diff --git a/y2023/control_loops/drivetrain/BUILD b/y2023/control_loops/drivetrain/BUILD
index 32b8c15..a12326c 100644
--- a/y2023/control_loops/drivetrain/BUILD
+++ b/y2023/control_loops/drivetrain/BUILD
@@ -131,6 +131,9 @@
     ],
     gen_reflections = 1,
     visibility = ["//visibility:public"],
+    deps = [
+        "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+    ],
 )
 
 cc_library(
diff --git a/y2023/control_loops/drivetrain/target_selector.cc b/y2023/control_loops/drivetrain/target_selector.cc
index 99805cb..e49ba2f 100644
--- a/y2023/control_loops/drivetrain/target_selector.cc
+++ b/y2023/control_loops/drivetrain/target_selector.cc
@@ -115,6 +115,12 @@
   }
   CHECK(closest_position.has_value());
   target_pose_ = Pose(closest_position.value(), /*theta=*/0.0);
+  if (hint_fetcher_->has_robot_side()) {
+    drive_direction_ = hint_fetcher_->robot_side();
+  } else {
+    drive_direction_ = Side::DONT_CARE;
+  }
   return true;
 }
+
 }  // namespace y2023::control_loops::drivetrain
diff --git a/y2023/control_loops/drivetrain/target_selector.h b/y2023/control_loops/drivetrain/target_selector.h
index 0290425..9c4600d 100644
--- a/y2023/control_loops/drivetrain/target_selector.h
+++ b/y2023/control_loops/drivetrain/target_selector.h
@@ -23,6 +23,7 @@
     : public frc971::control_loops::drivetrain::TargetSelectorInterface {
  public:
   typedef frc971::control_loops::TypedPose<double> Pose;
+  typedef frc971::control_loops::drivetrain::RobotSide Side;
 
   TargetSelector(aos::EventLoop *event_loop);
 
@@ -36,6 +37,7 @@
   }
 
   double TargetRadius() const override { return 0.0; }
+  Side DriveDirection() const override { return drive_direction_; }
 
  private:
   void UpdateAlliance();
@@ -44,6 +46,7 @@
   aos::Fetcher<TargetSelectorHint> hint_fetcher_;
   frc971::constants::ConstantsFetcher<Constants> constants_fetcher_;
   const localizer::HalfField *scoring_map_ = nullptr;
+  Side drive_direction_ = Side::DONT_CARE;
 };
 }  // namespace y2023::control_loops::drivetrain
 #endif  // Y2023_CONTROL_LOOPS_DRIVETRAIN_TARGET_SELECTOR_H_
diff --git a/y2023/control_loops/drivetrain/target_selector_hint.fbs b/y2023/control_loops/drivetrain/target_selector_hint.fbs
index 518d302..399d772 100644
--- a/y2023/control_loops/drivetrain/target_selector_hint.fbs
+++ b/y2023/control_loops/drivetrain/target_selector_hint.fbs
@@ -1,3 +1,5 @@
+include "frc971/control_loops/drivetrain/drivetrain_status.fbs";
+
 namespace y2023.control_loops.drivetrain;
 
 // Which of the grids we are going for.
@@ -23,13 +25,12 @@
   RIGHT,
 }
 
-
 table TargetSelectorHint {
   grid:GridSelectionHint (id: 0);
   row:RowSelectionHint (id: 1);
   spot:SpotSelectionHint (id: 2);
+  robot_side:frc971.control_loops.drivetrain.RobotSide = DONT_CARE (id: 3);
   // TODO: support human player pickup auto-align?
-  // TODO: add flag for forwards vs. backwards.
 }
 
 root_type TargetSelectorHint;
diff --git a/y2023/control_loops/drivetrain/target_selector_test.cc b/y2023/control_loops/drivetrain/target_selector_test.cc
index fdbd904..fbe5e8d 100644
--- a/y2023/control_loops/drivetrain/target_selector_test.cc
+++ b/y2023/control_loops/drivetrain/target_selector_test.cc
@@ -4,6 +4,8 @@
 #include "gtest/gtest.h"
 #include "y2023/constants/simulated_constants_sender.h"
 
+using Side = frc971::control_loops::drivetrain::RobotSide;
+
 namespace y2023::control_loops::drivetrain {
 class TargetSelectorTest : public ::testing::Test {
  protected:
@@ -38,17 +40,18 @@
   }
 
   void SendHint(GridSelectionHint grid, RowSelectionHint row,
-                SpotSelectionHint spot) {
+                SpotSelectionHint spot, Side side) {
     auto builder = hint_sender_.MakeBuilder();
     builder.CheckOk(builder.Send(
-        CreateTargetSelectorHint(*builder.fbb(), grid, row, spot)));
+        CreateTargetSelectorHint(*builder.fbb(), grid, row, spot, side)));
   }
-  void SendHint(RowSelectionHint row, SpotSelectionHint spot) {
+  void SendHint(RowSelectionHint row, SpotSelectionHint spot, Side side) {
     auto builder = hint_sender_.MakeBuilder();
     TargetSelectorHint::Builder hint_builder =
         builder.MakeBuilder<TargetSelectorHint>();
     hint_builder.add_row(row);
     hint_builder.add_spot(spot);
+    hint_builder.add_robot_side(side);
     builder.CheckOk(builder.Send(hint_builder.Finish()));
   }
 
@@ -95,13 +98,16 @@
                {row->left_cone(), SpotSelectionHint::LEFT},
                {row->cube(), SpotSelectionHint::MIDDLE},
                {row->right_cone(), SpotSelectionHint::RIGHT}}) {
-        SendHint(grid_hint, row_hint, spot_hint);
+        SendHint(grid_hint, row_hint, spot_hint, Side::FRONT);
         EXPECT_TRUE(target_selector_.UpdateSelection(
             Eigen::Matrix<double, 5, 1>::Zero(), 0.0));
         EXPECT_EQ(0.0, target_selector_.TargetRadius());
         EXPECT_EQ(spot->x(), target_selector_.TargetPose().abs_pos().x());
         EXPECT_EQ(spot->y(), target_selector_.TargetPose().abs_pos().y());
         EXPECT_EQ(spot->z(), target_selector_.TargetPose().abs_pos().z());
+        EXPECT_EQ(frc971::control_loops::drivetrain::TargetSelectorInterface::
+                      Side::FRONT,
+                  target_selector_.DriveDirection());
       }
     }
   }
@@ -125,12 +131,15 @@
             SpotSelectionHint::MIDDLE},
            {scoring_map()->left_grid()->bottom()->right_cone(),
             SpotSelectionHint::RIGHT}}) {
-    SendHint(RowSelectionHint::BOTTOM, spot_hint);
+    SendHint(RowSelectionHint::BOTTOM, spot_hint, Side::BACK);
     EXPECT_TRUE(target_selector_.UpdateSelection(
         Eigen::Matrix<double, 5, 1>::Zero(), 0.0));
     EXPECT_EQ(spot->x(), target_selector_.TargetPose().abs_pos().x());
     EXPECT_EQ(spot->y(), target_selector_.TargetPose().abs_pos().y());
     EXPECT_EQ(spot->z(), target_selector_.TargetPose().abs_pos().z());
+    EXPECT_EQ(
+        frc971::control_loops::drivetrain::TargetSelectorInterface::Side::BACK,
+        target_selector_.DriveDirection());
   }
 }