diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index d223d13..8c81440 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -1,6 +1,6 @@
 package(default_visibility = ["//visibility:public"])
 
-load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library", "flatbuffer_ts_library")
 load("//aos:config.bzl", "aos_config")
 load("//tools:environments.bzl", "mcu_cpus")
 load("//tools/build_rules:select.bzl", "compiler_select", "cpu_select")
@@ -35,6 +35,12 @@
     includes = ["//frc971/control_loops:control_loops_fbs_includes"],
 )
 
+flatbuffer_ts_library(
+    name = "drivetrain_status_ts_fbs",
+    srcs = ["drivetrain_status.fbs"],
+    includes = ["//frc971/control_loops:control_loops_fbs_includes"],
+)
+
 genrule(
     name = "drivetrain_goal_float_fbs_generated",
     srcs = ["drivetrain_goal.fbs"],
diff --git a/y2020/www/BUILD b/y2020/www/BUILD
index 6b27c66..a8b0c67 100644
--- a/y2020/www/BUILD
+++ b/y2020/www/BUILD
@@ -26,6 +26,7 @@
     deps = [
         "//aos/network/www:proxy",
         "//y2020/vision/sift:sift_ts_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_status_ts_fbs",
     ],
 )
 
diff --git a/y2020/www/field_handler.ts b/y2020/www/field_handler.ts
index 0d2ea34..6ec1afb 100644
--- a/y2020/www/field_handler.ts
+++ b/y2020/www/field_handler.ts
@@ -1,9 +1,11 @@
-import {Configuration, Channel} from 'aos/configuration_generated';
-import {Connection} from 'aos/network/www/proxy';
+import {Channel, Configuration} from 'aos/configuration_generated';
 import {Connect} from 'aos/network/connect_generated';
-import {FIELD_LENGTH, FIELD_WIDTH, FT_TO_M, IN_TO_M} from './constants';
+import {Connection} from 'aos/network/www/proxy';
+import {Status as DrivetrainStatus} from 'frc971/control_loops/drivetrain/drivetrain_status_generated';
 import {ImageMatchResult} from 'y2020/vision/sift/sift_generated'
 
+import {FIELD_LENGTH, FIELD_WIDTH, FT_TO_M, IN_TO_M} from './constants';
+
 // (0,0) is field center, +X is toward red DS
 const FIELD_SIDE_Y = FIELD_WIDTH / 2;
 const FIELD_EDGE_X = FIELD_LENGTH / 2;
@@ -45,6 +47,9 @@
 const TARGET_ZONE_WIDTH = 48 * IN_TO_M;
 const LOADING_ZONE_WIDTH = 60 * IN_TO_M;
 
+const ROBOT_WIDTH = 28 * IN_TO_M;
+const ROBOT_LENGTH = 30 * IN_TO_M;
+
 /**
  * All the messages that are required to display camera information on the field.
  * Messages not readable on the server node are ignored.
@@ -70,11 +75,16 @@
     name: '/pi5/camera',
     type: 'frc971.vision.sift.ImageMatchResult',
   },
+  {
+    name: '/drivetrain',
+    type: 'frc971.control_loops.drivetrain.Status',
+  },
 ];
 
 export class FieldHandler {
   private canvas = document.createElement('canvas');
-  private imageMatchResult :ImageMatchResult|null = null
+  private imageMatchResult: ImageMatchResult|null = null;
+  private drivetrainStatus: DrivetrianStatus|null = null;
 
   constructor(private readonly connection: Connection) {
     document.body.appendChild(this.canvas);
@@ -85,6 +95,9 @@
     this.connection.addHandler(ImageMatchResult.getFullyQualifiedName(), (res) => {
       this.handleImageMatchResult(res);
     });
+    this.connection.addHandler(DrivetrainStatus.getFullyQualifiedName(), (data) => {
+      this.handleDrivetrainStatus(data);
+    });
   }
 
   private handleImageMatchResult(data: Uint8Array): void {
@@ -92,6 +105,11 @@
     this.imageMatchResult = ImageMatchResult.getRootAsImageMatchResult(fbBuffer);
   }
 
+  private handleDrivetrainStatus(data: Uint8Array): void {
+    const fbBuffer = new flatbuffers.ByteBuffer(data);
+    this.drivetrainStatus = DrivetrainStatus.getRootAsStatus(fbBuffer);
+  }
+
   private sendConnect(): void {
     const builder = new flatbuffers.Builder(512);
     const channels: flatbuffers.Offset[] = [];
@@ -199,6 +217,20 @@
     ctx.restore();
   }
 
+  drawRobot(x: number, y: number, theta: number): void {
+    const ctx = this.canvas.getContext('2d');
+    ctx.save();
+    ctx.translate(x, y);
+    ctx.rotate(theta);
+    ctx.rect(-ROBOT_LENGTH / 2, -ROBOT_WIDTH / 2, ROBOT_LENGTH, ROBOT_WIDTH);
+    ctx.stroke();
+    ctx.beginPath();
+    ctx.moveTo(0, 0);
+    ctx.lineTo(ROBOT_LENGTH / 2, 0);
+    ctx.stroke();
+    ctx.restore();
+  }
+
   draw(): void  {
     this.reset();
     this.drawField();
@@ -209,11 +241,19 @@
         const mat = pose.fieldToCamera();
         const x = mat.data(3);
         const y = mat.data(7);
-        this.drawCamera(x, y, 0);
-        console.log(x, y);
+        const theta = Math.atan2(
+            -mat.data(8),
+            Math.sqrt(Math.pow(mat.data(9), 2) + Math.pow(mat.data(10), 2)));
+        this.drawCamera(x, y, theta);
       }
     }
 
+    if (this.drivetrainStatus) {
+      this.drawRobot(
+          this.drivetrainStatus.x(), this.drivetrainStatus.y(),
+          this.drivetrainStatus.theta());
+    }
+
     window.requestAnimationFrame(() => this.draw());
   }
 
diff --git a/y2020/y2020.json b/y2020/y2020.json
index 81cf30c..df551e1 100644
--- a/y2020/y2020.json
+++ b/y2020/y2020.json
@@ -293,7 +293,24 @@
       "source_node": "roborio",
       "frequency": 200,
       "max_size": 2000,
-      "num_senders": 2
+      "num_senders": 2,
+      "destination_nodes": [
+        {
+          "name": "pi1",
+          "priority": 5,
+          "time_to_live": 5000000
+        },
+        {
+          "name": "pi2",
+          "priority": 5,
+          "time_to_live": 5000000
+        },
+        {
+          "name": "pi3",
+          "priority": 5,
+          "time_to_live": 5000000
+        }
+      ]
     },
     {
       "name": "/drivetrain",