diff --git a/y2020/setpoint_setter.cc b/y2020/setpoint_setter.cc
new file mode 100644
index 0000000..1cbc518
--- /dev/null
+++ b/y2020/setpoint_setter.cc
@@ -0,0 +1,34 @@
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "gflags/gflags.h"
+#include "y2020/setpoint_generated.h"
+
+DEFINE_double(accelerator, 250.0, "Accelerator speed");
+DEFINE_double(finisher, 500.0, "Finsher speed");
+DEFINE_double(hood, 0.45, "Hood setpoint");
+
+int main(int argc, char ** argv) {
+  aos::InitGoogle(&argc, &argv);
+  aos::InitNRT();
+
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  aos::ShmEventLoop event_loop(&config.message());
+
+  ::aos::Sender<y2020::joysticks::Setpoint> setpoint_sender =
+      event_loop.MakeSender<y2020::joysticks::Setpoint>("/superstructure");
+
+  aos::Sender<y2020::joysticks::Setpoint>::Builder builder =
+      setpoint_sender.MakeBuilder();
+
+  y2020::joysticks::Setpoint::Builder setpoint_builder =
+      builder.MakeBuilder<y2020::joysticks::Setpoint>();
+
+  setpoint_builder.add_accelerator(FLAGS_accelerator);
+  setpoint_builder.add_finisher(FLAGS_finisher);
+  setpoint_builder.add_hood(FLAGS_hood);
+  builder.Send(setpoint_builder.Finish());
+
+  aos::Cleanup();
+}