diff --git a/y2017/control_loops/superstructure/column/column.cc b/y2017/control_loops/superstructure/column/column.cc
index e248739..cffc7ad 100644
--- a/y2017/control_loops/superstructure/column/column.cc
+++ b/y2017/control_loops/superstructure/column/column.cc
@@ -389,15 +389,17 @@
 
 void Column::Iterate(const control_loops::IndexerGoal *unsafe_indexer_goal,
                      const control_loops::TurretGoal *unsafe_turret_goal,
-                     const ColumnPosition *position, double *indexer_output,
-                     double *turret_output, IndexerStatus *indexer_status,
+                     const ColumnPosition *position,
+                     const vision::VisionStatus *vision_status,
+                     double *indexer_output, double *turret_output,
+                     IndexerStatus *indexer_status,
                      TurretProfiledSubsystemStatus *turret_status,
                      intake::Intake *intake) {
   bool disable = turret_output == nullptr || indexer_output == nullptr;
   profiled_subsystem_.Correct(*position);
 
   vision_time_adjuster_.Tick(::aos::monotonic_clock::now(),
-                             profiled_subsystem_.X_hat(2, 0));
+                             profiled_subsystem_.X_hat(2, 0), vision_status);
 
   switch (state_) {
     case State::UNINITIALIZED:
diff --git a/y2017/control_loops/superstructure/column/column.h b/y2017/control_loops/superstructure/column/column.h
index 092e253..6bfe1c9 100644
--- a/y2017/control_loops/superstructure/column/column.h
+++ b/y2017/control_loops/superstructure/column/column.h
@@ -16,6 +16,7 @@
 #include "y2017/control_loops/superstructure/intake/intake.h"
 #include "y2017/control_loops/superstructure/superstructure.q.h"
 #include "y2017/control_loops/superstructure/vision_time_adjuster.h"
+#include "y2017/vision/vision.q.h"
 
 namespace y2017 {
 namespace control_loops {
@@ -181,8 +182,10 @@
 
   void Iterate(const control_loops::IndexerGoal *unsafe_indexer_goal,
                const control_loops::TurretGoal *unsafe_turret_goal,
-               const ColumnPosition *position, double *indexer_output,
-               double *turret_output, IndexerStatus *indexer_status,
+               const ColumnPosition *position,
+               const vision::VisionStatus *vision_status,
+               double *indexer_output, double *turret_output,
+               IndexerStatus *indexer_status,
                TurretProfiledSubsystemStatus *turret_status,
                intake::Intake *intake);
 
diff --git a/y2017/control_loops/superstructure/hood/hood.cc b/y2017/control_loops/superstructure/hood/hood.cc
index c58822a..f19bbf7 100644
--- a/y2017/control_loops/superstructure/hood/hood.cc
+++ b/y2017/control_loops/superstructure/hood/hood.cc
@@ -12,6 +12,8 @@
 
 constexpr double Hood::kZeroingVoltage;
 constexpr double Hood::kOperatingVoltage;
+constexpr ::aos::monotonic_clock::duration Hood::kTimeTillNotMoving;
+
 // The tracking error to allow before declaring that we are stuck and reversing
 // direction while zeroing.
 constexpr double kStuckZeroingTrackingError = 0.02;
diff --git a/y2017/control_loops/superstructure/superstructure.cc b/y2017/control_loops/superstructure/superstructure.cc
index 2a04ef4..e0017c1 100644
--- a/y2017/control_loops/superstructure/superstructure.cc
+++ b/y2017/control_loops/superstructure/superstructure.cc
@@ -7,6 +7,7 @@
 #include "y2017/control_loops/superstructure/hood/hood.h"
 #include "y2017/control_loops/superstructure/intake/intake.h"
 #include "y2017/control_loops/superstructure/shooter/shooter.h"
+#include "y2017/vision/vision.q.h"
 
 namespace y2017 {
 namespace control_loops {
@@ -36,6 +37,11 @@
     column_.Reset();
   }
 
+  const vision::VisionStatus *vision_status = nullptr;
+  if (vision::vision_status.FetchLatest()) {
+    vision_status = vision::vision_status.get();
+  }
+
   hood_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->hood) : nullptr,
                 &(position->hood),
                 output != nullptr ? &(output->voltage_hood) : nullptr,
@@ -91,7 +97,7 @@
 
   column_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->indexer) : nullptr,
                   unsafe_goal != nullptr ? &(unsafe_goal->turret) : nullptr,
-                  &(position->column),
+                  &(position->column), vision_status,
                   output != nullptr ? &(output->voltage_indexer) : nullptr,
                   output != nullptr ? &(output->voltage_turret) : nullptr,
                   &(status->indexer), &(status->turret), &intake_);
diff --git a/y2017/control_loops/superstructure/vision_time_adjuster.cc b/y2017/control_loops/superstructure/vision_time_adjuster.cc
index b93e1d5..1bd61f8 100644
--- a/y2017/control_loops/superstructure/vision_time_adjuster.cc
+++ b/y2017/control_loops/superstructure/vision_time_adjuster.cc
@@ -5,7 +5,6 @@
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "y2017/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
 #include "y2017/control_loops/superstructure/superstructure.q.h"
-#include "y2017/vision/vision.q.h"
 
 namespace y2017 {
 namespace control_loops {
@@ -110,7 +109,8 @@
 VisionTimeAdjuster::VisionTimeAdjuster() {}
 
 void VisionTimeAdjuster::Tick(monotonic_clock::time_point monotonic_now,
-                              double turret_position) {
+                              double turret_position,
+                              const vision::VisionStatus *vision_status) {
   // We have new column data, store it.
   column_data_.Push({.time = monotonic_now, .turret = turret_position});
 
@@ -126,10 +126,9 @@
 
   // If we have new vision data, compute the newest absolute angle at which the
   // target is.
-  if (vision::vision_status.FetchLatest() &&
-      vision::vision_status->image_valid) {
+  if (vision_status != nullptr && vision_status->image_valid) {
     monotonic_clock::time_point last_target_time(
-        monotonic_clock::duration(vision::vision_status->target_time));
+        monotonic_clock::duration(vision_status->target_time));
 
     double column_angle = 0;
     double drivetrain_angle = 0;
@@ -143,12 +142,11 @@
     if (column_angle_is_valid && drivetrain_angle_is_valid) {
       LOG(INFO, "Accepting Vision angle of %f, age %f\n",
           most_recent_vision_angle_,
-          chrono::duration_cast<chrono::duration<double>>(monotonic_now -
-                                                          last_target_time)
-              .count());
-      most_recent_vision_reading_ = vision::vision_status->angle;
+          chrono::duration_cast<chrono::duration<double>>(
+              monotonic_now - last_target_time).count());
+      most_recent_vision_reading_ = vision_status->angle;
       most_recent_vision_angle_ =
-          vision::vision_status->angle + column_angle + drivetrain_angle;
+          vision_status->angle + column_angle + drivetrain_angle;
       most_recent_vision_time_ = monotonic_now;
     }
   }
diff --git a/y2017/control_loops/superstructure/vision_time_adjuster.h b/y2017/control_loops/superstructure/vision_time_adjuster.h
index 19307e3..a7b79f3 100644
--- a/y2017/control_loops/superstructure/vision_time_adjuster.h
+++ b/y2017/control_loops/superstructure/vision_time_adjuster.h
@@ -5,6 +5,7 @@
 
 #include "aos/common/ring_buffer.h"
 #include "aos/common/time.h"
+#include "y2017/vision/vision.q.h"
 
 namespace y2017 {
 namespace control_loops {
@@ -17,7 +18,7 @@
   // This needs to be called at the same interval as the control loops so that
   // it can attempt to make accurate goal recommendations.
   void Tick(::aos::monotonic_clock::time_point monotonic_now,
-            double turret_position);
+            double turret_position, const vision::VisionStatus *vision_status);
 
   // Returns true if we have enough data to recommend a goal for the turret.
   bool valid() const { return valid_; }
diff --git a/y2017/control_loops/superstructure/vision_time_adjuster_test.cc b/y2017/control_loops/superstructure/vision_time_adjuster_test.cc
index a499836..c6dcd25 100644
--- a/y2017/control_loops/superstructure/vision_time_adjuster_test.cc
+++ b/y2017/control_loops/superstructure/vision_time_adjuster_test.cc
@@ -56,7 +56,11 @@
 
   void RunIteration() {
     SendMessages();
-    adjuster_.Tick(::aos::monotonic_clock::now(), turret_angle_);
+    const vision::VisionStatus *vision_status = nullptr;
+    if (vision::vision_status.FetchLatest()) {
+      vision_status = vision::vision_status.get();
+    }
+    adjuster_.Tick(::aos::monotonic_clock::now(), turret_angle_, vision_status);
     TickTime();
   }