diff --git a/y2024/autonomous/auto_splines.cc b/y2024/autonomous/auto_splines.cc
new file mode 100644
index 0000000..d2bd3a1
--- /dev/null
+++ b/y2024/autonomous/auto_splines.cc
@@ -0,0 +1,126 @@
+#include "y2024/autonomous/auto_splines.h"
+
+#include "aos/flatbuffer_merge.h"
+#include "frc971/control_loops/control_loops_generated.h"
+
+namespace y2024 {
+namespace autonomous {
+
+namespace {
+flatbuffers::Offset<frc971::MultiSpline> FixSpline(
+    aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+        *builder,
+    flatbuffers::Offset<frc971::MultiSpline> spline_offset,
+    aos::Alliance alliance) {
+  frc971::MultiSpline *spline =
+      GetMutableTemporaryPointer(*builder->fbb(), spline_offset);
+  flatbuffers::Vector<float> *spline_x = spline->mutable_spline_x();
+
+  // For 2024: The field is mirrored across the center line, and is not
+  // rotationally symmetric. As such, we only flip the X coordinates when
+  // changing side of the field.
+  if (alliance == aos::Alliance::kBlue) {
+    for (size_t ii = 0; ii < spline_x->size(); ++ii) {
+      spline_x->Mutate(ii, -spline_x->Get(ii));
+    }
+  }
+  return spline_offset;
+}
+}  // namespace
+
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::BasicSSpline(
+    aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+        *builder,
+    aos::Alliance alliance) {
+  flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+
+  {
+    frc971::Constraint::Builder longitudinal_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    longitudinal_constraint_builder.add_constraint_type(
+        frc971::ConstraintType::LONGITUDINAL_ACCELERATION);
+    longitudinal_constraint_builder.add_value(1.0);
+    longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
+  }
+
+  {
+    frc971::Constraint::Builder lateral_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    lateral_constraint_builder.add_constraint_type(
+        frc971::ConstraintType::LATERAL_ACCELERATION);
+    lateral_constraint_builder.add_value(1.0);
+    lateral_constraint_offset = lateral_constraint_builder.Finish();
+  }
+
+  {
+    frc971::Constraint::Builder voltage_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    voltage_constraint_builder.add_constraint_type(
+        frc971::ConstraintType::VOLTAGE);
+    voltage_constraint_builder.add_value(6.0);
+    voltage_constraint_offset = voltage_constraint_builder.Finish();
+  }
+
+  flatbuffers::Offset<
+      flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+      constraints_offset =
+          builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+              {longitudinal_constraint_offset, lateral_constraint_offset,
+               voltage_constraint_offset});
+
+  const float startx = 0.4;
+  const float starty = 3.4;
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+      builder->fbb()->CreateVector<float>({0.0f + startx, 0.6f + startx,
+                                           0.6f + startx, 0.4f + startx,
+                                           0.4f + startx, 1.0f + startx});
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+      builder->fbb()->CreateVector<float>({starty - 0.0f, starty - 0.0f,
+                                           starty - 0.3f, starty - 0.7f,
+                                           starty - 1.0f, starty - 1.0f});
+
+  frc971::MultiSpline::Builder multispline_builder =
+      builder->MakeBuilder<frc971::MultiSpline>();
+
+  multispline_builder.add_spline_count(1);
+  multispline_builder.add_constraints(constraints_offset);
+  multispline_builder.add_spline_x(spline_x_offset);
+  multispline_builder.add_spline_y(spline_y_offset);
+
+  return FixSpline(builder, multispline_builder.Finish(), alliance);
+}
+
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::TestSpline(
+    aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+        *builder,
+    aos::Alliance alliance) {
+  return FixSpline(
+      builder,
+      aos::CopyFlatBuffer<frc971::MultiSpline>(test_spline_, builder->fbb()),
+      alliance);
+}
+
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::StraightLine(
+    aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+        *builder,
+    aos::Alliance alliance) {
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+      builder->fbb()->CreateVector<float>(
+          {-12.3, -11.9, -11.5, -11.1, -10.6, -10.0});
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+      builder->fbb()->CreateVector<float>({1.25, 1.25, 1.25, 1.25, 1.25, 1.25});
+
+  frc971::MultiSpline::Builder multispline_builder =
+      builder->MakeBuilder<frc971::MultiSpline>();
+
+  multispline_builder.add_spline_count(1);
+  multispline_builder.add_spline_x(spline_x_offset);
+  multispline_builder.add_spline_y(spline_y_offset);
+
+  return FixSpline(builder, multispline_builder.Finish(), alliance);
+}
+
+}  // namespace autonomous
+}  // namespace y2024