diff --git a/y2024/control_loops/superstructure/aiming.cc b/y2024/control_loops/superstructure/aiming.cc
index a2e92fd..d8d336f 100644
--- a/y2024/control_loops/superstructure/aiming.cc
+++ b/y2024/control_loops/superstructure/aiming.cc
@@ -52,8 +52,6 @@
   if (status == nullptr) {
     return;
   }
-  const frc971::control_loops::Pose robot_pose({status->x(), status->y(), 0},
-                                               status->theta());
   aos::Alliance alliance = aos::Alliance::kRed;
   if (!joystick_state_fetcher_.Fetch() && !received_joystick_state_) {
     received_joystick_state_ = false;
@@ -64,6 +62,15 @@
     alliance = joystick_state_fetcher_->alliance();
   }
 
+  const bool ignore_localizer_pos =
+      auto_aim_mode == AutoAimMode::TURRET_SHUTTLE;
+  const Eigen::Vector3d ignore_localizer_position{
+      0.0 * (alliance == aos::Alliance::kRed ? 1.0 : -1.0), -1.0, 0.0};
+  const frc971::control_loops::Pose robot_pose(
+      ignore_localizer_pos ? ignore_localizer_position
+                           : Eigen::Vector3d{status->x(), status->y(), 0},
+      status->theta());
+
   frc971::shooter_interpolation::InterpolationTable<
       y2024::constants::Values::ShotParams> *current_interpolation_table =
       interpolation_tables_.at(auto_aim_mode);
diff --git a/y2024/control_loops/superstructure/aiming.h b/y2024/control_loops/superstructure/aiming.h
index 808a175..95e5840 100644
--- a/y2024/control_loops/superstructure/aiming.h
+++ b/y2024/control_loops/superstructure/aiming.h
@@ -67,7 +67,8 @@
                             y2024::constants::Values::ShotParams> *>
       interpolation_tables_ = {
           {AutoAimMode::SPEAKER, &interpolation_table_},
-          {AutoAimMode::SHUTTLE, &interpolation_table_shuttle_}};
+          {AutoAimMode::SHUTTLE, &interpolation_table_shuttle_},
+          {AutoAimMode::TURRET_SHUTTLE, &interpolation_table_shuttle_}};
 
   std::map<AutoAimMode, frc971::control_loops::Pose> red_alliance_goals_ = {
       {AutoAimMode::SPEAKER,
@@ -91,6 +92,18 @@
                   ->shooter_shuttle_targets()
                   ->red_alliance()
                   ->theta()),
+      },
+      {
+          AutoAimMode::TURRET_SHUTTLE,
+          frc971::control_loops::Pose(
+              frc971::ToEigenOrDie<3, 1>(*robot_constants_->common()
+                                              ->shooter_shuttle_targets()
+                                              ->red_alliance()
+                                              ->pos()),
+              robot_constants_->common()
+                  ->shooter_shuttle_targets()
+                  ->red_alliance()
+                  ->theta()),
       }};
 
   std::map<AutoAimMode, frc971::control_loops::Pose> blue_alliance_goals_ = {
@@ -115,6 +128,18 @@
                   ->shooter_shuttle_targets()
                   ->blue_alliance()
                   ->theta()),
+      },
+      {
+          AutoAimMode::TURRET_SHUTTLE,
+          frc971::control_loops::Pose(
+              frc971::ToEigenOrDie<3, 1>(*robot_constants_->common()
+                                              ->shooter_shuttle_targets()
+                                              ->blue_alliance()
+                                              ->pos()),
+              robot_constants_->common()
+                  ->shooter_shuttle_targets()
+                  ->blue_alliance()
+                  ->theta()),
       }};
 
   aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
diff --git a/y2024/control_loops/superstructure/collision_avoidance.h b/y2024/control_loops/superstructure/collision_avoidance.h
index be58b35..dcc26d4 100644
--- a/y2024/control_loops/superstructure/collision_avoidance.h
+++ b/y2024/control_loops/superstructure/collision_avoidance.h
@@ -47,7 +47,7 @@
   // Tolerances for the subsystems
   static constexpr double kEpsTurret = 0.05;
   static constexpr double kEpsIntake = 0.05;
-  static constexpr double kEpsExtend = 0.01;
+  static constexpr double kEpsExtend = 0.005;
 
   CollisionAvoidance();
 
diff --git a/y2024/control_loops/superstructure/shooter.cc b/y2024/control_loops/superstructure/shooter.cc
index 7fb8973..6e1fc71 100644
--- a/y2024/control_loops/superstructure/shooter.cc
+++ b/y2024/control_loops/superstructure/shooter.cc
@@ -152,7 +152,7 @@
   frc971::shooter_interpolation::InterpolationTable<
       y2024::constants::Values::ShotParams> *interpolation_table =
       (shooter_goal != nullptr &&
-       shooter_goal->auto_aim() == AutoAimMode::SHUTTLE)
+       shooter_goal->auto_aim() != AutoAimMode::SPEAKER)
           ? &interpolation_table_shuttle_
           : &interpolation_table_;
   if ((piece_loaded || state_ == CatapultState::FIRING) &&
diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index e22dc80..a485943 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -17,7 +17,8 @@
 constexpr double kExtendThreshold = 0.01;
 
 constexpr double kTurretLoadingThreshold = 0.05;
-constexpr double kAltitudeLoadingThreshold = 0.02;
+// Extra large so that we can survive loss of zeroes.
+constexpr double kAltitudeLoadingThreshold = 0.04;
 
 constexpr std::chrono::milliseconds kExtraIntakingTime =
     std::chrono::milliseconds(500);
diff --git a/y2024/control_loops/superstructure/superstructure_goal.fbs b/y2024/control_loops/superstructure/superstructure_goal.fbs
index 2a5fb00..c93f6f3 100644
--- a/y2024/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2024/control_loops/superstructure/superstructure_goal.fbs
@@ -30,6 +30,7 @@
     NONE = 0, // No auto aim.
     SPEAKER = 1, // Auto aim for the speaker shot.
     SHUTTLE = 2, // Auto aim for the shuttle shot.
+    TURRET_SHUTTLE = 3, // Auto aim for the turret-only shuttle shot.
 }
 
 table ShooterGoal {
@@ -79,7 +80,7 @@
     fire: bool (id: 4);
 
     // Tells the climber to go absurdly slow on FULL_EXTEND
-    // Deprecated now because we take care of this through 
+    // Deprecated now because we take care of this through
     // climber_goal_voltage
     slow_climber: bool = false (id: 6, deprecated);