diff --git a/src/main/java/org/team199/robot2022/Robot.java b/src/main/java/org/team199/robot2022/Robot.java
index d49b4e0..c68bff0 100644
--- a/src/main/java/org/team199/robot2022/Robot.java
+++ b/src/main/java/org/team199/robot2022/Robot.java
@@ -4,11 +4,12 @@
 
 package org.team199.robot2022;
 
+import edu.wpi.first.wpilibj.DataLogManager;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc.robot.lib.MotorErrors;
-import frc.robot.lib.logging.Log;
 
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to
@@ -25,10 +26,11 @@ public class Robot extends TimedRobot {
    */
   @Override
   public void robotInit() {
+    DataLogManager.start();
+    DriverStation.startDataLog(DataLogManager.getLog());
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
     robotContainer = new RobotContainer(this);
-    Log.init();
   }
 
   /**
@@ -49,7 +51,6 @@ public void robotPeriodic() {
     double totalAmps = robotContainer.pdp.getTotalCurrent();
     SmartDashboard.putNumber("PDP Voltage", batteryVolts);
     SmartDashboard.putNumber("PDP Current", totalAmps);
-    Log.logData();
     MotorErrors.printSparkMaxErrorMessages();
   }
 
@@ -62,8 +63,6 @@ public void disabledInit() {
         robotContainer.dt.coast();
       } catch(InterruptedException e) {}
     }).start();
-    Log.flush();
-    Log.setDataLoggingDisabled(true);
   }
 
   @Override
@@ -75,7 +74,6 @@ public void autonomousInit() {
     robotContainer.dt.brake();
     robotContainer.dt.resetOdometry();
     robotContainer.getAutonomousCommand().schedule();
-    Log.setDataLoggingDisabled(false);
     robotContainer.initShooterConfig();
   }
 
@@ -91,7 +89,6 @@ public void teleopInit() {
     // this line or comment it out.
     CommandScheduler.getInstance().cancelAll();
     robotContainer.dt.brake();
-    Log.setDataLoggingDisabled(false);
     robotContainer.initShooterConfig();
   }
 
diff --git a/src/main/java/org/team199/robot2022/RobotContainer.java b/src/main/java/org/team199/robot2022/RobotContainer.java
index 5e2b00d..970c828 100644
--- a/src/main/java/org/team199/robot2022/RobotContainer.java
+++ b/src/main/java/org/team199/robot2022/RobotContainer.java
@@ -107,6 +107,8 @@ public RobotContainer(Robot robot) {
       autoSelector.addOption(Integer.toString(i), autoPaths[i]);
     }
 
+    SmartDashboard.putData(shooter);
+
     SmartDashboard.putData("Auto Selector", autoSelector);
 
     SmartDashboard.putNumber("Field Offset from North (degrees)", getAutoPath() == null ? 180 : getAutoPath().path.get(0).getRotation2d(0).getDegrees() + 180);
diff --git a/src/main/java/org/team199/robot2022/subsystems/Shooter.java b/src/main/java/org/team199/robot2022/subsystems/Shooter.java
index 57d25d2..5f31642 100644
--- a/src/main/java/org/team199/robot2022/subsystems/Shooter.java
+++ b/src/main/java/org/team199/robot2022/subsystems/Shooter.java
@@ -5,16 +5,14 @@
 
 import org.team199.robot2022.Constants;
 
+import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-//import edu.wpi.first.wpilibj.SpeedController;
-//import java.lang.AutoCloseable;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.lib.MotorControllerFactory;
 import frc.robot.lib.SparkVelocityPIDController;
 import frc.robot.lib.MotorErrors.TemperatureLimit;
 import frc.robot.lib.LinearActuator;
 import frc.robot.lib.LinearInterpolation;
-import frc.robot.lib.logging.Log;
 
 public class Shooter extends SubsystemBase {
     private static double kV = 0.129 / 60;
@@ -64,10 +62,6 @@ public Shooter() {
         slave.setIdleMode(IdleMode.kCoast);
         
         SmartDashboard.putNumber("Ball PSI", ballPSI);
-
-        Log.registerDoubleVar("Shooter RPM", () -> pidController.getEncoder().getVelocity());
-        Log.registerDoubleVar("Shooter Current Master", () -> master.getOutputCurrent());
-        Log.registerDoubleVar("Shooter Current Slave", () -> slave.getOutputCurrent());
     }
 
     public void updateFromPSI() {
@@ -180,6 +174,13 @@ public <T> T chooseFromPosition(T fender, T awayFender, T tarmac) {
         }
     }
 
+    @Override
+    public void initSendable(SendableBuilder builder) {
+        super.initSendable(builder);
+        builder.addDoubleProperty("Shooter Master Current", master::getOutputCurrent, null);
+        builder.addDoubleProperty("Shooter Slave Current", slave::getOutputCurrent, null);
+    }
+
     public static enum ShotPosition {
         FENDER, AWAY_FROM_FENDER, TARMAC;
     }