diff --git a/y2022/control_loops/drivetrain/BUILD b/y2022/control_loops/drivetrain/BUILD
index 18855a6..148a998 100644
--- a/y2022/control_loops/drivetrain/BUILD
+++ b/y2022/control_loops/drivetrain/BUILD
@@ -71,19 +71,6 @@
     ],
 )
 
-cc_library(
-    name = "localizer",
-    srcs = ["localizer.cc"],
-    hdrs = ["localizer.h"],
-    deps = [
-        "//aos/events:event_loop",
-        "//aos/network:message_bridge_server_fbs",
-        "//frc971/control_loops/drivetrain:hybrid_ekf",
-        "//frc971/control_loops/drivetrain:localizer",
-        "//y2022/localizer:localizer_output_fbs",
-    ],
-)
-
 cc_binary(
     name = "drivetrain",
     srcs = [
@@ -93,10 +80,10 @@
     visibility = ["//visibility:public"],
     deps = [
         ":drivetrain_base",
-        ":localizer",
         "//aos:init",
         "//aos/events:shm_event_loop",
         "//frc971/control_loops/drivetrain:drivetrain_lib",
+        "//frc971/control_loops/drivetrain/localization:puppet_localizer",
     ],
 )
 
@@ -111,25 +98,6 @@
     ],
 )
 
-cc_test(
-    name = "localizer_test",
-    srcs = ["localizer_test.cc"],
-    data = [":simulation_config"],
-    target_compatible_with = ["@platforms//os:linux"],
-    deps = [
-        ":drivetrain_base",
-        ":localizer",
-        "//aos/events:simulated_event_loop",
-        "//aos/events/logging:log_writer",
-        "//aos/network:team_number",
-        "//frc971/control_loops:control_loop_test",
-        "//frc971/control_loops:team_number_test_environment",
-        "//frc971/control_loops/drivetrain:drivetrain_lib",
-        "//frc971/control_loops/drivetrain:drivetrain_test_lib",
-        "//y2022/localizer:localizer_output_fbs",
-    ],
-)
-
 cc_binary(
     name = "trajectory_generator",
     srcs = [
diff --git a/y2022/control_loops/drivetrain/drivetrain_main.cc b/y2022/control_loops/drivetrain/drivetrain_main.cc
index a422eaa..6e02cc7 100644
--- a/y2022/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2022/control_loops/drivetrain/drivetrain_main.cc
@@ -3,8 +3,8 @@
 #include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "frc971/control_loops/drivetrain/localization/puppet_localizer.h"
 #include "y2022/control_loops/drivetrain/drivetrain_base.h"
-#include "y2022/control_loops/drivetrain/localizer.h"
 
 using ::frc971::control_loops::drivetrain::DrivetrainLoop;
 
@@ -15,10 +15,11 @@
       aos::configuration::ReadConfig("aos_config.json");
 
   aos::ShmEventLoop event_loop(&config.message());
-  std::unique_ptr<::y2022::control_loops::drivetrain::Localizer> localizer =
-      std::make_unique<y2022::control_loops::drivetrain::Localizer>(
-          &event_loop,
-          y2022::control_loops::drivetrain::GetDrivetrainConfig());
+  std::unique_ptr<::frc971::control_loops::drivetrain::PuppetLocalizer>
+      localizer =
+          std::make_unique<frc971::control_loops::drivetrain::PuppetLocalizer>(
+              &event_loop,
+              y2022::control_loops::drivetrain::GetDrivetrainConfig());
   std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
       y2022::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
       localizer.get());
diff --git a/y2022/control_loops/drivetrain/localizer.cc b/y2022/control_loops/drivetrain/localizer.cc
deleted file mode 100644
index 0aa4456..0000000
--- a/y2022/control_loops/drivetrain/localizer.cc
+++ /dev/null
@@ -1,107 +0,0 @@
-#include "y2022/control_loops/drivetrain/localizer.h"
-
-namespace y2022 {
-namespace control_loops {
-namespace drivetrain {
-
-Localizer::Localizer(
-    aos::EventLoop *event_loop,
-    const frc971::control_loops::drivetrain::DrivetrainConfig<double>
-        &dt_config)
-    : event_loop_(event_loop),
-      dt_config_(dt_config),
-      ekf_(dt_config),
-      observations_(&ekf_),
-      localizer_output_fetcher_(
-          event_loop_->MakeFetcher<frc971::controls::LocalizerOutput>(
-              "/localizer")),
-      joystick_state_fetcher_(
-          event_loop_->MakeFetcher<aos::JoystickState>("/aos")),
-      clock_offset_fetcher_(
-          event_loop_->MakeFetcher<aos::message_bridge::ServerStatistics>(
-              "/aos")) {
-  ekf_.set_ignore_accel(true);
-
-  event_loop->OnRun([this, event_loop]() {
-    ekf_.ResetInitialState(event_loop->monotonic_now(),
-                           HybridEkf::State::Zero(), ekf_.P());
-  });
-
-  target_selector_.set_has_target(false);
-}
-
-void Localizer::Reset(
-    aos::monotonic_clock::time_point t,
-    const frc971::control_loops::drivetrain::HybridEkf<double>::State &state) {
-  // Go through and clear out all of the fetchers so that we don't get behind.
-  localizer_output_fetcher_.Fetch();
-  ekf_.ResetInitialState(t, state.cast<float>(), ekf_.P());
-}
-
-void Localizer::Update(const Eigen::Matrix<double, 2, 1> &U,
-                       aos::monotonic_clock::time_point now,
-                       double left_encoder, double right_encoder,
-                       double gyro_rate, const Eigen::Vector3d &accel) {
-  ekf_.UpdateEncodersAndGyro(left_encoder, right_encoder, gyro_rate,
-                             U.cast<float>(), accel.cast<float>(), now);
-  joystick_state_fetcher_.Fetch();
-  if (joystick_state_fetcher_.get() != nullptr &&
-      joystick_state_fetcher_->autonomous()) {
-    // TODO(james): This is an inelegant way to avoid having the localizer mess
-    // up splines. Do better.
-    // return;
-  }
-  if (localizer_output_fetcher_.Fetch()) {
-    clock_offset_fetcher_.Fetch();
-    bool message_bridge_connected = true;
-    std::chrono::nanoseconds monotonic_offset{0};
-    if (clock_offset_fetcher_.get() != nullptr) {
-      for (const auto connection : *clock_offset_fetcher_->connections()) {
-        if (connection->has_node() && connection->node()->has_name() &&
-            connection->node()->name()->string_view() == "imu") {
-          if (connection->has_monotonic_offset()) {
-            monotonic_offset =
-                std::chrono::nanoseconds(connection->monotonic_offset());
-          } else {
-            // If we don't have a monotonic offset, that means we aren't
-            // connected, in which case we should break the loop but shouldn't
-            // populate the offset.
-            message_bridge_connected = false;
-          }
-          break;
-        }
-      }
-    }
-    if (!message_bridge_connected) {
-      return;
-    }
-    aos::monotonic_clock::time_point capture_time(
-        std::chrono::nanoseconds(
-            localizer_output_fetcher_->monotonic_timestamp_ns()) -
-        monotonic_offset);
-    // TODO: Finish implementing simple x/y/theta updater with state_at_capture.
-    // TODO: Implement turret/camera processing logic on pi side.
-    std::optional<State> state_at_capture =
-        ekf_.LastStateBeforeTime(capture_time);
-    if (!state_at_capture.has_value()) {
-      state_at_capture = ekf_.OldestState();
-      if (!state_at_capture.has_value()) {
-        return;
-      }
-    }
-
-    const Eigen::Vector3f Z{
-        static_cast<float>(localizer_output_fetcher_->x()),
-        static_cast<float>(localizer_output_fetcher_->y()),
-        static_cast<float>(localizer_output_fetcher_->theta())};
-    Eigen::Matrix3f R = Eigen::Matrix3f::Zero();
-    R.diagonal() << 0.01, 0.01, 1e-4;
-    const Input U_correct = ekf_.MostRecentInput();
-    observations_.CorrectKnownH(Eigen::Vector3f::Zero(), &U_correct,
-                                Corrector(state_at_capture.value(), Z), R, now);
-  }
-}
-
-}  // namespace drivetrain
-}  // namespace control_loops
-}  // namespace y2022
diff --git a/y2022/control_loops/drivetrain/localizer.h b/y2022/control_loops/drivetrain/localizer.h
deleted file mode 100644
index 77b29eb..0000000
--- a/y2022/control_loops/drivetrain/localizer.h
+++ /dev/null
@@ -1,107 +0,0 @@
-#ifndef Y2022_CONTROL_LOOPS_DRIVETRAIN_LOCALIZER_H_
-#define Y2022_CONTROL_LOOPS_DRIVETRAIN_LOCALIZER_H_
-
-#include <string_view>
-
-#include "aos/events/event_loop.h"
-#include "aos/network/message_bridge_server_generated.h"
-#include "frc971/control_loops/drivetrain/hybrid_ekf.h"
-#include "frc971/control_loops/drivetrain/localizer.h"
-#include "frc971/input/joystick_state_generated.h"
-#include "y2022/localizer/localizer_output_generated.h"
-
-namespace y2022 {
-namespace control_loops {
-namespace drivetrain {
-
-// This class handles the localization for the 2022 robot. Rather than actually
-// doing any work on the roborio, we farm all the localization out to a
-// raspberry pi and it then sends out LocalizerOutput messages that we treat as
-// measurement updates. See //y2022/localizer.
-// TODO(james): Needs tests. Should refactor out some of the code from the 2020
-// localizer test.
-class Localizer : public frc971::control_loops::drivetrain::LocalizerInterface {
- public:
-  typedef frc971::control_loops::TypedPose<float> Pose;
-  typedef frc971::control_loops::drivetrain::HybridEkf<float> HybridEkf;
-  typedef typename HybridEkf::State State;
-  typedef typename HybridEkf::StateIdx StateIdx;
-  typedef typename HybridEkf::StateSquare StateSquare;
-  typedef typename HybridEkf::Input Input;
-  typedef typename HybridEkf::Output Output;
-  Localizer(aos::EventLoop *event_loop,
-            const frc971::control_loops::drivetrain::DrivetrainConfig<double>
-                &dt_config);
-  frc971::control_loops::drivetrain::HybridEkf<double>::State Xhat()
-      const override {
-    return ekf_.X_hat().cast<double>();
-  }
-  frc971::control_loops::drivetrain::TrivialTargetSelector *target_selector()
-      override {
-    return &target_selector_;
-  }
-
-  void Update(const ::Eigen::Matrix<double, 2, 1> &U,
-              aos::monotonic_clock::time_point now, double left_encoder,
-              double right_encoder, double gyro_rate,
-              const Eigen::Vector3d &accel) override;
-
-  void Reset(aos::monotonic_clock::time_point t,
-             const frc971::control_loops::drivetrain::HybridEkf<double>::State
-                 &state) override;
-
-  void ResetPosition(aos::monotonic_clock::time_point t, double x, double y,
-                     double theta, double /*theta_override*/,
-                     bool /*reset_theta*/) override {
-    const double left_encoder = ekf_.X_hat(StateIdx::kLeftEncoder);
-    const double right_encoder = ekf_.X_hat(StateIdx::kRightEncoder);
-    ekf_.ResetInitialState(t,
-                           (HybridEkf::State() << x, y, theta, left_encoder, 0,
-                            right_encoder, 0, 0, 0, 0, 0, 0)
-                               .finished(),
-                           ekf_.P());
-  }
-
- private:
-  class Corrector : public HybridEkf::ExpectedObservationFunctor {
-   public:
-    Corrector(const State &state_at_capture, const Eigen::Vector3f &Z)
-        : state_at_capture_(state_at_capture), Z_(Z) {
-      H_.setZero();
-      H_(0, StateIdx::kX) = 1;
-      H_(1, StateIdx::kY) = 1;
-      H_(2, StateIdx::kTheta) = 1;
-    }
-    Output H(const State &, const Input &) final {
-      Eigen::Vector3f error = H_ * state_at_capture_ - Z_;
-      error(2) = aos::math::NormalizeAngle(error(2));
-      return error;
-    }
-    Eigen::Matrix<float, HybridEkf::kNOutputs, HybridEkf::kNStates> DHDX(
-        const State &) final {
-      return H_;
-    }
-
-   private:
-    Eigen::Matrix<float, HybridEkf::kNOutputs, HybridEkf::kNStates> H_;
-    State state_at_capture_;
-    Eigen::Vector3f Z_;
-  };
-  aos::EventLoop *const event_loop_;
-  const frc971::control_loops::drivetrain::DrivetrainConfig<double> dt_config_;
-  HybridEkf ekf_;
-  HybridEkf::ExpectedObservationAllocator<Corrector> observations_;
-
-  aos::Fetcher<frc971::controls::LocalizerOutput> localizer_output_fetcher_;
-  aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
-  aos::Fetcher<aos::message_bridge::ServerStatistics> clock_offset_fetcher_;
-
-  // Target selector to allow us to satisfy the LocalizerInterface requirements.
-  frc971::control_loops::drivetrain::TrivialTargetSelector target_selector_;
-};
-
-}  // namespace drivetrain
-}  // namespace control_loops
-}  // namespace y2022
-
-#endif  // Y2022_CONTROL_LOOPS_DRIVETRAIN_LOCALIZER_H_
diff --git a/y2022/control_loops/drivetrain/localizer_test.cc b/y2022/control_loops/drivetrain/localizer_test.cc
deleted file mode 100644
index 77f3988..0000000
--- a/y2022/control_loops/drivetrain/localizer_test.cc
+++ /dev/null
@@ -1,211 +0,0 @@
-#include "y2022/control_loops/drivetrain/localizer.h"
-
-#include <queue>
-
-#include "aos/events/logging/log_writer.h"
-#include "aos/network/message_bridge_server_generated.h"
-#include "aos/network/team_number.h"
-#include "aos/network/testing_time_converter.h"
-#include "frc971/control_loops/control_loop_test.h"
-#include "frc971/control_loops/drivetrain/drivetrain.h"
-#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
-#include "frc971/control_loops/team_number_test_environment.h"
-#include "gtest/gtest.h"
-#include "y2022/control_loops/drivetrain/drivetrain_base.h"
-#include "y2022/localizer/localizer_output_generated.h"
-
-DEFINE_string(output_folder, "",
-              "If set, logs all channels to the provided logfile.");
-DECLARE_bool(die_on_malloc);
-
-namespace y2022 {
-namespace control_loops {
-namespace drivetrain {
-namespace testing {
-
-using frc971::control_loops::drivetrain::DrivetrainConfig;
-using frc971::control_loops::drivetrain::Goal;
-using frc971::control_loops::drivetrain::LocalizerControl;
-
-namespace {
-DrivetrainConfig<double> GetTest2022DrivetrainConfig() {
-  DrivetrainConfig<double> config = GetDrivetrainConfig();
-  return config;
-}
-}  // namespace
-
-namespace chrono = std::chrono;
-using aos::monotonic_clock;
-using frc971::control_loops::drivetrain::DrivetrainLoop;
-using frc971::control_loops::drivetrain::testing::DrivetrainSimulation;
-
-// TODO(james): Make it so this actually tests the full system of the localizer.
-class LocalizedDrivetrainTest : public frc971::testing::ControlLoopTest {
- protected:
-  // We must use the 2022 drivetrain config so that we don't have to deal
-  // with shifting:
-  LocalizedDrivetrainTest()
-      : frc971::testing::ControlLoopTest(
-            aos::configuration::ReadConfig(
-                "y2022/control_loops/drivetrain/simulation_config.json"),
-            GetTest2022DrivetrainConfig().dt),
-        roborio_(aos::configuration::GetNode(configuration(), "roborio")),
-        imu_(aos::configuration::GetNode(configuration(), "imu")),
-        test_event_loop_(MakeEventLoop("test", roborio_)),
-        imu_test_event_loop_(MakeEventLoop("test", imu_)),
-        drivetrain_goal_sender_(
-            test_event_loop_->MakeSender<Goal>("/drivetrain")),
-        localizer_output_sender_(
-            imu_test_event_loop_->MakeSender<frc971::controls::LocalizerOutput>(
-                "/localizer")),
-        drivetrain_goal_fetcher_(
-            test_event_loop_->MakeFetcher<Goal>("/drivetrain")),
-        drivetrain_status_fetcher_(
-            test_event_loop_
-                ->MakeFetcher<frc971::control_loops::drivetrain::Status>(
-                    "/drivetrain")),
-        localizer_control_sender_(
-            test_event_loop_->MakeSender<LocalizerControl>("/drivetrain")),
-        drivetrain_event_loop_(MakeEventLoop("drivetrain", roborio_)),
-        dt_config_(GetTest2022DrivetrainConfig()),
-        localizer_(drivetrain_event_loop_.get(), dt_config_),
-        drivetrain_(dt_config_, drivetrain_event_loop_.get(), &localizer_),
-        drivetrain_plant_event_loop_(MakeEventLoop("plant", roborio_)),
-        drivetrain_plant_imu_event_loop_(MakeEventLoop("plant", imu_)),
-        drivetrain_plant_(drivetrain_plant_event_loop_.get(),
-                          drivetrain_plant_imu_event_loop_.get(), dt_config_,
-                          std::chrono::microseconds(500)) {
-    FLAGS_die_on_malloc = true;
-    set_team_id(frc971::control_loops::testing::kTeamNumber);
-    set_battery_voltage(12.0);
-
-    if (!FLAGS_output_folder.empty()) {
-      logger_event_loop_ = MakeEventLoop("logger", roborio_);
-      logger_ = std::make_unique<aos::logger::Logger>(logger_event_loop_.get());
-      logger_->StartLoggingOnRun(FLAGS_output_folder);
-    }
-
-    test_event_loop_->OnRun([this]() { SetStartingPosition({3.0, 2.0, 0.0}); });
-
-    imu_test_event_loop_
-        ->AddTimer([this]() {
-          auto builder = localizer_output_sender_.MakeBuilder();
-          frc971::controls::LocalizerOutput::Builder output_builder =
-              builder.MakeBuilder<frc971::controls::LocalizerOutput>();
-          output_builder.add_monotonic_timestamp_ns(
-              imu_test_event_loop_->monotonic_now().time_since_epoch().count());
-          output_builder.add_x(drivetrain_plant_.state()(0));
-          output_builder.add_y(drivetrain_plant_.state()(1));
-          output_builder.add_theta(drivetrain_plant_.state()(2));
-          builder.CheckOk(builder.Send(output_builder.Finish()));
-        })
-        ->Setup(imu_test_event_loop_->monotonic_now(),
-                std::chrono::milliseconds(5));
-  }
-
-  virtual ~LocalizedDrivetrainTest() override {}
-
-  void SetStartingPosition(const Eigen::Matrix<double, 3, 1> &xytheta) {
-    *drivetrain_plant_.mutable_state() << xytheta.x(), xytheta.y(),
-        xytheta(2, 0), 0.0, 0.0;
-    Eigen::Matrix<double, Localizer::HybridEkf::kNStates, 1> localizer_state;
-    localizer_state.setZero();
-    localizer_state.block<3, 1>(0, 0) = xytheta;
-    localizer_.Reset(monotonic_now(), localizer_state);
-  }
-
-  void VerifyNearGoal(double eps = 1e-2) {
-    drivetrain_goal_fetcher_.Fetch();
-    EXPECT_NEAR(drivetrain_goal_fetcher_->left_goal(),
-                drivetrain_plant_.GetLeftPosition(), eps);
-    EXPECT_NEAR(drivetrain_goal_fetcher_->right_goal(),
-                drivetrain_plant_.GetRightPosition(), eps);
-  }
-
-  ::testing::AssertionResult IsNear(double expected, double actual,
-                                    double epsilon) {
-    if (std::abs(expected - actual) < epsilon) {
-      return ::testing::AssertionSuccess();
-    } else {
-      return ::testing::AssertionFailure()
-             << "Expected " << expected << " but got " << actual
-             << " with a max difference of " << epsilon
-             << " and an actual difference of " << std::abs(expected - actual);
-    }
-  }
-  ::testing::AssertionResult VerifyEstimatorAccurate(double eps) {
-    const Eigen::Matrix<double, 5, 1> true_state = drivetrain_plant_.state();
-    ::testing::AssertionResult result(true);
-    if (!(result = IsNear(localizer_.x(), true_state(0), eps))) {
-      return result;
-    }
-    if (!(result = IsNear(localizer_.y(), true_state(1), eps))) {
-      return result;
-    }
-    if (!(result = IsNear(localizer_.theta(), true_state(2), eps))) {
-      return result;
-    }
-    if (!(result = IsNear(localizer_.left_velocity(), true_state(3), eps))) {
-      return result;
-    }
-    if (!(result = IsNear(localizer_.right_velocity(), true_state(4), eps))) {
-      return result;
-    }
-    return result;
-  }
-
-  const aos::Node *const roborio_;
-  const aos::Node *const imu_;
-
-  std::unique_ptr<aos::EventLoop> test_event_loop_;
-  std::unique_ptr<aos::EventLoop> imu_test_event_loop_;
-  aos::Sender<Goal> drivetrain_goal_sender_;
-  aos::Sender<frc971::controls::LocalizerOutput> localizer_output_sender_;
-  aos::Fetcher<Goal> drivetrain_goal_fetcher_;
-  aos::Fetcher<frc971::control_loops::drivetrain::Status>
-      drivetrain_status_fetcher_;
-  aos::Sender<LocalizerControl> localizer_control_sender_;
-
-  std::unique_ptr<aos::EventLoop> drivetrain_event_loop_;
-  const frc971::control_loops::drivetrain::DrivetrainConfig<double> dt_config_;
-
-  Localizer localizer_;
-  DrivetrainLoop drivetrain_;
-
-  std::unique_ptr<aos::EventLoop> drivetrain_plant_event_loop_;
-  std::unique_ptr<aos::EventLoop> drivetrain_plant_imu_event_loop_;
-  DrivetrainSimulation drivetrain_plant_;
-
-  void SendGoal(double left, double right) {
-    auto builder = drivetrain_goal_sender_.MakeBuilder();
-
-    Goal::Builder drivetrain_builder = builder.MakeBuilder<Goal>();
-    drivetrain_builder.add_controller_type(
-        frc971::control_loops::drivetrain::ControllerType::MOTION_PROFILE);
-    drivetrain_builder.add_left_goal(left);
-    drivetrain_builder.add_right_goal(right);
-
-    EXPECT_EQ(builder.Send(drivetrain_builder.Finish()),
-              aos::RawSender::Error::kOk);
-  }
-
- private:
-  std::unique_ptr<aos::EventLoop> logger_event_loop_;
-  std::unique_ptr<aos::logger::Logger> logger_;
-};
-
-TEST_F(LocalizedDrivetrainTest, Nominal) {
-  SetEnabled(true);
-  EXPECT_TRUE(VerifyEstimatorAccurate(1e-7));
-
-  SendGoal(-1.0, 1.0);
-
-  RunFor(chrono::seconds(10));
-  VerifyNearGoal();
-  EXPECT_TRUE(VerifyEstimatorAccurate(5e-3));
-}
-
-}  // namespace testing
-}  // namespace drivetrain
-}  // namespace control_loops
-}  // namespace y2022