diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index 42453ff..1f0d1fc 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -281,11 +281,19 @@
       (turret_intake_state_ == RequestedIntake::kFront
            ? constants::Values::kTurretFrontIntakePos()
            : constants::Values::kTurretBackIntakePos());
-  // Turn to the loading position as close to the middle of the range as
-  // possible. Do the unwraping before we have a ball so we don't have to unwrap
-  // to shoot.
-  turret_loading_position = frc971::zeroing::Wrap(
-      values_->turret_range.middle_soft(), turret_loading_position, 2.0 * M_PI);
+  // Turn to the loading position as close to the current position as
+  // possible.
+  turret_loading_position =
+      turret_.estimated_position() +
+      aos::math::NormalizeAngle(turret_loading_position -
+                                turret_.estimated_position());
+  // if out of range, reset back to within +/- pi of zero.
+  if (turret_loading_position > values_->turret_range.upper ||
+      turret_loading_position < values_->turret_range.lower) {
+    turret_loading_position =
+        frc971::zeroing::Wrap(values_->turret_range.middle_soft(),
+                              turret_loading_position, 2.0 * M_PI);
+  }
 
   turret_loading_goal_buffer.Finish(
       frc971::control_loops::CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
diff --git a/y2022/control_loops/superstructure/superstructure_lib_test.cc b/y2022/control_loops/superstructure/superstructure_lib_test.cc
index cbc71d4..ff243e2 100644
--- a/y2022/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022/control_loops/superstructure/superstructure_lib_test.cc
@@ -998,7 +998,7 @@
   EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
             IntakeState::INTAKE_BACK_BALL);
   EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(),
-              constants::Values::kTurretBackIntakePos(), 0.001);
+              -constants::Values::kTurretBackIntakePos(), 0.001);
 
   // Since the intake beambreak hasn't triggered in a while, it should realize
   // the ball was lost.
@@ -1010,7 +1010,7 @@
             IntakeState::NO_BALL);
 }
 
-TEST_F(SuperstructureTest, TestTurretUnWrapsWhenLoading) {
+TEST_F(SuperstructureTest, TestTurretWrapsWhenLoading) {
   SetEnabled(true);
   WaitUntilZeroed();
 
@@ -1032,22 +1032,21 @@
   EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(), kTurretGoal,
               0.001);
 
-  superstructure_plant_.set_intake_beambreak_back(true);
+  superstructure_plant_.set_intake_beambreak_front(true);
   RunFor(dt() * 2);
 
   ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
   EXPECT_EQ(superstructure_status_fetcher_->state(),
             SuperstructureState::TRANSFERRING);
   EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
-            IntakeState::INTAKE_BACK_BALL);
+            IntakeState::INTAKE_FRONT_BALL);
 
   RunFor(std::chrono::seconds(3));
 
   ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
   EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(),
-              constants::Values::kTurretBackIntakePos(), 0.001);
-  // It goes to -pi instead of +pi because -pi is closest to the center of the
-  // range at -1.675.
+              -constants::Values::kTurretFrontIntakePos() - 2.0 * M_PI, 0.001);
+  // it chooses -pi because -pi is closer to -4 than positive pi
 }
 
 // Make sure that the front and back intakes are never switched