diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index e45917a..c87cc95 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -179,6 +179,44 @@
     }
   }
 
+  // Send the turret to the loading position if we have a ball in the intake, or
+  // are trying to intake one
+  double turret_loading_position = std::numeric_limits<double>::quiet_NaN();
+  if (state_ == SuperstructureState::TRANSFERRING &&
+      intake_state_ != IntakeState::NO_BALL) {
+    turret_loading_position = (intake_state_ == IntakeState::INTAKE_FRONT_BALL
+                                   ? constants::Values::kTurretFrontIntakePos()
+                                   : constants::Values::kTurretBackIntakePos());
+  } else if (state_ == SuperstructureState::IDLE && unsafe_goal != nullptr) {
+    if (unsafe_goal->roller_speed_front() > 0) {
+      turret_loading_position = constants::Values::kTurretFrontIntakePos();
+    } else if (unsafe_goal->roller_speed_back() > 0) {
+      turret_loading_position = constants::Values::kTurretBackIntakePos();
+    }
+  }
+
+  if (!std::isnan(turret_loading_position)) {
+    // Turn to the loading position as close to the current position as
+    // possible
+    // Strategy is copied from frc971/control_loops/aiming/aiming.cc
+    turret_loading_position =
+        turret_.estimated_position() +
+        aos::math::NormalizeAngle(turret_loading_position -
+                                  turret_.estimated_position());
+    // if out of range, reset back to within +/- pi of zero.
+    if (turret_loading_position > constants::Values::kTurretRange().upper ||
+        turret_loading_position < constants::Values::kTurretRange().lower) {
+      turret_loading_position =
+          aos::math::NormalizeAngle(turret_loading_position);
+    }
+
+    turret_goal_buffer.Finish(
+        frc971::control_loops::
+            CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+                *turret_goal_buffer.fbb(), turret_loading_position));
+    turret_goal = &turret_goal_buffer.message();
+  }
+
   switch (state_) {
     case SuperstructureState::IDLE: {
       if (is_spitting) {
@@ -203,31 +241,6 @@
         break;
       }
 
-      double turret_loading_position =
-          (intake_state_ == IntakeState::INTAKE_FRONT_BALL
-               ? constants::Values::kTurretFrontIntakePos()
-               : constants::Values::kTurretBackIntakePos());
-
-      // Turn to the loading position as close to the current position as
-      // possible
-      // Strategy is copied from frc971/control_loops/aiming/aiming.cc
-      turret_loading_position =
-          turret_.estimated_position() +
-          aos::math::NormalizeAngle(turret_loading_position -
-                                    turret_.estimated_position());
-      // if out of range, reset back to within +/- pi of zero.
-      if (turret_loading_position > constants::Values::kTurretRange().upper ||
-          turret_loading_position < constants::Values::kTurretRange().lower) {
-        turret_loading_position =
-            aos::math::NormalizeAngle(turret_loading_position);
-      }
-
-      turret_goal_buffer.Finish(
-          frc971::control_loops::
-              CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
-                  *turret_goal_buffer.fbb(), turret_loading_position));
-      turret_goal = &turret_goal_buffer.message();
-
       const bool turret_near_goal =
           std::abs(turret_.estimated_position() - turret_loading_position) <
           kTurretGoalThreshold;
diff --git a/y2022/control_loops/superstructure/superstructure_goal.fbs b/y2022/control_loops/superstructure/superstructure_goal.fbs
index 8862d22..7816563 100644
--- a/y2022/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2022/control_loops/superstructure/superstructure_goal.fbs
@@ -26,8 +26,11 @@
   intake_back:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 2);
 
   // Positive is rollers intaking.
+  // When spinning the rollers, the turret will be moved to that side,
+  // so both shouldn't be positive at the same time.
   roller_speed_front:double (id: 3);
   roller_speed_back:double (id: 4);
+
   transfer_roller_speed_front:double (id: 5);
   transfer_roller_speed_back:double (id: 12);
 
diff --git a/y2022/control_loops/superstructure/superstructure_lib_test.cc b/y2022/control_loops/superstructure/superstructure_lib_test.cc
index 66a615e..73ceee7 100644
--- a/y2022/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022/control_loops/superstructure/superstructure_lib_test.cc
@@ -776,6 +776,7 @@
   ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
   EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), 12.0);
   EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), 12.0);
+
   EXPECT_EQ(superstructure_output_fetcher_->transfer_roller_voltage_front(),
             0.0);
   EXPECT_EQ(superstructure_output_fetcher_->transfer_roller_voltage_back(),
@@ -783,8 +784,10 @@
   EXPECT_EQ(superstructure_status_fetcher_->state(), SuperstructureState::IDLE);
   EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
             IntakeState::NO_BALL);
-  EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(), kTurretGoal,
-              0.001);
+  // Since we spun the front rollers, the turret should be trying to intake from
+  // there
+  EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(),
+              constants::Values::kTurretFrontIntakePos(), 0.001);
   EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 0);
 
   superstructure_plant_.set_intake_beambreak_front(true);