diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index 56980d5..6274da5 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -19,6 +19,9 @@
 constexpr double kTurretLoadingThreshold = 0.01;
 constexpr double kAltitudeLoadingThreshold = 0.01;
 
+constexpr std::chrono::milliseconds kExtraIntakingTime =
+    std::chrono::milliseconds(500);
+
 namespace y2024::control_loops::superstructure {
 
 using ::aos::monotonic_clock;
@@ -61,8 +64,6 @@
   const monotonic_clock::time_point timestamp =
       event_loop()->context().monotonic_event_time;
 
-  (void)timestamp;
-
   if (WasReset()) {
     AOS_LOG(ERROR, "WPILib reset, restarting\n");
     intake_pivot_.Reset();
@@ -113,6 +114,7 @@
       case IntakeGoal::INTAKE:
         intake_pivot_position =
             robot_constants_->common()->intake_pivot_set_points()->extended();
+        intake_end_time_ = timestamp;
         break;
       case IntakeGoal::SPIT:
         intake_pivot_position =
@@ -179,7 +181,6 @@
       catapult_requested_ = false;
       break;
     case SuperstructureState::INTAKING:
-
       // Switch to LOADED state when the extend beambreak is triggered
       // meaning the note is loaded in the extend
       if (position->extend_beambreak()) {
@@ -195,6 +196,14 @@
         catapult_requested_ = true;
       }
 
+      // If we are no longer requesting INTAKE or we are no longer requesting
+      // an INTAKE goal, wait 0.5 seconds then go back to IDLE.
+      if (!(unsafe_goal != nullptr &&
+            unsafe_goal->intake_goal() == IntakeGoal::INTAKE) &&
+          timestamp > intake_end_time_ + kExtraIntakingTime) {
+        state_ = SuperstructureState::IDLE;
+      }
+
       break;
     case SuperstructureState::LOADED:
       if (catapult_requested_ == true) {
diff --git a/y2024/control_loops/superstructure/superstructure.h b/y2024/control_loops/superstructure/superstructure.h
index 963d8c4..868f11f 100644
--- a/y2024/control_loops/superstructure/superstructure.h
+++ b/y2024/control_loops/superstructure/superstructure.h
@@ -74,6 +74,9 @@
   aos::monotonic_clock::time_point transfer_start_time_ =
       aos::monotonic_clock::time_point::min();
 
+  aos::monotonic_clock::time_point intake_end_time_ =
+      aos::monotonic_clock::time_point::min();
+
   AbsoluteEncoderSubsystem intake_pivot_;
   PotAndAbsoluteEncoderSubsystem climber_;
 
diff --git a/y2024/control_loops/superstructure/superstructure_lib_test.cc b/y2024/control_loops/superstructure/superstructure_lib_test.cc
index e0b9846..8041504 100644
--- a/y2024/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2024/control_loops/superstructure/superstructure_lib_test.cc
@@ -924,6 +924,41 @@
     ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
 
+  RunFor(chrono::milliseconds(500));
+
+  // Make sure we're still intaking for 500 ms after we stop giving it an
+  // intaking goal.
+  {
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+    goal_builder.add_note_goal(NoteGoal::NONE);
+
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
+  }
+
+  RunFor(chrono::milliseconds(200));
+
+  ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+
+  EXPECT_EQ(superstructure_status_fetcher_->state(),
+            SuperstructureState::INTAKING);
+  EXPECT_EQ(superstructure_status_fetcher_->intake_roller(),
+            IntakeRollerStatus::INTAKING);
+
+  // Make sure we stop when loaded
+  {
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+    goal_builder.add_intake_goal(IntakeGoal::INTAKE);
+    goal_builder.add_note_goal(NoteGoal::NONE);
+
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
+  }
+
   superstructure_plant_.set_extend_beambreak(true);
 
   RunFor(chrono::seconds(2));