diff --git a/frc971/autonomous/base_autonomous_actor.cc b/frc971/autonomous/base_autonomous_actor.cc
index ca6cc89..492302f 100644
--- a/frc971/autonomous/base_autonomous_actor.cc
+++ b/frc971/autonomous/base_autonomous_actor.cc
@@ -177,6 +177,24 @@
   return false;
 }
 
+double BaseAutonomousActor::X() {
+  drivetrain_status_fetcher_.Fetch();
+  CHECK(drivetrain_status_fetcher_.get());
+  return drivetrain_status_fetcher_->x();
+}
+
+double BaseAutonomousActor::Y() {
+  drivetrain_status_fetcher_.Fetch();
+  CHECK(drivetrain_status_fetcher_.get());
+  return drivetrain_status_fetcher_->y();
+}
+
+double BaseAutonomousActor::Theta() {
+  drivetrain_status_fetcher_.Fetch();
+  CHECK(drivetrain_status_fetcher_.get());
+  return drivetrain_status_fetcher_->theta();
+}
+
 bool BaseAutonomousActor::WaitForAboveAngle(double angle) {
   ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
                                       event_loop()->monotonic_now(),
diff --git a/frc971/autonomous/base_autonomous_actor.h b/frc971/autonomous/base_autonomous_actor.h
index a70a440..5562dde 100644
--- a/frc971/autonomous/base_autonomous_actor.h
+++ b/frc971/autonomous/base_autonomous_actor.h
@@ -91,6 +91,11 @@
   // Returns true if the drive has finished.
   bool IsDriveDone();
 
+  // Returns the current x, y, theta of the robot on the field.
+  double X();
+  double Y();
+  double Theta();
+
   void LineFollowAtVelocity(
       double velocity,
       y2019::control_loops::drivetrain::SelectionHint hint =