diff --git a/y2020/control_loops/drivetrain/BUILD b/y2020/control_loops/drivetrain/BUILD
index b2a5901..7c4f99f 100644
--- a/y2020/control_loops/drivetrain/BUILD
+++ b/y2020/control_loops/drivetrain/BUILD
@@ -1,6 +1,7 @@
 load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
 load("//aos:config.bzl", "aos_config")
 load("//tools/build_rules:select.bzl", "compiler_select", "cpu_select")
+load("@npm_bazel_typescript//:defs.bzl", "ts_library")
 
 genrule(
     name = "genrule_drivetrain",
@@ -204,3 +205,19 @@
         "@com_github_google_glog//:glog",
     ],
 )
+
+ts_library(
+    name = "localizer_plotter",
+    srcs = ["localizer_plotter.ts"],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//aos:configuration_ts_fbs",
+        "//aos/network/www:aos_plotter",
+        "//aos/network/www:colors",
+        "//aos/network/www:plotter",
+        "//aos/network/www:proxy",
+        "//aos/network/www:reflection_ts",
+        "@com_github_google_flatbuffers//ts:flatbuffers_ts",
+    ],
+)
diff --git a/y2020/control_loops/drivetrain/localizer_plotter.ts b/y2020/control_loops/drivetrain/localizer_plotter.ts
new file mode 100644
index 0000000..4de2856
--- /dev/null
+++ b/y2020/control_loops/drivetrain/localizer_plotter.ts
@@ -0,0 +1,100 @@
+// Provides a plot for debugging robot state-related issues.
+import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
+import * as proxy from 'org_frc971/aos/network/www/proxy';
+import * as configuration from 'org_frc971/aos/configuration_generated';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+import {MessageHandler, TimestampedMessage} from 'org_frc971/aos/network/www/aos_plotter';
+import {Point} from 'org_frc971/aos/network/www/plotter';
+import {Table} from 'org_frc971/aos/network/www/reflection';
+import {ByteBuffer} from 'org_frc971/external/com_github_google_flatbuffers/ts/byte-buffer';
+
+import Connection = proxy.Connection;
+import Schema = configuration.reflection.Schema;
+
+const TIME = AosPlotter.TIME;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH;
+const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT;
+
+
+export function plotLocalizer(conn: Connection, element: Element) : void {
+  const aosPlotter = new AosPlotter(conn);
+  const localizerDebug =
+      aosPlotter.addMessageSource('/drivetrain', 'y2020.control_loops.drivetrain.LocalizerDebug');
+  const imageMatch =
+      aosPlotter.addMessageSource('/pi1/camera', 'frc971.vision.sift.ImageMatchResult');
+
+  var currentTop = 0;
+
+  const imageAcceptedPlot = aosPlotter.addPlot(
+      element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
+  currentTop += DEFAULT_HEIGHT;
+  imageAcceptedPlot.plot.getAxisLabels().setTitle('Image Acceptance');
+  imageAcceptedPlot.plot.getAxisLabels().setXLabel(TIME);
+  imageAcceptedPlot.plot.getAxisLabels().setYLabel('[bool]');
+  imageAcceptedPlot.plot.setDefaultYRange([-0.05, 1.05]);
+
+  imageAcceptedPlot.addMessageLine(localizerDebug, ['matches[]', 'accepted'])
+      .setColor(RED)
+      .setDrawLine(false);
+
+  const impliedXPlot = aosPlotter.addPlot(
+      element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
+  currentTop += DEFAULT_HEIGHT;
+  impliedXPlot.plot.getAxisLabels().setTitle('Implied Robot X');
+  impliedXPlot.plot.getAxisLabels().setXLabel(TIME);
+  impliedXPlot.plot.getAxisLabels().setYLabel('[m]');
+
+  impliedXPlot.addMessageLine(localizerDebug, ['matches[]', 'implied_robot_x'])
+      .setColor(RED)
+      .setDrawLine(false);
+  impliedXPlot.addMessageLine(imageMatch, ['camera_poses[]', 'field_to_camera', 'data[3]'])
+      .setColor(BLUE)
+      .setDrawLine(false);
+
+  const impliedYPlot = aosPlotter.addPlot(
+      element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
+  currentTop += DEFAULT_HEIGHT;
+  impliedYPlot.plot.getAxisLabels().setTitle('Implied Robot Y');
+  impliedYPlot.plot.getAxisLabels().setXLabel(TIME);
+  impliedYPlot.plot.getAxisLabels().setYLabel('[m]');
+
+  impliedYPlot.addMessageLine(localizerDebug, ['matches[]', 'implied_robot_y'])
+      .setColor(RED)
+      .setDrawLine(false);
+  impliedYPlot.addMessageLine(imageMatch, ['camera_poses[]', 'field_to_camera', 'data[7]'])
+      .setColor(BLUE)
+      .setDrawLine(false);
+
+  const impliedHeadingPlot = aosPlotter.addPlot(
+      element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
+  currentTop += DEFAULT_HEIGHT;
+  impliedHeadingPlot.plot.getAxisLabels().setTitle('Implied Robot Theta');
+  impliedHeadingPlot.plot.getAxisLabels().setXLabel(TIME);
+  impliedHeadingPlot.plot.getAxisLabels().setYLabel('[rad]');
+
+  impliedHeadingPlot.addMessageLine(localizerDebug, ['matches[]', 'implied_robot_theta'])
+      .setColor(RED)
+      .setDrawLine(false);
+
+  const impliedTurretGoalPlot = aosPlotter.addPlot(
+      element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
+  currentTop += DEFAULT_HEIGHT;
+  impliedTurretGoalPlot.plot.getAxisLabels().setTitle('Implied Turret Goal');
+  impliedTurretGoalPlot.plot.getAxisLabels().setXLabel(TIME);
+  impliedTurretGoalPlot.plot.getAxisLabels().setYLabel('[rad]');
+
+  impliedTurretGoalPlot.addMessageLine(localizerDebug, ['matches[]', 'implied_turret_goal'])
+      .setColor(RED)
+      .setDrawLine(false);
+
+  const imageTimingPlot = aosPlotter.addPlot(
+      element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
+  currentTop += DEFAULT_HEIGHT;
+  imageTimingPlot.plot.getAxisLabels().setTitle('Timing Plot');
+  imageTimingPlot.plot.getAxisLabels().setXLabel(TIME);
+  imageTimingPlot.plot.getAxisLabels().setYLabel('[ns]');
+
+  imageTimingPlot.addMessageLine(localizerDebug, ['matches[]', 'image_age_sec'])
+      .setColor(RED)
+      .setDrawLine(false);
+}