diff --git a/y2020/joystick_reader.cc b/y2020/joystick_reader.cc
index e52708e..9934571 100644
--- a/y2020/joystick_reader.cc
+++ b/y2020/joystick_reader.cc
@@ -151,6 +151,7 @@
     }
 
     if (superstructure_status_fetcher_.get() &&
+        superstructure_status_fetcher_->intake()->zeroed() &&
         superstructure_status_fetcher_->intake()->position() > -0.5) {
       roller_speed = std::max(roller_speed, 6.0f);
       roller_speed_compensation = 2.0f;