diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index 5dbe7e7..266ebfa 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -244,6 +244,10 @@
        .turret_position = turret_.estimated_position(),
        .shooting = true});
 
+  // Dont shoot if the robot is moving faster than this
+  constexpr double kMaxShootSpeed = 1.0;
+  const bool moving_too_fast = std::abs(robot_velocity()) > kMaxShootSpeed;
+
   switch (state_) {
     case SuperstructureState::IDLE: {
       // Only change the turret's goal loading position when idle, to prevent us
@@ -369,8 +373,8 @@
               kTurretGoalThreshold;
 
       // Don't open the flippers until the turret's ready: give them as little
-      // time to get bumped as possible.
-      if (!turret_near_goal || collided) {
+      // time to get bumped as possible. Or moving to fast.
+      if (!turret_near_goal || collided || moving_too_fast) {
         break;
       }
 
@@ -527,6 +531,7 @@
   status_builder.add_flippers_open(flippers_open_);
   status_builder.add_reseating_in_catapult(reseating_in_catapult_);
   status_builder.add_fire(fire_);
+  status_builder.add_moving_too_fast(moving_too_fast);
   status_builder.add_ready_to_fire(state_ == SuperstructureState::LOADED &&
                                    turret_near_goal && !collided);
   status_builder.add_state(state_);
diff --git a/y2022/control_loops/superstructure/superstructure_lib_test.cc b/y2022/control_loops/superstructure/superstructure_lib_test.cc
index 9288da1..341d315 100644
--- a/y2022/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022/control_loops/superstructure/superstructure_lib_test.cc
@@ -753,7 +753,7 @@
   SetEnabled(true);
   WaitUntilZeroed();
 
-  SendRobotVelocity(3.0);
+  SendRobotVelocity(1.0);
 
   constexpr double kTurretGoal = 2.0;
   {
diff --git a/y2022/control_loops/superstructure/superstructure_status.fbs b/y2022/control_loops/superstructure/superstructure_status.fbs
index 06fddd0..9cf9a5f 100644
--- a/y2022/control_loops/superstructure/superstructure_status.fbs
+++ b/y2022/control_loops/superstructure/superstructure_status.fbs
@@ -57,6 +57,8 @@
   reseating_in_catapult:bool (id: 13);
   // Whether the turret is ready for firing
   ready_to_fire:bool (id: 20);
+  // Whether the robot is moving too fast to shoot
+  moving_too_fast:bool (id: 21);
   // Whether the catapult was told to fire,
   // meaning that the turret and flippers are ready for firing
   // and we were asked to fire. Different from fire flag in goal.