diff --git a/y2024/control_loops/drivetrain/drivetrain_replay.cc b/y2024/control_loops/drivetrain/drivetrain_replay.cc
index d43b2af..73c2f87 100644
--- a/y2024/control_loops/drivetrain/drivetrain_replay.cc
+++ b/y2024/control_loops/drivetrain/drivetrain_replay.cc
@@ -1,4 +1,4 @@
-#include "gflags/gflags.h"
+#include "absl/flags/flag.h"
 
 #include "aos/configuration.h"
 #include "aos/events/logging/log_reader.h"
@@ -17,31 +17,32 @@
 #include "y2024/constants/simulated_constants_sender.h"
 #include "y2024/control_loops/drivetrain/drivetrain_base.h"
 
-DEFINE_string(config, "y2024/aos_config.json",
-              "Name of the config file to replay using.");
-DEFINE_bool(override_config, false,
-            "If set, override the logged config with --config.");
-DEFINE_int32(team, 971, "Team number to use for logfile replay.");
-DEFINE_string(output_folder, "/tmp/replayed",
-              "Name of the folder to write replayed logs to.");
-DEFINE_string(constants_path, "y2024/constants/constants.json",
-              "Path to the constant file");
+ABSL_FLAG(std::string, config, "y2024/aos_config.json",
+          "Name of the config file to replay using.");
+ABSL_FLAG(bool, override_config, false,
+          "If set, override the logged config with --config.");
+ABSL_FLAG(int32_t, team, 971, "Team number to use for logfile replay.");
+ABSL_FLAG(std::string, output_folder, "/tmp/replayed",
+          "Name of the folder to write replayed logs to.");
+ABSL_FLAG(std::string, constants_path, "y2024/constants/constants.json",
+          "Path to the constant file");
 
 int main(int argc, char **argv) {
   aos::InitGoogle(&argc, &argv);
 
-  aos::network::OverrideTeamNumber(FLAGS_team);
+  aos::network::OverrideTeamNumber(absl::GetFlag(FLAGS_team));
 
   const aos::FlatbufferDetachedBuffer<aos::Configuration> config =
-      aos::configuration::ReadConfig(FLAGS_config);
+      aos::configuration::ReadConfig(absl::GetFlag(FLAGS_config));
 
   // sort logfiles
   const std::vector<aos::logger::LogFile> logfiles =
       aos::logger::SortParts(aos::logger::FindLogs(argc, argv));
 
   // open logfiles
-  aos::logger::LogReader reader(
-      logfiles, FLAGS_override_config ? &config.message() : nullptr);
+  aos::logger::LogReader reader(logfiles, absl::GetFlag(FLAGS_override_config)
+                                              ? &config.message()
+                                              : nullptr);
 
   reader.RemapLoggedChannel("/imu/constants", "y2024.Constants");
   reader.RemapLoggedChannel("/roborio/constants", "y2024.Constants");
@@ -58,8 +59,9 @@
 
   reader.RegisterWithoutStarting(factory.get());
 
-  y2024::SendSimulationConstants(reader.event_loop_factory(), FLAGS_team,
-                                 FLAGS_constants_path, {"roborio"});
+  y2024::SendSimulationConstants(
+      reader.event_loop_factory(), absl::GetFlag(FLAGS_team),
+      absl::GetFlag(FLAGS_constants_path), {"roborio"});
 
   const aos::Node *node = nullptr;
   if (aos::configuration::MultiNode(reader.configuration())) {
@@ -86,7 +88,7 @@
         std::make_unique<frc971::control_loops::drivetrain::DrivetrainLoop>(
             drivetrain_config, drivetrain_event_loop.get(), localizer.get());
     loggers.push_back(std::make_unique<aos::util::LoggerState>(
-        factory.get(), node, FLAGS_output_folder));
+        factory.get(), node, absl::GetFlag(FLAGS_output_folder)));
     // The Trajectory information is NOT_LOGGED, so we need to rerun it against
     // the SplineGoals that we have in the log.
     node_factory
diff --git a/y2024/control_loops/drivetrain/trajectory_generator_main.cc b/y2024/control_loops/drivetrain/trajectory_generator_main.cc
index f53f79a..b01bea0 100644
--- a/y2024/control_loops/drivetrain/trajectory_generator_main.cc
+++ b/y2024/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/constants/constants_sender_lib.h"
@@ -10,8 +12,8 @@
 
 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);
@@ -27,7 +29,7 @@
       ::y2024::control_loops::drivetrain::GetDrivetrainConfig(&event_loop));
 
   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/y2024/control_loops/superstructure/BUILD b/y2024/control_loops/superstructure/BUILD
index 6c1075a..f175d19 100644
--- a/y2024/control_loops/superstructure/BUILD
+++ b/y2024/control_loops/superstructure/BUILD
@@ -136,8 +136,9 @@
         "//frc971/control_loops:control_loops_fbs",
         "//frc971/control_loops:profiled_subsystem_fbs",
         "//frc971/control_loops:static_zeroing_single_dof_profiled_subsystem",
-        "@com_github_google_glog//:glog",
         "@com_google_absl//absl/functional:bind_front",
+        "@com_google_absl//absl/log",
+        "@com_google_absl//absl/log:check",
     ],
 )
 
diff --git a/y2024/control_loops/superstructure/collision_avoidance.cc b/y2024/control_loops/superstructure/collision_avoidance.cc
index bd82fe0..a4f3a35 100644
--- a/y2024/control_loops/superstructure/collision_avoidance.cc
+++ b/y2024/control_loops/superstructure/collision_avoidance.cc
@@ -3,7 +3,8 @@
 #include <cmath>
 
 #include "absl/functional/bind_front.h"
-#include "glog/logging.h"
+#include "absl/log/check.h"
+#include "absl/log/log.h"
 
 namespace y2024::control_loops::superstructure {
 
diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index 7f7da4f..a33fc87 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -9,8 +9,8 @@
 #include "frc971/shooter_interpolation/interpolation.h"
 #include "frc971/zeroing/wrap.h"
 
-DEFINE_bool(ignore_distance, false,
-            "If true, ignore distance when shooting and obey joystick_reader");
+ABSL_FLAG(bool, ignore_distance, false,
+          "If true, ignore distance when shooting and obey joystick_reader");
 
 // The threshold used when decided if the extend is close enough to a goal to
 // continue.
diff --git a/y2024/control_loops/superstructure/superstructure_lib_test.cc b/y2024/control_loops/superstructure/superstructure_lib_test.cc
index 719a29b..cf518e7 100644
--- a/y2024/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2024/control_loops/superstructure/superstructure_lib_test.cc
@@ -1,6 +1,7 @@
 #include <chrono>
 #include <memory>
 
+#include "absl/flags/flag.h"
 #include "gtest/gtest.h"
 
 #include "aos/events/logging/log_writer.h"
@@ -20,8 +21,8 @@
 #include "y2024/control_loops/superstructure/superstructure.h"
 #include "y2024/control_loops/superstructure/turret/turret_plant.h"
 
-DEFINE_string(output_folder, "",
-              "If set, logs all channels to the provided logfile.");
+ABSL_FLAG(std::string, output_folder, "",
+          "If set, logs all channels to the provided logfile.");
 
 namespace y2024::control_loops::superstructure::testing {
 
@@ -336,11 +337,11 @@
 
     SetEnabled(true);
 
-    if (!FLAGS_output_folder.empty()) {
-      unlink(FLAGS_output_folder.c_str());
+    if (!absl::GetFlag(FLAGS_output_folder).empty()) {
+      unlink(absl::GetFlag(FLAGS_output_folder).c_str());
       logger_event_loop_ = MakeEventLoop("logger", roborio_);
       logger_ = std::make_unique<aos::logger::Logger>(logger_event_loop_.get());
-      logger_->StartLoggingOnRun(FLAGS_output_folder);
+      logger_->StartLoggingOnRun(absl::GetFlag(FLAGS_output_folder));
     }
   }
 
diff --git a/y2024/control_loops/superstructure/superstructure_main.cc b/y2024/control_loops/superstructure/superstructure_main.cc
index a5ab8ed..90c5eb4 100644
--- a/y2024/control_loops/superstructure/superstructure_main.cc
+++ b/y2024/control_loops/superstructure/superstructure_main.cc
@@ -2,8 +2,8 @@
 #include "aos/init.h"
 #include "y2024/control_loops/superstructure/superstructure.h"
 
-DEFINE_string(arm_trajectories, "arm_trajectories_generated.bfbs",
-              "The path to the generated arm trajectories bfbs file.");
+ABSL_FLAG(std::string, arm_trajectories, "arm_trajectories_generated.bfbs",
+          "The path to the generated arm trajectories bfbs file.");
 
 using y2024::control_loops::superstructure::Superstructure;
 
diff --git a/y2024/control_loops/superstructure/superstructure_replay.cc b/y2024/control_loops/superstructure/superstructure_replay.cc
index ab88a46..37ab08f 100644
--- a/y2024/control_loops/superstructure/superstructure_replay.cc
+++ b/y2024/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 "y2024/constants.h"
 #include "y2024/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<y2024::control_loops::superstructure::Superstructure>(