diff --git a/y2024_swerve/control_loops/BUILD b/y2024_swerve/control_loops/BUILD
new file mode 100644
index 0000000..67fa349
--- /dev/null
+++ b/y2024_swerve/control_loops/BUILD
@@ -0,0 +1,13 @@
+load("//tools/build_rules:js.bzl", "ts_project")
+
+ts_project(
+    name = "swerve_plotter",
+    srcs = ["swerve_plotter.ts"],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//aos/network/www:aos_plotter",
+        "//aos/network/www:colors",
+        "//aos/network/www:proxy",
+    ],
+)
diff --git a/y2024_swerve/control_loops/swerve_plotter.ts b/y2024_swerve/control_loops/swerve_plotter.ts
new file mode 100644
index 0000000..0f103f3
--- /dev/null
+++ b/y2024_swerve/control_loops/swerve_plotter.ts
@@ -0,0 +1,130 @@
+// Provides a plot for debugging robot state-related issues.
+import {AosPlotter, MessageHandler} from '../../aos/network/www/aos_plotter';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../aos/network/www/colors';
+import * as proxy from '../../aos/network/www/proxy';
+
+import Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH * 2;
+const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT * 1;
+
+function plotModule(
+    name: string, plotter: AosPlotter, element: Element, position: MessageHandler, positionName: string[],
+    status: MessageHandler, statusName: string[], output: MessageHandler, outputName: string[]): void {
+  {
+    const positionPlot =
+        plotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
+    positionPlot.plot.getAxisLabels().setTitle(name + ' Position');
+    positionPlot.plot.getAxisLabels().setXLabel(TIME);
+    positionPlot.plot.getAxisLabels().setYLabel('Position [rad,m]');
+    positionPlot.addMessageLine(position, positionName .concat(  ['encoder']))
+        .setColor(RED);
+    positionPlot.addMessageLine(position, positionName .concat( ['absolute_encoder']))
+        .setColor(GREEN);
+    positionPlot
+        .addMessageLine(status, statusName .concat( [ 'estimator_state', 'position']))
+        .setColor(BROWN);
+    positionPlot.addMessageLine(status, statusName .concat( [ 'position']))
+        .setColor(WHITE);
+  }
+  {
+    const statesPlot =
+        plotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+    statesPlot.plot.getAxisLabels().setTitle(name + ' State');
+    statesPlot.plot.getAxisLabels().setXLabel(TIME);
+    statesPlot.plot.getAxisLabels().setYLabel('[bool,ZeroingError]');
+    statesPlot.addMessageLine(status, statusName .concat( [ 'estopped'])).setColor(RED);
+    statesPlot.addMessageLine(
+        status, statusName.concat(['zeroed'])).setColor(GREEN);
+    statesPlot
+        .addMessageLine(status, statusName .concat( [ 'estimator_state', 'errors[]']))
+        .setColor(BLUE)
+        .setDrawLine(false);
+  }
+  {
+    const positionConvergencePlot =
+        plotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
+    positionConvergencePlot.plot.getAxisLabels().setTitle(name + ' Position Goals');
+    positionConvergencePlot.plot.getAxisLabels().setXLabel(TIME);
+    positionConvergencePlot.plot.getAxisLabels().setYLabel('[rad,m]');
+    positionConvergencePlot.addMessageLine(status, statusName .concat( [ 'position']))
+        .setColor(RED);
+    positionConvergencePlot.addMessageLine(status, statusName .concat( [ 'goal_position']))
+        .setColor(GREEN);
+    positionConvergencePlot
+        .addMessageLine(status, statusName .concat( [ 'unprofiled_goal_position']))
+        .setColor(BROWN);
+  }
+  {
+    const velocityConvergencePlot =
+        plotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
+    velocityConvergencePlot.plot.getAxisLabels().setTitle(name + ' Velocity Goals');
+    velocityConvergencePlot.plot.getAxisLabels().setXLabel(TIME);
+    velocityConvergencePlot.plot.getAxisLabels().setYLabel('[rad,m]');
+    velocityConvergencePlot.addMessageLine(status, statusName .concat( [ 'velocity']))
+        .setColor(RED);
+    velocityConvergencePlot.addMessageLine(status, statusName .concat( [ 'calculated_velocity']))
+        .setColor(RED).setDrawLine(false);
+    velocityConvergencePlot.addMessageLine(status, statusName .concat( [ 'goal_velocity']))
+        .setColor(GREEN);
+    velocityConvergencePlot
+        .addMessageLine(status, statusName .concat( [ 'unprofiled_goal_velocity']))
+        .setColor(BROWN);
+  }
+  {
+    const outputPlot =
+        plotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
+    outputPlot.plot.getAxisLabels().setTitle(name + ' Outputs');
+    outputPlot.plot.getAxisLabels().setXLabel(TIME);
+    outputPlot.plot.getAxisLabels().setYLabel('[volts]');
+    outputPlot.addMessageLine(output, outputName)
+        .setColor(RED);
+    outputPlot.addMessageLine(status, statusName .concat( [ 'voltage_error']))
+        .setColor(GREEN);
+    outputPlot.addMessageLine(status, statusName .concat( [ 'position_power']))
+        .setColor(BLUE);
+    outputPlot.addMessageLine(status, statusName .concat( [ 'velocity_power']))
+        .setColor(BROWN);
+    outputPlot.addMessageLine(status, statusName .concat( [ 'feedforwards_power']))
+        .setColor(WHITE);
+  }
+}
+
+export function plotSwerve(conn: Connection, element: Element): void {
+  const aosPlotter = new AosPlotter(conn);
+  const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
+
+  {
+    const robotStatePlot =
+        aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
+    robotStatePlot.plot.getAxisLabels().setTitle('Robot State Plot');
+    robotStatePlot.plot.getAxisLabels().setXLabel(TIME);
+    robotStatePlot.plot.getAxisLabels().setYLabel('[bool]');
+    robotStatePlot.addMessageLine(robotState, ['outputs_enabled'])
+        .setColor(RED);
+  }
+
+  const goal = aosPlotter.addMessageSource(
+      '/drivetrain', 'frc971.control_loops.swerve.Goal');
+  const output = aosPlotter.addMessageSource(
+      '/drivetrain', 'frc971.control_loops.swerve.Output');
+  const status = aosPlotter.addMessageSource(
+      '/drivetrain', 'frc971.control_loops.swerve.Status');
+  const position = aosPlotter.addMessageSource(
+      '/drivetrain', 'frc971.control_loops.swerve.Position');
+
+  plotModule(
+      'Front Left', aosPlotter, element, position, ['front_left', 'rotation_position'], status, ['front_left_status', 'rotation'],
+      output, ['front_left_output', 'rotation_current']);
+  plotModule(
+      'Front Right', aosPlotter, element, position, ['front_right', 'rotation_position'], status, ['front_right_status', 'rotation'],
+      output, ['front_right_output', 'rotation_current']);
+  plotModule(
+      'Back Left', aosPlotter, element, position, ['back_left', 'rotation_position'], status, ['back_left_status', 'rotation'],
+      output, ['back_left_output', 'rotation_current']);
+  // TODO(james): Chrome runs out of WebGL canvasses when attempting to plot the final module....
+//  plotModule(
+//      'Back Right', aosPlotter, element, position, ['back_right', 'rotation_position'], status, ['back_right_status', 'rotation'],
+//      output, ['back_right_output', 'rotation_current']);
+}