diff --git a/y2024/control_loops/superstructure/aiming.cc b/y2024/control_loops/superstructure/aiming.cc
index a21c09d..bf68527 100644
--- a/y2024/control_loops/superstructure/aiming.cc
+++ b/y2024/control_loops/superstructure/aiming.cc
@@ -8,9 +8,6 @@
 using frc971::control_loops::aiming::ShotMode;
 using y2024::control_loops::superstructure::Aimer;
 
-// When the turret is at 0 the note will be leaving the robot at PI.
-static constexpr double kTurretZeroOffset = M_PI - 0.22;
-
 Aimer::Aimer(aos::EventLoop *event_loop,
              const y2024::Constants *robot_constants)
     : event_loop_(event_loop),
@@ -76,7 +73,7 @@
                      robot_constants_->common()->turret()->range()),
                  interpolation_table_.Get(current_goal_.target_distance)
                      .shot_speed_over_ground,
-                 /*wrap_mode=*/0.15, kTurretZeroOffset},
+                 /*wrap_mode=*/0.15, M_PI - kTurretZeroOffset},
       RobotState{
           robot_pose, {xdot, ydot}, linear_angular(1), current_goal_.position});
 
diff --git a/y2024/control_loops/superstructure/aiming.h b/y2024/control_loops/superstructure/aiming.h
index 9bec187..97e319d 100644
--- a/y2024/control_loops/superstructure/aiming.h
+++ b/y2024/control_loops/superstructure/aiming.h
@@ -17,6 +17,9 @@
 
 class Aimer {
  public:
+  // When the turret is at 0 the note will be leaving the robot at PI.
+  static constexpr double kTurretZeroOffset = 0.13;
+
   Aimer(aos::EventLoop *event_loop, const Constants *robot_constants);
 
   void Update(
diff --git a/y2024/control_loops/superstructure/shooter.cc b/y2024/control_loops/superstructure/shooter.cc
index 88bf390..7002657 100644
--- a/y2024/control_loops/superstructure/shooter.cc
+++ b/y2024/control_loops/superstructure/shooter.cc
@@ -248,7 +248,7 @@
     //
     // accel = v^2 / (2 * x)
     catapult_.mutable_profile()->set_maximum_velocity(
-        catapult::kFreeSpeed * catapult::kOutputRatio * 4.0 / 12.0);
+        catapult::kFreeSpeed * catapult::kOutputRatio * 5.5 / 12.0);
 
     if (disabled) {
       state_ = CatapultState::RETRACTING;
@@ -272,6 +272,7 @@
         if (subsystems_in_range && shooter_goal != nullptr && fire &&
             catapult_close && piece_loaded) {
           state_ = CatapultState::FIRING;
+          max_catapult_goal_velocity_ = catapult_.goal(1);
         } else {
           catapult_.set_controller_index(0);
           catapult_.mutable_profile()->set_maximum_acceleration(
@@ -294,10 +295,17 @@
             robot_constants_->common()
                 ->current_limits()
                 ->shooting_retention_roller_stator_current_limit();
-        catapult_.set_controller_index(1);
+        max_catapult_goal_velocity_ =
+            std::max(max_catapult_goal_velocity_, catapult_.goal(1));
+
+        if (max_catapult_goal_velocity_ > catapult_.goal(1) + 0.1) {
+          catapult_.set_controller_index(2);
+        } else {
+          catapult_.set_controller_index(1);
+        }
         catapult_.mutable_profile()->set_maximum_acceleration(400.0);
-        catapult_.mutable_profile()->set_maximum_deceleration(500.0);
-        catapult_.set_unprofiled_goal(2.0, 0.0);
+        catapult_.mutable_profile()->set_maximum_deceleration(1000.0);
+        catapult_.set_unprofiled_goal(2.45, 0.0);
         if (CatapultClose()) {
           state_ = CatapultState::RETRACTING;
           ++shot_count_;
diff --git a/y2024/control_loops/superstructure/shooter.h b/y2024/control_loops/superstructure/shooter.h
index 5363288..e873629 100644
--- a/y2024/control_loops/superstructure/shooter.h
+++ b/y2024/control_loops/superstructure/shooter.h
@@ -138,6 +138,10 @@
 
   CatapultSubsystem catapult_;
 
+  // Max speed we have seen during this shot.  This is used to figure out when
+  // we start decelerating and switch controllers.
+  double max_catapult_goal_velocity_ = 0.0;
+
   PotAndAbsoluteEncoderSubsystem turret_;
   PotAndAbsoluteEncoderSubsystem altitude_;
 
diff --git a/y2024/control_loops/superstructure/superstructure_lib_test.cc b/y2024/control_loops/superstructure/superstructure_lib_test.cc
index 9dad4ec..52c9a6c 100644
--- a/y2024/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2024/control_loops/superstructure/superstructure_lib_test.cc
@@ -1391,11 +1391,11 @@
   EXPECT_NEAR(
       -M_PI_2,
       superstructure_status_fetcher_->shooter()->aimer()->turret_position() -
-          M_PI - 0.22,
+          M_PI - Aimer::kTurretZeroOffset,
       5e-4);
   EXPECT_NEAR(-M_PI_2,
               superstructure_status_fetcher_->shooter()->turret()->position() -
-                  M_PI - 0.22,
+                  M_PI - Aimer::kTurretZeroOffset,
               5e-4);
 
   EXPECT_EQ(
@@ -1437,11 +1437,11 @@
   EXPECT_NEAR(
       M_PI_2,
       superstructure_status_fetcher_->shooter()->aimer()->turret_position() +
-          M_PI - 0.22,
+          M_PI - Aimer::kTurretZeroOffset,
       5e-4);
   EXPECT_NEAR(M_PI_2,
               superstructure_status_fetcher_->shooter()->turret()->position() +
-                  M_PI - 0.22,
+                  M_PI - Aimer::kTurretZeroOffset,
               5e-4);
   EXPECT_EQ(
       kDistanceFromSpeaker,