diff --git a/frc971/input/BUILD b/frc971/input/BUILD
index c992932..34fa70b 100644
--- a/frc971/input/BUILD
+++ b/frc971/input/BUILD
@@ -38,6 +38,8 @@
         "//frc971/control_loops/drivetrain:drivetrain_goal_fbs",
         "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
         "//frc971/control_loops/drivetrain:spline_goal_fbs",
+        "//frc971/control_loops/swerve:swerve_drivetrain_goal_fbs",
+        "//frc971/control_loops/swerve:swerve_drivetrain_joystick_goal_fbs",
         "//frc971/input:driver_station_data",
     ],
 )
@@ -91,6 +93,21 @@
     ],
 )
 
+cc_library(
+    name = "swerve_joystick_input",
+    srcs = ["swerve_joystick_input.cc"],
+    hdrs = ["swerve_joystick_input.h"],
+    target_compatible_with = ["@platforms//os:linux"],
+    deps = [
+        ":drivetrain_input",
+        ":redundant_joystick_data",
+        "//aos:init",
+        "//aos/actions:action_lib",
+        "//aos/logging",
+        "//frc971/input:joystick_input",
+    ],
+)
+
 static_flatbuffer(
     name = "robot_state_fbs",
     srcs = ["robot_state.fbs"],
diff --git a/frc971/input/drivetrain_input.cc b/frc971/input/drivetrain_input.cc
index be61cc4..d93d140 100644
--- a/frc971/input/drivetrain_input.cc
+++ b/frc971/input/drivetrain_input.cc
@@ -6,6 +6,7 @@
 
 #include "aos/commonmath.h"
 #include "aos/logging/logging.h"
+#include "drivetrain_input.h"
 #include "frc971/control_loops/control_loops_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
@@ -120,6 +121,56 @@
   last_is_control_loop_driving_ = is_control_loop_driving;
 }
 
+void SwerveDrivetrainInputReader::HandleDrivetrain(
+    const ::frc971::input::driver_station::Data &data) {
+  const auto swerve_goals = GetSwerveGoals(data);
+  const double vx = swerve_goals.vx;
+  const double vy = swerve_goals.vy;
+  const double omega = swerve_goals.omega;
+
+  auto builder = goal_sender_.MakeStaticBuilder();
+
+  auto joystick_goal = builder->add_joystick_goal();
+
+  joystick_goal->set_vx(vx);
+  joystick_goal->set_vy(vy);
+  joystick_goal->set_omega(omega);
+
+  builder.CheckOk(builder.Send());
+}
+
+std::unique_ptr<SwerveDrivetrainInputReader> SwerveDrivetrainInputReader::Make(
+    ::aos::EventLoop *event_loop) {
+  // Swerve Controller
+  // axis (2, 2) will give you alternative omega axis (controls with vertical
+  // movement)
+  const JoystickAxis kVxAxis(2, 1), kVyAxis(1, 1), kOmegaAxis(1, 2);
+
+  std::unique_ptr<SwerveDrivetrainInputReader> result(
+      new SwerveDrivetrainInputReader(event_loop, kVxAxis, kVyAxis,
+                                      kOmegaAxis));
+  return result;
+}
+
+SwerveDrivetrainInputReader::SwerveGoals
+SwerveDrivetrainInputReader::GetSwerveGoals(
+    const ::frc971::input::driver_station::Data &data) {
+  // xbox
+  constexpr double kMovementDeadband = 0.05;
+  constexpr double kRotationDeadband = 0.05;
+
+  const double omega =
+      -aos::Deadband(-data.GetAxis(omega_axis_), kRotationDeadband, 1.0);
+
+  const double vx =
+      aos::Deadband(-data.GetAxis(vx_axis_), kMovementDeadband, 1.0);
+
+  const double vy =
+      aos::Deadband(-data.GetAxis(vy_axis_), kMovementDeadband, 1.0);
+
+  return SwerveDrivetrainInputReader::SwerveGoals{vx, vy, omega};
+}
+
 DrivetrainInputReader::WheelAndThrottle
 SteeringWheelDrivetrainInputReader::GetWheelAndThrottle(
     const ::frc971::input::driver_station::Data &data) {
diff --git a/frc971/input/drivetrain_input.h b/frc971/input/drivetrain_input.h
index 173c551..e135f2c 100644
--- a/frc971/input/drivetrain_input.h
+++ b/frc971/input/drivetrain_input.h
@@ -11,6 +11,8 @@
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
 #include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
+#include "frc971/control_loops/swerve/swerve_drivetrain_goal_static.h"
+#include "frc971/control_loops/swerve/swerve_drivetrain_joystick_goal_static.h"
 #include "frc971/input/driver_station_data.h"
 
 namespace frc971::input {
@@ -155,6 +157,57 @@
       vision_align_fn_;
 };
 
+class SwerveDrivetrainInputReader {
+  SwerveDrivetrainInputReader(::aos::EventLoop *event_loop,
+                              driver_station::JoystickAxis vx_axis,
+                              driver_station::JoystickAxis vy_axis,
+                              driver_station::JoystickAxis omega_axis)
+      : vx_axis_(vx_axis),
+        vy_axis_(vy_axis),
+        omega_axis_(omega_axis),
+        goal_sender_(event_loop->MakeSender<control_loops::swerve::GoalStatic>(
+            "/drivetrain")) {}
+
+ public:
+  virtual ~SwerveDrivetrainInputReader() = default;
+
+  // Constructs the appropriate DrivetrainInputReader.
+  static std::unique_ptr<SwerveDrivetrainInputReader> Make(
+      ::aos::EventLoop *event_loop);
+
+  // Processes new joystick data and publishes drivetrain goal messages.
+  void HandleDrivetrain(const ::frc971::input::driver_station::Data &data);
+
+  // Sets the scalar for the steering wheel for closed loop mode converting
+  // steering ratio to meters displacement on the two wheels.
+  void set_wheel_multiplier(double wheel_multiplier) {
+    wheel_multiplier_ = wheel_multiplier;
+  }
+
+ protected:
+  const driver_station::JoystickAxis vx_axis_;
+  const driver_station::JoystickAxis vy_axis_;
+  const driver_station::JoystickAxis omega_axis_;
+
+  // Structure containing the (potentially adjusted) steering and throttle
+  // values from the joysticks.
+  struct SwerveGoals {
+    double vx;
+    double vy;
+    double omega;
+  };
+
+ private:
+  // Computes the steering and throttle from the provided driverstation data.
+  SwerveGoals GetSwerveGoals(const ::frc971::input::driver_station::Data &data);
+
+  ::aos::Sender<control_loops::swerve::GoalStatic> goal_sender_;
+
+  // The scale for the joysticks for closed loop mode converting
+  // joysticks to meters displacement on the two wheels.
+  double wheel_multiplier_ = 0.5;
+};
+
 // Implements DrivetrainInputReader for the original steering wheel.
 class SteeringWheelDrivetrainInputReader : public DrivetrainInputReader {
  public:
diff --git a/frc971/input/swerve_joystick_input.cc b/frc971/input/swerve_joystick_input.cc
new file mode 100644
index 0000000..fbd7f01
--- /dev/null
+++ b/frc971/input/swerve_joystick_input.cc
@@ -0,0 +1,28 @@
+#include "frc971/input/swerve_joystick_input.h"
+
+#include "frc971/input/driver_station_data.h"
+#include "frc971/input/redundant_joystick_data.h"
+
+using frc971::input::driver_station::ControlBit;
+
+namespace frc971::input {
+
+void SwerveJoystickInput::RunIteration(
+    const ::frc971::input::driver_station::Data &unsorted_data) {
+  if (input_config_.use_redundant_joysticks) {
+    driver_station::RedundantData redundant_data_storage(unsorted_data);
+    DoRunIteration(redundant_data_storage);
+  } else {
+    DoRunIteration(unsorted_data);
+  }
+}
+
+void SwerveJoystickInput::DoRunIteration(
+    const ::frc971::input::driver_station::Data &data) {
+  drivetrain_input_reader_->HandleDrivetrain(data);
+  HandleTeleop(data);
+  action_queue_.Tick();
+  was_running_ = action_queue_.Running();
+}
+
+}  // namespace frc971::input
diff --git a/frc971/input/swerve_joystick_input.h b/frc971/input/swerve_joystick_input.h
new file mode 100644
index 0000000..532bd9b
--- /dev/null
+++ b/frc971/input/swerve_joystick_input.h
@@ -0,0 +1,76 @@
+#ifndef AOS_INPUT_SWERVE_JOYSTICK_INPUT_H_
+#define AOS_INPUT_SWERVE_JOYSTICK_INPUT_H_
+
+#include "aos/actions/actions.h"
+#include "frc971/input/driver_station_data.h"
+#include "frc971/input/drivetrain_input.h"
+#include "frc971/input/joystick_input.h"
+
+using frc971::control_loops::drivetrain::PistolBottomButtonUse;
+using frc971::control_loops::drivetrain::PistolSecondButtonUse;
+using frc971::control_loops::drivetrain::PistolTopButtonUse;
+
+namespace frc971::input {
+
+class SwerveJoystickInput : public ::frc971::input::JoystickInput {
+ public:
+  // Configuration parameters that don't really belong in the DrivetrainConfig.
+  struct InputConfig {
+    // Use button 14 and 15 to encode the id of the joystick and remap the
+    // joysticks so that their ids are independent of their order on the
+    // driverstation.
+    bool use_redundant_joysticks = false;
+  };
+  SwerveJoystickInput(::aos::EventLoop *event_loop,
+                      const InputConfig &input_config)
+      : ::frc971::input::JoystickInput(event_loop),
+        input_config_(input_config),
+        drivetrain_input_reader_(SwerveDrivetrainInputReader::Make(event_loop)),
+        goal_sender_(event_loop->MakeSender<control_loops::swerve::GoalStatic>(
+            "/drivetrain")) {}
+
+  virtual ~SwerveJoystickInput() {}
+
+ protected:
+  bool was_running_action() { return was_running_; }
+
+  // Returns true if an action is running.
+  bool ActionRunning() { return action_queue_.Running(); }
+  // Cancels all actions.
+  void CancelAllActions() { action_queue_.CancelAllActions(); }
+  // Cancels the current action.
+  void CancelCurrentAction() { action_queue_.CancelCurrentAction(); }
+
+  // Enqueues an action.
+  void EnqueueAction(::std::unique_ptr<::aos::common::actions::Action> action) {
+    action_queue_.EnqueueAction(::std::move(action));
+  }
+
+ private:
+  // Handles any year specific superstructure code.
+  virtual void HandleTeleop(
+      const ::frc971::input::driver_station::Data &data) = 0;
+
+  void RunIteration(const ::frc971::input::driver_station::Data &data) override;
+
+  void DoRunIteration(const ::frc971::input::driver_station::Data &data);
+
+  void HandleDrivetrain(const ::frc971::input::driver_station::Data &data);
+
+  // True if an action was running last cycle.
+  bool was_running_ = false;
+
+  // Bool to track if auto was running the last cycle through.  This lets us
+  // call AutoEnded when the auto mode function stops.
+
+  const InputConfig input_config_;
+
+  ::std::unique_ptr<SwerveDrivetrainInputReader> drivetrain_input_reader_;
+  ::aos::Sender<control_loops::swerve::GoalStatic> goal_sender_;
+
+  ::aos::common::actions::ActionQueue action_queue_;
+};
+
+}  // namespace frc971::input
+
+#endif  // AOS_SWERVE_ACTION_JOYSTICK_INPUT_H_
diff --git a/y2024_swerve/BUILD b/y2024_swerve/BUILD
index 2357c6e..a114728 100644
--- a/y2024_swerve/BUILD
+++ b/y2024_swerve/BUILD
@@ -27,6 +27,7 @@
         "//y2024/www:www_files",
     ],
     start_binaries = [
+        ":joystick_reader",
         "//aos/events/logging:logger_main",
         "//aos/network:web_proxy_main",
         "//aos/starter:irq_affinity",
@@ -43,6 +44,7 @@
 robot_downloader(
     name = "orin_download",
     binaries = [
+        "//frc971/wpilib:joystick_republish",
         "//aos/events:aos_timing_report_streamer",
         "//aos/events/logging:log_cat",
         "//aos:aos_jitter",
@@ -275,3 +277,21 @@
         "//frc971/input:aos_config",
     ],
 )
+
+cc_binary(
+    name = "joystick_reader",
+    srcs = [
+        ":joystick_reader.cc",
+    ],
+    deps = [
+        "//aos:init",
+        "//aos/actions:action_lib",
+        "//aos/events:shm_event_loop",
+        "//aos/logging",
+        "//frc971/input:drivetrain_input",
+        "//frc971/input:joystick_input",
+        "//frc971/input:redundant_joystick_data",
+        "//frc971/input:swerve_joystick_input",
+        "//y2024/control_loops/drivetrain:drivetrain_base",
+    ],
+)
diff --git a/y2024_swerve/joystick_reader.cc b/y2024_swerve/joystick_reader.cc
new file mode 100644
index 0000000..6a1eb46
--- /dev/null
+++ b/y2024_swerve/joystick_reader.cc
@@ -0,0 +1,60 @@
+#include <unistd.h>
+
+#include <cmath>
+#include <cstdio>
+#include <cstring>
+
+#include "absl/flags/flag.h"
+
+#include "aos/actions/actions.h"
+#include "aos/events/event_loop.h"
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/logging/logging.h"
+#include "aos/network/team_number.h"
+#include "aos/util/log_interval.h"
+#include "frc971/input/driver_station_data.h"
+#include "frc971/input/drivetrain_input.h"
+#include "frc971/input/joystick_input.h"
+#include "frc971/input/redundant_joystick_data.h"
+#include "frc971/input/swerve_joystick_input.h"
+
+using frc971::CreateProfileParameters;
+using frc971::input::driver_station::ButtonLocation;
+using frc971::input::driver_station::ControlBit;
+using frc971::input::driver_station::JoystickAxis;
+using frc971::input::driver_station::POVLocation;
+using Side = frc971::control_loops::drivetrain::RobotSide;
+
+namespace y2024_swerve::input::joysticks {
+
+namespace swerve = frc971::control_loops::swerve;
+
+class Reader : public ::frc971::input::SwerveJoystickInput {
+ public:
+  Reader(::aos::EventLoop *event_loop)
+      : ::frc971::input::SwerveJoystickInput(
+            event_loop, {.use_redundant_joysticks = true}) {}
+
+  void HandleTeleop(
+      const ::frc971::input::driver_station::Data &data) override {
+    // Where teleop logic will eventually go when there is superstructure code
+    (void)data;
+  }
+};
+
+}  // namespace y2024_swerve::input::joysticks
+
+int main(int argc, char **argv) {
+  ::aos::InitGoogle(&argc, &argv);
+
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("aos_config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
+  ::y2024_swerve::input::joysticks::Reader reader(&event_loop);
+
+  event_loop.Run();
+
+  return 0;
+}
diff --git a/y2024_swerve/y2024_swerve_roborio.json b/y2024_swerve/y2024_swerve_roborio.json
index 705370d..b15a00f 100644
--- a/y2024_swerve/y2024_swerve_roborio.json
+++ b/y2024_swerve/y2024_swerve_roborio.json
@@ -302,6 +302,16 @@
     ],
     "applications": [
         {
+          "name": "joystick_reader",
+          "executable_name": "joystick_reader",
+          "args": [
+            "--nodie_on_malloc"
+          ],
+          "nodes": [
+            "roborio"
+          ]
+        },
+        {
             "name": "wpilib_interface",
             "executable_name": "wpilib_interface",
             "args": [