diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 0dfaa1b..3482b56 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -4,7 +4,15 @@
 
 package frc.robot;
 
-import edu.wpi.first.wpilibj.TimedRobot;
+import org.littletonrobotics.junction.LogFileUtil;
+import org.littletonrobotics.junction.LoggedRobot;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.networktables.NT4Publisher;
+import org.littletonrobotics.junction.wpilog.WPILOGReader;
+import org.littletonrobotics.junction.wpilog.WPILOGWriter;
+
+import edu.wpi.first.wpilibj.PowerDistribution;
+import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -15,7 +23,7 @@
  * the package after creating this project, you must also update the build.gradle file in the
  * project.
  */
-public class Robot extends TimedRobot {
+public class Robot extends LoggedRobot {
   private Command autonomousCommand;
 
   private RobotContainer robotContainer;
@@ -30,6 +38,24 @@ public class Robot extends TimedRobot {
   public void robotInit() {
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
+
+    Logger.getInstance().recordMetadata("ProjectName", "MyProject"); // Set a metadata value
+
+    if (isReal()) {
+        Logger.getInstance().addDataReceiver(new WPILOGWriter("/U")); // Log to a USB stick
+        Logger.getInstance().addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
+        new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging
+    } else {
+        setUseTiming(false); // Run as fast as possible
+        String logPath = LogFileUtil.findReplayLog(); // Pull the replay log from AdvantageScope (or prompt the user)
+        Logger.getInstance().setReplaySource(new WPILOGReader(logPath)); // Read replay log
+        Logger.getInstance().addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim"))); // Save outputs to a new log
+    }
+
+// Logger.getInstance().disableDeterministicTimestamps() // See "Deterministic Timestamps" in the "Understanding Data Flow" page
+Logger.getInstance().start(); // Start logging! No more data receivers, replay sources, or metadata values may be added.
+
+
     robotContainer = new RobotContainer();
 
     LiveWindow.disableAllTelemetry();
diff --git a/src/main/java/frc/robot/subsystems/DrivebaseSubsystem.java b/src/main/java/frc/robot/subsystems/DrivebaseSubsystem.java
index 66f917c..46750b7 100644
--- a/src/main/java/frc/robot/subsystems/DrivebaseSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/DrivebaseSubsystem.java
@@ -6,6 +6,8 @@
 
 import static frc.robot.Constants.Drive.*;
 
+import org.littletonrobotics.junction.Logger;
+
 import com.kauailabs.navx.frc.AHRS;
 import com.playingwithfusion.TimeOfFlight;
 import com.playingwithfusion.TimeOfFlight.RangingMode;
@@ -61,6 +63,9 @@ public class DrivebaseSubsystem extends SubsystemBase {
   // Not mission critical as it "technically" drives fine as of now; but I suspect this is a site
   // for future improvements
 
+  private final DriveIO io;
+  private final DriveIOInputsAutoLogged inputs = new DriveIOInputsAutoLogged();
+
   public AdvancedSwerveTrajectoryFollower getFollower() {
     return follower;
   }
@@ -150,8 +155,9 @@ private SwerveModule createModule(
   }
 
   /** Creates a new DrivebaseSubsystem. */
-  public DrivebaseSubsystem(VisionSubsystem visionSubsystem) {
+  public DrivebaseSubsystem(VisionSubsystem visionSubsystem, DriveIO io) {
     this.visionSubsystem = visionSubsystem;
+    this.io = io;
 
     if (!Config.DISABLE_SWERVE_MODULE_INIT) {
 
diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json
new file mode 100644
index 0000000..fa08705
--- /dev/null
+++ b/vendordeps/AdvantageKit.json
@@ -0,0 +1,41 @@
+{
+    "fileName": "AdvantageKit.json",
+    "name": "AdvantageKit",
+    "version": "2.2.4",
+    "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
+    "mavenUrls": [],
+    "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
+    "javaDependencies": [
+        {
+            "groupId": "org.littletonrobotics.akit.junction",
+            "artifactId": "wpilib-shim",
+            "version": "2.2.4"
+        },
+        {
+            "groupId": "org.littletonrobotics.akit.junction",
+            "artifactId": "junction-core",
+            "version": "2.2.4"
+        },
+        {
+            "groupId": "org.littletonrobotics.akit.conduit",
+            "artifactId": "conduit-api",
+            "version": "2.2.4"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "org.littletonrobotics.akit.conduit",
+            "artifactId": "conduit-wpilibio",
+            "version": "2.2.4",
+            "skipInvalidPlatforms": false,
+            "isJar": false,
+            "validPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": []
+}
\ No newline at end of file