diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index 9ea9eb2..224a24f 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -124,6 +124,9 @@
     output_struct.turret_voltage +=
         std::clamp(turret_velocity_sign, -kTurretFrictionVoltageLimit,
                    kTurretFrictionVoltageLimit);
+    output_struct.turret_voltage =
+        std::clamp(output_struct.turret_voltage, -turret_.operating_voltage(),
+                   turret_.operating_voltage());
 
     // Friction is a pain and putting a really high burden on the integrator.
     const double hood_velocity_sign = hood_status->velocity() * kHoodFrictionGain;
diff --git a/y2020/control_loops/superstructure/superstructure_lib_test.cc b/y2020/control_loops/superstructure/superstructure_lib_test.cc
index b461ec6..e8f1f8d 100644
--- a/y2020/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2020/control_loops/superstructure/superstructure_lib_test.cc
@@ -893,8 +893,8 @@
   RunFor(chrono::seconds(1));
 
   superstructure_status_fetcher_.Fetch();
-  EXPECT_FLOAT_EQ(kShotAngle,
-                  superstructure_status_fetcher_->turret()->position());
+  EXPECT_NEAR(kShotAngle, superstructure_status_fetcher_->turret()->position(),
+              1e-4);
   EXPECT_FLOAT_EQ(kShotAngle,
                   superstructure_status_fetcher_->aimer()->turret_position());
   EXPECT_FLOAT_EQ(0,