diff --git a/bot3/autonomous/auto.cc b/bot3/autonomous/auto.cc
new file mode 100644
index 0000000..05d84b1
--- /dev/null
+++ b/bot3/autonomous/auto.cc
@@ -0,0 +1,117 @@
+#include <stdio.h>
+
+#include <memory>
+
+#include "aos/common/util/phased_loop.h"
+#include "aos/common/time.h"
+#include "aos/common/util/trapezoid_profile.h"
+#include "aos/common/logging/logging.h"
+#include "aos/common/logging/queue_logging.h"
+
+#include "bot3/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/autonomous/auto.q.h"
+#include "frc971/queues/other_sensors.q.h"
+
+using ::aos::time::Time;
+
+namespace bot3 {
+namespace autonomous {
+
+namespace time = ::aos::time;
+
+static double left_initial_position, right_initial_position;
+
+bool ShouldExitAuto() {
+  ::frc971::autonomous::autonomous.FetchLatest();
+  bool ans = !::frc971::autonomous::autonomous->run_auto;
+  if (ans) {
+    LOG(INFO, "Time to exit auto mode\n");
+  }
+  return ans;
+}
+
+void StopDrivetrain() {
+  LOG(INFO, "Stopping the drivetrain\n");
+  control_loops::drivetrain.goal.MakeWithBuilder()
+      .control_loop_driving(true)
+      .left_goal(left_initial_position)
+      .left_velocity_goal(0)
+      .right_goal(right_initial_position)
+      .right_velocity_goal(0)
+      .quickturn(false)
+      .Send();
+}
+
+void ResetDrivetrain() {
+  LOG(INFO, "resetting the drivetrain\n");
+  control_loops::drivetrain.goal.MakeWithBuilder()
+      .control_loop_driving(false)
+      .highgear(false)
+      .steering(0.0)
+      .throttle(0.0)
+      .left_goal(left_initial_position)
+      .left_velocity_goal(0)
+      .right_goal(right_initial_position)
+      .right_velocity_goal(0)
+      .Send();
+}
+
+void DriveSpin(double radians) {
+  LOG(INFO, "going to spin %f\n", radians);
+
+  ::aos::util::TrapezoidProfile profile(::aos::time::Time::InMS(10));
+  ::Eigen::Matrix<double, 2, 1> driveTrainState;
+  const double goal_velocity = 0.0;
+  const double epsilon = 0.01;
+  // in drivetrain "meters"
+  const double kRobotWidth = 0.4544;
+
+  profile.set_maximum_acceleration(1.5);
+  profile.set_maximum_velocity(0.8);
+
+  const double side_offset = kRobotWidth * radians / 2.0;
+
+  while (true) {
+    ::aos::time::PhasedLoop10MS(5000);      // wait until next 10ms tick
+    driveTrainState = profile.Update(side_offset, goal_velocity);
+
+    if (::std::abs(driveTrainState(0, 0) - side_offset) < epsilon) break;
+    if (ShouldExitAuto()) return;
+
+    LOG(DEBUG, "Driving left to %f, right to %f\n",
+        left_initial_position - driveTrainState(0, 0),
+        right_initial_position + driveTrainState(0, 0));
+    control_loops::drivetrain.goal.MakeWithBuilder()
+        .control_loop_driving(true)
+        .highgear(false)
+        .left_goal(left_initial_position - driveTrainState(0, 0))
+        .right_goal(right_initial_position + driveTrainState(0, 0))
+        .left_velocity_goal(-driveTrainState(1, 0))
+        .right_velocity_goal(driveTrainState(1, 0))
+        .Send();
+  }
+  left_initial_position -= side_offset;
+  right_initial_position += side_offset;
+  LOG(INFO, "Done moving\n");
+}
+
+void InitializeEncoders() {
+  control_loops::drivetrain.status.FetchLatest();
+  while (!control_loops::drivetrain.status.get()) {
+    LOG(WARNING,
+        "No previous drivetrain position packet, trying to fetch again\n");
+    control_loops::drivetrain.status.FetchNextBlocking();
+  }
+  left_initial_position =
+    control_loops::drivetrain.status->filtered_left_position;
+  right_initial_position =
+    control_loops::drivetrain.status->filtered_right_position;
+
+}
+
+void HandleAuto() {
+  //TODO (danielp): Implement this.
+}
+
+}  // namespace autonomous
+}  // namespace bot3