diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index 4fb5c1d..b3c36f0 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -245,7 +245,8 @@
         // the climber on.
         CHECK(unsafe_goal->has_turret());
         if (std::abs(unsafe_goal->turret()->unsafe_goal() -
-                     turret_.position()) > 0.1) {
+                     turret_.position()) > 0.1 &&
+            has_turret_) {
           output_struct.climber_voltage = 0;
         }
       }