diff --git a/src/Robot.cpp b/src/Robot.cpp
index 61117ab..62b2b39 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -1,5 +1,13 @@
 #include "WPILib.h"
 #include "Shooter.h"
+#include <ctime>
+#include <iostream>
+#include <iomanip>
+#include <fstream>
+#include <string>
+#include <sys/time.h>
+#include <vector>
+#include <cmath>
 #include <math.h>
 
 #ifndef BUTTON_LAYOUT
@@ -22,6 +30,10 @@
 
 #endif  // BUTTON_LAYOUT
 
+#ifndef LOG
+#define LOG(X) logA << X; logB << X; logC << X //for writing data to the csv file
+#endif
+
 class Robot: public IterativeRobot
 {
 	TalonSRX left_drive, right_drive;
@@ -31,6 +43,8 @@ class Robot: public IterativeRobot
 	RobotDrive drive;
 	Shooter shooter;
 	Joystick driver_stick, operator_stick;
+	//DriverStation DriverStation::GetInstance();
+	//float power;
 public:
 	Robot():
 		left_drive(0),			// Left DriveTrain Talons plug into PWM channel 1 with a Y-splitter
@@ -65,6 +79,20 @@ private:
 	const std::string autoNameCustom = "My Auto";
 	std::string autoSelected;
 
+	/*void LogData()
+	{
+		static PowerDistributionPanel pdp;
+		static DriverStation DriverStation::GetInstance() = DriverStation::GetInstance();
+		static std::vector<CANTalon*> motors;
+
+		static std::ofstream logA, logB, logC;
+		timeval tm;
+
+		SmartDashboard::PutBoolean("log A", logA.is_open());
+		SmartDashboard::PutBoolean("log B", logB.is_open());
+		SmartDashboard::PutBoolean("log C", logC.is_open());
+	}*/
+
 	void RobotInit()
 	{
 		chooser = new SendableChooser();
@@ -112,7 +140,12 @@ private:
 
 	void AutonomousPeriodic()
 	{
-
+		LogCSVData();
+		if(autoSelected == autoNameCustom){
+			//Custom Auto goes here
+		} else {
+			//Default Auto goes here
+		}
 	}
 
 	void TeleopInit()
@@ -122,6 +155,7 @@ private:
 
 	void TeleopPeriodic()
 	{
+		LogCSVData();
 		std::cout << "arm encoder position: " << arms.GetEncPosition() << std::endl;
 		std::cout << "arm encoder velocity: " << arms.GetEncVel() << std::endl;
 		drive.ArcadeDrive(-driver_stick.GetY(), -driver_stick.GetX()*0.75);
@@ -285,6 +319,87 @@ private:
 	void TestPeriodic()
 	{
 		lw->Run();
+		LogCSVData();
+	}
+	void LogCSVData()
+	{
+		static PowerDistributionPanel pdp;	// preparing to read from the pdp
+		static std::vector<CANTalon*> motors;
+
+		static std::ofstream logA, logB, logC;
+		timeval tm;
+
+		SmartDashboard::PutBoolean("log A", logA.is_open());
+		SmartDashboard::PutBoolean("log B", logB.is_open());
+		SmartDashboard::PutBoolean("log C", logC.is_open());
+
+		if (!logA.is_open() && !logB.is_open() && !logC.is_open())
+		{
+			std::fstream logNumFile;
+			int logNum;
+			logNumFile.open("/home/lvuser/logNum");
+			logNumFile >> logNum;
+			logNum++;
+			logNumFile.seekp(0);
+			logNumFile << logNum;
+			// writing to /home/lvuser/logs/[unixtime].log
+			logA.open("/media/sda1/logs/log" + std::to_string(logNum) + ".csv");
+			std::cerr << (logA.is_open() ? "Opened" : "Failed to open") << "log A." << std::endl;
+			logB.open("/media/sdb1/logs/log" + std::to_string(logNum) + ".csv");
+			std::cerr << (logB.is_open() ? "Opened" : "Failed to open") << "log B." << std::endl;
+			logC.open("/home/lvuser/logs/log" + std::to_string(logNum) + ".csv");
+			std::cerr << (logC.is_open() ? "Opened" : "Failed to open") << "log C." << std::endl;
+
+			LOG("Time\tpdpInput voltage\tpdpTemperature\tpdpTotal Current\t");
+			for (int ii = 0; ii < 16; ii++)
+			{
+				LOG("pdpChannel " << ii << " current\t");
+			}
+
+			LOG("tlaunch_spinny Bus Voltage\ttlaunch_spinny Output Current\ttlaunch_spinny Output Voltage\ttlaunch_spinny Temperature");
+			motors.push_back(&ramp);
+			LOG("\tShooter1 Bus Voltage\tShooter1 Output Current\tShooter1 Output Voltage\tShooter1 Temperature");
+			motors.push_back(&shooter1);
+			LOG("\tShooter2 Bus Voltage\tShooter2 Output Current\tShooter2 Output Voltage\tShooter2 Temperature");
+			motors.push_back(&shooter2);
+
+			LOG("\tJoystick X\tJoystick Y\tJoystick Twist");
+			LOG("\tAlliance\tLocation\tMatch Time\tFMS Attached\tBrowned Out");
+			LOG("\tTestStage");
+			LOG(std::endl);
+		}
+		gettimeofday(&tm, NULL);
+		LOG(time(0) << '.' << std::setfill('0') << std::setw(3) << tm.tv_usec/1000);
+		// Some general information
+		LOG("\t" << pdp.GetVoltage());
+		LOG("\t" << pdp.GetTemperature());
+		LOG("\t" << pdp.GetTotalCurrent());
+		// current on each channel
+		for (int ii = 0; ii < 16; ii++)
+		{
+			LOG("\t" << pdp.GetCurrent(ii));
+		}
+
+		//Talon Data
+		for(int ii = 0; ii < motors.size(); ii++)
+		{
+			LOG("\t" << motors[ii]->GetBusVoltage());
+			LOG("\t" << motors[ii]->GetOutputVoltage());
+			LOG("\t" << motors[ii]->GetOutputCurrent());
+			LOG("\t" << motors[ii]->GetTemperature());
+		}
+		//control data
+		LOG("\t" << driver_stick.GetX());
+		LOG("\t" << driver_stick.GetY());
+		LOG("\t" << driver_stick.GetTwist());
+
+		//DriverStation Data
+		LOG("\t" << DriverStation::GetInstance().GetAlliance());
+		LOG("\t" << DriverStation::GetInstance().GetLocation());
+		LOG("\t" << DriverStation::GetInstance().GetMatchTime());
+		LOG("\t" << DriverStation::GetInstance().IsFMSAttached());
+		LOG("\t" << DriverStation::GetInstance().IsSysBrownedOut());
+		LOG(std::endl);
 	}
 
 	void SimpleDrive()