diff --git a/y2022/control_loops/superstructure/catapult/catapult.cc b/y2022/control_loops/superstructure/catapult/catapult.cc
index fda62ad..c43a777 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult.cc
@@ -313,7 +313,7 @@
 const flatbuffers::Offset<
     frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>
 Catapult::Iterate(const Goal *unsafe_goal, const Position *position,
-                  double *catapult_voltage, bool fire,
+                  double battery_voltage, double *catapult_voltage, bool fire,
                   flatbuffers::FlatBufferBuilder *fbb) {
   const frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal
       *catapult_goal = unsafe_goal != nullptr && unsafe_goal->has_catapult()
@@ -373,8 +373,9 @@
         } else {
           // TODO(austin): Voltage error?
           CHECK_NOTNULL(catapult_voltage);
-          *catapult_voltage =
-              std::max(0.0, std::min(12.0, *solution - 0.0 * next_X(2, 0)));
+          *catapult_voltage = std::max(
+              0.0, std::min(12.0, (*solution - 0.0 * next_X(2, 0)) * 12.0 /
+                                      std::max(battery_voltage, 8.0)));
           use_profile_ = false;
         }
       } else {
@@ -420,8 +421,9 @@
     }
   }
 
-  catapult_.UpdateObserver(catapult_voltage != nullptr ? *catapult_voltage
-                                                       : 0.0);
+  catapult_.UpdateObserver(catapult_voltage != nullptr
+                               ? (*catapult_voltage * battery_voltage / 12.0)
+                               : 0.0);
 
   return catapult_.MakeStatus(fbb);
 }
diff --git a/y2022/control_loops/superstructure/catapult/catapult.h b/y2022/control_loops/superstructure/catapult/catapult.h
index ccd4b06..0606c0d 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.h
+++ b/y2022/control_loops/superstructure/catapult/catapult.h
@@ -211,7 +211,7 @@
   const flatbuffers::Offset<
       frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>
   Iterate(const Goal *unsafe_goal, const Position *position,
-          double *catapult_voltage, bool fire,
+          double battery_voltage, double *catapult_voltage, bool fire,
           flatbuffers::FlatBufferBuilder *fbb);
 
  private:
diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index c87cc95..0b693ef 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -394,12 +394,12 @@
   // Disable the catapult if we want to restart to prevent damage with
   // flippers
   const flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
-      catapult_status_offset =
-          catapult_.Iterate(unsafe_goal, position,
-                            output != nullptr && !catapult_.estopped()
-                                ? &(output_struct.catapult_voltage)
-                                : nullptr,
-                            fire_, status->fbb());
+      catapult_status_offset = catapult_.Iterate(
+          unsafe_goal, position, robot_state().voltage_battery(),
+          output != nullptr && !catapult_.estopped()
+              ? &(output_struct.catapult_voltage)
+              : nullptr,
+          fire_, status->fbb());
 
   const flatbuffers::Offset<RelativeEncoderProfiledJointStatus>
       climber_status_offset = climber_.Iterate(