diff --git a/y2023/control_loops/superstructure/superstructure.cc b/y2023/control_loops/superstructure/superstructure.cc
index 3b4d2b0..03c6269 100644
--- a/y2023/control_loops/superstructure/superstructure.cc
+++ b/y2023/control_loops/superstructure/superstructure.cc
@@ -44,6 +44,7 @@
     AOS_LOG(ERROR, "WPILib reset, restarting\n");
     arm_.Reset();
     end_effector_.Reset();
+    wrist_.Reset();
   }
 
   OutputT output_struct;
@@ -67,10 +68,11 @@
           status->fbb());
 
   flatbuffers::Offset<AbsoluteEncoderProfiledJointStatus> wrist_offset =
-      wrist_.Iterate(unsafe_goal != nullptr ? unsafe_goal->wrist() : nullptr,
-                     position->wrist(),
-                     output != nullptr ? &output_struct.wrist_voltage : nullptr,
-                     status->fbb());
+      wrist_.Iterate(
+          unsafe_goal != nullptr ? unsafe_goal->wrist() : nullptr,
+          position->wrist(),
+          output != nullptr ? &(output_struct.wrist_voltage) : nullptr,
+          status->fbb());
 
   EndEffectorState end_effector_state = end_effector_.RunIteration(
       timestamp,
@@ -83,8 +85,8 @@
   }
 
   Status::Builder status_builder = status->MakeBuilder<Status>();
-  status_builder.add_zeroed(true);
-  status_builder.add_estopped(false);
+  status_builder.add_zeroed(wrist_.zeroed() && arm_.zeroed());
+  status_builder.add_estopped(wrist_.estopped() || arm_.estopped());
   status_builder.add_arm(arm_status_offset);
   status_builder.add_wrist(wrist_offset);
   status_builder.add_end_effector_state(end_effector_state);
diff --git a/y2023/control_loops/superstructure/superstructure_lib_test.cc b/y2023/control_loops/superstructure/superstructure_lib_test.cc
index adfa2a5..b94054d 100644
--- a/y2023/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2023/control_loops/superstructure/superstructure_lib_test.cc
@@ -394,6 +394,8 @@
       // status before checking it.
     } while (superstructure_status_fetcher_.get() == nullptr ||
              !superstructure_status_fetcher_.get()->zeroed());
+
+    superstructure_plant_.wrist()->set_voltage_offset(1.0);
   }
 
   void SendRobotVelocity(double robot_velocity) {
@@ -439,7 +441,7 @@
   std::unique_ptr<aos::logger::Logger> logger_;
 
   const ::std::vector<::Eigen::Matrix<double, 3, 1>> points_;
-};  // namespace testing
+};
 
 // Tests that the superstructure does nothing when the goal is to remain
 // still.
@@ -736,6 +738,7 @@
 // Tests that we don't freak out without a goal.
 TEST_F(SuperstructureTest, ArmSimpleGoal) {
   SetEnabled(true);
+  WaitUntilZeroed();
   RunFor(chrono::seconds(20));
 
   {
@@ -753,6 +756,7 @@
 // Tests that we can can execute a move.
 TEST_F(SuperstructureTest, ArmMoveAndMoveBack) {
   SetEnabled(true);
+  WaitUntilZeroed();
   {
     auto builder = superstructure_goal_sender_.MakeBuilder();
     Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
@@ -778,6 +782,7 @@
 // Tests that we can can execute a move which moves through multiple nodes.
 TEST_F(SuperstructureTest, ArmMultistepMove) {
   SetEnabled(true);
+  WaitUntilZeroed();
   superstructure_plant_.InitializeArmPosition(arm::NeutralPosPoint());
 
   {