superstructure/aiming.h b/y2024/control_loops/superstructure/aiming.h
index 21d427a..9bec187 100644
--- a/y2024/control_loops/superstructure/aiming.h
+++ b/y2024/control_loops/superstructure/aiming.h
@@ -45,6 +45,8 @@
   aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
 
   frc971::control_loops::aiming::TurretGoal current_goal_;
+
+  bool received_joystick_state_ = false;
 };
 
 }  // namespace y2024::control_loops::superstructure
diff --git a/y2024/control_loops/superstructure/superstructure_lib_test.cc b/y2024/control_loops/superstructure/superstructure_lib_test.cc
index 0b39ec6..b96bb65 100644
--- a/y2024/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2024/control_loops/superstructure/superstructure_lib_test.cc
@@ -1401,12 +1401,12 @@
   EXPECT_NEAR(
       -M_PI_2,
       superstructure_status_fetcher_->shooter()->aimer()->turret_position() -
-          M_PI,
+          M_PI - 0.22,
       5e-4);
-  EXPECT_NEAR(
-      -M_PI_2,
-      superstructure_status_fetcher_->shooter()->turret()->position() - M_PI,
-      5e-4);
+  EXPECT_NEAR(-M_PI_2,
+              superstructure_status_fetcher_->shooter()->turret()->position() -
+                  M_PI - 0.22,
+              5e-4);
 
   EXPECT_EQ(
       kDistanceFromSpeaker,
@@ -1447,12 +1447,12 @@
   EXPECT_NEAR(
       M_PI_2,
       superstructure_status_fetcher_->shooter()->aimer()->turret_position() +
-          M_PI,
+          M_PI - 0.22,
       5e-4);
-  EXPECT_NEAR(
-      M_PI_2,
-      superstructure_status_fetcher_->shooter()->turret()->position() + M_PI,
-      5e-4);
+  EXPECT_NEAR(M_PI_2,
+              superstructure_status_fetcher_->shooter()->turret()->position() +
+                  M_PI - 0.22,
+              5e-4);
   EXPECT_EQ(
       kDistanceFromSpeaker,
       superstructure_status_fetcher_->shooter()->aimer()->target_distance());