diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
index 1f1bbdf..b82d2d9 100644
--- a/y2016/control_loops/superstructure/superstructure.cc
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -56,14 +56,22 @@
 
     // Make sure that we don't move the shoulder below a certain angle until
     // the wrist is level with the ground.
-    if (::std::abs(wrist_angle) > kMaxWristAngleForMovingByIntake) {
-      shoulder_angle_goal =
+    if (intake_angle < kMaxIntakeAngleBeforeArmInterference + kSafetyMargin) {
+      if (::std::abs(wrist_angle) > kMaxWristAngleForMovingByIntake) {
+        shoulder_angle_goal =
           ::std::max(original_shoulder_angle_goal,
-                     kMinShoulderAngleForIntakeUpInterference + kSafetyMargin);
+              kMinShoulderAngleForIntakeInterference + kSafetyMargin);
+      }
+    } else {
+      if (::std::abs(wrist_angle) > kMaxWristAngleForMovingByIntake) {
+        shoulder_angle_goal =
+          ::std::max(original_shoulder_angle_goal,
+              kMinShoulderAngleForIntakeUpInterference + kSafetyMargin);
+      }
     }
     if (::std::abs(wrist_angle) > kMaxWristAngleForSafeArmStowing) {
       shoulder_angle_goal =
-          ::std::max(original_shoulder_angle_goal,
+          ::std::max(shoulder_angle_goal,
                      kMinShoulderAngleForHorizontalShooter + kSafetyMargin);
     }
   }
diff --git a/y2016/control_loops/superstructure/superstructure.h b/y2016/control_loops/superstructure/superstructure.h
index 74a059d..fd00fd1 100644
--- a/y2016/control_loops/superstructure/superstructure.h
+++ b/y2016/control_loops/superstructure/superstructure.h
@@ -88,7 +88,7 @@
 
   // The maximum absolute angle in radians that the wrist can be from horizontal
   // while it is near the intake.
-  static constexpr double kMaxWristAngleForMovingByIntake = 0.20;
+  static constexpr double kMaxWristAngleForMovingByIntake = 0.50;
 
   // The shoulder angle (in radians) below which the intake can safely move
   // into the collision zone. This is necessary when the robot wants to fold up