diff --git a/frc971/control_loops/drivetrain/drivetrain.gyp b/frc971/control_loops/drivetrain/drivetrain.gyp
index f1b28f3..fb32377 100644
--- a/frc971/control_loops/drivetrain/drivetrain.gyp
+++ b/frc971/control_loops/drivetrain/drivetrain.gyp
@@ -1,6 +1,21 @@
 {
   'targets': [
     {
+      'target_name': 'replay_drivetrain',
+      'type': 'executable',
+      'variables': {
+        'no_rsync': 1,
+      },
+      'sources': [
+        'replay_drivetrain.cc',
+      ],
+      'dependencies': [
+        'drivetrain_queue',
+        '<(AOS)/common/controls/controls.gyp:replay_control_loop',
+        '<(AOS)/linux_code/linux_code.gyp:init',
+      ],
+    },
+    {
       'target_name': 'drivetrain_queue',
       'type': 'static_library',
       'sources': ['drivetrain.q'],
diff --git a/frc971/control_loops/drivetrain/replay_drivetrain.cc b/frc971/control_loops/drivetrain/replay_drivetrain.cc
new file mode 100644
index 0000000..432efdc
--- /dev/null
+++ b/frc971/control_loops/drivetrain/replay_drivetrain.cc
@@ -0,0 +1,24 @@
+#include "aos/common/controls/replay_control_loop.h"
+#include "aos/linux_code/init.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+
+// Reads one or more log files and sends out all the queue messages (in the
+// correct order and at the correct time) to feed a "live" drivetrain process.
+
+int main(int argc, char **argv) {
+  if (argc <= 1) {
+    fprintf(stderr, "Need at least one file to replay!\n");
+    return EXIT_FAILURE;
+  }
+
+  ::aos::InitNRT();
+
+  ::aos::controls::ControlLoopReplayer<::frc971::control_loops::DrivetrainQueue>
+      replayer(&::frc971::control_loops::drivetrain_queue, "drivetrain");
+  for (int i = 1; i < argc; ++i) {
+    replayer.ProcessFile(argv[i]);
+  }
+
+  ::aos::Cleanup();
+}