diff --git a/y2023/autonomous/auto_splines.cc b/y2023/autonomous/auto_splines.cc
new file mode 100644
index 0000000..07250e4
--- /dev/null
+++ b/y2023/autonomous/auto_splines.cc
@@ -0,0 +1,103 @@
+#include "y2023/autonomous/auto_splines.h"
+
+#include "frc971/control_loops/control_loops_generated.h"
+
+namespace y2023 {
+namespace actors {
+
+void MaybeFlipSpline(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset,
+    bool is_left) {
+  flatbuffers::Vector<float> *spline_y =
+      GetMutableTemporaryPointer(*builder->fbb(), spline_y_offset);
+
+  if (!is_left) {
+    for (size_t i = 0; i < spline_y->size(); i++) {
+      spline_y->Mutate(i, -spline_y->Get(i));
+    }
+  }
+}
+
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::BasicSSpline(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+  flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+
+  {
+    frc971::Constraint::Builder longitudinal_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    longitudinal_constraint_builder.add_constraint_type(
+        frc971::ConstraintType::LONGITUDINAL_ACCELERATION);
+    longitudinal_constraint_builder.add_value(1.0);
+    longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
+  }
+
+  {
+    frc971::Constraint::Builder lateral_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    lateral_constraint_builder.add_constraint_type(
+        frc971::ConstraintType::LATERAL_ACCELERATION);
+    lateral_constraint_builder.add_value(1.0);
+    lateral_constraint_offset = lateral_constraint_builder.Finish();
+  }
+
+  {
+    frc971::Constraint::Builder voltage_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    voltage_constraint_builder.add_constraint_type(
+        frc971::ConstraintType::VOLTAGE);
+    voltage_constraint_builder.add_value(6.0);
+    voltage_constraint_offset = voltage_constraint_builder.Finish();
+  }
+
+  flatbuffers::Offset<
+      flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+      constraints_offset =
+          builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+              {longitudinal_constraint_offset, lateral_constraint_offset,
+               voltage_constraint_offset});
+
+  const float startx = 0.4;
+  const float starty = 3.4;
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+      builder->fbb()->CreateVector<float>({0.0f + startx, 0.6f + startx,
+                                           0.6f + startx, 0.4f + startx,
+                                           0.4f + startx, 1.0f + startx});
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+      builder->fbb()->CreateVector<float>({starty - 0.0f, starty - 0.0f,
+                                           starty - 0.3f, starty - 0.7f,
+                                           starty - 1.0f, starty - 1.0f});
+
+  frc971::MultiSpline::Builder multispline_builder =
+      builder->MakeBuilder<frc971::MultiSpline>();
+
+  multispline_builder.add_spline_count(1);
+  multispline_builder.add_constraints(constraints_offset);
+  multispline_builder.add_spline_x(spline_x_offset);
+  multispline_builder.add_spline_y(spline_y_offset);
+
+  return multispline_builder.Finish();
+}
+
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::StraightLine(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+      builder->fbb()->CreateVector<float>(
+          {-12.3, -11.9, -11.5, -11.1, -10.6, -10.0});
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+      builder->fbb()->CreateVector<float>({1.25, 1.25, 1.25, 1.25, 1.25, 1.25});
+
+  frc971::MultiSpline::Builder multispline_builder =
+      builder->MakeBuilder<frc971::MultiSpline>();
+
+  multispline_builder.add_spline_count(1);
+  multispline_builder.add_spline_x(spline_x_offset);
+  multispline_builder.add_spline_y(spline_y_offset);
+
+  return multispline_builder.Finish();
+}
+
+}  // namespace actors
+}  // namespace y2023