diff --git a/y2019/control_loops/superstructure/vacuum.cc b/y2019/control_loops/superstructure/vacuum.cc
index 497ae5b..956bb79 100644
--- a/y2019/control_loops/superstructure/vacuum.cc
+++ b/y2019/control_loops/superstructure/vacuum.cc
@@ -1,9 +1,15 @@
 #include "y2019/control_loops/superstructure/vacuum.h"
 
+#include <chrono>
+
+#include "y2019/control_loops/superstructure/superstructure.q.h"
+
 namespace y2019 {
 namespace control_loops {
 namespace superstructure {
 
+namespace chrono = ::std::chrono;
+
 constexpr double Vacuum::kPumpVoltage;
 constexpr double Vacuum::kPumpHasPieceVoltage;
 constexpr aos::monotonic_clock::duration Vacuum::kTimeAtHigherVoltage;
@@ -19,7 +25,10 @@
   filtered_pressure_ = kSuctionAlpha * suction_pressure +
                        (1 - kSuctionAlpha) * filtered_pressure_;
 
-  const bool new_has_piece = filtered_pressure_ < kVacuumThreshold;
+  const bool new_has_piece =
+      filtered_pressure_ < (filtered_had_piece_near_disabled_
+                                ? kVacuumOffThreshold
+                                : kVacuumOnThreshold);
 
   if (new_has_piece && !had_piece_) {
     time_at_last_acquisition_ = monotonic_now;
@@ -28,8 +37,13 @@
       monotonic_now > time_at_last_acquisition_ + kTimeAtHigherVoltage &&
       new_has_piece;
 
+  if (!output && *has_piece) {
+    last_disable_has_piece_time_ = monotonic_now;
+  }
+
+
   // If we've had the piece for enough time, go to lower pump_voltage
-  low_pump_voltage = *has_piece;
+  low_pump_voltage = *has_piece && filtered_pressure_ < kVacuumOnThreshold;
 
   if (unsafe_goal && output) {
     const bool release = !unsafe_goal->grab_piece;
@@ -63,6 +77,10 @@
     }
   }
   had_piece_ = new_has_piece;
+
+  filtered_had_piece_near_disabled_ =
+      *has_piece &&
+      monotonic_now < last_disable_has_piece_time_ + chrono::milliseconds(250);
 }
 
 }  // namespace superstructure
diff --git a/y2019/control_loops/superstructure/vacuum.h b/y2019/control_loops/superstructure/vacuum.h
index f0e97e9..e793530 100644
--- a/y2019/control_loops/superstructure/vacuum.h
+++ b/y2019/control_loops/superstructure/vacuum.h
@@ -1,7 +1,7 @@
 #ifndef Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_VACUUM_H_
 #define Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_VACUUM_H_
 
-#include "aos/controls/control_loop.h"
+#include "aos/events/event-loop.h"
 #include "y2019/control_loops/superstructure/superstructure.q.h"
 
 namespace y2019 {
@@ -33,11 +33,17 @@
   bool had_piece_ = false;
   aos::monotonic_clock::time_point last_release_time_ =
       aos::monotonic_clock::epoch();
+  // Time since the last time we had a game piece while disabled.
+  aos::monotonic_clock::time_point last_disable_has_piece_time_ =
+      aos::monotonic_clock::min_time;
   aos::monotonic_clock::time_point time_at_last_acquisition_ =
       aos::monotonic_clock::epoch();
   double filtered_pressure_ = 1.0;
 
-  static constexpr double kVacuumThreshold = 0.70;
+  bool filtered_had_piece_near_disabled_ = false;
+
+  static constexpr double kVacuumOnThreshold = 0.70;
+  static constexpr double kVacuumOffThreshold = 0.85;
 
   static constexpr double kFilterTimeConstant = 0.1;
   static constexpr double dt = .00505;