diff --git a/aos/input/action_joystick_input.cc b/aos/input/action_joystick_input.cc
index 991ea17..c2c3763 100644
--- a/aos/input/action_joystick_input.cc
+++ b/aos/input/action_joystick_input.cc
@@ -22,7 +22,7 @@
     }
   }
 
-  if (!auto_running_) {
+  if (!auto_running_ || (run_teleop_in_auto_ && !action_queue_.Running())) {
     if (!data.GetControlBit(ControlBit::kEnabled)) {
       action_queue_.CancelAllActions();
       LOG(DEBUG, "Canceling\n");
diff --git a/aos/input/action_joystick_input.h b/aos/input/action_joystick_input.h
index d4023ca..9936c98 100644
--- a/aos/input/action_joystick_input.h
+++ b/aos/input/action_joystick_input.h
@@ -24,6 +24,11 @@
 
   virtual ~ActionJoystickInput() {}
 
+ protected:
+  void set_run_teleop_in_auto(bool run_teleop_in_auto) {
+    run_teleop_in_auto_ = run_teleop_in_auto;
+  }
+
  private:
   // Handles any year specific superstructure code.
   virtual void HandleTeleop(const ::aos::input::driver_station::Data &data) = 0;
@@ -38,6 +43,12 @@
   // True if an action was running last cycle.
   bool was_running_ = false;
 
+  // If true, we will run teleop during auto mode after auto mode ends.  This is
+  // to support the 2019 sandstorm mode.  Auto will run, and then when the
+  // action ends (either when it's done, or when the driver triggers it to
+  // finish early), we will run teleop regardless of the mode.
+  bool run_teleop_in_auto_ = false;
+
   ::std::unique_ptr<DrivetrainInputReader> drivetrain_input_reader_;
   ::aos::common::actions::ActionQueue action_queue_;
 };
diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index c4a1caf..e435b96 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -122,6 +122,9 @@
       : ::aos::input::ActionJoystickInput(
             event_loop,
             ::y2019::control_loops::drivetrain::GetDrivetrainConfig()) {
+    // Set teleop to immediately resume after auto ends for sandstorm mode.
+    set_run_teleop_in_auto(true);
+
     const uint16_t team = ::aos::network::GetTeamNumber();
     superstructure_queue.goal.FetchLatest();
     if (superstructure_queue.goal.get()) {