diff --git a/y2017/control_loops/superstructure/hood/hood.cc b/y2017/control_loops/superstructure/hood/hood.cc
index 8af4a9e..b5acba0 100644
--- a/y2017/control_loops/superstructure/hood/hood.cc
+++ b/y2017/control_loops/superstructure/hood/hood.cc
@@ -10,9 +10,13 @@
 
 constexpr double Hood::kZeroingVoltage;
 constexpr double Hood::kOperatingVoltage;
+// The tracking error to allow before declaring that we are stuck and reversing
+// direction while zeroing.
+constexpr double kStuckZeroingTrackingError = 0.02;
 
-Hood::Hood()
-    : profiled_subsystem_(
+IndexPulseProfiledSubsystem::IndexPulseProfiledSubsystem()
+    : ::frc971::control_loops::SingleDOFProfiledSubsystem<
+          ::frc971::zeroing::PulseIndexZeroingEstimator>(
           ::std::unique_ptr<
               ::frc971::control_loops::SimpleCappedStateFeedbackLoop<3, 1, 1>>(
               new ::frc971::control_loops::SimpleCappedStateFeedbackLoop<
@@ -20,15 +24,40 @@
           constants::GetValues().hood.zeroing, constants::Values::kHoodRange,
           0.5, 10.0) {}
 
+void IndexPulseProfiledSubsystem::CapGoal(const char *name,
+                                          Eigen::Matrix<double, 3, 1> *goal) {
+  if (zeroed()) {
+    ::frc971::control_loops::SingleDOFProfiledSubsystem<
+        ::frc971::zeroing::PulseIndexZeroingEstimator>::CapGoal(name, goal);
+  } else {
+    const double kMaxRange = range().upper_hard - range().lower_hard;
+    // Limit the goal to min/max allowable positions much less agressively.
+    // We don't know where the limits are, so we have to let the user move far
+    // enough to find them (and the index pulse which might be right next to
+    // one).
+    if ((*goal)(0, 0) > kMaxRange) {
+      LOG(WARNING, "Goal %s above limit, %f > %f\n", name, (*goal)(0, 0),
+          kMaxRange);
+      (*goal)(0, 0) = kMaxRange;
+    }
+    if ((*goal)(0, 0) < -kMaxRange) {
+      LOG(WARNING, "Goal %s below limit, %f < %f\n", name, (*goal)(0, 0),
+          kMaxRange);
+      (*goal)(0, 0) = -kMaxRange;
+    }
+  }
+}
+
+Hood::Hood() {}
+
 void Hood::Reset() {
   state_ = State::UNINITIALIZED;
   profiled_subsystem_.Reset();
 }
 
 void Hood::Iterate(const control_loops::HoodGoal *unsafe_goal,
-                   const ::frc971::PotAndIndexPosition *position,
-                   double *output,
-                   ::frc971::control_loops::ProfiledJointStatus *status) {
+                   const ::frc971::IndexPosition *position, double *output,
+                   ::frc971::control_loops::IndexProfiledJointStatus *status) {
   bool disable = output == nullptr;
   profiled_subsystem_.Correct(*position);
 
@@ -57,7 +86,7 @@
       // jump.
       profiled_subsystem_.ForceGoal(profiled_subsystem_.position());
       // Set up the profile to be the zeroing profile.
-      profiled_subsystem_.AdjustProfile(0.10, 1);
+      profiled_subsystem_.AdjustProfile(0.30, 1.0);
 
       // We are not ready to start doing anything yet.
       disable = true;
@@ -71,33 +100,36 @@
       } else if (disable) {
         state_ = State::DISABLED_INITIALIZED;
       } else {
-        // Seek between the two soft limits.
-        if (profiled_subsystem_.position() >
-            (profiled_subsystem_.range().lower +
-             profiled_subsystem_.range().upper) /
-                2.0) {
+        const double kRange = profiled_subsystem_.range().upper_hard -
+                              profiled_subsystem_.range().lower_hard;
+        // Seek +- the range of motion.
+        if (profiled_subsystem_.position() > 0) {
           // We are above the middle.
-          if (profiled_subsystem_.goal(1, 0) > 0) {
-            // And moving up.  Keep going to the upper soft limit until we
-            // arrive.
-            profiled_subsystem_.set_unprofiled_goal(
-                profiled_subsystem_.range().upper);
+          if (profiled_subsystem_.goal(1, 0) > 0 &&
+              ::std::abs(profiled_subsystem_.position() -
+                         profiled_subsystem_.goal(0, 0)) <
+                  kStuckZeroingTrackingError) {
+            // And moving up and not stuck.  Keep going until we've gone the
+            // full range of motion or get stuck.
+            profiled_subsystem_.set_unprofiled_goal(kRange);
           } else {
-            // And no longer moving.  Go down to the lower soft limit.
-            profiled_subsystem_.set_unprofiled_goal(
-                profiled_subsystem_.range().lower);
+            // And no longer moving.  Go down to the opposite of the range of
+            // motion.
+            profiled_subsystem_.set_unprofiled_goal(-kRange);
           }
         } else {
           // We are below the middle.
-          if (profiled_subsystem_.goal(1, 0) < 0) {
-            // And moving down.  Keep going to the lower soft limit until we
-            // arrive.
-            profiled_subsystem_.set_unprofiled_goal(
-                profiled_subsystem_.range().lower);
+          if (profiled_subsystem_.goal(1, 0) < 0 &&
+              ::std::abs(profiled_subsystem_.position() -
+                         profiled_subsystem_.goal(0, 0)) <
+                  kStuckZeroingTrackingError) {
+            // And moving down and not stuck.  Keep going until we've gone the
+            // full range of motion or get stuck.
+            profiled_subsystem_.set_unprofiled_goal(-kRange);
           } else {
-            // And no longer moving.  Go up to the upper soft limit.
-            profiled_subsystem_.set_unprofiled_goal(
-                profiled_subsystem_.range().upper);
+            // And no longer moving.  Go up to the opposite of the range of
+            // motion.
+            profiled_subsystem_.set_unprofiled_goal(kRange);
           }
         }
       }
diff --git a/y2017/control_loops/superstructure/hood/hood.h b/y2017/control_loops/superstructure/hood/hood.h
index b96d384..c58e005 100644
--- a/y2017/control_loops/superstructure/hood/hood.h
+++ b/y2017/control_loops/superstructure/hood/hood.h
@@ -9,37 +9,51 @@
 namespace superstructure {
 namespace hood {
 
+// Profiled subsystem class with significantly relaxed limits while zeroing.  We
+// need relaxed limits, because if you start at the top of the range, you need
+// to go to -range, and if you start at the bottom of the range, you need to go
+// to +range.  The standard subsystem doesn't support that.
+class IndexPulseProfiledSubsystem
+    : public ::frc971::control_loops::SingleDOFProfiledSubsystem<
+          ::frc971::zeroing::PulseIndexZeroingEstimator> {
+ public:
+  IndexPulseProfiledSubsystem();
+
+ private:
+  void CapGoal(const char *name, Eigen::Matrix<double, 3, 1> *goal) override;
+};
+
 class Hood {
  public:
-   Hood();
-   double goal(int row, int col) const {
-     return profiled_subsystem_.goal(row, col);
-   }
+  Hood();
+  double goal(int row, int col) const {
+    return profiled_subsystem_.goal(row, col);
+  }
 
-   // The zeroing and operating voltages.
-   static constexpr double kZeroingVoltage = 2.5;
-   static constexpr double kOperatingVoltage = 12.0;
+  // The zeroing and operating voltages.
+  static constexpr double kZeroingVoltage = 2.5;
+  static constexpr double kOperatingVoltage = 12.0;
 
-   void Iterate(const control_loops::HoodGoal *unsafe_goal,
-                const ::frc971::PotAndIndexPosition *position, double *output,
-                ::frc971::control_loops::ProfiledJointStatus *status);
+  void Iterate(const control_loops::HoodGoal *unsafe_goal,
+               const ::frc971::IndexPosition *position, double *output,
+               ::frc971::control_loops::IndexProfiledJointStatus *status);
 
-   void Reset();
+  void Reset();
 
-   enum class State : int32_t{
-     UNINITIALIZED,
-     DISABLED_INITIALIZED,
-     ZEROING,
-     RUNNING,
-     ESTOP,
-   };
+  enum class State : int32_t {
+    UNINITIALIZED,
+    DISABLED_INITIALIZED,
+    ZEROING,
+    RUNNING,
+    ESTOP,
+  };
 
-   State state() const { return state_; }
+  State state() const { return state_; }
 
-  private:
-   State state_;
+ private:
+  State state_;
 
-   ::frc971::control_loops::SingleDOFProfiledSubsystem<> profiled_subsystem_;
+  IndexPulseProfiledSubsystem profiled_subsystem_;
 };
 
 }  // namespace hood
diff --git a/y2017/control_loops/superstructure/superstructure.q b/y2017/control_loops/superstructure/superstructure.q
index 397a888..b4e6c9b 100644
--- a/y2017/control_loops/superstructure/superstructure.q
+++ b/y2017/control_loops/superstructure/superstructure.q
@@ -128,7 +128,7 @@
     // Each subsystems status.
     .frc971.control_loops.AbsoluteProfiledJointStatus intake;
     .frc971.control_loops.AbsoluteProfiledJointStatus turret;
-    .frc971.control_loops.ProfiledJointStatus hood;
+    .frc971.control_loops.IndexProfiledJointStatus hood;
     IndexerStatus indexer;
     ShooterStatus shooter;
   };
@@ -147,7 +147,7 @@
 
     // The sensor readings for the hood. The units and sign are defined the
     // same as what's in the Goal message.
-    .frc971.PotAndIndexPosition hood;
+    .frc971.IndexPosition hood;
 
     // Shooter wheel angle in radians.
     double theta_shooter;
diff --git a/y2017/control_loops/superstructure/superstructure_lib_test.cc b/y2017/control_loops/superstructure/superstructure_lib_test.cc
index d03c48c..3075f03 100644
--- a/y2017/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2017/control_loops/superstructure/superstructure_lib_test.cc
@@ -132,7 +132,7 @@
   SuperstructureSimulation()
       : hood_plant_(new HoodPlant(
             ::y2017::control_loops::superstructure::hood::MakeHoodPlant())),
-        hood_pot_encoder_(constants::Values::kHoodEncoderIndexDifference),
+        hood_encoder_(constants::Values::kHoodEncoderIndexDifference),
 
         turret_plant_(new TurretPlant(
             ::y2017::control_loops::superstructure::turret::MakeTurretPlant())),
@@ -173,7 +173,7 @@
     hood_plant_->mutable_X(0, 0) = start_pos;
     hood_plant_->mutable_X(1, 0) = 0.0;
 
-    hood_pot_encoder_.Initialize(
+    hood_encoder_.Initialize(
         start_pos, kNoiseScalar,
         constants::GetValues().hood.zeroing.measured_index_position);
   }
@@ -201,7 +201,7 @@
     ::aos::ScopedMessagePtr<SuperstructureQueue::Position> position =
         superstructure_queue_.position.MakeMessage();
 
-    hood_pot_encoder_.GetSensorValues(&position->hood);
+    hood_encoder_.GetSensorValues(&position->hood);
     turret_pot_encoder_.GetSensorValues(&position->turret);
     intake_pot_encoder_.GetSensorValues(&position->intake);
     position->theta_shooter = shooter_plant_->Y(0, 0);
@@ -311,17 +311,33 @@
       indexer_plant_->Update();
     }
 
-
-    const double angle_hood = hood_plant_->Y(0, 0);
+    double angle_hood = hood_plant_->Y(0, 0);
     const double angle_turret = turret_plant_->Y(0, 0);
     const double position_intake = intake_plant_->Y(0, 0);
 
-    hood_pot_encoder_.MoveTo(angle_hood);
+    // The hood is special.  We don't want to fault when we hit the hard stop.
+    // We want to freeze the hood at the hard stop.
+    if (angle_hood > constants::Values::kHoodRange.upper_hard) {
+      LOG(INFO, "At the hood upper hard stop of %f\n",
+          constants::Values::kHoodRange.upper_hard);
+      angle_hood = constants::Values::kHoodRange.upper_hard;
+      hood_plant_->mutable_Y(0, 0) = angle_hood;
+      hood_plant_->mutable_X(0, 0) = angle_hood;
+      hood_plant_->mutable_X(1, 0) = 0.0;
+    } else if (angle_hood < constants::Values::kHoodRange.lower_hard) {
+      LOG(INFO, "At the hood lower hard stop of %f\n",
+          constants::Values::kHoodRange.lower_hard);
+      angle_hood = constants::Values::kHoodRange.lower_hard;
+      hood_plant_->mutable_Y(0, 0) = angle_hood;
+      hood_plant_->mutable_X(0, 0) = angle_hood;
+      hood_plant_->mutable_X(1, 0) = 0.0;
+    }
+
+    hood_encoder_.MoveTo(angle_hood);
     turret_pot_encoder_.MoveTo(angle_turret);
     intake_pot_encoder_.MoveTo(position_intake);
 
-    EXPECT_GE(angle_hood, constants::Values::kHoodRange.lower_hard);
-    EXPECT_LE(angle_hood, constants::Values::kHoodRange.upper_hard);
+
     EXPECT_GE(angle_turret, constants::Values::kTurretRange.lower_hard);
     EXPECT_LE(angle_turret, constants::Values::kTurretRange.upper_hard);
     EXPECT_GE(position_intake, constants::Values::kIntakeRange.lower_hard);
@@ -330,7 +346,7 @@
 
  private:
   ::std::unique_ptr<HoodPlant> hood_plant_;
-  PositionSensorSimulator hood_pot_encoder_;
+  PositionSensorSimulator hood_encoder_;
 
   ::std::unique_ptr<TurretPlant> turret_plant_;
   PositionSensorSimulator turret_pot_encoder_;
@@ -539,6 +555,19 @@
 // Makes sure that the voltage on a motor is properly pulled back after
 // saturation such that we don't get weird or bad (e.g. oscillating) behaviour.
 TEST_F(SuperstructureTest, SaturationTest) {
+  // Zero it before we move.
+  {
+    auto goal = superstructure_queue_.goal.MakeMessage();
+    goal->intake.distance = constants::Values::kIntakeRange.upper;
+    goal->turret.angle = constants::Values::kTurretRange.upper;
+    goal->hood.angle = constants::Values::kHoodRange.upper;
+    ASSERT_TRUE(goal.Send());
+  }
+  RunForTime(chrono::seconds(8));
+  VerifyNearGoal();
+
+  // Try a low acceleration move with a high max velocity and verify the
+  // acceleration is capped like expected.
   {
     auto goal = superstructure_queue_.goal.MakeMessage();
     goal->intake.distance = constants::Values::kIntakeRange.lower;
@@ -560,7 +589,9 @@
   set_peak_hood_acceleration(1.1);
 
   RunForTime(chrono::seconds(8));
+  VerifyNearGoal();
 
+  // Now do a high acceleration move with a low velocity limit.
   {
     auto goal = superstructure_queue_.goal.MakeMessage();
     goal->intake.distance = constants::Values::kIntakeRange.upper;
@@ -753,7 +784,7 @@
   SimulateSensorReset();
   RunForTime(chrono::milliseconds(100));
 
-  EXPECT_EQ(hood::Hood::State::UNINITIALIZED, superstructure_.hood().state());
+  EXPECT_EQ(hood::Hood::State::ZEROING, superstructure_.hood().state());
   EXPECT_EQ(turret::Turret::State::UNINITIALIZED,
             superstructure_.turret().state());
   EXPECT_EQ(intake::Intake::State::UNINITIALIZED,
@@ -814,7 +845,7 @@
   EXPECT_EQ(intake::Intake::State::RUNNING,
             superstructure_.intake().state());
 
-  superstructure_plant_.set_hood_power_error(1.0);
+  superstructure_plant_.set_hood_power_error(2.0);
 
   RunForTime(chrono::seconds(1), false);
 
@@ -822,7 +853,7 @@
   EXPECT_EQ(turret::Turret::State::RUNNING, superstructure_.turret().state());
   EXPECT_EQ(intake::Intake::State::RUNNING, superstructure_.intake().state());
 
-  RunForTime(chrono::seconds(2), true);
+  RunForTime(chrono::seconds(4), true);
 
   VerifyNearGoal();
 }