diff --git a/y2022/actors/BUILD b/y2022/actors/BUILD
new file mode 100644
index 0000000..57b1222
--- /dev/null
+++ b/y2022/actors/BUILD
@@ -0,0 +1,53 @@
+filegroup(
+    name = "binaries.stripped",
+    srcs = [
+        ":autonomous_action.stripped",
+    ],
+    visibility = ["//visibility:public"],
+)
+
+filegroup(
+    name = "binaries",
+    srcs = [
+        ":autonomous_action",
+    ],
+    visibility = ["//visibility:public"],
+)
+
+cc_library(
+    name = "autonomous_action_lib",
+    srcs = [
+        "auto_splines.cc",
+        "autonomous_actor.cc",
+    ],
+    hdrs = [
+        "auto_splines.h",
+        "autonomous_actor.h",
+    ],
+    deps = [
+        "//aos/events:event_loop",
+        "//aos/logging",
+        "//aos/util:phased_loop",
+        "//frc971/autonomous:base_autonomous_actor",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops:profiled_subsystem_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_config",
+        "//frc971/control_loops/drivetrain:localizer_fbs",
+        "//y2022/control_loops/drivetrain:drivetrain_base",
+        "//y2022/control_loops/superstructure:superstructure_goal_fbs",
+        "//y2022/control_loops/superstructure:superstructure_status_fbs",
+    ],
+)
+
+cc_binary(
+    name = "autonomous_action",
+    srcs = [
+        "autonomous_actor_main.cc",
+    ],
+    deps = [
+        ":autonomous_action_lib",
+        "//aos:init",
+        "//aos/events:shm_event_loop",
+        "//frc971/autonomous:auto_fbs",
+    ],
+)
diff --git a/y2022/actors/auto_splines.cc b/y2022/actors/auto_splines.cc
new file mode 100644
index 0000000..ce206c8
--- /dev/null
+++ b/y2022/actors/auto_splines.cc
@@ -0,0 +1,103 @@
+#include "y2022/actors/auto_splines.h"
+
+#include "frc971/control_loops/control_loops_generated.h"
+
+namespace y2022 {
+namespace actors {
+
+void MaybeFlipSpline(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset,
+    bool is_left) {
+  flatbuffers::Vector<float> *spline_y =
+      GetMutableTemporaryPointer(*builder->fbb(), spline_y_offset);
+
+  if (!is_left) {
+    for (size_t i = 0; i < spline_y->size(); i++) {
+      spline_y->Mutate(i, -spline_y->Get(i));
+    }
+  }
+}
+
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::BasicSSpline(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+  flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+
+  {
+    frc971::Constraint::Builder longitudinal_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    longitudinal_constraint_builder.add_constraint_type(
+        frc971::ConstraintType::LONGITUDINAL_ACCELERATION);
+    longitudinal_constraint_builder.add_value(1.0);
+    longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
+  }
+
+  {
+    frc971::Constraint::Builder lateral_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    lateral_constraint_builder.add_constraint_type(
+        frc971::ConstraintType::LATERAL_ACCELERATION);
+    lateral_constraint_builder.add_value(1.0);
+    lateral_constraint_offset = lateral_constraint_builder.Finish();
+  }
+
+  {
+    frc971::Constraint::Builder voltage_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    voltage_constraint_builder.add_constraint_type(
+        frc971::ConstraintType::VOLTAGE);
+    voltage_constraint_builder.add_value(6.0);
+    voltage_constraint_offset = voltage_constraint_builder.Finish();
+  }
+
+  flatbuffers::Offset<
+      flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+      constraints_offset =
+          builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+              {longitudinal_constraint_offset, lateral_constraint_offset,
+               voltage_constraint_offset});
+
+  const float startx = 0.4;
+  const float starty = 3.4;
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+      builder->fbb()->CreateVector<float>({0.0f + startx, 0.6f + startx,
+                                           0.6f + startx, 0.4f + startx,
+                                           0.4f + startx, 1.0f + startx});
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+      builder->fbb()->CreateVector<float>({starty - 0.0f, starty - 0.0f,
+                                           starty - 0.3f, starty - 0.7f,
+                                           starty - 1.0f, starty - 1.0f});
+
+  frc971::MultiSpline::Builder multispline_builder =
+      builder->MakeBuilder<frc971::MultiSpline>();
+
+  multispline_builder.add_spline_count(1);
+  multispline_builder.add_constraints(constraints_offset);
+  multispline_builder.add_spline_x(spline_x_offset);
+  multispline_builder.add_spline_y(spline_y_offset);
+
+  return multispline_builder.Finish();
+}
+
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::StraightLine(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+      builder->fbb()->CreateVector<float>(
+          {-12.3, -11.9, -11.5, -11.1, -10.6, -10.0});
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+      builder->fbb()->CreateVector<float>({1.25, 1.25, 1.25, 1.25, 1.25, 1.25});
+
+  frc971::MultiSpline::Builder multispline_builder =
+      builder->MakeBuilder<frc971::MultiSpline>();
+
+  multispline_builder.add_spline_count(1);
+  multispline_builder.add_spline_x(spline_x_offset);
+  multispline_builder.add_spline_y(spline_y_offset);
+
+  return multispline_builder.Finish();
+}
+
+}  // namespace actors
+}  // namespace y2022
diff --git a/y2022/actors/auto_splines.h b/y2022/actors/auto_splines.h
new file mode 100644
index 0000000..70c3569
--- /dev/null
+++ b/y2022/actors/auto_splines.h
@@ -0,0 +1,28 @@
+#ifndef Y2022_ACTORS_AUTO_SPLINES_H_
+#define Y2022_ACTORS_AUTO_SPLINES_H_
+
+#include "aos/events/event_loop.h"
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+/*
+
+  The cooridinate system for the autonomous splines is the same as the spline
+  python generator and drivetrain spline systems.
+
+*/
+
+namespace y2022 {
+namespace actors {
+
+class AutonomousSplines {
+ public:
+  static flatbuffers::Offset<frc971::MultiSpline> BasicSSpline(
+      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);
+  static flatbuffers::Offset<frc971::MultiSpline> StraightLine(
+      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);
+};
+
+}  // namespace actors
+}  // namespace y2022
+
+#endif  // Y2022_ACTORS_AUTO_SPLINES_H_
diff --git a/y2022/actors/autonomous_actor.cc b/y2022/actors/autonomous_actor.cc
new file mode 100644
index 0000000..d96dd03
--- /dev/null
+++ b/y2022/actors/autonomous_actor.cc
@@ -0,0 +1,37 @@
+#include "y2022/actors/autonomous_actor.h"
+
+#include <chrono>
+#include <cinttypes>
+#include <cmath>
+
+#include "aos/logging/logging.h"
+#include "frc971/control_loops/drivetrain/localizer_generated.h"
+#include "y2022/control_loops/drivetrain/drivetrain_base.h"
+
+namespace y2022 {
+namespace actors {
+
+using ::aos::monotonic_clock;
+using ::frc971::ProfileParametersT;
+using frc971::control_loops::drivetrain::LocalizerControl;
+namespace chrono = ::std::chrono;
+
+AutonomousActor::AutonomousActor(::aos::EventLoop *event_loop)
+    : frc971::autonomous::BaseAutonomousActor(
+          event_loop, control_loops::drivetrain::GetDrivetrainConfig()) {}
+
+void AutonomousActor::Reset() {
+  InitializeEncoders();
+  ResetDrivetrain();
+}
+
+bool AutonomousActor::RunAction(
+    const ::frc971::autonomous::AutonomousActionParams *params) {
+  Reset();
+
+  AOS_LOG(INFO, "Params are %d\n", params->mode());
+  return true;
+}
+
+}  // namespace actors
+}  // namespace y2022
diff --git a/y2022/actors/autonomous_actor.h b/y2022/actors/autonomous_actor.h
new file mode 100644
index 0000000..ca13d38
--- /dev/null
+++ b/y2022/actors/autonomous_actor.h
@@ -0,0 +1,27 @@
+#ifndef Y2022_ACTORS_AUTONOMOUS_ACTOR_H_
+#define Y2022_ACTORS_AUTONOMOUS_ACTOR_H_
+
+#include "aos/actions/actions.h"
+#include "aos/actions/actor.h"
+#include "frc971/autonomous/base_autonomous_actor.h"
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+namespace y2022 {
+namespace actors {
+
+class AutonomousActor : public ::frc971::autonomous::BaseAutonomousActor {
+ public:
+  explicit AutonomousActor(::aos::EventLoop *event_loop);
+
+  bool RunAction(
+      const ::frc971::autonomous::AutonomousActionParams *params) override;
+
+ private:
+  void Reset();
+};
+
+}  // namespace actors
+}  // namespace y2022
+
+#endif  // Y2022_ACTORS_AUTONOMOUS_ACTOR_H_
diff --git a/y2022/actors/autonomous_actor_main.cc b/y2022/actors/autonomous_actor_main.cc
new file mode 100644
index 0000000..bf4a782
--- /dev/null
+++ b/y2022/actors/autonomous_actor_main.cc
@@ -0,0 +1,19 @@
+#include <cstdio>
+
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "y2022/actors/autonomous_actor.h"
+
+int main(int argc, char *argv[]) {
+  ::aos::InitGoogle(&argc, &argv);
+
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
+  ::y2022::actors::AutonomousActor autonomous(&event_loop);
+
+  event_loop.Run();
+
+  return 0;
+}