diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index b21dd0d..d23e589 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -5,6 +5,9 @@
 #include "frc971/zeroing/wrap.h"
 #include "y2022/control_loops/superstructure/collision_avoidance.h"
 
+DEFINE_bool(ignore_distance, false,
+            "If true, ignore distance when shooting and obay joystick_reader");
+
 namespace y2022 {
 namespace control_loops {
 namespace superstructure {
@@ -28,7 +31,8 @@
           event_loop->MakeFetcher<frc971::control_loops::drivetrain::Status>(
               "/drivetrain")),
       can_position_fetcher_(
-          event_loop->MakeFetcher<CANPosition>("/superstructure")) {
+          event_loop->MakeFetcher<CANPosition>("/superstructure")),
+      aimer_(values) {
   event_loop->SetRuntimeRealtimePriority(30);
 }
 
@@ -92,8 +96,9 @@
 
     constants::Values::ShotParams shot_params;
     const double distance_to_goal = aimer_.DistanceToGoal();
-    if (unsafe_goal->auto_aim() && values_->shot_interpolation_table.GetInRange(
-                                       distance_to_goal, &shot_params)) {
+    if (!FLAGS_ignore_distance && unsafe_goal->auto_aim() &&
+        values_->shot_interpolation_table.GetInRange(distance_to_goal,
+                                                     &shot_params)) {
       flatbuffers::FlatBufferBuilder *catapult_goal_fbb =
           catapult_goal_buffer.fbb();
       std::optional<flatbuffers::Offset<
@@ -243,7 +248,7 @@
        .shooting = true});
 
   // Dont shoot if the robot is moving faster than this
-  constexpr double kMaxShootSpeed = 1.7;
+  constexpr double kMaxShootSpeed = 2.7;
   const bool moving_too_fast = std::abs(robot_velocity()) > kMaxShootSpeed;
 
   switch (state_) {
diff --git a/y2022/control_loops/superstructure/turret/aiming.cc b/y2022/control_loops/superstructure/turret/aiming.cc
index 643adbc..5fe8a2c 100644
--- a/y2022/control_loops/superstructure/turret/aiming.cc
+++ b/y2022/control_loops/superstructure/turret/aiming.cc
@@ -1,6 +1,5 @@
 #include "y2022/control_loops/superstructure/turret/aiming.h"
 
-#include "y2022/constants.h"
 #include "y2022/control_loops/drivetrain/drivetrain_base.h"
 
 namespace y2022 {
@@ -13,10 +12,6 @@
 using frc971::control_loops::aiming::RobotState;
 
 namespace {
-// Average speed-over-ground of the ball on its way to the target. Our current
-// model assumes constant ball velocity regardless of shot distance.
-constexpr double kBallSpeedOverGround = 2.0;  // m/s
-
 // If the turret is at zero, then it will be at this angle at which the shot
 // will leave the robot. I.e., if the turret is at zero, then the shot will go
 // straight out the back of the robot.
@@ -43,7 +38,8 @@
 }
 }  // namespace
 
-Aimer::Aimer() : goal_(MakePrefilledGoal()) {}
+Aimer::Aimer(std::shared_ptr<const constants::Values> constants)
+    : constants_(constants), goal_(MakePrefilledGoal()) {}
 
 void Aimer::Update(const Status *status, ShotMode shot_mode) {
   const Pose robot_pose({status->x(), status->y(), 0}, status->theta());
@@ -56,15 +52,18 @@
   const double xdot = linear_angular(0) * std::cos(status->theta());
   const double ydot = linear_angular(0) * std::sin(status->theta());
 
-  current_goal_ =
-      frc971::control_loops::aiming::AimerGoal(
-          ShotConfig{goal, shot_mode, constants::Values::kTurretRange(),
-                     kBallSpeedOverGround,
-                     /*wrap_mode=*/0.0, kTurretZeroOffset},
-          RobotState{robot_pose,
-                     {xdot, ydot},
-                     linear_angular(1),
-                     goal_.message().unsafe_goal()});
+  // Use the previous shot distance to estimate the speed-over-ground of the
+  // ball.
+  current_goal_ = frc971::control_loops::aiming::AimerGoal(
+      ShotConfig{goal, shot_mode, constants_->kTurretRange(),
+                 constants_->shot_velocity_interpolation_table
+                     .Get(current_goal_.target_distance)
+                     .shot_speed_over_ground,
+                 /*wrap_mode=*/0.0, kTurretZeroOffset},
+      RobotState{robot_pose,
+                 {xdot, ydot},
+                 linear_angular(1),
+                 goal_.message().unsafe_goal()});
 
   goal_.mutable_message()->mutate_unsafe_goal(current_goal_.position);
   goal_.mutable_message()->mutate_goal_velocity(
diff --git a/y2022/control_loops/superstructure/turret/aiming.h b/y2022/control_loops/superstructure/turret/aiming.h
index 9494103..4eabe3e 100644
--- a/y2022/control_loops/superstructure/turret/aiming.h
+++ b/y2022/control_loops/superstructure/turret/aiming.h
@@ -2,10 +2,11 @@
 #define Y2022_CONTROL_LOOPS_SUPERSTRUCTURE_TURRET_AIMING_H_
 
 #include "aos/flatbuffers.h"
+#include "frc971/control_loops/aiming/aiming.h"
 #include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "frc971/control_loops/pose.h"
 #include "frc971/control_loops/profiled_subsystem_generated.h"
-#include "frc971/control_loops/aiming/aiming.h"
+#include "y2022/constants.h"
 #include "y2022/control_loops/superstructure/superstructure_status_generated.h"
 
 namespace y2022::control_loops::superstructure::turret {
@@ -19,7 +20,7 @@
   typedef frc971::control_loops::drivetrain::Status Status;
   typedef frc971::control_loops::aiming::ShotMode ShotMode;
 
-  Aimer();
+  Aimer(std::shared_ptr<const constants::Values> constants);
 
   void Update(const Status *status, ShotMode shot_mode);
 
@@ -32,6 +33,7 @@
       flatbuffers::FlatBufferBuilder *fbb) const;
 
  private:
+  std::shared_ptr<const constants::Values> constants_;
   aos::FlatbufferDetachedBuffer<Goal> goal_;
   frc971::control_loops::aiming::TurretGoal current_goal_;
 };