diff --git a/frc971/control_loops/drivetrain/localization/utils.cc b/frc971/control_loops/drivetrain/localization/utils.cc
index ff027d0..d9e239b 100644
--- a/frc971/control_loops/drivetrain/localization/utils.cc
+++ b/frc971/control_loops/drivetrain/localization/utils.cc
@@ -30,6 +30,14 @@
              : true;
 }
 
+aos::Alliance LocalizationUtils::Alliance() {
+  joystick_state_fetcher_.Fetch();
+  return (joystick_state_fetcher_.get() != nullptr)
+             ? joystick_state_fetcher_->alliance()
+             : aos::Alliance::kInvalid;
+
+}
+
 std::optional<aos::monotonic_clock::duration> LocalizationUtils::ClockOffset(
     std::string_view node) {
   std::optional<aos::monotonic_clock::duration> monotonic_offset;
diff --git a/frc971/control_loops/drivetrain/localization/utils.h b/frc971/control_loops/drivetrain/localization/utils.h
index 26242f9..cfd443a 100644
--- a/frc971/control_loops/drivetrain/localization/utils.h
+++ b/frc971/control_loops/drivetrain/localization/utils.h
@@ -29,6 +29,7 @@
   // Returns true if either there is no JoystickState message available or if
   // we are currently in autonomous mode.
   bool MaybeInAutonomous();
+  aos::Alliance Alliance();
 
   // Returns the offset between our node and the specified node (or nullopt if
   // no offset is available). The sign of this will be such that the time on