diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
index c4ef468..cdbceb4 100644
--- a/y2016/control_loops/superstructure/superstructure.cc
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -304,17 +304,30 @@
 
     case SLOW_RUNNING:
     case RUNNING:
-      // TODO(austin): Exit SLOW_RUNNING if we are not collided.
+      if (disable) {
+        // TODO(austin): Enter SLOW_RUNNING if we are collided.
+
+        // If we are disabled, reset the profile to the current position.
+        intake_.ForceGoal(intake_.angle());
+        arm_.ForceGoal(arm_.shoulder_angle(), arm_.wrist_angle());
+      } else {
+        if (state_ == SLOW_RUNNING) {
+          // TODO(austin): Exit SLOW_RUNNING if we are not collided.
+          LOG(ERROR, "Need to transition on non-collided, not all the time.\n");
+          state_ = RUNNING;
+        }
+      }
+
       if (unsafe_goal) {
         arm_.AdjustProfile(unsafe_goal->max_angular_velocity_shoulder,
-            unsafe_goal->max_angular_acceleration_shoulder,
-            unsafe_goal->max_angular_velocity_wrist,
-            unsafe_goal->max_angular_acceleration_wrist);
+                           unsafe_goal->max_angular_acceleration_shoulder,
+                           unsafe_goal->max_angular_velocity_wrist,
+                           unsafe_goal->max_angular_acceleration_wrist);
         intake_.AdjustProfile(unsafe_goal->max_angular_velocity_wrist,
-            unsafe_goal->max_angular_acceleration_intake);
+                              unsafe_goal->max_angular_acceleration_intake);
 
         arm_.set_unprofiled_goal(unsafe_goal->angle_shoulder,
-            unsafe_goal->angle_wrist);
+                                 unsafe_goal->angle_wrist);
         intake_.set_unprofiled_goal(unsafe_goal->angle_intake);
       }
 
diff --git a/y2016/control_loops/superstructure/superstructure_lib_test.cc b/y2016/control_loops/superstructure/superstructure_lib_test.cc
index 2c988cc..6d8c18f 100644
--- a/y2016/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2016/control_loops/superstructure/superstructure_lib_test.cc
@@ -485,6 +485,35 @@
   VerifyNearGoal();
 }
 
+// Tests that zeroing while disabled works.  Starts the superstructure near a
+// pulse, lets it initialize, moves it past the pulse, enables, and then make
+// sure it goes to the right spot.
+TEST_F(SuperstructureTest, DisabledZeroTest) {
+  superstructure_plant_.InitializeIntakePosition(-0.001);
+  superstructure_plant_.InitializeShoulderPosition(
+      constants::Values::kShoulderEncoderIndexDifference * 10 - 0.001);
+  superstructure_plant_.InitializeWristPosition(-0.001);
+
+  superstructure_queue_.goal.MakeWithBuilder()
+      .angle_intake(0.0)
+      .angle_shoulder(constants::Values::kShoulderEncoderIndexDifference * 10)
+      .angle_wrist(0.0)
+      .Send();
+
+  // Run disabled for 2 seconds
+  RunForTime(Time::InSeconds(2), false);
+  EXPECT_EQ(Superstructure::DISABLED_INITIALIZED, superstructure_.state());
+
+  superstructure_plant_.set_power_error(1.0, 1.0, 1.0);
+
+  RunForTime(Time::InSeconds(1), false);
+
+  EXPECT_EQ(Superstructure::SLOW_RUNNING, superstructure_.state());
+  RunForTime(Time::InSeconds(1), true);
+
+  VerifyNearGoal();
+}
+
 }  // namespace testing
 }  // namespace superstructure
 }  // namespace control_loops