diff --git a/y2016/actors/superstructure_action.q b/y2016/actors/superstructure_action.q
index 2da9202..231f5e7 100644
--- a/y2016/actors/superstructure_action.q
+++ b/y2016/actors/superstructure_action.q
@@ -7,6 +7,7 @@
   double partial_angle;
   double delay_time;
   double full_angle;
+  double shooter_angle;
 };
 
 queue_group SuperstructureActionQueueGroup {
diff --git a/y2016/actors/superstructure_actor.cc b/y2016/actors/superstructure_actor.cc
index 3b0c258..c2d7c4d 100644
--- a/y2016/actors/superstructure_actor.cc
+++ b/y2016/actors/superstructure_actor.cc
@@ -19,27 +19,27 @@
     const actors::SuperstructureActionParams &params) {
   LOG(INFO, "Starting superstructure action\n");
 
-  MoveSuperstructure(params.partial_angle, false);
+  MoveSuperstructure(params.partial_angle, params.shooter_angle, false);
   WaitForSuperstructure();
   if (ShouldCancel()) return true;
-  MoveSuperstructure(params.partial_angle, true);
+  MoveSuperstructure(params.partial_angle, params.shooter_angle, true);
   if (!WaitOrCancel(::aos::time::Time::InSeconds(params.delay_time))) return true;
-  MoveSuperstructure(params.full_angle, true);
+  MoveSuperstructure(params.full_angle, params.shooter_angle, true);
   WaitForSuperstructure();
   if (ShouldCancel()) return true;
   return true;
 }
 
-void SuperstructureActor::MoveSuperstructure(double shoulder,
+void SuperstructureActor::MoveSuperstructure(double shoulder, double shooter,
                                              bool unfold_climber) {
-  superstructure_goal_ = {0, shoulder, 0};
+  superstructure_goal_ = {0, shoulder, shooter};
 
   auto new_superstructure_goal =
       ::y2016::control_loops::superstructure_queue.goal.MakeMessage();
 
   new_superstructure_goal->angle_intake = 0;
   new_superstructure_goal->angle_shoulder = shoulder;
-  new_superstructure_goal->angle_wrist = 0;
+  new_superstructure_goal->angle_wrist = shooter;
 
   new_superstructure_goal->max_angular_velocity_intake = 7.0;
   new_superstructure_goal->max_angular_velocity_shoulder = 4.0;
@@ -70,14 +70,9 @@
          ::std::abs(
              control_loops::superstructure_queue.status->shoulder.goal_angle -
              superstructure_goal_.shoulder) < kProfileError &&
-         ::std::abs(
-             control_loops::superstructure_queue.status->wrist.goal_angle -
-             superstructure_goal_.wrist) < kProfileError &&
          ::std::abs(control_loops::superstructure_queue.status->intake
                         .goal_angular_velocity) < kProfileError &&
          ::std::abs(control_loops::superstructure_queue.status->shoulder
-                        .goal_angular_velocity) < kProfileError &&
-         ::std::abs(control_loops::superstructure_queue.status->wrist
                         .goal_angular_velocity) < kProfileError;
 }
 
diff --git a/y2016/actors/superstructure_actor.h b/y2016/actors/superstructure_actor.h
index a8a0cc4..4d5e372 100644
--- a/y2016/actors/superstructure_actor.h
+++ b/y2016/actors/superstructure_actor.h
@@ -24,7 +24,7 @@
   };
   SuperstructureGoal superstructure_goal_;
   bool RunAction(const actors::SuperstructureActionParams &params) override;
-  void MoveSuperstructure(double shoulder, bool unfold_climber);
+  void MoveSuperstructure(double shoulder, double shooter, bool unfold_climber);
   void WaitForSuperstructure();
   bool SuperstructureProfileDone();
   bool SuperstructureDone();
diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
index d90ec68..49ea43f 100644
--- a/y2016/control_loops/superstructure/superstructure.cc
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -48,7 +48,7 @@
   // incorporating a small safety margin makes writing test cases much easier
   // since you can directly compare statuses against the constants in the
   // CollisionAvoidance class.
-  constexpr double kSafetyMargin = 0.02;  // radians
+  constexpr double kSafetyMargin = 0.03;  // radians
 
   // Avoid colliding the shooter with the frame.
   // If the shoulder is below a certain angle or we want to move it below
@@ -624,7 +624,8 @@
       kill_shoulder_ = true;
     }
   }
-  arm_.set_max_voltage(kill_shoulder_ ? 0.0 : max_voltage, max_voltage);
+  arm_.set_max_voltage(kill_shoulder_ ? 0.0 : max_voltage,
+                       kill_shoulder_ ? kShooterHangingVoltage : max_voltage);
   intake_.set_max_voltage(max_voltage);
 
   if (IsRunning() && !kill_shoulder_) {
@@ -671,7 +672,7 @@
     output->unfold_climber = false;
     if (unsafe_goal) {
       // Ball detector lights.
-      ::y2016::sensors::ball_detector.FetchAnother();
+      ::y2016::sensors::ball_detector.FetchLatest();
       bool ball_detected = false;
       if (::y2016::sensors::ball_detector.get()) {
         ball_detected = ::y2016::sensors::ball_detector->voltage > 2.5;
diff --git a/y2016/control_loops/superstructure/superstructure.h b/y2016/control_loops/superstructure/superstructure.h
index 4e76a2b..0fb851a 100644
--- a/y2016/control_loops/superstructure/superstructure.h
+++ b/y2016/control_loops/superstructure/superstructure.h
@@ -111,6 +111,7 @@
           &control_loops::superstructure_queue);
 
   static constexpr double kZeroingVoltage = 6.0;
+  static constexpr double kShooterHangingVoltage = 6.0;
   static constexpr double kOperatingVoltage = 12.0;
   static constexpr double kLandingShoulderDownVoltage = -1.5;
 
diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index f1ae333..e1e0c9b 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -148,7 +148,7 @@
     }
 
     // Don't do any normal drivetrain stuff if vision is in charge.
-    if (was_running_) {
+    if (vision_action_running_) {
       return;
     }
 
@@ -253,7 +253,7 @@
       // Set the goals to the hanging position so when the actor finishes, we
       // will still be at the right spot.
       shoulder_goal_ = 1.2;
-      wrist_goal_ = 0.0;
+      wrist_goal_ = 1.0;
       intake_goal_ = 0.0;
       if (data.PosEdge(kExpand)) {
         is_expanding_ = true;
@@ -261,6 +261,7 @@
         params.partial_angle = 0.3;
         params.delay_time = 0.7;
         params.full_angle = shoulder_goal_;
+        params.shooter_angle = wrist_goal_;
         action_queue_.EnqueueAction(actors::MakeSuperstructureAction(params));
       }
       if (data.IsPressed(kWinch)) {