diff --git a/y2017_bot3/joystick_reader.cc b/y2017_bot3/joystick_reader.cc
new file mode 100644
index 0000000..0d43efd
--- /dev/null
+++ b/y2017_bot3/joystick_reader.cc
@@ -0,0 +1,146 @@
+#include <math.h>
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+
+#include "aos/common/actions/actions.h"
+#include "aos/common/input/driver_station_data.h"
+#include "aos/common/logging/logging.h"
+#include "aos/common/logging/logging.h"
+#include "aos/common/util/log_interval.h"
+#include "aos/input/drivetrain_input.h"
+#include "aos/input/joystick_input.h"
+#include "aos/linux_code/init.h"
+#include "frc971/autonomous/auto.q.h"
+#include "frc971/autonomous/base_autonomous_actor.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "y2017_bot3/actors/autonomous_actor.h"
+#include "y2017_bot3/control_loops/superstructure/superstructure.q.h"
+
+using ::frc971::control_loops::drivetrain_queue;
+using ::y2017_bot3::control_loops::superstructure_queue;
+
+using ::aos::input::driver_station::ButtonLocation;
+using ::aos::input::driver_station::ControlBit;
+using ::aos::input::driver_station::JoystickAxis;
+using ::aos::input::driver_station::POVLocation;
+using ::aos::input::DrivetrainInputReader;
+
+namespace y2017_bot3 {
+namespace input {
+namespace joysticks {
+
+const ButtonLocation kHangerOn(3, 1);
+const ButtonLocation kRollersOn(3, 2);
+const ButtonLocation kGearOut(3, 3);
+
+const ButtonLocation kRollerOn(3, 4);
+
+std::unique_ptr<DrivetrainInputReader> drivetrain_input_reader_;
+
+class Reader : public ::aos::input::JoystickInput {
+ public:
+  Reader() {
+    drivetrain_input_reader_ = DrivetrainInputReader::Make(
+        DrivetrainInputReader::InputType::kSteeringWheel);
+  }
+
+  void RunIteration(const ::aos::input::driver_station::Data &data) override {
+    bool last_auto_running = auto_running_;
+    auto_running_ = data.GetControlBit(ControlBit::kAutonomous) &&
+                    data.GetControlBit(ControlBit::kEnabled);
+    if (auto_running_ != last_auto_running) {
+      if (auto_running_) {
+        StartAuto();
+      } else {
+        StopAuto();
+      }
+    }
+
+    if (!auto_running_) {
+      HandleDrivetrain(data);
+      HandleTeleop(data);
+    }
+
+    // Process pending actions.
+    action_queue_.Tick();
+    was_running_ = action_queue_.Running();
+  }
+
+  if (!data.GetControlBit(ControlBit::kEnabled)) {
+    action_queue_.CancelAllActions();
+    LOG(DEBUG, "Canceling\n");
+  }
+
+  void HandleDrivetrain(const ::aos::input::driver_station::Data &data) {
+    drivetrain_input_reader_->HandleDrivetrain(data);
+    robot_velocity_ = drivetrain_input_reader_->robot_velocity();
+  }
+
+  void HandleTeleop(const ::aos::input::driver_station::Data &data) {
+    superstructure_queue.status.FetchLatest();
+    if (!superstructure_queue.status.get()) {
+      LOG(ERROR, "Got no superstructure status packet.\n");
+      return;
+    }
+
+    auto new_superstructure_goal = superstructure_queue.goal.MakeMessage();
+    new_superstructure_goal->voltage_rollers = 0.0;
+
+    if (data.IsPressed(kRollerOn)) {
+      new_superstructure_goal->voltage_rollers = 12.0;
+    }
+
+    if (data.IsPressed(kHangerOn)) {
+      new_superstructure_goal->hanger_voltage = 12.0;
+    }
+
+
+    if (data.IsPressed(kGearOut)) {
+      new_superstructure_goal->fingers_out = true;
+    } else {
+      new_superstructure_goal->fingers_out = false;
+    }
+
+    LOG_STRUCT(DEBUG, "sending goal", *new_superstructure_goal);
+    if (!new_superstructure_goal.Send()) {
+      LOG(ERROR, "Sending superstructure goal failed.\n");
+    }
+  }
+
+ private:
+  void StartAuto() {
+    LOG(INFO, "Starting auto mode\n");
+    ::frc971::autonomous::AutonomousActionParams params;
+    ::frc971::autonomous::auto_mode.FetchLatest();
+    if (::frc971::autonomous::auto_mode.get() != nullptr) {
+      params.mode = ::frc971::autonomous::auto_mode->mode;
+    } else {
+      LOG(WARNING, "no auto mode values\n");
+      params.mode = 0;
+    }
+    action_queue_.EnqueueAction(
+        ::frc971::autonomous::MakeAutonomousAction(params));
+  }
+
+  void StopAuto() {
+    LOG(INFO, "Stopping auto mode\n");
+    action_queue_.CancelAllActions();
+  }
+  double robot_velocity_ = 0.0;
+  ::aos::common::actions::ActionQueue action_queue_;
+
+  bool was_running_ = false;
+  bool auto_running_ = false;
+};
+
+}  // namespace joysticks
+}  // namespace input
+}  // namespace y2017_bot3
+
+int main() {
+  ::aos::Init(-1);
+  ::y2017_bot3::input::joysticks::Reader reader;
+  reader.Run();
+  ::aos::Cleanup();
+}