diff --git a/soccer/src/soccer/game_state.hpp b/soccer/src/soccer/game_state.hpp
index 439b09ee2da..9df64ed6096 100644
--- a/soccer/src/soccer/game_state.hpp
+++ b/soccer/src/soccer/game_state.hpp
@@ -142,7 +142,7 @@ struct PlayState {
     }
     static PlayState playing() { return PlayState(State::Playing, Restart::None, false, {}); }
     static PlayState penalty_playing(bool ours) {
-        return PlayState(State::PenaltyPlaying, Restart::Penalty, ours, {});
+        return PlayState(State::PenaltyPlaying, Restart::None, ours, {});
     }
 
     bool operator==(const PlayState& other) const {
diff --git a/soccer/src/soccer/ui/main_window.cpp b/soccer/src/soccer/ui/main_window.cpp
index 3b2a59a9d36..1ddb5049a42 100644
--- a/soccer/src/soccer/ui/main_window.cpp
+++ b/soccer/src/soccer/ui/main_window.cpp
@@ -1141,13 +1141,15 @@ void MainWindow::on_fastReady_clicked() {
 void MainWindow::on_fastForceStart_clicked() { send_quick_command(PlayState::playing()); }
 
 void MainWindow::on_fastKickoffBlue_clicked() {
-    send_quick_command(PlayState::setup_kickoff(context_->blue_team));
-    queued_command_ = PlayState::ready_kickoff(context_->blue_team);
+    PlayState setup_kickoff_state = PlayState::setup_kickoff(context_->blue_team);
+    send_quick_command(setup_kickoff_state);
+    queued_command_ = setup_kickoff_state.advanced_from_normal_start();
 }
 
 void MainWindow::on_fastKickoffYellow_clicked() {
-    send_quick_command(PlayState::setup_kickoff(!context_->blue_team));
-    queued_command_ = PlayState::ready_kickoff(context_->blue_team);
+    PlayState setup_kickoff_state = PlayState::setup_kickoff(!context_->blue_team);
+    send_quick_command(setup_kickoff_state);
+    queued_command_ = setup_kickoff_state.advanced_from_normal_start();
 }
 
 void MainWindow::on_fastBlue_clicked() {
@@ -1158,6 +1160,18 @@ void MainWindow::on_fastYellow_clicked() {
     send_quick_command(PlayState::ready_free_kick(!context_->blue_team));
 }
 
+void MainWindow::on_fastPenaltyBlue_clicked() {
+    PlayState setup_penalty_state = PlayState::setup_penalty(context_->blue_team);
+    send_quick_command(setup_penalty_state);
+    queued_command_ = setup_penalty_state.advanced_from_normal_start();
+}
+
+void MainWindow::on_fastPenaltyYellow_clicked() {
+    PlayState setup_penalty_state = PlayState::setup_penalty(!context_->blue_team);
+    send_quick_command(setup_penalty_state);
+    queued_command_ = setup_penalty_state.advanced_from_normal_start();
+}
+
 bool MainWindow::live() { return !_playbackRate; }
 void MainWindow::updateDebugLayers(const LogFrame& frame) {
     // Check if any debug layers have been added
diff --git a/soccer/src/soccer/ui/main_window.hpp b/soccer/src/soccer/ui/main_window.hpp
index cb708dd6111..61cf24a6c40 100644
--- a/soccer/src/soccer/ui/main_window.hpp
+++ b/soccer/src/soccer/ui/main_window.hpp
@@ -163,6 +163,8 @@ private Q_SLOTS:
     void on_fastKickoffYellow_clicked();
     void on_fastBlue_clicked();
     void on_fastYellow_clicked();
+    void on_fastPenaltyBlue_clicked();
+    void on_fastPenaltyYellow_clicked();
 
     // Robot Position Dropdowns and Reset Buttons
     void on_robotPosition_0_currentIndexChanged(int value);
diff --git a/soccer/src/soccer/ui/qt/MainWindow.ui b/soccer/src/soccer/ui/qt/MainWindow.ui
index 7f63b4c2db3..8b1a3a22d86 100644
--- a/soccer/src/soccer/ui/qt/MainWindow.ui
+++ b/soccer/src/soccer/ui/qt/MainWindow.ui
@@ -263,6 +263,47 @@
            </property>
           </spacer>
          </item>
+         <item>
+          <layout class="QVBoxLayout" name="Penalties">
+           <item>
+            <widget class="QPushButton" name="fastPenaltyBlue">
+             <property name="icon">
+              <iconset resource="main_icons.qrc">
+               <normaloff>:/icons/penalty_blue.svg</normaloff>:/icons/penalty_blue.svg</iconset>
+             </property>
+             <property name="iconSize">
+              <size>
+               <width>24</width>
+               <height>24</height>
+              </size>
+             </property>
+             <property name="flat">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QPushButton" name="fastPenaltyYellow">
+             <property name="text">
+              <string/>
+             </property>
+             <property name="icon">
+              <iconset resource="main_icons.qrc">
+               <normaloff>:/icons/penalty_yellow.svg</normaloff>:/icons/penalty_yellow.svg</iconset>
+             </property>
+             <property name="iconSize">
+              <size>
+               <width>24</width>
+               <height>24</height>
+              </size>
+             </property>
+             <property name="flat">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
          <item>
           <layout class="QVBoxLayout" name="Kickoffs">
            <item>
@@ -1813,7 +1854,6 @@
            </item>
           </layout>
          </widget>
-
          <widget class="QWidget" name="joystickTab">
           <attribute name="title">
            <string>Joystick</string>
@@ -1975,7 +2015,7 @@
              <height>671</height>
             </rect>
            </property>
-           <layout class="QGridLayout" name="positions_gridLayout" rowstretch="0" columnstretch="0,0,0,0" rowminimumheight="0">
+           <layout class="QGridLayout" name="positions_gridLayout" rowstretch="0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0" columnstretch="0,0,0,0" rowminimumheight="0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0">
             <property name="leftMargin">
              <number>11</number>
             </property>
@@ -2058,7 +2098,6 @@
               </property>
              </widget>
             </item>
-
             <item row="1" column="1">
              <widget class="QLabel" name="positionsLabel_1">
               <property name="text">
@@ -2129,7 +2168,6 @@
               </property>
              </widget>
             </item>
-
             <item row="2" column="1">
              <widget class="QLabel" name="positionsLabel_2">
               <property name="text">
@@ -2200,7 +2238,6 @@
               </property>
              </widget>
             </item>
-
             <item row="3" column="1">
              <widget class="QLabel" name="positionsLabel_3">
               <property name="text">
@@ -2271,7 +2308,6 @@
               </property>
              </widget>
             </item>
-
             <item row="4" column="1">
              <widget class="QLabel" name="positionsLabel_4">
               <property name="text">
@@ -2342,7 +2378,6 @@
               </property>
              </widget>
             </item>
-
             <item row="5" column="1">
              <widget class="QLabel" name="positionsLabel_5">
               <property name="text">
@@ -2413,7 +2448,6 @@
               </property>
              </widget>
             </item>
-
             <item row="6" column="1">
              <widget class="QLabel" name="positionsLabel_6">
               <property name="text">
@@ -2484,7 +2518,6 @@
               </property>
              </widget>
             </item>
-
             <item row="7" column="1">
              <widget class="QLabel" name="positionsLabel_7">
               <property name="text">
@@ -2555,7 +2588,6 @@
               </property>
              </widget>
             </item>
-
             <item row="8" column="1">
              <widget class="QLabel" name="positionsLabel_8">
               <property name="text">
@@ -2626,7 +2658,6 @@
               </property>
              </widget>
             </item>
-
             <item row="9" column="1">
              <widget class="QLabel" name="positionsLabel_9">
               <property name="text">
@@ -2697,7 +2728,6 @@
               </property>
              </widget>
             </item>
-
             <item row="10" column="1">
              <widget class="QLabel" name="positionsLabel_10">
               <property name="text">
@@ -2768,7 +2798,6 @@
               </property>
              </widget>
             </item>
-
             <item row="11" column="1">
              <widget class="QLabel" name="positionsLabel_11">
               <property name="text">
@@ -2839,7 +2868,6 @@
               </property>
              </widget>
             </item>
-
             <item row="12" column="1">
              <widget class="QLabel" name="positionsLabel_12">
               <property name="text">
@@ -2910,7 +2938,6 @@
               </property>
              </widget>
             </item>
-
             <item row="13" column="1">
              <widget class="QLabel" name="positionsLabel_13">
               <property name="text">
@@ -2981,7 +3008,6 @@
               </property>
              </widget>
             </item>
-
             <item row="14" column="1">
              <widget class="QLabel" name="positionsLabel_14">
               <property name="text">
@@ -3052,7 +3078,6 @@
               </property>
              </widget>
             </item>
-
             <item row="15" column="1">
              <widget class="QLabel" name="positionsLabel_15">
               <property name="text">
@@ -3123,7 +3148,6 @@
               </property>
              </widget>
             </item>
-
            </layout>
           </widget>
          </widget>
@@ -3140,7 +3164,7 @@
      <x>0</x>
      <y>0</y>
      <width>1331</width>
-     <height>24</height>
+     <height>25</height>
     </rect>
    </property>
    <widget class="QMenu" name="menu_View">
diff --git a/soccer/src/soccer/ui/qt/main_icons.qrc b/soccer/src/soccer/ui/qt/main_icons.qrc
index 5a300de1762..f1088ecf2c6 100644
--- a/soccer/src/soccer/ui/qt/main_icons.qrc
+++ b/soccer/src/soccer/ui/qt/main_icons.qrc
@@ -5,6 +5,8 @@
     <file>force_start.svg</file>
     <file>kickoff_blue.svg</file>
     <file>kickoff_yellow.svg</file>
+    <file>penalty_blue.svg</file>
+    <file>penalty_yellow.svg</file>
     <file>direct_blue.svg</file>
     <file>direct_yellow.svg</file>
     <file>indirect_blue.svg</file>
diff --git a/soccer/src/soccer/ui/qt/penalty_blue.svg b/soccer/src/soccer/ui/qt/penalty_blue.svg
new file mode 100644
index 00000000000..6b3f1122622
--- /dev/null
+++ b/soccer/src/soccer/ui/qt/penalty_blue.svg
@@ -0,0 +1,80 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="24"
+   height="24"
+   id="svg3264"
+   sodipodi:version="0.32"
+   inkscape:version="0.92.3 (3ce5693, 2018-03-11)"
+   version="1.0"
+   sodipodi:docname="kickoff_blue.svg"
+   inkscape:output_extension="org.inkscape.output.svg.inkscape">
+  <defs
+     id="defs3266">
+    <inkscape:perspective
+       sodipodi:type="inkscape:persp3d"
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+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
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+     guidetolerance="10"
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+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title />
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+  <g
+     inkscape:label="Layer 1"
+     inkscape:groupmode="layer"
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diff --git a/soccer/src/soccer/ui/qt/penalty_yellow.svg b/soccer/src/soccer/ui/qt/penalty_yellow.svg
new file mode 100644
index 00000000000..8e72b5e7af6
--- /dev/null
+++ b/soccer/src/soccer/ui/qt/penalty_yellow.svg
@@ -0,0 +1,80 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
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+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
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+   height="24"
+   id="svg3264"
+   sodipodi:version="0.32"
+   inkscape:version="0.92.3 (3ce5693, 2018-03-11)"
+   version="1.0"
+   sodipodi:docname="kickoff_yellow.svg"
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