diff --git a/y2012/joystick_reader.cc b/y2012/joystick_reader.cc
new file mode 100644
index 0000000..0046069
--- /dev/null
+++ b/y2012/joystick_reader.cc
@@ -0,0 +1,150 @@
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+#include <math.h>
+
+#include "aos/linux_code/init.h"
+#include "aos/input/joystick_input.h"
+#include "aos/common/input/driver_station_data.h"
+#include "aos/common/logging/logging.h"
+#include "aos/common/time.h"
+#include "aos/common/actions/actions.h"
+
+#include "y2012/control_loops/drivetrain/drivetrain.q.h"
+#include "y2012/control_loops/accessories/accessories.q.h"
+
+using ::y2012::control_loops::drivetrain_queue;
+using ::y2012::control_loops::accessories_queue;
+
+using ::aos::input::driver_station::ButtonLocation;
+using ::aos::input::driver_station::JoystickAxis;
+using ::aos::input::driver_station::ControlBit;
+
+#define OLD_DS 0
+
+namespace y2012 {
+namespace input {
+namespace joysticks {
+
+const JoystickAxis kSteeringWheel(1, 1), kDriveThrottle(2, 2);
+const ButtonLocation kShiftHigh(2, 1), kShiftLow(2, 3);
+const ButtonLocation kQuickTurn(1, 5);
+
+const ButtonLocation kCatch(3, 10);
+
+#if OLD_DS
+const ButtonLocation kFire(3, 11);
+const ButtonLocation kUnload(1, 4);
+const ButtonLocation kReload(1, 2);
+
+const ButtonLocation kRollersOut(3, 12);
+const ButtonLocation kRollersIn(3, 7);
+
+const ButtonLocation kTuck(3, 9);
+const ButtonLocation kIntakePosition(3, 8);
+const ButtonLocation kIntakeOpenPosition(3, 10);
+const ButtonLocation kVerticalTuck(3, 1);
+const JoystickAxis kFlipRobot(3, 3);
+
+const ButtonLocation kLongShot(3, 5);
+const ButtonLocation kCloseShot(3, 2);
+const ButtonLocation kFenderShot(3, 3);
+const ButtonLocation kTrussShot(2, 11);
+const ButtonLocation kHumanPlayerShot(3, 2);
+#else
+const ButtonLocation kFire(3, 9);
+const ButtonLocation kUnload(1, 4);
+const ButtonLocation kReload(1, 2);
+
+const ButtonLocation kRollersOut(3, 8);
+const ButtonLocation kRollersIn(3, 3);
+
+const ButtonLocation kTuck(3, 4);
+const ButtonLocation kIntakePosition(3, 5);
+const ButtonLocation kIntakeOpenPosition(3, 11);
+const ButtonLocation kVerticalTuck(2, 6);
+const JoystickAxis kFlipRobot(3, 3);
+
+const ButtonLocation kLongShot(3, 7);
+const ButtonLocation kCloseShot(3, 6);
+const ButtonLocation kFenderShot(3, 2);
+const ButtonLocation kTrussShot(2, 11);
+const ButtonLocation kHumanPlayerShot(3, 1);
+#endif
+
+const ButtonLocation kUserLeft(2, 7);
+const ButtonLocation kUserRight(2, 10);
+
+const JoystickAxis kAdjustClawGoal(3, 2);
+const JoystickAxis kAdjustClawSeparation(3, 1);
+
+class Reader : public ::aos::input::JoystickInput {
+ public:
+  Reader()
+      : is_high_gear_(false) {}
+
+  void RunIteration(const ::aos::input::driver_station::Data &data) override {
+    if (!data.GetControlBit(ControlBit::kAutonomous)) {
+      HandleDrivetrain(data);
+      HandleTeleop(data);
+    }
+  }
+
+  void HandleDrivetrain(const ::aos::input::driver_station::Data &data) {
+    const double wheel = -data.GetAxis(kSteeringWheel);
+    const double throttle = -data.GetAxis(kDriveThrottle);
+    if (data.PosEdge(kShiftHigh)) {
+      is_high_gear_ = false;
+    }
+    if (data.PosEdge(kShiftLow)) {
+      is_high_gear_ = true;
+    }
+    if (!drivetrain_queue.goal.MakeWithBuilder()
+             .steering(wheel)
+             .throttle(throttle)
+             .highgear(is_high_gear_)
+             .quickturn(data.IsPressed(kQuickTurn))
+             .left_velocity_goal(0)
+             .right_velocity_goal(0)
+             .Send()) {
+      LOG(WARNING, "sending stick values failed\n");
+    }
+  }
+
+  void HandleTeleop(const ::aos::input::driver_station::Data &data) {
+    if (!data.GetControlBit(ControlBit::kEnabled)) {
+      action_queue_.CancelAllActions();
+        LOG(DEBUG, "Canceling\n");
+    }
+
+    {
+      auto accessories_message = accessories_queue.goal.MakeMessage();
+      accessories_message->solenoids[0] = data.IsPressed(kLongShot);
+      accessories_message->solenoids[1] = data.IsPressed(kCloseShot);
+      accessories_message->solenoids[2] = data.IsPressed(kFenderShot);
+      accessories_message->sticks[0] = data.GetAxis(kAdjustClawGoal);
+      accessories_message->sticks[1] = data.GetAxis(kAdjustClawSeparation);
+      if (!accessories_message.Send()) {
+        LOG(WARNING, "sending accessories goal failed\n");
+      }
+    }
+
+    action_queue_.Tick();
+  }
+
+ private:
+  bool is_high_gear_;
+
+  ::aos::common::actions::ActionQueue action_queue_;
+};
+
+}  // namespace joysticks
+}  // namespace input
+}  // namespace y2012
+
+int main() {
+  ::aos::Init();
+  ::y2012::input::joysticks::Reader reader;
+  reader.Run();
+  ::aos::Cleanup();
+}