diff --git a/y2022_bot3/BUILD b/y2022_bot3/BUILD
index 08f4e2c..f827497 100644
--- a/y2022_bot3/BUILD
+++ b/y2022_bot3/BUILD
@@ -120,8 +120,9 @@
         "//y2022_bot3/control_loops/drivetrain:polydrivetrain_plants",
         "//y2022_bot3/control_loops/superstructure/climber:climber_plants",
         "//y2022_bot3/control_loops/superstructure/intake:intake_plants",
-        "@com_github_google_glog//:glog",
         "@com_google_absl//absl/base",
+        "@com_google_absl//absl/log",
+        "@com_google_absl//absl/log:check",
     ],
 )
 
diff --git a/y2022_bot3/actors/BUILD b/y2022_bot3/actors/BUILD
index 783894f..8b99197 100644
--- a/y2022_bot3/actors/BUILD
+++ b/y2022_bot3/actors/BUILD
@@ -57,6 +57,7 @@
         "//y2022_bot3/control_loops/drivetrain:drivetrain_base",
         "//y2022_bot3/control_loops/superstructure:superstructure_goal_fbs",
         "//y2022_bot3/control_loops/superstructure:superstructure_status_fbs",
+        "@com_google_absl//absl/flags:flag",
     ],
 )
 
diff --git a/y2022_bot3/actors/autonomous_actor.cc b/y2022_bot3/actors/autonomous_actor.cc
index 6c5c244..42fa02c 100644
--- a/y2022_bot3/actors/autonomous_actor.cc
+++ b/y2022_bot3/actors/autonomous_actor.cc
@@ -4,6 +4,8 @@
 #include <cinttypes>
 #include <cmath>
 
+#include "absl/flags/flag.h"
+
 #include "aos/logging/logging.h"
 #include "aos/network/team_number.h"
 #include "aos/util/math.h"
@@ -12,7 +14,7 @@
 #include "y2022_bot3/constants.h"
 #include "y2022_bot3/control_loops/drivetrain/drivetrain_base.h"
 
-DEFINE_bool(spline_auto, false, "If true, define a spline autonomous mode");
+ABSL_FLAG(bool, spline_auto, false, "If true, define a spline autonomous mode");
 
 namespace y2022_bot3::actors {
 
@@ -84,7 +86,7 @@
     return;
   }
   sent_starting_position_ = false;
-  if (FLAGS_spline_auto) {
+  if (absl::GetFlag(FLAGS_spline_auto)) {
     test_spline_ =
         PlanSpline(std::bind(&AutonomousSplines::TestSpline, &auto_splines_,
                              std::placeholders::_1, alliance_),
@@ -135,7 +137,7 @@
     AOS_LOG(INFO, "Aborting autonomous due to invalid alliance selection.");
     return false;
   }
-  if (FLAGS_spline_auto) {
+  if (absl::GetFlag(FLAGS_spline_auto)) {
     SplineAuto();
   }
 
diff --git a/y2022_bot3/constants.cc b/y2022_bot3/constants.cc
index 8defbc6..49d8bb6 100644
--- a/y2022_bot3/constants.cc
+++ b/y2022_bot3/constants.cc
@@ -8,7 +8,8 @@
 #endif
 
 #include "absl/base/call_once.h"
-#include "glog/logging.h"
+#include "absl/log/check.h"
+#include "absl/log/log.h"
 
 #include "aos/mutex/mutex.h"
 #include "aos/network/team_number.h"
diff --git a/y2022_bot3/control_loops/drivetrain/trajectory_generator_main.cc b/y2022_bot3/control_loops/drivetrain/trajectory_generator_main.cc
index 644ae8d..66cf014 100644
--- a/y2022_bot3/control_loops/drivetrain/trajectory_generator_main.cc
+++ b/y2022_bot3/control_loops/drivetrain/trajectory_generator_main.cc
@@ -1,6 +1,8 @@
 #include <sys/resource.h>
 #include <sys/time.h>
 
+#include "absl/flags/flag.h"
+
 #include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "frc971/control_loops/drivetrain/trajectory_generator.h"
@@ -8,8 +10,8 @@
 
 using ::frc971::control_loops::drivetrain::TrajectoryGenerator;
 
-DEFINE_bool(skip_renicing, false,
-            "If true, skip renicing the trajectory generator.");
+ABSL_FLAG(bool, skip_renicing, false,
+          "If true, skip renicing the trajectory generator.");
 
 int main(int argc, char *argv[]) {
   ::aos::InitGoogle(&argc, &argv);
@@ -23,7 +25,7 @@
       ::y2022_bot3::control_loops::drivetrain::GetDrivetrainConfig());
 
   event_loop.OnRun([]() {
-    if (FLAGS_skip_renicing) {
+    if (absl::GetFlag(FLAGS_skip_renicing)) {
       LOG(WARNING) << "Ignoring request to renice to -20 due to "
                       "--skip_renicing.";
     } else {
diff --git a/y2022_bot3/control_loops/superstructure/superstructure_lib_test.cc b/y2022_bot3/control_loops/superstructure/superstructure_lib_test.cc
index 493d2f5..3f6a015 100644
--- a/y2022_bot3/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022_bot3/control_loops/superstructure/superstructure_lib_test.cc
@@ -12,9 +12,6 @@
 #include "y2022_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
 #include "y2022_bot3/control_loops/superstructure/superstructure.h"
 
-DEFINE_string(output_folder, "",
-              "If set, logs all channels to the provided logfile.");
-
 namespace y2022_bot3::control_loops::superstructure::testing {
 namespace chrono = std::chrono;
 
diff --git a/y2022_bot3/control_loops/superstructure/superstructure_replay.cc b/y2022_bot3/control_loops/superstructure/superstructure_replay.cc
index e7b81cd..bc76582 100644
--- a/y2022_bot3/control_loops/superstructure/superstructure_replay.cc
+++ b/y2022_bot3/control_loops/superstructure/superstructure_replay.cc
@@ -3,7 +3,7 @@
 // replayed, so that it can then be run through the plotting tool or analyzed
 // in some other way. The original superstructure status data will be on the
 // /original/superstructure channel.
-#include "gflags/gflags.h"
+#include "absl/flags/flag.h"
 
 #include "aos/events/logging/log_reader.h"
 #include "aos/events/logging/log_writer.h"
@@ -15,14 +15,14 @@
 #include "y2022_bot3/constants.h"
 #include "y2022_bot3/control_loops/superstructure/superstructure.h"
 
-DEFINE_int32(team, 971, "Team number to use for logfile replay.");
-DEFINE_string(output_folder, "/tmp/superstructure_replay/",
-              "Logs all channels to the provided logfile.");
+ABSL_FLAG(int32_t, team, 971, "Team number to use for logfile replay.");
+ABSL_FLAG(std::string, output_folder, "/tmp/superstructure_replay/",
+          "Logs all channels to the provided logfile.");
 
 int main(int argc, char **argv) {
   aos::InitGoogle(&argc, &argv);
 
-  aos::network::OverrideTeamNumber(FLAGS_team);
+  aos::network::OverrideTeamNumber(absl::GetFlag(FLAGS_team));
 
   // open logfiles
   aos::logger::LogReader reader(
@@ -40,11 +40,11 @@
   aos::NodeEventLoopFactory *roborio =
       factory.GetNodeEventLoopFactory("roborio");
 
-  unlink(FLAGS_output_folder.c_str());
+  unlink(absl::GetFlag(FLAGS_output_folder).c_str());
   std::unique_ptr<aos::EventLoop> logger_event_loop =
       roborio->MakeEventLoop("logger");
   auto logger = std::make_unique<aos::logger::Logger>(logger_event_loop.get());
-  logger->StartLoggingOnRun(FLAGS_output_folder);
+  logger->StartLoggingOnRun(absl::GetFlag(FLAGS_output_folder));
 
   roborio->OnStartup([roborio]() {
     roborio->AlwaysStart<