diff --git a/frc971/wpilib/imu_plotter.ts b/frc971/wpilib/imu_plotter.ts
new file mode 100644
index 0000000..af23ed9
--- /dev/null
+++ b/frc971/wpilib/imu_plotter.ts
@@ -0,0 +1,80 @@
+// Provides a basic plot for debugging IMU-related issues on a robot.
+import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
+import {ImuMessageHandler} from 'org_frc971/frc971/wpilib/imu_plot_utils';
+import * as proxy from 'org_frc971/aos/network/www/proxy';
+
+import Connection = proxy.Connection;
+
+export function plotImu(conn: Connection, element: Element): void {
+  const width = 900;
+  const height = 400;
+  const aosPlotter = new AosPlotter(conn);
+
+  const accelPlot = aosPlotter.addPlot(element, [0, 0], [width, height]);
+  accelPlot.plot.getAxisLabels().setTitle('Accelerometer Readings');
+  accelPlot.plot.getAxisLabels().setYLabel('Acceleration (g)');
+  accelPlot.plot.getAxisLabels().setXLabel('Monotonic Reading Time (sec)');
+
+  const drivetrainStatus = aosPlotter.addMessageSource(
+      '/drivetrain', 'frc971.control_loops.drivetrain.Status');
+
+  const imu = aosPlotter.addRawMessageSource(
+      '/drivetrain', 'frc971.IMUValuesBatch',
+      new ImuMessageHandler(conn.getSchema('frc971.IMUValuesBatch')));
+
+  const accelX = accelPlot.addMessageLine(imu, ['accelerometer_x']);
+  accelX.setColor([1, 0, 0]);
+  const accelY = accelPlot.addMessageLine(imu, ['accelerometer_y']);
+  accelY.setColor([0, 1, 0]);
+  const accelZ = accelPlot.addMessageLine(imu, ['accelerometer_z']);
+  accelZ.setColor([0, 0, 1]);
+
+  const gyroPlot = aosPlotter.addPlot(element, [0, height], [width, height]);
+  gyroPlot.plot.getAxisLabels().setTitle('Gyro Readings');
+  gyroPlot.plot.getAxisLabels().setYLabel('Angular Velocity (rad / sec)');
+  gyroPlot.plot.getAxisLabels().setXLabel('Monotonic Reading Time (sec)');
+
+  const gyroZeroX =
+      gyroPlot.addMessageLine(drivetrainStatus, ['zeroing', 'gyro_x_average']);
+  gyroZeroX.setColor([1, 0, 0]);
+  gyroZeroX.setPointSize(0);
+  gyroZeroX.setLabel('Gyro X Zero');
+  const gyroZeroY =
+      gyroPlot.addMessageLine(drivetrainStatus, ['zeroing', 'gyro_y_average']);
+  gyroZeroY.setColor([0, 1, 0]);
+  gyroZeroY.setPointSize(0);
+  gyroZeroY.setLabel('Gyro Y Zero');
+  const gyroZeroZ =
+      gyroPlot.addMessageLine(drivetrainStatus, ['zeroing', 'gyro_z_average']);
+  gyroZeroZ.setColor([0, 0, 1]);
+  gyroZeroZ.setPointSize(0);
+  gyroZeroZ.setLabel('Gyro Z Zero');
+
+  const gyroX = gyroPlot.addMessageLine(imu, ['gyro_x']);
+  gyroX.setColor([1, 0, 0]);
+  const gyroY = gyroPlot.addMessageLine(imu, ['gyro_y']);
+  gyroY.setColor([0, 1, 0]);
+  const gyroZ = gyroPlot.addMessageLine(imu, ['gyro_z']);
+  gyroZ.setColor([0, 0, 1]);
+
+  const tempPlot = aosPlotter.addPlot(element, [0, height * 2], [width, height / 2]);
+  tempPlot.plot.getAxisLabels().setTitle('IMU Temperature');
+  tempPlot.plot.getAxisLabels().setYLabel('Temperature (deg C)');
+  tempPlot.plot.getAxisLabels().setXLabel('Monotonic Reading Time (sec)');
+
+  tempPlot.addMessageLine(imu, ['temperature']);
+
+  const statePlot = aosPlotter.addPlot(element, [0, height * 2.5], [width, height / 2]);
+  statePlot.plot.getAxisLabels().setTitle('IMU State');
+  statePlot.plot.getAxisLabels().setXLabel('Monotonic Sent Time (sec)');
+  statePlot.plot.setDefaultYRange([-0.1, 1.1]);
+
+  const zeroedLine =
+      statePlot.addMessageLine(drivetrainStatus, ['zeroing', 'zeroed']);
+  zeroedLine.setColor([1, 0, 0]);
+  zeroedLine.setDrawLine(false);
+  const faultedLine =
+  statePlot.addMessageLine(drivetrainStatus, ['zeroing', 'faulted']);
+  faultedLine.setColor([0, 1, 0]);
+  faultedLine.setPointSize(0);
+}