diff --git a/WORKSPACE b/WORKSPACE
index d87fee5..7137327 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -722,6 +722,19 @@
     url = "https://www.frc971.org/Build-Dependencies/2021-03-20_drivetrain_spin_wheels.tar.gz",
 )
 
+http_archive(
+    name = "superstructure_replay",
+    build_file_content = """
+filegroup(
+    name = "superstructure_replay",
+    srcs = glob(["**/*.bfbs"]),
+    visibility = ["//visibility:public"],
+)
+    """,
+    sha256 = "e7037a374a7bf315b25058f0e9fbbf3e99c425e3a8e7d51edfc50e3f2a36a182",
+    url = "https://www.frc971.org/Build-Dependencies/2021-09-04_superstructure_shoot_balls.tar.gz",
+)
+
 # OpenCV armhf (for raspberry pi)
 http_archive(
     name = "opencv_armhf",
diff --git a/y2020/control_loops/superstructure/BUILD b/y2020/control_loops/superstructure/BUILD
index db8a060..a39f3df 100644
--- a/y2020/control_loops/superstructure/BUILD
+++ b/y2020/control_loops/superstructure/BUILD
@@ -108,6 +108,7 @@
     ],
     data = [
         "//y2020:config",
+        "@superstructure_replay",
     ],
     target_compatible_with = ["@platforms//os:linux"],
     deps = [
@@ -117,7 +118,9 @@
         ":superstructure_position_fbs",
         ":superstructure_status_fbs",
         "//aos:math",
+        "//aos/events/logging:log_reader",
         "//aos/events/logging:log_writer",
+        "//aos/network:team_number",
         "//aos/testing:googletest",
         "//aos/time",
         "//frc971/control_loops:capped_test_plant",
diff --git a/y2020/control_loops/superstructure/finisher_plotter.ts b/y2020/control_loops/superstructure/finisher_plotter.ts
index 6ec4be4..c9420ae 100644
--- a/y2020/control_loops/superstructure/finisher_plotter.ts
+++ b/y2020/control_loops/superstructure/finisher_plotter.ts
@@ -34,6 +34,16 @@
   velocityPlot.addMessageLine(status, ['shooter', 'ready']).setColor(BLACK).setPointSize(0.0);
   velocityPlot.addMessageLine(status, ['shooter', 'finisher', 'dt_angular_velocity']).setColor(PINK).setPointSize(0.0);
 
+  const ballsShotPlot =
+      aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+  currentTop += DEFAULT_HEIGHT / 2;
+  ballsShotPlot.plot.getAxisLabels().setTitle('Balls Shot');
+  ballsShotPlot.plot.getAxisLabels().setXLabel(TIME);
+  ballsShotPlot.plot.getAxisLabels().setYLabel('Balls');
+  ballsShotPlot.plot.setDefaultYRange([0.0, 20.0]);
+  ballsShotPlot.addMessageLine(status, ['shooter', 'balls_shot']).setColor(BLUE).setPointSize(0.0);
+
+
   const voltagePlot =
       aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
   currentTop += DEFAULT_HEIGHT / 2;
diff --git a/y2020/control_loops/superstructure/shooter/shooter.cc b/y2020/control_loops/superstructure/shooter/shooter.cc
index 900d0f1..9580ef8 100644
--- a/y2020/control_loops/superstructure/shooter/shooter.cc
+++ b/y2020/control_loops/superstructure/shooter/shooter.cc
@@ -1,6 +1,7 @@
 #include "y2020/control_loops/superstructure/shooter/shooter.h"
 
 #include <chrono>
+#include <cmath>
 
 #include "aos/logging/logging.h"
 #include "y2020/control_loops/superstructure/accelerator/accelerator_plant.h"
@@ -47,6 +48,8 @@
     const ShooterGoal *goal, const ShooterPosition *position,
     flatbuffers::FlatBufferBuilder *fbb, OutputT *output,
     const aos::monotonic_clock::time_point position_timestamp) {
+  const double last_finisher_velocity = finisher_.velocity();
+
   // Update position, output, and status for our two shooter sides.
   finisher_.set_position(position->theta_finisher(), position_timestamp);
   accelerator_left_.set_position(position->theta_accelerator_left(),
@@ -56,6 +59,12 @@
 
   // Update goal.
   if (goal) {
+    if (std::abs(goal->velocity_finisher() - finisher_goal()) >=
+        kVelocityTolerance) {
+      finisher_goal_changed_ = true;
+      last_finisher_velocity_max_ = 0.0;
+    }
+
     finisher_.set_goal(goal->velocity_finisher());
     accelerator_left_.set_goal(goal->velocity_accelerator());
     accelerator_right_.set_goal(goal->velocity_accelerator());
@@ -88,6 +97,41 @@
   status_builder.add_accelerator_right(accelerator_right_status_offset);
   status_builder.add_ready(ready());
 
+  if (finisher_goal_changed_) {
+    // If we have caught up to the new goal, we can start detecting if a ball
+    // was shot.
+    finisher_goal_changed_ =
+        (std::abs(finisher_.velocity() - finisher_goal()) > kVelocityTolerance);
+  }
+
+  if (!finisher_goal_changed_) {
+    const bool finisher_was_accelerating = finisher_accelerating_;
+    finisher_accelerating_ = (finisher_.velocity() > last_finisher_velocity);
+    if (finisher_was_accelerating && !finisher_accelerating_) {
+      last_finisher_velocity_max_ = std::min(
+          last_finisher_velocity, static_cast<double>(finisher_goal()));
+    }
+
+    const double finisher_velocity_dip =
+        last_finisher_velocity_max_ - finisher_.velocity();
+
+    if (finisher_velocity_dip < kVelocityTolerance && ball_in_finisher_) {
+      // If we detected a ball in the flywheel and now the angular velocity has
+      // come back up close to the last local maximum or is greater than it, the
+      // ball has been shot.
+      balls_shot_++;
+      ball_in_finisher_ = false;
+    } else if (!ball_in_finisher_ && (finisher_goal() > kVelocityTolerance)) {
+      // There is probably a ball in the flywheel if the angular
+      // velocity is atleast kMinVelocityErrorWithBall less than the last local
+      // maximum.
+      ball_in_finisher_ =
+          (finisher_velocity_dip >= kMinFinisherVelocityDipWithBall);
+    }
+  }
+
+  status_builder.add_balls_shot(balls_shot_);
+
   if (output) {
     output->finisher_voltage = finisher_.voltage();
     output->accelerator_left_voltage = accelerator_left_.voltage();
diff --git a/y2020/control_loops/superstructure/shooter/shooter.h b/y2020/control_loops/superstructure/shooter/shooter.h
index 539ecc9..f41b882 100644
--- a/y2020/control_loops/superstructure/shooter/shooter.h
+++ b/y2020/control_loops/superstructure/shooter/shooter.h
@@ -30,11 +30,26 @@
   float accelerator_goal() const { return accelerator_left_.goal(); }
 
  private:
+  // Minumum difference between the last local maximum finisher angular velocity
+  // and the current finisher angular velocity when we have a ball in the
+  // flywheel, in radians/s. This arises because the flywheel slows down when
+  // there is a ball in it. We can use this to determine when a ball is in the
+  // flywheel and when it gets shot.
+  static constexpr double kMinFinisherVelocityDipWithBall = 5.0;
+
   FlywheelController finisher_, accelerator_left_, accelerator_right_;
 
   bool UpToSpeed(const ShooterGoal *goal);
   bool ready_ = false;
 
+  int balls_shot_ = 0;
+  bool finisher_goal_changed_ = false;
+  bool ball_in_finisher_ = false;
+  // Last local maximum in the finisher angular velocity
+  double last_finisher_velocity_max_ = 0.0;
+  // True if the finisher's average acceleration over the last dt is positive
+  bool finisher_accelerating_ = false;
+
   DISALLOW_COPY_AND_ASSIGN(Shooter);
 };
 
diff --git a/y2020/control_loops/superstructure/superstructure_lib_test.cc b/y2020/control_loops/superstructure/superstructure_lib_test.cc
index f71fe17..4e2dc88 100644
--- a/y2020/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2020/control_loops/superstructure/superstructure_lib_test.cc
@@ -3,7 +3,9 @@
 #include <chrono>
 #include <memory>
 
+#include "aos/events/logging/log_reader.h"
 #include "aos/events/logging/log_writer.h"
+#include "aos/network/team_number.h"
 #include "frc971/control_loops/capped_test_plant.h"
 #include "frc971/control_loops/control_loop_test.h"
 #include "frc971/control_loops/position_sensor_sim.h"
@@ -18,6 +20,10 @@
 
 DEFINE_string(output_file, "",
               "If set, logs all channels to the provided logfile.");
+DEFINE_string(replay_logfile, "external/superstructure_replay/",
+              "Name of the logfile to read from and replay.");
+DEFINE_string(config, "y2020/config.json",
+              "Name of the config file to replay using.");
 
 namespace y2020 {
 namespace control_loops {
@@ -374,6 +380,9 @@
     peak_turret_acceleration_ = value;
   }
   void set_peak_turret_velocity(double value) { peak_turret_velocity_ = value; }
+  void set_finisher_voltage_offset(double value) {
+    finisher_plant_->set_voltage_offset(value);
+  }
 
  private:
   ::aos::EventLoop *event_loop_;
@@ -444,7 +453,7 @@
       unlink(FLAGS_output_file.c_str());
       logger_event_loop_ = MakeEventLoop("logger", roborio_);
       logger_ = std::make_unique<aos::logger::Logger>(logger_event_loop_.get());
-      logger_->StartLoggingLocalNamerOnRun(FLAGS_output_file);
+      logger_->StartLoggingOnRun(FLAGS_output_file);
     }
   }
 
@@ -552,6 +561,47 @@
               expected_voltage);
   }
 
+  void StartSendingFinisherGoals() {
+    test_event_loop_->AddPhasedLoop(
+        [this](int) {
+          auto builder = superstructure_goal_sender_.MakeBuilder();
+          auto shooter_goal_builder = builder.MakeBuilder<ShooterGoal>();
+          shooter_goal_builder.add_velocity_finisher(finisher_goal_);
+          const auto shooter_goal_offset = shooter_goal_builder.Finish();
+
+          Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+          goal_builder.add_shooter(shooter_goal_offset);
+          ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+        },
+        dt());
+  }
+
+  // Sets the finisher velocity goal (radians/s)
+  void SetFinisherGoalAfter(const double velocity_finisher,
+                            const monotonic_clock::duration time_offset) {
+    test_event_loop_
+        ->AddTimer(
+            [this, velocity_finisher] { finisher_goal_ = velocity_finisher; })
+        ->Setup(test_event_loop_->monotonic_now() + time_offset);
+  }
+
+  // Simulates the friction of a ball in the flywheel
+  void ApplyFrictionToFinisherAfter(
+      const double voltage_offset, const bool ball_in_finisher,
+      const monotonic_clock::duration time_offset) {
+    test_event_loop_
+        ->AddTimer([this, voltage_offset, ball_in_finisher] {
+          superstructure_plant_.set_finisher_voltage_offset(voltage_offset);
+          ball_in_finisher_ = ball_in_finisher;
+        })
+        ->Setup(test_event_loop_->monotonic_now() + time_offset);
+    test_event_loop_
+        ->AddTimer(
+            [this] { superstructure_plant_.set_finisher_voltage_offset(0); })
+        ->Setup(test_event_loop_->monotonic_now() + time_offset +
+                chrono::seconds(1));
+  }
+
   const aos::Node *const roborio_;
 
   ::std::unique_ptr<::aos::EventLoop> test_event_loop_;
@@ -573,6 +623,9 @@
 
   std::unique_ptr<aos::EventLoop> logger_event_loop_;
   std::unique_ptr<aos::logger::Logger> logger_;
+
+  double finisher_goal_ = 0;
+  bool ball_in_finisher_ = false;
 };
 
 // Tests that the superstructure does nothing when the goal is to remain
@@ -907,6 +960,148 @@
   TestIntakeRollerVoltage(0.0f, 0.0f, true, 3.0);
 }
 
+// Tests that we detect that a ball was shot whenever the  average angular
+// velocity is lower than a certain threshold compared to the goal.
+TEST_F(SuperstructureTest, BallsShot) {
+  SetEnabled(true);
+  WaitUntilZeroed();
+
+  int balls_shot = 0;
+  // When there is a ball in the flywheel, the finisher velocity should drop
+  // below the goal
+  bool finisher_velocity_below_goal = false;
+
+  StartSendingFinisherGoals();
+
+  constexpr double kVelocityTolerance = 2.0;
+  test_event_loop_->AddPhasedLoop(
+      [&](int) {
+        ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+        const double finisher_velocity =
+            superstructure_status_fetcher_->shooter()
+                ->finisher()
+                ->angular_velocity();
+        const double finisher_velocity_dip = finisher_goal_ - finisher_velocity;
+        if (ball_in_finisher_ && finisher_velocity_dip >= kVelocityTolerance) {
+          finisher_velocity_below_goal = true;
+        }
+        if (ball_in_finisher_ && finisher_velocity_below_goal &&
+            finisher_velocity_dip < kVelocityTolerance) {
+          ball_in_finisher_ = false;
+          finisher_velocity_below_goal = false;
+          balls_shot++;
+        }
+        // Since here we are calculating the dip from the goal instead of the
+        // local maximum, the shooter could have calculated that a ball was shot
+        // slightly before we did if the local maximum was slightly below the
+        // goal.
+        EXPECT_TRUE((superstructure_status_fetcher_->shooter()->balls_shot() ==
+                     balls_shot) ||
+                    ((superstructure_status_fetcher_->shooter()->balls_shot() ==
+                      balls_shot + 1) &&
+                     (finisher_velocity_dip - kVelocityTolerance < 0.1)));
+      },
+      dt());
+
+  constexpr int kFastShootingSpeed = 500;
+  constexpr int kSlowShootingSpeed = 300;
+
+  // Maximum (since it is negative) flywheel voltage offsets for simulating the
+  // friction of a ball at different finisher speeds.
+  // Slower speeds require a higher magnitude of voltage offset.
+  static constexpr double kFastSpeedVoltageOffsetWithBall = -4.1;
+  static constexpr double kSlowSpeedVoltageOffsetWithBall = -4.5;
+
+  SetFinisherGoalAfter(kFastShootingSpeed, chrono::seconds(1));
+  // Simulate shooting balls by applying friction to the finisher
+  ApplyFrictionToFinisherAfter(kFastSpeedVoltageOffsetWithBall, true,
+                               chrono::seconds(3));
+  ApplyFrictionToFinisherAfter(kFastSpeedVoltageOffsetWithBall, true,
+                               chrono::seconds(6));
+
+  SetFinisherGoalAfter(0, chrono::seconds(10));
+  SetFinisherGoalAfter(kFastShootingSpeed, chrono::seconds(15));
+  ApplyFrictionToFinisherAfter(kFastSpeedVoltageOffsetWithBall, true,
+                               chrono::seconds(18));
+  ApplyFrictionToFinisherAfter(kFastSpeedVoltageOffsetWithBall, true,
+                               chrono::seconds(21));
+
+  SetFinisherGoalAfter(kSlowShootingSpeed, chrono::seconds(25));
+  ApplyFrictionToFinisherAfter(kSlowSpeedVoltageOffsetWithBall, true,
+                               chrono::seconds(28));
+  ApplyFrictionToFinisherAfter(kSlowSpeedVoltageOffsetWithBall, true,
+                               chrono::seconds(31));
+  // This smaller decrease in velocity shouldn't be counted as a ball
+  ApplyFrictionToFinisherAfter(kSlowSpeedVoltageOffsetWithBall / 2, false,
+                               chrono::seconds(34));
+
+  SetFinisherGoalAfter(kFastShootingSpeed, chrono::seconds(38));
+  ApplyFrictionToFinisherAfter(kFastSpeedVoltageOffsetWithBall, true,
+                               chrono::seconds(41));
+  ApplyFrictionToFinisherAfter(kFastSpeedVoltageOffsetWithBall, true,
+                               chrono::seconds(44));
+  // This slow positive voltage offset that speeds up the flywheel instead of
+  // slowing it down shouldn't be counted as a ball.
+  // We wouldn't expect a positive voltage offset of more than ~2 volts.
+  ApplyFrictionToFinisherAfter(2, false, chrono::seconds(47));
+
+  RunFor(chrono::seconds(50));
+
+  ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+  EXPECT_EQ(superstructure_status_fetcher_->shooter()->balls_shot(), 8);
+}
+
+class SuperstructureReplayTest : public ::testing::Test {
+ public:
+  SuperstructureReplayTest()
+      : config_(aos::configuration::ReadConfig(FLAGS_config)),
+        reader_(
+            aos::logger::SortParts(aos::logger::FindLogs(FLAGS_replay_logfile)),
+            &config_.message()) {
+    aos::network::OverrideTeamNumber(971);
+
+    reader_.RemapLoggedChannel("/superstructure",
+                               "y2020.control_loops.superstructure.Status");
+    reader_.RemapLoggedChannel("/superstructure",
+                               "y2020.control_loops.superstructure.Output");
+    reader_.Register();
+
+    roborio_ = aos::configuration::GetNode(reader_.configuration(), "roborio");
+
+    superstructure_event_loop_ =
+        reader_.event_loop_factory()->MakeEventLoop("superstructure", roborio_);
+    superstructure_event_loop_->SkipTimingReport();
+
+    test_event_loop_ = reader_.event_loop_factory()->MakeEventLoop(
+        "superstructure_replay_test", roborio_);
+
+    status_fetcher_ =
+        test_event_loop_
+            ->MakeFetcher<y2020::control_loops::superstructure::Status>(
+                "/superstructure");
+  }
+
+  const aos::FlatbufferDetachedBuffer<aos::Configuration> config_;
+  aos::logger::LogReader reader_;
+  const aos::Node *roborio_;
+
+  std::unique_ptr<aos::EventLoop> superstructure_event_loop_;
+  std::unique_ptr<aos::EventLoop> test_event_loop_;
+
+  aos::Fetcher<y2020::control_loops::superstructure::Status> status_fetcher_;
+};
+
+// Tests that balls_shot is updated correctly with a real log
+// that had target tracking constantly changing the finisher goal by small
+// amounts.
+TEST_F(SuperstructureReplayTest, BallsShotWithTargetTracking) {
+  Superstructure superstructure(superstructure_event_loop_.get());
+  reader_.event_loop_factory()->Run();
+
+  ASSERT_TRUE(status_fetcher_.Fetch());
+  EXPECT_EQ(status_fetcher_->shooter()->balls_shot(), 3);
+}
+
 class SuperstructureAllianceTest
     : public SuperstructureTest,
       public ::testing::WithParamInterface<aos::Alliance> {
diff --git a/y2020/control_loops/superstructure/superstructure_status.fbs b/y2020/control_loops/superstructure/superstructure_status.fbs
index e55e19b..aab1341 100644
--- a/y2020/control_loops/superstructure/superstructure_status.fbs
+++ b/y2020/control_loops/superstructure/superstructure_status.fbs
@@ -37,6 +37,9 @@
   // If the shooter is ready, this is true.  Note: don't use this for status
   // checking, only for plotting.  Changes in goal take time to impact this.
   ready:bool (id: 3);
+
+  // The total number of balls we have shot
+  balls_shot:int (id: 4);
 }
 
 table AimerStatus {