diff --git a/y2015/autonomous/auto_main.cc b/y2015/autonomous/auto_main.cc
new file mode 100644
index 0000000..4a24e6c
--- /dev/null
+++ b/y2015/autonomous/auto_main.cc
@@ -0,0 +1,42 @@
+#include <stdio.h>
+
+#include "aos/common/time.h"
+#include "aos/linux_code/init.h"
+#include "aos/common/logging/logging.h"
+#include "frc971/autonomous/auto.q.h"
+#include "y2015/autonomous/auto.h"
+
+using ::aos::time::Time;
+
+int main(int /*argc*/, char * /*argv*/[]) {
+  ::aos::Init();
+
+  LOG(INFO, "Auto main started\n");
+  ::frc971::autonomous::autonomous.FetchLatest();
+  while (!::frc971::autonomous::autonomous.get()) {
+    ::frc971::autonomous::autonomous.FetchNextBlocking();
+    LOG(INFO, "Got another auto packet\n");
+  }
+
+  while (true) {
+    while (!::frc971::autonomous::autonomous->run_auto) {
+      ::frc971::autonomous::autonomous.FetchNextBlocking();
+      LOG(INFO, "Got another auto packet\n");
+    }
+    LOG(INFO, "Starting auto mode\n");
+    ::aos::time::Time start_time = ::aos::time::Time::Now();
+    ::frc971::autonomous::HandleAuto();
+
+    ::aos::time::Time elapsed_time = ::aos::time::Time::Now() - start_time;
+    LOG(INFO, "Auto mode exited in %f, waiting for it to finish.\n",
+        elapsed_time.ToSeconds());
+    while (::frc971::autonomous::autonomous->run_auto) {
+      ::frc971::autonomous::autonomous.FetchNextBlocking();
+      LOG(INFO, "Got another auto packet\n");
+    }
+    LOG(INFO, "Waiting for auto to start back up.\n");
+  }
+  ::aos::Cleanup();
+  return 0;
+}
+