diff --git a/y2024/localizer/localizer_plotter.ts b/y2024/localizer/localizer_plotter.ts
new file mode 100644
index 0000000..b5e764b
--- /dev/null
+++ b/y2024/localizer/localizer_plotter.ts
@@ -0,0 +1,203 @@
+// Provides a plot for debugging drivetrain-related issues.
+import {AosPlotter} from '../../aos/network/www/aos_plotter';
+import {ImuMessageHandler} from '../../frc971/wpilib/imu_plot_utils';
+import * as proxy from '../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../aos/network/www/colors';
+
+import Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH;
+const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT;
+
+export function plotLocalizer(conn: Connection, element: Element): void {
+  const aosPlotter = new AosPlotter(conn);
+
+  const position = aosPlotter.addMessageSource("/drivetrain",
+      "frc971.control_loops.drivetrain.Position");
+  const status = aosPlotter.addMessageSource(
+      '/drivetrain', 'frc971.control_loops.drivetrain.Status');
+  const output = aosPlotter.addMessageSource(
+      '/drivetrain', 'frc971.control_loops.drivetrain.Output');
+  const localizer = aosPlotter.addMessageSource(
+      '/localizer', 'y2024.localizer.Status');
+  const imu = aosPlotter.addRawMessageSource(
+      '/localizer', 'frc971.IMUValuesBatch',
+      new ImuMessageHandler(conn.getSchema('frc971.IMUValuesBatch')));
+
+  // Drivetrain Status estimated relative position
+  const positionPlot = aosPlotter.addPlot(element);
+  positionPlot.plot.getAxisLabels().setTitle("Estimated Relative Position " +
+                                             "of the Drivetrain");
+  positionPlot.plot.getAxisLabels().setXLabel(TIME);
+  positionPlot.plot.getAxisLabels().setYLabel("Relative Position (m)");
+  const leftPosition =
+      positionPlot.addMessageLine(status, ["estimated_left_position"]);
+  leftPosition.setColor(RED);
+  const rightPosition =
+      positionPlot.addMessageLine(status, ["estimated_right_position"]);
+  rightPosition.setColor(GREEN);
+  positionPlot.addMessageLine(position, ['left_encoder'])
+      .setColor(BROWN)
+      .setDrawLine(false);
+  positionPlot.addMessageLine(position, ['right_encoder'])
+      .setColor(CYAN)
+      .setDrawLine(false);
+
+
+  // Drivetrain Velocities
+  const velocityPlot = aosPlotter.addPlot(element);
+  velocityPlot.plot.getAxisLabels().setTitle('Velocity Plots');
+  velocityPlot.plot.getAxisLabels().setXLabel(TIME);
+  velocityPlot.plot.getAxisLabels().setYLabel('Wheel Velocity (m/s)');
+
+  const leftVelocity =
+      velocityPlot.addMessageLine(status, ['estimated_left_velocity']);
+  leftVelocity.setColor(RED);
+  const rightVelocity =
+      velocityPlot.addMessageLine(status, ['estimated_right_velocity']);
+  rightVelocity.setColor(GREEN);
+
+  const leftSpeed = velocityPlot.addMessageLine(position, ["left_speed"]);
+  leftSpeed.setColor(BLUE);
+  const rightSpeed = velocityPlot.addMessageLine(position, ["right_speed"]);
+  rightSpeed.setColor(BROWN);
+
+  const ekfLeftVelocity = velocityPlot.addMessageLine(
+      localizer, ['state', 'left_velocity']);
+  ekfLeftVelocity.setColor(RED);
+  ekfLeftVelocity.setPointSize(0.0);
+  const ekfRightVelocity = velocityPlot.addMessageLine(
+      localizer, ['state', 'right_velocity']);
+  ekfRightVelocity.setColor(GREEN);
+  ekfRightVelocity.setPointSize(0.0);
+
+  // Lateral velocity
+  const lateralPlot = aosPlotter.addPlot(element);
+  lateralPlot.plot.getAxisLabels().setTitle('Lateral Velocity');
+  lateralPlot.plot.getAxisLabels().setXLabel(TIME);
+  lateralPlot.plot.getAxisLabels().setYLabel('Velocity (m/s)');
+
+  lateralPlot.addMessageLine(localizer, ['state', 'lateral_velocity']).setColor(CYAN);
+
+  // Drivetrain Voltage
+  const voltagePlot = aosPlotter.addPlot(element);
+  voltagePlot.plot.getAxisLabels().setTitle('Voltage Plots');
+  voltagePlot.plot.getAxisLabels().setXLabel(TIME);
+  voltagePlot.plot.getAxisLabels().setYLabel('Voltage (V)')
+
+  voltagePlot.addMessageLine(localizer, ['state', 'left_voltage_error'])
+      .setColor(RED)
+      .setDrawLine(false);
+  voltagePlot.addMessageLine(localizer, ['state', 'right_voltage_error'])
+      .setColor(GREEN)
+      .setDrawLine(false);
+  voltagePlot.addMessageLine(output, ['left_voltage'])
+      .setColor(RED)
+      .setPointSize(0);
+  voltagePlot.addMessageLine(output, ['right_voltage'])
+      .setColor(GREEN)
+      .setPointSize(0);
+
+  // Heading
+  const yawPlot = aosPlotter.addPlot(element);
+  yawPlot.plot.getAxisLabels().setTitle('Robot Yaw');
+  yawPlot.plot.getAxisLabels().setXLabel(TIME);
+  yawPlot.plot.getAxisLabels().setYLabel('Yaw (rad)');
+
+  yawPlot.addMessageLine(status, ['localizer', 'theta']).setColor(GREEN);
+
+  yawPlot.addMessageLine(localizer, ['down_estimator', 'yaw']).setColor(BLUE);
+
+  yawPlot.addMessageLine(localizer, ['state', 'theta']).setColor(RED);
+
+  // Pitch/Roll
+  const orientationPlot = aosPlotter.addPlot(element);
+  orientationPlot.plot.getAxisLabels().setTitle('Orientation');
+  orientationPlot.plot.getAxisLabels().setXLabel(TIME);
+  orientationPlot.plot.getAxisLabels().setYLabel('Angle (rad)');
+
+  orientationPlot.addMessageLine(localizer, ['down_estimator', 'lateral_pitch'])
+      .setColor(RED)
+      .setLabel('roll');
+  orientationPlot
+      .addMessageLine(localizer, ['down_estimator', 'longitudinal_pitch'])
+      .setColor(GREEN)
+      .setLabel('pitch');
+
+  const stillPlot = aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 3]);
+  stillPlot.plot.getAxisLabels().setTitle('Still Plot');
+  stillPlot.plot.getAxisLabels().setXLabel(TIME);
+  stillPlot.plot.getAxisLabels().setYLabel('bool, g\'s');
+  stillPlot.plot.setDefaultYRange([-0.1, 1.1]);
+
+  stillPlot.addMessageLine(localizer, ['down_estimator', 'gravity_magnitude'])
+      .setColor(WHITE)
+      .setDrawLine(false);
+
+  // Absolute X Position
+  const xPositionPlot = aosPlotter.addPlot(element);
+  xPositionPlot.plot.getAxisLabels().setTitle('X Position');
+  xPositionPlot.plot.getAxisLabels().setXLabel(TIME);
+  xPositionPlot.plot.getAxisLabels().setYLabel('X Position (m)');
+
+  xPositionPlot.addMessageLine(status, ['x']).setColor(RED);
+  xPositionPlot.addMessageLine(localizer, ['down_estimator', 'position_x'])
+      .setColor(BLUE);
+  xPositionPlot.addMessageLine(localizer, ['state', 'x']).setColor(CYAN);
+
+  // Absolute Y Position
+  const yPositionPlot = aosPlotter.addPlot(element);
+  yPositionPlot.plot.getAxisLabels().setTitle('Y Position');
+  yPositionPlot.plot.getAxisLabels().setXLabel(TIME);
+  yPositionPlot.plot.getAxisLabels().setYLabel('Y Position (m)');
+
+  const localizerY = yPositionPlot.addMessageLine(status, ['y']);
+  localizerY.setColor(RED);
+  yPositionPlot.addMessageLine(localizer, ['down_estimator', 'position_y'])
+      .setColor(BLUE);
+  yPositionPlot.addMessageLine(localizer, ['state', 'y']).setColor(CYAN);
+
+  // Gyro
+  const gyroPlot = aosPlotter.addPlot(element);
+  gyroPlot.plot.getAxisLabels().setTitle('Gyro Readings');
+  gyroPlot.plot.getAxisLabels().setYLabel('Angular Velocity (rad / sec)');
+  gyroPlot.plot.getAxisLabels().setXLabel('Monotonic Reading Time (sec)');
+
+  const gyroX = gyroPlot.addMessageLine(imu, ['gyro_x']);
+  gyroX.setColor(RED);
+  const gyroY = gyroPlot.addMessageLine(imu, ['gyro_y']);
+  gyroY.setColor(GREEN);
+  const gyroZ = gyroPlot.addMessageLine(imu, ['gyro_z']);
+  gyroZ.setColor(BLUE);
+
+
+  const timingPlot =
+      aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
+  timingPlot.plot.getAxisLabels().setTitle('Fault Counting');
+  timingPlot.plot.getAxisLabels().setXLabel(TIME);
+
+  timingPlot
+      .addMessageLine(
+          localizer, ['imu', 'imu_failures', 'imu_to_pico_checksum_mismatch'])
+      .setColor(BLUE)
+      .setDrawLine(false);
+
+  timingPlot
+      .addMessageLine(
+          localizer, ['imu', 'imu_failures', 'pico_to_pi_checksum_mismatch'])
+      .setColor(RED)
+      .setDrawLine(false);
+
+  timingPlot
+      .addMessageLine(
+          localizer, ['imu', 'imu_failures', 'other_zeroing_faults'])
+      .setColor(CYAN)
+      .setDrawLine(false);
+
+  timingPlot
+      .addMessageLine(
+          localizer, ['imu', 'imu_failures', 'missed_messages'])
+      .setColor(PINK)
+      .setDrawLine(false);
+}