diff --git a/WORKSPACE b/WORKSPACE
index 4a00be7..31bc03c 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -76,6 +76,10 @@
     gstreamer_armhf_debs = "files",
 )
 load(
+    "//debian:gstreamer_arm64.bzl",
+    gstreamer_arm64_debs = "files",
+)
+load(
     "//debian:m4.bzl",
     m4_debs = "files",
 )
@@ -129,10 +133,18 @@
 
 generate_repositories_for_debs(opencv_amd64_debs)
 
-generate_repositories_for_debs(gstreamer_amd64_debs)
+generate_repositories_for_debs(
+    gstreamer_amd64_debs,
+    base_url = "https://www.frc971.org/Build-Dependencies/gstreamer_bullseye_amd64_deps",
+)
 
 generate_repositories_for_debs(gstreamer_armhf_debs)
 
+generate_repositories_for_debs(
+    gstreamer_arm64_debs,
+    base_url = "https://www.frc971.org/Build-Dependencies/gstreamer_bullseye_arm64_deps",
+)
+
 generate_repositories_for_debs(m4_debs)
 
 generate_repositories_for_debs(lzma_amd64_debs)
@@ -975,8 +987,8 @@
 http_archive(
     name = "gstreamer_k8",
     build_file = "@//debian:gstreamer.BUILD",
-    sha256 = "4d74d4a82f7a73dc9fe9463d5fae409b17845eef7cd64ef9c4c4553816c53589",
-    url = "https://www.frc971.org/Build-Dependencies/gstreamer_amd64.tar.gz",
+    sha256 = "d4994261a432c188716f0bdf30fc3f0dff6727319d9c58e7156e2b3ed5105248",
+    url = "https://www.frc971.org/Build-Dependencies/gstreamer_1.20.1-1~bpo11+1_amd64.tar.gz",
 )
 
 http_archive(
@@ -986,6 +998,13 @@
     url = "https://www.frc971.org/Build-Dependencies/gstreamer_armhf.tar.gz",
 )
 
+http_archive(
+    name = "gstreamer_arm64",
+    build_file = "@//debian:gstreamer.BUILD",
+    sha256 = "42b414c565ffdbae3d2d7796a66da9de42a650de757fa6554fd624f0cc3aaa9b",
+    url = "https://www.frc971.org/Build-Dependencies/gstreamer_1.20.1-1~bpo11+1_arm64.tar.gz",
+)
+
 # Downloaded from:
 # https://files.pythonhosted.org/packages/64/a7/45e11eebf2f15bf987c3bc11d37dcc838d9dc81250e67e4c5968f6008b6c/Jinja2-2.11.2.tar.gz
 http_archive(
diff --git a/aos/events/logging/log_cat.cc b/aos/events/logging/log_cat.cc
index 60ad0e2..2b6fe3e 100644
--- a/aos/events/logging/log_cat.cc
+++ b/aos/events/logging/log_cat.cc
@@ -46,6 +46,12 @@
             "If true, only print out the results of logfile sorting.");
 DEFINE_bool(channels, false,
             "If true, print out all the configured channels for this log.");
+DEFINE_double(monotonic_start_time, 0.0,
+              "If set, only print messages sent at or after this many seconds "
+              "after epoch.");
+DEFINE_double(monotonic_end_time, 0.0,
+              "If set, only print messages sent at or before this many seconds "
+              "after epoch.");
 
 using aos::monotonic_clock;
 namespace chrono = std::chrono;
@@ -272,6 +278,21 @@
     const flatbuffers::Vector<flatbuffers::Offset<aos::Channel>> *channels =
         event_loop_->configuration()->channels();
 
+    const monotonic_clock::time_point start_time =
+        (FLAGS_monotonic_start_time == 0.0
+             ? monotonic_clock::min_time
+             : monotonic_clock::time_point(
+                   std::chrono::duration_cast<monotonic_clock::duration>(
+                       std::chrono::duration<double>(
+                           FLAGS_monotonic_start_time))));
+    const monotonic_clock::time_point end_time =
+        (FLAGS_monotonic_end_time == 0.0
+             ? monotonic_clock::max_time
+             : monotonic_clock::time_point(
+                   std::chrono::duration_cast<monotonic_clock::duration>(
+                       std::chrono::duration<double>(
+                           FLAGS_monotonic_end_time))));
+
     for (flatbuffers::uoffset_t i = 0; i < channels->size(); i++) {
       const aos::Channel *channel = channels->Get(i);
       const flatbuffers::string_view name = channel->name()->string_view();
@@ -286,8 +307,9 @@
 
         CHECK_NOTNULL(channel->schema());
         event_loop_->MakeRawWatcher(
-            channel, [this, channel](const aos::Context &context,
-                                     const void * /*message*/) {
+            channel,
+            [this, channel, start_time, end_time](const aos::Context &context,
+                                                  const void * /*message*/) {
               if (!FLAGS_print) {
                 return;
               }
@@ -296,6 +318,11 @@
                 return;
               }
 
+              if (context.monotonic_event_time < start_time ||
+                  context.monotonic_event_time > end_time) {
+                return;
+              }
+
               PrintMessage(node_name_, channel, context, builder_);
               ++(*message_print_counter_);
               if (FLAGS_count > 0 && *message_print_counter_ >= FLAGS_count) {
diff --git a/aos/network/web_proxy.cc b/aos/network/web_proxy.cc
index 6d4f23f..30707b2 100644
--- a/aos/network/web_proxy.cc
+++ b/aos/network/web_proxy.cc
@@ -377,6 +377,7 @@
     return;
   }
   channel->current_queue_index = message_buffer_.back().index;
+  channel->reported_queue_index = message_buffer_.back().index;
   channel->next_packet_number = 0;
 }
 
diff --git a/aos/starter/starter_rpc_lib.cc b/aos/starter/starter_rpc_lib.cc
index e373e6b..884367d 100644
--- a/aos/starter/starter_rpc_lib.cc
+++ b/aos/starter/starter_rpc_lib.cc
@@ -41,10 +41,15 @@
   return *search;
 }
 
-std::string_view FindApplication(const std::string_view &name,
+std::string_view FindApplication(const std::string_view name,
                                  const aos::Configuration *config) {
   std::string_view app_name = name;
   for (const auto app : *config->applications()) {
+    if (app->name()->string_view() == name) {
+      return name;
+    }
+  }
+  for (const auto app : *config->applications()) {
     if (app->has_executable_name() &&
         app->executable_name()->string_view() == name) {
       app_name = app->name()->string_view();
diff --git a/aos/starter/starter_rpc_lib.h b/aos/starter/starter_rpc_lib.h
index 3097b5f..eadf5c6 100644
--- a/aos/starter/starter_rpc_lib.h
+++ b/aos/starter/starter_rpc_lib.h
@@ -75,7 +75,7 @@
 
 // Checks if the name is an executable name and if it is, it returns that
 // application's name, otherwise returns name as given
-std::string_view FindApplication(const std::string_view &name,
+std::string_view FindApplication(const std::string_view name,
                                  const aos::Configuration *config);
 
 // Sends the given command to the application with the name name. Creates a
diff --git a/debian/BUILD b/debian/BUILD
index 3088cf4..c920457 100644
--- a/debian/BUILD
+++ b/debian/BUILD
@@ -71,6 +71,10 @@
     gstreamer_armhf_debs = "files",
 )
 load(
+    ":gstreamer_arm64.bzl",
+    gstreamer_arm64_debs = "files",
+)
+load(
     ":lzma_amd64.bzl",
     lzma_amd64_debs = "files",
 )
@@ -460,6 +464,12 @@
     target_compatible_with = ["@platforms//os:linux"],
 )
 
+generate_deb_tarball(
+    name = "gstreamer_arm64",
+    files = gstreamer_arm64_debs,
+    target_compatible_with = ["@platforms//os:linux"],
+)
+
 download_packages(
     name = "download_lzma",
     packages = [
diff --git a/debian/gstreamer.BUILD b/debian/gstreamer.BUILD
index b203772..8b58634 100644
--- a/debian/gstreamer.BUILD
+++ b/debian/gstreamer.BUILD
@@ -1,85 +1,233 @@
 load("@//tools/build_rules:select.bzl", "cpu_select")
 
+_common_srcs_list = [
+    "lib/%s/libcap.so.2",
+    "lib/%s/libdbus-1.so.3",
+    "lib/%s/libexpat.so.1",
+    "lib/%s/libgpg-error.so.0",
+    "lib/%s/libpcre.so.3",
+    "usr/lib/%s/blas/libblas.so.3",
+    "usr/lib/%s/gstreamer-1.0/libgstapp.so",
+    "usr/lib/%s/gstreamer-1.0/libgstcoreelements.so",
+    "usr/lib/%s/gstreamer-1.0/libgstdtls.so",
+    "usr/lib/%s/gstreamer-1.0/libgstnice.so",
+    "usr/lib/%s/gstreamer-1.0/libgstrtp.so",
+    "usr/lib/%s/gstreamer-1.0/libgstrtpmanager.so",
+    "usr/lib/%s/gstreamer-1.0/libgstsrtp.so",
+    "usr/lib/%s/gstreamer-1.0/libgstv4l2codecs.so",
+    "usr/lib/%s/gstreamer-1.0/libgstvideo4linux2.so",
+    "usr/lib/%s/gstreamer-1.0/libgstvideoconvert.so",
+    "usr/lib/%s/gstreamer-1.0/libgstvideoparsersbad.so",
+    "usr/lib/%s/gstreamer-1.0/libgstvideorate.so",
+    "usr/lib/%s/gstreamer-1.0/libgstvideoscale.so",
+    "usr/lib/%s/gstreamer-1.0/libgstvideotestsrc.so",
+    "usr/lib/%s/gstreamer-1.0/libgstwebrtc.so",
+    "usr/lib/%s/gstreamer-1.0/libgstx264.so",
+    "usr/lib/%s/lapack/liblapack.so.3",
+    "usr/lib/%s/libEGL.so.1",
+    "usr/lib/%s/libGL.so.1",
+    "usr/lib/%s/libGLX.so.0",
+    "usr/lib/%s/libGLdispatch.so.0",
+    "usr/lib/%s/libHalf-2_5.so.25",
+    "usr/lib/%s/libIex-2_5.so.25",
+    "usr/lib/%s/libIlmImf-2_5.so.25",
+    "usr/lib/%s/libIlmThread-2_5.so.25",
+    "usr/lib/%s/libImath-2_5.so.25",
+    "usr/lib/%s/libX11-xcb.so.1",
+    "usr/lib/%s/libX11.so.6",
+    "usr/lib/%s/libXau.so.6",
+    "usr/lib/%s/libXcomposite.so.1",
+    "usr/lib/%s/libXcursor.so.1",
+    "usr/lib/%s/libXdamage.so.1",
+    "usr/lib/%s/libXdmcp.so.6",
+    "usr/lib/%s/libXext.so.6",
+    "usr/lib/%s/libXfixes.so.3",
+    "usr/lib/%s/libXi.so.6",
+    "usr/lib/%s/libXinerama.so.1",
+    "usr/lib/%s/libXrandr.so.2",
+    "usr/lib/%s/libXrender.so.1",
+    "usr/lib/%s/libaec.so.0",
+    "usr/lib/%s/libaom.so.0",
+    "usr/lib/%s/libarpack.so.2",
+    "usr/lib/%s/libatk-1.0.so.0",
+    "usr/lib/%s/libatk-bridge-2.0.so.0",
+    "usr/lib/%s/libatspi.so.0",
+    "usr/lib/%s/libblkid.so.1",
+    "usr/lib/%s/libbrotlicommon.so.1",
+    "usr/lib/%s/libbrotlidec.so.1",
+    "usr/lib/%s/libbsd.so.0",
+    "usr/lib/%s/libcairo-gobject.so.2",
+    "usr/lib/%s/libcairo.so.2",
+    "usr/lib/%s/libcfitsio.so.9",
+    "usr/lib/%s/libcharls.so.2",
+    "usr/lib/%s/libcurl-gnutls.so.4",
+    "usr/lib/%s/libcurl.so.4",
+    "usr/lib/%s/libdap.so.27",
+    "usr/lib/%s/libdapclient.so.6",
+    "usr/lib/%s/libdatrie.so.1",
+    "usr/lib/%s/libdav1d.so.4",
+    "usr/lib/%s/libde265.so.0",
+    "usr/lib/%s/libdeflate.so.0",
+    "usr/lib/%s/libdrm.so.2",
+    "usr/lib/%s/libdw.so.1",
+    "usr/lib/%s/libelf.so.1",
+    "usr/lib/%s/libepoxy.so.0",
+    "usr/lib/%s/libepsilon.so.1",
+    "usr/lib/%s/libffi.so.7",
+    "usr/lib/%s/libfontconfig.so.1",
+    "usr/lib/%s/libfreetype.so.6",
+    "usr/lib/%s/libfreexl.so.1",
+    "usr/lib/%s/libfribidi.so.0",
+    "usr/lib/%s/libfyba.so.0",
+    "usr/lib/%s/libfygm.so.0",
+    "usr/lib/%s/libfyut.so.0",
+    "usr/lib/%s/libgbm.so.1",
+    "usr/lib/%s/libgcrypt.so.20",
+    "usr/lib/%s/libgdcmCommon.so.3.0",
+    "usr/lib/%s/libgdcmDICT.so.3.0",
+    "usr/lib/%s/libgdcmDSED.so.3.0",
+    "usr/lib/%s/libgdcmIOD.so.3.0",
+    "usr/lib/%s/libgdcmMSFF.so.3.0",
+    "usr/lib/%s/libgdcmjpeg12.so.3.0",
+    "usr/lib/%s/libgdcmjpeg16.so.3.0",
+    "usr/lib/%s/libgdcmjpeg8.so.3.0",
+    "usr/lib/%s/libgdk-3.so.0",
+    "usr/lib/%s/libgdk_pixbuf-2.0.so.0",
+    "usr/lib/%s/libgeos-3.9.0.so",
+    "usr/lib/%s/libgeos_c.so.1",
+    "usr/lib/%s/libgeotiff.so.5",
+    "usr/lib/%s/libgfortran.so.5",
+    "usr/lib/%s/libgif.so.7",
+    "usr/lib/%s/libgio-2.0.so.0",
+    "usr/lib/%s/libglib-2.0.so.0",
+    "usr/lib/%s/libgmodule-2.0.so.0",
+    "usr/lib/%s/libgmp.so.10",
+    "usr/lib/%s/libgnutls.so.30",
+    "usr/lib/%s/libgobject-2.0.so.0",
+    "usr/lib/%s/libgraphite2.so.3",
+    "usr/lib/%s/libgssdp-1.2.so.0",
+    "usr/lib/%s/libgstallocators-1.0.so.0",
+    "usr/lib/%s/libgstapp-1.0.so.0",
+    "usr/lib/%s/libgstaudio-1.0.so.0",
+    "usr/lib/%s/libgstbase-1.0.so.0",
+    "usr/lib/%s/libgstcodecparsers-1.0.so.0",
+    "usr/lib/%s/libgstcodecs-1.0.so.0",
+    "usr/lib/%s/libgstgl-1.0.so.0",
+    "usr/lib/%s/libgstnet-1.0.so.0",
+    "usr/lib/%s/libgstpbutils-1.0.so.0",
+    "usr/lib/%s/libgstreamer-1.0.so.0",
+    "usr/lib/%s/libgstrtp-1.0.so.0",
+    "usr/lib/%s/libgstsctp-1.0.so.0",
+    "usr/lib/%s/libgstsdp-1.0.so.0",
+    "usr/lib/%s/libgsttag-1.0.so.0",
+    "usr/lib/%s/libgstvideo-1.0.so.0",
+    "usr/lib/%s/libgstwebrtc-1.0.so.0",
+    "usr/lib/%s/libgthread-2.0.so.0",
+    "usr/lib/%s/libgtk-3.so.0",
+    "usr/lib/%s/libgudev-1.0.so.0",
+    "usr/lib/%s/libgupnp-1.2.so.0",
+    "usr/lib/%s/libgupnp-igd-1.0.so.4",
+    "usr/lib/%s/libharfbuzz.so.0",
+    "usr/lib/%s/libhdf5_serial.so.103",
+    "usr/lib/%s/libhdf5_serial_hl.so.100",
+    "usr/lib/%s/libheif.so.1",
+    "usr/lib/%s/libhogweed.so.6",
+    "usr/lib/%s/libicudata.so.67",
+    "usr/lib/%s/libicui18n.so.67",
+    "usr/lib/%s/libicuuc.so.67",
+    "usr/lib/%s/libidn2.so.0",
+    "usr/lib/%s/libjbig.so.0",
+    "usr/lib/%s/libjpeg.so.62",
+    "usr/lib/%s/libjson-c.so.5",
+    "usr/lib/%s/libjson-glib-1.0.so.0",
+    "usr/lib/%s/libkmlbase.so.1",
+    "usr/lib/%s/libkmldom.so.1",
+    "usr/lib/%s/libkmlengine.so.1",
+    "usr/lib/%s/liblber-2.4.so.2",
+    "usr/lib/%s/liblcms2.so.2",
+    "usr/lib/%s/libldap_r-2.4.so.2",
+    "usr/lib/%s/libltdl.so.7",
+    "usr/lib/%s/liblz4.so.1",
+    "usr/lib/%s/libmariadb.so.3",
+    "usr/lib/%s/libmd.so.0",
+    "usr/lib/%s/libminizip.so.1",
+    "usr/lib/%s/libmount.so.1",
+    "usr/lib/%s/libnetcdf.so.18",
+    "usr/lib/%s/libnettle.so.8",
+    "usr/lib/%s/libnghttp2.so.14",
+    "usr/lib/%s/libnice.so.10",
+    "usr/lib/%s/libnspr4.so",
+    "usr/lib/%s/libnss3.so",
+    "usr/lib/%s/libnssutil3.so",
+    "usr/lib/%s/libodbc.so.2",
+    "usr/lib/%s/libodbcinst.so.2",
+    "usr/lib/%s/libopencv_core.so.4.5",
+    "usr/lib/%s/libopencv_highgui.so.4.5",
+    "usr/lib/%s/libopencv_imgcodecs.so.4.5",
+    "usr/lib/%s/libopencv_imgproc.so.4.5",
+    "usr/lib/%s/libopenjp2.so.7",
+    "usr/lib/%s/liborc-0.4.so.0",
+    "usr/lib/%s/libp11-kit.so.0",
+    "usr/lib/%s/libpango-1.0.so.0",
+    "usr/lib/%s/libpangocairo-1.0.so.0",
+    "usr/lib/%s/libpangoft2-1.0.so.0",
+    "usr/lib/%s/libpixman-1.so.0",
+    "usr/lib/%s/libplc4.so",
+    "usr/lib/%s/libplds4.so",
+    "usr/lib/%s/libpng16.so.16",
+    "usr/lib/%s/libpoppler.so.102",
+    "usr/lib/%s/libpq.so.5",
+    "usr/lib/%s/libproj.so.19",
+    "usr/lib/%s/libpsl.so.5",
+    "usr/lib/%s/libqhull.so.8.0",
+    "usr/lib/%s/librtmp.so.1",
+    "usr/lib/%s/librttopo.so.1",
+    "usr/lib/%s/libsasl2.so.2",
+    "usr/lib/%s/libsmime3.so",
+    "usr/lib/%s/libsoup-2.4.so.1",
+    "usr/lib/%s/libspatialite.so.7",
+    "usr/lib/%s/libsqlite3.so.0",
+    "usr/lib/%s/libsrtp2.so.1",
+    "usr/lib/%s/libssh2.so.1",
+    "usr/lib/%s/libsuperlu.so.5",
+    "usr/lib/%s/libsystemd.so.0",
+    "usr/lib/%s/libsz.so.2",
+    "usr/lib/%s/libtasn1.so.6",
+    "usr/lib/%s/libtbb.so.2",
+    "usr/lib/%s/libthai.so.0",
+    "usr/lib/%s/libtiff.so.5",
+    "usr/lib/%s/libudev.so.1",
+    "usr/lib/%s/libunistring.so.2",
+    "usr/lib/%s/liburiparser.so.1",
+    "usr/lib/%s/libuuid.so.1",
+    "usr/lib/%s/libv4l2.so.0",
+    "usr/lib/%s/libv4lconvert.so.0",
+    "usr/lib/%s/libvpx.so.6",
+    "usr/lib/%s/libwayland-client.so.0",
+    "usr/lib/%s/libwayland-cursor.so.0",
+    "usr/lib/%s/libwayland-egl.so.1",
+    "usr/lib/%s/libwayland-server.so.0",
+    "usr/lib/%s/libwebp.so.6",
+    "usr/lib/%s/libx264.so.160",
+    "usr/lib/%s/libx265.so.192",
+    "usr/lib/%s/libxcb-render.so.0",
+    "usr/lib/%s/libxcb-shm.so.0",
+    "usr/lib/%s/libxcb.so.1",
+    "usr/lib/%s/libxerces-c-3.2.so",
+    "usr/lib/%s/libxkbcommon.so.0",
+    "usr/lib/%s/libxml2.so.2",
+    "usr/lib/%s/libzstd.so.1",
+    "usr/lib/libarmadillo.so.10",
+    "usr/lib/libdfalt.so.0",
+    "usr/lib/libgdal.so.28",
+    "usr/lib/libmfhdfalt.so.0",
+    "usr/lib/libogdi.so.4.1",
+]
+
 cc_library(
     name = "gstreamer",
     srcs = cpu_select({
-        "amd64": [
-            "lib/x86_64-linux-gnu/libblkid.so.1",
-            "lib/x86_64-linux-gnu/libcom_err.so.2",
-            "lib/x86_64-linux-gnu/libexpat.so.1",
-            "lib/x86_64-linux-gnu/libkeyutils.so.1",
-            "lib/x86_64-linux-gnu/liblzma.so.5",
-            "lib/x86_64-linux-gnu/libmount.so.1",
-            "lib/x86_64-linux-gnu/libpcre.so.3",
-            "lib/x86_64-linux-gnu/libselinux.so.1",
-            "lib/x86_64-linux-gnu/libudev.so.1",
-            "lib/x86_64-linux-gnu/libuuid.so.1",
-            "lib/x86_64-linux-gnu/libz.so.1",
-            "usr/lib/x86_64-linux-gnu/libEGL.so.1",
-            "usr/lib/x86_64-linux-gnu/libGL.so.1",
-            "usr/lib/x86_64-linux-gnu/libGLX.so.0",
-            "usr/lib/x86_64-linux-gnu/libGLdispatch.so.0",
-            "usr/lib/x86_64-linux-gnu/libX11-xcb.so.1",
-            "usr/lib/x86_64-linux-gnu/libX11.so.6",
-            "usr/lib/x86_64-linux-gnu/libXau.so.6",
-            "usr/lib/x86_64-linux-gnu/libXdmcp.so.6",
-            "usr/lib/x86_64-linux-gnu/libatomic.so.1",
-            "usr/lib/x86_64-linux-gnu/libbsd.so.0",
-            "usr/lib/x86_64-linux-gnu/libdrm.so.2",
-            "usr/lib/x86_64-linux-gnu/libffi.so.6",
-            "usr/lib/x86_64-linux-gnu/libgbm.so.1",
-            "usr/lib/x86_64-linux-gnu/libgio-2.0.so.0",
-            "usr/lib/x86_64-linux-gnu/libglib-2.0.so",
-            "usr/lib/x86_64-linux-gnu/libgmodule-2.0.so.0",
-            "usr/lib/x86_64-linux-gnu/libgmp.so.10",
-            "usr/lib/x86_64-linux-gnu/libgnutls.so.30",
-            "usr/lib/x86_64-linux-gnu/libgobject-2.0.so",
-            "usr/lib/x86_64-linux-gnu/libgssapi_krb5.so.2",
-            "usr/lib/x86_64-linux-gnu/libgssdp-1.0.so.3",
-            "usr/lib/x86_64-linux-gnu/libgstallocators-1.0.so.0",
-            "usr/lib/x86_64-linux-gnu/libgstapp-1.0.so.0",
-            "usr/lib/x86_64-linux-gnu/libgstaudio-1.0.so.0",
-            "usr/lib/x86_64-linux-gnu/libgstbadvideo-1.0.so.0",
-            "usr/lib/x86_64-linux-gnu/libgstbase-1.0.so.0",
-            "usr/lib/x86_64-linux-gnu/libgstgl-1.0.so.0",
-            "usr/lib/x86_64-linux-gnu/libgstreamer-1.0.so.0",
-            "usr/lib/x86_64-linux-gnu/libgstrtp-1.0.so.0",
-            "usr/lib/x86_64-linux-gnu/libgstsdp-1.0.so.0",
-            "usr/lib/x86_64-linux-gnu/libgsttag-1.0.so.0",
-            "usr/lib/x86_64-linux-gnu/libgstvideo-1.0.so.0",
-            "usr/lib/x86_64-linux-gnu/libgstwebrtc-1.0.so.0",
-            "usr/lib/x86_64-linux-gnu/libgthread-2.0.so.0",
-            "usr/lib/x86_64-linux-gnu/libgudev-1.0.so.0",
-            "usr/lib/x86_64-linux-gnu/libgupnp-1.0.so.4",
-            "usr/lib/x86_64-linux-gnu/libgupnp-igd-1.0.so.4",
-            "usr/lib/x86_64-linux-gnu/libhogweed.so.4",
-            "usr/lib/x86_64-linux-gnu/libicudata.so.63",
-            "usr/lib/x86_64-linux-gnu/libicui18n.so.63",
-            "usr/lib/x86_64-linux-gnu/libicuuc.so.63",
-            "usr/lib/x86_64-linux-gnu/libidn2.so.0",
-            "usr/lib/x86_64-linux-gnu/libjpeg.so.62",
-            "usr/lib/x86_64-linux-gnu/libk5crypto.so.3",
-            "usr/lib/x86_64-linux-gnu/libkrb5.so.3",
-            "usr/lib/x86_64-linux-gnu/libkrb5support.so.0",
-            "usr/lib/x86_64-linux-gnu/libnettle.so.6",
-            "usr/lib/x86_64-linux-gnu/libnice.so.10",
-            "usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2",
-            "usr/lib/x86_64-linux-gnu/liborc-0.4.so.0",
-            "usr/lib/x86_64-linux-gnu/libp11-kit.so.0",
-            "usr/lib/x86_64-linux-gnu/libpsl.so.5",
-            "usr/lib/x86_64-linux-gnu/libsoup-2.4.so.1",
-            "usr/lib/x86_64-linux-gnu/libsqlite3.so.0",
-            "usr/lib/x86_64-linux-gnu/libtasn1.so.6",
-            "usr/lib/x86_64-linux-gnu/libtbb.so.2",
-            "usr/lib/x86_64-linux-gnu/libunistring.so.2",
-            "usr/lib/x86_64-linux-gnu/libvpx.so.5",
-            "usr/lib/x86_64-linux-gnu/libwayland-client.so.0",
-            "usr/lib/x86_64-linux-gnu/libwayland-egl.so.1",
-            "usr/lib/x86_64-linux-gnu/libwayland-server.so.0",
-            "usr/lib/x86_64-linux-gnu/libx265.so.165",
-            "usr/lib/x86_64-linux-gnu/libxcb.so.1",
-            "usr/lib/x86_64-linux-gnu/libxml2.so.2",
-        ],
+        "amd64": [s % "x86_64-linux-gnu" if "%" in s else s for s in _common_srcs_list],
         "roborio": [
         ],
         "armhf": [
@@ -159,34 +307,42 @@
             "usr/lib/arm-linux-gnueabihf/libxcb.so.1",
             "usr/lib/arm-linux-gnueabihf/libxml2.so.2",
         ],
-        "arm64": [],
+        "arm64": [s % "aarch64-linux-gnu" if "%" in s else s for s in _common_srcs_list],
         "cortex-m": [],
         "cortex-m0plus": [],
     }),
     hdrs = glob([
+        "usr/lib/aarch64-linux-gnu/glib-2.0/include/**/*.h",
+        "usr/lib/arm-linux-gnueabihf/glib-2.0/include/**/*.h",
         "usr/lib/x86_64-linux-gnu/glib-2.0/include/**/*.h",
         "usr/include/gstreamer-1.0/**/*.h",
         "usr/include/glib-2.0/**/*.h",
-        "usr/lib/arm-linux-gnueabihf/glib-2.0/include/**/*.h",
+        "usr/include/libsoup-2.4/**/*.h",
+        "usr/include/json-glib-1.0/**/*.h",
+        "usr/include/opencv4/**",
+        "usr/include/X11/**",
     ]),
     includes = cpu_select({
         "amd64": [
             "usr/lib/x86_64-linux-gnu/glib-2.0/include",
-            "usr/include",
-            "usr/include/glib-2.0",
-            "usr/include/gstreamer-1.0",
         ],
         "armhf": [
             "usr/lib/arm-linux-gnueabihf/glib-2.0/include",
-            "usr/include",
-            "usr/include/glib-2.0",
-            "usr/include/gstreamer-1.0",
         ],
-        "arm64": [],
+        "arm64": [
+            "usr/lib/aarch64-linux-gnu/glib-2.0/include",
+        ],
         "roborio": [],
         "cortex-m": [],
         "cortex-m0plus": [],
-    }),
+    }) + [
+        "usr/include",
+        "usr/include/glib-2.0",
+        "usr/include/gstreamer-1.0",
+        "usr/include/libsoup-2.4",
+        "usr/include/json-glib-1.0",
+        "usr/include/opencv4",
+    ],
     linkopts = [
         "-ldl",
         "-lresolv",
diff --git a/debian/gstreamer_amd64.bzl b/debian/gstreamer_amd64.bzl
index 2d1558b..59f3d59 100644
--- a/debian/gstreamer_amd64.bzl
+++ b/debian/gstreamer_amd64.bzl
@@ -1,511 +1,524 @@
 files = {
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-    "coreutils_8.30-3_amd64.deb": "ae6e5cd6e9aaf74d66edded3931a7a6c916625b8b890379189c75574f6856bf4",
-    "dconf-gsettings-backend_0.30.1-2_amd64.deb": "8dd9f676ed51db557cfdbb107542bf5406627dc1c83ded565149f02abb60e268",
-    "dconf-service_0.30.1-2_amd64.deb": "1adc68353e17f12ceb3f2e01bb0cb4e5d11b547b9436a89fa0209c46cf028c51",
-    "fontconfig-config_2.13.1-2_all.deb": "9f5d34ba20eb156ef62d8126866a376be985c6a83fdcfb33f12cd83acac480c2",
-    "fontconfig_2.13.1-2_amd64.deb": "efbc7d9a8cf245e31429d3bda3e560df275f6b7302367aabe83503ca734ac0fd",
-    "fonts-dejavu-core_2.37-1_all.deb": "58d21a255606191e6512cca51f32c4480e7a798945cc980623377696acfa3cfc",
-    "fonts-freefont-ttf_20120503-9_all.deb": "13489f628898f01ad4ab12807309d814cf6df678a2ae9c1e49a426d1c916a1c5",
-    "fonts-liberation_1.07.4-9_all.deb": "c936aebbfd0af7851399ae5ab08bb01744f5e3381f7678fb87cc77114f95ef53",
-    "gdal-data_2.4.0+dfsg-1_all.deb": "6e0fce32cf2e85ad2539482087d712bf2258d05e1838f3586a17ad2dc6bb7410",
-    "gir1.2-glib-2.0_1.58.3-2_amd64.deb": "21843844415a72bda1f3f524dfcff94550128b082f31b850f5149552ae171264",
-    "gir1.2-gst-plugins-bad-1.0_1.14.4-1+b1_amd64.deb": "a3d18fa2e46485f192acc72d3f5e8062c541a4f68864e3f27ea4d6f599c67b2c",
-    "gir1.2-gst-plugins-base-1.0_1.14.4-2_amd64.deb": "9ace033e35ee9a6b6a42ab3bd28c26c32afc98401e933599fd4a25a009e27f29",
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-    "glib-networking-services_2.58.0-2_amd64.deb": "fc3bbb1b8f14c7aaa2f873cc006c0d2f8c3a4c712bc067d749adafa82635e094",
-    "glib-networking_2.58.0-2_amd64.deb": "21854f3921469776a598369a5b5b5264112bf49de1559c219fbe36cbd702628f",
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-    "gstreamer1.0-plugins-good_1.14.4-1_amd64.deb": "5788cd63e8479309e75a395e951067088df9a934aba6d992261e819f4cd2decb",
-    "gstreamer1.0-plugins-ugly_1.14.4-1_amd64.deb": "94af175fc2f304771a962b89c5fe4d05e098eae48a145e36953f204893f003cd",
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+    "adwaita-icon-theme_3.38.0-1_all.deb": "2046876c82fc1c342b38ace9aa0661bcb3e167837c984b4bdc89702bc78df5ac",
+    "coreutils_8.32-4+b1_amd64.deb": "3558a412ab51eee4b60641327cb145bb91415f127769823b68f9335585b308d4",
+    "dconf-gsettings-backend_0.38.0-2_amd64.deb": "194991ed5f4ab1ca25413858cb99c910391cfd6d3b1b6a3d3e56a4b3a706a37d",
+    "dconf-service_0.38.0-2_amd64.deb": "639125f7a44d11f96661c61a07abbb58da0e5636ed406ac186adcef8651775c2",
+    "fluidr3mono-gm-soundfont_2.315-7_all.deb": "4098301bf29f4253c2f5799a844f42dd4aa733d91a210071ad16d7757dea51d6",
+    "fontconfig-config_2.13.1-4.2_all.deb": "48afb6ad7d15e6104a343b789f73697301ad8bff77b69927bc998f5a409d8e90",
+    "fontconfig_2.13.1-4.2_amd64.deb": "c594a100759ef7c94149359cf4d2da5fb59ef30474c7a2dde1e049d32b9c478a",
+    "fonts-croscore_20201225-1_all.deb": "64904820b729ff40038f85683004e3b94b328d969bc0fbba263c58d635452923",
+    "fonts-dejavu-core_2.37-2_all.deb": "1f67421437b6eb18669d2868e3e02cb88668683d635198142f48aacc5b397118",
+    "fonts-freefont-otf_20120503-10_all.deb": "0b63996c80c6c660424af6d3832818e647960d6f65a51de010bb57dd0762faa7",
+    "fonts-freefont-ttf_20120503-10_all.deb": "4ca1c21ebc479198a3a5879d236c8317d6f7b2f1c403f7890e24c02eead05615",
+    "fonts-liberation2_2.1.3-1_all.deb": "e0805f0085132f5e6dd30f88c0d7260caf1e5450832fe2e3988a20fa9fa2150e",
+    "fonts-liberation_1.07.4-11_all.deb": "efd381517f958b01969343634ffcbdd60056be7779af84c6f53a005090430204",
+    "fonts-texgyre_20180621-3.1_all.deb": "cb7e9a4b2471cfdd57194c16364f9102f0639816a2662fed4b30d2a158747076",
+    "fonts-urw-base35_20200910-1_all.deb": "f95a139adb7f1b60626e76d4d45d1b35aad1bc2c2597394c291ef5f84b5dcb43",
+    "gdal-data_3.2.2+dfsg-2+deb11u1_all.deb": "3ae44cc2f51dccc023f9c3cfbea3411508e24f1335651fa0e6cba74b7b9b87aa",
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+    "gir1.2-gudev-1.0_234-1_amd64.deb": "c9560915329dafdfb32998eb3e90cbb0f37f53134c69c1d5acef070754e36e01",
+    "gir1.2-json-1.0_1.6.2-1_amd64.deb": "c44783e0b94d6a6792ffd837d1e97ebb8ca6ccb8beaf7abe295e367cd92a1b7d",
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+    "libarpack2_3.8.0-1_amd64.deb": "c51364e5681e1268f201a57969a4a029d71d3239be993934fad59428b96f588e",
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 }
diff --git a/debian/gstreamer_arm64.bzl b/debian/gstreamer_arm64.bzl
new file mode 100644
index 0000000..cd7eb40
--- /dev/null
+++ b/debian/gstreamer_arm64.bzl
@@ -0,0 +1,523 @@
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+    "zlib1g-dev_1.2.11.dfsg-2_arm64.deb": "1e6ed652eebd3761454d75db5459c247cd5d29e58bbe9f6b4b62a62d96f7c279",
+}
diff --git a/debian/gstreamer_backport_notes.txt b/debian/gstreamer_backport_notes.txt
new file mode 100644
index 0000000..c543a0f
--- /dev/null
+++ b/debian/gstreamer_backport_notes.txt
@@ -0,0 +1,67 @@
+Some notes on backporting gstreamer 1.20 from testing (bookworm) to bullseye
+
+Create chroot build environment. This is kept clean - each build step uses this as a base image and overlays files on top of it.
+    sudo sbuild-createchroot --extra-repository="deb http://deb.debian.org/debian bullseye-backports main" --chroot-prefix=bullseye-backports bullseye /srv/chroot/bullseye-backports-${ARCH} http://deb.debian.org/debian
+
+Download sources for each library. I worked out of a directory "$HOME/backports"
+dget -x ...
+    http://deb.debian.org/debian/pool/main/g/gstreamer1.0/gstreamer1.0_1.20.1-1.dsc
+    http://deb.debian.org/debian/pool/main/g/gst-plugins-base1.0/gst-plugins-base1.0_1.20.1-1.dsc
+    http://deb.debian.org/debian/pool/main/g/gst-plugins-good1.0/gst-plugins-good1.0_1.20.1-1.dsc
+    http://deb.debian.org/debian/pool/main/g/gst-plugins-ugly1.0/gst-plugins-ugly1.0_1.20.1-1.dsc
+
+    http://deb.debian.org/debian/pool/main/libn/libnice/libnice_0.1.18-2.dsc
+    http://deb.debian.org/debian/pool/main/o/openh264/openh264_2.2.0+dfsg-2.dsc
+    http://deb.debian.org/debian/pool/main/libf/libfreeaptx/libfreeaptx_0.1.1-1.dsc
+
+    http://deb.debian.org/debian/pool/main/g/gst-plugins-bad1.0/gst-plugins-bad1.0_1.20.1-1.dsc
+
+
+Enter each directory of sources, modify with `dch --bpo`. Use default. This will append '~bpo' which in the debian version string is the "type" of the package. This is by convention and ensures correct version resolution if these packages are upgraded in the future.
+
+Build the packages in this order to resolve dependencies between them. I found this minimal set could be built against bullseye directly - the only dependencies with unmet versions in bullseye are libnice, libopenh264, and libfreeaptx, so we backport those as well.
+
+For each package we append set --debbuildopts="-v<version number>". Version number should be the previous release that found in bullseye. This generates the proper changelog between that version and our backport's version. sbuild will automatically resolve all dependencies possible with apt. For dependencies between our backports we specify --extra-package. We could setup an apt repo as we do in the last step but it's probably not worth the effort. I'd also replace ${HOME} with the absolute path - not sure when exactly this is resolved.
+
+
+
+gstreamer1.0
+    sbuild --arch=${ARCH} -d bullseye-backports --build-dep-resolver=aptitude --debbuildopts="-v1.18.4-2"
+
+gst-plugins-base
+    sbuild --arch=${ARCH} -d bullseye-backports --build-dep-resolver=aptitude --debbuildopts="-v1.18.4-2" --extra-package=${HOME}backports/libgstreamer1.0-dev_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/libgstreamer1.0-0_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/gir1.2-gstreamer-1.0_1.20.1-1~bpo11+1_${ARCH}.deb
+
+gst-plugins-good
+    sbuild --arch=${ARCH} -d bullseye-backports --build-dep-resolver=aptitude --debbuildopts="-v1.18.4-2" --extra-package=${HOME}backports/libgstreamer1.0-dev_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/libgstreamer1.0-0_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/gir1.2-gstreamer-1.0_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/libgstreamer-plugins-base1.0-dev_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/libgstreamer-plugins-base1.0-0_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/libgstreamer-gl1.0-0_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/gstreamer1.0-gl_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/gir1.2-gst-plugins-base-1.0_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/gstreamer1.0-plugins-base_1.20.1-1~bpo11+1_${ARCH}.deb
+
+gst-plugins-ugly
+    sbuild --arch=${ARCH} -d bullseye-backports --build-dep-resolver=aptitude --debbuildopts="-v1.18.4-2" --extra-package=${HOME}backports/libgstreamer1.0-dev_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/libgstreamer1.0-0_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/gir1.2-gstreamer-1.0_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/libgstreamer-plugins-base1.0-dev_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/libgstreamer-plugins-base1.0-0_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/libgstreamer-gl1.0-0_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/gstreamer1.0-gl_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/gir1.2-gst-plugins-base-1.0_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/gstreamer1.0-plugins-base_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/gstreamer1.0-plugins-good_1.20.1-1~bpo11+1_${ARCH}.deb
+
+libnice
+    sbuild --arch=${ARCH} -d bullseye-backports --build-dep-resolver=aptitude --debbuildopts="-v0.1.16-1"
+
+openh264
+    sbuild --arch=${ARCH} -d bullseye-backports --build-dep-resolver=aptitude --debbuildopts="-v0"
+
+libfreeaptx
+    sbuild --arch=${ARCH} -d bullseye-backports --build-dep-resolver=aptitude --debbuildopts="-v0"
+
+# The opencv headers shipped with debian bullseye are broken - they require tracking.private.hpp. Copy this file into the chroot to help it out. It can be found in the opencv git repo (may be called tracking.detail.hpp).
+
+gst-plugins-bad
+    sbuild --arch=${ARCH} -d bullseye-backports --build-dep-resolver=aptitude --debbuildopts="-v1.18.4-2" --extra-package=${HOME}backports/libgstreamer1.0-dev_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/libgstreamer1.0-0_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/gir1.2-gstreamer-1.0_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/libgstreamer-plugins-base1.0-dev_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/libgstreamer-plugins-base1.0-0_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/libgstreamer-gl1.0-0_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/gstreamer1.0-gl_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/gir1.2-gst-plugins-base-1.0_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/gstreamer1.0-plugins-base_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/gstreamer1.0-plugins-good_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/gstreamer1.0-plugins-base_1.20.1-1~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/libnice-dev_0.1.18-2~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/libnice10_0.1.18-2~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/gir1.2-nice-0.1_0.1.18-2~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/libopenh264-6_2.2.0+dfsg-2~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/libopenh264-dev_2.2.0+dfsg-2~bpo11+1_${ARCH}.deb --extra-package=${HOME}backports/libfreeaptx0_0.1.1-1_${ARCH}.deb --extra-package=${HOME}backports/libfreeaptx-dev_0.1.1-1_${ARCH}.deb --pre-build-commands='%SBUILD_CHROOT_EXEC sh -c "mkdir -p /usr/include/opencv4/opencv2/video/detail"' --pre-build-commands='cat ${HOME}tracking.private.hpp | %SBUILD_CHROOT_EXEC sh -c "cat > /usr/include/opencv4/opencv2/video/detail/tracking.private.hpp"'
+
+
+
+Move all debs for each arch into their own directory and generate package list. I use "$HOME/apt_root_${ARCH}".
+    dpkg-scanpackages --arch=${ARCH} . /dev/null | gzip -9c > Packages.gz
+
+
+Modify download_packages.py and add an apt source line:
+    deb [trusted=yes] file:${HOME}apt_root_amd64 ./
+
+
+download_packages.py is broken when a deb has mutually exclusive dependencies. In our case, we can use either libsoup2.4 or libsoup3. At the time of writing, it would be much more difficult to setup libsoup3 so exclude it.
+
+Finally, run:
+    ./download_packages.py --arch ${ARCH} --release bullseye-backports --exclude=libsoup3.0-0 gstreamer1.0-plugins-bad gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly gstreamer1.0-plugins-base libgstreamer-plugins-bad1.0-dev libgstreamer-plugins-base1.0-dev gstreamer1.0-nice libgstreamer1.0-0 libgstreamer1.0-dev libsoup2.4-dev libjson-glib-dev
diff --git a/frc971/input/drivetrain_input.cc b/frc971/input/drivetrain_input.cc
index b1adf1c..ab3afef 100644
--- a/frc971/input/drivetrain_input.cc
+++ b/frc971/input/drivetrain_input.cc
@@ -207,6 +207,13 @@
     high_gear_ = true;
   }
 
+  // Emprically, the current pistol grip tends towards steady-state errors at
+  // ~0.01-0.02 on both the wheel/throttle. Having the throttle correctly snap
+  // to zero is more important than the wheel for our internal logic, so force a
+  // deadband there.
+  constexpr double kThrottleDeadband = 0.05;
+  throttle = aos::Deadband(throttle, kThrottleDeadband, 1.0);
+
   return DrivetrainInputReader::WheelAndThrottle{
       wheel,     wheel_velocity,    wheel_torque,
       throttle,  throttle_velocity, throttle_torque,
diff --git a/frc971/raspi/rootfs/chrt.sh b/frc971/raspi/rootfs/chrt.sh
index 535f4c6..d5edafe 100755
--- a/frc971/raspi/rootfs/chrt.sh
+++ b/frc971/raspi/rootfs/chrt.sh
@@ -35,3 +35,7 @@
 chrtirq "irq/[0-9]*-vc4 crtc" -o 0
 chrtirq "irq/23-uart-pl0" -o 0
 chrtirq "irq/[0-9]*-eth0" -f 10
+
+# Route data-ready interrupts to the second core
+SPI_IRQ="$(cat /proc/interrupts | grep fe204000.spi | awk '{print $1}' | grep '[0-9]*' -o)"
+echo 2 > /proc/irq/"${SPI_IRQ}"/smp_affinity
diff --git a/frc971/raspi/rootfs/target_configure.sh b/frc971/raspi/rootfs/target_configure.sh
index 06f481b..3b71112 100755
--- a/frc971/raspi/rootfs/target_configure.sh
+++ b/frc971/raspi/rootfs/target_configure.sh
@@ -17,6 +17,8 @@
 chown -R pi.pi /home/pi/.ssh
 chown -R pi.pi /home/pi/bin
 
+echo 'deb [trusted=yes] https://software.frc971.org/Build-Dependencies/gstreamer_bullseye_arm64_deps ./' >> /etc/apt/sources.list
+
 apt-get update
 
 apt-get install -y vim-nox \
@@ -43,9 +45,17 @@
   libnice10 \
   pmount \
   libnice-dev \
-  feh
+  feh \
+  libgstreamer1.0-0 \
+  libgstreamer-plugins-base1.0-0 \
+  libgstreamer-plugins-bad1.0-0 \
+  gstreamer1.0-plugins-base \
+  gstreamer1.0-plugins-good \
+  gstreamer1.0-plugins-bad \
+  gstreamer1.0-plugins-ugly \
+  gstreamer1.0-nice
 
-dpkg -i /tmp/wiringpi-2.70-1.deb
+PATH=$PATH:/sbin dpkg -i /tmp/wiringpi-2.70-1.deb
 
 echo 'GOVERNOR="performance"' > /etc/default/cpufrequtils
 
diff --git a/scouting/scraping/scrape.go b/scouting/scraping/scrape.go
index 170fe50..19426cf 100644
--- a/scouting/scraping/scrape.go
+++ b/scouting/scraping/scrape.go
@@ -17,14 +17,14 @@
 	BaseUrl string `json:"base_url"`
 }
 
-// Takes in year and FIRST event code and returns all matches in that event according to TBA.
+// Takes in year and FIRST event code and returns requested information according to TBA.
 // Also takes in a file path to the JSON config file that contains your TBA API key.
 // It defaults to <workspace root>/config.json
 // the config is expected to have the following contents:
 //{
 //    api_key:"myTBAapiKey"
 //}
-func AllMatches(year int32, eventCode, configPath string) ([]Match, error) {
+func getJson(year int32, eventCode, configPath, category string) ([]byte, error) {
 	if configPath == "" {
 		configPath = os.Getenv("BUILD_WORKSPACE_DIRECTORY") + "/scouting_config.json"
 	}
@@ -52,7 +52,7 @@
 	eventKey := strconv.Itoa(int(year)) + eventCode
 
 	// Create a get request for the match info.
-	req, err := http.NewRequest("GET", config.BaseUrl+"/api/v3/event/"+eventKey+"/matches", nil)
+	req, err := http.NewRequest("GET", config.BaseUrl+"/api/v3/event/"+eventKey+"/"+category, nil)
 	if err != nil {
 		return nil, errors.New(fmt.Sprint("Failed to build http request: ", err))
 	}
@@ -78,6 +78,17 @@
 		return nil, errors.New(fmt.Sprint("Failed to read TBA API response: ", err))
 	}
 
+	return bodyBytes, nil
+}
+
+// Return all matches in event according to TBA
+func AllMatches(year int32, eventCode, configPath string) ([]Match, error) {
+	bodyBytes, err := getJson(year, eventCode, configPath, "matches")
+
+	if err != nil {
+		return nil, err
+	}
+
 	var matches []Match
 	// Unmarshal json into go usable format.
 	if err := json.Unmarshal([]byte(bodyBytes), &matches); err != nil {
@@ -86,3 +97,20 @@
 
 	return matches, nil
 }
+
+// Return event rankings according to TBA
+func AllRankings(year int32, eventCode, configPath string) (EventRanking, error) {
+	bodyBytes, err := getJson(year, eventCode, configPath, "rankings")
+
+	if err != nil {
+		return EventRanking{}, err
+	}
+
+	var rankings EventRanking
+	// Unmarshal json into go usable format.
+	if err := json.Unmarshal([]byte(bodyBytes), &rankings); err != nil {
+		return EventRanking{}, errors.New(fmt.Sprint("Failed to parse JSON received from TBA: ", err))
+	}
+
+	return rankings, nil
+}
diff --git a/scouting/scraping/scraping_demo.go b/scouting/scraping/scraping_demo.go
index 0ea3e53..69cdbff 100644
--- a/scouting/scraping/scraping_demo.go
+++ b/scouting/scraping/scraping_demo.go
@@ -13,22 +13,43 @@
 
 func main() {
 	jsonPtr := flag.Bool("json", false, "If set, dump as JSON, rather than Go debug output.")
+	demoCategory := flag.String("category", "matches", "Decide whether to demo matches or rankings.")
+
 	flag.Parse()
 
-	// Get all the matches.
-	matches, err := scraping.AllMatches(2016, "nytr", "")
-	if err != nil {
-		log.Fatal("Failed to scrape match list: ", err)
-	}
-
-	// Dump the matches.
-	if *jsonPtr {
-		jsonData, err := json.MarshalIndent(matches, "", "  ")
+	if *demoCategory == "rankings" {
+		// Get all the rankings.
+		rankings, err := scraping.AllRankings(2016, "nytr", "")
 		if err != nil {
-			log.Fatal("Failed to turn match list into JSON: ", err)
+			log.Fatal("Failed to scrape ranking list: ", err)
 		}
-		fmt.Println(string(jsonData))
-	} else {
-		spew.Dump(matches)
+
+		// Dump the rankings.
+		if *jsonPtr {
+			jsonData, err := json.MarshalIndent(rankings, "", "  ")
+			if err != nil {
+				log.Fatal("Failed to turn ranking list into JSON: ", err)
+			}
+			fmt.Println(string(jsonData))
+		} else {
+			spew.Dump(rankings)
+		}
+	} else if *demoCategory == "matches" {
+		// Get all the matches.
+		matches, err := scraping.AllMatches(2016, "nytr", "")
+		if err != nil {
+			log.Fatal("Failed to scrape match list: ", err)
+		}
+
+		// Dump the matches.
+		if *jsonPtr {
+			jsonData, err := json.MarshalIndent(matches, "", "  ")
+			if err != nil {
+				log.Fatal("Failed to turn match list into JSON: ", err)
+			}
+			fmt.Println(string(jsonData))
+		} else {
+			spew.Dump(matches)
+		}
 	}
 }
diff --git a/scouting/scraping/types.go b/scouting/scraping/types.go
index aa0d4be..9283ac2 100644
--- a/scouting/scraping/types.go
+++ b/scouting/scraping/types.go
@@ -1,5 +1,26 @@
 package scraping
 
+type EventRanking struct {
+	Rankings []Rank `json:"rankings"`
+}
+
+type Rank struct {
+	MatchesPlayed int       `json:"matches_played"`
+	QualAverage   int       `json:"qual_average"`
+	ExtraStats    []float64 `json:"extra_stats"`
+	SortOrders    []float64 `json:"sort_orders"`
+	Records       Record    `json:"record"`
+	Rank          int       `json:"rank"`
+	Dq            int       `json:"dq"`
+	TeamKey       string    `json:"team_key"`
+}
+
+type Record struct {
+	Losses int `json:"losses"`
+	Wins   int `json:"wins"`
+	Ties   int `json:"ties"`
+}
+
 // Match holds the TBA data for a given match
 type Match struct {
 	Key             string
diff --git a/third_party/BUILD b/third_party/BUILD
index 8dbb529..a550a24 100644
--- a/third_party/BUILD
+++ b/third_party/BUILD
@@ -55,6 +55,7 @@
     deps = select({
         "//tools:cpu_k8": ["@gstreamer_k8//:gstreamer"],
         "//tools:cpu_armhf": ["@gstreamer_armhf//:gstreamer"],
+        "//tools:cpu_arm64": ["@gstreamer_arm64//:gstreamer"],
         "//conditions:default": [":unavailable"],
     }),
 )
diff --git a/third_party/rawrtc/rawrtc/BUILD b/third_party/rawrtc/rawrtc/BUILD
index dc278f7..92fb15f 100644
--- a/third_party/rawrtc/rawrtc/BUILD
+++ b/third_party/rawrtc/rawrtc/BUILD
@@ -34,6 +34,7 @@
     includes = ["include/"],
     local_defines = [
         "RAWRTC_VERSION=\\\"0.5.1\\\"",
+        "RAWRTC_SKIP_DH_CHECK",
     ],
     visibility = ["//visibility:public"],
     deps = [
diff --git a/third_party/rawrtc/rawrtc/src/diffie_hellman_parameters/parameters.c b/third_party/rawrtc/rawrtc/src/diffie_hellman_parameters/parameters.c
index 952511f..702b8c9 100644
--- a/third_party/rawrtc/rawrtc/src/diffie_hellman_parameters/parameters.c
+++ b/third_party/rawrtc/rawrtc/src/diffie_hellman_parameters/parameters.c
@@ -25,7 +25,7 @@
   // optimized); just YOLO it. Note that this could probably be moved to
   // somewhere where the cost could be incurred at startup instead of
   // on connection (or even cached at build-time).
-#ifndef AOS_ARCHITECTURE_arm_frc
+#if !defined(AOS_ARCHITECTURE_arm_frc) && !defined(RAWRTC_SKIP_DH_CHECK)
     int codes;
 
     // Check that the parameters are "likely enough to be valid"
diff --git a/y2020/vision/sift/BUILD b/y2020/vision/sift/BUILD
index c6afc98..feecb62 100644
--- a/y2020/vision/sift/BUILD
+++ b/y2020/vision/sift/BUILD
@@ -32,7 +32,7 @@
         "fast_gaussian_generator.cc",
         "get_gaussian_kernel.h",
         "@amd64_debian_sysroot//:sysroot_files",
-        "@deb_zlib1g_dev_1_2_11_dfsg_1_amd64_deb_repo//file",
+        "@deb_zlib1g_dev_1_2_11_dfsg_2_amd64_deb_repo//file",
         "@halide_k8//:build_files",
         "@llvm_toolchain//:all-components-x86_64-linux",
     ],
diff --git a/y2020/vision/sift/fast_gaussian_halide_generator.sh b/y2020/vision/sift/fast_gaussian_halide_generator.sh
index a90f218..cec9995 100755
--- a/y2020/vision/sift/fast_gaussian_halide_generator.sh
+++ b/y2020/vision/sift/fast_gaussian_halide_generator.sh
@@ -25,7 +25,7 @@
 SOURCE="$(rlocation org_frc971/y2020/vision/sift/fast_gaussian_generator.cc)"
 HALIDE="$(rlocation halide_k8)"
 SYSROOT="$(rlocation amd64_debian_sysroot)"
-ZLIB1G_DEV_AMD64_DEB="$(rlocation deb_zlib1g_dev_1_2_11_dfsg_1_amd64_deb_repo/file/zlib1g-dev_1.2.11.dfsg-1_amd64.deb)"
+ZLIB1G_DEV_AMD64_DEB="$(rlocation deb_zlib1g_dev_1_2_11_dfsg_2_amd64_deb_repo/file/zlib1g-dev_1.2.11.dfsg-2_amd64.deb)"
 
 ZLIB1G_DEV="$(mktemp -d)"
 
diff --git a/y2022/BUILD b/y2022/BUILD
index 83438ec..9e80b5f 100644
--- a/y2022/BUILD
+++ b/y2022/BUILD
@@ -10,6 +10,7 @@
     ],
     data = [
         ":aos_config",
+        ":message_bridge_client.sh",
         "@ctre_phoenix_api_cpp_athena//:shared_libraries",
         "@ctre_phoenix_cci_athena//:shared_libraries",
     ],
diff --git a/y2022/actors/autonomous_actor.cc b/y2022/actors/autonomous_actor.cc
index 8bfb2d9..ecc2a98 100644
--- a/y2022/actors/autonomous_actor.cc
+++ b/y2022/actors/autonomous_actor.cc
@@ -13,7 +13,7 @@
 #include "y2022/control_loops/drivetrain/drivetrain_base.h"
 
 DEFINE_bool(spline_auto, false, "If true, define a spline autonomous mode");
-DEFINE_bool(rapid_react, false,
+DEFINE_bool(rapid_react, true,
             "If true, run the main rapid react autonomous mode");
 
 namespace y2022 {
@@ -21,7 +21,7 @@
 namespace {
 constexpr double kExtendIntakeGoal = -0.02;
 constexpr double kRetractIntakeGoal = 1.47;
-constexpr double kIntakeRollerVoltage = 8.0;
+constexpr double kIntakeRollerVoltage = 12.0;
 constexpr double kRollerVoltage = 12.0;
 constexpr double kCatapultReturnPosition = -0.908;
 }  // namespace
@@ -209,15 +209,20 @@
   if (!WaitForPreloaded()) return;
 
   // Fire preloaded ball
-  set_turret_goal(constants::Values::kTurretFrontIntakePos());
+  set_turret_goal(constants::Values::kTurretBackIntakePos());
   set_fire_at_will(true);
   SendSuperstructureGoal();
   if (!WaitForBallsShot()) return;
+  LOG(INFO) << "Shot first ball "
+            << chrono::duration<double>(aos::monotonic_clock::now() -
+                                        start_time)
+                   .count()
+            << 's';
   set_fire_at_will(false);
   SendSuperstructureGoal();
 
   // Drive and intake the 2 balls in nearest to the starting zonei
-  set_turret_goal(constants::Values::kTurretBackIntakePos());
+  set_turret_goal(constants::Values::kTurretFrontIntakePos());
   ExtendBackIntake();
   if (!splines[0].WaitForPlan()) return;
   splines[0].Start();
@@ -228,6 +233,11 @@
   set_fire_at_will(true);
   SendSuperstructureGoal();
   if (!WaitForBallsShot()) return;
+  LOG(INFO) << "Shot first 3 balls "
+            << chrono::duration<double>(aos::monotonic_clock::now() -
+                                        start_time)
+                   .count()
+            << 's';
   set_fire_at_will(false);
   SendSuperstructureGoal();
 
@@ -238,6 +248,11 @@
   if (!splines[1].WaitForPlan()) return;
   splines[1].Start();
   if (!splines[1].WaitForSplineDistanceRemaining(0.02)) return;
+  LOG(INFO) << "At balls 4/5 "
+            << chrono::duration<double>(aos::monotonic_clock::now() -
+                                        start_time)
+                   .count()
+            << 's';
 
   // Drive to the shooting position
   if (!splines[2].WaitForPlan()) return;
@@ -246,6 +261,11 @@
   RetractFrontIntake();
 
   if (!splines[2].WaitForSplineDistanceRemaining(0.02)) return;
+  LOG(INFO) << "Shooting last balls "
+            << chrono::duration<double>(aos::monotonic_clock::now() -
+                                        start_time)
+                   .count()
+            << 's';
 
   // Fire the two balls once we stopped
   set_fire_at_will(true);
@@ -325,7 +345,7 @@
 
   superstructure_builder.add_intake_front(intake_front_offset);
   superstructure_builder.add_intake_back(intake_back_offset);
-  superstructure_builder.add_roller_speed_compensation(1.5);
+  superstructure_builder.add_roller_speed_compensation(0.0);
   superstructure_builder.add_roller_speed_front(roller_front_voltage_);
   superstructure_builder.add_roller_speed_back(roller_back_voltage_);
   if (requested_intake_.has_value()) {
@@ -339,7 +359,7 @@
   superstructure_builder.add_catapult(catapult_goal_offset);
   superstructure_builder.add_fire(fire_);
   superstructure_builder.add_preloaded(preloaded_);
-  superstructure_builder.add_auto_aim(false);
+  superstructure_builder.add_auto_aim(true);
 
   if (builder.Send(superstructure_builder.Finish()) !=
       aos::RawSender::Error::kOk) {
@@ -384,7 +404,8 @@
 }
 
 [[nodiscard]] bool AutonomousActor::WaitForBallsShot() {
-  CHECK(superstructure_status_fetcher_.Fetch());
+  superstructure_status_fetcher_.Fetch();
+  CHECK(superstructure_status_fetcher_.get());
 
   // Don't do anything if we aren't loaded
   if (superstructure_status_fetcher_->state() !=
diff --git a/y2022/actors/splines/spline_5_ball_1.json b/y2022/actors/splines/spline_5_ball_1.json
index 03b5644..da3e4cf 100644
--- a/y2022/actors/splines/spline_5_ball_1.json
+++ b/y2022/actors/splines/spline_5_ball_1.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [-0.18145693702491972, -0.20576409082414582, 0.49914336935341463, 5.522928566665585, 2.880988556589501, 1.845502911614626], "spline_y": [2.346189480782648, 3.695236516639704, 4.837672745203337, 2.7973591802504263, 2.3618745632049176, 1.471550457245212], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.0}, {"constraint_type": "VOLTAGE", "value": 10.0}]}
\ No newline at end of file
+{"spline_count": 1, "spline_x": [-0.18145693702491972, -0.1806686149879133, -0.05595918014581436, 5.762204620882601, 2.7805678460726355, 1.6146169804687496], "spline_y": [2.346189480782648, 3.6925675615333544, 4.41262134323365, 2.4753395126953124, 2.2341888067461992, 1.3005395681218328], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.5}, {"constraint_type": "VOLTAGE", "value": 12.0}, {"constraint_type": "VELOCITY", "value": 0.8, "start_distance": 1.0, "end_distance": 1.15}]}
\ No newline at end of file
diff --git a/y2022/actors/splines/spline_5_ball_2.json b/y2022/actors/splines/spline_5_ball_2.json
index 975d6ed..3efd1ee 100644
--- a/y2022/actors/splines/spline_5_ball_2.json
+++ b/y2022/actors/splines/spline_5_ball_2.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [1.845502911614626, 2.4171345421461163, 3.004385177342393, 5.2666273627598565, 5.91167736359207, 6.7133296469650885], "spline_y": [1.471550457245212, 2.0368843425108123, 1.4829129663110887, 1.7324754229926884, 1.9201953550863622, 2.6087941113170316], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2}, {"constraint_type": "VOLTAGE", "value": 10}]}
+{"spline_count": 1, "spline_x": [1.6037446032516893, 2.2055167265625, 2.8212725389450344, 6.148134261553881, 5.92062789622044, 6.7046250148859805], "spline_y": [1.2861465107685808, 1.7993420469805743, 1.286805497714088, 2.0935212995201415, 1.9849658141364017, 2.755576908889358], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 3.0}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
diff --git a/y2022/actors/splines/spline_5_ball_3.json b/y2022/actors/splines/spline_5_ball_3.json
index e9e1a41..6b239fc 100644
--- a/y2022/actors/splines/spline_5_ball_3.json
+++ b/y2022/actors/splines/spline_5_ball_3.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [6.7133296469650885, 6.343336285408311, 5.737641975476239, 3.4208648418667504, 2.51547308321015, 1.841750386467515], "spline_y": [2.6087941113170316, 2.2490783431368313, 1.931858867758041, 1.9600940870614552, 2.031396541720077, 1.4679812465169668], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2}, {"constraint_type": "VOLTAGE", "value": 10}]}
+{"spline_count": 1, "spline_x": [6.702231375950168, 6.373881457031249, 5.758688966174009, 3.1788453508620487, 2.273453592205448, 1.6114305300886826], "spline_y": [2.7438724869219806, 2.4293757261929896, 2.0768880836927197, 1.7809922274871859, 1.852294682145808, 1.2821724076488596], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 4.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 3}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
diff --git a/y2022/constants.cc b/y2022/constants.cc
index 0b4a591..fb2c602 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -70,7 +70,7 @@
   turret_params->zeroing_voltage = 4.0;
   turret_params->operating_voltage = 12.0;
   turret_params->zeroing_profile_params = {0.5, 2.0};
-  turret_params->default_profile_params = {15.0, 40.0};
+  turret_params->default_profile_params = {15.0, 20.0};
   turret_params->range = Values::kTurretRange();
   turret_params->make_integral_loop =
       control_loops::superstructure::turret::MakeIntegralTurretLoop;
@@ -132,8 +132,8 @@
 
   // Interpolation table for comp and practice robots
   r.shot_interpolation_table = InterpolationTable<Values::ShotParams>({
-      {2, {0.08, 8.0}},
-      {5, {0.6, 10.0}},
+      {1, {0.03, 18.0}},
+      {10, {0.03, 18.0}},
   });
 
   switch (team) {
@@ -162,20 +162,22 @@
       break;
 
     case kCompTeamNumber:
-      climber->potentiometer_offset = -0.0463847608752;
+      climber->potentiometer_offset = -0.0463847608752 - 0.0376876182111;
 
-      intake_front->potentiometer_offset = 2.79628370453323;
+      intake_front->potentiometer_offset =
+          2.79628370453323 - 0.0250288114832881;
       intake_front->subsystem_params.zeroing_constants
-          .measured_absolute_position = 0.248921954833972;
+          .measured_absolute_position = 0.274930238824366;
 
       intake_back->potentiometer_offset = 3.1409576474047;
       intake_back->subsystem_params.zeroing_constants
           .measured_absolute_position = 0.280099007470002;
 
       turret->potentiometer_offset = -9.99970387166721 + 0.06415943 +
-                                     0.073290115367682 - 0.0634440443622909;
+                                     0.073290115367682 - 0.0634440443622909 +
+                                     0.213601224728352 + 0.0657973101027296;
       turret->subsystem_params.zeroing_constants.measured_absolute_position =
-          0.568649928102931;
+          0.27787064956636;
 
       flipper_arm_left->potentiometer_offset = -6.4;
       flipper_arm_right->potentiometer_offset = 5.56;
diff --git a/y2022/constants.h b/y2022/constants.h
index 35ca0ae..610ddc0 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -114,13 +114,13 @@
   static constexpr ::frc971::constants::Range kTurretRange() {
     return ::frc971::constants::Range{
         .lower_hard = -7.0,  // Back Hard
-        .upper_hard = 4.0,   // Front Hard
+        .upper_hard = 3.0,   // Front Hard
         .lower = -6.5,       // Back Soft
-        .upper = 3.25        // Front Soft
+        .upper = 2.5         // Front Soft
     };
   }
 
-  static constexpr double kTurretBackIntakePos() { return M_PI; }
+  static constexpr double kTurretBackIntakePos() { return -M_PI; }
   static constexpr double kTurretFrontIntakePos() { return 0; }
 
   static constexpr double kTurretPotRatio() { return 27.0 / 110.0; }
diff --git a/y2022/control_loops/python/catapult.py b/y2022/control_loops/python/catapult.py
index 2d0588a..9e9adf7 100755
--- a/y2022/control_loops/python/catapult.py
+++ b/y2022/control_loops/python/catapult.py
@@ -41,7 +41,7 @@
 J_cup = M_cup * lever**2.0 + M_cup * (ball_diameter / 2.)**2.0
 
 
-J = (0.6 * J_ball + J_bar + J_cup * 0.0)
+J = (0.0 * J_ball + J_bar + J_cup * 0.0)
 JEmpty = (J_bar + J_cup * 0.0)
 
 kCatapultWithBall = catapult_lib.CatapultParams(
diff --git a/y2022/control_loops/superstructure/catapult_plotter.ts b/y2022/control_loops/superstructure/catapult_plotter.ts
index 6c66340..5736426 100644
--- a/y2022/control_loops/superstructure/catapult_plotter.ts
+++ b/y2022/control_loops/superstructure/catapult_plotter.ts
@@ -14,6 +14,7 @@
   const goal = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Goal');
   const output = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Output');
   const status = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Status');
+  const position = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Position');
   const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
 
   // Robot Enabled/Disabled and Mode
@@ -34,6 +35,7 @@
   positionPlot.addMessageLine(status, ['catapult', 'position']).setColor(GREEN).setPointSize(4.0);
   positionPlot.addMessageLine(status, ['catapult', 'velocity']).setColor(PINK).setPointSize(1.0);
   positionPlot.addMessageLine(status, ['catapult', 'calculated_velocity']).setColor(BROWN).setPointSize(1.0);
+  positionPlot.addMessageLine(position, ['catapult', 'pot']).setColor(WHITE).setPointSize(1.0);
   positionPlot.addMessageLine(status, ['catapult', 'estimator_state', 'position']).setColor(CYAN).setPointSize(1.0);
 
   const voltagePlot =
diff --git a/y2022/control_loops/superstructure/led_indicator.cc b/y2022/control_loops/superstructure/led_indicator.cc
index 54b0b00..3fed503 100644
--- a/y2022/control_loops/superstructure/led_indicator.cc
+++ b/y2022/control_loops/superstructure/led_indicator.cc
@@ -36,7 +36,8 @@
 bool DisconnectedPiServer(
     const aos::message_bridge::ServerStatistics &server_stats) {
   for (const auto *pi_server_status : *server_stats.connections()) {
-    if (pi_server_status->state() == aos::message_bridge::State::DISCONNECTED) {
+    if (pi_server_status->state() == aos::message_bridge::State::DISCONNECTED &&
+        pi_server_status->node()->name()->string_view() != "logger") {
       return true;
     }
   }
@@ -46,7 +47,8 @@
 bool DisconnectedPiClient(
     const aos::message_bridge::ClientStatistics &client_stats) {
   for (const auto *pi_client_status : *client_stats.connections()) {
-    if (pi_client_status->state() == aos::message_bridge::State::DISCONNECTED) {
+    if (pi_client_status->state() == aos::message_bridge::State::DISCONNECTED &&
+        pi_client_status->node()->name()->string_view() != "logger") {
       return true;
     }
   }
diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index 6daea37..5dbe7e7 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -257,11 +257,12 @@
       }
       // When IDLE with no specific intake button pressed, allow the goal
       // message to override the intaking stuff.
-      if (have_active_intake_request || turret_goal == nullptr) {
+      if (have_active_intake_request || (turret_goal == nullptr)) {
         turret_goal = &turret_loading_goal_buffer.message();
       }
 
       if (!front_intake_has_ball_ && !back_intake_has_ball_) {
+        last_shot_angle_ = std::nullopt;
         break;
       }
 
@@ -330,6 +331,13 @@
     }
     case SuperstructureState::LOADED: {
       if (unsafe_goal != nullptr) {
+        if (turret_goal == nullptr) {
+          if (last_shot_angle_) {
+            turret_loading_goal_buffer.mutable_message()->mutate_unsafe_goal(
+                *last_shot_angle_);
+          }
+          turret_goal = &turret_loading_goal_buffer.message();
+        }
         if (unsafe_goal->cancel_shot()) {
           // Cancel the shot process
           state_ = SuperstructureState::IDLE;
@@ -345,6 +353,21 @@
       break;
     }
     case SuperstructureState::SHOOTING: {
+      if (turret_goal == nullptr) {
+        if (last_shot_angle_) {
+          turret_loading_goal_buffer.mutable_message()->mutate_unsafe_goal(
+              *last_shot_angle_);
+        }
+        turret_goal = &turret_loading_goal_buffer.message();
+        last_shot_angle_ = turret_goal->unsafe_goal();
+      } else {
+        last_shot_angle_ = std::nullopt;
+      }
+      const bool turret_near_goal =
+          turret_goal != nullptr &&
+          std::abs(turret_goal->unsafe_goal() - turret_.position()) <
+              kTurretGoalThreshold;
+
       // Don't open the flippers until the turret's ready: give them as little
       // time to get bumped as possible.
       if (!turret_near_goal || collided) {
@@ -386,11 +409,6 @@
         reseating_in_catapult_ = true;
         break;
       }
-      // If we started firing and the flippers closed a bit, estop to prevent
-      // damage
-      if (fire_ && !flippers_open_) {
-        catapult_.Estop();
-      }
 
       // If the turret reached the aiming goal and the catapult is safe to move
       // up, fire!
diff --git a/y2022/control_loops/superstructure/superstructure.h b/y2022/control_loops/superstructure/superstructure.h
index 11cd38f..14fa8ab 100644
--- a/y2022/control_loops/superstructure/superstructure.h
+++ b/y2022/control_loops/superstructure/superstructure.h
@@ -94,6 +94,7 @@
   SuperstructureState state_ = SuperstructureState::IDLE;
   bool front_intake_has_ball_ = false;
   bool back_intake_has_ball_ = false;
+  std::optional<double> last_shot_angle_ = std::nullopt;
   RequestedIntake turret_intake_state_ = RequestedIntake::kFront;
 
   DISALLOW_COPY_AND_ASSIGN(Superstructure);
diff --git a/y2022/control_loops/superstructure/superstructure_lib_test.cc b/y2022/control_loops/superstructure/superstructure_lib_test.cc
index 6c19052..9288da1 100644
--- a/y2022/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022/control_loops/superstructure/superstructure_lib_test.cc
@@ -755,7 +755,7 @@
 
   SendRobotVelocity(3.0);
 
-  constexpr double kTurretGoal = 3.0;
+  constexpr double kTurretGoal = 2.0;
   {
     auto builder = superstructure_goal_sender_.MakeBuilder();
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
@@ -1015,7 +1015,7 @@
   SetEnabled(true);
   WaitUntilZeroed();
 
-  constexpr double kTurretGoal = -4.0;
+  constexpr double kTurretGoal = -6.0;
   {
     auto builder = superstructure_goal_sender_.MakeBuilder();
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
@@ -1033,20 +1033,20 @@
   EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(), kTurretGoal,
               0.001);
 
-  superstructure_plant_.set_intake_beambreak_back(true);
+  superstructure_plant_.set_intake_beambreak_front(true);
   RunFor(dt() * 2);
 
   ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
   EXPECT_EQ(superstructure_status_fetcher_->state(),
             SuperstructureState::TRANSFERRING);
   EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
-            IntakeState::INTAKE_BACK_BALL);
+            IntakeState::INTAKE_FRONT_BALL);
 
   RunFor(std::chrono::seconds(3));
 
   ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
   EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(),
-              -constants::Values::kTurretBackIntakePos(), 0.001);
+              -constants::Values::kTurretFrontIntakePos() - 2.0 * M_PI, 0.001);
   // it chooses -pi because -pi is closer to -4 than positive pi
 }
 
diff --git a/y2022/control_loops/superstructure/turret/aiming.cc b/y2022/control_loops/superstructure/turret/aiming.cc
index e1d24f8..643adbc 100644
--- a/y2022/control_loops/superstructure/turret/aiming.cc
+++ b/y2022/control_loops/superstructure/turret/aiming.cc
@@ -15,7 +15,7 @@
 namespace {
 // Average speed-over-ground of the ball on its way to the target. Our current
 // model assumes constant ball velocity regardless of shot distance.
-constexpr double kBallSpeedOverGround = 12.0;  // m/s
+constexpr double kBallSpeedOverGround = 2.0;  // m/s
 
 // If the turret is at zero, then it will be at this angle at which the shot
 // will leave the robot. I.e., if the turret is at zero, then the shot will go
diff --git a/y2022/joystick_reader.cc b/y2022/joystick_reader.cc
index 653e1c1..fe52db7 100644
--- a/y2022/joystick_reader.cc
+++ b/y2022/joystick_reader.cc
@@ -55,7 +55,7 @@
 const ButtonLocation kCatapultPos(4, 3);
 const ButtonLocation kFire(4, 1);
 const ButtonLocation kTurret(4, 15);
-const ButtonLocation kAutoAim(4, 2);
+const ButtonLocation kAutoAim(4, 16);
 
 const ButtonLocation kClimberExtend(4, 6);
 const ButtonLocation kClimberIntakes(4, 5);
@@ -173,7 +173,7 @@
     double roller_front_speed = 0.0;
     double roller_back_speed = 0.0;
 
-    std::optional<double> turret_pos = 0.0;
+    std::optional<double> turret_pos = std::nullopt;
 
     double climber_position = 0.01;
 
@@ -261,7 +261,6 @@
     if (data.IsPressed(kFire)) {
       fire = true;
       // Provide a default turret goal.
-      turret_pos = 0.0;
     }
 
     if (data.IsPressed(kClimberIntakes)) {
diff --git a/y2022/localizer/localizer.cc b/y2022/localizer/localizer.cc
index 24df19b..954bffc 100644
--- a/y2022/localizer/localizer.cc
+++ b/y2022/localizer/localizer.cc
@@ -258,16 +258,15 @@
   state->model_state += K * (Z - H * state->model_state);
 }
 
-void ModelBasedLocalizer::HandleImu(aos::monotonic_clock::time_point t,
-                                    const Eigen::Vector3d &gyro,
-                                    const Eigen::Vector3d &accel,
-                                    const Eigen::Vector2d encoders,
-                                    const Eigen::Vector2d voltage) {
+void ModelBasedLocalizer::HandleImu(
+    aos::monotonic_clock::time_point t, const Eigen::Vector3d &gyro,
+    const Eigen::Vector3d &accel, const std::optional<Eigen::Vector2d> encoders,
+    const Eigen::Vector2d voltage) {
   VLOG(2) << t;
   if (t_ == aos::monotonic_clock::min_time) {
     t_ = t;
   }
-  if (t_ + 2 * kNominalDt < t) {
+  if (t_ + 10 * kNominalDt < t) {
     t_ = t;
     ++clock_resets_;
   }
@@ -323,13 +322,17 @@
     R.diagonal() << 1e-9, 1e-9, 1e-13;
   }
 
-  const Eigen::Matrix<double, kNModelOutputs, 1> Z(encoders(0), encoders(1),
-                                                   yaw_rate);
+  const Eigen::Matrix<double, kNModelOutputs, 1> Z =
+      encoders.has_value()
+          ? Eigen::Vector3d(encoders.value()(0), encoders.value()(1), yaw_rate)
+          : Eigen::Vector3d(current_state_.model_state(kLeftEncoder),
+                            current_state_.model_state(kRightEncoder),
+                            yaw_rate);
 
   if (branches_.empty()) {
     VLOG(2) << "Initializing";
-    current_state_.model_state(kLeftEncoder) = encoders(0);
-    current_state_.model_state(kRightEncoder) = encoders(1);
+    current_state_.model_state(kLeftEncoder) = Z(0);
+    current_state_.model_state(kRightEncoder) = Z(1);
     current_state_.branch_time = t;
     branches_.Push(current_state_);
   }
@@ -389,7 +392,7 @@
       current_state_.accel_state = branches_[0].accel_state;
       current_state_.model_state = branches_[0].model_state;
       current_state_.model_state = ModelStateForAccelState(
-          current_state_.accel_state, encoders, yaw_rate);
+          current_state_.accel_state, Z.topRows<2>(), yaw_rate);
     } else {
       VLOG(2) << "Normal branching";
       current_state_.accel_state =
@@ -407,14 +410,15 @@
       using_model_ = true;
       // Grab the model-based state from back when we stopped diverging.
       current_state_.model_state.topRows<kShareStates>() =
-          ModelStateForAccelState(branches_[0].accel_state, encoders, yaw_rate)
+          ModelStateForAccelState(branches_[0].accel_state, Z.topRows<2>(),
+                                  yaw_rate)
               .topRows<kShareStates>();
       current_state_.accel_state =
           AccelStateForModelState(current_state_.model_state);
     } else {
       // TODO(james): Why was I leaving the encoders/wheel velocities in place?
       current_state_.model_state = ModelStateForAccelState(
-          current_state_.accel_state, encoders, yaw_rate);
+          current_state_.accel_state, Z.topRows<2>(), yaw_rate);
       current_state_.branch_time = t;
     }
   }
@@ -449,7 +453,7 @@
   VLOG(2) << "Input acce " << accel.transpose();
   VLOG(2) << "Input gyro " << gyro.transpose();
   VLOG(2) << "Input voltage " << voltage.transpose();
-  VLOG(2) << "Input encoder " << encoders.transpose();
+  VLOG(2) << "Input encoder " << Z.topRows<2>().transpose();
   VLOG(2) << "yaw rate " << yaw_rate;
 
   CHECK(std::isfinite(last_residual_));
@@ -638,7 +642,7 @@
   H_model(1, kY) = 1.0;
   H_accel(0, kX) = 1.0;
   H_accel(1, kY) = 1.0;
-  R.diagonal() << 1e-2, 1e-2;
+  R.diagonal() << 1e-0, 1e-0;
 
   const Eigen::Matrix<double, kNModelStates, 2> K_model =
       P_model_ * H_model.transpose() *
@@ -966,12 +970,51 @@
         output_fetcher_.Fetch();
         for (const IMUValues *value : *values.readings()) {
           zeroer_.InsertAndProcessMeasurement(*value);
-          const Eigen::Vector2d encoders{
-              left_encoder_.Unwrap(value->left_encoder()),
-              right_encoder_.Unwrap(value->right_encoder())};
+          if (zeroer_.Faulted()) {
+            if (value->checksum_failed()) {
+              imu_fault_tracker_.pico_to_pi_checksum_mismatch++;
+            } else if (value->previous_reading_diag_stat()->checksum_mismatch()) {
+              imu_fault_tracker_.imu_to_pico_checksum_mismatch++;
+            } else {
+              imu_fault_tracker_.other_zeroing_faults++;
+            }
+          } else {
+            if (!first_valid_data_counter_.has_value()) {
+              first_valid_data_counter_ = value->data_counter();
+            }
+          }
+          if (first_valid_data_counter_.has_value()) {
+            total_imu_messages_received_++;
+            // Only update when we have good checksums, since the data counter
+            // could get corrupted.
+            if (!zeroer_.Faulted()) {
+              if (value->data_counter() < last_data_counter_) {
+                data_counter_offset_ += 1 << 16;
+              }
+              imu_fault_tracker_.missed_messages =
+                  (1 + value->data_counter() + data_counter_offset_ -
+                   first_valid_data_counter_.value()) -
+                  total_imu_messages_received_;
+              last_data_counter_ = value->data_counter();
+            }
+          }
+          const std::optional<Eigen::Vector2d> encoders =
+              zeroer_.Faulted()
+                  ? std::nullopt
+                  : std::make_optional(Eigen::Vector2d{
+                        left_encoder_.Unwrap(value->left_encoder()),
+                        right_encoder_.Unwrap(value->right_encoder())});
           {
-            const aos::monotonic_clock::time_point pico_timestamp{
-                std::chrono::microseconds(value->pico_timestamp_us())};
+            // If we can't trust the imu reading, just naively increment the
+            // pico timestamp.
+            const aos::monotonic_clock::time_point pico_timestamp =
+                zeroer_.Faulted()
+                    ? (last_pico_timestamp_.has_value()
+                           ? last_pico_timestamp_.value() + kNominalDt
+                           : aos::monotonic_clock::epoch())
+                    : aos::monotonic_clock::time_point(
+                          std::chrono::microseconds(
+                              value->pico_timestamp_us()));
             // TODO(james): If we get large enough drift off of the pico,
             // actually do something about it.
             if (!pico_offset_.has_value()) {
@@ -992,9 +1035,11 @@
                      std::chrono::milliseconds(10) <
                  event_loop_->context().monotonic_event_time);
             const bool zeroed = zeroer_.Zeroed();
+            // For gyros, use the most recent gyro reading if we aren't zeroed,
+            // to avoid missing integration cycles.
             model_based_.HandleImu(
                 sample_timestamp,
-                zeroed ? zeroer_.ZeroedGyro().value() : Eigen::Vector3d::Zero(),
+                zeroed ? zeroer_.ZeroedGyro().value() : last_gyro_,
                 zeroed ? zeroer_.ZeroedAccel().value()
                        : dt_config_.imu_transform.transpose() *
                              Eigen::Vector3d::UnitZ(),
@@ -1003,6 +1048,10 @@
                          : Eigen::Vector2d{output_fetcher_->left_voltage(),
                                            output_fetcher_->right_voltage()});
             last_pico_timestamp_ = pico_timestamp;
+
+            if (zeroed) {
+              last_gyro_ = zeroer_.ZeroedGyro().value();
+            }
           }
           {
             auto builder = status_sender_.MakeBuilder();
@@ -1010,14 +1059,19 @@
                 model_based_.PopulateStatus(builder.fbb());
             const flatbuffers::Offset<control_loops::drivetrain::ImuZeroerState>
                 zeroer_status = zeroer_.PopulateStatus(builder.fbb());
+            const flatbuffers::Offset<ImuFailures> imu_failures =
+                ImuFailures::Pack(*builder.fbb(), &imu_fault_tracker_);
             LocalizerStatus::Builder status_builder =
                 builder.MakeBuilder<LocalizerStatus>();
             status_builder.add_model_based(model_based_status);
             status_builder.add_zeroed(zeroer_.Zeroed());
             status_builder.add_faulted_zero(zeroer_.Faulted());
             status_builder.add_zeroing(zeroer_status);
-            status_builder.add_left_encoder(encoders(0));
-            status_builder.add_right_encoder(encoders(1));
+            status_builder.add_imu_failures(imu_failures);
+            if (encoders.has_value()) {
+              status_builder.add_left_encoder(encoders.value()(0));
+              status_builder.add_right_encoder(encoders.value()(1));
+            }
             if (pico_offset_.has_value()) {
               status_builder.add_pico_offset_ns(pico_offset_.value().count());
               status_builder.add_pico_offset_error_ns(
diff --git a/y2022/localizer/localizer.h b/y2022/localizer/localizer.h
index be14b45..f8205d7 100644
--- a/y2022/localizer/localizer.h
+++ b/y2022/localizer/localizer.h
@@ -110,7 +110,8 @@
       const control_loops::drivetrain::DrivetrainConfig<double> &dt_config);
   void HandleImu(aos::monotonic_clock::time_point t,
                  const Eigen::Vector3d &gyro, const Eigen::Vector3d &accel,
-                 const Eigen::Vector2d encoders, const Eigen::Vector2d voltage);
+                 const std::optional<Eigen::Vector2d> encoders,
+                 const Eigen::Vector2d voltage);
   void HandleTurret(aos::monotonic_clock::time_point sample_time,
                     double turret_position, double turret_velocity);
   void HandleImageMatch(aos::monotonic_clock::time_point sample_time,
@@ -344,6 +345,14 @@
   // Note that this can drift over sufficiently long time periods!
   std::optional<std::chrono::nanoseconds> pico_offset_;
 
+  ImuFailuresT imu_fault_tracker_;
+  std::optional<size_t> first_valid_data_counter_;
+  size_t total_imu_messages_received_ = 0;
+  size_t data_counter_offset_ = 0;
+  int last_data_counter_ = 0;
+
+  Eigen::Vector3d last_gyro_ = Eigen::Vector3d::Zero();
+
   zeroing::UnwrapSensor left_encoder_;
   zeroing::UnwrapSensor right_encoder_;
 };
diff --git a/y2022/localizer/localizer_plotter.ts b/y2022/localizer/localizer_plotter.ts
index 239d2cb..bcd8894 100644
--- a/y2022/localizer/localizer_plotter.ts
+++ b/y2022/localizer/localizer_plotter.ts
@@ -268,10 +268,34 @@
 
   const timingPlot =
       aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
-  timingPlot.plot.getAxisLabels().setTitle('Timing');
+  timingPlot.plot.getAxisLabels().setTitle('Fault Counting');
   timingPlot.plot.getAxisLabels().setXLabel(TIME);
 
   timingPlot.addMessageLine(localizer, ['model_based', 'clock_resets'])
       .setColor(GREEN)
       .setDrawLine(false);
+
+  timingPlot
+      .addMessageLine(
+          localizer, ['imu_failures', 'imu_to_pico_checksum_mismatch'])
+      .setColor(BLUE)
+      .setDrawLine(false);
+
+  timingPlot
+      .addMessageLine(
+          localizer, ['imu_failures', 'pico_to_pi_checksum_mismatch'])
+      .setColor(RED)
+      .setDrawLine(false);
+
+  timingPlot
+      .addMessageLine(
+          localizer, ['imu_failures', 'other_zeroing_faults'])
+      .setColor(CYAN)
+      .setDrawLine(false);
+
+  timingPlot
+      .addMessageLine(
+          localizer, ['imu_failures', 'missed_messages'])
+      .setColor(PINK)
+      .setDrawLine(false);
 }
diff --git a/y2022/localizer/localizer_replay.cc b/y2022/localizer/localizer_replay.cc
index d328948..08479eb 100644
--- a/y2022/localizer/localizer_replay.cc
+++ b/y2022/localizer/localizer_replay.cc
@@ -59,6 +59,13 @@
   // open logfiles
   aos::logger::LogReader reader(logfiles, &config.message());
 
+  reader.RemapLoggedChannel("/localizer",
+                            "frc971.controls.LocalizerStatus");
+  reader.RemapLoggedChannel("/localizer",
+                            "frc971.controls.LocalizerOutput");
+  reader.RemapLoggedChannel("/localizer",
+                            "frc971.controls.LocalizerVisualization");
+
   auto factory =
       std::make_unique<aos::SimulatedEventLoopFactory>(reader.configuration());
 
diff --git a/y2022/localizer/localizer_status.fbs b/y2022/localizer/localizer_status.fbs
index ae96b63..05cfc73 100644
--- a/y2022/localizer/localizer_status.fbs
+++ b/y2022/localizer/localizer_status.fbs
@@ -92,6 +92,13 @@
   statistics:CumulativeStatistics (id: 18);
 }
 
+table ImuFailures {
+  imu_to_pico_checksum_mismatch:uint (id: 0);
+  pico_to_pi_checksum_mismatch:uint (id: 1);
+  missed_messages:uint (id: 2);
+  other_zeroing_faults:uint (id: 3);
+}
+
 table LocalizerStatus {
   model_based:ModelBasedStatus (id: 0);
   // Whether the IMU is zeroed or not.
@@ -110,6 +117,7 @@
   pico_offset_error_ns:int64 (id: 5);
   left_encoder:double (id: 6);
   right_encoder:double (id: 7);
+  imu_failures:ImuFailures (id: 8);
 }
 
 root_type LocalizerStatus;
diff --git a/y2022/localizer/localizer_test.cc b/y2022/localizer/localizer_test.cc
index 6e9cd1e..ef14972 100644
--- a/y2022/localizer/localizer_test.cc
+++ b/y2022/localizer/localizer_test.cc
@@ -784,7 +784,7 @@
   event_loop_factory_.RunFor(std::chrono::seconds(4));
   CHECK(status_fetcher_.Fetch());
   ASSERT_TRUE(status_fetcher_->model_based()->using_model());
-  EXPECT_TRUE(VerifyEstimatorAccurate(1e-1));
+  EXPECT_TRUE(VerifyEstimatorAccurate(5e-1));
   ASSERT_TRUE(status_fetcher_->model_based()->has_statistics());
   ASSERT_LT(10,
             status_fetcher_->model_based()->statistics()->total_candidates());
@@ -832,7 +832,7 @@
   event_loop_factory_.RunFor(std::chrono::seconds(4));
   CHECK(status_fetcher_.Fetch());
   ASSERT_TRUE(status_fetcher_->model_based()->using_model());
-  EXPECT_TRUE(VerifyEstimatorAccurate(1e-1));
+  EXPECT_TRUE(VerifyEstimatorAccurate(5e-1));
   ASSERT_TRUE(status_fetcher_->model_based()->has_statistics());
   ASSERT_EQ(status_fetcher_->model_based()->statistics()->total_candidates(),
             rejected_count +
diff --git a/y2022/message_bridge_client.sh b/y2022/message_bridge_client.sh
new file mode 100755
index 0000000..c81076a
--- /dev/null
+++ b/y2022/message_bridge_client.sh
@@ -0,0 +1,11 @@
+#!/bin/bash
+
+while true;
+do
+  ping -c 1 pi1 -W 1 && break;
+  sleep 1
+done
+
+echo Pinged
+
+exec /home/admin/bin/message_bridge_client "$@"
diff --git a/y2022/vision/BUILD b/y2022/vision/BUILD
index 389bb48..a26c507 100644
--- a/y2022/vision/BUILD
+++ b/y2022/vision/BUILD
@@ -273,8 +273,13 @@
         "//aos:init",
         "//aos/events:simulated_event_loop",
         "//aos/events/logging:log_reader",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops:profiled_subsystem_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+        "//frc971/input:joystick_state_fbs",
         "//frc971/vision:vision_fbs",
         "//third_party:opencv",
+        "//y2022/control_loops/superstructure:superstructure_status_fbs",
     ],
 )
 
diff --git a/y2022/vision/blob_detector.cc b/y2022/vision/blob_detector.cc
index efe7961..9800ace 100644
--- a/y2022/vision/blob_detector.cc
+++ b/y2022/vision/blob_detector.cc
@@ -11,15 +11,30 @@
 #include "opencv2/imgproc.hpp"
 #include "y2022/vision/geometry.h"
 
+DEFINE_bool(
+    use_outdoors, false,
+    "If set, use the color filters and exposure for an outdoor setting.");
 DEFINE_int32(red_delta, 50, "Required difference between green pixels vs. red");
 DEFINE_int32(blue_delta, -20,
              "Required difference between green pixels vs. blue");
+DEFINE_int32(outdoors_red_delta, 70,
+             "Required difference between green pixels vs. red when using "
+             "--use_outdoors");
+DEFINE_int32(outdoors_blue_delta, -10,
+             "Required difference between green pixels vs. blue when using "
+             "--use_outdoors");
 
 namespace y2022 {
 namespace vision {
 
 cv::Mat BlobDetector::ThresholdImage(cv::Mat bgr_image) {
   cv::Mat binarized_image(cv::Size(bgr_image.cols, bgr_image.rows), CV_8UC1);
+
+  const int red_delta =
+      (FLAGS_use_outdoors ? FLAGS_outdoors_red_delta : FLAGS_red_delta);
+  const int blue_delta =
+      (FLAGS_use_outdoors ? FLAGS_outdoors_blue_delta : FLAGS_blue_delta);
+
   for (int row = 0; row < bgr_image.rows; row++) {
     for (int col = 0; col < bgr_image.cols; col++) {
       cv::Vec3b pixel = bgr_image.at<cv::Vec3b>(row, col);
@@ -28,8 +43,7 @@
       int red = pixel.val[2];
       // Simple filter that looks for green pixels sufficiently brigher than
       // red and blue
-      if ((green > blue + FLAGS_blue_delta) &&
-          (green > red + FLAGS_red_delta)) {
+      if ((green > blue + blue_delta) && (green > red + red_delta)) {
         binarized_image.at<uint8_t>(row, col) = 255;
       } else {
         binarized_image.at<uint8_t>(row, col) = 0;
diff --git a/y2022/vision/camera_reader.cc b/y2022/vision/camera_reader.cc
index 2fd581a..92d3727 100644
--- a/y2022/vision/camera_reader.cc
+++ b/y2022/vision/camera_reader.cc
@@ -90,8 +90,12 @@
 }
 }  // namespace
 
-void CameraReader::ProcessImage(cv::Mat image_mat,
+void CameraReader::ProcessImage(cv::Mat image_mat_distorted,
                                 int64_t image_monotonic_timestamp_ns) {
+  cv::Mat image_mat;
+  cv::undistort(image_mat_distorted, image_mat, CameraIntrinsics(),
+                CameraDistCoeffs());
+
   BlobDetector::BlobResult blob_result;
   BlobDetector::ExtractBlobs(image_mat, &blob_result);
   auto builder = target_estimate_sender_.MakeBuilder();
diff --git a/y2022/vision/camera_reader.h b/y2022/vision/camera_reader.h
index a777bcc..6a00351 100644
--- a/y2022/vision/camera_reader.h
+++ b/y2022/vision/camera_reader.h
@@ -63,7 +63,8 @@
   const calibration::CameraCalibration *FindCameraCalibration() const;
 
   // Processes an image (including sending the results).
-  void ProcessImage(cv::Mat image, int64_t image_monotonic_timestamp_ns);
+  void ProcessImage(cv::Mat image_mat_distorted,
+                    int64_t image_monotonic_timestamp_ns);
 
   // Reads an image, and then performs all of our processing on it.
   void ReadImage();
@@ -96,6 +97,7 @@
     const cv::Mat result(5, 1, CV_32F,
                          const_cast<void *>(static_cast<const void *>(
                              camera_calibration_->dist_coeffs()->data())));
+    result.convertTo(result, CV_64F);
     CHECK_EQ(result.total(), camera_calibration_->dist_coeffs()->size());
     return result;
   }
diff --git a/y2022/vision/camera_reader_main.cc b/y2022/vision/camera_reader_main.cc
index dac2100..22794d3 100644
--- a/y2022/vision/camera_reader_main.cc
+++ b/y2022/vision/camera_reader_main.cc
@@ -5,10 +5,14 @@
 // config used to allow running camera_reader independently.  E.g.,
 // bazel run //y2022/vision:camera_reader -- --config y2022/aos_config.json
 //   --override_hostname pi-7971-1  --ignore_timestamps true
+DECLARE_bool(use_outdoors);
 DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
 DEFINE_double(duty_cycle, 0.6, "Duty cycle of the LEDs");
 DEFINE_uint32(exposure, 5,
               "Exposure time, in 100us increments; 0 implies auto exposure");
+DEFINE_uint32(outdoors_exposure, 2,
+              "Exposure time when using --use_outdoors, in 100us increments; 0 "
+              "implies auto exposure");
 
 namespace y2022 {
 namespace vision {
@@ -35,8 +39,10 @@
   }
 
   V4L2Reader v4l2_reader(&event_loop, "/dev/video0");
-  if (FLAGS_exposure > 0) {
-    v4l2_reader.SetExposure(FLAGS_exposure);
+  const uint32_t exposure =
+      (FLAGS_use_outdoors ? FLAGS_outdoors_exposure : FLAGS_exposure);
+  if (exposure > 0) {
+    v4l2_reader.SetExposure(exposure);
   }
 
   CameraReader camera_reader(&event_loop, &calibration_data.message(),
diff --git a/y2022/vision/geometry.h b/y2022/vision/geometry.h
index 31e8629..c27eb4d 100644
--- a/y2022/vision/geometry.h
+++ b/y2022/vision/geometry.h
@@ -1,3 +1,6 @@
+#ifndef Y2022_VISION_GEOMETRY_H_
+#define Y2022_VISION_GEOMETRY_H_
+
 #include "aos/util/math.h"
 #include "glog/logging.h"
 #include "opencv2/core/types.hpp"
@@ -129,3 +132,5 @@
 };
 
 }  // namespace y2022::vision
+
+#endif  // Y2022_VISION_GEOMETRY_H_
diff --git a/y2022/vision/target_estimator.cc b/y2022/vision/target_estimator.cc
index b495b23..ba399b7 100644
--- a/y2022/vision/target_estimator.cc
+++ b/y2022/vision/target_estimator.cc
@@ -187,12 +187,16 @@
                            &distance_, &angle_to_camera_, &camera_height_);
 
   // Compute the estimated rotation of the camera using the robot rotation.
-  const Eigen::Vector3d ypr_extrinsics =
-      (Eigen::Affine3d(extrinsics_).rotation() * kHubToCameraAxes)
-          .eulerAngles(2, 1, 0);
+  const Eigen::Matrix3d extrinsics_rot =
+      Eigen::Affine3d(extrinsics_).rotation() * kHubToCameraAxes;
+  // asin returns a pitch in [-pi/2, pi/2] so this will be the correct euler
+  // angles.
+  const double pitch_seed = -std::asin(extrinsics_rot(2, 0));
+  const double roll_seed =
+      std::atan2(extrinsics_rot(2, 1) / std::cos(pitch_seed),
+                 extrinsics_rot(2, 2) / std::cos(pitch_seed));
+
   // TODO(milind): seed with localizer output as well
-  const double roll_seed = ypr_extrinsics.z();
-  const double pitch_seed = ypr_extrinsics.y();
 
   // Constrain the rotation to be around the localizer's, otherwise there can be
   // multiple solutions. There shouldn't be too much roll or pitch
diff --git a/y2022/vision/viewer.cc b/y2022/vision/viewer.cc
index 82a5e45..38f3d71 100644
--- a/y2022/vision/viewer.cc
+++ b/y2022/vision/viewer.cc
@@ -1,3 +1,4 @@
+#include <algorithm>
 #include <map>
 #include <opencv2/calib3d.hpp>
 #include <opencv2/features2d.hpp>
@@ -29,6 +30,7 @@
 DEFINE_bool(show_features, true, "Show the blobs.");
 DEFINE_bool(display_estimation, false,
             "If true, display the target estimation graphically");
+DEFINE_bool(sort_by_time, true, "If true, sort the images by time");
 
 namespace y2022 {
 namespace vision {
@@ -175,11 +177,36 @@
   event_loop.Run();
 }
 
-// TODO(milind): delete this when viewer can accumulate local images and results
+size_t FindImageTimestamp(std::string_view filename) {
+  // Find the first number in the string
+  const auto timestamp_start = std::find_if(
+      filename.begin(), filename.end(), [](char c) { return std::isdigit(c); });
+  CHECK_NE(timestamp_start, filename.end())
+      << "Expected a number in image filename, got " << filename;
+  const auto timestamp_end =
+      std::find_if_not(timestamp_start + 1, filename.end(),
+                       [](char c) { return std::isdigit(c); });
+
+  return static_cast<size_t>(
+      std::atoi(filename
+                    .substr(timestamp_start - filename.begin(),
+                            timestamp_end - timestamp_start)
+                    .data()));
+}
+
 void ViewerLocal() {
   std::vector<cv::String> file_list;
   cv::glob(FLAGS_png_dir + "/*.png", file_list, false);
 
+  // Sort the images by timestamp
+  if (FLAGS_sort_by_time) {
+    std::sort(file_list.begin(), file_list.end(),
+              [](std::string_view filename_1, std::string_view filename_2) {
+                return (FindImageTimestamp(filename_1) <
+                        FindImageTimestamp(filename_2));
+              });
+  }
+
   const aos::FlatbufferSpan<calibration::CalibrationData> calibration_data(
       CalibrationData());
 
@@ -197,9 +224,10 @@
                      << FLAGS_calibration_node << "\" with team number "
                      << FLAGS_calibration_team_number;
 
-  auto intrinsics_float = cv::Mat(3, 3, CV_32F,
-                                  const_cast<void *>(static_cast<const void *>(
-                                      calibration->intrinsics()->data())));
+  const auto intrinsics_float = cv::Mat(
+      3, 3, CV_32F,
+      const_cast<void *>(
+          static_cast<const void *>(calibration->intrinsics()->data())));
   cv::Mat intrinsics;
   intrinsics_float.convertTo(intrinsics, CV_64F);
 
@@ -213,11 +241,21 @@
   cv::Mat extrinsics;
   extrinsics_float.convertTo(extrinsics, CV_64F);
 
+  const auto dist_coeffs_float = cv::Mat(
+      5, 1, CV_32F,
+      const_cast<void *>(
+          static_cast<const void *>(calibration->dist_coeffs()->data())));
+  cv::Mat dist_coeffs;
+  dist_coeffs_float.convertTo(dist_coeffs, CV_64F);
+
   TargetEstimator estimator(intrinsics, extrinsics);
 
   for (auto it = file_list.begin() + FLAGS_skip; it < file_list.end(); it++) {
     LOG(INFO) << "Reading file " << (it - file_list.begin()) << ": " << *it;
-    cv::Mat image_mat = cv::imread(it->c_str());
+    cv::Mat image_mat_distorted = cv::imread(it->c_str());
+    cv::Mat image_mat;
+    cv::undistort(image_mat_distorted, image_mat, intrinsics, dist_coeffs);
+
     BlobDetector::BlobResult blob_result;
     blob_result.binarized_image =
         cv::Mat::zeros(cv::Size(image_mat.cols, image_mat.rows), CV_8UC1);
@@ -244,8 +282,13 @@
     cv::imshow("mask", blob_result.binarized_image);
     cv::imshow("blobs", ret_image);
 
-    int keystroke = cv::waitKey(0);
-    if ((keystroke & 0xFF) == static_cast<int>('q')) {
+    constexpr size_t kWaitKeyDelay = 0;  // ms
+    int keystroke = cv::waitKey(kWaitKeyDelay) & 0xFF;
+    // Ignore alt key
+    while (keystroke == 233) {
+      keystroke = cv::waitKey(kWaitKeyDelay);
+    }
+    if (keystroke == static_cast<int>('q')) {
       return;
     }
   }
diff --git a/y2022/vision/viewer_replay.cc b/y2022/vision/viewer_replay.cc
index c1bf88b..b2d3464 100644
--- a/y2022/vision/viewer_replay.cc
+++ b/y2022/vision/viewer_replay.cc
@@ -1,14 +1,17 @@
 #include "aos/events/logging/log_reader.h"
 #include "aos/events/simulated_event_loop.h"
 #include "aos/init.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
+#include "frc971/input/joystick_state_generated.h"
 #include "frc971/vision/vision_generated.h"
 #include "opencv2/calib3d.hpp"
 #include "opencv2/features2d.hpp"
 #include "opencv2/highgui/highgui.hpp"
 #include "opencv2/imgproc.hpp"
+#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
 #include "y2022/vision/blob_detector.h"
 
-DEFINE_string(node, "pi1", "Node name to replay.");
+DEFINE_string(pi, "pi3", "Node name to replay.");
 DEFINE_string(image_save_prefix, "/tmp/img",
               "Prefix to use for saving images from the logfile.");
 DEFINE_bool(display, false, "If true, display the images with a timeout.");
@@ -16,29 +19,173 @@
             "If true, only write images which had blobs (unfiltered) detected");
 DEFINE_bool(filtered_only, false,
             "If true, only write images which had blobs (filtered) detected");
+DEFINE_bool(match_timestamps, false,
+            "If true, name the files based on the time since the robot was "
+            "enabled (match start). Only consider images during this time");
+DEFINE_string(logger_pi_log, "/tmp/logger_pi/", "Path to logger pi log");
+DEFINE_string(roborio_log, "/tmp/roborio/", "Path to roborio log");
 
 namespace y2022 {
 namespace vision {
 namespace {
 
-void ViewerMain(int argc, char *argv[]) {
+using aos::monotonic_clock;
+namespace superstructure = control_loops::superstructure;
+
+// Information to extract from the roborio log
+struct ReplayData {
+  monotonic_clock::time_point match_start;
+  monotonic_clock::time_point match_end;
+  std::map<monotonic_clock::time_point, bool> robot_moving;
+  std::map<monotonic_clock::time_point, superstructure::SuperstructureState>
+      superstructure_states;
+};
+
+// Extract the useful data from the roborio log to be used for naming images
+void ReplayRoborio(ReplayData *data) {
+  data->match_start = monotonic_clock::min_time;
+  data->match_end = monotonic_clock::min_time;
+
   std::vector<std::string> unsorted_logfiles =
-      aos::logger::FindLogs(argc, argv);
+      aos::logger::FindLogs(FLAGS_roborio_log);
+  // Open logfiles
+  aos::logger::LogReader reader(aos::logger::SortParts(unsorted_logfiles));
+  reader.Register();
+  const aos::Node *roborio =
+      aos::configuration::GetNode(reader.configuration(), "roborio");
+
+  std::unique_ptr<aos::EventLoop> event_loop =
+      reader.event_loop_factory()->MakeEventLoop("roborio", roborio);
+
+  auto joystick_state_fetcher =
+      event_loop->MakeFetcher<aos::JoystickState>("/roborio/aos");
+  auto drivetrain_status_fetcher =
+      event_loop->MakeFetcher<frc971::control_loops::drivetrain::Status>(
+          "/drivetrain");
+  auto superstructure_status_fetcher =
+      event_loop->MakeFetcher<superstructure::Status>("/superstructure");
+
+  // Periodically check if the robot state updated
+  event_loop->AddPhasedLoop(
+      [&](int) {
+        // Find the match start and end times
+        if (joystick_state_fetcher.Fetch()) {
+          if (data->match_start == monotonic_clock::min_time &&
+              joystick_state_fetcher->enabled()) {
+            data->match_start =
+                joystick_state_fetcher.context().monotonic_event_time;
+          } else {
+            if (data->match_end == monotonic_clock::min_time &&
+                data->match_start != monotonic_clock::min_time &&
+                !joystick_state_fetcher->autonomous() &&
+                !joystick_state_fetcher->enabled()) {
+              data->match_end =
+                  joystick_state_fetcher.context().monotonic_event_time;
+            }
+          }
+        }
+
+        // Add whether the robot was moving at a non-negligible speed to
+        // the image name for debugging.
+        drivetrain_status_fetcher.Fetch();
+        if (drivetrain_status_fetcher.get()) {
+          // If the robot speed was atleast this (m/s), it is
+          // considered moving.
+          constexpr double kMinMovingRobotSpeed = 0.5;
+          data->robot_moving[drivetrain_status_fetcher.context()
+                                 .monotonic_event_time] =
+              (std::abs(drivetrain_status_fetcher->robot_speed()) >=
+               kMinMovingRobotSpeed);
+        }
+
+        superstructure_status_fetcher.Fetch();
+        if (superstructure_status_fetcher.get()) {
+          data->superstructure_states[superstructure_status_fetcher.context()
+                                          .monotonic_event_time] =
+              superstructure_status_fetcher->state();
+        }
+      },
+      std::chrono::milliseconds(50));
+  reader.event_loop_factory()->Run();
+}
+
+template <typename T>
+T ClosestElement(const std::map<monotonic_clock::time_point, T> &map,
+                 monotonic_clock::time_point now) {
+  T closest;
+
+  // The closest element is either the one right above it, or the element before
+  // that one
+  auto closest_it = map.lower_bound(now);
+  // Handle the case where now is greater than all times in the map
+  if (closest_it == map.cend()) {
+    closest_it--;
+    closest = closest_it->second;
+  } else {
+    // Start off with the closest as the first after now
+    closest = closest_it->second;
+    const monotonic_clock::duration after_duration = closest_it->first - now;
+    closest_it--;
+
+    // If there is a time before, check if that's closer to now
+    if (closest_it != map.cbegin()) {
+      const monotonic_clock::duration before_duration = now - closest_it->first;
+      if (before_duration < after_duration) {
+        closest = closest_it->second;
+      }
+    }
+  }
+
+  return closest;
+}
+
+// Extract images from the pi logs
+void ReplayPi(const ReplayData &data) {
+  if (FLAGS_match_timestamps) {
+    CHECK_NE(data.match_start, monotonic_clock::min_time)
+        << "Can't use match timestamps if match never started";
+    CHECK_NE(data.match_end, monotonic_clock::min_time)
+        << "Can't use match timestamps if match never ended";
+  }
+
+  std::vector<std::string> unsorted_logfiles =
+      aos::logger::FindLogs(FLAGS_logger_pi_log);
 
   // Open logfiles
   aos::logger::LogReader reader(aos::logger::SortParts(unsorted_logfiles));
   reader.Register();
-  const aos::Node *node = nullptr;
-  if (aos::configuration::MultiNode(reader.configuration())) {
-    node = aos::configuration::GetNode(reader.configuration(), FLAGS_node);
-  }
-  std::unique_ptr<aos::EventLoop> event_loop =
-      reader.event_loop_factory()->MakeEventLoop("player", node);
+  const aos::Node *pi =
+      aos::configuration::GetNode(reader.configuration(), FLAGS_pi);
 
-  int image_count = 0;
+  std::unique_ptr<aos::EventLoop> event_loop =
+      reader.event_loop_factory()->MakeEventLoop("player", pi);
+
+  LOG(INFO) << "Match start: " << data.match_start
+            << ", match end: " << data.match_end;
+
+  size_t nonmatch_image_count = 0;
+
   event_loop->MakeWatcher(
-      "/camera/decimated",
-      [&image_count](const frc971::vision::CameraImage &image) {
+      "/camera/decimated", [&](const frc971::vision::CameraImage &image) {
+        const auto match_start = data.match_start;
+        // Find the closest robot moving and superstructure state to now
+        const bool robot_moving =
+            ClosestElement(data.robot_moving, event_loop->monotonic_now());
+        const auto superstructure_state = ClosestElement(
+            data.superstructure_states, event_loop->monotonic_now());
+
+        if (FLAGS_match_timestamps) {
+          if (event_loop->monotonic_now() < data.match_start) {
+            // Ignore prematch images if we only care about ones during the
+            // match
+            return;
+          } else if (event_loop->monotonic_now() >= data.match_end) {
+            // We're done if the match is over and we only wanted match images
+            reader.event_loop_factory()->Exit();
+            return;
+          }
+        }
+
         // Create color image:
         cv::Mat image_color_mat(cv::Size(image.cols(), image.rows()), CV_8UC2,
                                 (void *)image.data()->data());
@@ -54,11 +201,44 @@
               ((FLAGS_filtered_only ? blob_result.filtered_blobs.size()
                                     : blob_result.unfiltered_blobs.size()) > 0);
         }
+
         if (use_image) {
           if (!FLAGS_image_save_prefix.empty()) {
-            cv::imwrite(FLAGS_image_save_prefix +
-                            std::to_string(image_count++) + ".png",
-                        image_mat);
+            std::stringstream image_name;
+            image_name << FLAGS_image_save_prefix;
+
+            if (FLAGS_match_timestamps) {
+              // Add the time since match start into the image for debugging.
+              // We can match images with the game recording.
+              image_name << "match_"
+                         << std::chrono::duration_cast<std::chrono::seconds>(
+                                event_loop->monotonic_now() - match_start)
+                                .count()
+                         << 's';
+            } else {
+              image_name << nonmatch_image_count++;
+            }
+
+            // Add superstructure state to the filename
+            if (superstructure_state !=
+                superstructure::SuperstructureState::IDLE) {
+              std::string superstructure_state_name =
+                  superstructure::EnumNameSuperstructureState(
+                      superstructure_state);
+              std::transform(superstructure_state_name.begin(),
+                             superstructure_state_name.end(),
+                             superstructure_state_name.begin(),
+                             [](char c) { return std::tolower(c); });
+              image_name << '_' << superstructure_state_name;
+            }
+
+            if (robot_moving) {
+              image_name << "_moving";
+            }
+
+            image_name << ".png";
+
+            cv::imwrite(image_name.str(), image_mat);
           }
           if (FLAGS_display) {
             cv::imshow("Display", image_mat);
@@ -70,6 +250,12 @@
   reader.event_loop_factory()->Run();
 }
 
+void ViewerMain() {
+  ReplayData data;
+  ReplayRoborio(&data);
+  ReplayPi(data);
+}
+
 }  // namespace
 }  // namespace vision
 }  // namespace y2022
@@ -77,5 +263,5 @@
 // Quick and lightweight viewer for image logs
 int main(int argc, char **argv) {
   aos::InitGoogle(&argc, &argv);
-  y2022::vision::ViewerMain(argc, argv);
+  y2022::vision::ViewerMain();
 }
diff --git a/y2022/vision/vision_plotter.ts b/y2022/vision/vision_plotter.ts
index 13dd9e5..8b9fa7f 100644
--- a/y2022/vision/vision_plotter.ts
+++ b/y2022/vision/vision_plotter.ts
@@ -9,8 +9,8 @@
 
 
 const TIME = AosPlotter.TIME;
-// magenta, yellow, cyan, orange
-const PI_COLORS = [[255, 0, 255], [255, 255, 0], [0, 255, 255], [255, 165, 0]];
+// magenta, yellow, cyan, black
+const PI_COLORS = [[255, 0, 255], [255, 255, 0], [0, 255, 255], [0, 0, 0]];
 
 class VisionMessageHandler extends MessageHandler {
   constructor(private readonly schema: Schema) {
diff --git a/y2022/wpilib_interface.cc b/y2022/wpilib_interface.cc
index 2e33db3..b1f386c 100644
--- a/y2022/wpilib_interface.cc
+++ b/y2022/wpilib_interface.cc
@@ -439,6 +439,27 @@
     catapult_falcon_1_ = ::std::move(t);
   }
 
+  void set_catapult_falcon_1(
+      ::std::unique_ptr<::ctre::phoenix::motorcontrol::can::TalonFX> t1,
+      ::std::unique_ptr<::ctre::phoenix::motorcontrol::can::TalonFX> t2) {
+    catapult_falcon_1_can_ = ::std::move(t1);
+    catapult_falcon_2_can_ = ::std::move(t2);
+
+    for (auto &falcon : {catapult_falcon_1_can_, catapult_falcon_2_can_}) {
+      falcon->ConfigSupplyCurrentLimit(
+          {false, Values::kIntakeRollerSupplyCurrentLimit(),
+           Values::kIntakeRollerSupplyCurrentLimit(), 0});
+      falcon->ConfigStatorCurrentLimit(
+          {false, Values::kIntakeRollerStatorCurrentLimit(),
+           Values::kIntakeRollerStatorCurrentLimit(), 0});
+      falcon->SetStatusFramePeriod(ctre::phoenix::motorcontrol::Status_1_General, 5);
+      falcon->SetControlFramePeriod(ctre::phoenix::motorcontrol::Control_3_General, 5);
+    }
+    catapult_falcon_2_can_->Follow(
+        *catapult_falcon_1_can_,
+        ctre::phoenix::motorcontrol::FollowerType_PercentOutput);
+  }
+
   void set_intake_falcon_front(::std::unique_ptr<frc::TalonFX> t) {
     intake_falcon_front_ = ::std::move(t);
   }
@@ -507,7 +528,13 @@
     intake_falcon_back_->SetDisabled();
     transfer_roller_victor_front_->SetDisabled();
     transfer_roller_victor_back_->SetDisabled();
-    catapult_falcon_1_->SetDisabled();
+    if (catapult_falcon_1_) {
+      catapult_falcon_1_->SetDisabled();
+    }
+    if (catapult_falcon_1_can_) {
+      catapult_falcon_1_can_->Set(
+          ctre::phoenix::motorcontrol::ControlMode::Disabled, 0);
+    }
     turret_falcon_->SetDisabled();
   }
 
@@ -525,7 +552,12 @@
 
     WriteCan(-output.flipper_arms_voltage(), flipper_arms_falcon_.get());
 
-    WritePwm(output.catapult_voltage(), catapult_falcon_1_.get());
+    if (catapult_falcon_1_) {
+      WritePwm(output.catapult_voltage(), catapult_falcon_1_.get());
+    }
+    if (catapult_falcon_1_can_) {
+      WriteCan(output.catapult_voltage(), catapult_falcon_1_can_.get());
+    }
 
     WritePwm(-output.turret_voltage(), turret_falcon_.get());
   }
@@ -551,6 +583,9 @@
   ::std::shared_ptr<::ctre::phoenix::motorcontrol::can::TalonFX>
       flipper_arms_falcon_;
 
+  ::std::shared_ptr<::ctre::phoenix::motorcontrol::can::TalonFX>
+      catapult_falcon_1_can_, catapult_falcon_2_can_;
+
   ::std::unique_ptr<::frc::TalonFX> turret_falcon_, catapult_falcon_1_,
       climber_falcon_;
   ::std::unique_ptr<::frc::VictorSP> transfer_roller_victor_front_,
@@ -699,7 +734,7 @@
     superstructure_writer.set_flipper_arms_falcon(
         make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(2));
 
-    superstructure_writer.set_catapult_falcon_1(make_unique<::frc::TalonFX>(9));
+    superstructure_writer.set_catapult_falcon_1(make_unique<frc::TalonFX>(9));
 
     AddLoop(&output_event_loop);
 
diff --git a/y2022/y2022_pi_template.json b/y2022/y2022_pi_template.json
index 3dff81e..4e47b07 100644
--- a/y2022/y2022_pi_template.json
+++ b/y2022/y2022_pi_template.json
@@ -324,6 +324,7 @@
     {
       "name": "message_bridge_client",
       "executable_name": "message_bridge_client",
+      "args": ["--rt_priority=16"],
       "nodes": [
         "pi{{ NUM }}"
       ]
diff --git a/y2022/y2022_roborio.json b/y2022/y2022_roborio.json
index 6e14bae..fa3406e 100644
--- a/y2022/y2022_roborio.json
+++ b/y2022/y2022_roborio.json
@@ -471,8 +471,8 @@
       ]
     },
     {
-      "name": "message_bridge_client",
-      "executable_name": "message_bridge_client",
+      "name": "roborio_message_bridge_client",
+      "executable_name": "message_bridge_client.sh",
       "args": ["--rt_priority=16"],
       "nodes": [
         "roborio"