diff --git a/y2022/setpoint_setter.cc b/y2022/setpoint_setter.cc
new file mode 100644
index 0000000..9a77ec8
--- /dev/null
+++ b/y2022/setpoint_setter.cc
@@ -0,0 +1,38 @@
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "y2022/constants.h"
+#include "y2022/setpoint_generated.h"
+
+DEFINE_double(catapult_position,
+              y2022::constants::Values::kDefaultCatapultShotPosition(),
+              "Catapult shot position");
+DEFINE_double(catapult_velocity,
+              y2022::constants::Values::kDefaultCatapultShotVelocity(),
+              "Catapult shot velocity");
+DEFINE_double(turret, 0.0, "Turret setpoint");
+
+using y2022::input::joysticks::Setpoint;
+
+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());
+
+  auto setpoint_sender = event_loop.MakeSender<Setpoint>("/superstructure");
+
+  aos::Sender<Setpoint>::Builder builder = setpoint_sender.MakeBuilder();
+
+  Setpoint::Builder setpoint_builder = builder.MakeBuilder<Setpoint>();
+
+  setpoint_builder.add_catapult_position(FLAGS_catapult_position);
+  setpoint_builder.add_catapult_velocity(FLAGS_catapult_velocity);
+  setpoint_builder.add_turret(FLAGS_turret);
+  builder.CheckOk(builder.Send(setpoint_builder.Finish()));
+
+  return 0;
+}