diff --git a/y2019/control_loops/superstructure/superstructure.q b/y2019/control_loops/superstructure/superstructure.q
index d5c8a73..f78bd5a 100644
--- a/y2019/control_loops/superstructure/superstructure.q
+++ b/y2019/control_loops/superstructure/superstructure.q
@@ -72,6 +72,12 @@
 
     // Position of the stilts, 0 when retracted (defualt), positive lifts robot.
     .frc971.PotAndAbsolutePosition stilts;
+
+    // True if the platform detection sensors detect the platform directly
+    // below the robot right behind the left and right wheels.  Useful for
+    // determining when the robot is all the way on the platform.
+    bool platform_left_detect;
+    bool platform_right_detect;
   };
 
   message Output {
diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index a82079b..d024d3f 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -158,7 +158,7 @@
     superstructure_queue.status.FetchLatest();
     if (!superstructure_queue.status.get() ||
         !superstructure_queue.position.get()) {
-      LOG(ERROR, "Got no superstructure status packet.\n");
+      LOG(ERROR, "Got no superstructure status or position packet.\n");
       return;
     }
 
@@ -342,18 +342,18 @@
 
     constexpr double kDeployStiltPosition = 0.5;
 
-    // TODO(sabina): max height please?
     if (data.IsPressed(kFallOver)) {
       new_superstructure_goal->stilts.unsafe_goal = 0.71;
       new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
       new_superstructure_goal->stilts.profile_params.max_acceleration = 1.25;
-    } else if (data.IsPressed(kDeployStilt)) {
+    } else if (data.IsPressed(kHalfStilt)) {
+      was_above_ = false;
+      new_superstructure_goal->stilts.unsafe_goal = 0.345;
+      new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
+    } else if (data.IsPressed(kDeployStilt) || was_above_) {
       new_superstructure_goal->stilts.unsafe_goal = kDeployStiltPosition;
       new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
       new_superstructure_goal->stilts.profile_params.max_acceleration = 2.0;
-    } else if (data.IsPressed(kHalfStilt)) {
-      new_superstructure_goal->stilts.unsafe_goal = 0.345;
-      new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
     } else {
       new_superstructure_goal->stilts.unsafe_goal = 0.005;
       new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
@@ -366,6 +366,18 @@
       new_superstructure_goal->elevator.profile_params.max_acceleration = 6;
     }
 
+    // If we've been asked to go above deploy and made it up that high, latch
+    // was_above.
+    if (new_superstructure_goal->stilts.unsafe_goal > kDeployStiltPosition &&
+        superstructure_queue.status->stilts.position >= kDeployStiltPosition) {
+      was_above_ = true;
+    } else if ((superstructure_queue.position->platform_left_detect ||
+                superstructure_queue.position->platform_right_detect) &&
+               !data.IsPressed(kDeployStilt) && !data.IsPressed(kFallOver)) {
+      // TODO(austin): Should make this && rather than ||
+      was_above_ = false;
+    }
+
     if (superstructure_queue.status->stilts.position > kDeployStiltPosition &&
         new_superstructure_goal->stilts.unsafe_goal == kDeployStiltPosition) {
       new_superstructure_goal->stilts.profile_params.max_velocity = 0.30;
@@ -419,6 +431,10 @@
     return ::frc971::autonomous::auto_mode->mode;
   }
 
+  // Bool to track if we've been above the deploy position.  Once this bool is
+  // set, don't let the stilts retract until we see the platform.
+  bool was_above_ = false;
+
   // Current goals here.
   ElevatorWristPosition elevator_wrist_pos_ = kStowPos;
   bool grab_piece_ = false;
diff --git a/y2019/wpilib_interface.cc b/y2019/wpilib_interface.cc
index 95ed28e..17dabde 100644
--- a/y2019/wpilib_interface.cc
+++ b/y2019/wpilib_interface.cc
@@ -198,6 +198,16 @@
     stilts_encoder_.set_potentiometer(::std::move(potentiometer));
   }
 
+  void set_platform_left_detect(
+      ::std::unique_ptr<frc::DigitalInput> platform_left_detect) {
+    platform_left_detect_ = ::std::move(platform_left_detect);
+  }
+
+  void set_platform_right_detect(
+      ::std::unique_ptr<frc::DigitalInput> platform_right_detect) {
+    platform_right_detect_ = ::std::move(platform_right_detect);
+  }
+
   // Vacuum pressure sensor
   void set_vacuum_sensor(int port) {
     vacuum_sensor_ = make_unique<frc::AnalogInput>(port);
@@ -257,6 +267,11 @@
           (vacuum_sensor_->GetVoltage() - kMinVoltage) /
           (kMaxVoltage - kMinVoltage);
 
+      superstructure_message->platform_left_detect =
+          !platform_left_detect_->Get();
+      superstructure_message->platform_right_detect =
+          !platform_right_detect_->Get();
+
       superstructure_message.Send();
     }
 
@@ -277,6 +292,9 @@
   ::frc971::wpilib::AbsoluteEncoderAndPotentiometer elevator_encoder_,
       wrist_encoder_, stilts_encoder_;
 
+  ::std::unique_ptr<frc::DigitalInput> platform_left_detect_;
+  ::std::unique_ptr<frc::DigitalInput> platform_right_detect_;
+
   ::std::unique_ptr<frc::AnalogInput> vacuum_sensor_;
 
   ::std::array<::std::unique_ptr<frc::DigitalInput>, 2> autonomous_modes_;
@@ -668,6 +686,9 @@
     reader.set_pwm_trigger(true);
     reader.set_vacuum_sensor(7);
 
+    reader.set_platform_right_detect(make_unique<frc::DigitalInput>(6));
+    reader.set_platform_left_detect(make_unique<frc::DigitalInput>(7));
+
     reader.set_autonomous_mode(0, make_unique<frc::DigitalInput>(22));
     reader.set_autonomous_mode(0, make_unique<frc::DigitalInput>(23));