We present a model of moral judgment, Charon, which adds to previous models several factors that have been shown to influence moral judgment: 1) a more sophisticated account of prior mental state, 2) imagination, 3) empathy, 4) the feedback process between emotion and reason, 5) self-interest, and 6) self-control. We discuss previous classes of models and demonstrate Charon’s extended explanatory power with a focus on psychopathy and autism.