diff --git a/y2023/control_loops/drivetrain/target_selector.cc b/y2023/control_loops/drivetrain/target_selector.cc
index 1b70ca1..0fb5df5 100644
--- a/y2023/control_loops/drivetrain/target_selector.cc
+++ b/y2023/control_loops/drivetrain/target_selector.cc
@@ -1,6 +1,5 @@
 #include "y2023/control_loops/drivetrain/target_selector.h"
 
-#include "aos/containers/sized_array.h"
 #include "frc971/shooter_interpolation/interpolation.h"
 #include "y2023/control_loops/superstructure/superstructure_position_generated.h"
 #include "y2023/vision/game_pieces_generated.h"
@@ -53,6 +52,74 @@
   }
 }
 
+aos::SizedArray<const frc971::vision::Position *, 3>
+TargetSelector::PossibleScoringPositions(
+    const TargetSelectorHint *hint, const localizer::HalfField *scoring_map) {
+  aos::SizedArray<const localizer::ScoringGrid *, 3> possible_grids;
+  if (hint->has_grid()) {
+    possible_grids = {[hint, scoring_map]() -> const localizer::ScoringGrid * {
+      switch (hint->grid()) {
+        case GridSelectionHint::LEFT:
+          return scoring_map->left_grid();
+        case GridSelectionHint::MIDDLE:
+          return scoring_map->middle_grid();
+        case GridSelectionHint::RIGHT:
+          return scoring_map->right_grid();
+      }
+      // Make roborio compiler happy...
+      return nullptr;
+    }()};
+  } else {
+    possible_grids = {scoring_map->left_grid(), scoring_map->middle_grid(),
+                      scoring_map->right_grid()};
+  }
+
+  aos::SizedArray<const localizer::ScoringRow *, 3> possible_rows =
+      [possible_grids, hint]() {
+        aos::SizedArray<const localizer::ScoringRow *, 3> rows;
+        for (const localizer::ScoringGrid *grid : possible_grids) {
+          CHECK_NOTNULL(grid);
+          switch (hint->row()) {
+            case RowSelectionHint::BOTTOM:
+              rows.push_back(grid->bottom());
+              break;
+            case RowSelectionHint::MIDDLE:
+              rows.push_back(grid->middle());
+              break;
+            case RowSelectionHint::TOP:
+              rows.push_back(grid->top());
+              break;
+          }
+        }
+        return rows;
+      }();
+  aos::SizedArray<const frc971::vision::Position *, 3> positions;
+  for (const localizer::ScoringRow *row : possible_rows) {
+    CHECK_NOTNULL(row);
+    switch (hint->spot()) {
+      case SpotSelectionHint::LEFT:
+        positions.push_back(row->left_cone());
+        break;
+      case SpotSelectionHint::MIDDLE:
+        positions.push_back(row->cube());
+        break;
+      case SpotSelectionHint::RIGHT:
+        positions.push_back(row->right_cone());
+        break;
+    }
+  }
+  return positions;
+}
+
+aos::SizedArray<const frc971::vision::Position *, 3>
+TargetSelector::PossiblePickupPositions(
+    const localizer::HalfField *scoring_map) {
+  aos::SizedArray<const frc971::vision::Position *, 3> positions;
+  positions.push_back(scoring_map->substation()->left());
+  positions.push_back(scoring_map->substation()->right());
+  return positions;
+}
+
 bool TargetSelector::UpdateSelection(const ::Eigen::Matrix<double, 5, 1> &state,
                                      double /*command_speed*/) {
   UpdateAlliance();
@@ -77,63 +144,11 @@
     }
     last_hint_ = hint_object;
   }
-  aos::SizedArray<const localizer::ScoringGrid *, 3> possible_grids;
-  if (hint_fetcher_->has_grid()) {
-    possible_grids = {[this]() -> const localizer::ScoringGrid * {
-      switch (hint_fetcher_->grid()) {
-        case GridSelectionHint::LEFT:
-          return scoring_map_->left_grid();
-        case GridSelectionHint::MIDDLE:
-          return scoring_map_->middle_grid();
-        case GridSelectionHint::RIGHT:
-          return scoring_map_->right_grid();
-      }
-      // Make roborio compiler happy...
-      return nullptr;
-    }()};
-  } else {
-    possible_grids = {scoring_map_->left_grid(), scoring_map_->middle_grid(),
-                      scoring_map_->right_grid()};
-  }
-
-  aos::SizedArray<const localizer::ScoringRow *, 3> possible_rows =
-      [this, possible_grids]() {
-        aos::SizedArray<const localizer::ScoringRow *, 3> rows;
-        for (const localizer::ScoringGrid *grid : possible_grids) {
-          CHECK_NOTNULL(grid);
-          switch (hint_fetcher_->row()) {
-            case RowSelectionHint::BOTTOM:
-              rows.push_back(grid->bottom());
-              break;
-            case RowSelectionHint::MIDDLE:
-              rows.push_back(grid->middle());
-              break;
-            case RowSelectionHint::TOP:
-              rows.push_back(grid->top());
-              break;
-          }
-        }
-        return rows;
-      }();
-  aos::SizedArray<const frc971::vision::Position *, 3> possible_positions =
-      [this, possible_rows]() {
-        aos::SizedArray<const frc971::vision::Position *, 3> positions;
-        for (const localizer::ScoringRow *row : possible_rows) {
-          CHECK_NOTNULL(row);
-          switch (hint_fetcher_->spot()) {
-            case SpotSelectionHint::LEFT:
-              positions.push_back(row->left_cone());
-              break;
-            case SpotSelectionHint::MIDDLE:
-              positions.push_back(row->cube());
-              break;
-            case SpotSelectionHint::RIGHT:
-              positions.push_back(row->right_cone());
-              break;
-          }
-        }
-        return positions;
-      }();
+  const aos::SizedArray<const frc971::vision::Position *, 3>
+      possible_positions =
+          hint_fetcher_->substation_pickup()
+              ? PossiblePickupPositions(scoring_map_)
+              : PossibleScoringPositions(hint_fetcher_.get(), scoring_map_);
   CHECK_LT(0u, possible_positions.size());
   aos::SizedArray<double, 3> distances;
   std::optional<double> closest_distance;
diff --git a/y2023/control_loops/drivetrain/target_selector.h b/y2023/control_loops/drivetrain/target_selector.h
index 5e7f015..e469ce9 100644
--- a/y2023/control_loops/drivetrain/target_selector.h
+++ b/y2023/control_loops/drivetrain/target_selector.h
@@ -1,5 +1,6 @@
 #ifndef Y2023_CONTROL_LOOPS_DRIVETRAIN_TARGET_SELECTOR_H_
 #define Y2023_CONTROL_LOOPS_DRIVETRAIN_TARGET_SELECTOR_H_
+#include "aos/containers/sized_array.h"
 #include "frc971/constants/constants_sender_lib.h"
 #include "frc971/control_loops/drivetrain/localizer.h"
 #include "frc971/control_loops/pose.h"
@@ -47,6 +48,11 @@
 
  private:
   void UpdateAlliance();
+  static aos::SizedArray<const frc971::vision::Position *, 3>
+  PossibleScoringPositions(const TargetSelectorHint *hint,
+                           const localizer::HalfField *scoring_map);
+  static aos::SizedArray<const frc971::vision::Position *, 3>
+  PossiblePickupPositions(const localizer::HalfField *scoring_map);
   std::optional<Pose> target_pose_;
   aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
   aos::Fetcher<TargetSelectorHint> hint_fetcher_;
diff --git a/y2023/control_loops/drivetrain/target_selector_hint.fbs b/y2023/control_loops/drivetrain/target_selector_hint.fbs
index 357bc21..ce5fd89 100644
--- a/y2023/control_loops/drivetrain/target_selector_hint.fbs
+++ b/y2023/control_loops/drivetrain/target_selector_hint.fbs
@@ -30,7 +30,8 @@
   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?
+  // If set, attempt to pickup from the human player station.
+  substation_pickup:bool (id: 4);
 }
 
 root_type TargetSelectorHint;
diff --git a/y2023/control_loops/drivetrain/target_selector_test.cc b/y2023/control_loops/drivetrain/target_selector_test.cc
index c28c14d..21f3fe6 100644
--- a/y2023/control_loops/drivetrain/target_selector_test.cc
+++ b/y2023/control_loops/drivetrain/target_selector_test.cc
@@ -55,6 +55,14 @@
     builder.CheckOk(builder.Send(hint_builder.Finish()));
   }
 
+  void SendSubstationHint() {
+    auto builder = hint_sender_.MakeBuilder();
+    TargetSelectorHint::Builder hint_builder =
+        builder.MakeBuilder<TargetSelectorHint>();
+    hint_builder.add_substation_pickup(true);
+    builder.CheckOk(builder.Send(hint_builder.Finish()));
+  }
+
   const localizer::HalfField *scoring_map() const {
     return constants_fetcher_.constants().scoring_map()->red();
   }
@@ -185,4 +193,29 @@
   EXPECT_EQ(target.y(), middle_pos->y());
 }
 
+// Test that substation pickup being set in the hint causes us to pickup from
+// the substation.
+TEST_F(TargetSelectorTest, SubstationPickup) {
+  SendJoystickState();
+  SendSubstationHint();
+  const frc971::vision::Position *left_pos =
+      scoring_map()->substation()->left();
+  const frc971::vision::Position *right_pos =
+      scoring_map()->substation()->right();
+  Eigen::Matrix<double, 5, 1> left_position;
+  left_position << 0.0, left_pos->y(), 0.0, 0.0, 0.0;
+  Eigen::Matrix<double, 5, 1> right_position;
+  right_position << 0.0, right_pos->y(), 0.0, 0.0, 0.0;
+
+  EXPECT_TRUE(target_selector_.UpdateSelection(left_position, 0.0));
+  Eigen::Vector3d target = target_selector_.TargetPose().abs_pos();
+  EXPECT_EQ(target.x(), left_pos->x());
+  EXPECT_EQ(target.y(), left_pos->y());
+
+  EXPECT_TRUE(target_selector_.UpdateSelection(right_position, 0.0));
+  target = target_selector_.TargetPose().abs_pos();
+  EXPECT_EQ(target.x(), right_pos->x());
+  EXPECT_EQ(target.y(), right_pos->y());
+}
+
 }  // namespace y2023::control_loops::drivetrain
diff --git a/y2023/joystick_reader.cc b/y2023/joystick_reader.cc
index 4c4b1e3..3951dfa 100644
--- a/y2023/joystick_reader.cc
+++ b/y2023/joystick_reader.cc
@@ -434,7 +434,17 @@
         AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
       }
     }
-    if (placing_row.has_value()) {
+    // TODO(james): Is there a more principled way to detect Human Player
+    // pickup? Probably don't bother fixing it until/unless we add more buttons
+    // that can select human player pickup.
+    if (data.IsPressed(kHPConePickup)) {
+      auto builder = target_selector_hint_sender_.MakeBuilder();
+      auto hint_builder = builder.MakeBuilder<TargetSelectorHint>();
+      hint_builder.add_substation_pickup(true);
+      if (builder.Send(hint_builder.Finish()) != aos::RawSender::Error::kOk) {
+        AOS_LOG(ERROR, "Sending target selector hint failed.\n");
+      }
+    } else if (placing_row.has_value()) {
       auto builder = target_selector_hint_sender_.MakeBuilder();
       auto hint_builder = builder.MakeBuilder<TargetSelectorHint>();
       hint_builder.add_row(placing_row.value());