diff --git a/y2024/joystick_reader.cc b/y2024/joystick_reader.cc
new file mode 100644
index 0000000..ebc2485
--- /dev/null
+++ b/y2024/joystick_reader.cc
@@ -0,0 +1,87 @@
+#include <unistd.h>
+
+#include <cmath>
+#include <cstdio>
+#include <cstring>
+
+#include "aos/actions/actions.h"
+#include "aos/init.h"
+#include "aos/logging/logging.h"
+#include "aos/network/team_number.h"
+#include "aos/util/log_interval.h"
+#include "frc971/autonomous/base_autonomous_actor.h"
+#include "frc971/control_loops/drivetrain/localizer_generated.h"
+#include "frc971/control_loops/profiled_subsystem_generated.h"
+#include "frc971/input/action_joystick_input.h"
+#include "frc971/input/driver_station_data.h"
+#include "frc971/input/drivetrain_input.h"
+#include "frc971/input/joystick_input.h"
+#include "frc971/input/redundant_joystick_data.h"
+#include "frc971/zeroing/wrap.h"
+#include "y2024/control_loops/drivetrain/drivetrain_base.h"
+#include "y2024/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2024/control_loops/superstructure/superstructure_status_generated.h"
+using frc971::CreateProfileParameters;
+using frc971::control_loops::CreateStaticZeroingSingleDOFProfiledSubsystemGoal;
+using frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal;
+using frc971::input::driver_station::ButtonLocation;
+using frc971::input::driver_station::ControlBit;
+using frc971::input::driver_station::JoystickAxis;
+using frc971::input::driver_station::POVLocation;
+using Side = frc971::control_loops::drivetrain::RobotSide;
+
+namespace y2024 {
+namespace input {
+namespace joysticks {
+
+class Reader : public ::frc971::input::ActionJoystickInput {
+ public:
+  Reader(::aos::EventLoop *event_loop)
+      : ::frc971::input::ActionJoystickInput(
+            event_loop,
+            ::y2024::control_loops::drivetrain::GetDrivetrainConfig(),
+            ::frc971::input::DrivetrainInputReader::InputType::kPistol,
+            {.use_redundant_joysticks = true}),
+        superstructure_goal_sender_(
+            event_loop->MakeSender<control_loops::superstructure::Goal>(
+                "/superstructure")),
+        superstructure_status_fetcher_(
+            event_loop->MakeFetcher<control_loops::superstructure::Status>(
+                "/superstructure")) {}
+
+  void AutoEnded() override { AOS_LOG(INFO, "Auto ended.\n"); }
+
+  void HandleTeleop(
+      const ::frc971::input::driver_station::Data &data) override {
+    (void)data;
+    superstructure_status_fetcher_.Fetch();
+    if (!superstructure_status_fetcher_.get()) {
+      AOS_LOG(ERROR, "Got no superstructure status message.\n");
+      return;
+    }
+  }
+
+ private:
+  ::aos::Sender<control_loops::superstructure::Goal>
+      superstructure_goal_sender_;
+  ::aos::Fetcher<control_loops::superstructure::Status>
+      superstructure_status_fetcher_;
+};
+
+}  // namespace joysticks
+}  // namespace input
+}  // namespace y2024
+
+int main(int argc, char **argv) {
+  ::aos::InitGoogle(&argc, &argv);
+
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("aos_config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
+  ::y2024::input::joysticks::Reader reader(&event_loop);
+
+  event_loop.Run();
+
+  return 0;
+}