diff --git a/y2024/control_loops/superstructure/BUILD b/y2024/control_loops/superstructure/BUILD
index 6150caa..946579b 100644
--- a/y2024/control_loops/superstructure/BUILD
+++ b/y2024/control_loops/superstructure/BUILD
@@ -78,8 +78,7 @@
     hdrs = [
         "superstructure.h",
     ],
-    data = [
-    ],
+    data = [],
     deps = [
         ":collision_avoidance_lib",
         ":shooter",
@@ -242,3 +241,31 @@
         "//aos/network/www:proxy",
     ],
 )
+
+cc_library(
+    name = "led_indicator_lib",
+    srcs = ["led_indicator.cc"],
+    hdrs = ["led_indicator.h"],
+    data = [
+        "@ctre_phoenix_api_cpp_athena//:shared_libraries",
+        "@ctre_phoenix_cci_athena//:shared_libraries",
+    ],
+    target_compatible_with = ["//tools/platforms/hardware:roborio"],
+    deps = [
+        ":superstructure_output_fbs",
+        ":superstructure_position_fbs",
+        ":superstructure_status_fbs",
+        "//aos/events:event_loop",
+        "//aos/network:message_bridge_client_fbs",
+        "//aos/network:message_bridge_server_fbs",
+        "//frc971/control_loops:control_loop",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops:profiled_subsystem_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+        "//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
+        "//frc971/queues:gyro_fbs",
+        "//third_party:phoenix",
+        "//third_party:wpilib",
+    ],
+)
diff --git a/y2024/control_loops/superstructure/led_indicator.cc b/y2024/control_loops/superstructure/led_indicator.cc
new file mode 100644
index 0000000..3927548
--- /dev/null
+++ b/y2024/control_loops/superstructure/led_indicator.cc
@@ -0,0 +1,165 @@
+#include "y2024/control_loops/superstructure/led_indicator.h"
+
+namespace led = ctre::phoenix::led;
+namespace chrono = std::chrono;
+
+namespace y2024::control_loops::superstructure {
+
+LedIndicator::LedIndicator(aos::EventLoop *event_loop)
+    : event_loop_(event_loop),
+      drivetrain_output_fetcher_(
+          event_loop_->MakeFetcher<frc971::control_loops::drivetrain::Output>(
+              "/drivetrain")),
+      superstructure_status_fetcher_(
+          event_loop_->MakeFetcher<Status>("/superstructure")),
+      server_statistics_fetcher_(
+          event_loop_->MakeFetcher<aos::message_bridge::ServerStatistics>(
+              "/roborio/aos")),
+      client_statistics_fetcher_(
+          event_loop_->MakeFetcher<aos::message_bridge::ClientStatistics>(
+              "/roborio/aos")),
+      localizer_output_fetcher_(
+          event_loop_->MakeFetcher<frc971::controls::LocalizerOutput>(
+              "/localizer")),
+      gyro_reading_fetcher_(
+          event_loop_->MakeFetcher<frc971::sensors::GyroReading>(
+              "/drivetrain")),
+      drivetrain_status_fetcher_(
+          event_loop_->MakeFetcher<frc971::control_loops::drivetrain::Status>(
+              "/drivetrain")) {
+  led::CANdleConfiguration config;
+  config.statusLedOffWhenActive = true;
+  config.disableWhenLOS = false;
+  config.brightnessScalar = 1.0;
+  candle_.ConfigAllSettings(config, 0);
+
+  event_loop_->AddPhasedLoop([this](int) { DecideColor(); },
+                             chrono::milliseconds(20));
+  event_loop_->OnRun(
+      [this]() { startup_time_ = event_loop_->monotonic_now(); });
+}
+
+// This method will be called once per scheduler run
+void LedIndicator::DisplayLed(uint8_t r, uint8_t g, uint8_t b) {
+  candle_.SetLEDs(static_cast<int>(r), static_cast<int>(g),
+                  static_cast<int>(b));
+}
+
+bool DisconnectedIMUPiServer(
+    const aos::message_bridge::ServerStatistics &server_statistics) {
+  for (const auto *node_status : *server_statistics.connections()) {
+    if (node_status->state() == aos::message_bridge::State::DISCONNECTED) {
+      return true;
+    }
+  }
+
+  return false;
+}
+
+bool DisconnectedIMUPiClient(
+    const aos::message_bridge::ClientStatistics &client_statistics) {
+  for (const auto *node_status : *client_statistics.connections()) {
+    if (node_status->state() == aos::message_bridge::State::DISCONNECTED) {
+      return true;
+    }
+  }
+
+  return false;
+}
+
+bool OrinsDisconnected(
+    const frc971::controls::LocalizerOutput &localizer_output) {
+  if (!localizer_output.all_pis_connected()) {
+    return true;
+  } else {
+    return false;
+  }
+}
+
+void LedIndicator::DecideColor() {
+  superstructure_status_fetcher_.Fetch();
+  server_statistics_fetcher_.Fetch();
+  drivetrain_output_fetcher_.Fetch();
+  drivetrain_status_fetcher_.Fetch();
+  client_statistics_fetcher_.Fetch();
+  gyro_reading_fetcher_.Fetch();
+  localizer_output_fetcher_.Fetch();
+
+  if (localizer_output_fetcher_.get()) {
+    if (localizer_output_fetcher_->image_accepted_count() !=
+        last_accepted_count_) {
+      last_accepted_count_ = localizer_output_fetcher_->image_accepted_count();
+      last_accepted_time_ = event_loop_->monotonic_now();
+    }
+  }
+
+  // Estopped: Red
+  if (superstructure_status_fetcher_.get() &&
+      superstructure_status_fetcher_->estopped()) {
+    DisplayLed(255, 0, 0);
+    return;
+  }
+
+  // If the imu gyro readings are not being sent/updated recently.  Only do this
+  // after we've been on for a bit.
+  if (event_loop_->context().monotonic_event_time >
+          startup_time_ + chrono::seconds(5) &&
+      (!gyro_reading_fetcher_.get() ||
+       gyro_reading_fetcher_.context().monotonic_event_time +
+               frc971::controls::kLoopFrequency * 10 <
+           event_loop_->monotonic_now() ||
+       !gyro_reading_fetcher_->has_velocity())) {
+    // Flash red/white
+    if (flash_counter_.Flash()) {
+      DisplayLed(255, 0, 0);
+    } else {
+      DisplayLed(255, 255, 255);
+    }
+    return;
+  }
+
+  if (localizer_output_fetcher_.get() == nullptr ||
+      server_statistics_fetcher_.get() == nullptr ||
+      client_statistics_fetcher_.get() == nullptr ||
+      OrinsDisconnected(*localizer_output_fetcher_) ||
+      DisconnectedIMUPiServer(*server_statistics_fetcher_) ||
+      DisconnectedIMUPiClient(*client_statistics_fetcher_)) {
+    // Flash red/green
+    if (flash_counter_.Flash()) {
+      DisplayLed(255, 0, 0);
+    } else {
+      DisplayLed(0, 255, 0);
+    }
+
+    return;
+  }
+
+  // Not zeroed: Yellow
+  if ((superstructure_status_fetcher_.get() &&
+       !superstructure_status_fetcher_->zeroed()) ||
+      (drivetrain_status_fetcher_.get() &&
+       !drivetrain_status_fetcher_->filters_ready())) {
+    DisplayLed(255, 255, 0);
+    return;
+  }
+
+  // Want to know when we have a note.
+  //
+  if (superstructure_status_fetcher_.get()) {
+    // Check if there is a target that is in sight
+    if (event_loop_->monotonic_now() <
+        last_accepted_time_ + chrono::milliseconds(100)) {
+      if (superstructure_status_fetcher_.get() != nullptr &&
+          superstructure_status_fetcher_->shooter()->auto_aiming()) {
+        DisplayLed(0, 0, 255);
+        return;
+      } else {
+        DisplayLed(0, 255, 0);
+        return;
+      }
+    }
+  }
+  DisplayLed(0, 0, 0);
+}
+
+}  // namespace y2024::control_loops::superstructure
diff --git a/y2024/control_loops/superstructure/led_indicator.h b/y2024/control_loops/superstructure/led_indicator.h
new file mode 100644
index 0000000..a7d891a
--- /dev/null
+++ b/y2024/control_loops/superstructure/led_indicator.h
@@ -0,0 +1,96 @@
+#ifndef Y2024_CONTROL_LOOPS_SUPERSTRUCTURE_LED_INDICATOR_H_
+#define Y2024_CONTROL_LOOPS_SUPERSTRUCTURE_LED_INDICATOR_H_
+
+#include "ctre/phoenix/led/CANdle.h"
+
+#include "aos/events/event_loop.h"
+#include "aos/network/message_bridge_client_generated.h"
+#include "aos/network/message_bridge_server_generated.h"
+#include "frc971/control_loops/control_loop.h"
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
+#include "frc971/control_loops/drivetrain/localization/localizer_output_generated.h"
+#include "frc971/control_loops/profiled_subsystem_generated.h"
+#include "frc971/queues/gyro_generated.h"
+#include "y2024/control_loops/superstructure/superstructure_output_generated.h"
+#include "y2024/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2024/control_loops/superstructure/superstructure_status_generated.h"
+
+namespace y2024::control_loops::superstructure {
+
+class FlashCounter {
+ public:
+  FlashCounter(size_t flash_iterations) : flash_iterations_(flash_iterations) {}
+
+  bool Flash() {
+    if (counter_ % flash_iterations_ == 0) {
+      flash_ = !flash_;
+    }
+    counter_++;
+    return flash_;
+  }
+
+ private:
+  size_t flash_iterations_;
+  size_t counter_ = 0;
+  bool flash_ = false;
+};
+
+class LedIndicator {
+ public:
+  LedIndicator(aos::EventLoop *event_loop);
+
+  // Colors in order of priority:
+  //
+  // Red: estopped
+  // Flash red/white: imu disconnected
+  // Flash red/green: any orin disconnected
+  // Pink: not zeroed
+  //
+  // State machine:
+  //    INTAKING: Flash Orange/Off
+  //    LOADED: Yellow
+  //    MOVING: Flash Yellow/Off
+  //    LOADING_CATAPULT: Flash Purple/Off
+  //    READY: Green
+  //    FIRING: Purple
+  //
+  // HAS A TARGET: Blue
+  // VISION: Flash Blue/Off
+
+  void DecideColor();
+
+ private:
+  static constexpr size_t kFlashIterations = 5;
+
+  void DisplayLed(uint8_t r, uint8_t g, uint8_t b);
+
+  ctre::phoenix::led::CANdle candle_{8, "rio"};
+
+  aos::EventLoop *event_loop_;
+  aos::Fetcher<frc971::control_loops::drivetrain::Output>
+      drivetrain_output_fetcher_;
+  aos::Fetcher<Status> superstructure_status_fetcher_;
+  aos::Fetcher<aos::message_bridge::ServerStatistics>
+      server_statistics_fetcher_;
+  aos::Fetcher<aos::message_bridge::ClientStatistics>
+      client_statistics_fetcher_;
+  aos::Fetcher<frc971::controls::LocalizerOutput> localizer_output_fetcher_;
+  aos::Fetcher<frc971::sensors::GyroReading> gyro_reading_fetcher_;
+  aos::Fetcher<frc971::control_loops::drivetrain::Status>
+      drivetrain_status_fetcher_;
+
+  size_t last_accepted_count_ = 0;
+  aos::monotonic_clock::time_point last_accepted_time_ =
+      aos::monotonic_clock::min_time;
+
+  aos::monotonic_clock::time_point startup_time_ =
+      aos::monotonic_clock::min_time;
+
+  FlashCounter flash_counter_{kFlashIterations};
+};
+
+}  // namespace y2024::control_loops::superstructure
+
+#endif  // Y2024_CONTROL_LOOPS_SUPERSTRUCTURE_LED_INDICATOR_H_