diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index be21731..300f913 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -4,10 +4,14 @@
 
 package frc.robot;
 
+import edu.wpi.first.epilogue.Epilogue;
+import edu.wpi.first.epilogue.Logged;
+import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
+@Logged
 public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
 
@@ -15,6 +19,8 @@ public class Robot extends TimedRobot {
 
   public Robot() {
     m_robotContainer = new RobotContainer();
+    DataLogManager.start();
+    Epilogue.bind(this);
   }
 
   @Override
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 0044748..2e9c85a 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -10,6 +10,7 @@
 import com.ctre.phoenix6.swerve.SwerveRequest;
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.commands.FollowPathCommand;
+import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -19,6 +20,7 @@
 import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 
+@Logged
 public class RobotContainer {
   private double MaxSpeed =
       TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
diff --git a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
index 17c7c66..8a885d5 100644
--- a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+++ b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -9,9 +9,11 @@
 import com.pathplanner.lib.config.PIDConstants;
 import com.pathplanner.lib.config.RobotConfig;
 import com.pathplanner.lib.controllers.PPHolonomicDriveController;
+import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.wpilibj.DriverStation;
@@ -27,6 +29,7 @@
  * Class that extends the Phoenix 6 SwerveDrivetrain class and implements Subsystem so it can easily
  * be used in command-based projects.
  */
+@Logged
 public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Subsystem {
   private static final double kSimLoopPeriod = 0.005; // 5 ms
   private Notifier m_simNotifier = null;
@@ -228,4 +231,16 @@ public void addVisionMeasurement(
     super.addVisionMeasurement(
         visionRobotPoseMeters, Utils.fpgaToCurrentTime(timestampSeconds), visionMeasurementStdDevs);
   }
+
+  public Pose2d getPose() {
+    return getState().Pose;
+  }
+
+  public SwerveModuleState[] getModuleStates() {
+    return getState().ModuleStates;
+  }
+
+  public SwerveModuleState[] getModuleTargets() {
+    return getState().ModuleTargets;
+  }
 }