diff --git a/y2024/vision/image_logger.cc b/y2024/vision/image_logger.cc
new file mode 100644
index 0000000..45e25f6
--- /dev/null
+++ b/y2024/vision/image_logger.cc
@@ -0,0 +1,112 @@
+#include <sys/resource.h>
+#include <sys/time.h>
+
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+#include "aos/configuration.h"
+#include "aos/events/logging/log_writer.h"
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/logging/log_namer.h"
+#include "frc971/input/joystick_state_generated.h"
+
+DEFINE_string(config, "aos_config.json", "Config file to use.");
+
+DEFINE_double(rotate_every, 0.0,
+              "If set, rotate the logger after this many seconds");
+DECLARE_int32(flush_size);
+DEFINE_double(disabled_time, 5.0,
+              "Continue logging if disabled for this amount of time or less");
+DEFINE_bool(direct, false,
+            "If true, write using O_DIRECT and write 512 byte aligned blocks "
+            "whenever possible.");
+
+std::unique_ptr<aos::logger::MultiNodeFilesLogNamer> MakeLogNamer(
+    aos::EventLoop *event_loop) {
+  std::optional<std::string> log_name =
+      aos::logging::MaybeGetLogName("fbs_log");
+
+  if (!log_name.has_value()) {
+    return nullptr;
+  }
+
+  return std::make_unique<aos::logger::MultiNodeFilesLogNamer>(
+      event_loop, std::make_unique<aos::logger::RenamableFileBackend>(
+                      absl::StrCat(log_name.value(), "/"), FLAGS_direct));
+}
+
+int main(int argc, char *argv[]) {
+  gflags::SetUsageMessage(
+      "This program provides a simple logger binary that logs all SHMEM data "
+      "directly to a file specified at the command line when the robot is "
+      "enabled and for a bit of time after.");
+  aos::InitGoogle(&argc, &argv);
+
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig(FLAGS_config);
+
+  aos::ShmEventLoop event_loop(&config.message());
+
+  bool logging = false;
+  bool enabled = false;
+  aos::monotonic_clock::time_point last_disable_time =
+      event_loop.monotonic_now();
+  aos::monotonic_clock::time_point last_rotation_time =
+      event_loop.monotonic_now();
+  aos::logger::Logger logger(&event_loop);
+
+  if (FLAGS_rotate_every != 0.0) {
+    logger.set_on_logged_period([&](aos::monotonic_clock::time_point) {
+      const auto now = event_loop.monotonic_now();
+      if (logging && now > last_rotation_time + std::chrono::duration<double>(
+                                                    FLAGS_rotate_every)) {
+        logger.Rotate();
+        last_rotation_time = now;
+      }
+    });
+  }
+
+  event_loop.OnRun([]() {
+    errno = 0;
+    setpriority(PRIO_PROCESS, 0, -20);
+    PCHECK(errno == 0) << ": Renicing to -20 failed.";
+  });
+
+  event_loop.MakeWatcher(
+      "/imu/aos", [&](const aos::JoystickState &joystick_state) {
+        const auto timestamp = event_loop.context().monotonic_event_time;
+        // Store the last time we got disabled
+        if (enabled && !joystick_state.enabled()) {
+          last_disable_time = timestamp;
+        }
+        enabled = joystick_state.enabled();
+
+        if (!logging && enabled) {
+          auto log_namer = MakeLogNamer(&event_loop);
+          if (log_namer == nullptr) {
+            return;
+          }
+
+          // Start logging if we just got enabled
+          LOG(INFO) << "Starting logging";
+          logger.StartLogging(std::move(log_namer));
+          logging = true;
+          last_rotation_time = event_loop.monotonic_now();
+        } else if (logging && !enabled &&
+                   (timestamp - last_disable_time) >
+                       std::chrono::duration<double>(FLAGS_disabled_time)) {
+          // Stop logging if we've been disabled for a non-negligible amount of
+          // time
+          LOG(INFO) << "Stopping logging";
+          logger.StopLogging(event_loop.monotonic_now());
+          logging = false;
+        }
+      });
+
+  event_loop.Run();
+
+  LOG(INFO) << "Shutting down";
+
+  return 0;
+}