diff --git a/src/main/java/frc/robot/Auto.java b/src/main/java/frc/robot/Auto.java
index 0456e58..9385aa7 100644
--- a/src/main/java/frc/robot/Auto.java
+++ b/src/main/java/frc/robot/Auto.java
@@ -4,7 +4,8 @@
 import frc.robot.controller.Sequence;
 import frc.robot.controller.Sequence.SequenceBuilder;
 import frc.robot.controller.Sequences;
-import frc.robot.interfaces.Log;
+import frc.robot.lib.log.Log;
+
 import static frc.robot.lib.PoseHelper.*;
 
 import static frc.robot.Constants.*;
@@ -22,11 +23,9 @@
  * Auto routines should be defined in Sequences.java
  */
 public class Auto {
-	private final Log log;
 	private SendableChooser<Sequence> autoProgram = new SendableChooser<Sequence>();
 	private SendableChooser<Integer> initBallSelector = new SendableChooser<Integer>();
-	public Auto(Log log) {
-		this.log = log;
+	public Auto() {
 		addAutoOptions();
 		initAutoChooser();
 		addBallOptions();
@@ -44,13 +43,13 @@ private void addBallOptions() {
 
 	public void executedSelectedSequence(Controller controller) {
 		Sequence seq = autoProgram.getSelected();
-		log.info("Starting selected auto program %s", seq.getName());
+		Log.info("Starting selected auto program %s", seq.getName());
 		controller.doSequence(seq);
 	}
 
 	public int getSelectedBallAmount() {
 		Integer numBalls = initBallSelector.getSelected();
-		log.info("Starting with %s balls", numBalls);
+		Log.info("Starting with %s balls", numBalls);
 		return numBalls;
 	}
 
diff --git a/src/main/java/frc/robot/Config.java b/src/main/java/frc/robot/Config.java
new file mode 100644
index 0000000..b148b0d
--- /dev/null
+++ b/src/main/java/frc/robot/Config.java
@@ -0,0 +1,227 @@
+package frc.robot;
+
+import frc.robot.lib.ConfigReader;
+import frc.robot.lib.PIDF;
+import static frc.robot.Constants.*;
+
+/**
+ * Class responsible for updating values which are dependent on robot hardware.
+ * (e.g. if subsystems are present or not) It reads from a text file Currently
+ * the supported types are String, int, double, boolean and int array.
+ * 
+ * Example lines:
+ *   drivebase/present = true
+ *   drivebase/rampRate = 0.13125
+*    drivebase/right/canIDs/withEncoders = 7,6
+ *   drivebase/right/canIDs/withoutEncoders = 5
+ * 
+ * The configuration can be overridden on each robot by changing a text file
+ * stored on the robot allowing different robots to have different
+ * configuration preventing having to modify the code each time it's pushed
+ * to a different bit of hardware.
+ * 
+ * This is very useful for testing when parts of the hardware are not
+ * attached, delivered or even broken.
+ */
+public class Config {
+
+	/*
+	 * Drivebase parameters
+	 * 
+	 * The robot has motors on each side. This is the information that defines these
+	 * motors and their behaviour
+	 */
+	public static class drivebase {
+		public static final boolean present = getBoolean("drivebase/present", false);
+		public static final String motorControllerType = getMotorControllerType("drivebase/motorControllerType", DEFAULT_MOTOR_CONTROLLER_TYPE);
+		public static final int[] canIdsLeftWithEncoders = getIntArray("drivebase/left/canIDs/withEncoders", new int[] { 4, 5 });
+		public static final int[] canIdsLeftWithoutEncoders = getIntArray("drivebase/left/canIDs/withoutEncoders", new int[] {});
+		public static final int[] canIdsRightWithEncoders = getIntArray("drivebase/right/canIDs/withEncoders", new int[] { 1, 2 });
+		public static final int[] canIdsRightWithoutEncoders = getIntArray("drivebase/right/canIDs/withoutEncoders", new int[] {});
+		public static final boolean currentLimiting = getBoolean("drivebase/currentLimiting", true);
+		public static final int contCurrent = getInt("drivebase/contCurrent", 38);
+		public static final int peakCurrent = getInt("drivebase/peakCurrent", 80);
+		public static final double rampRate = getDouble("drivebase/rampRate", 0.01);
+		public static final PIDF pidf = getPIDF("drivebase", new PIDF(0, 0, 0, 0.7));
+		public static final String mode = getString("drivebase/mode", DRIVE_MODE_ARCADE);
+		public static final double maxSpeed = getDouble("drivebase/maxSpeed", 4.0);
+		public static final boolean swapLeftRight = getBoolean("drivebase/swapLeftRight", false);
+		public static final boolean sensorPhase = getBoolean("drivebase/sensor/phase", false);
+	}
+
+	/**
+	 * NavX
+	 * 
+	 * Using the gyro for autonomous routines.
+	 */
+	public static class navx {
+		public static final boolean present = getBoolean("navx/present", true);
+	}
+
+	/*
+	 * Climber parameters.
+	 * 
+	 * The climber is a PTO from the drivebase. There is a solenoid to release the
+	 * brake.
+	 */
+	public static class climber {
+		public static final int ptoPort = 6;
+		public static final int brakePort = 0;
+	}
+
+	/*
+	 * Intake parameters.
+	 * 
+	 * Uses a pneumatic to deploy and a motor to run mecanum wheels.
+	 */
+	public static class intake {
+		public static final boolean present = getBoolean("intake/present", false);
+		public static final int canID = getInt("intake/canID", 10);
+		public static final PIDF pidf = getPIDF("intake", new PIDF(0.015, 0.0, 15.0, 0.019));
+		public static final int solenoidPort = getInt("intake/solenoidPort", 1);
+	}
+
+	/**
+	 * Colour wheel parameters.
+	 * 
+	 * Unknown deployment method. Single motor to spin wheel.
+	 */
+	public static class colourWheel {
+		public static final boolean present = getBoolean("colourWheel/present", false);
+		public static final int canID = getInt("colourWheel/canID", 7);
+		public static final PIDF pidf = getPIDF("colourWheel", new PIDF(0, 0, 0, 0));
+		public static final int solenoidPort = getInt("colourWheel/solenoidPort", 5);
+	}
+
+	/**
+	 * Loader parameters.
+	 * 
+	 * A hooper containing a spinner motor for pushing the balls into the shooter.
+	 */
+	public static class loader {
+		public static final boolean present = getBoolean("loader/present", false);
+		public static final int spinnerCanID = getInt("loader/spinner/canID", 12);
+		public static final PIDF spinnderPIDF = getPIDF("loader/spinner/", new PIDF(0.3, 0.0, 30.0, 0.1));
+		public static final int passthroughCanID = getInt("loader/passthrough/canID", 11);
+		public static final PIDF passthroughPIDF = getPIDF("loader/passthrough/", new PIDF(0, 0, 0, 0));
+		public static final int ballInDetectorPort = getInt("loader/ballInDetectorPort", 0);
+		public static final int ballOutDetectorPort = getInt("loader/ballOutDetectorPort", 1);
+		public static final int solenoidPort = getInt("loader/solenoidPort", 2);
+	}
+
+	/**
+	 * Shooter parameters.
+	 * 
+	 * A single shooter wheel powered by three motors.
+	 */
+	public static class shooter {
+		public static final boolean present = getBoolean("shooter/present", false);
+		public static final int[] canIds = getIntArray("shooter/shooterCanIDs", new int[] { 30, 31, 32 });;
+		public static final PIDF pidf = getPIDF("shooter/", new PIDF(0.7, 0.0, 0.0, 0.08));
+		public static final int solenoidPort = getInt("shooter/solenoidPort", 3);
+	}
+
+	/**
+	 * PDP parameters
+	 * 
+	 * The motor controller wrappers also monitor current, so this is normally off.
+	 */
+	public static class pdp {
+		public static final boolean present = getBoolean("pdp/present", false);
+		public static final int canId = getInt("pdp/canID", 62);
+		public static final boolean monitor = getBoolean("pdp/monitor", false); // by default we do NOT monitor the PDP
+		public static final int[] channelsToMonitor = getIntArray("pdp/channels", new int[0]); // by default we do NOT monitor any channels
+	}
+
+	/**
+	 * PCM parameters
+	 * 
+	 * Pneumatic control module controls intake, the climber brake, buddy climb and
+	 * the shooter hood.
+	 */
+	public static class pcm {
+		public static final boolean present = getBoolean("pcm/present", false);
+		public static final int canId = getInt("pcm/canID", 61);
+	}
+
+	/**
+	 * Vision parameters
+	 * 
+	 * A jevois camera connected via USB for detecting the vision target on the
+	 * goal.
+	 */
+	public static class vision {
+		public static final boolean present = getBoolean("vision/present", false);
+		public static final double hMin = getDouble("vision/hsvFilter/h/min", 40.0);
+		public static final double hMax = getDouble("vision/hsvFilter/h/max", 100.0);
+		public static final double sMin = getDouble("vision/hsvFilter/s/min", 20.0);
+		public static final double sMax = getDouble("vision/hsvFilter/s/max", 225.0);
+		public static final double vMin = getDouble("vision/hsvFilter/v/min", 40.0);
+		public static final double vMax = getDouble("vision/hsvFilter/v/max", 255.0);
+	}
+
+	/**
+	 * Buddy climb
+	 * 
+	 * Not currently used or read from the config file.
+	 */
+	public static class buddyClimb {
+		public static final boolean present = getBoolean("buddyClimb/present", false);
+		public static final int solenoidPort = getInt("buddyClimb/solenoidPort", 7);
+	}
+
+	/**
+	 * LED strip
+	 * 
+	 * Used to indicate the state of the robot (balls count, shoot count, issues).
+	 */
+	public static class ledStrip {
+		public static final boolean present = getBoolean("ledStrip/present", false);
+		public static final int pwmPort = getInt("ledStrip/pwmPort", 0);
+		public static final int numLEDs = getInt("ledStrip/numLEDs", 30);
+	}
+
+	public static final boolean doCharting = getBoolean("charting/enabled", true);
+
+
+
+	// Only implementation from here onwards.
+
+	private final static ConfigReader reader = new ConfigReader();
+
+	/**
+	 * Needs to be called after the config is loaded to write out an example config
+	 * file and to print out details about the config file.
+	 */
+	public static void finishLoadingConfig() {
+		reader.finishLoadingConfig();
+	}
+
+	protected static String getMotorControllerType(final String parameterName, final String defaultValue) {
+		return reader.getMotorControllerType(parameterName, defaultValue);
+	}
+
+	protected static int getInt(final String key, final int defaultValue) {
+		return reader.getInt(key, defaultValue);
+	}
+
+	protected static double getDouble(final String key, final double defaultValue) {
+		return reader.getDouble(key, defaultValue);
+	}
+
+	protected static PIDF getPIDF(final String prefix, final PIDF pidf) {
+		return reader.getPIDF(prefix, pidf);
+	}
+
+	protected static boolean getBoolean(final String key, final boolean defaultValue) {
+		return reader.getBoolean(key, defaultValue);
+	}
+	
+	protected static String getString(final String key, final String defaultValue) {
+		return reader.getString(key, defaultValue);
+	}
+
+	protected static int[] getIntArray(final String key, final int[] defaultValue) {
+		return reader.getIntArray(key, defaultValue);
+	}
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 5ef5db4..a604d17 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -26,8 +26,6 @@ private Constants() {
 	public static final double FULL_CIRCLE = 360.0;		// size of a full circle in internal units (degrees)
 	public static final double HALF_CIRCLE = 180.0;		// size of a half circle in internal units (degrees)
 	public static final double QUARTER_CIRCLE = 90.0;	// size of a quarter circle in internal units (degrees)
-	public static final int NUM_JOYSTICK_BUTTONS = 32;	// maximum number of push buttons on a joystick
-	public static final int NUM_JOYSTICK_DIRECTIONS = 10;
 	public static final double INCHES_TO_METRES = 0.0254;
 
 	public static final double JOYSTICK_DEADBAND_MINIMUM_VALUE = 0.05;	// below this we deadband the value away
@@ -51,16 +49,9 @@ private Constants() {
 	 * 
 	 * The robot has motors on each side. This is the information that defines these motors and their behaviour
 	 */
-	public static final boolean DRIVE_PRESENT_DEFAULT = false;
-	public static final int[] DRIVE_LEFT_TALON_WITH_ENCODERS_CAN_ID_LIST	 = {4,5};
-	public static final int[] DRIVE_LEFT_TALON_WITHOUT_ENCODERS_CAN_ID_LIST	 = {};
-	public static final int[] DRIVE_RIGHT_TALON_WITH_ENCODERS_CAN_ID_LIST	 = {1,2}; 
-	public static final int[] DRIVE_RIGHT_TALON_WITHOUT_ENCODERS_CAN_ID_LIST = {};
-	public static final boolean DRIVE_BRAKE_MODE			= true;
-	
 	public static final String MOTOR_CONTROLLER_TYPE_TALONSRX 	= "TalonSRX";
 	public static final String MOTOR_CONTROLLER_TYPE_SPARKMAX 	= "SparkMAX";
-	public static final String DRIVE_DEFAULT_CONTROLLER_TYPE	= MOTOR_CONTROLLER_TYPE_TALONSRX;
+	public static final String DEFAULT_MOTOR_CONTROLLER_TYPE	= MOTOR_CONTROLLER_TYPE_TALONSRX;
 
 	// Encoder values
 	public static final double FALCON_ENCODER_TICKS = 2048;  // Falon inbuilt encoders.
@@ -72,29 +63,10 @@ private Constants() {
 	public static final double DRIVE_WHEEL_DIAMETER_METRES  = 6 * INCHES_TO_METRES; // 6" wheels.
 	public static final double DRIVE_METRES_PER_REV = DRIVE_WHEEL_DIAMETER_METRES * Math.PI;
 	public static final double DRIVE_GEABOX_RATIO = 189.0/17.0;
-	
-	// This magic number is the "fastest" we want the motor to go. It is calculated
-	// by running the motor at full speed and observing what the quad encoder
-	// velocity returns.
-	// This number is very suspect.
-	public static final double DRIVE_COUNT_100ms = 13.0;
-	// A more sensible number.
-	public static final double DRIVE_MAX_SPEED = 4;
-	public static final double DRIVE_MAX_ACCELERATION = 2; // Inches/sec/sec
-	public static final double DRIVE_MAX_JERK = 1; // Inches/sec/sec/sec.
-	public static final double DRIVE_P = 0.0;//5;//1.0;
-	public static final double DRIVE_I = 0.0;
-	public static final double DRIVE_D = 0.0;//0.01;
-	public static final double DRIVE_F = 0.7;//0.665;
-	public static final double DRIVE_DEADBAND = 0.05;
-	public static final double DRIVE_RAMP_RATE = 0.01; //0.175; sluggish but smooth //0.1375; jittered	// seconds from neutral to full
+
 	public static final String DRIVE_MODE_ARCADE = "arcade";
 	public static final String DRIVE_MODE_CHEESY = "cheesy";	
-	public static final String DRIVE_DEFAULT_MODE = DRIVE_MODE_ARCADE;  // Joystick teleop mode.
-	public static final int DRIVE_CONT_CURRENT = 38;	// current limit to this value if...
-	public static final int DRIVE_PEAK_CURRENT = 80;	// the current exceeds this value for 100ms
-	public static final int DRIVE_SCALE_FACTOR = 128;
-	public static final double DRIVE_OFF_LEVEL_TWO_POWER = 0.3;
+	public static final double DRIVE_SLOW_POWER = 0.3;
 
 	
 	/**
@@ -127,43 +99,16 @@ private Constants() {
 	public static final Pose2d AUTO_LINE_GOAL = new Pose2d(AUTO_LINE_XPOS - HALF_ROBOT_LENGTH, GOAL_YPOS, new Rotation2d(Math.toRadians(0))); 
 	public static final Pose2d AUTO_LINE_OPPOSING_TRENCH = new Pose2d(AUTO_LINE_XPOS - HALF_ROBOT_LENGTH, OPPOSING_TRENCH_BALLS_YPOS, new Rotation2d(Math.toRadians(0))); 
 
-	/*
-	 * LED constants
-	 */
-	// brightness
-	public static final double LED_PERCENTAGE = 0.2;
-
 	/*
 	 *  Intake constants 
 	 */
-	public static final boolean INTAKE_PRESENT_DEFAULT = false;
-	public static final int INTAKE_CAN_ID = 10;
 	public static final double INTAKE_ENCODER_GEARBOX_RATIO = 3;
 	public static final double INTAKE_TARGET_RPS = 30;
-	public static final double INTAKE_F = 0.019;
-	public static final double INTAKE_P = 0.015;
-	public static final double INTAKE_I = 0;
-	public static final double INTAKE_D = 15.0;
-
-
-
-	public static final int INTAKE_SOLENOID_PORT = 1;
-
-	public static final int[] TEST_SPARK_MOTOR_CAN_ID_LIST = {50, 51};
-
-	public static final int[] OUTTAKE_MOTOR_TALON_CAN_ID_LIST = {15};
 
 	/*
 	* Shooter constants
 	*/
-	public static final boolean SHOOTER_PRESENT_DEFAULT = false;
-	public static final int[] SHOOTER_TALON_CAN_ID_LIST	 = {30, 31, 32};
-	public static final int SHOOTER_HOOD_SOLENOID_PORT = 3;
 	public static final double SHOOTER_SPEED_TOLERANCE_RPS = 3.33;
-	public static final double SHOOTER_F = 0.08;//0.075;
-	public static final double SHOOTER_P = 0.7;
-	public static final double SHOOTER_I = 0;
-	public static final double SHOOTER_D = 0;
 	public static final double SHOOTER_CLOSE_TARGET_SPEED_RPS = 62;
 	public static final double SHOOTER_AUTO_LINE_TARGET_SPEED_RPS = 90;
 	public static final double SHOOTER_FAR_TARGET_SPEED_RPS = 95;
@@ -171,29 +116,11 @@ private Constants() {
 	
 	/*
 	* Loader
-	*/
-	public static final boolean LOADER_PRESENT_DEFAULT = false;
-	public static final int LOADER_SPINNER_MOTOR_CAN_ID = 12;
-	public static final int LOADER_PASSTHROUGH_MOTOR_CAN_ID = 11;
-	public static final int IN_BALL_DETECTOR_DIO_PORT = 0;
-	public static final int OUT_BALL_DETECTOR_DIO_PORT = 1;
-	public static final int PADDLE_SOLENOID_PORT = 2; 
+	*/ 
 	public static final double LOADER_MOTOR_INTAKING_RPS = 18;
 	public static final double LOADER_MOTOR_SHOOTING_RPS = 8;
 	public static final double PASSTHROUGH_MOTOR_CURRENT = 0.8;
 	public static final double LOADER_MAIN_MOTOR_GEARBOX_RATIO = 1; // Encoder is on output shaft.
-	public static final double LOADER_SPINNER_P = 0.3;
-	public static final double LOADER_SPINNER_I = 0;
-	public static final double LOADER_SPINNER_D = 30;
-	public static final double LOADER_SPINNER_F = 0.1;
-
-	// Power distribution Panel (PDP)
-	public static final boolean PDP_PRESENT_DEFAULT = false;
-	public static final int PDP_CAN_ID = 62;
-	
-	// Pneumatic Control Modules (PCM)
-	public static final boolean PCM_PRESENT_DEFAULT = false;
-	public static final int PCM_CAN_ID = 61;
 
 	/*
 	 * Camera server constants
@@ -203,7 +130,6 @@ private Constants() {
 	public static final int CAMERA_RESOULTION_HEIGHT = 252;
 	public static final int CAMERA_FRAMES_PER_SECOND = 60;
 	// Vision (all need tuning)
-	public static final boolean VISION_PRESENT_DEFAULT = false;
 	public static final double VISON_MAX_TARGET_AGE_SECS = 2;
 	public static final double VISION_MAX_VELOCITY_JERK = 32; // m/s/s
 	public static final double VISION_SPEED_SCALE = 2.4 * INCHES_TO_METRES;
@@ -219,30 +145,13 @@ private Constants() {
 	public static final double VISION_AIM_TIME_COMPLETE = 0.5; // seconds
 
 
-
-	// Vision filter parameters
-	public static final double VISION_H_MIN = 40;
-	public static final double VISION_H_MAX = 100;
-	public static final double VISION_S_MIN = 20;
-	public static final double VISION_S_MAX = 255;
-	public static final double VISION_V_MIN = 40;
-	public static final double VISION_V_MAX = 255;
-
 	// Vision low pass filter (needs tuning)
 	public static final double GOAL_LOWPASS_ALPHA = 0.2;
 
 	// Turn to angle (all need tuning)
 	public static final double TURN_TO_ANGLE_MAX_VELOCITY_JERK = 50;
 	public static final double TURN_TO_ANGLE_ANGLE_SCALE = 0.3;
-
-	// Climber
-	public static final int CLIMBER_PTO_SOLENOID_PORT = 6;
-	public static final int CLIMBER_BRAKE_SOLENOID_PORT = 0; 
 	
-	// Buddy climb
-	public static final boolean BUDDYCLIMB_PRESENT_DEFAULT = false;
-	public static final int BUDDYCLIMB_SOLENOID_PORT = 7;
-
 	// logging information constants
 	public static final String USB_FLASH_DRIVE = "/media/sda1/";
 	public static final String WEB_BASE_PATH = USB_FLASH_DRIVE;		// where web server's data lives
@@ -252,7 +161,6 @@ private Constants() {
 	public static final String LOG_LATEST_EXTENSION = "latest";
 	public static final String LOG_EVENT_EXTENSION = "event";
 	public static final int	 WEB_PORT = 5800;// first open port for graph/log web server
-	public static final double LOG_GRAPH_PERIOD = 0.05;	// run the graph updater every 50ms
 
 	// Config WebServer
 	public static final String CONFIG_WEB_ROOT = "/home/lvuser/www";
@@ -262,15 +170,9 @@ private Constants() {
 	public static final int LOCATION_HISTORY_MEMORY_SECONDS = 5;
 	public static final int LOCATION_HISTORY_CYCLE_SPEED = 100; // in hz
 
-	// NavX (gyro)
-	public static final boolean NAVX_PRESENT_DEFAULT = DRIVE_PRESENT_DEFAULT;
-	
 	/*
 	 * Command timings
 	 */
-	public static final double TIME_COMMAND_RUN_PERIOD = (1.0/50.0);		// run the commands 50 times a second
-	public static final double TIME_LOCATION_PERIOD = (1.0/(double)LOCATION_HISTORY_CYCLE_SPEED);	// update the location subsystem 100 times a second
-	public static final double TIME_DRIVEBASE_PERIOD = (1.0/40.0);	// update the drivebase 40 times a second
 
 	public static final class DriveConstants {
 		public static final double kTrackwidthMeters = 0.71;
@@ -305,9 +207,6 @@ public static final class DriveConstants {
 	/*
 	 * Colour Wheel
 	 */
-	public static final boolean COLOUR_WHEEL_PRESENT_DEFAULT = false;
-	public static final int COLOUR_WHEEL_CAN_ID = 7;
-	public static final int COLOUR_WHEEL_SOLENOID_PORT = 5;
 	// Values callibrated using vynl sticker for control panel.
 	public static final Color COLOUR_WHEEL_BLUE_TARGET = ColorMatch.makeColor(0.147, 0.437, 0.416); // Values from the colour sensor used to match colours.
 	// public static final Color COLOUR_WHEEL_GREEN_TARGET = ColorMatch.makeColor(0.189, 0.559, 0.250); // This is the real green value.
@@ -323,12 +222,10 @@ public static final class DriveConstants {
 	public static final int COLOUR_WHEEL_DELAY = 15; // Time in miliseconds to wait before disabling motor when correct colour found.
 
 	/*
-	 * LED Strip
+	 * LED constants
 	 */
-	public static final boolean LED_STRIP_PRESENT_DEFAULT = false;
-	public static final int LED_STRIP_PWM_PORT = 0;
-	public static final int LED_STRIP_NUMBER_OF_LEDS = 30;
 	public static final int LED_STRIP_COUNTDOWN = 15;
+	public static final double LED_BRIGHTNESS_PERCENTAGE = 0.2;
 
 	/*
 	 * Log Syncing
diff --git a/src/main/java/frc/robot/OI.java b/src/main/java/frc/robot/OI.java
index 508d616..0e9a8a7 100644
--- a/src/main/java/frc/robot/OI.java
+++ b/src/main/java/frc/robot/OI.java
@@ -14,6 +14,7 @@
 import frc.robot.lib.GamepadButtonsX;
 import frc.robot.lib.OperatorBoxButtons;
 import frc.robot.lib.WheelColour;
+import frc.robot.lib.log.Log;
 import frc.robot.subsystems.*;
 
 
@@ -21,15 +22,12 @@ public class OI implements OIInterface {
 
 	private SwitchReactor reactor = Strongback.switchReactor();
 	private Controller exec;
-	private Log log;
 	private Subsystems subsystems;
 
 
-	public OI(Controller controller, Subsystems subsystems, Log log) {
+	public OI(Controller controller, Subsystems subsystems) {
 		this.exec = controller;
 		this.subsystems = subsystems;
-		this.log = log;
-
 	}
     
 	/*
@@ -312,7 +310,7 @@ public ModeSwitch(Switch switchOn, Switch switchOff, String name, Sequence activ
 				if (active) {
 					return;
 				}
-				log.sub("Activating " + name);
+				Log.debug("Activating " + name);
 				exec.doSequence(activatedSeq);
 				active = true;
 			});
@@ -320,7 +318,7 @@ public ModeSwitch(Switch switchOn, Switch switchOff, String name, Sequence activ
 				if (!active) {
 					return;
 				}
-				log.sub("Deactivating " + name);
+				Log.debug("Deactivating " + name);
 				exec.doSequence(deactivedSeq);
 				active = false;
 			});
@@ -424,10 +422,10 @@ private class ToggleSwitch {
 		public ToggleSwitch(Switch swtch, String name, Sequence onSeq, Sequence offSeq) {
 			Strongback.switchReactor().onTriggered(swtch, () -> {
 				if (!toggled) {
-					log.sub("Toggling on " + name);
+					Log.debug("Toggling on " + name);
 					exec.doSequence(onSeq);
 				} else {
-					log.sub("Toggling off " + name);
+					Log.debug("Toggling off " + name);
 					exec.doSequence(offSeq);
 				}
 				toggled = !toggled;
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 7eb3e51..711e594 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -29,19 +29,16 @@
 import frc.robot.interfaces.OIInterface;
 import frc.robot.lib.ConfigServer;
 import frc.robot.lib.LEDColour;
-import frc.robot.lib.LogGraph;
 import frc.robot.lib.Position;
 import frc.robot.lib.PowerMonitor;
 import frc.robot.lib.RedundantTalonSRX;
-import frc.robot.lib.RobotConfiguration;
-import frc.robot.lib.RobotName;
 import frc.robot.lib.WheelColour;
+import frc.robot.lib.chart.Chart;
+import frc.robot.lib.log.Log;
 import frc.robot.subsystems.Subsystems;
 
 public class Robot extends IterativeRobot implements Executable {
 	private Clock clock;
-	private RobotConfiguration config;
-	private LogGraph log;
 
 	// User interface.
 	private DriverStation driverStation;
@@ -69,13 +66,9 @@ public class Robot extends IterativeRobot implements Executable {
 	@Override
 	public void robotInit() {
 		clock = Strongback.timeSystem();
-		var robotName = RobotName.get(Constants.ROBOT_NAME_FILE_PATH);
-		log = new LogGraph(robotName, Constants.WEB_BASE_PATH, Constants.LOG_BASE_PATH, Constants.LOG_DATA_EXTENSION,
-				Constants.LOG_DATE_EXTENSION, Constants.LOG_LATEST_EXTENSION, Constants.LOG_EVENT_EXTENSION, false, clock);
-		config = new RobotConfiguration(Constants.CONFIG_FILE_PATH, log);
 		startWebServer();
 		startConfigServer();
-		log.info("Waiting for driver's station to connect before setting up UI");
+		Log.info("Waiting for driver's station to connect before setting up UI");
 		// Do the reset of the initialization in init().
 	}
 
@@ -87,7 +80,7 @@ public void maybeInit() {
 			setupCompleted = true;
 		} catch (Exception e) {
 			// Write the exception to the log file.
-			log.exception("Exception caught while initializing robot", e);
+			Log.exception("Exception caught while initializing robot", e);
 			throw e; // Cause it to abort the robot startup.
 		}
 	}
@@ -99,12 +92,14 @@ public void init() {
 		Strongback.logConfiguration();
 		Strongback.setExecutionPeriod(Constants.EXECUTOR_CYCLE_INTERVAL_MSEC);
 
-		log.info("Robot initialization started");
+		Log.info("Robot initialization started");
+		// Write out the example config and print any config warnings.
+		Config.finishLoadingConfig();
 
 		createInputDevices();
 
 		// Setup the hardware/subsystems. Listed here so can be quickly jumped to.
-		subsystems = new Subsystems(createDashboard(), config, clock, log);
+		subsystems = new Subsystems(createDashboard(), clock);
 		subsystems.createLEDStrip();
 		subsystems.createPneumatics();
 		subsystems.createDrivebaseLocation(driverLeftJoystick, driverRightJoystick);
@@ -131,9 +126,9 @@ public void init() {
 		Strongback.start();
 
 		// Setup the auto sequence chooser.
-		auto = new Auto(log);
+		auto = new Auto();
 
-		log.info("Robot initialization successful");
+		Log.info("Robot initialization successful");
 	}
 
 	/**
@@ -152,7 +147,7 @@ public void robotPeriodic() {
 	public void disabledInit() {
 		PortForwarder.add(Constants.RSYNC_PORT, Constants.RSYNC_HOSTNAME, 22); // Start forwarding to port 22 (ssh port) for pulling logs using rsync.
 		maybeInit();  // Called before robotPeriodic().
-		log.info("disabledInit");
+		Log.info("disabledInit");
 		// Log any failures again on disable.
 		RedundantTalonSRX.printStatus();
 		// Tell the controller to give up on whatever it was processing.
@@ -175,8 +170,9 @@ public void disabledPeriodic() {
 	@Override
 	public void autonomousInit() {
 		PortForwarder.remove(Constants.RSYNC_PORT); // Stop forwarding port to stop rsync and save bandwidth.
-		log.restartLogs();
-		log.info("auto has started");
+		Chart.restartCharts();
+		Log.restartLogs();
+		Log.info("auto has started");
 		subsystems.enable();
 
 		controller.doSequence(Sequences.getStartSequence());
@@ -203,8 +199,9 @@ public void autonomousPeriodic() {
 	@Override
 	public void teleopInit() {
 		PortForwarder.remove(Constants.RSYNC_PORT); // Stop forwarding port to stop rsync and save bandwidth.
-		log.restartLogs();
-		log.info("teleop has started");
+		Chart.restartCharts();
+		Log.restartLogs();
+		Log.info("teleop has started");
 		subsystems.enable();
 		controller.doSequence(Sequences.setDrivebaseToArcade());
 		subsystems.setLEDColour(allianceLEDColour());
@@ -229,7 +226,8 @@ public void teleopPeriodic() {
 	 */
 	@Override
 	public void testInit() {
-		log.restartLogs();
+		Chart.restartCharts();
+		Log.restartLogs();
 		subsystems.enable();
 	}
 
@@ -265,8 +263,8 @@ public void putBoolean(String key, Boolean value) {
 	 * Create the camera servers so the driver & operator can see what the robot can see.
 	 */
 	public void createCameraServers() {
-		if (!config.visionIsPresent) {
-			log.sub("Vision not enabled, not creating a camera server");
+		if (!Config.vision.present) {
+			Log.debug("Vision not enabled, not creating a camera server");
 			return;
 		}
 		UsbCamera camera = CameraServer.getInstance().startAutomaticCapture(0);
@@ -282,8 +280,8 @@ public void createCameraServers() {
 	 */
 	private void createPowerMonitor() {
 		// Do not monitor if not present, or we have been asked not to monitor
-		boolean enabled = config.pdpIsPresent || config.pdpMonitor;
-		pdp = new PowerMonitor(new PowerDistributionPanel(config.pdpCanId), config.pdpChannelsToMonitor, enabled, log);
+		boolean enabled = Config.pdp.present || Config.pdp.monitor;
+		pdp = new PowerMonitor(new PowerDistributionPanel(Config.pdp.canId), Config.pdp.channelsToMonitor, enabled);
 	}
 
 	/**
@@ -296,9 +294,9 @@ private void startWebServer() {
 		File fileDir = new File(Constants.WEB_BASE_PATH);
 		try {
 			new SimpleWebServer(fileDir, Constants.WEB_PORT);
-			log.sub("WebServer started at port: " + Constants.WEB_PORT);
+			Log.debug("WebServer started at port: " + Constants.WEB_PORT);
 		} catch (Exception e) {
-			log.sub("Failed to start webserver on directory " + fileDir.getAbsolutePath());
+			Log.debug("Failed to start webserver on directory " + fileDir.getAbsolutePath());
 
 			e.printStackTrace();
 		}
@@ -310,9 +308,9 @@ private void startWebServer() {
 	private void startConfigServer() {
 		try {
 			new ConfigServer(Constants.CONFIG_WEB_ROOT, Constants.CONFIG_FILE_PATH, Constants.ROBOT_NAME_FILE_PATH, Constants.CONFIG_WEB_PORT);
-			log.sub("Config webserver started at port: " + Constants.WEB_PORT);
+			Log.debug("Config webserver started at port: " + Constants.WEB_PORT);
 		} catch (Exception e) {
-			log.sub("Failed to start config webserver.");
+			Log.debug("Failed to start config webserver.");
 			e.printStackTrace();
 		}
 	}
@@ -333,13 +331,13 @@ private void createInputDevices() {
 	 * box if it's attached.
 	 */
 	private void setupUserInterface() {
-		oi = new OI(controller, subsystems, log);
+		oi = new OI(controller, subsystems);
 		oi.configureJoysticks(driverLeftJoystick, driverRightJoystick, operatorJoystick);
 		if (operatorBox.getButtonCount() > 0) {
-			log.info("Operator box detected");
+			Log.info("Operator box detected");
 			oi.configureDiagBox(operatorBox);
 		}
-		log.register(false, driverStation::getMatchTime, "DriverStation/MatchTime");
+		Chart.register(driverStation::getMatchTime, "DriverStation/MatchTime");
 	}
 
 	/**
@@ -352,19 +350,19 @@ private void startLogging() {
 				driverStation.getEventName(),
 				driverStation.getMatchType().toString(), driverStation.getMatchNumber(),
 				driverStation.getReplayNumber(), driverStation.getAlliance().toString(), driverStation.getLocation());
-		log.logCompletedElements(matchDescription);
-		if (config.doLogging) {
+		Chart.registrationComplete(matchDescription);
+		if (Config.doCharting) {
 			// Low priority means run every 20 * 4 = 80ms, or at 12.5Hz
 			// It polls almost everything on the CAN bus, so don't want it to be too fast.
-			Strongback.executor().register(log, Priority.LOW);
+			Strongback.executor().register(new Chart(), Priority.LOW);
 		} else {
-			log.error("Logging: Dygraph logging disabled");
+			Log.error("Logging: Dygraph logging disabled");
 		}
 	}
 
 	@Override
 	public void execute(long timeInMillis) {
-		//log.sub("Updating smartDashboard");
+		//Logger.debug("Updating smartDashboard");
 		maybeUpdateSmartDashboard();
 	}
 
@@ -388,7 +386,7 @@ private void maybeUpdateSmartDashboard() {
 	public WheelColour getFMSColour() {
 		String fmsColour = driverStation.getGameSpecificMessage();
 		if (!fmsColour.equals(lastColour)) {
-			log.info("FMS Colour: %s", fmsColour);
+			Log.info("FMS Colour: %s", fmsColour);
 			lastColour = fmsColour;
 		}
 		if (fmsColour.length() == 0) {
diff --git a/src/main/java/frc/robot/controller/Controller.java b/src/main/java/frc/robot/controller/Controller.java
index 60b2775..a3af468 100644
--- a/src/main/java/frc/robot/controller/Controller.java
+++ b/src/main/java/frc/robot/controller/Controller.java
@@ -1,22 +1,21 @@
 package frc.robot.controller;
-  
+
 import java.util.Iterator;
 import java.util.function.BooleanSupplier;
 import java.util.function.Supplier;
 
 import org.strongback.components.Clock;
 
+import frc.robot.controller.Sequence.SequenceBuilder;
 import frc.robot.interfaces.ColourWheelInterface.ColourAction;
 import frc.robot.interfaces.ColourWheelInterface.ColourAction.ColourWheelType;
 import frc.robot.interfaces.DashboardInterface;
 import frc.robot.interfaces.DashboardUpdater;
-import frc.robot.interfaces.Log;
 import frc.robot.lib.LEDColour;
 import frc.robot.lib.WheelColour;
+import frc.robot.lib.log.Log;
 import frc.robot.subsystems.Subsystems;
 
-import frc.robot.controller.Sequence.SequenceBuilder;
-
 
 /**
  * The controller of State Sequences while ensuring the robot is safe at every
@@ -41,7 +40,6 @@ public class Controller implements Runnable, DashboardUpdater {
 	private final Subsystems subsystems;
 	private final Clock clock;
 	private final DashboardInterface dashboard;
-	private final Log log;
 	private Sequence sequence = new SequenceBuilder("idle",false).build(); // Current sequence we are working through.
 	private boolean sequenceHasChanged = true;
 	private boolean sequenceHasFinished = true;
@@ -55,7 +53,6 @@ public Controller(Subsystems subsystems, Supplier<WheelColour> fmsColour) {
 		this.subsystems = subsystems;
 		this.clock = subsystems.clock;
 		this.dashboard = subsystems.dashboard;
-		this.log = subsystems.log;
 		this.fmsColour = fmsColour;
 		(new Thread(this)).start();
 	}
@@ -71,7 +68,7 @@ synchronized public void doSequence(Sequence sequence) {
 		endState = this.sequence.getEndState();
 		this.sequence = sequence;
 		sequenceHasChanged = true;
-		logSub("Sequence has changed to %s sequence", sequence.getName());
+		debug("Sequence has changed to %s sequence", sequence.getName());
 		notifyAll(); // Tell the run() method that there is a new sequence.
 	}
 
@@ -89,24 +86,24 @@ public void run() {
 				State desiredState = null;
 				synchronized (this) {
 					if (!sequenceHasFinished && sequenceHasChanged) {
-						logSub("Sequence interrupted, applying end state.");
+						debug("Sequence interrupted, applying end state.");
 						applyState(endState);
 					}	
 					if (sequenceHasChanged || iterator == null) {
-						logSub("State sequence has changed, now executing %s sequence", sequence.getName());
+						debug("State sequence has changed, now executing %s sequence", sequence.getName());
 						iterator = sequence.iterator();
 						sequenceHasChanged = false;
 						sequenceHasFinished = false;
 					}				
 					if (!iterator.hasNext()) {
-						logSub("Sequence %s is complete", sequence.getName());
+						debug("Sequence %s is complete", sequence.getName());
 						sequenceHasFinished = true;
 						try {
-							logSub("Controller waiting for a new sequence to run");
+							debug("Controller waiting for a new sequence to run");
 							wait();
-							// logSub("Have a new sequence to run");
+							// debug("Have a new sequence to run");
 						} catch (InterruptedException e) {
-							logSub("Waiting interrupted %s", e);
+							debug("Waiting interrupted %s", e);
 						}
 						continue; // Restart from the beginning.
 					}
@@ -116,7 +113,7 @@ public void run() {
 			}
 		} catch (Exception e) {
 			// The controller is dying, write the exception to the logs.
-			log.exception("Controller caught an unhandled exception", e);
+			Log.exception("Controller caught an unhandled exception", e);
 
 			// Used by the unit tests to detect if the controller thread is still running
 			// see isAlive()
@@ -148,18 +145,18 @@ private void applyState(State desiredState) {
 			System.out.println("Desired state is null!!!");
 		}
 
-		logSub("Applying requested state: %s", desiredState);
-		//logSub("Waiting subsystems to finish moving before applying state");
+		debug("Applying requested state: %s", desiredState);
+		//debug("Waiting subsystems to finish moving before applying state");
 
 		// Get the current state of the subsystems.
 		State currentState = new State(subsystems, clock);
-		logSub("Current state: %s", currentState);
+		debug("Current state: %s", currentState);
 		// Fill in the blanks in the desired state.
 		desiredState = State.calculateUpdatedState(desiredState, currentState);
 		if (desiredState.colourAction.movingToUnknownColour()) { // If the colour wheel is set to positional but the colour is unknown, work out the desired colour using FMS.
 			desiredState.colourAction = new ColourAction(ColourWheelType.POSITION, fmsColour.get());
 		}
-		logSub("Calculated new 'safe' state: %s", desiredState);
+		debug("Calculated new 'safe' state: %s", desiredState);
 
 		// The time beyond which we are allowed to move onto the next state
 		double endTime = desiredState.timeAction.calculateEndTime(clock.currentTime());
@@ -220,7 +217,7 @@ private void maybeWaitForAutoDriving() {
 		try {
 			waitUntilOrAbort(() -> subsystems.drivebase.hasFinished(), "auto driving", LEDColour.RED);
 		} catch (SequenceChangedException e) {
-			logSub("Sequence changed while driving, switching drivebase back to arcade");
+			debug("Sequence changed while driving, switching drivebase back to arcade");
 			subsystems.drivebase.setArcadeDrive();
 		}
 	}
@@ -233,7 +230,7 @@ private void maybeWaitForIntake() {
 		try {
 			waitUntilOrAbort(() -> subsystems.intake.isRetracted() || subsystems.intake.isExtended(), "intake to finish moving", LEDColour.YELLOW);
 		} catch (SequenceChangedException e) {
-			logSub("Sequence changed while deploying/intaking");
+			debug("Sequence changed while deploying/intaking");
 		}		
 	}
 	/**
@@ -244,7 +241,7 @@ private void maybeWaitForBlocker() {
 		try {
 			waitUntilOrAbort(() -> subsystems.loader.isPaddleBlocking() || subsystems.loader.isPaddleNotBlocking(), "blocking to finish moving", LEDColour.BLUE);
 		} catch (SequenceChangedException e) {
-			logSub("Sequence changed while blocking/not blocking with paddle");
+			debug("Sequence changed while blocking/not blocking with paddle");
 		}		
 	}
 
@@ -256,7 +253,7 @@ private void maybeWaitForShooterHood() {
 		try {
 			waitUntilOrAbort(() -> subsystems.shooter.isHoodExtended() || subsystems.shooter.isHoodRetracted(), "hood to finish moving", LEDColour.GREEN);
 		} catch (SequenceChangedException e) {
-			logSub("Sequence changed while Shooter Hood extends/retracts");
+			debug("Sequence changed while Shooter Hood extends/retracts");
 		}		
 	}
 	/**
@@ -270,14 +267,14 @@ private void maybeWaitForShooter(Boolean shooterUpToSpeed) {
 		}
 		// set the LEDs to purple if we are trying to wait for the shooter to reach 0 rps
 		if (shooterUpToSpeed && subsystems.shooter.getTargetRPS() == 0) {
-			logSub("Should never be waiting for the shooter to reach 0 RPS. Running the empty sequence");
+			debug("Should never be waiting for the shooter to reach 0 RPS. Running the empty sequence");
 			doSequence(Sequences.setLEDColour(LEDColour.PURPLE));
 		}
 
 		try {
 			waitUntilOrAbort(() -> subsystems.shooter.isAtTargetSpeed(), "shooter", LEDColour.CYAN);
 		} catch (SequenceChangedException e) {
-			logSub("Sequence changed while spinning up shooter, stopping shooter");
+			debug("Sequence changed while spinning up shooter, stopping shooter");
 			subsystems.shooter.setTargetRPS(0);
 		}
 	}
@@ -287,7 +284,7 @@ private void maybeWaitForColourWheel() {
 		try {
 			waitUntilOrAbort(() -> subsystems.colourWheel.isFinished(), "colour wheel finished", LEDColour.ORANGE);
 		} catch (SequenceChangedException e) {
-			logSub("Sequence changed while moving colour wheel");
+			debug("Sequence changed while moving colour wheel");
 			// The sequence has changed, setting action to null.
 			subsystems.colourWheel.setDesiredAction(new ColourAction(ColourWheelType.NONE, WheelColour.UNKNOWN));
 			subsystems.colourWheel.setArmExtended(false);
@@ -298,7 +295,7 @@ private void maybeWaitForBuddyClimb() {
 		try {
 			waitUntilOrAbort(() -> subsystems.buddyClimb.isExtended() || subsystems.buddyClimb.isRetracted(), "buddy climb to finish moving", LEDColour.BROWN);
 		} catch (SequenceChangedException e) {
-			logSub("Sequence changed while moving buddy climb");
+			debug("Sequence changed while moving buddy climb");
 		}
 	}
 
@@ -314,7 +311,7 @@ private void maybeWaitForBalls(Integer expectBalls) {
 		
 		if (subsystems.loader.getCurrentBallCount() == expectBalls) return;
 		
-		logSub("Waiting for balls");
+		debug("Waiting for balls");
 		try {
 			waitUntilOrAbort(() -> subsystems.loader.getCurrentBallCount() == expectBalls, "numBalls", LEDColour.MAGENTA);
 		} catch (SequenceChangedException e) {
@@ -329,7 +326,7 @@ private void maybeWaitForBalls(Integer expectBalls) {
 	 */
 	private void waitForTime(double endTimeSec) {
 		if (clock.currentTime() < endTimeSec) {
-			//logSub("Waiting for %.1f seconds", endTimeSec - clock.currentTime());
+			//debug("Waiting for %.1f seconds", endTimeSec - clock.currentTime());
 		}
 		waitUntil(() -> clock.currentTime() > endTimeSec, "time", LEDColour.WHITE);
 	}
@@ -355,7 +352,7 @@ private void waitUntilOrAbort(BooleanSupplier func, String name, LEDColour debug
 			}
 			double now = clock.currentTime();
 			if (now > nextLogTimeSec) {
-				logSub("Controller waiting on %s, has waited %fs so far", name, now - startTimeSec);
+				debug("Controller waiting on %s, has waited %fs so far", name, now - startTimeSec);
 				blockedBy = name;  // Update the dashboard with what the controller is waiting for.
 				waitDurationSec *= 2;
 				nextLogTimeSec = now + waitDurationSec;
@@ -365,7 +362,7 @@ private void waitUntilOrAbort(BooleanSupplier func, String name, LEDColour debug
 		blockedBy = "";
 		if (clock.currentTime() - nextLogTimeSec > 1) {
 			// Print a final message.
-			logSub("Controller done waiting on %s, after %fs", name, clock.currentTime() - startTimeSec);
+			debug("Controller done waiting on %s, after %fs", name, clock.currentTime() - startTimeSec);
 		}
 	}
 	
@@ -384,7 +381,7 @@ private void waitUntil(BooleanSupplier func, String name, LEDColour debugColour)
 		while (!func.getAsBoolean()) {
 			double now = clock.currentTime();
 			if (now > nextLogTimeSec) {
-				logSub("Controller waiting on %s, has waited %fs so far", name, now - startTimeSec);
+				debug("Controller waiting on %s, has waited %fs so far", name, now - startTimeSec);
 				blockedBy = name;  // Update the dashboard with what the controller is waiting for.
 				waitDurationSec *= 2;
 				nextLogTimeSec = now + waitDurationSec;
@@ -394,7 +391,7 @@ private void waitUntil(BooleanSupplier func, String name, LEDColour debugColour)
 		blockedBy = "";
 		if (clock.currentTime() - nextLogTimeSec > 1) {
 			// Print a final message.
-			logSub("Controller done waiting on %s, after %fs", name,  clock.currentTime() - startTimeSec);
+			debug("Controller done waiting on %s, after %fs", name,  clock.currentTime() - startTimeSec);
 		}
 	}
 
@@ -405,15 +402,15 @@ public SequenceChangedException() {
 		}
 	}
 	
-	private void logSub(String message, Object... args) {
+	private void debug(String message, Object... args) {
 		String time_str = String.format("%.3f controller: ", clock.currentTime());
-		log.sub(time_str + message, args);
+		Log.debug(time_str + message, args);
 	}
 
 	@SuppressWarnings("unused")
 	private void logErr(String message, Object... args) {
 		String time_str = String.format("%.3f controller: ", clock.currentTime());
-		log.error(time_str + message, args);
+		Log.error(time_str + message, args);
 	}
 
 	public synchronized void updateDashboard() {
diff --git a/src/main/java/frc/robot/controller/Sequences.java b/src/main/java/frc/robot/controller/Sequences.java
index 23de8b7..b2501b6 100644
--- a/src/main/java/frc/robot/controller/Sequences.java
+++ b/src/main/java/frc/robot/controller/Sequences.java
@@ -90,7 +90,7 @@ public static Sequence getDriveToWaypointSequence(double x, double y, double ang
 
 	public static Sequence startSlowDriveForward() {
 		SequenceBuilder builder = new SequenceBuilder("Slow drive forward");
-		builder.then().setDrivebasePower(DRIVE_OFF_LEVEL_TWO_POWER);
+		builder.then().setDrivebasePower(DRIVE_SLOW_POWER);
 		return builder.build();
 	}
 
diff --git a/src/main/java/frc/robot/drive/routines/ArcadeDrive.java b/src/main/java/frc/robot/drive/routines/ArcadeDrive.java
index b767c66..4573399 100644
--- a/src/main/java/frc/robot/drive/routines/ArcadeDrive.java
+++ b/src/main/java/frc/robot/drive/routines/ArcadeDrive.java
@@ -2,8 +2,8 @@
 
 import org.strongback.components.Motor.ControlMode;
 import org.strongback.components.ui.ContinuousRange;
-import frc.robot.interfaces.Log;
 import frc.robot.interfaces.DrivebaseInterface.DriveMotion;
+import frc.robot.lib.chart.Chart;
 
 public class ArcadeDrive extends DriveRoutine {
 	private double scale = 1;
@@ -11,27 +11,25 @@ public class ArcadeDrive extends DriveRoutine {
 	private ContinuousRange turn;
 	private boolean squaredInputs;
 
-	public ArcadeDrive(String name, ControlMode mode, double scale, ContinuousRange move, ContinuousRange turn,
-			Log log) {
-		this(name, mode, scale, move, turn, true, log);
+	public ArcadeDrive(String name, ControlMode mode, double scale, ContinuousRange move, ContinuousRange turn) {
+		this(name, mode, scale, move, turn, true);
 	}
 
-	public ArcadeDrive(String name, ControlMode mode, double scale, ContinuousRange move, ContinuousRange turn, boolean squaredInputs,
-			Log log) {
-		super(name, mode, log);
+	public ArcadeDrive(String name, ControlMode mode, double scale, ContinuousRange move, ContinuousRange turn, boolean squaredInputs) {
+		super(name, mode);
 		this.scale = scale;
 		this.move = move;
 		this.turn = turn;
 		this.squaredInputs = squaredInputs;
-		log.register(false, () -> move.read(), "UI/%s/Move", name).register(false, () -> turn.read(), "UI/%s/Turn",
-				name);
+		Chart.register(() -> move.read(), "UI/%s/Move", name);
+		Chart.register(() -> turn.read(), "UI/%s/Turn", name);
 	}
 
 	@Override
 	public DriveMotion getMotion(double leftSpeed, double rightSpeed) {
 		double m = move.read();
 		double t = turn.read();
-		// log.sub("%s: Move: %f, Turn: %f\n", name, m, t);
+		// Logger.debug("%s: Move: %f, Turn: %f\n", name, m, t);
 		return arcadeToTank(m, t, scale, squaredInputs);
 	}
 }
diff --git a/src/main/java/frc/robot/drive/routines/CheesyDpadDrive.java b/src/main/java/frc/robot/drive/routines/CheesyDpadDrive.java
index 149bc73..9107a8f 100644
--- a/src/main/java/frc/robot/drive/routines/CheesyDpadDrive.java
+++ b/src/main/java/frc/robot/drive/routines/CheesyDpadDrive.java
@@ -5,7 +5,6 @@
 import org.strongback.components.Motor.ControlMode;
 import org.strongback.components.ui.ContinuousRange;
 import org.strongback.components.ui.DirectionalAxis;
-import frc.robot.interfaces.Log;
 import frc.robot.interfaces.DrivebaseInterface.DriveMotion;
 import frc.robot.lib.GamepadButtonsX;
 
@@ -36,8 +35,8 @@ public class CheesyDpadDrive extends DriveRoutine {
 	static final double kTopHatSpeed = 0.7;
 
 	public CheesyDpadDrive(String name, DirectionalAxis dPad, ContinuousRange throttle, ContinuousRange wheel,
-			Switch isQuickTurn, Log log) {
-		super(name, ControlMode.DutyCycle, log);
+			Switch isQuickTurn) {
+		super(name, ControlMode.DutyCycle);
 		this.dPad = dPad;
 		this.throttleCR = throttle;
 		this.wheelCR = wheel;
diff --git a/src/main/java/frc/robot/drive/routines/ConstantDrive.java b/src/main/java/frc/robot/drive/routines/ConstantDrive.java
index ea7dcb3..f95a8b9 100644
--- a/src/main/java/frc/robot/drive/routines/ConstantDrive.java
+++ b/src/main/java/frc/robot/drive/routines/ConstantDrive.java
@@ -1,6 +1,5 @@
 package frc.robot.drive.routines;
 
-import frc.robot.interfaces.Log;
 import frc.robot.interfaces.DrivebaseInterface.DriveMotion;
 import frc.robot.interfaces.DrivebaseInterface.DriveRoutineParameters;
 import org.strongback.components.Motor.ControlMode;
@@ -11,8 +10,8 @@
 public class ConstantDrive extends DriveRoutine {
 	private DriveMotion motion = new DriveMotion(0, 0);
 
-	public ConstantDrive(String name, ControlMode mode, Log log) {
-		super(name, mode, log);
+	public ConstantDrive(String name, ControlMode mode) {
+		super(name, mode);
 	}
 
 	@Override
diff --git a/src/main/java/frc/robot/drive/routines/CurvatureDrive.java b/src/main/java/frc/robot/drive/routines/CurvatureDrive.java
index f321f71..dced9ba 100644
--- a/src/main/java/frc/robot/drive/routines/CurvatureDrive.java
+++ b/src/main/java/frc/robot/drive/routines/CurvatureDrive.java
@@ -3,7 +3,6 @@
 import org.strongback.components.Switch;
 import org.strongback.components.Motor.ControlMode;
 import org.strongback.components.ui.ContinuousRange;
-import frc.robot.interfaces.Log;
 import frc.robot.interfaces.DrivebaseInterface.DriveMotion;
 import frc.robot.lib.MathUtil;
 
@@ -20,9 +19,8 @@ public class CurvatureDrive extends DriveRoutine {
     public static final double DEFAULT_MAXIMUM_SPEED = 1.0;
     private static final double SENSITIVITY_TURN = 1.0;
 
-    public CurvatureDrive(ContinuousRange throttle, ControlMode mode, ContinuousRange wheel, Switch isQuickTurn,
-            Log log) {
-        super("Curvature", mode, log);
+    public CurvatureDrive(ContinuousRange throttle, ControlMode mode, ContinuousRange wheel, Switch isQuickTurn) {
+        super("Curvature", mode);
         this.throttleCR = throttle;
         this.wheelCR = wheel;
         this.isQuickTurn = isQuickTurn;
diff --git a/src/main/java/frc/robot/drive/routines/DriveRoutine.java b/src/main/java/frc/robot/drive/routines/DriveRoutine.java
index 10a97aa..c2e751c 100644
--- a/src/main/java/frc/robot/drive/routines/DriveRoutine.java
+++ b/src/main/java/frc/robot/drive/routines/DriveRoutine.java
@@ -2,7 +2,6 @@
 
 import org.strongback.components.Motor.ControlMode;
 
-import frc.robot.interfaces.Log;
 import frc.robot.interfaces.DrivebaseInterface.DriveMotion;
 import frc.robot.interfaces.DrivebaseInterface.DriveRoutineParameters;
 import frc.robot.lib.MathUtil;
@@ -15,11 +14,9 @@
 public abstract class DriveRoutine {
 	protected String name;
 	protected ControlMode mode;
-	protected Log log;
 
-	protected DriveRoutine(String name, ControlMode mode, Log log) {
+	protected DriveRoutine(String name, ControlMode mode) {
 		this.name = name;
-		this.log = log;
 	}
 	
 	/*
diff --git a/src/main/java/frc/robot/drive/routines/PositionalPIDDrive.java b/src/main/java/frc/robot/drive/routines/PositionalPIDDrive.java
index 2fc1b7c..d22d623 100644
--- a/src/main/java/frc/robot/drive/routines/PositionalPIDDrive.java
+++ b/src/main/java/frc/robot/drive/routines/PositionalPIDDrive.java
@@ -6,9 +6,9 @@
 import org.strongback.components.Clock;
 import org.strongback.components.Motor.ControlMode;
 
-import frc.robot.interfaces.Log;
 import frc.robot.interfaces.DrivebaseInterface.DriveMotion;
 import frc.robot.interfaces.DrivebaseInterface.DriveRoutineParameters;
+import frc.robot.lib.log.Log;
 import frc.robot.Constants;
 import frc.robot.drive.util.LowPassFilter;
 import frc.robot.drive.util.PositionPID;
@@ -31,11 +31,11 @@ public class PositionalPIDDrive extends DriveRoutine {
 
 	public PositionalPIDDrive(String name, BooleanSupplier finished, DoubleSupplier targetSpeed,
 			DoubleSupplier targetTurn, double speedScale, double turnScale, double maxJerk, DoubleSupplier leftDistance,
-			DoubleSupplier leftSpeed, DoubleSupplier rightDistance, DoubleSupplier rightSpeed, Clock clock, Log log) {
-		super(name, ControlMode.DutyCycle, log);
+			DoubleSupplier leftSpeed, DoubleSupplier rightDistance, DoubleSupplier rightSpeed, Clock clock) {
+		super(name, ControlMode.DutyCycle);
 		this.finished = finished;
 		this.clock = clock;
-		log.info("Starting to drive positional PID");
+		Log.info("Starting to drive positional PID");
 
 		/*
 		 * There is an issue here. If the targetSpeed increases too rapidly, then even
@@ -48,22 +48,22 @@ public PositionalPIDDrive(String name, BooleanSupplier finished, DoubleSupplier
 		LowPassFilter filteredSpeed = new LowPassFilter(targetSpeed, 0.2);
 		leftPID = createPID("Drive/" + name + "/left", () -> {
 			return speedScale * filteredSpeed.getAsDouble() + turnScale * targetTurn.getAsDouble();
-		}, maxJerk, leftDistance, leftSpeed, clock, log);
+		}, maxJerk, leftDistance, leftSpeed, clock);
 		rightPID = createPID("Drive/" + name + "/right", () -> {
 			return speedScale * filteredSpeed.getAsDouble() - turnScale * targetTurn.getAsDouble();
-		}, maxJerk, rightDistance, rightSpeed, clock, log);
+		}, maxJerk, rightDistance, rightSpeed, clock);
 	}
 
 	public PositionalPIDDrive(String name, DoubleSupplier targetSpeed, DoubleSupplier targetTurn, double speedScale,
 			double turnScale, double maxJerk, DoubleSupplier leftDistance, DoubleSupplier leftSpeed,
-			DoubleSupplier rightDistance, DoubleSupplier rightSpeed, Clock clock, Log log) {
+			DoubleSupplier rightDistance, DoubleSupplier rightSpeed, Clock clock) {
 		this(name, () -> true, targetSpeed, targetTurn, speedScale, turnScale, maxJerk, leftDistance, leftSpeed,
-				rightDistance, rightSpeed, clock, log);
+				rightDistance, rightSpeed, clock);
 	}
 
 	private PositionPID createPID(String name, DoubleSupplier targetSpeed, double maxJerk, DoubleSupplier distance,
-			DoubleSupplier speed, Clock clock, Log log) {
-		PositionPID pid = new PositionPID(name, targetSpeed, maxJerk, distance, speed, clock, log);
+			DoubleSupplier speed, Clock clock) {
+		PositionPID pid = new PositionPID(name, targetSpeed, maxJerk, distance, speed, clock);
 		double kV = 0.3;
 		double kA = 0, kI = 0, kD = 0;// 0.5;
 		double kP = 0.64;
@@ -98,7 +98,7 @@ public DriveMotion getMotion(double leftSpeed, double rightSpeed) {
 		if (!finished.getAsBoolean()) {
 			timestamp = clock.currentTime();
 		}
-		log.sub("%s: left=%f right=%f", name, leftPower, rightPower);
+		Log.debug("%s: left=%f right=%f", name, leftPower, rightPower);
 		return new DriveMotion(leftPower, rightPower);
 	}
 
diff --git a/src/main/java/frc/robot/drive/routines/TrajectoryDrive.java b/src/main/java/frc/robot/drive/routines/TrajectoryDrive.java
index cbb8ca7..a93da1c 100644
--- a/src/main/java/frc/robot/drive/routines/TrajectoryDrive.java
+++ b/src/main/java/frc/robot/drive/routines/TrajectoryDrive.java
@@ -18,8 +18,9 @@
 import frc.robot.Constants;
 import frc.robot.interfaces.DrivebaseInterface.DriveMotion;
 import frc.robot.interfaces.DrivebaseInterface.DriveRoutineParameters;
+import frc.robot.lib.chart.Chart;
+import frc.robot.lib.log.Log;
 import frc.robot.interfaces.LocationInterface;
-import frc.robot.interfaces.Log;
 
 /**
  * Walks the drivebase through a supplied list of waypoints.
@@ -57,11 +58,9 @@ public class TrajectoryDrive extends DriveRoutine {
 	private Boolean enabled = false;
 
 	private Clock clock;
-	private Log log;
 
-	public TrajectoryDrive(LocationInterface location, Clock clock, Log log) {
-		super("Trajectory Drive", ControlMode.Voltage,  log);
-		this.log = log;
+	public TrajectoryDrive(LocationInterface location, Clock clock) {
+		super("Trajectory Drive", ControlMode.Voltage);
 		this.clock = clock;
 		m_startTime = clock.currentTime();
 		m_pose = location::getPose;
@@ -75,26 +74,26 @@ public TrajectoryDrive(LocationInterface location, Clock clock, Log log) {
 		m_leftController =  new PIDController(Constants.DriveConstants.kPDriveVel, 0, 0);
         m_rightController = new PIDController(Constants.DriveConstants.kPDriveVel, 0, 0);
 
-		log.register(true, () -> clock.currentTime() - m_startTime, "TrajectoryDrive/elapsedTime")
-				.register(true, () -> m_trajectory == null ? 0 : m_trajectory.getTotalTimeSeconds(), "TrajectoryDrive/totalTime")
-				.register(true, () -> m_leftSpeedSetpoint, "TrajectoryDrive/trajectory/speed/leftSepoint")
-				.register(true, () -> m_rightSpeedSetpoint, "TrajectoryDrive/trajectory/speed/rightSepoint")
-				.register(true, () -> m_leftSpeedError, "TrajectoryDrive/trajectory/speed/leftError")
-				.register(true, () -> m_rightSpeedError, "TrajectoryDrive/trajectory/speed/rightError")
-				.register(true, () -> m_leftPIDResult, "TrajectoryDrive/trajectory/speed/leftPIDResult")
-				.register(true, () -> m_rightPIDResult, "TrajectoryDrive/trajectory/speed/rightPIDResult")
-				.register(true, () -> m_leftOutput, "TrajectoryDrive/leftOutput")
-				.register(true, () -> m_rightOutput, "TrajectoryDrive/rightOutput")
-				.register(true, () -> m_targetSpeed, "TrajectoryDrive/targetSpeed")
-				.register(true, () -> m_targetPose.getTranslation().getX(), "TrajectoryDrive/desired/x")
-				.register(true, () -> m_targetPose.getTranslation().getY(), "TrajectoryDrive/desired/y")
-				.register(true, () -> m_targetPose.getRotation().getDegrees(), "TrajectoryDrive/desired/a")
-				.register(true, () -> m_actualPose.getTranslation().getX(), "TrajectoryDrive/actual/x")
-				.register(true, () -> m_actualPose.getTranslation().getY(), "TrajectoryDrive/actual/y")
-				.register(true, () -> m_actualPose.getRotation().getDegrees(), "TrajectoryDrive/actual/a")
-				.register(true, () -> m_errorPose.getTranslation().getX(), "TrajectoryDrive/error/x")
-				.register(true, () -> m_errorPose.getTranslation().getY(), "TrajectoryDrive/error/y")
-				.register(true, () -> m_errorPose.getRotation().getDegrees(), "TrajectoryDrive/error/a");
+		Chart.register(() -> clock.currentTime() - m_startTime, "TrajectoryDrive/elapsedTime");
+		Chart.register(() -> m_trajectory == null ? 0 : m_trajectory.getTotalTimeSeconds(), "TrajectoryDrive/totalTime");
+		Chart.register(() -> m_leftSpeedSetpoint, "TrajectoryDrive/trajectory/speed/leftSepoint");
+		Chart.register(() -> m_rightSpeedSetpoint, "TrajectoryDrive/trajectory/speed/rightSepoint");
+		Chart.register(() -> m_leftSpeedError, "TrajectoryDrive/trajectory/speed/leftError");
+		Chart.register(() -> m_rightSpeedError, "TrajectoryDrive/trajectory/speed/rightError");
+		Chart.register(() -> m_leftPIDResult, "TrajectoryDrive/trajectory/speed/leftPIDResult");
+		Chart.register(() -> m_rightPIDResult, "TrajectoryDrive/trajectory/speed/rightPIDResult");
+		Chart.register(() -> m_leftOutput, "TrajectoryDrive/leftOutput");
+		Chart.register(() -> m_rightOutput, "TrajectoryDrive/rightOutput");
+		Chart.register(() -> m_targetSpeed, "TrajectoryDrive/targetSpeed");
+		Chart.register(() -> m_targetPose.getTranslation().getX(), "TrajectoryDrive/desired/x");
+		Chart.register(() -> m_targetPose.getTranslation().getY(), "TrajectoryDrive/desired/y");
+		Chart.register(() -> m_targetPose.getRotation().getDegrees(), "TrajectoryDrive/desired/a");
+		Chart.register(() -> m_actualPose.getTranslation().getX(), "TrajectoryDrive/actual/x");
+		Chart.register(() -> m_actualPose.getTranslation().getY(), "TrajectoryDrive/actual/y");
+		Chart.register(() -> m_actualPose.getRotation().getDegrees(), "TrajectoryDrive/actual/a");
+		Chart.register(() -> m_errorPose.getTranslation().getX(), "TrajectoryDrive/error/x");
+		Chart.register(() -> m_errorPose.getTranslation().getY(), "TrajectoryDrive/error/y");
+		Chart.register(() -> m_errorPose.getRotation().getDegrees(), "TrajectoryDrive/error/a");
 	}
 	
 	/**
@@ -178,7 +177,7 @@ synchronized public DriveMotion getMotion(double leftSpeed, double rightSpeed) {
 	@Override
 	public boolean hasFinished() {
 		if (clock.currentTime() - m_startTime > m_trajectory.getTotalTimeSeconds()){
-			log.sub("%s: Finished spline with %s error", getName(), m_errorPose);
+			Log.debug("%s: Finished spline with %s error", getName(), m_errorPose);
 			return true;
 		}
 		return false;
diff --git a/src/main/java/frc/robot/drive/util/PositionCalc.java b/src/main/java/frc/robot/drive/util/PositionCalc.java
index 8c0e974..859e52e 100644
--- a/src/main/java/frc/robot/drive/util/PositionCalc.java
+++ b/src/main/java/frc/robot/drive/util/PositionCalc.java
@@ -2,8 +2,6 @@
 
 import org.strongback.components.Clock;
 
-import frc.robot.interfaces.Log;
-
 /**
  * Takes a target speed for a wheel and calculates the expected encoder
  * position had the wheel been doing the target speed.
@@ -19,16 +17,14 @@ public class PositionCalc {
     private double maxJerk;
     private Clock clock;
     @SuppressWarnings("unused")
-    private Log log;
     private double lastTime;
 
-    public PositionCalc(double initialPosition, double initialSpeed, double maxJerk, Clock clock, Log log) {
+    public PositionCalc(double initialPosition, double initialSpeed, double maxJerk, Clock clock) {
         this.position = initialPosition;
         this.speed = this.targetSpeed = initialSpeed;
         this.accel = 0;
         this.maxJerk = maxJerk;
         this.clock = clock;
-        this.log = log;
         lastTime = clock.currentTime();
     }
 
@@ -54,8 +50,8 @@ public double update() {
         // Update the position based on the average speed over the last period.
         double averagespeed = (speed + lastSpeed) / 2;
         position += dtSec * averagespeed;
-        //log.sub("calc speed = %f", speed);
-        //log.sub("calc pos = %f", position);
+        //Logger.debug("calc speed = %f", speed);
+        //Logger.debug("calc pos = %f", position);
         return position;
     }
 
@@ -65,7 +61,7 @@ public double update() {
      */
     public void setTargetSpeed(double speed) {
         this.targetSpeed = speed;
-        //log.sub("target speed = %f", targetSpeed);
+        //Logger.debug("target speed = %f", targetSpeed);
     }
 
     public double getPosition() {
diff --git a/src/main/java/frc/robot/drive/util/PositionPID.java b/src/main/java/frc/robot/drive/util/PositionPID.java
index 7bc7b37..b27a6f0 100644
--- a/src/main/java/frc/robot/drive/util/PositionPID.java
+++ b/src/main/java/frc/robot/drive/util/PositionPID.java
@@ -3,7 +3,7 @@
 import java.util.function.DoubleSupplier;
 
 import org.strongback.components.Clock;
-import frc.robot.interfaces.Log;
+import frc.robot.lib.chart.Chart;
 
 /**
  * Using a PositionCalc, takes a target speed and calculates what the encoder
@@ -31,14 +31,14 @@ public class PositionPID {
     private boolean enabled = true;
 
     public PositionPID(String name, DoubleSupplier targetSpeed, double maxJerk,
-         DoubleSupplier encoderPos, DoubleSupplier encoderSpeed, Clock clock, Log log) {
+         DoubleSupplier encoderPos, DoubleSupplier encoderSpeed, Clock clock) {
         this.targetSpeed = targetSpeed;
         this.encoderPos = encoderPos;
         this.encoderSpeed = encoderSpeed;
-        calc = new PositionCalc(encoderPos.getAsDouble(), encoderSpeed.getAsDouble(), maxJerk, clock, log);
-        log.register(true, () -> calc.getSpeed(), "%s/targetSpeed", name)
-           .register(true, () -> calc.getPosition(), "%s/targetPos", name)
-           .register(true, () -> encoderPos.getAsDouble(), "%s/actualPos", name);
+        calc = new PositionCalc(encoderPos.getAsDouble(), encoderSpeed.getAsDouble(), maxJerk, clock);
+        Chart.register(() -> calc.getSpeed(), "%s/targetSpeed", name);
+        Chart.register(() -> calc.getPosition(), "%s/targetPos", name);
+        Chart.register(() -> encoderPos.getAsDouble(), "%s/actualPos", name);
     }
 
     public void setVAPID(double kV, double kA, double kP, double kI, double kD) {
diff --git a/src/main/java/frc/robot/interfaces/Log.java b/src/main/java/frc/robot/interfaces/Log.java
deleted file mode 100644
index ac4a7a4..0000000
--- a/src/main/java/frc/robot/interfaces/Log.java
+++ /dev/null
@@ -1,192 +0,0 @@
-package frc.robot.interfaces;
-
-import java.util.function.DoubleSupplier;
-import java.util.function.IntSupplier;
-
-import org.strongback.Executable;
-import org.strongback.components.Switch;
-import org.strongback.components.ui.DirectionalAxis;
-
-/**
- * This is the interface for the logging subsystem.
- * 
- * The logging subsystem has to implement two main functions:
- * 1) a text based log that allows us to log events, and
- * 2) a graphing log system that allows us to build a graph of tracked elements.
- * 
- * The text based log is a pure push log. Code calls its methods to write out events we wish to record.
- * 
- * The graphing log system has a set of elements registered with it, and will regularly query those
- * elements for their current values. These elements should be written out in such a way that they can be
- * viewed as a graph by the user.
- */
-
-public interface Log extends Executable {
-	/**
-	 * Pause the writing of records to the graphing log. If the robot is quiescent writing out log records just
-	 * takes up space and slows down the viewing of logs.
-	 */
-	public Log pauseGraphLog();
-	
-	/**
-	 * resume logging after a pause.
-	 */
-	public Log resumeGraphLog();
-		
-//################     TXT file methods     ################################################################################
-	
-	/*
-	 * Methods that handle writing to the .TXT log file. We allow freeform messages
-	 * to be added to the log file. We precede each message with a time stamp and message type.
-	 */
-	
-	/**
-	 * Logs to the external logger only.  Generic log messages
-	 * @param message Message to Log
-	 * @param args arguments to the message format string
-	 */
-	public Log logMessage(String message, Object... args);
-	
-	/**
-	 * Logs to the external logger only.  For high volume debug messages
-	 * @param message Message to Log
-	 * @param args arguments to the message format string
-	 */
-	public Log debug(String message, Object... args);
-	
-	/**
-	 * Logs to the external logger and console.  For low volume informational messages (<1/sec).
-	 * @param message Message to Log
-	 * @param args arguments to the message format string
-	 */
-	public Log info(String message, Object... args);
-	
-	/**
-	 * Logs to the external logger and console. For warning Messages.
-	 * @param message Message to Log
-	 * @param args arguments to the message format string
-	 */
-	public Log warning(String message, Object... args);
-	
-	/**
-	 * Logs to the external logger and console. For important errors Messages.
-	 * @param message Message to Log
-	 * @param args arguments to the message format string
-	 */
-	public Log error(String message, Object... args);
-	
-	/**
-	 * Logs Exceptions to the external logger and console.
-	 * @param message Message to Log
-	 * @param e Exception to log after message
-	 */
-	public Log exception(String message, Exception e);
-	
-	/**
-	 * Implementation of the familiar println interface. A single string is passed, and is added to the log
-	 * with a terminating new line.
-	 * @param message Message to add to the log
-	 */
-	public Log println(String message);
-	
-	/**
-	 * Logs to the external logger and console. For important console Messages.
-	 * @param message Message to Log
-	 * @param args arguments to the message format string
-	 */
-	public Log console(String message, Object... args);
-	
-	/**
-	 * Logs to the external logger. For command execution Messages.
-	 * @param message Message to Log
-	 * @param args arguments to the message format string
-	 */
-	public Log cmd(String message, Object... args);
-	
-	/**
-	 * Logs to the external logger and console. For important subsystem Messages.
-	 * @param message Message to Log
-	 * @param args arguments to the message format string
-	 */
-	public Log sub(String message, Object... args);
-	
-	/**
-	 * Logs to the external logger and console. For important controller Messages.
-	 * @param message Message to Log
-	 * @param args arguments to the message format string
-	 */
-	public Log ctrl(String message, Object... args);
-	
-	//################     Log data collection methods     ################################################################################
-
-	/**
-	 * Register a data stream for collection to the log.
-	 * The sample needs to have a method that returns a double which is the data element.
-	 * The format (and args) are used to construct the name of the data stream.
-	 * @param sample An object that returns a double value when called
-	 * @param format a VarArgs string which evaluates to the name of the data stream
-	 * @param args Any arguments required for the format varargs
-	 * @return the log itself to allow chaining of the register methods.
-	 */
-	public default Log register(boolean local, DoubleSupplier sample, String format, Object... args) {
-		return doRegister(local, sample, format, args);
-	}
-	
-	/**
-	 * Register a data stream for collection to the log.
-	 * The sample needs to have a method that returns an integer which is the data element.
-	 * The format (and args) are used to construct the name of the data stream.
-	 * @param sample An object that returns an integer value when called
-	 * @param format a VarArgs string which evaluates to the name of the data stream
-	 * @param args Any arguments required for the format varargs
-	 * @return the log itself to allow chaining of the register methods.
-	 */
-	
-	public default Log register(boolean local, IntSupplier sample, String format, Object... args) {
-		return doRegister(local, () -> (double)sample.getAsInt(), format, args);
-	}
-
-	/**
-	 * Register a data stream for collection to the log.
-	 * The sample needs to have a method that returns a DirectionalAxis which is the data element.
-	 * The format (and args) are used to construct the name of the data stream.
-	 * @param sample An object that returns a DirectionalAxis value when called
-	 * @param format a VarArgs string which evaluates to the name of the data stream
-	 * @param args Any arguments required for the format varargs
-	 * @return the log itself to allow chaining of the register methods.
-	 */
-	public default Log register(boolean local, DirectionalAxis sample, String format, Object... args) {
-		return doRegister(local, () -> sample.getDirection(), format, args);
-	}
-	
-	/**
-	 * Register a data stream for collection to the log.
-	 * The sample needs to have a method that returns a Switch which is the data element.
-	 * The format (and args) are used to construct the name of the data stream.
-	 * @param sample An object that returns a Switch value when called
-	 * @param format a VarArgs string which evaluates to the name of the data stream
-	 * @param args Any arguments required for the format varargs
-	 * @return the log itself to allow chaining of the register methods.
-	 */
-	public default Log register(boolean local, Switch sample, String format, Object... args) {
-		return doRegister(local, () -> (double)(sample.isTriggered()?1:0), format, args);
-	}
-	
-	/*
-	 * Register the actual data stream. In preference one of the register() methods should be used
-	 */
-	public Log doRegister(boolean local, DoubleSupplier sample, String format, Object... args);
-	
-	/**
-	 * Tells the logging subsystem that all registration events has occurred.
-	 * Registration must be completed before we can start writing out logging records as the first record
-	 * must be a heading record which requires all the elements to be queried 
-	 */
-	public Log logCompletedElements(String matchDescription);
-	
-	/**
-	 * Flush any outstanding data for the log files
-	 * @return this for chaining, never null.
-	 */
-	public Log flush();
-}
diff --git a/src/main/java/frc/robot/interfaces/LogWriter.java b/src/main/java/frc/robot/interfaces/LogWriter.java
new file mode 100644
index 0000000..6514b94
--- /dev/null
+++ b/src/main/java/frc/robot/interfaces/LogWriter.java
@@ -0,0 +1,33 @@
+package frc.robot.interfaces;
+
+/**
+ * Simple log writer.
+ */
+
+public interface LogWriter {
+	
+	/**
+	 * Writes a single line to a log file.
+	 * @param message Message to write to the log.
+	 */
+	public void write(String message);
+
+	/**
+	 * Flush any writes to disk.
+	 */
+	public void flush();
+	
+	/**
+	 * Close the file and clean up.
+	 */
+	public void close();
+
+	/**
+	 * Create symbolic links to the file. Used to create Latest_x and dated
+	 * symlinks. This version also takes a directory.
+	 * 
+	 * @param dir sub directory relative to logging base dir to put link in.
+	 * @param prefix as in <prefix>_chart.html
+	 */
+	public void createSymbolicLink(String dir, String prefix);
+}
diff --git a/src/main/java/frc/robot/lib/ConfigReader.java b/src/main/java/frc/robot/lib/ConfigReader.java
new file mode 100644
index 0000000..6bdb526
--- /dev/null
+++ b/src/main/java/frc/robot/lib/ConfigReader.java
@@ -0,0 +1,262 @@
+package frc.robot.lib;
+
+import static frc.robot.Constants.*;
+
+import java.io.BufferedReader;
+import java.io.BufferedWriter;
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.NoSuchFileException;
+import java.nio.file.Path;
+import java.nio.file.Paths;
+import java.nio.file.StandardOpenOption;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.Collections;
+import java.util.HashMap;
+import java.util.Map;
+import java.util.TreeMap;
+import java.util.stream.Collectors;
+
+import frc.robot.Constants;
+import frc.robot.lib.log.Log;
+
+/**
+ * Class responsible for reading parameters to control behaviour of robot hardware.
+ * (e.g. if subsystems are present or not) It reads from a text file
+ * Currently the supported types are String, int, double, boolean and int array.
+ * 
+ * Example lines:
+ * drivebase/present = true
+ * drivebase/rampRate = 0.13125
+ * drivebase/right/canIDs/withEncoders = 7,6
+ * drivebase/right/canIDs/withoutEncoders = 5
+ */
+public class ConfigReader {
+
+	private String name = "RobotConfig";
+	private String filePath;
+	private Map<String, String> lines;
+	private Map<String, String> ignoredEntries; // Lines/entries not used in the config file.
+	private Map<String, String> nonDefaultParameters; // Non-default values used from the config file.
+	private ArrayList<String> exampleText = new ArrayList<String>();
+
+	public ConfigReader() {
+		this(Constants.CONFIG_FILE_PATH);
+	}
+
+	public ConfigReader(String filePath) {
+		this.filePath = filePath;
+
+		readLines(Paths.get(filePath));
+	}
+
+	/**
+	 * Needs to be called after the config is loaded to write out an example config
+	 * file and to print out details about the config file.
+	 */
+	public void finishLoadingConfig() {
+		Collections.sort(exampleText);
+		writeExampleFile(filePath, String.join("\n", exampleText));
+
+		if (!ignoredEntries.isEmpty()) {
+			Log.warning("WARNING: These config file lines weren't used:");
+			for (String entry : ignoredEntries.values()) {
+				Log.warning("  %s", entry);
+			}
+		}
+		if (!nonDefaultParameters.isEmpty()) {
+			Log.warning("WARNING: These parameters have non-default values:");
+			for (Map.Entry<String, String> entry : nonDefaultParameters.entrySet()) {
+				Log.warning("  %s = %s", entry.getKey(), entry.getValue());
+			}
+		}
+		Log.info("RobotConfig finished loading parameters\n");
+	}
+
+	private void readLines(Path path) {
+		Log.info("Reading config file " + path);
+		lines = new HashMap<String, String>();
+		ignoredEntries = new TreeMap<String, String>();
+		nonDefaultParameters = new TreeMap<String, String>();
+		try (BufferedReader reader = Files.newBufferedReader(path)) {
+			String line = null;
+			while ((line = reader.readLine()) != null) {
+				String[] parts = line.split("\\s*=\\s*", -1); // Keep empty values
+				if (parts.length < 2) {
+					Log.error("Bad config line " + line);
+					continue;
+				}
+				String tag = parts[0].trim();
+				String value = parts[1].trim();
+				if (lines.containsKey(tag)) {
+					Log.error("ERROR: Duplicate tag %s in configuration file, last value will be used.", tag);
+				}
+				lines.put(tag, value);
+				ignoredEntries.put(parts[0].trim(), line);
+			}
+		} catch (NoSuchFileException e) {
+			Log.error("Config file %s not found, attempting to create it", path);
+			// Touch the file so at least it's there next time.
+			try {
+				Files.createFile(path);
+			} catch (IOException e1) {
+			}
+		} catch (IOException e) {
+			Log.exception("Error loading configuration file " + path + ", using defaults", e);
+		}
+	}
+
+	private void writeExampleFile(String filePath, String contents) {
+		Path exampleFile = Paths.get(filePath + ".example");
+		try {
+			BufferedWriter writer;
+			writer = Files.newBufferedWriter(exampleFile, StandardOpenOption.CREATE);
+			writer.write(contents + "\n");
+			writer.close();
+			Log.info("Wrote example config file " + exampleFile.toString());
+		} catch (IOException e) {
+			Log.exception("Unable to write example config file " + exampleFile.toString(), e);
+		}
+	}
+
+	public String getMotorControllerType(String parameterName, String defaultValue) {
+		String type = getString(parameterName, defaultValue);
+		switch (type) {
+			default:
+				Log.error("Invalid value '%s' for parameter '%s'.  Using %s.", type, parameterName, DEFAULT_MOTOR_CONTROLLER_TYPE);
+				return DEFAULT_MOTOR_CONTROLLER_TYPE;
+
+			case MOTOR_CONTROLLER_TYPE_TALONSRX:
+				return MOTOR_CONTROLLER_TYPE_TALONSRX;
+
+			case MOTOR_CONTROLLER_TYPE_SPARKMAX:
+				return MOTOR_CONTROLLER_TYPE_SPARKMAX;
+		}
+	}
+
+	private <T> void appendExample(String key, T defaultValue) {
+		exampleText.add(key + " = " + defaultValue);
+	}
+
+	public int getInt(String key, int defaultValue) {
+		appendExample(key, defaultValue);
+		try {
+			if (lines.containsKey(key)) {
+				int value = Integer.valueOf(lines.get(key));
+				ignoredEntries.remove(key); // Used this line.
+				Log.debug("%s: %s -> %d", name, key, value);
+				if (value != defaultValue) {
+					nonDefaultParameters.put(key, lines.get(key));
+				}
+				return value;
+			}
+		} catch (Exception e) {
+			Log.exception("Error reading key: " + key + " using default", e);
+		}
+		return defaultValue;
+	}
+
+	public double getDouble(String key, double defaultValue) {
+		appendExample(key, defaultValue);
+		try {
+			if (lines.containsKey(key)) {
+				double value = Double.valueOf(lines.get(key));
+				ignoredEntries.remove(key); // Used this line.
+				Log.debug("%s: %s -> %f", name, key, value);
+				if (value != defaultValue) {
+					nonDefaultParameters.put(key, lines.get(key));
+				}
+				return value;
+			}
+		} catch (Exception e) {
+			Log.exception("Error reading key: " + key + " using default", e);
+		}
+		return defaultValue;
+	}
+
+	public PIDF getPIDF(String prefix, PIDF pidf) {
+		pidf.p = getDouble(prefix + "/p", pidf.p);
+		pidf.i = getDouble(prefix + "/i", pidf.i);
+		pidf.d = getDouble(prefix + "/d", pidf.d);
+		pidf.f = getDouble(prefix + "/f", pidf.f);
+		return pidf;
+	}
+
+	public boolean getBoolean(String key, boolean defaultValue) {
+		appendExample(key, defaultValue);
+		try {
+			if (lines.containsKey(key)) {
+				boolean value = Boolean.valueOf(lines.get(key));
+				ignoredEntries.remove(key); // Used this line.
+				Log.debug("%s: %s -> %s", name, key, value);
+				if (value != defaultValue) {
+					nonDefaultParameters.put(key, lines.get(key));
+				}
+				return value;
+			}
+		} catch (Exception e) {
+			Log.exception("Error reading key: " + key + " using default", e);
+		}
+		return defaultValue;
+	}
+	
+	public String getString(String key, String defaultValue) {
+		appendExample(key, "\"" + defaultValue + "\"");
+		try {
+			if (lines.containsKey(key)) {
+				// Get the value between the quotes.
+				String[] parts = lines.get(key).split("\"", -1);
+				if (parts.length < 3) {
+					Log.error("Bad string value for %s, needs to be in double quotes, not: %s", key, lines.get(key));
+					return defaultValue;
+				}
+				String value = parts[1];
+				ignoredEntries.remove(key);  // Used this line.
+				Log.debug("%s: %s -> %s", name, key, value);
+				if (!value.equals(defaultValue)) {
+					nonDefaultParameters.put(key, lines.get(key));
+				}
+				return value;
+			}
+		} catch (Exception e) {
+			Log.exception("Error reading key: " + key + " using default", e);
+		}
+		return defaultValue;
+	}
+
+	public int[] getIntArray(String key, int[] defaultValue) {
+		// Joining primitive arrays seems to be painful under Java.
+		appendExample(key, joinIntArray(defaultValue));
+		try {
+			if (lines.containsKey(key)) {
+				String value = lines.get(key);
+				int[] values;
+				if (value.equals("")) {
+					// No values.
+					values = new int[0];
+				} else {
+					// One or more values.
+					String[] parts = value.split("\\s*,\\s*");
+					values = new int[parts.length];
+					for (int i = 0; i < parts.length; i++) {
+						values[i] = Integer.valueOf(parts[i]);
+					}
+				}
+				ignoredEntries.remove(key); // Used this line.
+				Log.debug("%s: %s -> %s", name, key, joinIntArray(values));
+				if (!java.util.Arrays.equals(values, defaultValue)) {
+					nonDefaultParameters.put(key, lines.get(key));
+				}
+				return values;
+			}
+		} catch (Exception e) {
+			Log.exception("Error reading key: " + key + " using default", e);
+		}
+		return defaultValue;
+	}
+
+	private static String joinIntArray(int[] values) {
+		return Arrays.stream(values).mapToObj(String::valueOf).collect(Collectors.joining(","));
+	}
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/lib/Jevois.java b/src/main/java/frc/robot/lib/Jevois.java
index 3e0bd68..f51b812 100644
--- a/src/main/java/frc/robot/lib/Jevois.java
+++ b/src/main/java/frc/robot/lib/Jevois.java
@@ -27,7 +27,7 @@
 import com.fazecast.jSerialComm.*;
 
 import frc.robot.interfaces.JevoisInterface;
-import frc.robot.interfaces.Log;
+import frc.robot.lib.log.Log;
 
 public class Jevois implements JevoisInterface {
 
@@ -159,7 +159,6 @@ public String toString() {
         }
     }
 
-    private Log log;
     private static final Mode webcamMode;
     private static final Mode visionMode;
 
@@ -204,29 +203,28 @@ HSV ranges that seemed to work (Mark: October 2019)
      * 
      * @throws IOException
      */
-    public Jevois(Log log) throws IOException {
-        this.log = log;
+    public Jevois() throws IOException {
         SerialPort[] ports = SerialPort.getCommPorts();
         for (int i = 0; i < ports.length; i++) {
             SerialPort port = ports[i];
-            log.info("Found port %s\n", port.getDescriptivePortName());
+            Log.info("Found port %s\n", port.getDescriptivePortName());
             if (port.getDescriptivePortName().startsWith("JeVois")) {
                 port.openPort();
-                log.info("Found camera %s on %s\n", port.getDescriptivePortName(), port.getSystemPortName());
+                Log.info("Found camera %s on %s\n", port.getDescriptivePortName(), port.getSystemPortName());
                 // Don't block too long in case a command needs to be sent.
                 port.setComPortTimeouts(SerialPort.TIMEOUT_READ_SEMI_BLOCKING, 10, 0);
                 istream = port.getInputStream();
                 ostream = port.getOutputStream();
                 connected = true;
-                log.info(issueCommand("listmappings"));
+                Log.info(issueCommand("listmappings"));
                 setCameraMode(CameraMode.VISION); // Restore any mode if one has been set.
-                log.info(issueCommand("info"));
+                Log.info(issueCommand("info"));
                 // Turn on the serial output over USB
-                log.info(issueCommand("setpar serout USB"));
+                Log.info(issueCommand("setpar serout USB"));
                 return;
             }
         }
-        log.error("Failed to find JeVois camera, is it plugged in to a USB port and has an orange light?");
+        Log.error("Failed to find JeVois camera, is it plugged in to a USB port and has an orange light?");
     }
 
     public boolean isConnected() {
@@ -245,19 +243,19 @@ public void setCameraMode(CameraMode mode) throws IOException {
             setParameters(visionMode);
             break;
         default:
-            log.error("Jevois: Unsupported vision mode %s\n", mode.toString());
+            Log.error("Jevois: Unsupported vision mode %s\n", mode.toString());
         }
     }
 
     private void setParameters(Mode mode) throws IOException {
         if (!isConnected())
             return; // No connection, give up.
-        log.info("Setting %s camera mode.\n", mode.name);
+        Log.info("Setting %s camera mode.\n", mode.name);
         if (!mode.modeString.isEmpty()) {
-            log.info(issueCommand(mode.modeString));
+            Log.info(issueCommand(mode.modeString));
         }
         for (String command : mode.toString().split("\n")) {
-            log.info(issueCommand(command));
+            Log.info(issueCommand(command));
         }
     }
 
@@ -278,14 +276,14 @@ private void setParameters(Mode mode) throws IOException {
     @Override
     public String readLine() throws IOException {
         if (!isConnected()){
-            log.sub("CAMERA NOT CONNECTED");
+            Log.debug("CAMERA NOT CONNECTED");
             throw new IOException("No camera connected"); // No connection, give up.
 
         }
         StringBuffer line = new StringBuffer(200);
         while (true) {
             synchronized (this) {
-               //log.sub(line.toString());
+               //Logger.debug(line.toString());
                 try {
                     int b = istream.read();
                     if (b < 0) {
@@ -306,7 +304,7 @@ public String readLine() throws IOException {
                     }
                     line.append((char) b);
                 } catch (SerialPortTimeoutException e) {
-                    log.sub("Jevois: There is serial port timeout!!!!!!!!!");
+                    Log.debug("Jevois: There is serial port timeout!!!!!!!!!");
                     // Give up reading in case a command needs to be sent.
                 }
             }
@@ -325,7 +323,7 @@ public synchronized String issueCommand(String command) throws IOException {
         if (!isConnected())
             return "ERR: JeVois not connected";
 
-        log.info(command);
+        Log.info(command);
         ostream.write(command.getBytes());
         String newline = "\n";
         ostream.write(newline.getBytes());
diff --git a/src/main/java/frc/robot/lib/LEDColour.java b/src/main/java/frc/robot/lib/LEDColour.java
index e14a16c..f994ffd 100644
--- a/src/main/java/frc/robot/lib/LEDColour.java
+++ b/src/main/java/frc/robot/lib/LEDColour.java
@@ -19,8 +19,8 @@ public enum LEDColour {
     public final int b;
 
     LEDColour(int r, int g, int b) {
-        this.r = (int)(r * Constants.LED_PERCENTAGE);
-        this.g = (int)(g * Constants.LED_PERCENTAGE);
-        this.b = (int)(b * Constants.LED_PERCENTAGE);
+        this.r = (int)(r * Constants.LED_BRIGHTNESS_PERCENTAGE);
+        this.g = (int)(g * Constants.LED_BRIGHTNESS_PERCENTAGE);
+        this.b = (int)(b * Constants.LED_BRIGHTNESS_PERCENTAGE);
     }
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/lib/LogGraph.java b/src/main/java/frc/robot/lib/LogGraph.java
deleted file mode 100644
index 1476c16..0000000
--- a/src/main/java/frc/robot/lib/LogGraph.java
+++ /dev/null
@@ -1,607 +0,0 @@
-package frc.robot.lib;
-
-import java.io.BufferedReader;
-
-/*
- * This class controls all logging for the system.
- * 
- * It as two main functions:
- * 1) a textual log which we can append to easily and quickly, and
- * 2) a graphical log which subsystems have to register with and will be polled for current values for registered entries.
- * 
- * A series of files are created: They are created in LOG_BASE_PATH and sub directories LOG_BASE_DATA_PATH and LOG_BASE_DATE_PATH
- * The original files are created using an incrementing instance number (The current instance number is held in the base
- * directory of the log area). They are linked to using a time stamp.
- * 
- * We can pause, continue, or restart the logging.
- * restarting the logging causes the current files to be closed and a new set of files to be created.
- * 
- * For text logs we have a series of calls: 
- * log.{logMessage,debug,info,warning,error,ctrl,sub}(String message)
- * Each message takes a varargs argument list, and prepends the message with a timestamp and type of message.
- * 
- * For graphical logs the client class creates an arraylist of type LogGraphEntry and populates it with the entries that should be logged.
- * At regular intervals the logging system will walk through this list and obtain the current value for each entry.
- * These are added to the current graphical log file.
- */
-
-import java.io.BufferedWriter;
-import java.io.IOException;
-import java.nio.file.Files;
-import java.nio.file.Path;
-import java.nio.file.Paths;
-import java.text.SimpleDateFormat;
-import java.util.ArrayList;
-import java.util.Calendar;
-import java.util.function.DoubleSupplier;
-
-import org.strongback.components.Clock;
-import frc.robot.interfaces.Log;
-
-/**
- * This is the log file data logger. We split the log into two separate log systems.
- * For the text file logging we use this method.
- * 
- * We create a single text log file <basePath>/<instance>.txt
- * and provide a variety of methods to append to that log file.
- */
-
-public class LogGraph implements Log {
-	
-	private enum GraphLogState {
-		INVALID,				// File has not yet been created
-		CREATED,				// File has been created, but we are waiting for all logging classes to be created
-		CONFIGURED,				// Logging classes are all created and have registered with the logging subsystem
-		ACTIVE,					// .html files have been populated and we are ready to write records into the .csv file.
-		PAUSED,					// Graphical Logging has been paused as the robot isn't doing anything
-		ERRORED					// a problem has occurred. Abandon trying to write.
-	}
-	
-	private class LogGraphElement {
-		public String name;
-		public DoubleSupplier sample;
-		
-		public LogGraphElement(DoubleSupplier sample, String name, Object... args) {
-			this.name = String.format(name, args);
-			this.sample = sample;
-		}
-	}
-	
-	private final String robotName;
-	private final String basePath;  // Where the log files live.
-	private final String logPath;
-	private long logFileNumber = 0;
-	private final String dateDir;
-	private final String dataDir;
-	private final String latestDir;
-	private final String eventDir;
-	// Log files.
-	private LogFileWriter csvWriter;
-	private LogFileWriter logWriter;
-	private LogFileWriter chartWriter;
-	private LogFileWriter locationWriter;
-	// Internal state.
-	private GraphLogState graphLogState = GraphLogState.INVALID;
-	private ArrayList<LogGraphElement> logGraphElements;	// list of registered graph elements
-	private String matchDescription;
-	private boolean createdDateFiles;	
-	private Clock clock;
-	private boolean onlyLocal = false;	// only log locally defined elements.
-	public Double enableOffset = 0.0;
-	
-	public LogGraph(String robotName, String basePath, String logPath, String dataDir, String dateDir, String latestDir, String eventDir, boolean onlyLocal, Clock clock) {
-		this.robotName = robotName;
-		this.basePath = basePath;
-		this.logPath = logPath;
-		this.dataDir = dataDir;
-		this.dateDir = dateDir;
-		this.latestDir = latestDir;
-		this.eventDir = eventDir;
-		this.clock = clock;		
-		this.logGraphElements = new ArrayList<LogGraphElement>();
-		this.onlyLocal = onlyLocal;
-		createdDateFiles = false;
-		
-		initLogs();
-	}
-
-	/**
-	 * Restarts logging, called each time robot is enabled or initialised.
-	 */
-
-	public void restartLogs() {
-		initLogs();
-		graphLogState = GraphLogState.CONFIGURED;
-	}
-
-	/**
-	 * Creates new log files on request.
-	 */
-
-	public void initLogs() {
-		try {
-			// Set the graphLogState to INVALID as the new files have not yet been created.
-			graphLogState = GraphLogState.INVALID;
-
-			// Get time since robot boot, so chart starts at time = 0.
-			enableOffset = getCurrentTime();
-
-			// Ensure the directories exist.
-			Files.createDirectories(getDataPath());
-			Files.createDirectories(getDatePath());
-			Files.createDirectories(getLatestPath());
-			Files.createDirectories(getEventPath());
-			
-			logFileNumber = getNextLogFileNumber();  // Different number each start.
-			
-			// Open all files. Also creates Latest symlink.
-			var path = Paths.get(basePath, robotName).toString();
-			csvWriter = new LogFileWriter("data", logFileNumber, "csv", path, dataDir);
-			logWriter = new LogFileWriter("log", logFileNumber, "txt", path, dataDir);
-			chartWriter = new LogFileWriter("chart", logFileNumber, "html", path, dataDir);
-			locationWriter = new LogFileWriter("location", logFileNumber, "html", path, dataDir);
-			
-			// Everything was successfully created, we're good to go.
-			graphLogState = GraphLogState.CREATED;
-		} catch (IOException e) {
-			e.printStackTrace();
-			System.out.printf("Failed to create log files in %s: %s\n", basePath, e.getMessage());
-			graphLogState = GraphLogState.ERRORED;
-		}
-	}
-
-	
-	/**
-	 * Create the date based symbolic links. These create symbolic links from date stamped
-	 * version of the file to the actual file. This is a separate method as we delay
-	 * creating these until we are reasonably sure the date is correct.
-	 * @param timestamp The date to use.
-	 */
-	public void createDateFiles(Calendar timestamp) {
-		String timestampStr = new SimpleDateFormat("yyyyMMdd_HH-mm-ss.SSS").format(timestamp.getTime());
-		try {
-			// Create links based on the timestamp.
-			csvWriter.createSymbolicLink(dateDir, timestampStr);
-			logWriter.createSymbolicLink(dateDir, timestampStr);
-			chartWriter.createSymbolicLink(dateDir, timestampStr);
-			locationWriter.createSymbolicLink(dateDir, timestampStr);
-			// And on event name, match type, match number, replay number, alliance and position.
-			// These details should be available at the same time now that the drivers station is
-			// able to talk to the robot.
-			csvWriter.createSymbolicLink(eventDir, matchDescription);
-			logWriter.createSymbolicLink(eventDir, matchDescription);
-			chartWriter.createSymbolicLink(eventDir, matchDescription);
-			locationWriter.createSymbolicLink(eventDir, matchDescription);
-		} catch (Exception e) {
-			e.printStackTrace();
-			System.out.printf("Error creating symlinks in %s\n", basePath);
-		}
-	}
-	
-	private void initChartFile(String csvColumns) {
-		/*
-		 * Create the html file for the ploty chart.
-		 */
-		String title = "Run " + logFileNumber;
-		String file = String.format("data_%05d", logFileNumber);
-		writeMessageToFile(chartWriter, String.format(
-                "<html>\n" + 
-                "<head><title>%1$s plot.ly chart</title>\n" +
-                "</head>\n" + 
-                "<body>\n" + 
-                "<script>\n" + 
-				"var fn = '../%4$s/%2$s.csv';\n" +
-				"var baseLabelsStr = '%3$s';\n" +
-                "</script>\n" + 
-                "<script src='../../scripts/plotly.js'></script><script src='../../scripts/plotly-ext.js'></script>\n" + 
-                "<div id='chart1' style='width:100%%;height:90%%;'><!-- Plotly chart will be drawn inside this DIV --></div>\n" + 
-                "<script> loadPlotlyFromCSV('%1$s', fn, 0);\n" + 
-                "</script>\n\n" + 
-                "<p>\n" + 
-                "Click on the series in the legend to swap y-axis and then to turn off.\n" + 
-                "<p>\n" + 
-                "Trying to run this locally? Run the following in the directory containing this file:\n" + 
-                "<p>\n" + 
-                "<pre>\n" + 
-                " python -m SimpleHTTPServer\n" + 
-                "</pre>\n" + 
-                "<p>\n" + 
-                "Then go to <a href='http://localhost:8000/Latest_chart.html'>http://localhost:8000/Latest_chart.html</a>\n" + 
-                "</body>\n", title, file, csvColumns, dataDir));
-		try {
-			if (chartWriter != null) {
-				chartWriter.close();
-			}
-		} catch (Exception e) {
-			e.printStackTrace();
-		}
-	}
-	
-	private void initCSVFile(String csvColumns) {
-		/*
-		 * Write the heading out to the CSV file.
-		 */
-		writeMessageToFile(csvWriter, csvColumns + "\n");
-	}
-	
-	private void initLocationPlotFile() {
-		/*
-		 * Create the html file for the location plot.
-		 * We can only do this once the logging classes have all been instantiated.
-		 */
-		String title = "Instance " + logFileNumber;
-		String file = String.format("data_%05d", logFileNumber);
-		writeMessageToFile(locationWriter, String.format(
-				"<html><title>%1$s</title><head>\n" +
-				"<script src='../../scripts/plotly.js'></script><script src='../../scripts/plotLocation.js'></script>\n" +
-				"<body><div id='myDiv' style='width: 480px; height: 400px;'>\n" +
-				"<!-- Plotly chart will be drawn inside this DIV --></div>\n" +
-				"<script> makeplot('../%3$s/%2$s.csv');\n" +
-				"</script>" +
-                "<p>\n" + 
-                "Trying to run this locally? Run the following in the directory containing this file:\n" + 
-                "<p>\n" + 
-                "<pre>\n" + 
-                " python -m SimpleHTTPServer\n" + 
-                "</pre>\n" + 
-                "<p>\n" + 
-                "Then go to <a href='http://localhost:8000/Latest_chart.html'>http://localhost:8000/Latest_chart.html</a>\n" + 
-				"</body>\n", title, file, dataDir));
-		try {
-
-			if (locationWriter != null) {
-				locationWriter.close();
-			}
-		} catch (Exception e) {
-			e.printStackTrace();
-		}
-	}
-	
-	public Log pauseGraphLog() {
-		if (graphLogState == GraphLogState.ACTIVE) {
-			graphLogState = GraphLogState.PAUSED;
-		}
-		return this;
-	}
-	
-	public Log resumeGraphLog() {
-		if (graphLogState == GraphLogState.PAUSED) {
-			graphLogState = GraphLogState.ACTIVE;
-		}
-		return this;
-	}
-		
-//################     TXT file methods     ################################################################################
-	
-	/*
-	 * Methods that handle writing to the .TXT log file. We allow freeform messages
-	 * to be added to the log file. We precede each message with a time stamp and message type.
-	 */
-	
-	private void writeLogMessage(String message) {
-		writeMessageToFile(logWriter, message);
-	}
-	
-	/**
-	 * Logs to the external logger only.  Generic log messages
-	 * @param message Message to Log
-	 * @param args arguments to the message format string
-	 */
-	public Log logMessage(String message, Object... args) {
-		String date = timeToLogString(getCurrentTime());
-		message = String.format(date + ",L " + message + "\n", args);
-		writeLogMessage(message);
-		return this;
-	}
-	
-	/**
-	 * Logs to the external logger only.  For high volume debug messages
-	 * @param message Message to Log
-	 * @param args arguments to the message format string
-	 */
-	public Log debug(String message, Object... args) {
-		String date = timeToLogString(getCurrentTime());
-		message = String.format(date + ",D " + message + "\n", args); 
-		// Don't print it to the console.
-		writeLogMessage(message);
-		return this;
-	}
-	
-	/**
-	 * Logs to the external logger and console.  For low volume informational messages (<1/sec).
-	 * @param message Message to Log
-	 * @param args arguments to the message format string
-	 */
-	public Log info(String message, Object... args) {
-		String date = timeToLogString(getCurrentTime());
-		message = String.format(date + ",I " + message + "\n", args); 
-		// Print to the console.
-		System.out.print(message);
-		writeLogMessage(message);
-		return this;
-	}
-	
-	/**
-	 * Logs to the external logger and console. For warning Messages.
-	 * @param message Message to Log
-	 * @param args arguments to the message format string
-	 */
-	public Log warning(String message, Object... args) {
-		String date = timeToLogString(getCurrentTime());
-		message = String.format(date + ",W " + message + "\n", args); 
-		// Print to the console.
-		System.err.print(message);
-		writeLogMessage(message);
-		return this;
-	}
-	
-	/**
-	 * Logs to the external logger and console. For important errors Messages.
-	 * @param message Message to Log
-	 * @param args arguments to the message format string
-	 */
-	public Log error(String message, Object... args) {
-		String date = timeToLogString(getCurrentTime());
-		message = String.format(date + ",E " + message + "\n", args); 
-		// Print to the console.
-		System.err.print(message);
-		writeLogMessage(message);
-		return this;
-	}
-
-	/**
-	 * Logs Exceptions to the external logger and console.
-	 * @param message Message to Log
-	 * @param e Exception to log after message
-	 */
-	@Override
-	public Log exception(String message, Exception e) {
-		error(message + ": %s", e);
-		for (StackTraceElement frame : e.getStackTrace()) {
-			error("     at %s", frame.toString());			
-		}
-		return this;
-	}
-	
-	/**
-	 * Implements the classic println interface. Single string to the console!
-	 * @param message Message to Log
-	 */
-	public Log println(String message) {
-		console(message);
-		return this;
-	}
-	
-	/**
-	 * Logs to the external logger and console. For important console Messages.
-	 * @param message Message to Log
-	 * @param args arguments to the message format string
-	 */
-	public Log console(String message, Object... args) {
-		String date = timeToLogString(getCurrentTime());
-		message = String.format(date + ",O " + message + "\n", args); 
-		// Print to the console.
-		System.out.print(message);
-		writeLogMessage(message);
-		return this;
-	}
-	
-	/**
-	 * Logs to the external logger. For command execution Messages.
-	 * @param message Message to Log
-	 * @param args arguments to the message format string
-	 */
-	public Log cmd(String message, Object... args) {
-		String date = timeToLogString(getCurrentTime());
-		message = String.format(date + ",C " + message + "\n", args); 
-		writeLogMessage(message);
-		return this;
-	}
-	
-	/**
-	 * Logs to the external logger and console. For important subsystem Messages.
-	 * @param message Message to Log
-	 * @param args arguments to the message format string
-	 */
-	public Log sub(String message, Object... args) {
-		String date = timeToLogString(getCurrentTime());
-		message = String.format(date + ",S " + message + "\n", args); 
-		// Print to the console.
-//		System.out.print(message);
-		writeLogMessage(message);
-		return this;
-	}
-	
-	/**
-	 * Logs to the external logger and console. For important subsystem Messages.
-	 * @param message Message to Log
-	 * @param args arguments to the message format string
-	 */
-	public Log ctrl(String message, Object... args) {
-		String date = timeToLogString(getCurrentTime());
-		message = String.format(date + ",T " + message + "\n", args); 
-		// Print to the console.
-//		System.out.print(message);
-		writeLogMessage(message);
-		return this;
-	}
-	
-	//################     Graphing file methods     ################################################################################
-
-	@Override
-	public Log doRegister(boolean local, DoubleSupplier sample, String format, Object... args) {
-		if (onlyLocal && !local) {
-			return this;
-		}
-		if (graphLogState == GraphLogState.ERRORED) {
-			// the log system is very broken, possibly because of a faulty USB
-			return this;
-		}
-		if (graphLogState != GraphLogState.CREATED) {
-			error("trying to add Graph elements after graph configured" + graphLogState);
-			try {
-				throw new Exception();
-			}
-			catch (Exception e) {
-				e.printStackTrace();
-			}
-		} else {
-			logGraphElements.add(new LogGraphElement(sample, String.format(format, args)));
-		}
-		return this;
-	}
-	
-	@Override
-	public Log logCompletedElements(String matchDescription) {
-		this.matchDescription = matchDescription;
-		System.out.println("LogCompletedElements for match " + matchDescription);
-		graphLogState = GraphLogState.CONFIGURED;
-		this.debug("Log: Element additions completed");
-		return this;
-	}
-
-	public String getGraphHeaders() {
-		String headers = "date";
-		for (LogGraphElement e: logGraphElements) {
-			if (e.name != null) {
-				headers = headers + "," + e.name;
-			}
-		}
-		return headers;
-	}
-	
-	public String getGraphValues() {
-		// Subtracts time offset from current time so graph starts at time = 0
-		String value = timeToLogString(getCurrentTime() - enableOffset);
-		for (LogGraphElement e: logGraphElements) {
-			if (e.name != null) {
-				value = value + "," + e.sample.getAsDouble();
-			}
-		}
-		value = value + "\n";
-		return value;
-	}
-		
-	//################     Support file methods     ################################################################################
-	/*
-	 * These are support methods for the class. They provide useful
-	 * functionality but we separate them here for ease of reading above.
-	 */
-	private String timeToLogString(double time) {
-		/*
-		 * Create the timestamp for this message. We use the robot time, so each
-		 * log entry is time stamped for when it happened during the match.
-		 */
-		return String.format("%.3f", time);
-	}
-
-	private Path getDataPath() {
-		return Paths.get(basePath, robotName, dataDir);
-	}
-
-	private Path getDatePath() {
-		return Paths.get(basePath, robotName, dateDir);
-	}
-
-	private Path getLatestPath() {
-		return Paths.get(logPath, robotName, latestDir);
-	}
-
-	private Path getEventPath() {
-		return Paths.get(basePath, robotName, eventDir);
-	}
-
-
-	private Path getLogNumberPath() {
-		return Paths.get(logPath, robotName, "lognumber.txt");
-	}
-
-	private synchronized long getNextLogFileNumber() {
-		/*
-		 * Get the next Log File number. We read the logInstancePath file.
-		 * Increment the number contained within the file (or create the Log
-		 * File as 1 if no such file exists) and write the log file number back
-		 * out.
-		 */
-		long logFileNumber = 0;
-		var logInstancePath = getLogNumberPath();
-		try {
-			BufferedReader br = Files.newBufferedReader(logInstancePath);
-			String s = br.readLine(); // read the line into the buffer.
-			logFileNumber = Integer.parseInt(s);
-			br.close();
-			logFileNumber++;
-		} catch (IOException | NumberFormatException e) {
-			System.out.println("Cannot read Log Number file. Resetting number to 1");
-			logFileNumber = 1;
-		}
-		try {
-			BufferedWriter bw = Files.newBufferedWriter(logInstancePath);
-			bw.write("" + logFileNumber + "\n");
-			bw.flush();
-			bw.close();
-			System.out.printf("Wrote to %s %d\n", logInstancePath, logFileNumber);
-		} catch (IOException e) {
-			e.printStackTrace();
-			System.out.println("Cannot write log number file. Possible old file overwrite.");
-		}
-		return logFileNumber;
-	}
-	
-	private double getCurrentTime()
-	{
-		return clock.currentTime();
-	}
-
-	private void writeMessageToFile(LogFileWriter file, String message) {
-		/*
-		 * Writes the message to the file (if it is open).
-		 */
-		if (file == null)
-			return; // File logging not enabled.
-		try {
-			file.write(message);
-		} catch (Exception e) {
-			// nothing to do. If we can't write to the log file it's not a disaster.
-		}
-	}
-
-	/**
-	 * execute is called periodically
-	 * This is the routine that performs the actual work for the graphing logs.
-	 */
-	@Override
-	public void execute(long timeInMillis) {
-		if (graphLogState == GraphLogState.CONFIGURED) {
-			String csvColumns = getGraphHeaders();
-			initChartFile(csvColumns);
-			initCSVFile(csvColumns);
-			initLocationPlotFile();
-			graphLogState = GraphLogState.ACTIVE;
-		}
-		if (graphLogState == GraphLogState.ACTIVE) {
-			writeMessageToFile(csvWriter, getGraphValues());
-			if (!createdDateFiles) {
-				Calendar now = Calendar.getInstance();
-				/*
-				 * we may now have access to the correct date and time. If this is the first
-				 * time through we should set the date version of the file links.
-				 */
-				if (now.get(Calendar.YEAR) >= 2017) {
-					createDateFiles(now);
-					createdDateFiles = true;
-				}
-			}
-		}
-	}
-
-
-	@Override
-	public Log flush() {
-		csvWriter.flush();
-		logWriter.flush();
-		chartWriter.flush();
-		locationWriter.flush();
-		return this;
-	}
-}
diff --git a/src/main/java/frc/robot/lib/LoggingInputDevice.java b/src/main/java/frc/robot/lib/LoggingInputDevice.java
index 3d2e70a..750f5ce 100644
--- a/src/main/java/frc/robot/lib/LoggingInputDevice.java
+++ b/src/main/java/frc/robot/lib/LoggingInputDevice.java
@@ -1,8 +1,9 @@
 package frc.robot.lib;
 
-import frc.robot.interfaces.Log;
 import org.strongback.components.ui.InputDevice;
 
+import frc.robot.lib.chart.Chart;
+
 /**
  * Add generic logging to a Human Interface device (an InputDevice)
  * 
@@ -10,20 +11,20 @@
  */
 public class LoggingInputDevice {
 	
-	public static void AddLog(InputDevice input, String name, Log log) {
+	public static void AddLog(InputDevice input, String name) {
 		for (int i = 0; i < input.getAxisCount(); i++) {
 			final int axis = i;
-			log.register(false, () -> input.getAxis(axis).read(), "%s/Axis/%d", name, i);
+			Chart.register(() -> input.getAxis(axis).read(), "%s/Axis/%d", name, i);
 		}
 
 		for (int i = 0; i < input.getButtonCount(); i++) {
 			final int button = i+1;
-			log.register(false, input.getButton(button), "%s/Button/%d", name, i);
+			Chart.register(input.getButton(button), "%s/Button/%d", name, i);
 		}
 		
 		for (int i = 0; i < input.getPOVCount(); i++) {
 			final int axis = i;
-			log.register(false, input.getDPad(axis), "%s/DPad/%d", name, i);
+			Chart.register(input.getDPad(axis), "%s/DPad/%d", name, i);
 		}
 	}
 }
diff --git a/src/main/java/frc/robot/lib/MotorFactory.java b/src/main/java/frc/robot/lib/MotorFactory.java
index d977b8d..1887a5b 100644
--- a/src/main/java/frc/robot/lib/MotorFactory.java
+++ b/src/main/java/frc/robot/lib/MotorFactory.java
@@ -14,51 +14,54 @@
 import org.strongback.hardware.HardwareSparkMAX;
 import org.strongback.hardware.HardwareTalonSRX;
 
+import frc.robot.Config;
 import frc.robot.Constants;
-import frc.robot.interfaces.Log;
+import frc.robot.lib.chart.Chart;
+import frc.robot.lib.log.Log;
 
 public class MotorFactory {
 
-	public static Motor getDriveMotor(boolean leftMotor, RobotConfiguration config, Clock clock, Log log) {
-		leftMotor = leftMotor ^ config.drivebaseSwapLeftRight;
-		int[] canIds = leftMotor ? config.drivebaseCanIdsLeftWithEncoders : config.drivebaseCanIdsRightWithEncoders;
+	public static Motor getDriveMotor(boolean leftMotor, Clock clock) {
+		leftMotor = leftMotor ^ Config.drivebase.swapLeftRight;
+		int[] canIds = leftMotor ? Config.drivebase.canIdsLeftWithEncoders : Config.drivebase.canIdsRightWithEncoders;
 
-		switch (config.drivebaseMotorControllerType) {
+		switch (Config.drivebase.motorControllerType) {
 			case Constants.MOTOR_CONTROLLER_TYPE_SPARKMAX: {
-			HardwareSparkMAX spark = getSparkMAX("drive", canIds, leftMotor, NeutralMode.Brake, config.drivebasePIDF, log);
+			HardwareSparkMAX spark = getSparkMAX("drive", canIds, leftMotor, NeutralMode.Brake, Config.drivebase.pidf);
 			spark.setScale(Constants.SPARKMAX_ENCODER_TICKS, Constants.DRIVE_GEABOX_RATIO, Constants.DRIVE_METRES_PER_REV);
-			spark.setSensorPhase(config.drivebaseSensorPhase);
+			spark.setSensorPhase(Config.drivebase.sensorPhase);
 
 			/*
 			 * Setup Current Limiting
 			 */
-			if (config.drivebaseCurrentLimiting) {
-				spark.setSmartCurrentLimit(config.drivebaseContCurrent, config.drivebaseContCurrent); // limit to 35 Amps when current exceeds 40 amps
-																		// for 100ms
-				spark.setSecondaryCurrentLimit(config.drivebasePeakCurrent);
+			if (Config.drivebase.currentLimiting) {
+				 // Limit to 35 Amps when current exceeds 40 amps for 100ms
+				spark.setSmartCurrentLimit(Config.drivebase.contCurrent, Config.drivebase.contCurrent);
+				spark.setSecondaryCurrentLimit(Config.drivebase.peakCurrent);
 			}
 			return spark;
 		}
 
 		default:
-			log.error("Invalid drive motor controller '%s'. Please use 'TalonSRX' or 'SparkMAX'. Using TalonSRX.", config.drivebaseMotorControllerType);
+			Log.error("Invalid drive motor controller '%s'. Please use 'TalonSRX' or 'SparkMAX'. Using TalonSRX.",
+					Config.drivebase.motorControllerType);
 			// Falling through to TalonSRX.
 
 		case Constants.MOTOR_CONTROLLER_TYPE_TALONSRX:
-			HardwareTalonSRX talon = getTalon("drive", canIds, leftMotor, NeutralMode.Brake, config.drivebasePIDF, log); // don't invert output
+			HardwareTalonSRX talon = getTalon("drive", canIds, leftMotor, NeutralMode.Brake, Config.drivebase.pidf); // don't invert output
 			talon.setScale(Constants.FALCON_ENCODER_TICKS, Constants.DRIVE_GEABOX_RATIO, Constants.DRIVE_METRES_PER_REV);
 			talon.configSelectedFeedbackSensor(FeedbackDevice.IntegratedSensor, 0, 10);
-			talon.setSensorPhase(config.drivebaseSensorPhase);
-			talon.configClosedloopRamp(config.drivebaseRampRate, 10);
+			talon.setSensorPhase(Config.drivebase.sensorPhase);
+			talon.configClosedloopRamp(Config.drivebase.rampRate, 10);
 			talon.setStatusFramePeriod(StatusFrame.Status_2_Feedback0, 10, 10);
 
 			/*
 			 * Setup Current Limiting
 			 */
-			if (config.drivebaseCurrentLimiting) {
-				talon.configContinuousCurrentLimit(config.drivebaseContCurrent, 0); // limit to 35 Amps when current exceeds 40 amps for
+			if (Config.drivebase.currentLimiting) {
+				talon.configContinuousCurrentLimit(Config.drivebase.contCurrent, 0); // limit to 35 Amps when current exceeds 40 amps for
 																	// 100ms
-				talon.configPeakCurrentLimit(config.drivebasePeakCurrent, 0);
+				talon.configPeakCurrentLimit(Config.drivebase.peakCurrent, 0);
 				talon.configPeakCurrentDuration(100, 0);
 				talon.enableCurrentLimit(true);
 			}
@@ -66,22 +69,22 @@ public static Motor getDriveMotor(boolean leftMotor, RobotConfiguration config,
 		}
 	}
 	
-	public static HardwareSparkMAX getIntakeMotor(RobotConfiguration config, Log log) {
-		HardwareSparkMAX motor = getSparkMAX("intake", config.intakeCanID, true, NeutralMode.Brake, config.intakePIDF, log);
+	public static HardwareSparkMAX getIntakeMotor() {
+		HardwareSparkMAX motor = getSparkMAX("intake", Config.intake.canID, true, NeutralMode.Brake, Config.intake.pidf);
 		motor.setScale(Constants.SPARKMAX_ENCODER_TICKS, Constants.INTAKE_ENCODER_GEARBOX_RATIO);
 		motor.setClosedLoopRampRate(0.5);
 		return motor;
 	}
 
-	public static HardwareTalonSRX getColourWheelMotor(RobotConfiguration config, Log log) {
-		HardwareTalonSRX motor = getTalon("colour", config.colourWheelCanID, true, NeutralMode.Brake, config.colourWheelPIDF, log);
+	public static HardwareTalonSRX getColourWheelMotor() {
+		HardwareTalonSRX motor = getTalon("colour", Config.colourWheel.canID, true, NeutralMode.Brake, Config.colourWheel.pidf);
 		motor.configClosedloopRamp(.25, 10);
 		return motor;
 	}
 
-	public static HardwareTalonSRX getLoaderSpinnerMotor(RobotConfiguration config, Log log) {	
-		HardwareTalonSRX motor = getTalon("loader spinner", config.loaderSpinnerCanID, false, NeutralMode.Brake,
-				config.loaderSpinnderPIDF, log);
+	public static HardwareTalonSRX getLoaderSpinnerMotor() {	
+		HardwareTalonSRX motor = getTalon("loader spinner", Config.loader.spinnerCanID, false, NeutralMode.Brake,
+				Config.loader.spinnderPIDF);
 		// In sensor (beambreak) for loader
 		motor.configForwardLimitSwitchSource(LimitSwitchSource.Deactivated, LimitSwitchNormal.NormallyOpen, 10);
 		// Out sensor (beambreak) for loader
@@ -92,15 +95,15 @@ public static HardwareTalonSRX getLoaderSpinnerMotor(RobotConfiguration config,
 		return motor;
 	}
 
-	public static HardwareSparkMAX getLoaderPassthroughMotor(RobotConfiguration config, Log log) {
-		HardwareSparkMAX motor = getSparkMAX("loader passthrough", config.loaderPassthroughCanID, true,
-				NeutralMode.Brake, config.loaderPassthroughPIDF, log);
+	public static HardwareSparkMAX getLoaderPassthroughMotor() {
+		HardwareSparkMAX motor = getSparkMAX("loader passthrough", Config.loader.passthroughCanID, true,
+				NeutralMode.Brake, Config.loader.passthroughPIDF);
 		return motor;
 	}
 	
-	public static HardwareTalonSRX getShooterMotor(RobotConfiguration config, Clock clock, Log log) {
-		HardwareTalonSRX motor = getTalon("shooter", config.shooterCanIds, false, NeutralMode.Coast,
-				config.shooterPIDF, log);
+	public static HardwareTalonSRX getShooterMotor(Clock clock) {
+		HardwareTalonSRX motor = getTalon("shooter", Config.shooter.canIds, false, NeutralMode.Coast,
+				Config.shooter.pidf);
 		motor.setSensorPhase(true);
 		motor.configSelectedFeedbackSensor(FeedbackDevice.QuadEncoder, 0, 10);
 		motor.setScale(Constants.S4T_ENCODER_TICKS, Constants.SHOOTER_GEARBOX_RATIO);
@@ -125,9 +128,9 @@ public static HardwareTalonSRX getShooterMotor(RobotConfiguration config, Clock
      * @return the leader HardwareTalonSRX
      */
 	private static HardwareTalonSRX getTalon(String name, int[] canIDs, boolean invert, NeutralMode mode, 
-			PIDF pidf, Log log) {
+			PIDF pidf) {
     	HardwareTalonSRX leader = Hardware.Motors.talonSRX(abs(canIDs[0]), invert, mode);
-		log.register(false, () -> leader.getOutputCurrent(), "Talons/%d/Current", canIDs[0]);
+		Chart.register(() -> leader.getOutputCurrent(), "Talons/%d/Current", canIDs[0]);
 		leader.configContinuousCurrentLimit(Constants.DEFAULT_CONTINUOUS_CURRENT_LIMIT, 10);
 		leader.configPeakCurrentLimit(Constants.DEFAULT_PEAK_CURRENT_LIMIT, 10);
 		TunableMotor.tuneMotor(leader, pidf, new NetworkTablesHelper(name));
@@ -137,7 +140,7 @@ private static HardwareTalonSRX getTalon(String name, int[] canIDs, boolean inve
 			if (canIDs[n] < 0) shouldInvert = !shouldInvert;
     		HardwareTalonSRX follower = Hardware.Motors.talonSRX(abs(canIDs[n]), shouldInvert, mode);
 			follower.getHWTalon().follow(leader.getHWTalon());
-			log.register(false, () -> follower.getOutputCurrent(), "Talons/%d/Current", canIDs[n]);
+			Chart.register(() -> follower.getOutputCurrent(), "Talons/%d/Current", canIDs[n]);
 		}
 		return leader;
 	}
@@ -154,11 +157,11 @@ private static HardwareTalonSRX getTalon(String name, int[] canIDs, boolean inve
 	 * @return the HardwareTalonSRX motor controller.
 	 */
 	private static HardwareTalonSRX getTalon(String name, int canID, boolean invert,
-			NeutralMode mode,			PIDF pidf, Log log) {
-		log.sub("%s: " + canID, "talon");
+			NeutralMode mode, PIDF pidf) {
+		Log.debug("%s: " + canID, "talon");
 		int[] canIDs = new int[1];
 		canIDs[0] = canID;
-    	return getTalon(name, canIDs, invert, mode, pidf, log);
+    	return getTalon(name, canIDs, invert, mode, pidf);
 	}
 
 	/**
@@ -175,10 +178,10 @@ private static HardwareTalonSRX getTalon(String name, int canID, boolean invert,
      * @return the leader SparkMAX
      */
 
-    private static HardwareSparkMAX getSparkMAX(String name, int[] canIDs, boolean invert, NeutralMode mode, PIDF pidf, Log log) {
+    private static HardwareSparkMAX getSparkMAX(String name, int[] canIDs, boolean invert, NeutralMode mode, PIDF pidf) {
 		HardwareSparkMAX leader = Hardware.Motors.sparkMAX(abs(canIDs[0]), MotorType.kBrushless, invert);
 		leader.setIdleMode(mode == NeutralMode.Brake ? IdleMode.kBrake : IdleMode.kCoast);
-		log.register(false, () -> leader.getOutputCurrent(), "SparkMAX/%d/Current", canIDs[0]);
+		Chart.register(() -> leader.getOutputCurrent(), "SparkMAX/%d/Current", canIDs[0]);
 		leader.setSmartCurrentLimit(Constants.DEFAULT_CONTINUOUS_CURRENT_LIMIT, 10);
 		leader.setSecondaryCurrentLimit(Constants.DEFAULT_PEAK_CURRENT_LIMIT, 10);
 		TunableMotor.tuneMotor(leader, pidf, new NetworkTablesHelper(name));
@@ -189,7 +192,7 @@ private static HardwareSparkMAX getSparkMAX(String name, int[] canIDs, boolean i
 				shouldInvert = !shouldInvert;
 			HardwareSparkMAX follower = Hardware.Motors.sparkMAX(abs(canIDs[n]), MotorType.kBrushless, shouldInvert);
 			follower.getHWSpark().follow(leader.getHWSpark());
-			log.register(false, () -> follower.getOutputCurrent(), "SparkMAX/%d/Current", canIDs[n]);
+			Chart.register(() -> follower.getOutputCurrent(), "SparkMAX/%d/Current", canIDs[n]);
 		}
 		return leader;
 	}
@@ -205,11 +208,11 @@ private static HardwareSparkMAX getSparkMAX(String name, int[] canIDs, boolean i
 	 * @param log    for registration of the current reporting.
 	 * @return the HardwareSparkMAX motor controller.
 	 */
-	private static HardwareSparkMAX getSparkMAX(String name, int canID, boolean invert, NeutralMode mode, PIDF pidf, Log log) {
-		log.sub("%s: " + canID, " spark max");
+	private static HardwareSparkMAX getSparkMAX(String name, int canID, boolean invert, NeutralMode mode, PIDF pidf) {
+		Log.debug("%s: " + canID, " spark max");
 		int[] canIDs = new int[1];
 		canIDs[0] = canID;
-		return getSparkMAX(name, canIDs, invert, mode, pidf, log);
+		return getSparkMAX(name, canIDs, invert, mode, pidf);
 	}
 	
 	private static int abs(int value) {
diff --git a/src/main/java/frc/robot/lib/NavXGyroscope.java b/src/main/java/frc/robot/lib/NavXGyroscope.java
index 6e09109..0c2e615 100644
--- a/src/main/java/frc/robot/lib/NavXGyroscope.java
+++ b/src/main/java/frc/robot/lib/NavXGyroscope.java
@@ -2,7 +2,8 @@
 
 import org.strongback.components.Gyroscope;
 import frc.robot.interfaces.DashboardUpdater;
-import frc.robot.interfaces.Log;
+import frc.robot.lib.chart.Chart;
+import frc.robot.lib.log.Log;
 
 import com.kauailabs.navx.frc.AHRS;
 
@@ -41,7 +42,6 @@ public enum Drift {
 		FINISHED
 	}
 	private AHRS ahrs = null;
-	private Log log;
     private double baseAngle = 0;
     private double basePitch = 0;
 	private double driftStartTime;	// In drift calculations we see how much the gyro drifts during a known stop period.
@@ -50,9 +50,8 @@ public enum Drift {
 	private Drift driftState = Drift.NOT_STARTED;
 	private String name;
 
-	public NavXGyroscope(String name, boolean present, Log log) {
+	public NavXGyroscope(String name, boolean present) {
 		this.name = name;
-		this.log = log;
 		
 		ahrs = null;
 		if (present) {
@@ -67,21 +66,21 @@ public NavXGyroscope(String name, boolean present, Log log) {
 		    }
 		}
 		if (ahrs != null) {
-			 log.register(true, (() -> { return getAngle(); } ), "%s/angle", name)
-			 	.register(true, (() -> { return getYaw(); } ), "%s/yaw", name)
-				.register(true, (() -> { return getRoll(); } ), "%s/roll", name)
-				.register(true, (() -> { return getPitch(); } ), "%s/pitch", name)
-				.register(true, (() -> { return driftRate; } ), "%s/drift", name)
-				.register(true, (() -> { return isCalibrating()?1.0:0.0; } ), "%s/Misc/Calibrating", name)
-				.register(false, (() -> { return getDisplacementX(); } ), "%s/disp/X", name)
-				.register(false, (() -> { return getDisplacementY(); } ), "%s/disp/Y", name)
-				.register(false, (() -> { return getDisplacementZ(); } ), "%s/disp/Z", name)
-				.register(false, (() -> { return getWorldLinearAccelX(); } ), "%s/WorldAccel/X", name)
-				.register(false, (() -> { return getWorldLinearAccelY(); } ), "%s/WorldAccel/Y", name)
-				.register(false, (() -> { return getWorldLinearAccelZ(); } ), "%s/WorldAccel/Z", name)
-				.register(false, (() -> { return getRawAccelX(); } ), "%s/RawAccel/X", name) 
-				.register(false, (() -> { return getRawAccelY(); } ), "%s/RawAccel/Y", name) 
-				.register(false, (() -> { return getRawAccelZ(); } ), "%s/RawAccel/Z", name);
+		    Chart.register((() -> { return getAngle(); } ), "%s/angle", name);
+		 	Chart.register((() -> { return getYaw(); } ), "%s/yaw", name);
+			Chart.register((() -> { return getRoll(); } ), "%s/roll", name);
+			Chart.register((() -> { return getPitch(); } ), "%s/pitch", name);
+			Chart.register((() -> { return driftRate; } ), "%s/drift", name);
+			Chart.register((() -> { return isCalibrating()?1.0:0.0; } ), "%s/Misc/Calibrating", name);
+			Chart.register((() -> { return getDisplacementX(); } ), "%s/disp/X", name);
+			Chart.register((() -> { return getDisplacementY(); } ), "%s/disp/Y", name);
+			Chart.register((() -> { return getDisplacementZ(); } ), "%s/disp/Z", name);
+			Chart.register((() -> { return getWorldLinearAccelX(); } ), "%s/WorldAccel/X", name);
+			Chart.register((() -> { return getWorldLinearAccelY(); } ), "%s/WorldAccel/Y", name);
+			Chart.register((() -> { return getWorldLinearAccelZ(); } ), "%s/WorldAccel/Z", name);
+			Chart.register((() -> { return getRawAccelX(); } ), "%s/RawAccel/X", name);
+			Chart.register((() -> { return getRawAccelY(); } ), "%s/RawAccel/Y", name); 
+			Chart.register((() -> { return getRawAccelZ(); } ), "%s/RawAccel/Z", name);
 		}
 		zero();
 	}
@@ -105,7 +104,7 @@ public boolean startDriftCalculation() {
 	public void endDriftCalculation() {
 		driftRate = (getRawAngle() - driftStartHeading) / (Timer.getFPGATimestamp() - driftStartTime);
 		driftState = Drift.FINISHED;
-		log.debug("Finished Drift Calculation: %f degrees per second", driftRate);
+		Log.debug("Finished Drift Calculation: %f degrees per second", driftRate);
 	}
 	
 	public Drift currentDriftCalculation() {
@@ -144,14 +143,14 @@ public Gyroscope zero() {
 			driftStartTime = Timer.getFPGATimestamp();
 		}
 		System.out.println("reset baseAngle = " + baseAngle);
-		log.debug("reset baseAngle = %f", baseAngle);
+		Log.debug("reset baseAngle = %f", baseAngle);
 		return this;
 	}
 
 	public void setAngle(double angle) {
 		zero();
 		baseAngle -= angle;
-		log.debug("set baseAngle = %f", baseAngle);
+		Log.debug("set baseAngle = %f", baseAngle);
 	}
 	
 	private double getRawAngle() {
diff --git a/src/main/java/frc/robot/lib/PowerMonitor.java b/src/main/java/frc/robot/lib/PowerMonitor.java
index 5449778..8794621 100644
--- a/src/main/java/frc/robot/lib/PowerMonitor.java
+++ b/src/main/java/frc/robot/lib/PowerMonitor.java
@@ -1,7 +1,8 @@
 package frc.robot.lib;
 
 import frc.robot.interfaces.DashboardUpdater;
-import frc.robot.interfaces.Log;
+import frc.robot.lib.chart.Chart;
+import frc.robot.lib.log.Log;
 import edu.wpi.first.wpilibj.PowerDistributionPanel;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 /**
@@ -20,23 +21,23 @@ public class PowerMonitor implements DashboardUpdater {		// no interface, as thi
 	
 	PowerDistributionPanel pdp;
 	
-	public PowerMonitor (PowerDistributionPanel pdp, int[] channelsToMonitor, boolean enabled, Log log) {
+	public PowerMonitor (PowerDistributionPanel pdp, int[] channelsToMonitor, boolean enabled) {
 		final String name = "Power";
 		this.pdp = pdp;
 		this.enabled = enabled;
 		if (!enabled) {
-			log.sub("PDP not enabled");
+			Log.debug("PDP not enabled");
 			return;
 		}
-		log.sub("PDP enabled");
-		log.register(false, (() -> { return pdp.getTotalEnergy(); } ),	"%s/totalEnergy", name)
-			.register(false, (() -> { return pdp.getTotalPower(); } ),		"%s/totalPower", name)
-			.register(false, (() -> { return pdp.getTotalCurrent(); } ),	"%s/totalCurrent", name)
-			.register(false, (() -> { return pdp.getTemperature(); } ),	"%s/temperature", name)
-			.register(false, (() -> { return pdp.getVoltage(); } ),		"%s/inputVoltage", name);
+		Log.debug("PDP enabled");
+		Chart.register((() -> { return pdp.getTotalEnergy(); } ), "%s/totalEnergy", name);
+		Chart.register((() -> { return pdp.getTotalPower(); } ), "%s/totalPower", name);
+		Chart.register((() -> { return pdp.getTotalCurrent(); } ), "%s/totalCurrent", name);
+		Chart.register((() -> { return pdp.getTemperature(); } ), "%s/temperature", name);
+		Chart.register((() -> { return pdp.getVoltage(); } ), "%s/inputVoltage", name);
 		for (int i = 0; i < channelsToMonitor.length; i++) {
 			final int channel = channelsToMonitor[i];
-			log.register(false, (() -> { return pdp.getCurrent(channel); } ), "%s/channelCurrent/%d", name, channel);
+			Chart.register((() -> { return pdp.getCurrent(channel); } ), "%s/channelCurrent/%d", name, channel);
 		}
 	}
 
diff --git a/src/main/java/frc/robot/lib/RedundantTalonSRX.java b/src/main/java/frc/robot/lib/RedundantTalonSRX.java
index fa2cdf0..e51ce22 100644
--- a/src/main/java/frc/robot/lib/RedundantTalonSRX.java
+++ b/src/main/java/frc/robot/lib/RedundantTalonSRX.java
@@ -11,7 +11,8 @@
 import org.strongback.components.TalonSensorCollection;
 import org.strongback.hardware.HardwareTalonSRX;
 
-import frc.robot.interfaces.Log;
+import frc.robot.lib.chart.Chart;
+import frc.robot.lib.log.Log;
 
 /**
  * Creates what appears to be a single TalonSRX, but is really a list of
@@ -36,7 +37,6 @@ public class RedundantTalonSRX extends HardwareTalonSRX implements TalonSensorCo
 	private static ArrayList<HardwareTalonSRX> badTalons = new ArrayList<>();  // Talons that have drawn so much current.
 	private static ArrayList<HardwareTalonSRX> badEncoders = new ArrayList<>(); // Talons that have bad encoders.
 	private Clock clock;
-	private static Log log;
 	
 	// Current draw.
 	// Record how long each talon has been an outlier for current draw. If they are long enough,
@@ -58,22 +58,21 @@ public class RedundantTalonSRX extends HardwareTalonSRX implements TalonSensorCo
 	ControlMode lastMode = ControlMode.Speed;
 	double lastDemand0 = 0;
 	
-	public RedundantTalonSRX(ArrayList<HardwareTalonSRX> potentialLeaders, ArrayList<HardwareTalonSRX> followers, Clock clock, Log log) {
+	public RedundantTalonSRX(ArrayList<HardwareTalonSRX> potentialLeaders, ArrayList<HardwareTalonSRX> followers, Clock clock) {
 		super(potentialLeaders.get(0).getTalonSRX());
 		this.potentialLeaders = potentialLeaders;
 		this.followers = followers;
 		this.clock = clock;
-		RedundantTalonSRX.log = log;
 		activeTalons = new ArrayList<HardwareTalonSRX>();
 		activeTalons.addAll(potentialLeaders);
 		activeTalons.addAll(followers);
 		otherLeaders = new ArrayList<HardwareTalonSRX>();
 		changeLeader(0);
 		for(HardwareTalonSRX talon : activeTalons) {
-			log.register(false, () -> talon.getOutputCurrent(), "Talons/%d/Current", talon.getDeviceID());
+			Chart.register(() -> talon.getOutputCurrent(), "Talons/%d/Current", talon.getDeviceID());
 		}
-		log.register(false, () -> (double)badEncoders.size(), "RedundantTalons/numBadEncoders");
-		log.register(false, () -> (double)badTalons.size(), "RedundantTalons/numBadTalons");
+		Chart.register(() -> (double)badEncoders.size(), "RedundantTalons/numBadEncoders");
+		Chart.register(() -> (double)badTalons.size(), "RedundantTalons/numBadTalons");
 		// Ensure execute gets called to check the talons/encoders.
 		// Disable for performance.
     	//Strongback.executor().register(this, Priority.LOW);
@@ -221,7 +220,7 @@ private void limitedError(String key, String msg, Object... args) {
 		// Has it been long enough since the last log message?
 		if (now - lastErrorTime.getOrDefault(key, 0.) < kMinLoggingIntervalSec) return;
 		// It has. Log now.
-		log.error(msg, args);
+		Log.error(msg, args);
 		// Update the last log time.
 		lastErrorTime.put(key, now);		
 	}
@@ -239,7 +238,7 @@ public void disableTalon(HardwareTalonSRX talon) {
 		}
 		// Disable it now that it's not the leader.
 		talon.set(ControlMode.Disabled, 0);
-		log.error("Disabled TalonSRX with CAN ID %d", talon.getDeviceID());
+		Log.error("Disabled TalonSRX with CAN ID %d", talon.getDeviceID());
 	}
 	
 	/**
@@ -255,9 +254,9 @@ public void disableEncoder(HardwareTalonSRX talon) {
 		// If it was the leader, then find a new leader.
 		if (leader == talon) {
 			changeLeader(0);
-			log.error("Bad encoder on leader TalonSRX %d, changed leadership", talon.getDeviceID());
+			Log.error("Bad encoder on leader TalonSRX %d, changed leadership", talon.getDeviceID());
 		} else {
-			log.error("Converted potential leader TalonSRX %d with bad encoder to a follower only", talon.getDeviceID());
+			Log.error("Converted potential leader TalonSRX %d with bad encoder to a follower only", talon.getDeviceID());
 
 		}
 		// It will have been setup as a follower now.
@@ -286,21 +285,20 @@ public void changeLeader(int index) {
 	 * Print out any issues seen across all RedundantTalonSRX's.
 	 */
 	public static void printStatus() {
-		if (log == null) return;
 		if (!badEncoders.isEmpty()) {
-			log.error("The following talons have a bad encoder:");
+			Log.error("The following talons have a bad encoder:");
 			for (HardwareTalonSRX talon : badEncoders) {
-				log.error("  Talon SRX %d", talon.getDeviceID());
+				Log.error("  Talon SRX %d", talon.getDeviceID());
 			}
 		}
 		if (!badTalons.isEmpty()) {
-			log.error("The following talons or motors have drawn a large amount of current:");
+			Log.error("The following talons or motors have drawn a large amount of current:");
 			for (HardwareTalonSRX talon : badTalons) {
-				log.error("  Talon SRX %d", talon.getDeviceID());
+				Log.error("  Talon SRX %d", talon.getDeviceID());
 			}
 		}
 		if (badTalons.isEmpty() && badEncoders.isEmpty()) {
-			log.info("No bad talons or encoders found");
+			Log.info("No bad talons or encoders found");
 		}
 	}
 	
diff --git a/src/main/java/frc/robot/lib/RobotConfiguration.java b/src/main/java/frc/robot/lib/RobotConfiguration.java
deleted file mode 100644
index b1f2704..0000000
--- a/src/main/java/frc/robot/lib/RobotConfiguration.java
+++ /dev/null
@@ -1,400 +0,0 @@
-package frc.robot.lib;
-
-import java.io.BufferedReader;
-import java.io.BufferedWriter;
-import java.io.IOException;
-import java.nio.file.Files;
-import java.nio.file.NoSuchFileException;
-import java.nio.file.Path;
-import java.nio.file.Paths;
-import java.nio.file.StandardOpenOption;
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.Collections;
-import java.util.HashMap;
-import java.util.Map;
-import java.util.TreeMap;
-import java.util.stream.Collectors;
-
-import frc.robot.Constants;
-import frc.robot.interfaces.Log;
-
-/**
- * Class responsible for updating values which are dependent on robot hardware.
- * (e.g. if subsystems are present or not) It reads from a text file
- * Currently the supported types are String, int, double, boolean and int array.
- * 
- * Example lines:
- * drivebase/present = true
- * drivebase/rampRate = 0.13125
- * drivebase/right/canIDs/withEncoders = 7,6
- * drivebase/right/canIDs/withoutEncoders = 5
- */
-public class RobotConfiguration {
-	private String name = "RobotConfig";
-	
-	private Log log;
-	private Map<String, String> lines;
-	private Map<String, String> ignoredEntries;  // Lines/entries not used in the config file.
-	private Map<String, String> nonDefaultParameters;  // Non-default values used from the config file.
-	private ArrayList<String> exampleText = new ArrayList<String>();
-
-	// These are variables which will be updated
-	
-	public String robotName = "3132";
-	public double robotLengthWithBumpers = 0;
-	public double robotWidthWithBumpers = 0;
-	public double cameraFromFrontWithBumpers = 0;
-	public double cameraFromLeftWithBumpers = 0;
-
-	public int teamNumber = 3132;
-	public boolean drivebaseIsPresent = Constants.DRIVE_PRESENT_DEFAULT;
-	public String drivebaseMotorControllerType = Constants.DRIVE_DEFAULT_CONTROLLER_TYPE;
-	public int[] drivebaseCanIdsLeftWithEncoders = Constants.DRIVE_LEFT_TALON_WITH_ENCODERS_CAN_ID_LIST;
-	public int[] drivebaseCanIdsLeftWithoutEncoders = Constants.DRIVE_LEFT_TALON_WITHOUT_ENCODERS_CAN_ID_LIST;
-	public int[] drivebaseCanIdsRightWithEncoders = Constants.DRIVE_RIGHT_TALON_WITH_ENCODERS_CAN_ID_LIST;
-	public int[] drivebaseCanIdsRightWithoutEncoders = Constants.DRIVE_RIGHT_TALON_WITHOUT_ENCODERS_CAN_ID_LIST;
-	public boolean drivebaseCurrentLimiting = true;
-	public int drivebaseContCurrent = Constants.DRIVE_CONT_CURRENT;
-	public int drivebasePeakCurrent = Constants.DRIVE_PEAK_CURRENT;
-	public double drivebaseRampRate = Constants.DRIVE_RAMP_RATE;
-	public PIDF drivebasePIDF = new PIDF(Constants.DRIVE_P, Constants.DRIVE_I, Constants.DRIVE_D, Constants.DRIVE_F);
-	public String drivebaseMode = Constants.DRIVE_DEFAULT_MODE;
-	public double drivebaseMaxSpeed = Constants.DRIVE_MAX_SPEED;
-
-	public int climberPtoPort = Constants.CLIMBER_PTO_SOLENOID_PORT;
-	public int climberBrakePort = Constants.CLIMBER_BRAKE_SOLENOID_PORT;
-
-
-	public boolean drivebaseSwapLeftRight = false;
-	public boolean drivebaseSensorPhase = false;
-	public double drivebaseCount =  Constants.DRIVE_COUNT_100ms;
-	
-	public boolean intakeIsPresent = Constants.INTAKE_PRESENT_DEFAULT;
-	public int intakeCanID = Constants.INTAKE_CAN_ID;
-	public PIDF intakePIDF = new PIDF(Constants.INTAKE_P, Constants.INTAKE_I, Constants.INTAKE_D, Constants.INTAKE_F);
-
-	public boolean colourWheelIsPresent = Constants.COLOUR_WHEEL_PRESENT_DEFAULT;
-	public int colourWheelCanID = Constants.COLOUR_WHEEL_CAN_ID;
-	public PIDF colourWheelPIDF = new PIDF(0, 0, 0, 0);
-
-	public boolean loaderIsPresent = Constants.LOADER_PRESENT_DEFAULT;
-	public int loaderSpinnerCanID = Constants.LOADER_SPINNER_MOTOR_CAN_ID;
-	public PIDF loaderSpinnderPIDF = new PIDF(Constants.LOADER_SPINNER_P, Constants.LOADER_SPINNER_I, Constants.LOADER_SPINNER_D, Constants.LOADER_SPINNER_F);
-	public int loaderPassthroughCanID = Constants.LOADER_PASSTHROUGH_MOTOR_CAN_ID;
-	public PIDF loaderPassthroughPIDF = new PIDF(0, 0, 0, 0);
-
-	public boolean shooterIsPresent = Constants.SHOOTER_PRESENT_DEFAULT;
-	public int[] shooterCanIds = Constants.SHOOTER_TALON_CAN_ID_LIST;
-	public PIDF shooterPIDF = new PIDF(Constants.SHOOTER_P, Constants.SHOOTER_I, Constants.SHOOTER_D, Constants.SHOOTER_F);
-
-	public boolean pdpIsPresent = Constants.PDP_PRESENT_DEFAULT;
-	public int pdpCanId = Constants.PDP_CAN_ID;
-	public boolean pdpMonitor = false;  // by default we do NOT monitor the PDP
-	public int[] pdpChannelsToMonitor = new int[0];  // by default we do NOT monitor any channels
-
-	public boolean pcmIsPresent = Constants.PCM_PRESENT_DEFAULT;
-	public int pcmCanId = Constants.PCM_CAN_ID;
-
-	public boolean navxIsPresent = Constants.NAVX_PRESENT_DEFAULT;
-
-	public boolean visionIsPresent = Constants.VISION_PRESENT_DEFAULT;
-	public double visionHMin = Constants.VISION_H_MIN;
-	public double visionHMax = Constants.VISION_H_MAX;
-	public double visionSMin = Constants.VISION_S_MIN;
-	public double visionSMax = Constants.VISION_S_MAX;
-	public double visionVMin = Constants.VISION_V_MIN;
-	public double visionVMax = Constants.VISION_V_MAX;
-	
-	// Not currently used or read from the config file.
-	public boolean buddyClimbIsPresent = Constants.BUDDYCLIMB_PRESENT_DEFAULT;
-	public int buddyClimbSolenoidPort = Constants.BUDDYCLIMB_SOLENOID_PORT;
-
-	// Logging default is to not log anything to the graph, and to only log local information when we turn it on.
-	// These are the safest defaults.
-	public boolean doLogging = false;
-	public boolean onlyLocal = true;
-
-	public boolean ledStripIsPresent = Constants.LED_STRIP_PRESENT_DEFAULT;
-
-	public RobotConfiguration(String filePath, Log log) {
-		this(filePath, TeamNumber.get(), log);
-	}
-
-	public RobotConfiguration(String filePath, int teamNumber, Log log) {
-		this.teamNumber = teamNumber;
-		this.log = log;
-		
-		readLines(Paths.get(filePath));
-		readParameters();  // Creates example contents.
-		Collections.sort(exampleText);
-		writeExampleFile(filePath, String.join("\n", exampleText));
-	}
-	
-	private void writeExampleFile(String filePath, String contents) {
-		Path exampleFile = Paths.get(filePath + ".example");
-		try {
-			BufferedWriter writer;
-			writer = Files.newBufferedWriter(exampleFile, StandardOpenOption.CREATE);
-			writer.write(contents + "\n");
-			writer.close();
-			log.info("Wrote example config file " + exampleFile.toString());
-		} catch (IOException e) {
-			log.exception("Unable to write example config file " + exampleFile.toString(), e);
-		}
-	}
-
-	private void readLines(Path path) {
-		log.info("Reading config file " + path);
-		lines = new HashMap<String, String>();
-		ignoredEntries = new TreeMap<String, String>();
-		nonDefaultParameters = new TreeMap<String, String>();
-		try (BufferedReader reader = Files.newBufferedReader(path)) {
-		    String line = null;
-		    while ((line = reader.readLine()) != null) {
-		    	String[] parts = line.split("\\s*=\\s*", -1); // Keep empty values
-		    	if (parts.length < 2) {
-		    		log.error("Bad config line " + line);
-		    		continue;
-		    	}
-		    	String tag = parts[0].trim();
-		    	String value = parts[1].trim();
-		    	if (lines.containsKey(tag)) {
-		    		log.error("ERROR: Duplicate tag %s in configuration file, last value will be used.", tag);
-		    	}
-		    	lines.put(tag, value);
-		    	ignoredEntries.put(parts[0].trim(), line);
-		    }
-		} catch (NoSuchFileException e) {
-			log.error("Config file %s not found, attempting to create it", path);
-			// Touch the file so at least it's there next time.
-			try {
-				Files.createFile(path);
-			} catch (IOException e1) {}
-		} catch (IOException e) {
-			log.exception("Error loading configuration file " + path + ", using defaults", e);
-		}
-	}
-
-	private void readParameters() {	
-		drivebaseIsPresent = getAsBoolean("drivebase/present", drivebaseIsPresent);
-		drivebaseMotorControllerType = getMotorControllerType("drivebase/motorControllerType", drivebaseMotorControllerType);
-		drivebaseCanIdsLeftWithEncoders = getAsIntArray("drivebase/left/canIDs/withEncoders", drivebaseCanIdsLeftWithEncoders);
-		drivebaseCanIdsLeftWithoutEncoders = getAsIntArray("drivebase/left/canIDs/withoutEncoders", drivebaseCanIdsLeftWithoutEncoders);
-		drivebaseCanIdsRightWithEncoders = getAsIntArray("drivebase/right/canIDs/withEncoders", drivebaseCanIdsRightWithEncoders);
-		drivebaseCanIdsRightWithoutEncoders = getAsIntArray("drivebase/right/canIDs/withoutEncoders", drivebaseCanIdsRightWithoutEncoders);
-		drivebaseCurrentLimiting = getAsBoolean("drivebase/currentLimiting", drivebaseCurrentLimiting);
-		drivebaseContCurrent = getAsInt("drivebase/maxCurrent", drivebaseContCurrent);
-		drivebasePeakCurrent = getAsInt("drivebase/peakCurrent", drivebasePeakCurrent);
-		drivebaseRampRate = getAsDouble("drivebase/rampRate", drivebaseRampRate);
-		drivebasePIDF = getAsPIDF("drivebase", drivebasePIDF);
-		drivebaseMode = getAsString("drivebase/mode", drivebaseMode);
-		drivebaseMaxSpeed = getAsDouble("drivebase/maxSpeed", drivebaseMaxSpeed);
-		drivebaseSwapLeftRight = getAsBoolean("drivebase/swapLeftRight", drivebaseSwapLeftRight);
-		drivebaseSensorPhase = getAsBoolean("drivebase/sensor/phase", drivebaseSensorPhase);
-		drivebaseCount = getAsDouble("drivebase/count100ms", drivebaseCount);
-		
-	
-		intakeIsPresent = getAsBoolean("intake/present", intakeIsPresent);
-		intakeCanID = getAsInt("intake/canID", Constants.INTAKE_CAN_ID);
-		intakePIDF = getAsPIDF("intake", intakePIDF);
-
-		colourWheelIsPresent = getAsBoolean("colourWheel/present", colourWheelIsPresent);
-		colourWheelCanID = getAsInt("colourWheel/canID", Constants.COLOUR_WHEEL_CAN_ID);
-		colourWheelPIDF = getAsPIDF("colourWheel", colourWheelPIDF);
-
-		loaderIsPresent = getAsBoolean("loader/present", loaderIsPresent);
-		loaderSpinnerCanID = getAsInt("loader/spinner/canID", Constants.LOADER_SPINNER_MOTOR_CAN_ID);
-		loaderSpinnderPIDF = getAsPIDF("loader/spinner/", loaderSpinnderPIDF);
-		loaderPassthroughCanID = getAsInt("loader/passthrough/canID", Constants.LOADER_PASSTHROUGH_MOTOR_CAN_ID);
-		loaderPassthroughPIDF = getAsPIDF("loader/passthrough/", loaderPassthroughPIDF);
-
-		shooterIsPresent = getAsBoolean("shooter/present", shooterIsPresent);
-		shooterCanIds = getAsIntArray("shooter/shooterCanIDs", Constants.SHOOTER_TALON_CAN_ID_LIST);
-		shooterPIDF = getAsPIDF("shooter/", shooterPIDF);
-		
-		pdpIsPresent = getAsBoolean("pdp/present", pdpIsPresent);
-		pdpCanId = getAsInt("pdp/canID", Constants.PDP_CAN_ID);
-		pdpMonitor = getAsBoolean("pdp/monitor", false);		// by default we do NOT monitor the PDP
-		pdpChannelsToMonitor = getAsIntArray("pdp/channels", new int[0]);	// by default we do NOT monitor and channels
-
-		pcmIsPresent = getAsBoolean("pcm/present", pcmIsPresent);
-		pcmCanId = getAsInt("pcm/canID", Constants.PCM_CAN_ID);
-		
-		navxIsPresent = getAsBoolean("navx/present", navxIsPresent);
-
-		robotLengthWithBumpers = getAsDouble("dimensions/robot/lengthWithBumpers", 0.0);
-		robotWidthWithBumpers = getAsDouble("dimensions/robot/widthWithBumpers", 0.0);
-		cameraFromFrontWithBumpers = getAsDouble("dimensions/cameraFromFrontWithBumpers", 0.0);
-		cameraFromLeftWithBumpers = getAsDouble("dimensions/cameraFromLeftWithBumpers", 0.0);
-		
-		visionIsPresent = getAsBoolean("vision/present", visionIsPresent);
-		visionHMin = getAsDouble("vision/hsvFilter/h/min", Constants.VISION_H_MIN);
-		visionHMax = getAsDouble("vision/hsvFilter/h/max", Constants.VISION_H_MAX);
-		visionSMin = getAsDouble("vision/hsvFilter/s/min", Constants.VISION_S_MIN);
-		visionSMax = getAsDouble("vision/hsvFilter/s/max", Constants.VISION_S_MAX);
-		visionVMin = getAsDouble("vision/hsvFilter/v/min", Constants.VISION_V_MIN);
-		visionVMax = getAsDouble("vision/hsvFilter/v/max", Constants.VISION_V_MAX);
-
-		// logging default is to not log anything to the graph, and to only log local information when we turn it on.
-		// These are the safest defaults.
-		doLogging = getAsBoolean("logging/enabled", true);
-		onlyLocal = getAsBoolean("logging/onlyLocal", true);
-
-		ledStripIsPresent = getAsBoolean("ledStrip/present", ledStripIsPresent);
-
-		if (!ignoredEntries.isEmpty()) {
-			log.warning("WARNING: These config file lines weren't used:");
-			for (String entry : ignoredEntries.values()) {
-				log.warning("  %s", entry);
-			}
-		}
-		if (!nonDefaultParameters.isEmpty()) {
-			log.warning("WARNING: These parameters have non-default values:");
-			for (Map.Entry<String, String> entry : nonDefaultParameters.entrySet()) {
-				log.warning("  %s = %s", entry.getKey(), entry.getValue());
-			}
-		}
-		log.info("RobotConfig finished loading parameters\n");
-	}
-	
-	private String getMotorControllerType(String parameterName, String defaultValue) {
-		String type = getAsString(parameterName, defaultValue);
-		switch(type) {	
-			default:
-			log.error("Invalid value '%s' for parameter '%s'.  Using TalonSRX.", type, parameterName);
-			// Falling through to TalonSRX.
-
-			case Constants.MOTOR_CONTROLLER_TYPE_TALONSRX: 
-			return Constants.MOTOR_CONTROLLER_TYPE_TALONSRX;
-
-			case Constants.MOTOR_CONTROLLER_TYPE_SPARKMAX: 
-			return Constants.MOTOR_CONTROLLER_TYPE_SPARKMAX;
-		}
-	}
-
-	private <T> void appendExample(String key, T defaultValue) {
-		exampleText.add(key + " = " + defaultValue);
-	}
-	
-	private int getAsInt(String key, int defaultValue) {
-		appendExample(key, defaultValue);
-		try {
-			if (lines.containsKey(key)) {
-				int value = Integer.valueOf(lines.get(key));
-				ignoredEntries.remove(key);  // Used this line.
-				log.debug("%s: %s -> %d", name, key, value);
-				if (value != defaultValue) {
-					nonDefaultParameters.put(key, lines.get(key));
-				}
-				return value;
-			}
-		} catch (Exception e) {
-			log.exception("Error reading key: " + key + " using default", e);
-		}
-		return defaultValue;
-	}
-	
-	private double getAsDouble(String key, double defaultValue) {
-		appendExample(key, defaultValue);
-		try {
-			if (lines.containsKey(key)) {
-				double value = Double.valueOf(lines.get(key));
-				ignoredEntries.remove(key);  // Used this line.
-				log.debug("%s: %s -> %f", name, key, value);
-				if (value != defaultValue) {
-					nonDefaultParameters.put(key, lines.get(key));
-				}
-				return value;
-			}
-		} catch (Exception e) {
-			log.exception("Error reading key: " + key + " using default", e);
-		}
-		return defaultValue;
-	}
-
-	private PIDF getAsPIDF(String prefix, PIDF pidf) {
-		pidf.p = getAsDouble(prefix+"/p", pidf.p);
-		pidf.i = getAsDouble(prefix+"/i", pidf.i);
-		pidf.d = getAsDouble(prefix+"/d", pidf.d);
-		pidf.f = getAsDouble(prefix+"/f", pidf.f);
-		return pidf;
-	}
-	
-	private boolean getAsBoolean(String key, boolean defaultValue) {
-		appendExample(key, defaultValue);
-		try {
-			if (lines.containsKey(key)) {
-				boolean value = Boolean.valueOf(lines.get(key));
-				ignoredEntries.remove(key);  // Used this line.
-				log.debug("%s: %s -> %s", name, key, value);
-				if (value != defaultValue) {
-					nonDefaultParameters.put(key, lines.get(key));
-				}
-				return value;
-			}
-		} catch (Exception e) {
-			log.exception("Error reading key: " + key + " using default", e);
-		}
-		return defaultValue;
-	}
-	
-	private String getAsString(String key, String defaultValue) {
-		appendExample(key, "\"" + defaultValue + "\"");
-		try {
-			if (lines.containsKey(key)) {
-				// Get the value between the quotes.
-				String[] parts = lines.get(key).split("\"", -1);
-				if (parts.length < 3) {
-					log.error("Bad string value for %s, needs to be in double quotes, not: %s", key, lines.get(key));
-					return defaultValue;
-				}
-				String value = parts[1];
-				ignoredEntries.remove(key);  // Used this line.
-				log.debug("%s: %s -> %s", name, key, value);
-				if (!value.equals(defaultValue)) {
-					nonDefaultParameters.put(key, lines.get(key));
-				}
-				return value;
-			}
-		} catch (Exception e) {
-			log.exception("Error reading key: " + key + " using default", e);
-		}
-		return defaultValue;
-	}
-
-	private int[] getAsIntArray(String key, int[] defaultValue) {
-		// Joining primitive arrays seems to be painful under Java.
-		appendExample(key, joinIntArray(defaultValue));
-		try {
-			if (lines.containsKey(key)) {
-				String value = lines.get(key);
-				int[] values;
-				if (value.equals("")) {
-					// No values.
-					values = new int[0];
-				} else {
-					// One or more values.
-					String[] parts = value.split("\\s*,\\s*");
-					values = new int[parts.length];
-					for (int i = 0; i < parts.length; i++) {
-						values[i] = Integer.valueOf(parts[i]);
-					}
-				}
-				ignoredEntries.remove(key);  // Used this line.
-				log.debug("%s: %s -> %s", name, key, joinIntArray(values));
-				if (!java.util.Arrays.equals(values, defaultValue)) {
-					nonDefaultParameters.put(key, lines.get(key));
-				}
-				return values;
-			}
-		} catch (Exception e) {
-			log.exception("Error reading key: " + key + " using default", e);
-		}
-		return defaultValue;
-	}
-
-	private String joinIntArray(int[] values) {
-		return Arrays.stream(values).mapToObj(String::valueOf).collect(Collectors.joining(","));
-	}
-}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/lib/RobotName.java b/src/main/java/frc/robot/lib/RobotName.java
index 422dcb7..a0e010f 100644
--- a/src/main/java/frc/robot/lib/RobotName.java
+++ b/src/main/java/frc/robot/lib/RobotName.java
@@ -6,7 +6,14 @@
 import java.nio.file.Paths;
 import java.util.Random;
 
+import frc.robot.Constants;
+
 /**
+ * Read a speciall file on the filesystem to get the robot name.
+ * 
+ * The logging and charting files will put their files in a subdirectory of
+ * this name so that multiple robots worth of log files can be overlaid with
+ * rsync and not overwrite each other.
  */
 public class RobotName {
 
@@ -43,4 +50,14 @@ public static String get(String path) {
         }
         return robotName;
     }
+
+    /**
+     * Attempts to read the first line of a file to get the robot name. If the file
+     * doesn't exist it will create a new random name, write the file and return
+     * that.
+     * @return name of the robot as a String.
+     */
+    public static String get() {
+        return get(Constants.ROBOT_NAME_FILE_PATH);
+    }
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/lib/Subsystem.java b/src/main/java/frc/robot/lib/Subsystem.java
index 2d0ff39..d5ff4d2 100644
--- a/src/main/java/frc/robot/lib/Subsystem.java
+++ b/src/main/java/frc/robot/lib/Subsystem.java
@@ -4,7 +4,6 @@
 import org.strongback.command.Requirable;
 import frc.robot.interfaces.DashboardInterface;
 import frc.robot.interfaces.DashboardUpdater;
-import frc.robot.interfaces.Log;
 import frc.robot.interfaces.NetworkTableHelperInterface;
 import edu.wpi.first.wpilibj.Notifier;
 
@@ -24,17 +23,15 @@ public abstract class Subsystem implements Requirable, Executable, DashboardUpda
 	protected Notifier notifier;
 	protected boolean enabled;
 	protected DashboardInterface dashboard;
-	protected Log log;
 	protected NetworkTableHelperInterface networkTable;
 	
-	public Subsystem(String name, DashboardInterface dashboard, Log log) {
-		this(name, null, dashboard, log);
+	public Subsystem(String name, DashboardInterface dashboard) {
+		this(name, null, dashboard);
 	}
 
-	public Subsystem(String name, NetworkTableHelperInterface networkTable, DashboardInterface dashboard, Log log) {
+	public Subsystem(String name, NetworkTableHelperInterface networkTable, DashboardInterface dashboard) {
 		this.name = name;
 		this.dashboard = dashboard;
-		this.log = log;
 		this.networkTable = networkTable;
 		enabled = false;	// we start out disabled
 	}
diff --git a/src/main/java/frc/robot/lib/chart/Chart.java b/src/main/java/frc/robot/lib/chart/Chart.java
new file mode 100644
index 0000000..bc00412
--- /dev/null
+++ b/src/main/java/frc/robot/lib/chart/Chart.java
@@ -0,0 +1,309 @@
+package frc.robot.lib.chart;
+
+import java.io.IOException;
+import java.nio.file.Paths;
+import java.text.SimpleDateFormat;
+import java.util.ArrayList;
+import java.util.Calendar;
+import java.util.function.DoubleSupplier;
+import java.util.function.IntSupplier;
+
+import org.strongback.Executable;
+import org.strongback.Strongback;
+import org.strongback.components.Switch;
+import org.strongback.components.ui.DirectionalAxis;
+
+import frc.robot.Constants;
+import frc.robot.interfaces.LogWriter;
+import frc.robot.lib.RobotName;
+import frc.robot.lib.log.LogFileNumber;
+import frc.robot.lib.log.Log;
+import frc.robot.lib.log.NullLogWriter;
+import frc.robot.lib.log.TimestampedLogWriter;
+
+/**
+ * Writes data out in a CSV file for charting. Creates html files for
+ * viewing the data via the web server.
+ */
+public class Chart implements Executable {
+
+	/**
+	 * Register a data stream for collection to the log.
+	 * The sample needs to have a method that returns a double which is the data element.
+	 * The format (and args) are used to construct the name of the data stream.
+	 * @param sample An object that returns a double value when called
+	 * @param format a VarArgs string which evaluates to the name of the data stream
+	 * @param args Any arguments required for the format varargs
+	 */
+	public static synchronized void register(DoubleSupplier sample, String format, Object... args) {
+		if (state == State.ERRORED) {
+			// The log system is very broken, possibly because of a missing or faulty USB
+			// flash drive.
+			return;
+		}
+		if (state == State.CREATED) {
+			columns.add(new Column(sample, String.format(format, args)));
+			return;
+		}
+		// Invalid state. Create a stack trace to help with debugging.
+		// It's likely that registrationComplete() has already been called.
+		try {
+			throw new Exception("Tried to add sample in an invalid state: " + state);
+		} catch (Exception e) {
+			Log.exception("Failure to register: ", e);
+		}
+	}
+
+	/**
+	 * Register a data stream for collection to the log.
+	 * The sample needs to have a method that returns an integer which is the data element.
+	 * The format (and args) are used to construct the name of the data stream.
+	 * @param sample An object that returns an integer value when called
+	 * @param format a VarArgs string which evaluates to the name of the data stream
+	 * @param args Any arguments required for the format varargs
+	 */
+	public static void register(IntSupplier sample, String format, Object... args) {
+		register(() -> (double)sample.getAsInt(), format, args);
+	}
+
+	/**
+	 * Register a data stream for collection to the log.
+	 * The sample needs to have a method that returns a DirectionalAxis which is the data element.
+	 * The format (and args) are used to construct the name of the data stream.
+	 * @param sample An object that returns a DirectionalAxis value when called
+	 * @param format a VarArgs string which evaluates to the name of the data stream
+	 * @param args Any arguments required for the format varargs
+	 */
+	public static void register(DirectionalAxis sample, String format, Object... args) {
+		register(() -> (double)sample.getDirection(), format, args);
+	}
+	
+	/**
+	 * Register a data stream for collection to the log.
+	 * The sample needs to have a method that returns a Switch which is the data element.
+	 * The format (and args) are used to construct the name of the data stream.
+	 * @param sample An object that returns a Switch value when called
+	 * @param format a VarArgs string which evaluates to the name of the data stream
+	 * @param args Any arguments required for the format varargs
+	 */
+	public static void register(Switch sample, String format, Object... args) {
+		register(() -> (double)(sample.isTriggered()?1:0), format, args);
+	}
+
+	/**
+	 * Call when all registrations have been done and recording should start.
+	 */
+	public static synchronized void registrationComplete(String matchDescription) {
+		Chart.matchDescription = matchDescription;
+		state = State.CONFIGURED;
+		Log.debug("Chart: Column additions completed");
+	}
+
+	/**
+	 * Restarts logging, called each time robot is enabled or initialised.
+	 */
+	public synchronized static void restartCharts() {
+		csvWriter.flush();
+		init();
+		// Jump straight to configured as all the columns have already been registered.
+		state = State.CONFIGURED;
+	}
+
+	// Implementation
+
+	private enum State {
+		INVALID, // File has not yet been created
+		CREATED, // File has been created, but we are waiting for all logging classes to be created
+		CONFIGURED, // Logging classes are all created and have registered with the logging subsystem
+		ACTIVE, // .html files have been populated and we are ready to write records into the .csv file.
+		ERRORED // a problem has occurred. Abandon trying to write.
+	}
+
+	/**
+	 * Holds a name and a way to get a value for it.
+	 * For example "battery voltage" and a callback to query it.
+	 */
+	private static class Column {
+		public String name;
+		public DoubleSupplier sample;
+
+		public Column(DoubleSupplier sample, String name, Object... args) {
+			this.name = String.format(name, args);
+			this.sample = sample;
+		}
+	}
+
+	// Log file.
+	private static LogWriter csvWriter = new NullLogWriter();
+	private static LogWriter chartHTMLWriter = new NullLogWriter();
+	private static LogWriter locationHTMLWriter = new NullLogWriter();
+	// Internal state.
+	private static State state = State.INVALID;
+	private static String matchDescription = "Invalid";
+	 // Registered samples/columns.
+	private static ArrayList<Column> columns = new ArrayList<Column>();
+	private static Double timeOffset = 0.0;  // Make the graphs always start at zero.
+	private static boolean createdDateFiles = false;
+
+	static {
+		// Setup the files.
+		init();
+	}
+
+	/**
+	 * Creates new log files on request.
+	 */
+	private static synchronized void init() {
+		// Set the graphLogState to INVALID as the new files have not yet been created.
+		state = State.INVALID;
+		createdDateFiles = false;
+
+		// Get time since robot boot, so chart starts at time = 0.
+		timeOffset = Strongback.timeSystem().currentTime();
+		try {
+			if (System.getProperty("user.name").equals("lvuser")) {
+				// Running on the robot. Write for real.
+				String baseDir = Paths.get(Constants.LOG_BASE_PATH, RobotName.get()).toString();
+				long logNum = LogFileNumber.get();
+				// Open all files. Also creates Latest symlink.
+				csvWriter = new TimestampedLogWriter(baseDir, "data", logNum, "csv");
+				chartHTMLWriter = new TimestampedLogWriter(baseDir, "chart", logNum, "html");
+				locationHTMLWriter = new TimestampedLogWriter(baseDir, "location", logNum, "html");
+			}
+
+			// Everything was successfully created, we're good to go.
+			state = State.CREATED;
+		} catch (IOException e) {
+			e.printStackTrace();
+			System.err.printf("Failed to create log files in %s: %s\n", Constants.LOG_BASE_PATH, e.getMessage());
+			state = State.ERRORED;
+		}
+	}
+
+	/**
+	 * execute is called periodically.
+	 */
+	@Override
+	public void execute(long timeInMillis) {
+		update();
+	}
+
+	/**
+	 * Called periodically to record the latest values and write them to file.
+	 */
+	private static synchronized void update() {
+		if (state == State.CONFIGURED) {
+			String csvColumns = getGraphHeaders();
+			initCSVFile(csvColumns);
+			initChartFile(csvColumns);
+			initLocationFile();
+			state = State.ACTIVE;
+		}
+		if (state == State.ACTIVE) {
+			csvWriter.write(getGraphValues());
+			if (createdDateFiles) return;
+			// If there is a valid date and time from the drivers station,
+			// create the dated links to the files.
+			Calendar now = Calendar.getInstance();
+			if (now.get(Calendar.YEAR) >= 2017) {
+				createDateFiles(now);
+				createdDateFiles = true;
+			}
+		}
+	}
+
+	/**
+	 * Insert the header row into the CSV file now that all the columns are known.
+	 */
+	private static void initCSVFile(String csvColumns) {
+		csvWriter.write(csvColumns + "\n");
+	}
+
+	/**
+	 * Create the html file for viewing the data as a plot.ly chart.
+	 */
+	private static void initChartFile(String csvColumns) {
+		String title = "Run " + LogFileNumber.get();
+		String file = String.format("data_%05d", LogFileNumber.get());
+		chartHTMLWriter.write(String.format("<html>\n" + "<head><title>%1$s plot.ly chart</title>\n" + "</head>\n"
+				+ "<body>\n" + "<script>\n" + "var fn = '../data/%2$s.csv';\n" + "var baseLabelsStr = '%3$s';\n"
+				+ "</script>\n"
+				+ "<script src='../../scripts/plotly.js'></script><script src='../../scripts/plotly-ext.js'></script>\n"
+				+ "<div id='chart1' style='width:100%%;height:90%%;'><!-- Plotly chart will be drawn inside this DIV --></div>\n"
+				+ "<script> loadPlotlyFromCSV('%1$s', fn, 0);\n" + "</script>\n\n" + "<p>\n"
+				+ "Click on the series in the legend to swap y-axis and then to turn off.\n" + "<p>\n"
+				+ "Trying to run this locally? Run the following in the directory containing this file:\n" + "<p>\n"
+				+ "<pre>\n" + " python -m SimpleHTTPServer\n" + "</pre>\n" + "<p>\n"
+				+ "Then go to <a href='http://localhost:8000/Latest_chart.html'>http://localhost:8000/Latest_chart.html</a>\n"
+				+ "</body>\n", title, file, csvColumns));
+		chartHTMLWriter.close();
+	}
+
+	/**
+	 * Create the html file for the location plot.
+	 */
+	private static void initLocationFile() {
+		String title = "Instance " + LogFileNumber.get();
+		String file = String.format("data_%05d", LogFileNumber.get());
+		locationHTMLWriter.write(String.format("<html><title>%1$s</title><head>\n"
+				+ "<script src='../../scripts/plotly.js'></script><script src='../../scripts/plotLocation.js'></script>\n"
+				+ "<body><div id='myDiv' style='width: 480px; height: 400px;'>\n"
+				+ "<!-- Plotly chart will be drawn inside this DIV --></div>\n"
+				+ "<script> makeplot('../data/%2$s.csv');\n" + "</script>" + "<p>\n"
+				+ "Trying to run this locally? Run the following in the directory containing this file:\n" + "<p>\n"
+				+ "<pre>\n" + " python -m SimpleHTTPServer\n" + "</pre>\n" + "<p>\n"
+				+ "Then go to <a href='http://localhost:8000/Latest_chart.html'>http://localhost:8000/Latest_chart.html</a>\n"
+				+ "</body>\n", title, file));
+		locationHTMLWriter.close();
+	}
+
+	private static String getGraphHeaders() {
+		String headers = "date";
+		for (Column e : columns) {
+			if (e.name != null) {
+				headers = headers + "," + e.name;
+			}
+		}
+		return headers;
+	}
+
+	public static String getGraphValues() {
+		StringBuffer s = new StringBuffer();
+		// Subtracts time offset from current time so graph starts at time = 0
+		s.append(String.format("%.3f", Strongback.timeSystem().currentTime() - timeOffset));
+		for (Column e : columns) {
+			if (e.name != null) {
+				s.append(",");
+				s.append(e.sample.getAsDouble());
+			}
+		}
+		s.append("\n");
+		return s.toString();
+	}
+
+	/**
+	 * Create the date based symbolic links. These create symbolic links from date
+	 * stamped version of the file to the actual file. This is a separate method as
+	 * we delay creating these until we are reasonably sure the date is correct.
+	 * 
+	 * @param timestamp The date to use.
+	 */
+	public static void createDateFiles(Calendar timestamp) {
+		String timestampStr = new SimpleDateFormat("yyyyMMdd_HH-mm-ss.SSS").format(timestamp.getTime());
+		try {
+			// Create links based on the timestamp.
+			csvWriter.createSymbolicLink(Constants.LOG_DATE_EXTENSION, timestampStr);
+			chartHTMLWriter.createSymbolicLink(Constants.LOG_DATE_EXTENSION, timestampStr);
+			locationHTMLWriter.createSymbolicLink(Constants.LOG_DATE_EXTENSION, timestampStr);
+			// And on event name, match type, match number, replay number, alliance and
+			// position. These details should be available at the same time now that the
+			// drivers station is able to talk to the robot.
+			csvWriter.createSymbolicLink(Constants.LOG_EVENT_EXTENSION, matchDescription);
+			chartHTMLWriter.createSymbolicLink(Constants.LOG_EVENT_EXTENSION, matchDescription);
+			locationHTMLWriter.createSymbolicLink(Constants.LOG_EVENT_EXTENSION, matchDescription);
+		} catch (Exception e) {
+			e.printStackTrace();
+			System.out.printf("Error creating symlinks in %s: %s\n", Constants.LOG_BASE_PATH, e.getMessage());
+		}
+	}
+}
diff --git a/src/main/java/frc/robot/lib/log/Log.java b/src/main/java/frc/robot/lib/log/Log.java
new file mode 100644
index 0000000..9838e4f
--- /dev/null
+++ b/src/main/java/frc/robot/lib/log/Log.java
@@ -0,0 +1,170 @@
+package frc.robot.lib.log;
+
+/*
+ * This class provides easy access to logging functions, allowing debugging
+ * after the program has run and persisting through robot code restarts.
+ * 
+ * What it does depends on what user starts it.
+ * - If running as lvuser, it assumes it's running on a RoboRio and will log to
+ *   the flash drive for easy post match analysis.
+ * - If started by any other user it will just print logging and not write
+ *   anything to disk (eg in unit tests)
+ * 
+ * For text logs we have a series of calls: 
+ *    log.{debug,info,warning,error}(String message)
+ * 
+ * Each message takes a varargs argument list, and prepends the message with a
+ * timestamp and type of message.
+ * 
+ * Static implementation so that it doesn't need to be passed around everywhere.
+ */
+
+import java.io.IOException;
+import java.nio.file.Paths;
+import java.text.SimpleDateFormat;
+import java.util.Calendar;
+
+import org.strongback.Strongback;
+
+import frc.robot.Constants;
+import frc.robot.interfaces.LogWriter;
+import frc.robot.lib.RobotName;
+
+/**
+ * This is the log file data logger. We split the log into two separate log systems.
+ * For the text file logging we use this method.
+ * 
+ * We create a single text log file <basePath>/<instance>.txt
+ * and provide a variety of methods to append to that log file.
+ */
+
+public class Log {
+	/**
+	 * Logs to disk only.  For high volume debug messages
+	 * @param message Message to log
+	 * @param args arguments to the message format string
+	 */
+	public static void debug(String message, Object... args) {
+		message = String.format(timeString() + ",D " + message + "\n", args); 
+		// Don't print it to the console.
+		writer.write(message);
+	}
+	
+	/**
+	 * Logs to disk and console.  For low volume informational messages (<1/sec).
+	 * @param message Message to Log
+	 * @param args arguments to the message format string
+	 */
+	public static void info(String message, Object... args) {
+		message = String.format(timeString() +",I " + message + "\n", args); 
+		// Print to the console.
+		System.out.print(message);
+		writer.write(message);
+	}
+	
+	/**
+	 * Logs to disk and console. For warning Messages.
+	 * @param message Message to Log
+	 * @param args arguments to the message format string
+	 */
+	public static void warning(String message, Object... args) {
+		message = String.format(timeString() +",W " + message + "\n", args); 
+		// Print to the console.
+		System.err.print(message);
+		writer.write(message);
+	}
+	
+	/**
+	 * Logs to disk and console. For important errors Messages.
+	 * @param message Message to Log
+	 * @param args arguments to the message format string
+	 */
+	public static void error(String message, Object... args) {
+		message = String.format(timeString() +",E " + message + "\n", args); 
+		// Print to the console.
+		System.err.print(message);
+		writer.write(message);
+	}
+
+	/**
+	 * Logs Exceptions to disk and console.
+	 * @param message Message to Log
+	 * @param e Exception to log after message
+	 */
+	public static void exception(String message, Exception e) {
+		error(message + ": %s", e);
+		for (StackTraceElement frame : e.getStackTrace()) {
+			error("     at %s", frame.toString());			
+		}
+	}
+	
+	/**
+	 * Implements the classic println interface. Single string to the console!
+	 * @param message Message to Log
+	 */
+	public static void println(String message, Object... args) {
+		message = String.format(timeString() + ",O " + message + "\n", args); 
+		// Print to the console.
+		System.out.print(message);
+		writer.write(message);
+	}
+
+    /**
+	 * Restart logging. Called each time robot is enabled or initialised.
+	 */
+	public static void restartLogs() {
+		writer.flush();
+		// Make the time start at zero within the log file. 
+		timeOffset = Strongback.timeSystem().currentTime();
+		// Create a new logger to get new files.
+		writer = createWriter();
+	}
+
+	/**
+	 * Create the date based symbolic links. These create symbolic links from date stamped
+	 * version of the file to the actual file. This is a separate method as we delay
+	 * creating these until we are reasonably sure the date is correct.
+	 * @param timestamp The date to use.
+	 */
+	public static void createDateFiles(Calendar timestamp, String matchDescription) {
+		String timestampStr = new SimpleDateFormat("yyyyMMdd_HH-mm-ss.SSS").format(timestamp.getTime());
+		try {
+			// Create links based on the timestamp.
+			writer.createSymbolicLink(Constants.LOG_DATE_EXTENSION, timestampStr);
+			writer.createSymbolicLink(Constants.LOG_EVENT_EXTENSION, matchDescription);
+		} catch (Exception e) {
+			System.out.printf("Error creating logging symlinks\n");
+			e.printStackTrace();
+		}
+	}
+
+	// Implementation only from here.
+	
+	private static double timeOffset = 0;
+	private static LogWriter writer = createWriter();
+
+	private static LogWriter createWriter() {
+		if (System.getProperty("user.name").equals("lvuser")) {
+			// Running on the robot. Log for real.
+			String baseDir  = Paths.get(Constants.LOG_BASE_PATH, RobotName.get()).toString();
+			long logNum = LogFileNumber.get();
+			try {
+				return new TimestampedLogWriter(baseDir, "log", logNum, "txt");
+			} catch (IOException e) {
+				System.err.println("Failed to create logger, maybe usb flash drive isn't plugged in?");
+				e.printStackTrace();
+				// Fall through to create a NullLogWriter();
+			}
+		}
+		// Likely a unit test, only write to the console.
+		return new NullLogWriter();
+	}
+
+	/*
+	 * Create the timestamp for this message. We use the robot time, so each log
+	 * entry is time stamped for when it happened during the match.
+	 */
+	private static String timeString() {
+		return String.format("%.3f", Strongback.timeSystem().currentTime() - timeOffset);
+	}
+}
diff --git a/src/main/java/frc/robot/lib/log/LogFileNumber.java b/src/main/java/frc/robot/lib/log/LogFileNumber.java
new file mode 100644
index 0000000..4e222bc
--- /dev/null
+++ b/src/main/java/frc/robot/lib/log/LogFileNumber.java
@@ -0,0 +1,81 @@
+package frc.robot.lib.log;
+
+import java.io.BufferedReader;
+import java.io.BufferedWriter;
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Paths;
+
+import frc.robot.Constants;
+import frc.robot.lib.RobotName;
+
+/**
+ * Returns the next unique log file number to write to.
+ * 
+ * To make the log files easier to find they should to be timestamped so that the
+ * run at a specific time can be found.
+ * 
+ * The roborio doesn't have a battery powered clock so when it first starts it
+ * doesn't have the time and it will start from the same timestamp every time.
+ * The time is supplied by the drivers station when it connects.
+ * 
+ * Unfortunately the code (and the logging of its output) will start well
+ * before this.
+ * 
+ * To work around this, the logs are witten to unique incrementing file names
+ * and when the real time is set on the roborio when the drivers station
+ * connects a symbolic link (think shortcut) is created named with the current
+ * time. We also know the match number at that time, so another link is created
+ * based on the match number.
+ * 
+ * This class supplies the number that makes the incrementing number.
+ * 
+ * The different log files (chart, etc) all share the same number and they
+ * are all recreated with a new number when the robot is enabled so that output
+ * of every enable is in a new file.
+ */
+public class LogFileNumber {
+    static long value = 0;
+
+    static {
+        // Increment and get the number from disk.
+        increment();
+    }
+
+    /**
+     * Returns the current unique log file number.
+     * 
+     * @return the log file number to use.
+     */
+    public static long get() {
+        return value;
+    }
+
+    /**
+     * Reads the file and increments (or uses 1 if no such file exists) and writes
+     * the log file number back out.
+     */
+    public static void increment() {
+        var path = Paths.get(Constants.LOG_BASE_PATH, RobotName.get(), "lognumber.txt");
+        try {
+            BufferedReader br = Files.newBufferedReader(path);
+            String s = br.readLine(); // read the line into the buffer.
+            value = Integer.parseInt(s);
+            br.close();
+            value++;
+        } catch (IOException | NumberFormatException e) {
+            System.err.printf("Cannot read %s. Resetting log number to 1.\n", path.toString());
+            value = 1;
+        }
+        try {
+            BufferedWriter bw = Files.newBufferedWriter(path);
+            bw.write(value + "\n");
+            bw.flush();
+            bw.close();
+            System.out.printf("Wrote %d to %s\n", value, path);
+        } catch (IOException e) {
+            e.printStackTrace();
+            System.out.println("Cannot write log number file. Possible old file overwrite.");
+        }
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/lib/log/NullLogWriter.java b/src/main/java/frc/robot/lib/log/NullLogWriter.java
new file mode 100644
index 0000000..c0555a5
--- /dev/null
+++ b/src/main/java/frc/robot/lib/log/NullLogWriter.java
@@ -0,0 +1,26 @@
+package frc.robot.lib.log;
+
+import frc.robot.interfaces.LogWriter;
+
+/**
+ * Throws away log messages. Useful for unit tests that logging
+ * doesn't need to be persisted.
+ */
+public class NullLogWriter implements LogWriter {
+	
+	public NullLogWriter() {}
+	
+ 	@Override
+	public void write(String contents) {
+		// Don't do anything with it.
+	}
+
+	@Override
+	public void flush() {}
+
+	@Override
+	public void close() {}
+
+	@Override
+	public void createSymbolicLink(String dir, String prefix) {}
+}
diff --git a/src/main/java/frc/robot/lib/log/TimestampedLogWriter.java b/src/main/java/frc/robot/lib/log/TimestampedLogWriter.java
new file mode 100644
index 0000000..52bdbd5
--- /dev/null
+++ b/src/main/java/frc/robot/lib/log/TimestampedLogWriter.java
@@ -0,0 +1,147 @@
+package frc.robot.lib.log;
+
+import java.io.BufferedWriter;
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.nio.file.Paths;
+
+import frc.robot.interfaces.LogWriter;
+
+/**
+ * Creates the files and the symbolic links for a single stream of data
+ * normally on the USB flash drive. 
+ *
+ * 'Latest' symlink created to point to this file.
+ */
+public class TimestampedLogWriter implements LogWriter {
+	
+	private final String name; // eg chart
+	private final String extn; // eg "html" or "csv"
+	private final String baseDir; // All logs are below this directory
+	private Path filePath = null;
+	private BufferedWriter writer = null;
+
+	/**
+	 * Write free form data to a file and create multiple symbolic links to it.
+	 * Used for csv and graphing files.
+	 * 
+	 * Creates
+	 * <pre>
+	 *    baseDir/
+   	 *            data/name_000filenum.extn
+   	 *            latest/Latest_name.extn -> data/name_filenum.extn
+	 *            date/timestamp_name.extn -> ../data/name_filenum.extn 
+	 *			  event/event_match_name.extn -> ../data/name_filenum.extn
+	 * </pre>
+	 *        
+	 * @param baseDir  Where on the file system to put the logging directories.
+	 * @param name  the type of data, eg "data", "chart"
+	 * @param filenum  the number of the file. Incremented every start of the code.
+	 * @param extn  the file extension
+	 * @throws IOException 
+	 */
+	public TimestampedLogWriter(String baseDir, String name, long filenum, String extn) throws IOException {
+		this.baseDir = baseDir;
+		this.name = name;
+		this.extn = extn;
+		// The absolute path to the data file so we can write to the file.
+		filePath = Paths.get(baseDir, "data", String.format("%s_%05d.%s", name, filenum, extn));
+		// Ensure the parent directory exists.
+		Files.createDirectories(filePath.getParent());
+		// Create the file writer.
+		writer = Files.newBufferedWriter(filePath);
+		createSymbolicLink("latest/Latest");
+	}
+
+    /**
+	 * Create symbolic links to the file. Used to create Latest_x and dated
+	 * symlinks. This version also takes a directory.
+	 * 
+	 * @param dir sub directory relative to logging base dir to put link in.
+	 * @param prefix as in <prefix>_chart.html
+	 */
+	@Override
+	public void createSymbolicLink(String dir, String prefix) {
+		Path path = Paths.get(dir, prefix);
+		createSymbolicLink(path.toString());
+	}
+	
+	/**
+	 * Create symbolic links to the file. Used to create Latest_x and dated
+	 * symlinks. 
+	 * 
+	 * @param prefix as in <prefix>_chart.html
+	 */
+	private void createSymbolicLink(String prefix) {
+		Path symlinkPath = Paths.get(baseDir, String.format("%s_%s.%s", prefix, name, extn));
+		createSymbolicLink(symlinkPath, filePath);
+	}
+
+	/**
+	 * Create symbolic links to the file. Used to create Latest_x and dated
+	 * symlinks. 
+	 * 
+	 * @param prefix as in <prefix>_chart.html
+	 */
+	private static void createSymbolicLink(Path from, Path to) {
+		Path relPath = createRelativePath(from, to);
+		try {
+			// Ensure the parent directory exists.
+			Files.createDirectories(from.getParent());
+			Files.deleteIfExists(from);
+			Files.createSymbolicLink(from, relPath);
+		} catch (Exception e) {
+			//e.printStackTrace();
+			System.err.printf("Failed to create symbolic link: Are we on windows? %s", e);
+		}
+	}
+
+	/**
+	 * Does some relative path magic to ensure that the target is
+	 * relative to the file so that it will work no matter where the file system
+	 * is mounted.
+	 * 
+	 * Examples:
+	 *   prefix="Latest" creates a symlink "Latest_chart.html" -> "data/chart_00007.html"
+	 *   prefix="date/20180303" creates a symlink "date/20180303_chart.html" -> "../data/chart_00007.html"
+	 *   
+	 * @param from the full path to the symlink.
+	 * @param to the full path to the file to link to.
+	 * @return the relative path to the file to link to from <code>from</code>'s perspective
+	 */
+	private static Path createRelativePath(Path from, Path to) {
+		// Make a relative path out of this path so the symbolic link will continue to
+		// work no matter where the USB flash drive is mounted.
+		return from.getParent().relativize(to);
+	}
+ 
+ 	@Override
+	public void write(String contents) {
+		if (writer == null) return; // File logging not enabled.
+		try {
+			writer.write(contents);
+			writer.flush();
+		} catch (Exception e) {
+			// nothing to do. If we can't write to the log file it's not a disaster.
+		}
+	}
+	
+	@Override
+	public void flush() {
+		try {
+			writer.flush();
+		} catch (IOException e) {
+			// nothing to do. If we can't write to the log file it's not a disaster.
+		}
+	}
+	
+	@Override
+	public void close() {
+		try {
+			writer.close();
+		} catch (IOException e) {
+			e.printStackTrace();
+		}
+	}
+}
diff --git a/src/main/java/frc/robot/mock/MockBuddyClimb.java b/src/main/java/frc/robot/mock/MockBuddyClimb.java
index 43deecc..fa00caf 100644
--- a/src/main/java/frc/robot/mock/MockBuddyClimb.java
+++ b/src/main/java/frc/robot/mock/MockBuddyClimb.java
@@ -1,12 +1,11 @@
 package frc.robot.mock;
 
 import frc.robot.interfaces.BuddyClimbInterface;
-import frc.robot.interfaces.Log;
 
 public class MockBuddyClimb implements BuddyClimbInterface {
     private boolean isExtended = false;
 
-    public MockBuddyClimb(Log log) {
+    public MockBuddyClimb() {
     }
 
     @Override
diff --git a/src/main/java/frc/robot/mock/MockColourWheel.java b/src/main/java/frc/robot/mock/MockColourWheel.java
index 735751b..7811acf 100644
--- a/src/main/java/frc/robot/mock/MockColourWheel.java
+++ b/src/main/java/frc/robot/mock/MockColourWheel.java
@@ -1,7 +1,6 @@
 package frc.robot.mock;
 
 import frc.robot.interfaces.ColourWheelInterface;
-import frc.robot.interfaces.Log;
 import frc.robot.lib.WheelColour;
 import frc.robot.interfaces.ColourWheelInterface.ColourAction.ColourWheelType;
 
@@ -9,7 +8,7 @@ public class MockColourWheel implements ColourWheelInterface {
     private ColourAction action = new ColourAction(ColourWheelType.NONE, WheelColour.UNKNOWN);
     private boolean extended = false;
 
-    public MockColourWheel(Log log) {
+    public MockColourWheel() {
     }
 
     @Override
diff --git a/src/main/java/frc/robot/mock/MockDrivebase.java b/src/main/java/frc/robot/mock/MockDrivebase.java
index a660050..a417a7e 100644
--- a/src/main/java/frc/robot/mock/MockDrivebase.java
+++ b/src/main/java/frc/robot/mock/MockDrivebase.java
@@ -2,16 +2,14 @@
 
 import frc.robot.drive.routines.DriveRoutine;
 import frc.robot.interfaces.DrivebaseInterface;
-import frc.robot.interfaces.Log;
 
 public class MockDrivebase implements DrivebaseInterface  {
 	private DriveRoutineParameters parameters = new DriveRoutineParameters(DriveRoutineType.ARCADE_DUTY_CYCLE);
 	private boolean ClimbModeEnabled = false;
 	private boolean BrakeApplied = false;
 	String name = "MockDrivebase";
-	Log log;
-	public MockDrivebase(Log log) {
-		this.log = log;
+	;
+	public MockDrivebase() {
 	}
 
 	@Override
diff --git a/src/main/java/frc/robot/mock/MockIntake.java b/src/main/java/frc/robot/mock/MockIntake.java
index 52945c4..ad99797 100644
--- a/src/main/java/frc/robot/mock/MockIntake.java
+++ b/src/main/java/frc/robot/mock/MockIntake.java
@@ -1,7 +1,6 @@
 package frc.robot.mock;
 
 import frc.robot.interfaces.IntakeInterface;
-import frc.robot.interfaces.Log;
 
 
 /**
@@ -11,7 +10,7 @@ public class MockIntake implements IntakeInterface {
 	private double output = 0;
 	private boolean isExtended = false;
 
-	public MockIntake(Log log) {
+	public MockIntake() {
 	}
 
 	@Override
diff --git a/src/main/java/frc/robot/mock/MockLoader.java b/src/main/java/frc/robot/mock/MockLoader.java
index a7e72eb..1d23cd3 100644
--- a/src/main/java/frc/robot/mock/MockLoader.java
+++ b/src/main/java/frc/robot/mock/MockLoader.java
@@ -1,13 +1,12 @@
 package frc.robot.mock;
 
 import frc.robot.interfaces.LoaderInterface;
-import frc.robot.interfaces.Log;
 
 public class MockLoader implements LoaderInterface {
     private double spinnerRPS = 0;
     private double passthroughPower = 0;
 
-    public MockLoader(Log log) {
+    public MockLoader() {
     }
     // Paddle
     private boolean isPaddleBlocking = false;
diff --git a/src/main/java/frc/robot/mock/MockLog.java b/src/main/java/frc/robot/mock/MockLog.java
deleted file mode 100644
index 4f04d3c..0000000
--- a/src/main/java/frc/robot/mock/MockLog.java
+++ /dev/null
@@ -1,121 +0,0 @@
-package frc.robot.mock;
-
-import java.util.function.DoubleSupplier;
-
-import frc.robot.interfaces.Log;
-
-public class MockLog implements Log {
-
-	protected boolean logToStdOut = false;
-	
-	public MockLog() {
-		this(false);
-	}
-	
-	public MockLog(boolean logToStdOut) {
-		this.logToStdOut = logToStdOut;
-	}
-	@Override
-	public Log pauseGraphLog() {
-		return this;
-	}
-
-	@Override
-	public Log resumeGraphLog() {
-		return this;
-	}
-
-	@Override
-	public synchronized Log logMessage(String message, Object... args) {
-		if (!logToStdOut) return this;
-		System.out.printf(message, args);
-		System.out.println();
-		return this;
-	}
-
-	@Override
-	public Log debug(String message, Object... args) {
-		logMessage(message, args);
-		return this;
-	}
-
-	@Override
-	public Log info(String message, Object... args) {
-		logMessage(message, args);
-		return this;
-	}
-
-	@Override
-	public Log warning(String message, Object... args) {
-		logMessage(message, args);
-		return this;
-	}
-
-	@Override
-	public Log error(String message, Object... args) {
-		logMessage(message, args);
-		return this;
-	}
-
-	@Override
-	public Log exception(String message, Exception e) {
-		error(message + ": %s", e);
-		for (StackTraceElement frame : e.getStackTrace()) {
-			error("     at %s", frame.toString());			
-		}
-		return this;
-	}
-
-	@Override
-	public Log println(String message) {
-		logMessage(message);
-		return this;
-	}
-
-	@Override
-	public Log console(String message, Object... args) {
-		logMessage(message, args);
-		return this;
-	}
-
-	@Override
-	public Log cmd(String message, Object... args) {
-		logMessage(message, args);
-		return this;	
-	}
-
-	@Override
-	public Log sub(String message, Object... args) {
-		logMessage(message, args);
-		return this;
-	}
-
-	@Override
-	public Log ctrl(String message, Object... args) {
-		logMessage(message, args);
-		return this;
-	}
-
-	@Override
-	public Log logCompletedElements(String matchDescription) {
-		return this;
-	}
-
-	@Override
-	public Log doRegister(boolean local, DoubleSupplier sample, String format, Object... args) {
-		return this;
-	}
-
-	@Override
-	public void execute(long timeInMillis) {
-	}
-	
-	public Log regiser(boolean local, DoubleSupplier sample, String format, Object... args) {
-		return doRegister(local, sample, format, args);
-	}
-
-	@Override
-	public Log flush() {
-		return this;
-	}
-}
diff --git a/src/main/java/frc/robot/mock/MockShooter.java b/src/main/java/frc/robot/mock/MockShooter.java
index 603fad0..0ae84fa 100644
--- a/src/main/java/frc/robot/mock/MockShooter.java
+++ b/src/main/java/frc/robot/mock/MockShooter.java
@@ -1,14 +1,13 @@
 package frc.robot.mock;
 
 import frc.robot.interfaces.ShooterInterface;
-import frc.robot.interfaces.Log;
 
 public class MockShooter implements ShooterInterface {
 
     private double targetRPS = 0;
 	private boolean isExtended = false;
 
-    public MockShooter(Log log) {
+    public MockShooter() {
     }
 
     @Override
diff --git a/src/main/java/frc/robot/subsystems/BuddyClimb.java b/src/main/java/frc/robot/subsystems/BuddyClimb.java
index 3fe2049..325528d 100644
--- a/src/main/java/frc/robot/subsystems/BuddyClimb.java
+++ b/src/main/java/frc/robot/subsystems/BuddyClimb.java
@@ -4,20 +4,18 @@
 
 import frc.robot.interfaces.BuddyClimbInterface;
 import frc.robot.interfaces.DashboardInterface;
-import frc.robot.interfaces.Log;
 import frc.robot.lib.Subsystem;
+import frc.robot.lib.chart.Chart;
 
 public class BuddyClimb extends Subsystem implements BuddyClimbInterface {
    private Solenoid solenoid;
 
-   public BuddyClimb(Solenoid solenoid, DashboardInterface dashboard, Log log) {
-       super("BuddyClimb", dashboard, log);  
+   public BuddyClimb(Solenoid solenoid, DashboardInterface dashboard) {
+       super("BuddyClimb", dashboard);  
        this.solenoid = solenoid;
-       // Motors, sensors here etc….
 
-       log.register(true, () -> isExtended(), "%s/extended", name)
-          .register(true, () -> isRetracted(), "%s/retracted", name);
-       // More logging here...
+       Chart.register(() -> isExtended(), "%s/extended", name);
+       Chart.register(() -> isRetracted(), "%s/retracted", name);
    }
 
    @Override
@@ -49,6 +47,5 @@ public boolean isRetracted() {
    public void updateDashboard() {
        dashboard.putString("Buddy climb position",
            isExtended() ? "extended" : isRetracted() ? "retracted" : "moving");
-       // Motors, sensors here etc….
    }
 }
diff --git a/src/main/java/frc/robot/subsystems/ColourWheel.java b/src/main/java/frc/robot/subsystems/ColourWheel.java
index 9ee4601..b49b11c 100644
--- a/src/main/java/frc/robot/subsystems/ColourWheel.java
+++ b/src/main/java/frc/robot/subsystems/ColourWheel.java
@@ -12,10 +12,11 @@
 import frc.robot.interfaces.ColourWheelInterface.ColourAction.ColourWheelType;
 import frc.robot.interfaces.DashboardInterface;
 import frc.robot.interfaces.LEDStripInterface;
-import frc.robot.interfaces.Log;
 import frc.robot.lib.LEDColour;
 import frc.robot.lib.Subsystem;
 import frc.robot.lib.WheelColour;
+import frc.robot.lib.chart.Chart;
+import frc.robot.lib.log.Log;
 
 /**
  * This subsystem is made to spin the Colour Wheel on the control panel in the
@@ -58,19 +59,19 @@ public class ColourWheel extends Subsystem implements ColourWheelInterface {
   private final Supplier<WheelColour> colourSensor;
 
   public ColourWheel(Motor motor, Solenoid solenoid, Supplier<WheelColour> colourSensor, LEDStripInterface ledStrip,
-      Clock clock, DashboardInterface dash, Log log) {
-    super("ColourWheel", dash, log);
-    log.info("Creating Colour Wheel Subsystem");
+      Clock clock, DashboardInterface dash) {
+    super("ColourWheel", dash);
+    Log.info("Creating Colour Wheel Subsystem");
     this.motor = motor;
     this.clock = clock;
     this.colourSensor = colourSensor;
     this.ledStrip = ledStrip;
     this.solenoid = solenoid;
-    log.register(false, () -> (double) colour.id, "%s/colour", name)
-        .register(false, () -> (double) rotCount, "%s/rotCount", name)
-        .register(false, () -> (double) motor.getOutputPercent(), "%s/motorspeed", name)
-        .register(false, () -> (double) nextColour.id, "%s/nextColour", name)
-        .register(false, () -> (double) spinTime, "%s/spinTime", name);
+    Chart.register(() -> (double) colour.id, "%s/colour", name);
+    Chart.register(() -> (double) rotCount, "%s/rotCount", name);
+    Chart.register(() -> (double) motor.getOutputPercent(), "%s/motorspeed", name);
+    Chart.register(() -> (double) nextColour.id, "%s/nextColour", name);
+    Chart.register(() -> (double) spinTime, "%s/spinTime", name);
   }
 
   public void update() {
@@ -97,7 +98,7 @@ public void update() {
       newSpeed = Constants.COLOUR_WHEEL_MOTOR_OFF;
       break;
     default:
-      log.error("%s: Unknown Type %s", name, action.type);
+      Log.error("%s: Unknown Type %s", name, action.type);
       break;
     }
     if (newSpeed != speed) {
@@ -132,14 +133,14 @@ public void update() {
    */
   public double rotationalControl() {
     if (colour.equals(nextColour)) {
-      log.info("%s: Found %s.", name, colour);
-      log.info("%s: Added one to rotations. %d", name, rotCount);
+      Log.info("%s: Found %s.", name, colour);
+      Log.info("%s: Added one to rotations. %d", name, rotCount);
       rotCount += 1;
       firstLoop = true;
     }
     if (firstLoop) {
       nextColour = colour.next(speed);
-      log.info("%s: Next Colour is %s.", name, nextColour);
+      Log.info("%s: Next Colour is %s.", name, nextColour);
       firstLoop = false;
     }
     if (rotCount < Constants.COLOUR_WHEEL_ROTATION_TARGET) {
@@ -201,7 +202,7 @@ public double positionalControl(WheelColour desired) {
         return motor.get();
       } else {
         action = new ColourAction(ColourWheelType.NONE, WheelColour.UNKNOWN);
-        log.info("ColourWheel: Desired colour found.");
+        Log.info("ColourWheel: Desired colour found.");
         return Constants.COLOUR_WHEEL_MOTOR_OFF;
       }
     }
@@ -235,7 +236,7 @@ private WheelColour doubleCheck(WheelColour sensedColour) {
   public ColourWheelInterface setDesiredAction(ColourAction action) {
     this.action = action;
     if (action == new ColourAction(ColourWheelType.POSITION, WheelColour.UNKNOWN)) {
-      log.error("%s: No colour found in FMS!", name);
+      Log.error("%s: No colour found in FMS!", name);
       setDesiredAction(new ColourAction(ColourWheelType.NONE, WheelColour.UNKNOWN));
     }
     firstLoop = true;
diff --git a/src/main/java/frc/robot/subsystems/Drivebase.java b/src/main/java/frc/robot/subsystems/Drivebase.java
index 3b3a34f..a48645a 100644
--- a/src/main/java/frc/robot/subsystems/Drivebase.java
+++ b/src/main/java/frc/robot/subsystems/Drivebase.java
@@ -11,8 +11,9 @@
 import frc.robot.drive.routines.DriveRoutine;
 import frc.robot.interfaces.DashboardInterface;
 import frc.robot.interfaces.DrivebaseInterface;
-import frc.robot.interfaces.Log;
 import frc.robot.lib.Subsystem;
+import frc.robot.lib.chart.Chart;
+import frc.robot.lib.log.Log;
 
 /**
  * Subsystem responsible for the drivetrain
@@ -31,37 +32,35 @@ public class Drivebase extends Subsystem implements DrivebaseInterface {
 	private final Motor right;
 	private Solenoid ptoSolenoid;
 	private Solenoid brakeSolenoid;
-	private final Log log;
 	private DriveMotion currentMotion;
 
 	public Drivebase(Motor left, Motor right, Solenoid ptoSolenoid, Solenoid brakeSolenoid, 
-			DashboardInterface dashboard, Log log) {
-		super("Drive", dashboard, log);
+			DashboardInterface dashboard) {
+		super("Drive", dashboard);
 		this.left = left;
 		this.right = right;
 		this.ptoSolenoid = ptoSolenoid;
 		this.brakeSolenoid = brakeSolenoid;
-		this.log = log;
 
 		currentMotion = new DriveMotion(0, 0);
-		routine = new ConstantDrive("Constant Drive", ControlMode.DutyCycle, log);
+		routine = new ConstantDrive("Constant Drive", ControlMode.DutyCycle);
 		disable(); // disable until we are ready to use it.
-		log.register(true, () -> currentMotion.left, "%s/setpoint/Left", name)
-				.register(true, () -> currentMotion.right, "%s/setpoint/Right", name)
-				.register(false, () -> left.getPosition(), "%s/position/Left", name)
-				.register(false, () -> right.getPosition(), "%s/position/Right", name)
-				.register(false, () -> left.getSpeed(), "%s/speed/Left", name)
-				.register(false, () -> right.getSpeed(), "%s/speed/Right", name)
-				.register(false, () -> left.getOutputVoltage(), "%s/outputVoltage/Left", name)
-				.register(false, () -> right.getOutputVoltage(), "%s/outputVoltage/Right", name)
-				.register(false, () -> left.getOutputPercent(), "%s/outputPercentage/Left", name)
-				.register(false, () -> right.getOutputPercent(), "%s/outputPercentage/Right", name)
-				.register(false, () -> left.getOutputCurrent(), "%s/outputCurrent/Left", name)
-				.register(false, () -> right.getOutputCurrent(), "%s/outputCurrent/Right", name)
-				.register(true, () -> isClimbModeEnabled(), "%s/extended", name)
-				.register(true, () -> isDriveModeEnabled(), "%s/retracted", name)
-				.register(true, () -> isBrakeApplied(), "%s/extended", name)
-          		.register(true, () -> isBrakeReleased(), "%s/retracted", name);
+		Chart.register(() -> currentMotion.left, "%s/setpoint/Left", name);
+		Chart.register(() -> currentMotion.right, "%s/setpoint/Right", name);
+		Chart.register(() -> left.getPosition(), "%s/position/Left", name);
+		Chart.register(() -> right.getPosition(), "%s/position/Right", name);
+		Chart.register(() -> left.getSpeed(), "%s/speed/Left", name);
+		Chart.register(() -> right.getSpeed(), "%s/speed/Right", name);
+		Chart.register(() -> left.getOutputVoltage(), "%s/outputVoltage/Left", name);
+		Chart.register(() -> right.getOutputVoltage(), "%s/outputVoltage/Right", name);
+		Chart.register(() -> left.getOutputPercent(), "%s/outputPercentage/Left", name);
+		Chart.register(() -> right.getOutputPercent(), "%s/outputPercentage/Right", name);
+		Chart.register(() -> left.getOutputCurrent(), "%s/outputCurrent/Left", name);
+		Chart.register(() -> right.getOutputCurrent(), "%s/outputCurrent/Right", name);
+		Chart.register(() -> isClimbModeEnabled(), "%s/extended", name);
+		Chart.register(() -> isDriveModeEnabled(), "%s/retracted", name);
+		Chart.register(() -> isBrakeApplied(), "%s/extended", name);
+        Chart.register(() -> isBrakeReleased(), "%s/retracted", name);
 	}
 
 	@Override
@@ -89,7 +88,7 @@ public DrivebaseInterface applyBrake(boolean extend) {
 	@Override
 	public void setDriveRoutine(DriveRoutineParameters parameters) {
 		if (this.parameters != null && parameters.equals(this.parameters)) {
-			log.sub("%s: Parameters are identical not setting these", name);
+			Log.debug("%s: Parameters are identical not setting these", name);
 			return;
 		}
 		// Drive routine has changed.
@@ -97,12 +96,12 @@ public void setDriveRoutine(DriveRoutineParameters parameters) {
 		// Find a routine to handle it
 		DriveRoutine newRoutine = driveModes.getOrDefault(parameters.type, null);
 		if (newRoutine == null) {
-			log.error("%s: Bad drive mode %s", name, parameters.type);
+			Log.error("%s: Bad drive mode %s", name, parameters.type);
 			return;
 		}
 		// Tell the drive routine to change what it is doing.
 		newRoutine.reset(parameters);
-		log.sub("%s: Switching to %s drive routine using ControlMode %s", name, newRoutine.getName(), newRoutine.getControlMode());
+		Log.debug("%s: Switching to %s drive routine using ControlMode %s", name, newRoutine.getName(), newRoutine.getControlMode());
 		if (newRoutine != null) newRoutine.disable();
 		newRoutine.enable();
 		routine = newRoutine;
@@ -120,7 +119,7 @@ synchronized public void update() {
 		if (routine == null) return;  // No drive routine set yet.
 		// Ask for the power to supply to each side. Pass in the current wheel speeds.
 		DriveMotion motion = routine.getMotion(left.getSpeed(), right.getSpeed());
-		//log.debug("drive subsystem motion = %.1f, %.1f", motion.left, motion.right);
+		//Logger.debug("drive subsystem motion = %.1f, %.1f", motion.left, motion.right);
 		if (motion.equals(currentMotion)) {
 			return; // No change.
 		}
@@ -170,31 +169,31 @@ public boolean hasFinished() {
 
 	@Override
 	public void registerDriveRoutine(DriveRoutineType mode, DriveRoutine routine) {
-		log.sub("%s: Registered %s drive routine", name, routine.getName());
+		Log.debug("%s: Registered %s drive routine", name, routine.getName());
 		driveModes.put(mode, routine);
 	}
 
 	@Override
 	public boolean isClimbModeEnabled() {
-		// log.sub("Is intake extended: " + solenoid.isExtended());
+		// Logger.debug("Is intake extended: " + solenoid.isExtended());
 		return ptoSolenoid.isExtended();
 	}
 
 	@Override
 	public boolean isDriveModeEnabled() {
-		// log.sub("Is intake extended: " + solenoid.isExtended());
+		// Logger.debug("Is intake extended: " + solenoid.isExtended());
 		return ptoSolenoid.isRetracted();
 	}
 
 	@Override
 	public boolean isBrakeApplied() {
-		// log.sub("Is intake extended: " + solenoid.isExtended());
+		// Logger.debug("Is intake extended: " + solenoid.isExtended());
 		return brakeSolenoid.isExtended();
 	}
 
 	@Override
 	public boolean isBrakeReleased() {
-		// log.sub("Is intake extended: " + solenoid.isExtended());
+		// Logger.debug("Is intake extended: " + solenoid.isExtended());
 		return brakeSolenoid.isRetracted();
 	}
 
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index 0e711e5..accd387 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -6,8 +6,9 @@
 
 import frc.robot.interfaces.DashboardInterface;
 import frc.robot.interfaces.IntakeInterface;
-import frc.robot.interfaces.Log;
 import frc.robot.lib.Subsystem;
+import frc.robot.lib.chart.Chart;
+import frc.robot.lib.log.Log;
 
 /**
  * Intake Subsystem 2019:
@@ -19,18 +20,18 @@ public class Intake extends Subsystem implements IntakeInterface
     private Solenoid solenoid;
     private IntakeWheel intakeWheel;
 
-    public Intake(Motor motor, Solenoid solenoid, DashboardInterface dashboard, Log log) {
-        super("Intake", dashboard, log);   
+    public Intake(Motor motor, Solenoid solenoid, DashboardInterface dashboard) {
+        super("Intake", dashboard);   
         this.motor = motor;
         this.solenoid = solenoid;
         intakeWheel = new IntakeWheel(motor);
-        log.register(true, () -> isExtended(), "%s/extended", name)
-               .register(true, () -> isRetracted(), "%s/retracted", name)
-			   .register(false, motor::getOutputVoltage, "%s/outputVoltage", name)
-			   .register(false, motor::getOutputPercent, "%s/outputPercent", name)
-               .register(false, motor::getOutputCurrent, "%s/outputCurrent", name)
-               .register(false, () -> intakeWheel.getTargetRPS(), "%s/targetRPS", name)
-               .register(false, () -> intakeWheel.getRPS(), "%s/rps", name);
+        Chart.register(() -> isExtended(), "%s/extended", name);
+        Chart.register(() -> isRetracted(), "%s/retracted", name);
+		Chart.register(motor::getOutputVoltage, "%s/outputVoltage", name);
+		Chart.register(motor::getOutputPercent, "%s/outputPercent", name);
+        Chart.register(motor::getOutputCurrent, "%s/outputCurrent", name);
+        Chart.register(() -> intakeWheel.getTargetRPS(), "%s/targetRPS", name);
+        Chart.register(() -> intakeWheel.getRPS(), "%s/rps", name);
    
     }
 
@@ -56,7 +57,7 @@ public IntakeInterface setExtended(boolean extend) {
 
     @Override
     public boolean isExtended() {
-        //log.sub("Is intake extended: " +  solenoid.isExtended());
+        //Logger.debug("Is intake extended: " +  solenoid.isExtended());
         return solenoid.isExtended();
     }
 
@@ -97,12 +98,12 @@ public void setTargetRPS(double rps) {
             // change the control mode from percent output, to avoid putting
             // unnecessary load on the battery and motor.
             if (rps == 0) { 
-                log.sub("Turning intake wheel off.");
+                Log.debug("Turning intake wheel off.");
                 motor.set(ControlMode.DutyCycle, 0); 
             } else {
                 motor.set(ControlMode.Speed, rps);
             }
-            log.sub("Setting intake target speed to %f", targetRPS);
+            Log.debug("Setting intake target speed to %f", targetRPS);
         }
 
         public double getTargetRPS() {
diff --git a/src/main/java/frc/robot/subsystems/LEDStrip.java b/src/main/java/frc/robot/subsystems/LEDStrip.java
index 25bb9cb..03ba595 100644
--- a/src/main/java/frc/robot/subsystems/LEDStrip.java
+++ b/src/main/java/frc/robot/subsystems/LEDStrip.java
@@ -3,7 +3,6 @@
 import edu.wpi.first.wpilibj.AddressableLED;
 import edu.wpi.first.wpilibj.AddressableLEDBuffer;
 import frc.robot.interfaces.LEDStripInterface;
-import frc.robot.interfaces.Log;
 import frc.robot.lib.LEDColour;
 import frc.robot.lib.MathUtil;
 
@@ -13,12 +12,9 @@ public class LEDStrip implements LEDStripInterface {
     public AddressableLED ledStrip;
     public AddressableLEDBuffer ledStripBuffer;
     private final int numberOfLEDs;
-    @SuppressWarnings("unused")
-    private final Log log;
 
-    public LEDStrip(int PWM_Port, int numberOfLEDs, Log log) {   
+    public LEDStrip(int PWM_Port, int numberOfLEDs) {   
         this.numberOfLEDs = numberOfLEDs;
-        this.log = log;
 
         ledStrip = new AddressableLED(PWM_Port);
         ledStripBuffer = new AddressableLEDBuffer(numberOfLEDs);
diff --git a/src/main/java/frc/robot/subsystems/Loader.java b/src/main/java/frc/robot/subsystems/Loader.java
index 9d9c6f3..d62eee3 100644
--- a/src/main/java/frc/robot/subsystems/Loader.java
+++ b/src/main/java/frc/robot/subsystems/Loader.java
@@ -11,9 +11,10 @@
 import frc.robot.interfaces.DashboardInterface;
 import frc.robot.interfaces.DashboardUpdater;
 import frc.robot.interfaces.LEDStripInterface;
-import frc.robot.interfaces.Log;
 import frc.robot.lib.LEDColour;
 import frc.robot.lib.Subsystem;
+import frc.robot.lib.chart.Chart;
+import frc.robot.lib.log.Log;
 
 public class Loader extends Subsystem implements LoaderInterface {
     final private Motor spinner, passthrough;
@@ -26,9 +27,8 @@ public class Loader extends Subsystem implements LoaderInterface {
     private double targetPassthroughDutyCycle = 0;
 
     public Loader(final Motor loaderSpinnerMotor, final Motor loaderPassthroughMotor, final Solenoid paddleSolenoid,
-            final BooleanSupplier inSensor, final BooleanSupplier outSensor, LEDStripInterface led, final DashboardInterface dashboard,
-            final Log log) {
-        super("Loader", dashboard, log);
+            final BooleanSupplier inSensor, final BooleanSupplier outSensor, LEDStripInterface led, final DashboardInterface dashboard) {
+        super("Loader", dashboard);
         this.spinner = loaderSpinnerMotor;
         this.passthrough = loaderPassthroughMotor;
         this.paddleSolenoid = paddleSolenoid;
@@ -36,26 +36,26 @@ public Loader(final Motor loaderSpinnerMotor, final Motor loaderPassthroughMotor
         inSensorCount = new Counter("loader:inSensor", inSensor);
         outSensorCount = new Counter("loader:outSensor", outSensor);
 
-        log.register(true, () -> passthrough.getOutputCurrent(), "%s/passthrough/Current", name)
-                .register(true, () -> passthrough.getOutputPercent(), "%s/passthrough/PercentOut", name)
-                .register(true, () -> getSpinnerMotorRPS(), "%s/spinner/rps", name)
-                .register(true, () -> getTargetSpinnerRPS(), "%s/spinner/targetRPS", name)
-                .register(true, () -> spinner.getOutputCurrent(), "%s/spinner/Current", name)
-                .register(true, () -> spinner.getOutputPercent(), "%s/spinner/PercentOut", name)
-                .register(true, () -> (double) getCurrentBallCount(), "%s/spinner/CurrentBallCount", name)
-                .register(true, () -> (double) inSensorCount.count, "%s/spinner/totalBallsIn", name)
-                .register(true, () -> (double) outSensorCount.count, "%s/spinner/totalBallsOut", name)
-                .register(true, () -> (double) initBallCount, "%s/spinner/initialBallCount", name)
-                .register(true, () -> isPaddleBlocking(), "%s/paddleRetracted", name)
-                .register(true, () -> inSensor.getAsBoolean(), "%s/spinner/inSensorState", name)
-                .register(true, () -> outSensor.getAsBoolean(), "%s/spinner/outSensorState", name);
+        Chart.register(() -> passthrough.getOutputCurrent(), "%s/passthrough/Current", name);
+        Chart.register(() -> passthrough.getOutputPercent(), "%s/passthrough/PercentOut", name);
+        Chart.register(() -> getSpinnerMotorRPS(), "%s/spinner/rps", name);
+        Chart.register(() -> getTargetSpinnerRPS(), "%s/spinner/targetRPS", name);
+        Chart.register(() -> spinner.getOutputCurrent(), "%s/spinner/Current", name);
+        Chart.register(() -> spinner.getOutputPercent(), "%s/spinner/PercentOut", name);
+        Chart.register(() -> (double) getCurrentBallCount(), "%s/spinner/CurrentBallCount", name);
+        Chart.register(() -> (double) inSensorCount.count, "%s/spinner/totalBallsIn", name);
+        Chart.register(() -> (double) outSensorCount.count, "%s/spinner/totalBallsOut", name);
+        Chart.register(() -> (double) initBallCount, "%s/spinner/initialBallCount", name);
+        Chart.register(() -> isPaddleBlocking(), "%s/paddleRetracted", name);
+        Chart.register(() -> inSensor.getAsBoolean(), "%s/spinner/inSensorState", name);
+        Chart.register(() -> outSensor.getAsBoolean(), "%s/spinner/outSensorState", name);
     }
 
     @Override
     public void setTargetSpinnerRPS(final double rps) {
 
         spinnerRPS = rps;
-        log.sub("%s: Setting loader motor rps to: %f", name, rps);
+        Log.debug("%s: Setting loader motor rps to: %f", name, rps);
         // If motor is zero in velocity the PID will try and reverse the motor in order
         // to slow down
         if (rps == 0) {
@@ -76,7 +76,7 @@ public double getSpinnerMotorRPS() {
 
     @Override
     public void setTargetPassthroughDutyCycle(double percent) {
-        log.sub("%s: Setting loader in motor percent output to: %f", name, percent);
+        Log.debug("%s: Setting loader in motor percent output to: %f", name, percent);
         // If motor is zero in velocity the PID will try and reverse the motor in order
         // to slow down
         targetPassthroughDutyCycle = percent;
@@ -104,7 +104,7 @@ public LoaderInterface setPaddleBlocking(final boolean block) {
 
     @Override
     public boolean isPaddleNotBlocking() {
-        // log.sub("Is intake extended: " + solenoid.isExtended());
+        // Logger.debug("Is intake extended: " + solenoid.isExtended());
         return paddleSolenoid.isRetracted();
     }
 
@@ -166,7 +166,7 @@ private class Counter implements DashboardUpdater, Executable {
         public Counter(final String name, final BooleanSupplier sensor) {
             this.name = name;
             this.sensor = sensor;
-            log.register(false, () -> (double) getCount(), "%s/count", name);
+            Chart.register(() -> (double) getCount(), "%s/count", name);
         }
 
         public int getCount() {
diff --git a/src/main/java/frc/robot/subsystems/Location.java b/src/main/java/frc/robot/subsystems/Location.java
index 7a0d00f..f98d460 100644
--- a/src/main/java/frc/robot/subsystems/Location.java
+++ b/src/main/java/frc/robot/subsystems/Location.java
@@ -11,12 +11,13 @@
 import frc.robot.Constants;
 import frc.robot.interfaces.DashboardInterface;
 import frc.robot.interfaces.LocationInterface;
-import frc.robot.interfaces.Log;
 import frc.robot.lib.LocationHistory;
 import frc.robot.lib.MathUtil;
 import frc.robot.lib.NavXGyroscope;
 import frc.robot.lib.Position;
 import frc.robot.lib.Subsystem;
+import frc.robot.lib.chart.Chart;
+import frc.robot.lib.log.Log;
 
 /**
  *	Location Subsystem.
@@ -145,8 +146,8 @@ public double getAsDouble() {
 	 * @param gyro The gyro to get angles
 	 * @param log The log to store debug and other logging messages
 	 */
-    public Location(Runnable resetEncoders, DoubleSupplier leftDistance, DoubleSupplier rightDistance, Gyroscope gyro, Clock clock, DashboardInterface dashboard, Log log) {
-		super("Location", dashboard, log);	// always present!
+    public Location(Runnable resetEncoders, DoubleSupplier leftDistance, DoubleSupplier rightDistance, Gyroscope gyro, Clock clock, DashboardInterface dashboard) {
+		super("Location", dashboard);	// always present!
 		this.resetEncoders = resetEncoders;
 		this.leftDistance = leftDistance;
 		this.rightDistance = rightDistance;
@@ -160,16 +161,16 @@ public Location(Runnable resetEncoders, DoubleSupplier leftDistance, DoubleSuppl
 		current = new Position(0, 0, 0, 0, clock.currentTime());
 		desired = new Position(0, 0, 0, 0, clock.currentTime());
 
-		log.register(true, () -> current.x, "%s/actual/x", name)
-           .register(true, () -> current.y, "%s/actual/y", name)
-		   .register(true, () -> current.heading, "%s/actual/a", name)
-		   .register(true, () -> current.speed, "%s/s/acutal/speed", name) 
-		   .register(true, () -> current.timeSec, "%s/actual/time", name)
-		   .register(true, () -> desired.x, "%s/desired/x", name)
-           .register(true, () -> desired.y, "%s/desired/y", name)
-		   .register(true, () -> desired.heading, "%s/desired/a", name)
-		   .register(true, () -> desired.speed, "%s/desired/speed", name) 
-		   .register(true, () -> desired.timeSec, "%s/desired/time", name);
+		Chart.register(() -> current.x, "%s/actual/x", name);
+        Chart.register(() -> current.y, "%s/actual/y", name);
+		Chart.register(() -> current.heading, "%s/actual/a", name);
+		Chart.register(() -> current.speed, "%s/s/acutal/speed", name);
+		Chart.register(() -> current.timeSec, "%s/actual/time", name);
+		Chart.register(() -> desired.x, "%s/desired/x", name);
+        Chart.register(() -> desired.y, "%s/desired/y", name);
+		Chart.register(() -> desired.heading, "%s/desired/a", name);
+		Chart.register(() -> desired.speed, "%s/desired/speed", name);
+		Chart.register(() -> desired.timeSec, "%s/desired/time", name);
 		
 		// Enable this subsystem by default.
 		enable();
@@ -192,7 +193,7 @@ public void setCurrentLocation(Position location) {
      */
     @Override
     public void setCurrentLocation(Pose2d pose) {
-		log.sub("%s: resetting to: %s", name, pose.toString());
+		Log.debug("%s: resetting to: %s", name, pose.toString());
     	((NavXGyroscope) gyro).setAngle(pose.getRotation().getDegrees());
     	current.speed = 0;
     	current.timeSec = clock.currentTime();  // time of last update
@@ -294,7 +295,7 @@ public void update() {
 		// Average of the distance - inches.
 		double averageDistance = (newLeft + newRight) / 2.0;
 		
-		/*log.sub("%s: leftSupplier: %f, leftDelta: %f, rightSupplier: %f, rightDelta: %f", name,
+		/*Logger.debug("%s: leftSupplier: %f, leftDelta: %f, rightSupplier: %f, rightDelta: %f", name,
 				leftDistanceSupplier.getAsDouble(), newLeft,
 				rightDistanceSupplier.getAsDouble(), newRight);
 		*/
@@ -314,7 +315,7 @@ public void update() {
     	history.addLocation(current);
     	
     	if (debug) {
-    		log.debug("%s: %s", name, current.toString());
+    		Log.debug("%s: %s", name, current.toString());
     	}
 	}
 
diff --git a/src/main/java/frc/robot/subsystems/OverridableSubsystem.java b/src/main/java/frc/robot/subsystems/OverridableSubsystem.java
index 786a264..a788ee1 100644
--- a/src/main/java/frc/robot/subsystems/OverridableSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/OverridableSubsystem.java
@@ -4,7 +4,8 @@
 import java.lang.reflect.Method;
 import java.lang.reflect.Proxy;
 
-import frc.robot.interfaces.Log;
+import frc.robot.lib.chart.Chart;
+import frc.robot.lib.log.Log;
 
 /**
  * A shim layer between a real subsystem and the robot controller so that the
@@ -24,7 +25,7 @@
  * 
  * USE AT YOUR OWN RISK!!
  * 
- * Example: OverrideableSubsystem overridable = new OverridableSubsystem("Lift", LiftInterface.class, lift, liftSimulator, mockLift, log);
+ * Example: OverrideableSubsystem overridable = new OverridableSubsystem("Lift", LiftInterface.class, lift, liftSimulator, mockLift);
  *    // Get the endpoint that the controller would use.
  *    IntakeInterface normalIntake = intakeOverride.getNormalInterface();	
  *    // Get the endpoint that the diag box uses.
@@ -48,7 +49,6 @@ public class OverridableSubsystem<SubIF> {
 	// The real and simulator lifts that commands are sent to depending on the mode.
 	private String name;
 	private SubIF normalInterface, overrideInterface;
-	private Log log;
 
 	private enum OverrideMode {
 		AUTOMATIC(1), MANUAL(-1), OFF(0);
@@ -62,10 +62,9 @@ private OverrideMode(int value) {
 	private OverrideMode mode = OverrideMode.AUTOMATIC;
 
 	@SuppressWarnings("unchecked")
-	public OverridableSubsystem(String name, Class<?> clazz, SubIF real, SubIF simulator, SubIF mock, Log log) {
+	public OverridableSubsystem(String name, Class<?> clazz, SubIF real, SubIF simulator, SubIF mock) {
 		this.name = name;
-		this.log = log;
-		log.register(true, () -> (double)mode.value, "%s/overrideMode", name);
+		Chart.register(() -> (double)mode.value, "%s/overrideMode", name);
 
 		// Create the magic that allows this class to pick between which backend is used by what.
 		InvocationHandler normalHandler = new InvocationHandler() {
@@ -120,19 +119,19 @@ public SubIF getOverrideInterface() {
 	// Mode change methods.
 	public void setAutomaticMode() {
 		// This may need to be more clever to carry over state.
-		log.sub("%s switched to normal/automatic mode", name);
+		Log.debug("%s switched to normal/automatic mode", name);
 		mode = OverrideMode.AUTOMATIC;
 	}
 
 	public void setManualMode() {
 		// This may need to be more clever to carry over state.
-		log.sub("%s switched manual mode", name);
+		Log.debug("%s switched manual mode", name);
 		mode = OverrideMode.MANUAL;
 	}
 
 	public void turnOff() {
 		// This may need to be more clever to carry over state.
-		log.sub("%s switched off", name);
+		Log.debug("%s switched off", name);
 		mode = OverrideMode.OFF;
 	}
 
diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java
index 7aa780c..6369746 100644
--- a/src/main/java/frc/robot/subsystems/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/Shooter.java
@@ -6,9 +6,10 @@
 
 import frc.robot.Constants;
 import frc.robot.interfaces.DashboardInterface;
-import frc.robot.interfaces.Log;
 import frc.robot.interfaces.ShooterInterface;
 import frc.robot.lib.Subsystem;
+import frc.robot.lib.chart.Chart;
+import frc.robot.lib.log.Log;
 
 /**
  * On the 2020 robot, there are three shooter motors. 
@@ -19,12 +20,12 @@ public class Shooter extends Subsystem implements ShooterInterface {
     private final ShooterWheel flyWheel;
     private final Solenoid hood;
 
-    public Shooter(Motor shooterMotor, Solenoid solenoid, DashboardInterface dashboard, Log log) {
-        super("Shooter", dashboard, log);
+    public Shooter(Motor shooterMotor, Solenoid solenoid, DashboardInterface dashboard) {
+        super("Shooter", dashboard);
         this.hood = solenoid;
         flyWheel = new ShooterWheel(shooterMotor);
-        log.register(true, () -> isHoodExtended(), "%s/extended", name)
-            .register(true, () -> isHoodRetracted(), "%s/retracted", name);
+        Chart.register(() -> isHoodExtended(), "%s/extended", name);
+        Chart.register(() -> isHoodRetracted(), "%s/retracted", name);
     }
 
     @Override
@@ -80,11 +81,11 @@ protected class ShooterWheel {
         public ShooterWheel(Motor motor) {
             this.motor = motor;
 
-            log.register(false, () -> getTargetRPS(), "shooter/flyWheel/targetSpeed", name)
-            .register(false, () -> getRPS(), "shooter/flyWheel/rps", name)
-            .register(false, motor::getOutputVoltage, "shooter/flyWheel/outputVoltage", name)
-            .register(false, motor::getOutputPercent, "shooter/flyWheel/outputPercent", name)
-            .register(false, motor::getOutputCurrent, "shooter/flyWheel/outputCurrent", name);
+            Chart.register(() -> getTargetRPS(), "shooter/flyWheel/targetSpeed", name);
+            Chart.register(() -> getRPS(), "shooter/flyWheel/rps", name);
+            Chart.register(motor::getOutputVoltage, "shooter/flyWheel/outputVoltage", name);
+            Chart.register(motor::getOutputPercent, "shooter/flyWheel/outputPercent", name);
+            Chart.register(motor::getOutputCurrent, "shooter/flyWheel/outputCurrent", name);
         }
         
         public void setTargetRPS(double rps) {
@@ -96,12 +97,12 @@ public void setTargetRPS(double rps) {
             // change the control mode from percent output, to avoid putting
             // unnecessary load on the battery and motor.
             if (rps == 0) { 
-                log.sub("Turning shooter wheel off.");
+                Log.debug("Turning shooter wheel off.");
                 motor.set(ControlMode.DutyCycle, 0); 
             } else {
                 motor.set(ControlMode.Speed, rps);
             }
-            log.sub("Setting shooter target speed to %f", targetRPS);
+            Log.debug("Setting shooter target speed to %f", targetRPS);
         }
 
         public double getTargetRPS() {
diff --git a/src/main/java/frc/robot/subsystems/Subsystems.java b/src/main/java/frc/robot/subsystems/Subsystems.java
index 7900ce5..5aaa481 100644
--- a/src/main/java/frc/robot/subsystems/Subsystems.java
+++ b/src/main/java/frc/robot/subsystems/Subsystems.java
@@ -23,7 +23,7 @@
 
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.I2C;
-
+import frc.robot.Config;
 import frc.robot.Constants;
 import frc.robot.drive.routines.ArcadeDrive;
 import frc.robot.drive.routines.CheesyDpadDrive;
@@ -41,7 +41,6 @@
 import frc.robot.interfaces.LEDStripInterface;
 import frc.robot.interfaces.LoaderInterface;
 import frc.robot.interfaces.LocationInterface;
-import frc.robot.interfaces.Log;
 import frc.robot.interfaces.ShooterInterface;
 import frc.robot.interfaces.VisionInterface;
 import frc.robot.interfaces.VisionInterface.TargetDetails;
@@ -52,8 +51,9 @@
 import frc.robot.lib.MotorFactory;
 import frc.robot.lib.NavXGyroscope;
 import frc.robot.lib.Position;
-import frc.robot.lib.RobotConfiguration;
 import frc.robot.lib.WheelColour;
+import frc.robot.lib.chart.Chart;
+import frc.robot.lib.log.Log;
 import frc.robot.mock.MockBuddyClimb;
 import frc.robot.mock.MockColourWheel;
 import frc.robot.mock.MockDrivebase;
@@ -73,9 +73,7 @@
 public class Subsystems implements DashboardUpdater {
 	// Not really a subsystem, but used by all subsystems.
 	public DashboardInterface dashboard;
-	public RobotConfiguration config;
 	public Clock clock;
-	public Log log;
 	public LEDStripInterface ledStrip;
 	public LocationInterface location;
 	public DrivebaseInterface drivebase;
@@ -101,11 +99,9 @@ public class Subsystems implements DashboardUpdater {
 
 	private final I2C.Port i2cPort = I2C.Port.kOnboard;
 
-	public Subsystems(DashboardInterface dashboard, RobotConfiguration config, Clock clock, Log log) {
+	public Subsystems(DashboardInterface dashboard, Clock clock) {
 		this.dashboard = dashboard;
-		this.config = config;
 		this.clock = clock;
-		this.log = log;
 	}
 
 	public void createOverrides() {
@@ -115,7 +111,7 @@ public void createOverrides() {
 	}
 
 	public void enable() {
-		log.info("Enabling subsystems");
+		Log.info("Enabling subsystems");
 		// location is always enabled.
 		drivebase.enable();
 		intake.enable();
@@ -125,7 +121,7 @@ public void enable() {
 	}
 
 	public void disable() {
-		log.info("Disabling Subsystems");
+		Log.info("Disabling Subsystems");
 		drivebase.disable();
 		intake.disable();
 		shooter.disable();
@@ -150,21 +146,21 @@ public void updateDashboard() {
 	 * requested by the controller.
 	 */
 	public void createDrivebaseLocation(InputDevice leftStick, InputDevice rightStick) {
-		if (!config.drivebaseIsPresent) {
-			log.sub("Using mock drivebase");
-			drivebase = new MockDrivebase(log);
+		if (! Config.drivebase.present) {
+			Log.debug("Using mock drivebase");
+			drivebase = new MockDrivebase();
 			location = new MockLocation();
-			log.sub("Created a mock drivebase and location");
+			Log.debug("Created a mock drivebase and location");
 			return;
 		}
 		// Redundant drive motors - automatic failover if the talon or the encoders
 		// fail.
-		Motor leftMotor = MotorFactory.getDriveMotor(true, config, clock, log);
-		Motor rightMotor = MotorFactory.getDriveMotor(false, config, clock, log);
-		Solenoid ptoSolenoid = Hardware.Solenoids.singleSolenoid(config.pcmCanId, Constants.CLIMBER_PTO_SOLENOID_PORT,
+		Motor leftMotor = MotorFactory.getDriveMotor(true, clock);
+		Motor rightMotor = MotorFactory.getDriveMotor(false, clock);
+		Solenoid ptoSolenoid = Hardware.Solenoids.singleSolenoid(Config.pcm.canId, Config.climber.ptoPort,
 				0.1, 0.1); // TODO: Test and work out correct timings.
-		Solenoid brakeSolenoid = Hardware.Solenoids.singleSolenoid(config.pcmCanId,
-				Constants.CLIMBER_BRAKE_SOLENOID_PORT, 0.1, 0.1); // TODO: Test and work out correct timings.
+		Solenoid brakeSolenoid = Hardware.Solenoids.singleSolenoid(Config.pcm.canId,
+				Config.climber.brakePort, 0.1, 0.1); // TODO: Test and work out correct timings.
 
 		leftDriveDistance = () -> leftMotor.getPosition();
 		rightDriveDistance = () -> rightMotor.getPosition();
@@ -178,24 +174,24 @@ public void createDrivebaseLocation(InputDevice leftStick, InputDevice rightStic
 			Thread.sleep(100);
 		} catch (InterruptedException e) {
 		}
-		log.error("Reset drive encoders to zero, currently are: %f, %f", leftMotor.getPosition(),
+		Log.error("Reset drive encoders to zero, currently are: %f, %f", leftMotor.getPosition(),
 				rightMotor.getPosition());
 
-		Gyroscope gyro = new NavXGyroscope("NavX", config.navxIsPresent, log);
+		Gyroscope gyro = new NavXGyroscope("NavX", Config.navx.present);
 		gyro.zero();
 		location = new Location(() -> {
 			leftMotor.setPosition(0);
 			rightMotor.setPosition(0);
-		}, leftDriveDistance, rightDriveDistance, gyro, clock, dashboard, log); // Encoders must return metres.
-		drivebase = new Drivebase(leftMotor, rightMotor, ptoSolenoid, brakeSolenoid, dashboard, log);
+		}, leftDriveDistance, rightDriveDistance, gyro, clock, dashboard); // Encoders must return metres.
+		drivebase = new Drivebase(leftMotor, rightMotor, ptoSolenoid, brakeSolenoid, dashboard);
 		Strongback.executor().register(drivebase, Priority.HIGH);
 		Strongback.executor().register(location, Priority.HIGH);
 
 		// Add the supported drive routines
 		drivebase.registerDriveRoutine(DriveRoutineType.CONSTANT_POWER,
-				new ConstantDrive("Constant Power", ControlMode.DutyCycle, log));
+				new ConstantDrive("Constant Power", ControlMode.DutyCycle));
 		drivebase.registerDriveRoutine(DriveRoutineType.CONSTANT_SPEED,
-				new ConstantDrive("Constant Speed", ControlMode.Speed, log));
+				new ConstantDrive("Constant Speed", ControlMode.Speed));
 
 		// The old favourite arcade drive with throttling if a button is pressed.
 		drivebase.registerDriveRoutine(DriveRoutineType.ARCADE_DUTY_CYCLE,
@@ -204,28 +200,27 @@ public void createDrivebaseLocation(InputDevice leftStick, InputDevice rightStic
 								.scale(leftStick.getButton(1).isTriggered() ? 1 : 0.6), // Throttle.
 						rightStick.getAxis(0).invert().deadband(Constants.JOYSTICK_DEADBAND_MINIMUM_VALUE)
 								.scale(leftStick.getButton(1).isTriggered() ? 1 : 0.6), // Turn power.
-						true, log));
+						true));
 
 		// The old favourite arcade drive with throttling if a button is pressed but
 		// using velocity mode.
 		drivebase.registerDriveRoutine(DriveRoutineType.ARCADE_VELOCITY,
-				new ArcadeDrive("ArcadeVelocity", ControlMode.Speed, config.drivebaseMaxSpeed,
+				new ArcadeDrive("ArcadeVelocity", ControlMode.Speed,  Config.drivebase.maxSpeed,
 						leftStick.getAxis(1).invert().deadband(Constants.JOYSTICK_DEADBAND_MINIMUM_VALUE)
 								.scale(leftStick.getButton(1).isTriggered() ? 1 : 0.6), // Throttle
 						rightStick.getAxis(0).invert().deadband(Constants.JOYSTICK_DEADBAND_MINIMUM_VALUE)
 								.scale(leftStick.getButton(1).isTriggered() ? 1 : 0.6), // Turn power.
-						true, log));
+						true));
 
 		// Cheesy drive.
 		drivebase.registerDriveRoutine(DriveRoutineType.CHEESY,
 				new CheesyDpadDrive("CheesyDPad", leftStick.getDPad(0), // DPad
 						leftStick.getAxis(GamepadButtonsX.LEFT_Y_AXIS), // Throttle
 						leftStick.getAxis(GamepadButtonsX.RIGHT_X_AXIS), // Wheel (turn?)
-						leftStick.getButton(GamepadButtonsX.RIGHT_TRIGGER_AXIS), // Is quick turn
-						log));
+						leftStick.getButton(GamepadButtonsX.RIGHT_TRIGGER_AXIS))); // Is quick turn
 
 		// Drive through supplied waypoints using splines.
-		drivebase.registerDriveRoutine(DriveRoutineType.TRAJECTORY, new TrajectoryDrive(location, clock, log));
+		drivebase.registerDriveRoutine(DriveRoutineType.TRAJECTORY, new TrajectoryDrive(location, clock));
 
 		// Driving using the vision targets to help with alignment. Overrides the
 		// steering but not the speed.
@@ -234,7 +229,7 @@ public void createDrivebaseLocation(InputDevice leftStick, InputDevice rightStic
 						() -> getVisionDriveSpeed(10 /* maxSpeed */, 40 /* (stopAtDistance */),
 						() -> getVisionTurnWaypointAdjustment(), Constants.VISION_SPEED_SCALE,
 						Constants.VISION_ASSIST_ANGLE_SCALE, Constants.VISION_MAX_VELOCITY_JERK, leftDriveDistance,
-						leftDriveSpeed, rightDriveDistance, rightDriveSpeed, clock, log));
+						leftDriveSpeed, rightDriveDistance, rightDriveSpeed, clock));
 
 		// Vision aiming for shooter
 		drivebase.registerDriveRoutine(DriveRoutineType.VISION_AIM,
@@ -245,29 +240,29 @@ public void createDrivebaseLocation(InputDevice leftStick, InputDevice rightStic
 								-Constants.VISION_MAX_DRIVE_SPEED, Constants.VISION_MAX_DRIVE_SPEED),
 						() -> getVisionTurnAdjustment(), Constants.VISION_SPEED_SCALE, Constants.VISION_AIM_ANGLE_SCALE,
 						Constants.VISION_MAX_VELOCITY_JERK, leftDriveDistance, leftDriveSpeed, rightDriveDistance,
-						rightDriveSpeed, clock, log));
+						rightDriveSpeed, clock));
 
 		// Turns on the spot to a specified angle.
 		drivebase.registerDriveRoutine(DriveRoutineType.TURN_TO_ANGLE,
 				new PositionalPIDDrive("angle", () -> 0, () -> getTurnToAngleTurnAdjustment(), 0,
 						Constants.TURN_TO_ANGLE_ANGLE_SCALE, Constants.TURN_TO_ANGLE_MAX_VELOCITY_JERK,
-						leftDriveDistance, leftDriveSpeed, rightDriveDistance, rightDriveSpeed, clock, log));
+						leftDriveDistance, leftDriveSpeed, rightDriveDistance, rightDriveSpeed, clock));
 						
 		// Map joysticks in arcade mode for testing/tuning
 		drivebase.registerDriveRoutine(DriveRoutineType.POSITION_PID_ARCADE,
 				new PositionalPIDDrive("posArcade", () -> -leftStick.getAxis(1).read(),
 						() -> rightStick.getAxis(0).read(), 50 /* joystick scale */, 50 /* turn scale */, 50 /* jerk */,
-						leftDriveDistance, leftDriveSpeed, rightDriveDistance, rightDriveSpeed, clock, log));
+						leftDriveDistance, leftDriveSpeed, rightDriveDistance, rightDriveSpeed, clock));
 
 		// Log some useful values for debugging.
-		log.register(true, () -> getVisionTurnWaypointAdjustment(), "Drive/vision/turnAdj")
-				.register(true, () -> getVisionDriveSpeed(10 /* maxSpeed */, 40 /* (stopAtDistance */),
-						"Drive/vision/distance")
-				.register(true, () -> getTurnToAngleTurnAdjustment(), "Drive/angle/turnAdj")
-				.register(true, () -> getVisionWaypoint().x, "Drive/vision/waypointX")
-				.register(true, () -> getVisionWaypoint().y, "Drive/vision/waypointY")
-				.register(true, () -> getVisionTurnAdjustment(), "Drive/vision/visionAim")
-				.register(true, () -> getVisionDistance(), "Drive/vision/visionAimDistance");
+		Chart.register(() -> getVisionTurnWaypointAdjustment(), "Drive/vision/turnAdj");
+		Chart.register(() -> getVisionDriveSpeed(10 /* maxSpeed */, 40 /* (stopAtDistance */),
+						"Drive/vision/distance");
+		Chart.register(() -> getTurnToAngleTurnAdjustment(), "Drive/angle/turnAdj");
+		Chart.register(() -> getVisionWaypoint().x, "Drive/vision/waypointX");
+		Chart.register(() -> getVisionWaypoint().y, "Drive/vision/waypointY");
+		Chart.register(() -> getVisionTurnAdjustment(), "Drive/vision/visionAim");
+		Chart.register(() -> getVisionDistance(), "Drive/vision/visionAimDistance");
 
 	}
 
@@ -287,15 +282,15 @@ public void createDrivebaseLocation(InputDevice leftStick, InputDevice rightStic
 	public double getVisionTurnAdjustment() {
 		if (vision == null || !vision.isConnected())
 			return 0;
-		// log.sub("Vision is connected");
+		// Logger.debug("Vision is connected");
 		TargetDetails details = vision.getTargetDetails();
 		if (!details.isValid(clock.currentTime()))
 			return 0;
-		// log.sub("Target is valid");
+		// Logger.debug("Target is valid");
 		// We have a recent target position relative to the robot starting position.
 		Position current = location.getCurrentLocation();
-		// log.sub("curr pos=%s target = %s", current, details.location);
-		// log.sub("VISION: bearingToVision = %.1f",
+		// Logger.debug("curr pos=%s target = %s", current, details.location);
+		// Logger.debug("VISION: bearingToVision = %.1f",
 		// current.bearingTo(details.location));
 
 		// Scale turnadjustment depending on distance from goal
@@ -343,9 +338,9 @@ public double getVisionTurnWaypointAdjustment() {
 		// We have a recent target position relative to the robot starting position.
 		Position current = location.getCurrentLocation();
 		Position waypoint = getVisionWaypoint();
-		// log.sub("curr pos=%s waypoint = %s target = %s", current, waypoint,
+		// Logger.debug("curr pos=%s waypoint = %s target = %s", current, waypoint,
 		// details.location);
-		// log.sub("bearingToWaypoint = %.1f bearingToVision = %.1f",
+		// Logger.debug("bearingToWaypoint = %.1f bearingToVision = %.1f",
 		// current.bearingTo(waypoint), current.bearingTo(details.location));
 		return -current.bearingTo(waypoint);
 	}
@@ -368,55 +363,55 @@ public double getVisionDriveSpeed(double maxSpeed, double stopAtDistance) {
 	public double getTurnToAngleTurnAdjustment() {
 		double target = drivebase.getDriveRoutineParameters().value;
 		double actual = location.getBearing();
-		// log.sub("angle diff = %f\n", MathUtil.getAngleDiff(actual, target));
+		// Logger.debug("angle diff = %f\n", MathUtil.getAngleDiff(actual, target));
 		return MathUtil.clamp(MathUtil.getAngleDiff(actual, target), -100, 100);
 	}
 
 	public void createIntake() {
-		if (!config.intakeIsPresent) {
-			intake = new MockIntake(log);
-			log.sub("Intake not present, using a mock intake instead");
+		if (!Config.intake.present) {
+			intake = new MockIntake();
+			Log.debug("Intake not present, using a mock intake instead");
 			return;
 		}
 
-		Solenoid intakeSolenoid = Hardware.Solenoids.singleSolenoid(config.pcmCanId, Constants.INTAKE_SOLENOID_PORT,
+		Solenoid intakeSolenoid = Hardware.Solenoids.singleSolenoid(Config.pcm.canId, Config.intake.solenoidPort,
 				0.2, 0.2); // TODO: Test and work out correct timings.
-		Motor intakeMotor = MotorFactory.getIntakeMotor(config, log);
-		intake = hwIntake = new Intake(intakeMotor, intakeSolenoid, dashboard, log);
+		Motor intakeMotor = MotorFactory.getIntakeMotor();
+		intake = hwIntake = new Intake(intakeMotor, intakeSolenoid, dashboard);
 	}
 
 	public void createIntakeOverride() {
 		// Setup the diagBox so that it can take control.
 		IntakeSimulator simulator = new IntakeSimulator();
-		MockIntake mock = new MockIntake(log);
+		MockIntake mock = new MockIntake();
 		intakeOverride = new OverridableSubsystem<IntakeInterface>("intake", IntakeInterface.class, intake, simulator,
-				mock, log);
+				mock);
 		// Plumb accessing the intake through the override.
 		intake = intakeOverride.getNormalInterface();
 		Strongback.executor().register(simulator, Priority.HIGH);
 	}
 
 	public void createBuddyClimb() {
-		if (!config.buddyClimbIsPresent) {
-			buddyClimb = new MockBuddyClimb(log);
-			log.sub("Buddy climb not present, using a mock buddy climb instead");
+		if (!Config.buddyClimb.present) {
+			buddyClimb = new MockBuddyClimb();
+			Log.debug("Buddy climb not present, using a mock buddy climb instead");
 			return;
 		}
 
-		Solenoid buddyClimbSolenoid = Hardware.Solenoids.singleSolenoid(config.pcmCanId,
-				Constants.BUDDYCLIMB_SOLENOID_PORT, 0.1, 0.1); // TODO: Test and work out correct timings.
-		buddyClimb = new BuddyClimb(buddyClimbSolenoid, dashboard, log);
+		Solenoid buddyClimbSolenoid = Hardware.Solenoids.singleSolenoid(Config.pcm.canId,
+				Config.buddyClimb.solenoidPort, 0.1, 0.1); // TODO: Test and work out correct timings.
+		buddyClimb = new BuddyClimb(buddyClimbSolenoid, dashboard);
 	}
 
 	public void createColourWheel() {
-		if (!config.colourWheelIsPresent) {
-			colourWheel = new MockColourWheel(log);
-			log.sub("Colour Sensor not present, using a mock colour sensor instead");
+		if (!Config.colourWheel.present) {
+			colourWheel = new MockColourWheel();
+			Log.debug("Colour Sensor not present, using a mock colour sensor instead");
 			return;
 		}
-		Motor motor = MotorFactory.getColourWheelMotor(config, log);
-		Solenoid colourWheelSolenoid = Hardware.Solenoids.singleSolenoid(config.pcmCanId,
-				Constants.COLOUR_WHEEL_SOLENOID_PORT, 0.1, 0.1); // TODO: Test and work out correct timings.
+		Motor motor = MotorFactory.getColourWheelMotor();
+		Solenoid colourWheelSolenoid = Hardware.Solenoids.singleSolenoid(Config.pcm.canId,
+				Config.colourWheel.solenoidPort, 0.1, 0.1); // TODO: Test and work out correct timings.
 
 		ColorSensorV3 colourSensor = new ColorSensorV3(i2cPort);
 		ColorMatch colourMatcher = new ColorMatch();
@@ -442,17 +437,17 @@ public WheelColour get() {
 				}
 				return sensedColour;
 			}
-		}, ledStrip, clock, dashboard, log);
+		}, ledStrip, clock, dashboard);
 		Strongback.executor().register(colourWheel, Priority.HIGH);
 	}
 
 	public void createLEDStrip() {
-		if (!config.ledStripIsPresent) {
+		if (!Config.ledStrip.present) {
 			ledStrip = new MockLEDStrip();
-			log.sub("LED Strip not present, using a mock LED Strip instead.");
+			Log.debug("LED Strip not present, using a mock LED Strip instead.");
 			return;
 		}
-		ledStrip = new LEDStrip(Constants.LED_STRIP_PWM_PORT, Constants.LED_STRIP_NUMBER_OF_LEDS, log);
+		ledStrip = new LEDStrip(Config.ledStrip.pwmPort, Config.ledStrip.numLEDs);
 	}
 
 	public void updateIdleLED() {
@@ -469,57 +464,57 @@ public void setLEDFinalCountdown(double time) {
 
 	@SuppressWarnings("resource")
 	public void createLoader() {
-		if (!config.loaderIsPresent) {
-			loader = new MockLoader(log);
-			log.sub("Created a mock loader!");
+		if (!Config.loader.present) {
+			loader = new MockLoader();
+			Log.debug("Created a mock loader!");
 			return;
 		}
 
-		Motor spinnerMotor = MotorFactory.getLoaderSpinnerMotor(config, log);
-		Motor loaderPassthroughMotor = MotorFactory.getLoaderPassthroughMotor(config, log);
-		Solenoid paddleSolenoid = Hardware.Solenoids.singleSolenoid(config.pcmCanId, Constants.PADDLE_SOLENOID_PORT,
+		Motor spinnerMotor = MotorFactory.getLoaderSpinnerMotor();
+		Motor loaderPassthroughMotor = MotorFactory.getLoaderPassthroughMotor();
+		Solenoid paddleSolenoid = Hardware.Solenoids.singleSolenoid(Config.pcm.canId, Config.loader.solenoidPort,
 				0.1, 0.1); // TODO: Test and work out correct timings.
 		// The ball sensors are connected to the DIO ports on the rio.
-		DigitalInput inBallSensor = new DigitalInput(Constants.IN_BALL_DETECTOR_DIO_PORT);
-		DigitalInput outBallSensor = new DigitalInput(Constants.OUT_BALL_DETECTOR_DIO_PORT);
+		DigitalInput inBallSensor = new DigitalInput(Config.loader.ballInDetectorPort);
+		DigitalInput outBallSensor = new DigitalInput(Config.loader.ballOutDetectorPort);
 		BooleanSupplier loaderInSensor = () -> !inBallSensor.get();
 		BooleanSupplier loaderOutSensor = () -> !outBallSensor.get();
 		loader = hwLoader = new Loader(spinnerMotor, loaderPassthroughMotor, paddleSolenoid, loaderInSensor,
-				loaderOutSensor, ledStrip, dashboard, log);
+				loaderOutSensor, ledStrip, dashboard);
 		Strongback.executor().register(loader, Priority.LOW);
 
 	}
 
 	public void createLoaderOverride() {
 		// Setup the diagBox so that it can take control.
-		MockLoader simulator = new MockLoader(log); // Nothing to simulate, use the mock
-		MockLoader mock = new MockLoader(log);
+		MockLoader simulator = new MockLoader(); // Nothing to simulate, use the mock
+		MockLoader mock = new MockLoader();
 		loaderOverride = new OverridableSubsystem<LoaderInterface>("loader", LoaderInterface.class, loader, simulator,
-				mock, log);
+				mock);
 		// Plumb accessing the lift through the override.
 		loader = loaderOverride.getNormalInterface();
 	}
 
 	public void createShooter() {
-		if (!config.shooterIsPresent) {
-			shooter = new MockShooter(log);
-			log.sub("Created a mock shooter!");
+		if (!Config.shooter.present) {
+			shooter = new MockShooter();
+			Log.debug("Created a mock shooter!");
 			return;
 		}
 
-		Solenoid hoodSolenoid = Hardware.Solenoids.singleSolenoid(config.pcmCanId, Constants.SHOOTER_HOOD_SOLENOID_PORT,
+		Solenoid hoodSolenoid = Hardware.Solenoids.singleSolenoid(Config.pcm.canId, Config.shooter.solenoidPort,
 				0.1, 0.1); // TODO: Test and work out correct timings.
-		Motor shooterMotor = MotorFactory.getShooterMotor(config, clock, log);
+		Motor motor = MotorFactory.getShooterMotor(clock);
 
-		shooter = hwShooter = new Shooter(shooterMotor, hoodSolenoid, dashboard, log);
+		shooter = hwShooter = new Shooter(motor, hoodSolenoid, dashboard);
 	}
 
 	public void createShooterOverride() {
 		// Setup the diagBox so that it can take control.
-		MockShooter simulator = new MockShooter(log); // Nothing to simulate, use a mock instead.
-		MockShooter mock = new MockShooter(log);
+		MockShooter simulator = new MockShooter(); // Nothing to simulate, use a mock instead.
+		MockShooter mock = new MockShooter();
 		shooterOverride = new OverridableSubsystem<ShooterInterface>("shooter", ShooterInterface.class, shooter,
-				simulator, mock, log);
+				simulator, mock);
 		// Plumb accessing the shooter through the override.
 		shooter = shooterOverride.getNormalInterface();
 	}
@@ -528,26 +523,26 @@ public void createShooterOverride() {
 	 * Create the Pneumatics Control Module (PCM) subsystem.
 	 */
 	public void createPneumatics() {
-		if (!config.pcmIsPresent) {
-			compressor = Mock.pneumaticsModule(config.pcmCanId);
-			log.sub("Created a mock compressor");
+		if (!Config.pcm.present) {
+			compressor = Mock.pneumaticsModule(Config.pcm.canId);
+			Log.debug("Created a mock compressor");
 			return;
 		}
-		compressor = Hardware.pneumaticsModule(config.pcmCanId);
+		compressor = Hardware.pneumaticsModule(Config.pcm.canId);
 	}
 
 	public void createVision() {
-		if (!config.visionIsPresent) {
+		if (!Config.vision.present) {
 			vision = new MockVision();
-			log.sub("Created a mock vision subsystem");
+			Log.debug("Created a mock vision subsystem");
 			return;
 		}
 		try {
-			jevois = new Jevois(log);
-			vision = new Vision(jevois, location, dashboard, clock, config.visionHMin, config.visionSMin,
-					config.visionVMin, config.visionHMax, config.visionSMax, config.visionVMax, log);
+			jevois = new Jevois();
+			vision = new Vision(jevois, location, dashboard, clock, Config.vision.hMin, Config.vision.sMin,
+					Config.vision.vMin, Config.vision.hMax, Config.vision.sMax, Config.vision.vMax);
 		} catch (IOException e) {
-			log.exception("Unable to create an instance of the jevois camera", e);
+			Log.exception("Unable to create an instance of the jevois camera", e);
 			e.printStackTrace();
 			vision = new MockVision();
 		}
diff --git a/src/main/java/frc/robot/subsystems/Vision.java b/src/main/java/frc/robot/subsystems/Vision.java
index 589d8d8..f759e94 100644
--- a/src/main/java/frc/robot/subsystems/Vision.java
+++ b/src/main/java/frc/robot/subsystems/Vision.java
@@ -8,10 +8,11 @@
 import frc.robot.interfaces.DashboardInterface;
 import frc.robot.interfaces.JevoisInterface;
 import frc.robot.interfaces.LocationInterface;
-import frc.robot.interfaces.Log;
 import frc.robot.interfaces.VisionInterface;
 import frc.robot.lib.Position;
 import frc.robot.lib.Subsystem;
+import frc.robot.lib.chart.Chart;
+import frc.robot.lib.log.Log;
 
 public class Vision extends Subsystem implements VisionInterface, Runnable {
 	private JevoisInterface jevois;
@@ -24,8 +25,8 @@ public class Vision extends Subsystem implements VisionInterface, Runnable {
 
 	public Vision(JevoisInterface jevois, LocationInterface location, DashboardInterface dashboard, Clock clock,
 			double visionHMin, double visionSMin, double visionVMin, double visionHMax, double visionSMax,
-			double visionVMax, Log log) {
-		super("Vision", dashboard, log);
+			double visionVMax) {
+		super("Vision", dashboard);
 		this.jevois = jevois;
 		this.location = location;
 		this.clock = clock;
@@ -36,16 +37,15 @@ public Vision(JevoisInterface jevois, LocationInterface location, DashboardInter
 		this.visionSMax = visionSMax;
 		this.visionVMax = visionVMax;
 
-		log.register(true, () -> isConnected(), "%s/connected", name)
-				.register(true, () -> lastSeenTarget.location.x, "%s/curX", name)
-				.register(true, () -> lastSeenTarget.location.y, "%s/curY", name)
-				.register(true, () -> lastSeenTarget.location.heading, "%s/heading", name)
-				// .register(true, () -> clock.currentTime() - lastSeenTarget.seenAtSec,
-				// "%s/seenAt", name)
-				.register(true, () -> lastSeenTarget.imageTimestamp, "%s/seenAtSec", name)
-				.register(true, () -> lastSeenTarget.targetFound, "%s/targetFound", name)
-				.register(true, () -> lastSeenTarget.distance, "%s/distance", name)
-				.register(true, () -> lastSeenTarget.angle, "%s/angle", name);
+		Chart.register(() -> isConnected(), "%s/connected", name);
+		Chart.register(() -> lastSeenTarget.location.x, "%s/curX", name);
+		Chart.register(() -> lastSeenTarget.location.y, "%s/curY", name);
+		Chart.register(() -> lastSeenTarget.location.heading, "%s/heading", name);
+		// Chart.register(() -> clock.currentTime() - lastSeenTarget.seenAtSec, "%s/seenAt", name)
+		Chart.register(() -> lastSeenTarget.imageTimestamp, "%s/seenAtSec", name);
+		Chart.register(() -> lastSeenTarget.targetFound, "%s/targetFound", name);
+		Chart.register(() -> lastSeenTarget.distance, "%s/distance", name);
+		Chart.register(() -> lastSeenTarget.angle, "%s/angle", name);
 		// Start reading from the Jevois camera.
 		(new Thread(this)).start();
 	}
@@ -65,16 +65,16 @@ public synchronized TargetDetails getTargetDetails() {
 	@Override
 	public void run() {
 		while (true) {
-			log.sub("Vision waiting for the camera server to start up");
+			Log.debug("Vision waiting for the camera server to start up");
 			try {
 				Thread.sleep(5000);
 			} catch (InterruptedException e1) {
 			}
-			log.sub("Starting to read from Jevois camera\n");
+			Log.debug("Starting to read from Jevois camera\n");
 			try {
 				// Attempt to detect if there is a camera plugged in. It will throw an exception
 				// if not.
-				log.sub(jevois.issueCommand("info"));
+				Log.debug(jevois.issueCommand("info"));
 				connected = true;
 
 				// Update the HSV filter ranges from the config values.
@@ -88,7 +88,7 @@ public void run() {
 					processLine(jevois.readLine());
 				}
 			} catch (IOException e) {
-				log.error("Failed to read from jevois, aborting vision processing\n");
+				Log.error("Failed to read from jevois, aborting vision processing\n");
 				connected = false;
 				e.printStackTrace();
 			}
@@ -120,10 +120,10 @@ private void processLine(String line) {
 		String[] parts = line.split("\\s+");
 
 		if (!parts[0].equals("D3")) {
-			log.info("Ignoring non-vision target line: %s", line);
+			Log.info("Ignoring non-vision target line: %s", line);
 			return;
 		}
-		//log.sub("Vision::processLine(%s)\n", line);
+		//Logger.debug("Vision::processLine(%s)\n", line);
 		TargetDetails newTarget = new TargetDetails();
 		newTarget.targetFound = Boolean.parseBoolean(parts[2]);
 
@@ -142,7 +142,7 @@ private void processLine(String line) {
 		
 			newTarget.location.heading += newTarget.angle - newTarget.skew;
 
-			// log.sub("Location set.");
+			// Logger.debug("Location set.");
 			// newTarget.location.heading += newTarget.angle
 
 
@@ -158,7 +158,7 @@ private void processLine(String line) {
 			synchronized (this) {
 				lastSeenTarget = newTarget;
 			}
-			// log.sub("Vision: Updated target %s", lastSeenTarget);
+			// Logger.debug("Vision: Updated target %s", lastSeenTarget);
 
 		}
 
diff --git a/src/test/java/frc/robot/TestSuite.java b/src/test/java/frc/robot/TestSuite.java
index 8cb5db4..7c42d7b 100644
--- a/src/test/java/frc/robot/TestSuite.java
+++ b/src/test/java/frc/robot/TestSuite.java
@@ -4,7 +4,7 @@
 import org.junit.runners.Suite;
 import org.strongback.command.TestCommandGroup;
 import frc.robot.controller.TestController;
-import frc.robot.lib.RobotConfigurationTest;
+import frc.robot.lib.TestConfigReader;
 import frc.robot.lib.TestLogFileWriter;
 import frc.robot.lib.TestMovementSimulator;
 import frc.robot.lib.TestRedundantTalonSRX;
@@ -18,7 +18,7 @@
 @Suite.SuiteClasses({
 		TestCommandGroup.class,
 		TestController.class,
-        RobotConfigurationTest.class,
+        TestConfigReader.class,
         TestLogFileWriter.class,
         TestMovementSimulator.class,
         TestRedundantTalonSRX.class,
diff --git a/src/test/java/frc/robot/controller/TestController.java b/src/test/java/frc/robot/controller/TestController.java
index fba6dc2..909c23f 100644
--- a/src/test/java/frc/robot/controller/TestController.java
+++ b/src/test/java/frc/robot/controller/TestController.java
@@ -12,7 +12,6 @@
 
 import frc.robot.Constants;
 import frc.robot.interfaces.DashboardInterface;
-import frc.robot.interfaces.Log;
 import frc.robot.lib.WheelColour;
 import frc.robot.mock.MockBuddyClimb;
 import frc.robot.mock.MockColourWheel;
@@ -20,7 +19,6 @@
 import frc.robot.mock.MockDrivebase;
 import frc.robot.mock.MockLEDStrip;
 import frc.robot.mock.MockLocation;
-import frc.robot.mock.MockLog;
 import frc.robot.mock.MockLoader;
 import frc.robot.mock.MockShooter;
 import frc.robot.simulator.IntakeSimulator;
@@ -37,7 +35,6 @@ public class TestController {
 	private final long kRandomSeed = 123456;
 	private final double kMaxWaitTimeSeconds = 4;
 	protected DashboardInterface dashboard = new MockDashboard();
-	protected Log log = new MockLog(true);
 	private MockClock clock;
 	private Subsystems subsystems;
 	// Store direct access to the simulators so the simulator-only
@@ -55,18 +52,18 @@ public class TestController {
 	public void setUp() {
 		System.out.println("\n******************************");
 		clock = new MockClock();
-		subsystems = new Subsystems(new MockDashboard(), null, clock, log);
+		subsystems = new Subsystems(new MockDashboard(), clock);
 
 		subsystems.intake = intake = new IntakeSimulator();
 		subsystems.compressor = new MockPneumaticsModule(); 
-		subsystems.drivebase = new MockDrivebase(log);
-		subsystems.loader = new MockLoader(log);
-		subsystems.shooter = new MockShooter(log);
+		subsystems.drivebase = new MockDrivebase();
+		subsystems.loader = new MockLoader();
+		subsystems.shooter = new MockShooter();
 		subsystems.location = new MockLocation();
-		subsystems.colourWheel = new MockColourWheel(log);
+		subsystems.colourWheel = new MockColourWheel();
 		subsystems.leftDriveDistance = () -> 0;
 		subsystems.rightDriveDistance = () -> 0;
-		subsystems.buddyClimb = new MockBuddyClimb(log);
+		subsystems.buddyClimb = new MockBuddyClimb();
 		subsystems.ledStrip = new MockLEDStrip();
 		
 		exec = new Controller(subsystems, getFMSColour());
diff --git a/src/test/java/frc/robot/drive/util/TestPositionCalc.java b/src/test/java/frc/robot/drive/util/TestPositionCalc.java
index 2b359e6..605287a 100644
--- a/src/test/java/frc/robot/drive/util/TestPositionCalc.java
+++ b/src/test/java/frc/robot/drive/util/TestPositionCalc.java
@@ -6,8 +6,6 @@
 import org.junit.Test;
 import org.strongback.mock.MockClock;
 
-import frc.robot.mock.MockLog;
-
 public class TestPositionCalc {
 	
 	/**
@@ -20,9 +18,8 @@ public void testBasic() {
 		double speed = 1;
 		double maxJerk = 1;
 		MockClock clock = new MockClock();
-		MockLog log = new MockLog();
 
-		PositionCalc calc = new PositionCalc(position, speed, maxJerk, clock, log);
+		PositionCalc calc = new PositionCalc(position, speed, maxJerk, clock);
 		long dtMSec = 1000;  // A whole second.
 		clock.incrementByMilliseconds(dtMSec);
 		double newPos = calc.update();
diff --git a/src/test/java/frc/robot/lib/RobotConfigurationTest.java b/src/test/java/frc/robot/lib/RobotConfigurationTest.java
deleted file mode 100644
index 67596dc..0000000
--- a/src/test/java/frc/robot/lib/RobotConfigurationTest.java
+++ /dev/null
@@ -1,78 +0,0 @@
-package frc.robot.lib;
-
-import static org.hamcrest.MatcherAssert.assertThat;
-import static org.hamcrest.Matchers.equalTo;
-import static org.hamcrest.Matchers.greaterThan;
-import static org.hamcrest.Matchers.is;
-
-import java.io.File;
-import java.io.IOException;
-import java.nio.charset.StandardCharsets;
-import java.nio.file.Files;
-import java.nio.file.Path;
-import java.nio.file.Paths;
-
-import org.junit.Test;
-import frc.robot.Constants;
-import frc.robot.mock.MockLog;
-
-public class RobotConfigurationTest {
-	MockLog log = new MockLog(true);
-
-	// Ensure all subsystems are enabled to their default values if the file is empty.
-	@Test
-	public void testMissingFile() throws IOException {
-		Path tempDir = Files.createTempDirectory("robot");
-		Path path = Paths.get(tempDir.toString(), "robot.config");
-		RobotConfiguration config = new RobotConfiguration(path.toString(), 3132, log);
-		
-		assertThat(config.drivebaseIsPresent, is(equalTo(Constants.DRIVE_PRESENT_DEFAULT)));
-		//assertThat(config.liftIsPresent, is(equalTo(false)));
-		assertThat(config.drivebaseCanIdsLeftWithEncoders, is(equalTo(Constants.DRIVE_LEFT_TALON_WITH_ENCODERS_CAN_ID_LIST)));
-	}
-	
-	// Ensure all subsystems are enabled to their default values if the file is empty.
-	@Test
-	public void testEmptyFile() throws IOException {
-		File file = File.createTempFile("robot", ".config");
-		String exampleFile = file.toString() + ".example";
-		RobotConfiguration config = new RobotConfiguration(file.toString(), 3132, log);
-		assertThat(file.exists(), is(equalTo(true)));
-		
-		assertThat(config.drivebaseIsPresent, is(equalTo(Constants.DRIVE_PRESENT_DEFAULT)));
-		assertThat(config.drivebaseCanIdsLeftWithEncoders, is(equalTo(Constants.DRIVE_LEFT_TALON_WITH_ENCODERS_CAN_ID_LIST)));
-		assertThat(exampleFile.toString().length(), greaterThan(20)); // make sure the example file isn't empty after first run of update
-		
-		// Load in the example file to ensure it's valid. Cook one of the lines
-		// to ensure that it's actually read and not the default.
-		Path path = Paths.get(exampleFile);
-		String content = new String(Files.readAllBytes(path), StandardCharsets.UTF_8);
-		Files.write(path, content.getBytes(StandardCharsets.UTF_8));
-		config = new RobotConfiguration(exampleFile, 3132, log);
-		assertThat(config.drivebaseIsPresent, is(equalTo(Constants.DRIVE_PRESENT_DEFAULT)));
-		assertThat(config.drivebaseCanIdsLeftWithEncoders, is(equalTo(Constants.DRIVE_LEFT_TALON_WITH_ENCODERS_CAN_ID_LIST)));
-	}
-
-	@Test
-	public void testGetValueType() throws IOException {
-		File file = File.createTempFile("robot", ".config");
-		assertThat(file.exists(), is(equalTo(true)));
-
-		StringBuilder str = new StringBuilder();
-		str.append("robot/name=\"firstValue\"\n");  // First value of a dup is ignored.
-		str.append("robot/name=\"unitTest\"\n");
-		str.append("  drivebase/present=false\n");  // Leading spaces.
-		str.append("pcm/canID=210\n");
-		str.append("drivebase/left/canIDs/withEncoders=7, 9,15\n");
-		str.append("drivebase/left/canIDs/withoutEncoders=\n");
-		Files.write(file.toPath(), str.toString().getBytes(StandardCharsets.UTF_8));
-
-		RobotConfiguration config = new RobotConfiguration(file.toString(), 31332, log);
-
-		//assertThat(config.robotName, is(equalTo("unitTest")));
-		assertThat(config.drivebaseIsPresent, is(equalTo(false)));
-		assertThat(config.pcmCanId, is(equalTo(210)));
-		assertThat(config.drivebaseCanIdsLeftWithEncoders, is(equalTo(new int[] { 7, 9, 15 })));
-		assertThat(config.drivebaseCanIdsLeftWithoutEncoders, is(equalTo(new int[] {})));
-	}
-}
diff --git a/src/test/java/frc/robot/lib/TestConfigReader.java b/src/test/java/frc/robot/lib/TestConfigReader.java
new file mode 100644
index 0000000..218bb81
--- /dev/null
+++ b/src/test/java/frc/robot/lib/TestConfigReader.java
@@ -0,0 +1,69 @@
+package frc.robot.lib;
+
+import static org.hamcrest.MatcherAssert.assertThat;
+import static org.hamcrest.Matchers.equalTo;
+import static org.hamcrest.Matchers.greaterThan;
+import static org.hamcrest.Matchers.is;
+
+import java.io.File;
+import java.io.IOException;
+import java.nio.charset.StandardCharsets;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.nio.file.Paths;
+
+import org.junit.Test;
+
+public class TestConfigReader {
+
+	// Ensure all subsystems are enabled to their default values if the file is empty.
+	@Test
+	public void testMissingFile() throws IOException {
+		Path tempDir = Files.createTempDirectory("robot");
+		Path path = Paths.get(tempDir.toString(), "robot.config");
+		ConfigReader config = new ConfigReader(path.toString());
+		
+		assertThat(config.getString("missing/string", "default_value"), is(equalTo("default_value")));
+		assertThat(config.getBoolean("missing/boolean", false), is(equalTo(false)));
+		assertThat(config.getInt("missing/int", 2), is(equalTo(2)));
+		assertThat(config.getIntArray("missing/int/array", new int[]{2, 3}), is(equalTo(new int[]{2, 3})));
+	}
+	
+	// Ensure all subsystems are enabled to their default values if the file is empty.
+	@Test
+	public void testEmptyFile() throws IOException {
+		File file = File.createTempFile("robot", ".config");
+		String exampleFile = file.toString() + ".example";
+		ConfigReader config = new ConfigReader(file.toString());
+		assertThat(file.exists(), is(equalTo(true)));
+		
+		assertThat(config.getString("missing/string", "default_value"), is(equalTo("default_value")));
+		assertThat(config.getBoolean("missing/boolean", false), is(equalTo(false)));
+		assertThat(config.getInt("missing/int", 2), is(equalTo(2)));
+		assertThat(config.getIntArray("missing/int/array", new int[]{2, 3}), is(equalTo(new int[]{2, 3})));
+		assertThat(exampleFile.toString().length(), greaterThan(20)); // make sure the example file isn't empty after first run of update
+	}
+
+	@Test
+	public void testGetValueType() throws IOException {
+		File file = File.createTempFile("robot", ".config");
+		assertThat(file.exists(), is(equalTo(true)));
+
+		StringBuilder str = new StringBuilder();
+		str.append("robot/name=\"firstValue\"\n");  // First value of a dup is ignored.
+		str.append("robot/name=\"unitTest\"\n");
+		str.append("  drivebase/present=false\n");  // Leading spaces.
+		str.append("pcm/canID=210\n");
+		str.append("drivebase/left/canIDs/withEncoders=7, 9,15\n");
+		str.append("drivebase/left/canIDs/withoutEncoders=\n");
+		Files.write(file.toPath(), str.toString().getBytes(StandardCharsets.UTF_8));
+
+		ConfigReader config = new ConfigReader(file.toString());
+
+		assertThat(config.getString("robot/name", "not found"), is(equalTo("unitTest")));
+		assertThat(config.getBoolean("drivebase/present", true), is(equalTo(false)));
+		assertThat(config.getInt("pcm/canID", -1), is(equalTo(210)));
+		assertThat(config.getIntArray("drivebase/left/canIDs/withEncoders", new int[]{}), is(equalTo(new int[] {7, 9, 15})));
+		assertThat(config.getIntArray("drivebase/left/canIDs/withoutEncoders", new int[]{-1}), is(equalTo(new int[] {})));
+	}
+}
diff --git a/src/test/java/frc/robot/lib/log/TestTimestampedLogWriter.java b/src/test/java/frc/robot/lib/log/TestTimestampedLogWriter.java
new file mode 100644
index 0000000..f7f4b49
--- /dev/null
+++ b/src/test/java/frc/robot/lib/log/TestTimestampedLogWriter.java
@@ -0,0 +1,43 @@
+package frc.robot.lib.log;
+
+import static org.hamcrest.MatcherAssert.assertThat;
+import static org.hamcrest.Matchers.equalTo;
+import static org.hamcrest.Matchers.is;
+
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.nio.file.Paths;
+
+import org.junit.Test;
+
+public class TestTimestampedLogWriter {
+
+	// Ensure writing works.
+	@Test
+	public void testWrite() throws IOException {
+		Path tempDir = Files.createTempDirectory("timestamped");
+		TimestampedLogWriter writer = new TimestampedLogWriter(tempDir.toString(), "test", 123, "txt");
+		writer.write("Hello\n");
+		writer.write("World!");
+		writer.flush();
+		Path expctedFile = Paths.get(tempDir.toString(), "data", "test_00123.txt");
+		System.out.printf("Found: '" + Files.readAllLines(expctedFile));
+		assertThat(Files.readString(expctedFile), is(equalTo("Hello\nWorld!")));
+	}
+	
+	// Ensure symbolic links are created.
+	@Test
+	public void testSymbolicLink() throws IOException {
+		Path tempDir = Files.createTempDirectory("timestamped");
+		TimestampedLogWriter writer = new TimestampedLogWriter(tempDir.toString(), "test", 123, "txt");
+		writer.write("Hello\n");
+		writer.write("World!");
+		writer.flush();
+		writer.createSymbolicLink("event", "SouthernCross_M1");
+		Path expctedFile = Paths.get(tempDir.toString(), "event", "SouthernCross_M1_test.txt");
+		System.out.printf("Found: '" + Files.readAllLines(expctedFile));
+		assertThat(Files.readString(expctedFile), is(equalTo("Hello\nWorld!")));
+	}
+
+}
diff --git a/src/test/java/frc/robot/subsystems/TestColourwheel.java b/src/test/java/frc/robot/subsystems/TestColourwheel.java
index c9686d3..42b6524 100644
--- a/src/test/java/frc/robot/subsystems/TestColourwheel.java
+++ b/src/test/java/frc/robot/subsystems/TestColourwheel.java
@@ -18,7 +18,6 @@
 import frc.robot.interfaces.ColourWheelInterface.ColourAction.ColourWheelType;
 import frc.robot.lib.WheelColour;
 import frc.robot.mock.MockDashboard;
-import frc.robot.mock.MockLog;
 
 public class TestColourwheel {
 
@@ -36,7 +35,7 @@ public void setup() {
         solenoid = Mock.Solenoids.singleSolenoid(0);
         clock = Mock.clock();
         ledStrip = Mock.ledStrip();
-        colourWheel = new ColourWheel(motor, solenoid, () -> colour, ledStrip, clock, new MockDashboard(), new MockLog());
+        colourWheel = new ColourWheel(motor, solenoid, () -> colour, ledStrip, clock, new MockDashboard());
     }
 
 
diff --git a/src/test/java/frc/robot/subsystems/TestDrivebase.java b/src/test/java/frc/robot/subsystems/TestDrivebase.java
index d727051..17ade50 100644
--- a/src/test/java/frc/robot/subsystems/TestDrivebase.java
+++ b/src/test/java/frc/robot/subsystems/TestDrivebase.java
@@ -14,7 +14,6 @@
 import frc.robot.interfaces.DrivebaseInterface.DriveRoutineParameters;
 import frc.robot.interfaces.DrivebaseInterface.DriveRoutineType;
 import frc.robot.mock.MockDashboard;
-import frc.robot.mock.MockLog;
 
 public class TestDrivebase {
 
@@ -25,7 +24,7 @@ class MockDriveRoutine extends DriveRoutine {
         public double rightPower = 0;
 
         public MockDriveRoutine(String name) {
-            super(name, ControlMode.DutyCycle, new MockLog());
+            super(name, ControlMode.DutyCycle);
             this.name = name;
         }
 
@@ -62,7 +61,7 @@ public void testDriveRoutine() {
         MockSolenoid brakeSolenoid = Mock.Solenoids.singleSolenoid(1);
         MockDriveRoutine arcade = new MockDriveRoutine("MockArcade");
         DrivebaseInterface drive = new Drivebase(leftMotor, rightMotor, ptoSolenoid, brakeSolenoid,
-                new MockDashboard(), new MockLog(true));
+                new MockDashboard());
         // Register this drive routine so it can be used.
         drive.registerDriveRoutine(DriveRoutineType.ARCADE_DUTY_CYCLE, arcade);
         // Tell the drive subsystem to use it.
diff --git a/src/test/java/frc/robot/subsystems/TestLoader.java b/src/test/java/frc/robot/subsystems/TestLoader.java
index 9b71dfa..de6a11d 100644
--- a/src/test/java/frc/robot/subsystems/TestLoader.java
+++ b/src/test/java/frc/robot/subsystems/TestLoader.java
@@ -14,7 +14,6 @@
 
 import frc.robot.interfaces.LEDStripInterface;
 import frc.robot.mock.MockDashboard;
-import frc.robot.mock.MockLog;
 
 public class TestLoader {
     MockMotor spinner, passthrough;
@@ -25,7 +24,6 @@ public class TestLoader {
     int outSensorCounts = 0;
     LEDStripInterface led;
     MockDashboard dashboard;
-    MockLog log;
     MockClock clock;
 
     @Before
@@ -34,12 +32,11 @@ public void setup() {
         passthrough = Mock.stoppedMotor();
         led = Mock.ledStrip(); 
         clock = Mock.clock();
-        log = new MockLog();
         inSensor = () -> {
             if (inSensorCounts.size() == 0) return false;
             return inSensorCounts.get(0);
         };
-        loader = new Loader(spinner, passthrough, paddle, inSensor, outSensor, led, dashboard, log);
+        loader = new Loader(spinner, passthrough, paddle, inSensor, outSensor, led, dashboard);
     }
 
     @Test
diff --git a/src/test/java/frc/robot/subsystems/TestLocation.java b/src/test/java/frc/robot/subsystems/TestLocation.java
index c4863e7..1bee9f0 100644
--- a/src/test/java/frc/robot/subsystems/TestLocation.java
+++ b/src/test/java/frc/robot/subsystems/TestLocation.java
@@ -9,7 +9,6 @@
 import org.strongback.mock.MockGyroscope;
 import frc.robot.lib.MathUtil;
 import frc.robot.lib.Position;
-import frc.robot.mock.MockLog;
 
 /**
  * Test the Location class.
@@ -36,7 +35,7 @@ public void testLocation() {
     	MockDoubleSupplier rightDistance = Mock.doubleSupplier();
     	MockGyroscope gyro = Mock.gyroscope();
     	MockClock clock = Mock.clock();
-        Location location = new Location(()->{},leftDistance, rightDistance, gyro, clock, null, new MockLog());
+        Location location = new Location(()->{},leftDistance, rightDistance, gyro, clock, null);
         
         // Initial location should always be 0,0,0
         gyro.setAngle(0); // Facing towards the opposing alliances wall.
diff --git a/src/test/java/frc/robot/subsystems/TestOverridableSubsystem.java b/src/test/java/frc/robot/subsystems/TestOverridableSubsystem.java
index ff17d52..5e6b0f7 100644
--- a/src/test/java/frc/robot/subsystems/TestOverridableSubsystem.java
+++ b/src/test/java/frc/robot/subsystems/TestOverridableSubsystem.java
@@ -5,23 +5,20 @@
 
 import org.junit.Test;
 import frc.robot.interfaces.IntakeInterface;
-import frc.robot.interfaces.Log;
 import frc.robot.mock.MockIntake;
-import frc.robot.mock.MockLog;
 
 public class TestOverridableSubsystem {
-    private Log log = new MockLog();
     
     @Test
     public void testNormalMode() {
         // This is when the controller should talk through to the real
         // subsystem and the button box is passed through to the mock.
         // We only want to use mock here so that they can be checked.
-        IntakeInterface real = new MockIntake(log);
-        IntakeInterface simulator = new MockIntake(log);
-        IntakeInterface mock = new MockIntake(log);
+        IntakeInterface real = new MockIntake();
+        IntakeInterface simulator = new MockIntake();
+        IntakeInterface mock = new MockIntake();
         // Create the sim and pass it the three different endpoints.
-        OverridableSubsystem<IntakeInterface> intakeOverride = new OverridableSubsystem<IntakeInterface>("intake", IntakeInterface.class, real, simulator, mock, log);
+        OverridableSubsystem<IntakeInterface> intakeOverride = new OverridableSubsystem<IntakeInterface>("intake", IntakeInterface.class, real, simulator, mock);
         // Get the endpoint that the controller would use.
         IntakeInterface normalIntake = intakeOverride.getNormalInterface();	
         // Get the endpoint that the diag box uses.
diff --git a/src/test/java/frc/robot/subsystems/TestShooter.java b/src/test/java/frc/robot/subsystems/TestShooter.java
index a9bd9e5..3223bf8 100644
--- a/src/test/java/frc/robot/subsystems/TestShooter.java
+++ b/src/test/java/frc/robot/subsystems/TestShooter.java
@@ -11,7 +11,6 @@
 import org.strongback.mock.MockSolenoid;
 
 import frc.robot.mock.MockDashboard;
-import frc.robot.mock.MockLog;
 
 
 public class TestShooter {
@@ -25,7 +24,7 @@ public class TestShooter {
     public void setUp() {
         shooterMotor = Mock.stoppedMotor();
         shooterSolenoid = Mock.Solenoids.singleSolenoid(0);
-        shooter = new Shooter(shooterMotor, shooterSolenoid, new MockDashboard(), new MockLog());
+        shooter = new Shooter(shooterMotor, shooterSolenoid, new MockDashboard());
     }
 
     @Test
diff --git a/src/test/java/frc/robot/subsystems/TestVision.java b/src/test/java/frc/robot/subsystems/TestVision.java
index d46d817..731892e 100644
--- a/src/test/java/frc/robot/subsystems/TestVision.java
+++ b/src/test/java/frc/robot/subsystems/TestVision.java
@@ -14,11 +14,9 @@
 import org.strongback.mock.MockClock;
 import frc.robot.interfaces.DashboardInterface;
 import frc.robot.interfaces.LocationInterface;
-import frc.robot.interfaces.Log;
 import frc.robot.mock.MockDashboard;
 import frc.robot.mock.MockJevois;
 import frc.robot.mock.MockLocation;
-import frc.robot.mock.MockLog;
 
 public class TestVision {
 
@@ -30,7 +28,6 @@ public class TestVision {
   public void testVision() throws UnknownHostException, IOException {
     System.out.println("testVision()");
     MockClock clock = Mock.clock();
-    Log log = new MockLog(true);
     MockJevois jevois = new MockJevois();
 
     // Historic locations are based on the time it is requested at.
@@ -38,7 +35,7 @@ public void testVision() throws UnknownHostException, IOException {
 
     DashboardInterface dashboard = new MockDashboard();
     // Listen on a port assigned by the operating system.
-    Vision vision = new Vision(jevois, location, dashboard, clock, 0, 0, 0, 255, 255, 255, log);
+    Vision vision = new Vision(jevois, location, dashboard, clock, 0, 0, 0, 255, 255, 255);
     // Shouldn't have a target lock.
     assertThat(vision.getTargetDetails().targetFound, is(equalTo(false)));