diff --git a/y2023/control_loops/drivetrain/BUILD b/y2023/control_loops/drivetrain/BUILD
index 41d6542..521fc09 100644
--- a/y2023/control_loops/drivetrain/BUILD
+++ b/y2023/control_loops/drivetrain/BUILD
@@ -161,6 +161,7 @@
         "//frc971/shooter_interpolation:interpolation",
         "//y2023/constants:constants_fbs",
         "//y2023/control_loops/superstructure:superstructure_position_fbs",
+        "//y2023/control_loops/superstructure:superstructure_status_fbs",
     ],
 )
 
diff --git a/y2023/control_loops/drivetrain/target_selector.cc b/y2023/control_loops/drivetrain/target_selector.cc
index 26f378c..aacfbbf 100644
--- a/y2023/control_loops/drivetrain/target_selector.cc
+++ b/y2023/control_loops/drivetrain/target_selector.cc
@@ -15,6 +15,7 @@
     : joystick_state_fetcher_(
           event_loop->MakeFetcher<aos::JoystickState>("/aos")),
       hint_fetcher_(event_loop->MakeFetcher<TargetSelectorHint>("/drivetrain")),
+      superstructure_status_fetcher_(event_loop->MakeFetcher<superstructure::Status>("/superstructure")),
       status_sender_(
           event_loop->MakeSender<TargetSelectorStatus>("/drivetrain")),
       constants_fetcher_(event_loop) {
@@ -24,6 +25,10 @@
   event_loop->MakeWatcher(
       "/superstructure",
       [this](const y2023::control_loops::superstructure::Position &msg) {
+        // Technically this means that even if we have a cube we are relying on
+        // getting a Position message before updating the game_piece_position_
+        // to zero. But if we aren't getting position messages, then things are
+        // very broken.
         game_piece_position_ =
             LateralOffsetForTimeOfFlight(msg.cone_position());
       });
@@ -171,7 +176,20 @@
 // TODO: Maybe this already handles field side correctly? Unsure if the line
 // follower ends up having positive as being robot frame relative or robot
 // direction relative...
-double TargetSelector::LateralOffsetForTimeOfFlight(double reading) const {
+double TargetSelector::LateralOffsetForTimeOfFlight(double reading) {
+  superstructure_status_fetcher_.Fetch();
+  if (superstructure_status_fetcher_.get() != nullptr) {
+    switch (superstructure_status_fetcher_->game_piece()) {
+      case superstructure::GamePiece::NONE:
+      case superstructure::GamePiece::CUBE:
+        return 0.0;
+      case superstructure::GamePiece::CONE:
+        // execute logic below.
+        break;
+    }
+  } else {
+    return 0.0;
+  }
   const TimeOfFlight *calibration =
       CHECK_NOTNULL(constants_fetcher_.constants().robot()->tof());
   // TODO(james): Use a generic interpolation table class.
diff --git a/y2023/control_loops/drivetrain/target_selector.h b/y2023/control_loops/drivetrain/target_selector.h
index cab4816..bed56ce 100644
--- a/y2023/control_loops/drivetrain/target_selector.h
+++ b/y2023/control_loops/drivetrain/target_selector.h
@@ -7,6 +7,7 @@
 #include "y2023/constants/constants_generated.h"
 #include "y2023/control_loops/drivetrain/target_selector_hint_generated.h"
 #include "y2023/control_loops/drivetrain/target_selector_status_generated.h"
+#include "y2023/control_loops/superstructure/superstructure_status_generated.h"
 
 namespace y2023::control_loops::drivetrain {
 // This target selector provides the logic to choose which position to try to
@@ -47,10 +48,11 @@
  private:
   void UpdateAlliance();
   // Returns the Y coordinate of a game piece given the time-of-flight reading.
-  double LateralOffsetForTimeOfFlight(double reading) const;
+  double LateralOffsetForTimeOfFlight(double reading);
   std::optional<Pose> target_pose_;
   aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
   aos::Fetcher<TargetSelectorHint> hint_fetcher_;
+  aos::Fetcher<superstructure::Status> superstructure_status_fetcher_;
   aos::Sender<TargetSelectorStatus> status_sender_;
   std::optional<TargetSelectorHintT> last_hint_;
   frc971::constants::ConstantsFetcher<Constants> constants_fetcher_;