diff --git a/y2023/control_loops/python/BUILD b/y2023/control_loops/python/BUILD
index 9b1746a..7825675 100644
--- a/y2023/control_loops/python/BUILD
+++ b/y2023/control_loops/python/BUILD
@@ -50,6 +50,22 @@
     ],
 )
 
+py_binary(
+    name = "graph_codegen",
+    srcs = [
+        "graph_codegen.py",
+        "graph_paths.py",
+    ],
+    legacy_create_init = False,
+    target_compatible_with = ["@platforms//os:linux"],
+    deps = [
+        ":python_init",
+        "//frc971/control_loops/python:basic_window",
+        "//frc971/control_loops/python:color",
+        "@pip//numpy",
+    ],
+)
+
 py_library(
     name = "polydrivetrain_lib",
     srcs = [
diff --git a/y2023/control_loops/python/graph_codegen.py b/y2023/control_loops/python/graph_codegen.py
new file mode 100644
index 0000000..06f036e
--- /dev/null
+++ b/y2023/control_loops/python/graph_codegen.py
@@ -0,0 +1,253 @@
+from __future__ import print_function
+import sys
+import numpy
+import graph_paths
+
+
+def index_function_name(name):
+    return "%sIndex" % name
+
+
+def path_function_name(name):
+    return "Make%sPath" % name
+
+
+def add_edge(cc_file, name, segment, index, reverse):
+    cc_file.append("  // Adding edge %d" % index)
+    vmax = "vmax"
+    if segment.vmax:
+        vmax = "::std::min(vmax, %f)" % segment.vmax
+
+    alpha_unitizer = "alpha_unitizer"
+    if segment.alpha_unitizer is not None:
+        alpha_unitizer = "(::Eigen::Matrix<double, 2, 2>() << %f, %f, %f, %f).finished()" % (
+            segment.alpha_unitizer[0, 0], segment.alpha_unitizer[0, 1],
+            segment.alpha_unitizer[1, 0], segment.alpha_unitizer[1, 1])
+    cc_file.append("  trajectories->emplace_back(%s," % (vmax))
+    cc_file.append("                             %s," % (alpha_unitizer))
+    if reverse:
+        cc_file.append(
+            "                             Trajectory(dynamics, Path::Reversed(%s()), 0.005, kArmConstants));"
+            % (path_function_name(str(name))))
+    else:
+        cc_file.append(
+            "                             Trajectory(dynamics, %s(), 0.005, kArmConstants));"
+            % (path_function_name(str(name))))
+
+    start_index = None
+    end_index = None
+    for point, name in graph_paths.points:
+        if (point == segment.start).all():
+            start_index = name
+        if (point == segment.end).all():
+            end_index = name
+
+    if reverse:
+        start_index, end_index = end_index, start_index
+
+    cc_file.append(
+        "  edges.push_back(SearchGraph::Edge{%s(), %s()," %
+        (index_function_name(start_index), index_function_name(end_index)))
+    cc_file.append(
+        "                     (trajectories->back().trajectory.path().length() + 0.2)});"
+    )
+
+    # TODO(austin): Allow different vmaxes for different paths.
+    cc_file.append("  trajectories->back().trajectory.OptimizeTrajectory(")
+    cc_file.append("      trajectories->back().alpha_unitizer,")
+    cc_file.append("      trajectories->back().vmax);")
+    cc_file.append("")
+
+
+def main(argv):
+    cc_file = []
+    cc_file.append(
+        "#include \"y2023/control_loops/superstructure/arm/generated_graph.h\""
+    )
+    cc_file.append("")
+    cc_file.append("#include <memory>")
+    cc_file.append("")
+    cc_file.append(
+        "#include \"frc971/control_loops/double_jointed_arm/trajectory.h\"")
+    cc_file.append(
+        "#include \"frc971/control_loops/double_jointed_arm/graph.h\"")
+
+    cc_file.append("using frc971::control_loops::arm::Trajectory;")
+    cc_file.append("using frc971::control_loops::arm::Path;")
+    cc_file.append("using frc971::control_loops::arm::SearchGraph;")
+
+    cc_file.append("")
+    cc_file.append("namespace y2023 {")
+    cc_file.append("namespace control_loops {")
+    cc_file.append("namespace superstructure {")
+    cc_file.append("namespace arm {")
+
+    h_file = []
+    h_file.append(
+        "#ifndef Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_GENERATED_GRAPH_H_")
+    h_file.append(
+        "#define Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_GENERATED_GRAPH_H_")
+    h_file.append("")
+    h_file.append("#include <memory>")
+    h_file.append("")
+    h_file.append(
+        "#include \"frc971/control_loops/double_jointed_arm/trajectory.h\"")
+    h_file.append(
+        "#include \"frc971/control_loops/double_jointed_arm/graph.h\"")
+    h_file.append(
+        "#include \"y2023/control_loops/superstructure/arm/arm_constants.h\"")
+    h_file.append("")
+    h_file.append("namespace y2023 {")
+    h_file.append("namespace control_loops {")
+    h_file.append("namespace superstructure {")
+    h_file.append("namespace arm {")
+
+    h_file.append("using frc971::control_loops::arm::Trajectory;")
+    h_file.append("using frc971::control_loops::arm::Path;")
+    h_file.append("using frc971::control_loops::arm::SearchGraph;")
+    h_file.append(
+        "using y2023::control_loops::superstructure::arm::kArmConstants;")
+
+    h_file.append("")
+    h_file.append("struct TrajectoryAndParams {")
+    h_file.append("  TrajectoryAndParams(double new_vmax,")
+    h_file.append(
+        "                      const ::Eigen::Matrix<double, 2, 2> &new_alpha_unitizer,"
+    )
+    h_file.append("                      Trajectory &&new_trajectory)")
+    h_file.append("      : vmax(new_vmax),")
+    h_file.append("        alpha_unitizer(new_alpha_unitizer),")
+    h_file.append("        trajectory(::std::move(new_trajectory)) {}")
+    h_file.append("  double vmax;")
+    h_file.append("  ::Eigen::Matrix<double, 2, 2> alpha_unitizer;")
+    h_file.append("  Trajectory trajectory;")
+    h_file.append("};")
+    h_file.append("")
+
+    # Now dump out the vertices and associated constexpr vertex name functions.
+    for index, point in enumerate(graph_paths.points):
+        h_file.append("")
+        h_file.append("constexpr uint32_t %s() { return %d; }" %
+                      (index_function_name(point[1]), index))
+        h_file.append("inline ::Eigen::Matrix<double, 2, 1> %sPoint() {" %
+                      point[1])
+        h_file.append(
+            "  return (::Eigen::Matrix<double, 2, 1>() << %f, %f).finished();"
+            % (numpy.pi / 2.0 - point[0][0], numpy.pi / 2.0 - point[0][1]))
+        h_file.append("}")
+
+    front_points = [
+        index_function_name(point[1]) + "()"
+        for point in graph_paths.front_points
+    ]
+    h_file.append("")
+    h_file.append("constexpr ::std::array<uint32_t, %d> FrontPoints() {" %
+                  len(front_points))
+    h_file.append("  return ::std::array<uint32_t, %d>{{%s}};" %
+                  (len(front_points), ", ".join(front_points)))
+    h_file.append("}")
+
+    back_points = [
+        index_function_name(point[1]) + "()"
+        for point in graph_paths.back_points
+    ]
+    h_file.append("")
+    h_file.append("constexpr ::std::array<uint32_t, %d> BackPoints() {" %
+                  len(back_points))
+    h_file.append("  return ::std::array<uint32_t, %d>{{%s}};" %
+                  (len(back_points), ", ".join(back_points)))
+    h_file.append("}")
+
+    # Add the Make*Path functions.
+    h_file.append("")
+    cc_file.append("")
+    for name, segment in list(enumerate(graph_paths.unnamed_segments)) + [
+        (x.name, x) for x in graph_paths.named_segments
+    ]:
+        h_file.append("::std::unique_ptr<Path> %s();" %
+                      path_function_name(name))
+        cc_file.append("::std::unique_ptr<Path> %s() {" %
+                       path_function_name(name))
+        cc_file.append("  return ::std::unique_ptr<Path>(new Path({")
+        for point in segment.ToThetaPoints():
+            cc_file.append("      {{%.12f, %.12f, %.12f," %
+                           (numpy.pi / 2.0 - point[0],
+                            numpy.pi / 2.0 - point[1], -point[2]))
+            cc_file.append("        %.12f, %.12f, %.12f}}," %
+                           (-point[3], -point[4], -point[5]))
+        cc_file.append("  }));")
+        cc_file.append("}")
+
+    # Matrix of nodes
+    h_file.append("::std::vector<::Eigen::Matrix<double, 2, 1>> PointList();")
+
+    cc_file.append(
+        "::std::vector<::Eigen::Matrix<double, 2, 1>> PointList() {")
+    cc_file.append("  ::std::vector<::Eigen::Matrix<double, 2, 1>> points;")
+    for point in graph_paths.points:
+        cc_file.append(
+            "  points.push_back((::Eigen::Matrix<double, 2, 1>() << %.12s, %.12s).finished());"
+            % (numpy.pi / 2.0 - point[0][0], numpy.pi / 2.0 - point[0][1]))
+    cc_file.append("  return points;")
+    cc_file.append("}")
+
+    # Now create the MakeSearchGraph function.
+    h_file.append("")
+    h_file.append("// Builds a search graph.")
+    h_file.append("SearchGraph MakeSearchGraph("
+                  "const frc971::control_loops::arm::Dynamics *dynamics, "
+                  "::std::vector<TrajectoryAndParams> *trajectories,")
+    h_file.append("                            "
+                  "const ::Eigen::Matrix<double, 2, 2> &alpha_unitizer,")
+    h_file.append("                            double vmax);")
+    cc_file.append("SearchGraph MakeSearchGraph("
+                   "const frc971::control_loops::arm::Dynamics *dynamics, "
+                   "::std::vector<TrajectoryAndParams> * /*trajectories*/,")
+    cc_file.append("                            "
+                   "const ::Eigen::Matrix<double, 2, 2> & /*alpha_unitizer*/,")
+    cc_file.append("                            "
+                   "double /*vmax*/) {")
+    cc_file.append("  ::std::vector<SearchGraph::Edge> edges;")
+
+    index = 0
+    segments_and_names = list(enumerate(graph_paths.unnamed_segments)) + [
+        (x.name, x) for x in graph_paths.named_segments
+    ]
+
+    for name, segment in segments_and_names:
+        add_edge(cc_file, name, segment, index, False)
+        index += 1
+        add_edge(cc_file, name, segment, index, True)
+        index += 1
+
+    cc_file.append("  return SearchGraph(%d, ::std::move(edges));" %
+                   len(graph_paths.points))
+    cc_file.append("}")
+
+    h_file.append("")
+    h_file.append("}  // namespace arm")
+    h_file.append("}  // namespace superstructure")
+    h_file.append("}  // namespace control_loops")
+    h_file.append("}  // namespace y2023")
+    h_file.append("")
+    h_file.append(
+        "#endif  // Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_GENERATED_GRAPH_H_")
+
+    cc_file.append("}  // namespace arm")
+    cc_file.append("}  // namespace superstructure")
+    cc_file.append("}  // namespace control_loops")
+    cc_file.append("}  // namespace y2023")
+
+    if len(argv) == 3:
+        with open(argv[1], "w") as hfd:
+            hfd.write("\n".join(h_file))
+
+        with open(argv[2], "w") as ccfd:
+            ccfd.write("\n".join(cc_file))
+    else:
+        print("\n".join(h_file))
+        print("\n".join(cc_file))
+
+
+if __name__ == '__main__':
+    main(sys.argv)