diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index ce816a0..98de31d 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -164,11 +164,16 @@
 
   if (output != nullptr) {
     // Friction is a pain and putting a really high burden on the integrator.
+    // TODO(james): I'm not sure how helpful this gain is.
     const double turret_velocity_sign =
         turret_status->velocity() * kTurretFrictionGain;
     output_struct.turret_voltage +=
         std::clamp(turret_velocity_sign, -kTurretFrictionVoltageLimit,
                    kTurretFrictionVoltageLimit);
+    const double time_sec =
+        aos::time::DurationInSeconds(position_timestamp.time_since_epoch());
+    output_struct.turret_voltage +=
+        kTurretDitherGain * std::sin(2.0 * M_PI * time_sec * 30.0);
     output_struct.turret_voltage =
         std::clamp(output_struct.turret_voltage, -turret_.operating_voltage(),
                    turret_.operating_voltage());
diff --git a/y2020/control_loops/superstructure/superstructure.h b/y2020/control_loops/superstructure/superstructure.h
index c03f7a7..e4a9cb6 100644
--- a/y2020/control_loops/superstructure/superstructure.h
+++ b/y2020/control_loops/superstructure/superstructure.h
@@ -28,6 +28,7 @@
   // voltage cap.
   static constexpr double kTurretFrictionGain = 10.0;
   static constexpr double kTurretFrictionVoltageLimit = 1.5;
+  static constexpr double kTurretDitherGain = 0.4;
 
   using PotAndAbsoluteEncoderSubsystem =
       ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
diff --git a/y2020/control_loops/superstructure/superstructure_lib_test.cc b/y2020/control_loops/superstructure/superstructure_lib_test.cc
index 22dd40e..112780a 100644
--- a/y2020/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2020/control_loops/superstructure/superstructure_lib_test.cc
@@ -742,7 +742,7 @@
   superstructure_plant_.set_peak_intake_acceleration(0.2);
 
   superstructure_plant_.set_peak_turret_velocity(23.0);
-  superstructure_plant_.set_peak_turret_acceleration(0.2);
+  superstructure_plant_.set_peak_turret_acceleration(6.0);
 
   // Intake needs over 9 seconds to reach the goal
   RunFor(chrono::seconds(10));
@@ -971,7 +971,7 @@
 
   superstructure_status_fetcher_.Fetch();
   EXPECT_NEAR(kShotAngle, superstructure_status_fetcher_->turret()->position(),
-              1e-4);
+              5e-4);
   EXPECT_FLOAT_EQ(kShotAngle,
                   superstructure_status_fetcher_->aimer()->turret_position());
   EXPECT_FLOAT_EQ(0,