diff --git a/script.js b/script.js
index b4c8ee9..56be202 100644
--- a/script.js
+++ b/script.js
@@ -4,6 +4,76 @@
 
 import GrahamScan from "./vendor/lucio/graham-scan.mjs";
 
+class Joystick {
+    constructor(ctx, x, y, radius) {
+        this.ctx = ctx;
+        this.x = x;
+        this.y = y;
+        this.radius = radius;
+        this.nubX = x;
+        this.nubY = y;
+        this.active = false;
+        this.visible = false;
+    }
+
+    draw() {
+        if (!this.visible)
+            return;
+
+        this.ctx.save();
+
+        this.ctx.beginPath();
+        this.ctx.arc(this.x, this.y, this.radius, 0, Math.PI * 2);
+        this.ctx.fillStyle = '#5554';
+        this.ctx.fill();
+
+
+        this.ctx.beginPath();
+        this.ctx.arc(this.nubX, this.nubY, this.radius / 3, 0, Math.PI * 2);
+        this.ctx.fillStyle = '#445bcaff';
+        this.ctx.fill();
+
+        this.ctx.restore();
+    }
+
+    checkShouldActivate(x, y) {
+        if (!this.touchInRange(x, y))
+            return;
+        this.active = true;
+        this.processTouch(x, y);
+    }
+
+    deactivate() {
+        this.active = false;
+    }
+
+    touchInRange(x, y) {
+        const deltaX = x - this.x;
+        const deltaY = y - this.y;
+        const dist = Math.sqrt(deltaX * deltaX + deltaY * deltaY);
+        return dist <= this.radius;
+    }
+
+    processTouch(x, y) {
+        if (this.touchInRange(x, y) && this.active) {
+            this.nubX = x;
+            this.nubY = y;
+        }
+    }
+
+    getX() {
+        return (this.nubX - this.x) / this.radius;
+    }
+
+    getY() {
+        return (this.y - this.nubY) / this.radius;
+    }
+
+    setIsVisible(visible) {
+        this.visible = visible;
+    }
+}
+
 // 2D vector class to make some of the math easier
 class Vec2D {
     constructor(x, y) {
@@ -269,6 +339,15 @@ const PresetConfigs = {
 * BEGIN DOM VARIABLES
 */
 
+// Get canvas
+const canvas = document.getElementById('swerve-canvas');
+
+// Get the canvas context as constant
+const ctx = canvas.getContext('2d');
+
+// Get CSS variables for use in canvas
+const rootStyles = getComputedStyle(document.documentElement);
+
 // Get all control elements
 const vxSlider = document.getElementById('vx-slider');
 const vySlider = document.getElementById('vy-slider');
@@ -379,6 +458,8 @@ controlModeToggle.addEventListener('click', () => {
         vxOutput.textContent = '0';
         vyOutput.textContent = '0';
         omegaOutput.textContent = '0';
+        leftJoystick.setIsVisible(true);
+        rightJoystick.setIsVisible(true);
     } else {
         // Switch to slider mode
         sliderControls.style.display = 'block';
@@ -390,6 +471,8 @@ controlModeToggle.addEventListener('click', () => {
         manualInputVelX = 0;
         manualInputVelY = 0;
         manualInputOmega = 0;
+        leftJoystick.setIsVisible(false);
+        rightJoystick.setIsVisible(false);
     }
 });
 
@@ -552,6 +635,30 @@ applyCustomBtn.addEventListener('click', () => {
     updateModuleDisplays(robot);
 });
 
+function convertTouchToCanvas(inCoords) {
+    const rect = canvas.getBoundingClientRect();
+    const x = inCoords.x - rect.left - canvas.width / 2;
+    const y = inCoords.y - rect.top - canvas.height / 2;
+    return { x, y };
+}
+
+canvas.addEventListener('mousedown', (event) => {
+    const canvasCoords = convertTouchToCanvas({ x: event.clientX, y: event.clientY });
+    leftJoystick.checkShouldActivate(canvasCoords.x, canvasCoords.y);
+    rightJoystick.checkShouldActivate(canvasCoords.x, canvasCoords.y);
+});
+
+canvas.addEventListener('mousemove', (event) => {
+    const canvasCoords = convertTouchToCanvas({ x: event.clientX, y: event.clientY });
+    leftJoystick.processTouch(canvasCoords.x, canvasCoords.y);
+    rightJoystick.processTouch(canvasCoords.x, canvasCoords.y);
+});
+
+canvas.addEventListener('mouseup', (event) => {
+    leftJoystick.deactivate();
+    rightJoystick.deactivate();
+});
+
 /*
 * END LISTENER CODE
 * BEGIN DYNAMIC DOM FUNCTIONS
@@ -696,12 +803,8 @@ function updateModuleDisplays(robot) {
 * BEGIN ANIMATION CODE
 */
 
-// Get the canvas and context as constants
-const canvas = document.getElementById('swerve-canvas');
-const ctx = canvas.getContext('2d');
-
-// Get CSS variables for use in canvas
-const rootStyles = getComputedStyle(document.documentElement);
+const leftJoystick = new Joystick(ctx, -250, 250, 100);
+const rightJoystick = new Joystick(ctx, 250, 250, 100);
 
 function drawGrid(ctx, sideLength, gridSquareSize, xOffset, yOffset) {
     ctx.save();
@@ -806,8 +909,12 @@ function drawRobot(ctx, robot, heading) {
     ctx.restore(); // Restore to remove rotation
 }
 
-
 // Initialize Variables
+// Joysticks
+const supportsTouch = (navigator.maxTouchPoints > 0);
+
+
+// General robot
 const robotSize = 200;
 const defaultModulePositions = PresetConfigs.fourWheelSquare(robotSize);
 const robot = new SwerveDrive(defaultModulePositions, "4-Wheel Square");
@@ -827,11 +934,20 @@ function animate() {
     ctx.save();
     ctx.translate(canvas.width / 2, canvas.height / 2);
 
+    leftJoystick.draw();
+    rightJoystick.draw();
+
     // Update speeds based on control mode
     if (isManualInputMode) {
-        xSpeed = manualInputVelX;
-        ySpeed = -manualInputVelY; // Negative because canvas Y axis is inverted
-        turnSpeed = manualInputOmega;
+        const maxSpeed = parseFloat(keyboardMaxSpeed.value);
+        const maxRotation = parseFloat(keyboardMaxRotation.value);
+        // xSpeed = manualInputVelX;
+        // ySpeed = -manualInputVelY; // Negative because canvas Y axis is inverted
+        // turnSpeed = manualInputOmega;
+
+        xSpeed = leftJoystick.getX() * maxSpeed;
+        ySpeed = -leftJoystick.getY() * maxSpeed;
+        turnSpeed = rightJoystick.getX() * maxRotation;
     } else {
         xSpeed = parseFloat(vxSlider.value);
         ySpeed = -parseFloat(vySlider.value);