diff --git a/y2022/vision/vision_plotter.ts b/y2022/vision/vision_plotter.ts
new file mode 100644
index 0000000..bc27170
--- /dev/null
+++ b/y2022/vision/vision_plotter.ts
@@ -0,0 +1,114 @@
+import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
+import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+
+import Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+// magenta, yellow, cyan, orange
+const PI_COLORS = [[255, 0, 255], [255, 255, 0], [0, 255, 255], [255, 165, 0]];
+
+export function plotVision(conn: Connection, element: Element): void {
+  const aosPlotter = new AosPlotter(conn);
+
+  const targets = [];
+  for (const pi of ["pi1", "pi2", "pi3", "pi4"]) {
+    targets.push(aosPlotter.addMessageSource(
+        '/' + pi + '/camera', 'y2022.vision.TargetEstimate'));
+  }
+  const localizer = aosPlotter.addMessageSource(
+      '/localizer', 'frc971.controls.LocalizerVisualization');
+  const localizerOutput = aosPlotter.addMessageSource(
+      '/localizer', 'frc971.controls.LocalizerOutput');
+  const superstructureStatus = aosPlotter.addMessageSource(
+      '/superstructure', 'y2022.control_loops.superstructure.Status');
+
+  const rejectionPlot = aosPlotter.addPlot(element);
+  rejectionPlot.plot.getAxisLabels().setTitle("Rejection Reasons");
+  rejectionPlot.plot.getAxisLabels().setXLabel(TIME);
+  rejectionPlot.plot.getAxisLabels().setYLabel("[bool, enum]");
+
+  rejectionPlot.addMessageLine(localizer, ['targets[]', 'accepted'])
+      .setDrawLine(false)
+      .setColor(BLUE);
+  rejectionPlot.addMessageLine(localizer, ['targets[]', 'rejection_reason'])
+      .setDrawLine(false)
+      .setColor(RED);
+
+  const xPlot = aosPlotter.addPlot(element);
+  xPlot.plot.getAxisLabels().setTitle("X Position");
+  xPlot.plot.getAxisLabels().setXLabel(TIME);
+  xPlot.plot.getAxisLabels().setYLabel("[m]");
+
+  xPlot.addMessageLine(localizer, ['targets[]', 'implied_robot_x'])
+      .setDrawLine(false)
+      .setColor(RED);
+  xPlot.addMessageLine(localizerOutput, ['x'])
+      .setDrawLine(false)
+      .setColor(BLUE);
+
+  const yPlot = aosPlotter.addPlot(element);
+  yPlot.plot.getAxisLabels().setTitle("X Position");
+  yPlot.plot.getAxisLabels().setXLabel(TIME);
+  yPlot.plot.getAxisLabels().setYLabel("[m]");
+
+  yPlot.addMessageLine(localizer, ['targets[]', 'implied_robot_y'])
+      .setDrawLine(false)
+      .setColor(RED);
+  yPlot.addMessageLine(localizerOutput, ['y'])
+      .setDrawLine(false)
+      .setColor(BLUE);
+
+  const turretPlot = aosPlotter.addPlot(element);
+  turretPlot.plot.getAxisLabels().setTitle("Turret Position");
+  turretPlot.plot.getAxisLabels().setXLabel(TIME);
+  turretPlot.plot.getAxisLabels().setYLabel("[m]");
+
+  turretPlot.addMessageLine(localizer, ['targets[]', 'implied_turret_goal'])
+      .setDrawLine(false)
+      .setColor(RED);
+  turretPlot.addMessageLine(superstructureStatus, ['turret', 'position'])
+      .setPointSize(0.0)
+      .setColor(BLUE);
+  turretPlot
+      .addMessageLine(
+          superstructureStatus, ['aimer', 'turret_position'])
+      .setPointSize(0.0)
+      .setColor(GREEN);
+
+  const anglePlot = aosPlotter.addPlot(element);
+  anglePlot.plot.getAxisLabels().setTitle("TargetEstimate Angle");
+  anglePlot.plot.getAxisLabels().setXLabel(TIME);
+  anglePlot.plot.getAxisLabels().setYLabel("[rad]");
+
+  for (let ii = 0; ii < targets.length; ++ii) {
+    anglePlot.addMessageLine(targets[ii], ['angle_to_target'])
+        .setDrawLine(false)
+        .setColor(PI_COLORS[ii])
+        .setLabel('pi' + ii);
+  }
+
+  const distancePlot = aosPlotter.addPlot(element);
+  distancePlot.plot.getAxisLabels().setTitle("TargetEstimate Distance");
+  distancePlot.plot.getAxisLabels().setXLabel(TIME);
+  distancePlot.plot.getAxisLabels().setYLabel("[rad]");
+
+  for (let ii = 0; ii < targets.length; ++ii) {
+    distancePlot.addMessageLine(targets[ii], ['distance'])
+        .setDrawLine(false)
+        .setColor(PI_COLORS[ii])
+        .setLabel('pi' + ii);
+  }
+
+  const confidencePlot = aosPlotter.addPlot(element);
+  confidencePlot.plot.getAxisLabels().setTitle("TargetEstimate Confidence");
+  confidencePlot.plot.getAxisLabels().setXLabel(TIME);
+  confidencePlot.plot.getAxisLabels().setYLabel("[rad]");
+
+  for (let ii = 0; ii < targets.length; ++ii) {
+    confidencePlot.addMessageLine(targets[ii], ['confidence'])
+        .setDrawLine(false)
+        .setColor(PI_COLORS[ii])
+        .setLabel('pi' + ii);
+  }
+}