diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index 4609827..3f48cc9 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -71,7 +71,7 @@
 
  private:
   bool AtState(uint32_t state) const { return current_node_ == state; }
-  bool NearEnd(double threshold = 0.02) const {
+  bool NearEnd(double threshold = 0.03) const {
     return ::std::abs(arm_ekf_.X_hat(0) - follower_.theta(0)) <= threshold &&
            ::std::abs(arm_ekf_.X_hat(2) - follower_.theta(1)) <= threshold &&
            follower_.path_distance_to_go() < 1e-3;
diff --git a/y2018/control_loops/superstructure/superstructure.cc b/y2018/control_loops/superstructure/superstructure.cc
index 37fb4f9..e22219e 100644
--- a/y2018/control_loops/superstructure/superstructure.cc
+++ b/y2018/control_loops/superstructure/superstructure.cc
@@ -37,15 +37,15 @@
   const double left_intake_goal = ::std::min(
       arm_.max_intake_override(),
       (unsafe_goal == nullptr ? 0.0 : unsafe_goal->intake.left_intake_angle));
+  const double right_intake_goal = ::std::min(
+      arm_.max_intake_override(),
+      (unsafe_goal == nullptr ? 0.0 : unsafe_goal->intake.right_intake_angle));
+
   intake_left_.Iterate(unsafe_goal != nullptr ? &(left_intake_goal) : nullptr,
                        &(position->left_intake),
                        output != nullptr ? &(output->left_intake) : nullptr,
                        &(status->left_intake));
 
-  const double right_intake_goal = ::std::min(
-      arm_.max_intake_override(),
-      (unsafe_goal == nullptr ? 0.0 : unsafe_goal->intake.right_intake_angle));
-
   intake_right_.Iterate(unsafe_goal != nullptr ? &(right_intake_goal) : nullptr,
                         &(position->right_intake),
                         output != nullptr ? &(output->right_intake) : nullptr,