diff --git a/y2023/vision/game_pieces.cc b/y2023/vision/game_pieces.cc
index bf6a855..8a0621d 100644
--- a/y2023/vision/game_pieces.cc
+++ b/y2023/vision/game_pieces.cc
@@ -7,20 +7,6 @@
 #include "frc971/vision/vision_generated.h"
 #include "y2023/vision/yolov5.h"
 
-// The best_x and best_y are pixel (x, y) cordinates. The 'best'
-// game piece is picked on proximity to the specified cordinates.
-// The cordinate should represent where we want to intake a game piece.
-// (0, 360) was chosen without any testing, just a cordinate that
-// seemed reasonable.
-
-DEFINE_uint32(
-    best_x, 0,
-    "The 'best' game piece is picked based on how close it is to this x value");
-
-DEFINE_uint32(
-    best_y, 360,
-    "The 'best' game piece is picked based on how close it is to this y value");
-
 namespace y2023 {
 namespace vision {
 using aos::monotonic_clock;
@@ -56,9 +42,6 @@
 
   std::vector<flatbuffers::Offset<GamePiece>> game_pieces_offsets;
 
-  float lowest_distance = std::numeric_limits<float>::max();
-  int best_distance_index = 0;
-
   for (size_t i = 0; i < detections.size(); i++) {
     auto box_builder = builder.MakeBuilder<Box>();
     box_builder.add_h(detections[i].box.height);
@@ -70,47 +53,22 @@
     auto game_piece_builder = builder.MakeBuilder<GamePiece>();
     switch (detections[i].class_id) {
       case 0:
-        game_piece_builder.add_piece_class(Class::CONE_DOWN);
-        break;
-      case 1:
-        game_piece_builder.add_piece_class(Class::CONE_UP);
-        break;
-      case 2:
-        game_piece_builder.add_piece_class(Class::CUBE);
+        game_piece_builder.add_piece_class(ConeClass::CONE);
         break;
       default:
-        game_piece_builder.add_piece_class(Class::CONE_DOWN);
+        // Should never happen.
+        game_piece_builder.add_piece_class(ConeClass::NONE);
     }
     game_piece_builder.add_box(box_offset);
     game_piece_builder.add_confidence(detections[i].confidence);
     auto game_piece = game_piece_builder.Finish();
     game_pieces_offsets.push_back(game_piece);
-
-    // Center x and y values.
-    // Inference returns the top left corner of the bounding box
-    // but we want the center of the box for this.
-
-    const int center_x = detections[i].box.x + detections[i].box.width / 2;
-    const int center_y = detections[i].box.y + detections[i].box.height / 2;
-
-    // Find difference between target x, y and the x, y
-    // of the bounding box using Euclidean distance.
-
-    const int dx = FLAGS_best_x - center_x;
-    const int dy = FLAGS_best_y - center_y;
-    const float distance = std::sqrt(dx * dx + dy * dy);
-
-    if (distance < lowest_distance) {
-      lowest_distance = distance;
-      best_distance_index = i;
-    }
   };
 
   auto game_pieces_vector = builder.fbb()->CreateVector(game_pieces_offsets);
 
   auto game_pieces_builder = builder.MakeBuilder<GamePieces>();
   game_pieces_builder.add_game_pieces(game_pieces_vector);
-  game_pieces_builder.add_best_piece(best_distance_index);
 
   builder.CheckOk(builder.Send(game_pieces_builder.Finish()));
 }