From ceda64ad7a1e0949b2c0487d20c0cd9a6a7f6760 Mon Sep 17 00:00:00 2001
From: Mobfey <cocofromthesea@gmail.com>
Date: Fri, 17 Jan 2025 16:31:14 -0500
Subject: [PATCH] On disk datalogging

---
 src/main/java/frc/robot/Robot.java | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index efe5297..867fad5 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -6,6 +6,11 @@
 
 import edu.wpi.first.epilogue.Epilogue;
 import edu.wpi.first.epilogue.Logged;
+import edu.wpi.first.epilogue.logging.EpilogueBackend;
+import edu.wpi.first.epilogue.logging.FileBackend;
+import edu.wpi.first.epilogue.logging.NTEpilogueBackend;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.TimedRobot;
@@ -57,9 +62,10 @@ public Robot() {
 
     Epilogue.configure(
         config -> {
-          // TODO: Set up the epilogue data logging configuration.
-          //       By default, data will only be logged to network tables.
-          //       We should log to disk if there's a USB drive plugged in
+          config.backend = EpilogueBackend.multi(
+            new FileBackend(DataLogManager.getLog()),
+            new NTEpilogueBackend(NetworkTableInstance.getDefault())
+          );
         });
 
     Epilogue.bind(this);