diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index b03bd9d..6aeb04d 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -4,6 +4,7 @@
 
 package frc.robot;
 
+import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.net.PortForwarder;
 import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.DriverStation;
@@ -11,6 +12,7 @@
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.epilogue.logging.*;;
 
 /**
  * The VM is configured to automatically run this class, and to call the
@@ -21,6 +23,7 @@
  * build.gradle file in the
  * project.
  */
+@Logged
 public class Robot extends TimedRobot {
 	private Command m_autonomousCommand;
 	
@@ -28,6 +31,25 @@ public class Robot extends TimedRobot {
 	
 	private Timer disabledTimer;
 	
+	public Robot() {
+		// Epilogue.configure(config -> {
+		// // Log only to disk, instead of the default NetworkTables logging
+		// // Note that this means data cannot be analyzed in realtime by a dashboard
+		// config.dataLogger = new FileLogger(DataLogManager.getLog());
+		// if (isSimulation()) {
+		// // If running in simulation, then we'd want to re-throw any errors that
+		// // occur so we can debug and fix them!
+		// config.errorHandler = ErrorHandler.crashOnError();
+		// }
+		// // Change the root data path
+		// config.root = "Telemetry";
+		// // Only log critical information instead of the default DEBUG level.
+		// // This can be helpful in a pinch to reduce network bandwidth or log file size
+		// // while still logging important information.
+		// });
+		Epilogue.bind(this);
+	}
+	
 	/**
 	 * This function is run when the robot is first started up and should be used
 	 * for any
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 6a3cc09..226906c 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -38,6 +38,7 @@
 import frc.robot.subsystems.Drivetrain;
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
+import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -65,6 +66,7 @@
  * the robot (including
  * subsystems, commands, and trigger mappings) should be declared here.
  */
+@Logged
 public class RobotContainer {
 	// The robot's subsystems and commands are defined here...
 	private final ShuffleboardInfo shuffleboard;
diff --git a/src/main/java/frc/robot/subsystems/Arm.java b/src/main/java/frc/robot/subsystems/Arm.java
index b3894c2..3a8de10 100644
--- a/src/main/java/frc/robot/subsystems/Arm.java
+++ b/src/main/java/frc/robot/subsystems/Arm.java
@@ -23,6 +23,7 @@
 import com.revrobotics.spark.SparkClosedLoopController;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 
+import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.ArmFeedforward;
 import edu.wpi.first.math.controller.ElevatorFeedforward;
@@ -40,6 +41,7 @@
 import frc.robot.shuffleboard.MotorTab;
 // import frc.robot.util.TunableNumber;
 
+@Logged
 public class Arm extends SubsystemBase {
 	// Arm
 	/** this is the right arm motor */