diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index 4717f1a..454e147 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -34,8 +34,8 @@
           event_loop->MakeFetcher<CANPosition>("/superstructure")),
       joystick_state_fetcher_(
           event_loop->MakeFetcher<aos::JoystickState>("/aos")),
-      ball_color_fetcher_(event_loop->MakeFetcher<y2022::vision::BallColor>(
-          "/superstructure")),
+      ball_color_fetcher_(
+          event_loop->MakeFetcher<y2022::vision::BallColor>("/superstructure")),
       aimer_(values) {
   event_loop->SetRuntimeRealtimePriority(30);
 }
@@ -284,9 +284,8 @@
   // 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(constants::Values::kTurretRange().middle_soft(),
-                            turret_loading_position, 2.0 * M_PI);
+  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 86d7878..cbc71d4 100644
--- a/y2022/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022/control_loops/superstructure/superstructure_lib_test.cc
@@ -158,7 +158,7 @@
                 PositionSensorSimulator(
                     values->turret.subsystem_params.zeroing_constants
                         .one_revolution_distance),
-                values->turret, constants::Values::kTurretRange(),
+                values->turret, values->turret_range,
                 values->turret.subsystem_params.zeroing_constants
                     .measured_absolute_position,
                 dt_),
@@ -178,7 +178,7 @@
     intake_front_.InitializePosition(
         constants::Values::kIntakeRange().middle());
     intake_back_.InitializePosition(constants::Values::kIntakeRange().middle());
-    turret_.InitializePosition(constants::Values::kTurretRange().middle());
+    turret_.InitializePosition(values->turret_range.middle());
     catapult_.InitializePosition(constants::Values::kCatapultRange().middle());
     climber_.InitializePosition(constants::Values::kClimberRange().middle());
 
@@ -566,7 +566,7 @@
   superstructure_plant_.intake_back()->InitializePosition(
       constants::Values::kIntakeRange().middle());
   superstructure_plant_.turret()->InitializePosition(
-      constants::Values::kTurretRange().middle());
+      values_->turret_range.middle());
   superstructure_plant_.climber()->InitializePosition(
       constants::Values::kClimberRange().middle());
   WaitUntilZeroed();
@@ -584,7 +584,7 @@
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
         turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
-            *builder.fbb(), constants::Values::kTurretRange().lower,
+            *builder.fbb(), values_->turret_range.lower,
             CreateProfileParameters(*builder.fbb(), 1.0, 0.2));
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
@@ -671,7 +671,7 @@
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
         turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
-            *builder.fbb(), constants::Values::kTurretRange().lower,
+            *builder.fbb(), values_->turret_range.lower,
             CreateProfileParameters(*builder.fbb(), 20.0, 0.1));
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
diff --git a/y2022/control_loops/superstructure/turret/aiming.cc b/y2022/control_loops/superstructure/turret/aiming.cc
index 5fe8a2c..6320cb7 100644
--- a/y2022/control_loops/superstructure/turret/aiming.cc
+++ b/y2022/control_loops/superstructure/turret/aiming.cc
@@ -8,8 +8,8 @@
 namespace turret {
 
 using frc971::control_loops::Pose;
-using frc971::control_loops::aiming::ShotConfig;
 using frc971::control_loops::aiming::RobotState;
+using frc971::control_loops::aiming::ShotConfig;
 
 namespace {
 // If the turret is at zero, then it will be at this angle at which the shot
@@ -55,7 +55,7 @@
   // 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(),
+      ShotConfig{goal, shot_mode, constants_->turret_range,
                  constants_->shot_velocity_interpolation_table
                      .Get(current_goal_.target_distance)
                      .shot_speed_over_ground,