diff --git a/frc971/input/SensorReader.cc b/frc971/input/SensorReader.cc
new file mode 100644
index 0000000..fd14df4
--- /dev/null
+++ b/frc971/input/SensorReader.cc
@@ -0,0 +1,44 @@
+#define __STDC_LIMIT_MACROS
+
+#include <arpa/inet.h>
+
+#include "aos/aos_core.h"
+#include "aos/common/inttypes.h"
+#include "aos/common/input/SensorInput.h"
+
+#include "frc971/control_loops/DriveTrain.q.h"
+#include "frc971/queues/sensor_values.h"
+
+#define M_PI 3.14159265358979323846
+
+using ::frc971::control_loops::drivetrain;
+
+namespace frc971 {
+
+namespace {
+inline double drivetrain_translate(int32_t in) {
+  // TODO(2013) fix the math
+  return static_cast<double>(in) / (256.0 * 4.0 * 44.0 / 32.0) *
+      (3.5 * 2.54 / 100.0 * M_PI);
+}
+} // namespace
+
+class SensorReader : public aos::SensorInput<sensor_values> {
+  virtual void RunIteration(sensor_values &sensors) {
+    for (size_t i = 0; i < sizeof(sensors.encoders) / sizeof(sensors.encoders[0]); ++i) {
+      sensors.encoders[i] = ntohl(sensors.encoders[i]);
+    }
+
+    // TODO(aschuh): Convert to meters.
+    const double left_encoder = drivetrain_translate(sensors.lencoder);
+    const double right_encoder = drivetrain_translate(sensors.rencoder);
+    drivetrain.position.MakeWithBuilder()
+        .left_encoder(left_encoder)
+        .right_encoder(right_encoder)
+        .Send();
+  }
+};
+
+} // namespace frc971
+
+AOS_RUN(frc971::SensorReader)