diff --git a/y2017/control_loops/superstructure/BUILD b/y2017/control_loops/superstructure/BUILD
index bac8655..797791f 100644
--- a/y2017/control_loops/superstructure/BUILD
+++ b/y2017/control_loops/superstructure/BUILD
@@ -79,6 +79,7 @@
     ':superstructure_queue',
     '//aos/common:ring_buffer',
     '//frc971/control_loops/drivetrain:drivetrain_queue',
+    '//y2017/control_loops/drivetrain:polydrivetrain_plants',
     '//y2017/vision:vision_queue',
   ],
 )
diff --git a/y2017/control_loops/superstructure/column/BUILD b/y2017/control_loops/superstructure/column/BUILD
index 8704cf5..149ef32 100644
--- a/y2017/control_loops/superstructure/column/BUILD
+++ b/y2017/control_loops/superstructure/column/BUILD
@@ -49,6 +49,7 @@
     '//frc971/control_loops:profiled_subsystem',
     '//y2017/control_loops/superstructure/intake:intake',
     '//y2017/control_loops/superstructure:superstructure_queue',
+    '//y2017/control_loops/superstructure:vision_time_adjuster',
     '//y2017:constants',
   ],
 )
diff --git a/y2017/control_loops/superstructure/column/column.cc b/y2017/control_loops/superstructure/column/column.cc
index 5e9a21c..a6b80c8 100644
--- a/y2017/control_loops/superstructure/column/column.cc
+++ b/y2017/control_loops/superstructure/column/column.cc
@@ -382,6 +382,9 @@
   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));
+
   switch (state_) {
     case State::UNINITIALIZED:
       // Wait in the uninitialized state until the turret is initialized.
@@ -511,6 +514,14 @@
         profiled_subsystem_.set_unprofiled_goal(
             unsafe_indexer_goal->angular_velocity, unsafe_turret_goal->angle);
 
+        if (unsafe_turret_goal->track) {
+          if (vision_time_adjuster_.valid()) {
+            LOG(INFO, "Vision aligning to %f\n", vision_time_adjuster_.goal());
+            profiled_subsystem_.set_turret_unprofiled_goal(
+                vision_time_adjuster_.goal());
+          }
+        }
+
         if (freeze_) {
           profiled_subsystem_.ForceGoal(unsafe_indexer_goal->angular_velocity,
                                         starting_goal_angle);
@@ -599,6 +610,15 @@
   profiled_subsystem_.PopulateTurretStatus(turret_status);
   turret_status->estopped = (state_ == State::ESTOP);
   turret_status->state = static_cast<int32_t>(state_);
+  if (vision_time_adjuster_.valid()) {
+    turret_status->vision_angle = vision_time_adjuster_.goal();
+    turret_status->raw_vision_angle =
+        vision_time_adjuster_.most_recent_vision_reading();
+    turret_status->vision_tracking = true;
+  } else {
+    turret_status->vision_angle = ::std::numeric_limits<double>::quiet_NaN();
+    turret_status->vision_tracking = false;
+  }
 
   profiled_subsystem_.PopulateIndexerStatus(indexer_status);
   indexer_status->state = static_cast<int32_t>(indexer_state_);
diff --git a/y2017/control_loops/superstructure/column/column.h b/y2017/control_loops/superstructure/column/column.h
index 6bd7aa5..b952a78 100644
--- a/y2017/control_loops/superstructure/column/column.h
+++ b/y2017/control_loops/superstructure/column/column.h
@@ -15,6 +15,7 @@
 #include "y2017/control_loops/superstructure/column/column_zeroing.h"
 #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"
 
 namespace y2017 {
 namespace control_loops {
@@ -176,7 +177,7 @@
   static constexpr double kIntakeZeroingMinDistance = 0.08;
   static constexpr double kIntakeTolerance = 0.005;
   static constexpr double kStuckZeroingTrackingError = 0.02;
-  static constexpr double kTurretNearZero = 0.1;
+  static constexpr double kTurretNearZero = M_PI / 2.0;
 
   void Iterate(const control_loops::IndexerGoal *unsafe_indexer_goal,
                const control_loops::TurretGoal *unsafe_turret_goal,
@@ -213,6 +214,8 @@
 
   bool freeze_ = false;
 
+  VisionTimeAdjuster vision_time_adjuster_;
+
   // The last time that we transitioned from RUNNING to REVERSING or the
   // reverse.  Used to implement the timeouts.
   ::aos::monotonic_clock::time_point last_transition_time_ =
diff --git a/y2017/control_loops/superstructure/superstructure.q b/y2017/control_loops/superstructure/superstructure.q
index 3c44ed3..70508a9 100644
--- a/y2017/control_loops/superstructure/superstructure.q
+++ b/y2017/control_loops/superstructure/superstructure.q
@@ -39,6 +39,10 @@
   // These are from a top view above the robot.
   double angle;
 
+  // If true, ignore the angle and track using vision.  If we don't see
+  // anything, we'll use the turret goal above.
+  bool track;
+
   // Caps on velocity/acceleration for profiling. 0 for the default.
   .frc971.ProfileParameters profile_params;
 };
@@ -163,6 +167,10 @@
 
   // State of the estimator.
   ColumnEstimatorState estimator_state;
+
+  double raw_vision_angle;
+  double vision_angle;
+  bool vision_tracking;
 };
 
 queue_group SuperstructureQueue {