diff --git a/y2020/control_loops/drivetrain/BUILD b/y2020/control_loops/drivetrain/BUILD
index 75a8475..01dd1a3 100644
--- a/y2020/control_loops/drivetrain/BUILD
+++ b/y2020/control_loops/drivetrain/BUILD
@@ -91,6 +91,21 @@
 )
 
 cc_binary(
+    name = "trajectory_generator",
+    srcs = [
+        "trajectory_generator_main.cc",
+    ],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":drivetrain_base",
+        "//aos:init",
+        "//aos/events:shm_event_loop",
+        "//frc971/control_loops/drivetrain:trajectory_generator",
+    ],
+)
+
+cc_binary(
     name = "drivetrain",
     srcs = [
         "drivetrain_main.cc",
@@ -174,6 +189,7 @@
         "//aos/events/logging:log_reader",
         "//aos/events/logging:log_writer",
         "//frc971/control_loops/drivetrain:drivetrain_lib",
+        "//frc971/control_loops/drivetrain:trajectory_generator",
         "@com_github_gflags_gflags//:gflags",
         "@com_github_google_glog//:glog",
     ],
diff --git a/y2020/control_loops/drivetrain/drivetrain_replay.cc b/y2020/control_loops/drivetrain/drivetrain_replay.cc
index 9b2375b..fc50556 100644
--- a/y2020/control_loops/drivetrain/drivetrain_replay.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_replay.cc
@@ -12,6 +12,7 @@
 #include "aos/json_to_flatbuffer.h"
 #include "aos/network/team_number.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "frc971/control_loops/drivetrain/trajectory_generator.h"
 #include "gflags/gflags.h"
 #include "y2020/control_loops/drivetrain/drivetrain_base.h"
 #include "y2020/control_loops/drivetrain/localizer.h"
@@ -97,6 +98,14 @@
     node = aos::configuration::GetNode(reader.configuration(), "roborio");
   }
 
+  std::unique_ptr<aos::EventLoop> trajectory_generator_event_loop =
+      reader.event_loop_factory()->MakeEventLoop("trajectory_generator", node);
+  trajectory_generator_event_loop->SkipTimingReport();
+
+  frc971::control_loops::drivetrain::TrajectoryGenerator trajectory_generator(
+      trajectory_generator_event_loop.get(),
+      y2020::control_loops::drivetrain::GetDrivetrainConfig());
+
   std::unique_ptr<aos::EventLoop> drivetrain_event_loop =
       reader.event_loop_factory()->MakeEventLoop("drivetrain", node);
   drivetrain_event_loop->SkipTimingReport();
diff --git a/y2020/control_loops/drivetrain/trajectory_generator_main.cc b/y2020/control_loops/drivetrain/trajectory_generator_main.cc
new file mode 100644
index 0000000..adfa492
--- /dev/null
+++ b/y2020/control_loops/drivetrain/trajectory_generator_main.cc
@@ -0,0 +1,39 @@
+#include <sys/resource.h>
+#include <sys/time.h>
+
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "frc971/control_loops/drivetrain/trajectory_generator.h"
+#include "y2020/control_loops/drivetrain/drivetrain_base.h"
+
+using ::frc971::control_loops::drivetrain::TrajectoryGenerator;
+
+DEFINE_bool(skip_renicing, false,
+            "If true, skip renicing the trajectory generator.");
+
+int main(int argc, char *argv[]) {
+  ::aos::InitGoogle(&argc, &argv);
+
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
+  TrajectoryGenerator generator(
+      &event_loop, ::y2020::control_loops::drivetrain::GetDrivetrainConfig());
+
+  event_loop.OnRun([]() {
+    if (FLAGS_skip_renicing) {
+      LOG(WARNING) << "Ignoring request to renice to -20 due to "
+                      "--skip_renicing.";
+    } else {
+      errno = 0;
+      setpriority(PRIO_PROCESS, 0, -20);
+      PCHECK(errno == 0)
+          << ": Renicing to -20 failed, use --skip_renicing to skip renicing.";
+    }
+  });
+
+  event_loop.Run();
+
+  return 0;
+}