diff --git a/y2022/control_loops/superstructure/BUILD b/y2022/control_loops/superstructure/BUILD
index ac91668..57b37f3 100644
--- a/y2022/control_loops/superstructure/BUILD
+++ b/y2022/control_loops/superstructure/BUILD
@@ -177,3 +177,36 @@
         "//aos/network/www:proxy",
     ],
 )
+
+ts_library(
+    name = "intake_plotter",
+    srcs = ["intake_plotter.ts"],
+    target_compatible_with = ["@platforms//os:linux"],
+    deps = [
+        "//aos/network/www:aos_plotter",
+        "//aos/network/www:colors",
+        "//aos/network/www:proxy",
+    ],
+)
+
+ts_library(
+    name = "turret_plotter",
+    srcs = ["turret_plotter.ts"],
+    target_compatible_with = ["@platforms//os:linux"],
+    deps = [
+        "//aos/network/www:aos_plotter",
+        "//aos/network/www:colors",
+        "//aos/network/www:proxy",
+    ],
+)
+
+ts_library(
+    name = "climber_plotter",
+    srcs = ["climber_plotter.ts"],
+    target_compatible_with = ["@platforms//os:linux"],
+    deps = [
+        "//aos/network/www:aos_plotter",
+        "//aos/network/www:colors",
+        "//aos/network/www:proxy",
+    ],
+)
diff --git a/y2022/control_loops/superstructure/climber_plotter.ts b/y2022/control_loops/superstructure/climber_plotter.ts
new file mode 100644
index 0000000..e24a993
--- /dev/null
+++ b/y2022/control_loops/superstructure/climber_plotter.ts
@@ -0,0 +1,46 @@
+// Provides a plot for debugging robot state-related issues.
+import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
+import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from 'org_frc971/aos/network/www/colors';
+
+import Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH * 5 / 2;
+const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT * 3;
+
+export function plotClimber(conn: Connection, element: Element) : void {
+  const aosPlotter = new AosPlotter(conn);
+  const goal = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Goal');
+  const output = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Output');
+  const status = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Status');
+  const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
+
+  // Robot Enabled/Disabled and Mode
+  const positionPlot =
+      aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+  positionPlot.plot.getAxisLabels().setTitle('Position');
+  positionPlot.plot.getAxisLabels().setXLabel(TIME);
+  positionPlot.plot.getAxisLabels().setYLabel('rad');
+  positionPlot.plot.setDefaultYRange([-1.0, 2.0]);
+
+  positionPlot.addMessageLine(status, ['climber', 'position']).setColor(GREEN).setPointSize(4.0);
+  positionPlot.addMessageLine(status, ['climber', 'velocity']).setColor(PINK).setPointSize(1.0);
+  positionPlot.addMessageLine(status, ['climber', 'goal_position']).setColor(RED).setPointSize(4.0);
+  positionPlot.addMessageLine(status, ['climber', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
+  positionPlot.addMessageLine(status, ['climber', 'estimator_state', 'position']).setColor(CYAN).setPointSize(1.0);
+
+  const voltagePlot =
+      aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+  voltagePlot.plot.getAxisLabels().setTitle('Voltage');
+  voltagePlot.plot.getAxisLabels().setXLabel(TIME);
+  voltagePlot.plot.getAxisLabels().setYLabel('Volts');
+  voltagePlot.plot.setDefaultYRange([-4.0, 14.0]);
+
+  voltagePlot.addMessageLine(output, ['climber_voltage']).setColor(BLUE).setPointSize(4.0);
+  voltagePlot.addMessageLine(status, ['climber', 'voltage_error']).setColor(RED).setPointSize(1.0);
+  voltagePlot.addMessageLine(status, ['climber', 'position_power']).setColor(BROWN).setPointSize(1.0);
+  voltagePlot.addMessageLine(status, ['climber', 'velocity_power']).setColor(CYAN).setPointSize(1.0);
+  voltagePlot.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(1.0);
+
+}
diff --git a/y2022/control_loops/superstructure/intake_plotter.ts b/y2022/control_loops/superstructure/intake_plotter.ts
new file mode 100644
index 0000000..8667473
--- /dev/null
+++ b/y2022/control_loops/superstructure/intake_plotter.ts
@@ -0,0 +1,72 @@
+// Provides a plot for debugging robot state-related issues.
+import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
+import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from 'org_frc971/aos/network/www/colors';
+
+import Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH * 5 / 2;
+const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT * 3;
+
+export function plotIntake(conn: Connection, element: Element) : void {
+  const aosPlotter = new AosPlotter(conn);
+  const goal = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Goal');
+  const output = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Output');
+  const status = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Status');
+  const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
+
+  // Robot Enabled/Disabled and Mode
+  const positionPlotFront =
+      aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+  positionPlotFront.plot.getAxisLabels().setTitle('Position');
+  positionPlotFront.plot.getAxisLabels().setXLabel(TIME);
+  positionPlotFront.plot.getAxisLabels().setYLabel('rad');
+  positionPlotFront.plot.setDefaultYRange([-1.0, 2.0]);
+
+  positionPlotFront.addMessageLine(status, ['intake_front', 'position']).setColor(GREEN).setPointSize(4.0);
+  positionPlotFront.addMessageLine(status, ['intake_front', 'velocity']).setColor(PINK).setPointSize(1.0);
+  positionPlotFront.addMessageLine(status, ['intake_front', 'goal_position']).setColor(RED).setPointSize(4.0);
+  positionPlotFront.addMessageLine(status, ['intake_front', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
+  positionPlotFront.addMessageLine(status, ['intake_front', 'estimator_state', 'position']).setColor(CYAN).setPointSize(1.0);
+
+  const positionPlotBack =
+      aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+  positionPlotBack.plot.getAxisLabels().setTitle('Position');
+  positionPlotBack.plot.getAxisLabels().setXLabel(TIME);
+  positionPlotBack.plot.getAxisLabels().setYLabel('rad');
+  positionPlotBack.plot.setDefaultYRange([-1.0, 2.0]);
+
+  positionPlotBack.addMessageLine(status, ['intake_back', 'position']).setColor(GREEN).setPointSize(4.0);
+  positionPlotBack.addMessageLine(status, ['intake_back', 'velocity']).setColor(PINK).setPointSize(1.0);
+  positionPlotBack.addMessageLine(status, ['intake_back', 'goal_position']).setColor(RED).setPointSize(4.0);
+  positionPlotBack.addMessageLine(status, ['intake_back', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
+  positionPlotBack.addMessageLine(status, ['intake_back', 'estimator_state', 'position']).setColor(CYAN).setPointSize(1.0);
+
+  const voltagePlotFront =
+      aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+  voltagePlotFront.plot.getAxisLabels().setTitle('Voltage');
+  voltagePlotFront.plot.getAxisLabels().setXLabel(TIME);
+  voltagePlotFront.plot.getAxisLabels().setYLabel('Volts');
+  voltagePlotFront.plot.setDefaultYRange([-4.0, 14.0]);
+
+  voltagePlotFront.addMessageLine(output, ['intake_front_voltage']).setColor(BLUE).setPointSize(4.0);
+  voltagePlotFront.addMessageLine(status, ['intake_front', 'voltage_error']).setColor(RED).setPointSize(1.0);
+  voltagePlotFront.addMessageLine(status, ['intake_front', 'position_power']).setColor(BROWN).setPointSize(1.0);
+  voltagePlotFront.addMessageLine(status, ['intake_front', 'velocity_power']).setColor(CYAN).setPointSize(1.0);
+  voltagePlotFront.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(1.0);
+
+
+  const voltagePlotBack =
+      aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+  voltagePlotBack.plot.getAxisLabels().setTitle('Voltage');
+  voltagePlotBack.plot.getAxisLabels().setXLabel(TIME);
+  voltagePlotBack.plot.getAxisLabels().setYLabel('Volts');
+  voltagePlotBack.plot.setDefaultYRange([-4.0, 14.0]);
+
+  voltagePlotBack.addMessageLine(output, ['intake_back_voltage']).setColor(BLUE).setPointSize(4.0);
+  voltagePlotBack.addMessageLine(status, ['intake_back', 'voltage_error']).setColor(RED).setPointSize(1.0);
+  voltagePlotBack.addMessageLine(status, ['intake_back', 'position_power']).setColor(BROWN).setPointSize(1.0);
+  voltagePlotBack.addMessageLine(status, ['intake_back', 'velocity_power']).setColor(CYAN).setPointSize(1.0);
+  voltagePlotBack.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(1.0);
+}
diff --git a/y2022/control_loops/superstructure/turret_plotter.ts b/y2022/control_loops/superstructure/turret_plotter.ts
new file mode 100644
index 0000000..10fc10e
--- /dev/null
+++ b/y2022/control_loops/superstructure/turret_plotter.ts
@@ -0,0 +1,46 @@
+// Provides a plot for debugging robot state-related issues.
+import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
+import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from 'org_frc971/aos/network/www/colors';
+
+import Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH * 5 / 2;
+const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT * 3;
+
+export function plotTurret(conn: Connection, element: Element) : void {
+  const aosPlotter = new AosPlotter(conn);
+  const goal = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Goal');
+  const output = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Output');
+  const status = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Status');
+  const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
+
+  // Robot Enabled/Disabled and Mode
+  const positionPlot =
+      aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+  positionPlot.plot.getAxisLabels().setTitle('Position');
+  positionPlot.plot.getAxisLabels().setXLabel(TIME);
+  positionPlot.plot.getAxisLabels().setYLabel('rad');
+  positionPlot.plot.setDefaultYRange([-1.0, 2.0]);
+
+  positionPlot.addMessageLine(status, ['turret', 'position']).setColor(GREEN).setPointSize(4.0);
+  positionPlot.addMessageLine(status, ['turret', 'velocity']).setColor(PINK).setPointSize(1.0);
+  positionPlot.addMessageLine(status, ['turret', 'goal_position']).setColor(RED).setPointSize(4.0);
+  positionPlot.addMessageLine(status, ['turret', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
+  positionPlot.addMessageLine(status, ['turret', 'estimator_state', 'position']).setColor(CYAN).setPointSize(1.0);
+
+  const voltagePlot =
+      aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+  voltagePlot.plot.getAxisLabels().setTitle('Voltage');
+  voltagePlot.plot.getAxisLabels().setXLabel(TIME);
+  voltagePlot.plot.getAxisLabels().setYLabel('Volts');
+  voltagePlot.plot.setDefaultYRange([-4.0, 14.0]);
+
+  voltagePlot.addMessageLine(output, ['turret_voltage']).setColor(BLUE).setPointSize(4.0);
+  voltagePlot.addMessageLine(status, ['turret', 'voltage_error']).setColor(RED).setPointSize(1.0);
+  voltagePlot.addMessageLine(status, ['turret', 'position_power']).setColor(BROWN).setPointSize(1.0);
+  voltagePlot.addMessageLine(status, ['turret', 'velocity_power']).setColor(CYAN).setPointSize(1.0);
+  voltagePlot.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(1.0);
+
+}