diff --git a/src/main/kotlin/com/team4099/robot2023/Robot.kt b/src/main/kotlin/com/team4099/robot2023/Robot.kt
index e2db1832..2ec17495 100644
--- a/src/main/kotlin/com/team4099/robot2023/Robot.kt
+++ b/src/main/kotlin/com/team4099/robot2023/Robot.kt
@@ -8,7 +8,7 @@ import com.team4099.robot2023.config.constants.Constants
 import com.team4099.robot2023.subsystems.falconspin.MotorChecker
 import com.team4099.robot2023.util.Alert
 import com.team4099.robot2023.util.Alert.AlertType
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import com.team4099.robot2023.util.FMSData
 import com.team4099.robot2023.util.NTSafePublisher
 import edu.wpi.first.hal.AllianceStationID
@@ -197,7 +197,7 @@ object Robot : LoggedRobot() {
       "LoggedRobot/RemainingRamMB", Runtime.getRuntime().freeMemory() / 1024 / 1024
     )
 
-    DebugLogger.recordDebugOutput(
+    CustomLogger.recordDebugOutput(
       "LoggedRobot/totalMS", (Clock.realTimestamp - startTime).inMilliseconds
     )
 
diff --git a/src/main/kotlin/com/team4099/robot2023/commands/DriveModuleSteeringCommand.kt b/src/main/kotlin/com/team4099/robot2023/commands/DriveModuleSteeringCommand.kt
index afefc58c..674d20a5 100644
--- a/src/main/kotlin/com/team4099/robot2023/commands/DriveModuleSteeringCommand.kt
+++ b/src/main/kotlin/com/team4099/robot2023/commands/DriveModuleSteeringCommand.kt
@@ -1,7 +1,7 @@
 package com.team4099.robot2023.commands.drivetrain
 
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.wpilibj2.command.Command
 import com.team4099.robot2023.subsystems.superstructure.Request.DrivetrainRequest as DrivetrainRequest
 
@@ -20,6 +20,6 @@ class DriveModuleSteeringCommand(val drivetrain: Drivetrain) : Command() {
   }
 
   override fun execute() {
-    DebugLogger.recordDebugOutput("ActiveCommands/ZeroSensorsCommand", true)
+    CustomLogger.recordDebugOutput("ActiveCommands/ZeroSensorsCommand", true)
   }
 }
diff --git a/src/main/kotlin/com/team4099/robot2023/commands/SysIdCommand.kt b/src/main/kotlin/com/team4099/robot2023/commands/SysIdCommand.kt
index b73b6c7b..a75c01e7 100644
--- a/src/main/kotlin/com/team4099/robot2023/commands/SysIdCommand.kt
+++ b/src/main/kotlin/com/team4099/robot2023/commands/SysIdCommand.kt
@@ -1,6 +1,6 @@
 package com.team4099.robot2023.commands
 
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.wpilibj.Timer
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard
 import edu.wpi.first.wpilibj2.command.Command
@@ -108,7 +108,7 @@ class SysIdCommand : Command {
       data += (subsystemData.velRadPerSec / (2 * Math.PI)).toString() + ","
     }
 
-    DebugLogger.recordDebugOutput("ActiveCommands/SysIdCommand", true)
+    CustomLogger.recordDebugOutput("ActiveCommands/SysIdCommand", true)
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/kotlin/com/team4099/robot2023/commands/characterization/WheelRadiusCharacterizationCommand.kt b/src/main/kotlin/com/team4099/robot2023/commands/characterization/WheelRadiusCharacterizationCommand.kt
index 67f089a5..9fe7de30 100644
--- a/src/main/kotlin/com/team4099/robot2023/commands/characterization/WheelRadiusCharacterizationCommand.kt
+++ b/src/main/kotlin/com/team4099/robot2023/commands/characterization/WheelRadiusCharacterizationCommand.kt
@@ -9,7 +9,7 @@ import com.team4099.lib.logging.LoggedTunableNumber
 import com.team4099.robot2023.config.constants.DrivetrainConstants
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Request
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.math.MathUtil
 import edu.wpi.first.math.filter.SlewRateLimiter
 import edu.wpi.first.math.kinematics.ChassisSpeeds
@@ -22,7 +22,6 @@ import org.team4099.lib.units.derived.inRadians
 import org.team4099.lib.units.derived.radians
 import org.team4099.lib.units.derived.rotations
 import kotlin.math.hypot
-import kotlin.time.times
 
 class WheelRadiusCharacterizationCommand(
   val drivetrain: Drivetrain,
@@ -84,16 +83,16 @@ class WheelRadiusCharacterizationCommand(
     averageWheelPositionDelta /= 4.0
     currentEffectiveWheelRadius =
       (accumGyroYawRads * driveRadius / averageWheelPositionDelta).meters
-    DebugLogger.recordDebugOutput(
+    CustomLogger.recordDebugOutput(
       "Drivetrain/RadiusCharacterization/DrivePosition", averageWheelPositionDelta.inRadians
     )
-    DebugLogger.recordDebugOutput(
+    CustomLogger.recordDebugOutput(
       "Drivetrain/RadiusCharacterization/AccumGyroYawRads", accumGyroYawRads.inRadians
     )
-    DebugLogger.recordDebugOutput(
+    CustomLogger.recordDebugOutput(
       "Drivetrain/RadiusCharacterization/LastGyroYawRads", lastGyroYawRads.inRadians
     )
-    DebugLogger.recordDebugOutput(
+    CustomLogger.recordDebugOutput(
       "Drivetrain/RadiusCharacterization/CurrentWheelRadiusInches",
       currentEffectiveWheelRadius.inInches
     )
@@ -101,12 +100,12 @@ class WheelRadiusCharacterizationCommand(
 
   override fun end(interrupted: Boolean) {
     if (accumGyroYawRads <= (Math.PI * 2.0).radians) {
-      DebugLogger.recordDebugOutput(
+      CustomLogger.recordDebugOutput(
         "Drivetrain/radiansOffFromWheelRadius",
         ((Math.PI * 2.0).radians - accumGyroYawRads).inRadians
       )
     } else {
-      DebugLogger.recordDebugOutput(
+      CustomLogger.recordDebugOutput(
         "Drivetrain/effectiveWheelRadius", currentEffectiveWheelRadius.inInches
       )
     }
diff --git a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/DrivePathCommand.kt b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/DrivePathCommand.kt
index 7549882c..34487fba 100644
--- a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/DrivePathCommand.kt
+++ b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/DrivePathCommand.kt
@@ -11,7 +11,7 @@ import com.team4099.lib.trajectory.Waypoint
 import com.team4099.robot2023.config.constants.DrivetrainConstants
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
 import com.team4099.robot2023.util.AllianceFlipUtil
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import com.team4099.robot2023.util.FrameType
 import com.team4099.robot2023.util.Velocity2d
 import edu.wpi.first.math.kinematics.ChassisSpeeds
@@ -384,7 +384,7 @@ private constructor(
     Logger.recordOutput("Pathfollow/isAtReference", swerveDriveController.atReference())
     Logger.recordOutput("Pathfollow/trajectoryTimeSeconds", trajectory.totalTimeSeconds)
 
-    DebugLogger.recordDebugOutput("ActiveCommands/DrivePathCommand", true)
+    CustomLogger.recordDebugOutput("ActiveCommands/DrivePathCommand", true)
 
     if (thetakP.hasChanged()) thetaPID.proportionalGain = thetakP.get()
     if (thetakI.hasChanged()) thetaPID.integralGain = thetakI.get()
@@ -414,7 +414,7 @@ private constructor(
   }
 
   override fun end(interrupted: Boolean) {
-    DebugLogger.recordDebugOutput("ActiveCommands/DrivePathCommand", false)
+    CustomLogger.recordDebugOutput("ActiveCommands/DrivePathCommand", false)
     if (interrupted) {
       DriverStation.reportError(errorString, true)
       // Stop where we are if interrupted
diff --git a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/ResetGyroYawCommand.kt b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/ResetGyroYawCommand.kt
index d3545ff7..e0c24fbc 100644
--- a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/ResetGyroYawCommand.kt
+++ b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/ResetGyroYawCommand.kt
@@ -1,7 +1,7 @@
 package com.team4099.robot2023.commands.drivetrain
 
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.wpilibj2.command.Command
 import org.team4099.lib.units.derived.Angle
 import org.team4099.lib.units.derived.degrees
@@ -17,7 +17,7 @@ class ResetGyroYawCommand(val drivetrain: Drivetrain, val toAngle: Angle = 0.0.d
   }
 
   override fun execute() {
-    DebugLogger.recordDebugOutput("ActiveCommands/ResetGyroYawCommand", true)
+    CustomLogger.recordDebugOutput("ActiveCommands/ResetGyroYawCommand", true)
   }
 
   override fun isFinished(): Boolean {
diff --git a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/ResetPoseCommand.kt b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/ResetPoseCommand.kt
index b8e35831..000cc679 100644
--- a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/ResetPoseCommand.kt
+++ b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/ResetPoseCommand.kt
@@ -2,7 +2,7 @@ package com.team4099.robot2023.commands.drivetrain
 
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
 import com.team4099.robot2023.util.AllianceFlipUtil
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.wpilibj2.command.Command
 import org.team4099.lib.geometry.Pose2d
 
@@ -14,12 +14,12 @@ class ResetPoseCommand(val drivetrain: Drivetrain, val pose: Pose2d) : Command()
   override fun initialize() {
     drivetrain.resetFieldFrameEstimator(AllianceFlipUtil.apply(pose))
     drivetrain.zeroGyroYaw(AllianceFlipUtil.apply(pose).rotation)
-    DebugLogger.recordDebugOutput("Drivetrain/lastResetPose", AllianceFlipUtil.apply(pose).pose2d)
-    DebugLogger.recordDebugOutput("ActiveCommands/ResetPoseCommand", true)
+    CustomLogger.recordDebugOutput("Drivetrain/lastResetPose", AllianceFlipUtil.apply(pose).pose2d)
+    CustomLogger.recordDebugOutput("ActiveCommands/ResetPoseCommand", true)
   }
 
   override fun isFinished(): Boolean {
-    DebugLogger.recordDebugOutput("ActiveCommands/ResetPoseCommand", false)
+    CustomLogger.recordDebugOutput("ActiveCommands/ResetPoseCommand", false)
     return true
   }
 }
diff --git a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/ResetZeroCommand.kt b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/ResetZeroCommand.kt
index 8d2ddce4..acd806b3 100644
--- a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/ResetZeroCommand.kt
+++ b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/ResetZeroCommand.kt
@@ -1,7 +1,7 @@
 package com.team4099.robot2023.commands.drivetrain
 
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.wpilibj2.command.Command
 
 class ResetZeroCommand(val drivetrain: Drivetrain) : Command() {
@@ -14,6 +14,6 @@ class ResetZeroCommand(val drivetrain: Drivetrain) : Command() {
   }
 
   override fun execute() {
-    DebugLogger.recordDebugOutput("ActiveCommands/ResetZeroCommand", true)
+    CustomLogger.recordDebugOutput("ActiveCommands/ResetZeroCommand", true)
   }
 }
diff --git a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TargetAngleCommand.kt b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TargetAngleCommand.kt
index 5ac1cd55..3aaf5ed1 100644
--- a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TargetAngleCommand.kt
+++ b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TargetAngleCommand.kt
@@ -4,7 +4,7 @@ import com.team4099.lib.logging.LoggedTunableValue
 import com.team4099.robot2023.config.constants.DrivetrainConstants
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Request
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import com.team4099.robot2023.util.driver.DriverProfile
 import edu.wpi.first.wpilibj.RobotBase
 import edu.wpi.first.wpilibj2.command.Command
@@ -109,14 +109,14 @@ class TargetAngleCommand(
   override fun execute() {
 
     drivetrain.defaultCommand.end(true)
-    DebugLogger.recordDebugOutput("ActiveCommands/TargetAngleCommand", true)
+    CustomLogger.recordDebugOutput("ActiveCommands/TargetAngleCommand", true)
     Logger.recordOutput(
       "Testing/CurrentDrivetrainRotation", drivetrain.odomTRobot.rotation.inDegrees
     )
 
     val thetaFeedback = thetaPID.calculate(drivetrain.odomTRobot.rotation, targetAngle())
-    DebugLogger.recordDebugOutput("Testing/error", thetaPID.error.inDegrees)
-    DebugLogger.recordDebugOutput("Testing/thetaFeedback", thetaFeedback.inDegreesPerSecond)
+    CustomLogger.recordDebugOutput("Testing/error", thetaPID.error.inDegrees)
+    CustomLogger.recordDebugOutput("Testing/thetaFeedback", thetaFeedback.inDegreesPerSecond)
 
     drivetrain.currentRequest =
       Request.DrivetrainRequest.OpenLoop(
@@ -131,7 +131,7 @@ class TargetAngleCommand(
   }
 
   override fun end(interrupted: Boolean) {
-    DebugLogger.recordDebugOutput("ActiveCommands/TargetAngleCommand", false)
+    CustomLogger.recordDebugOutput("ActiveCommands/TargetAngleCommand", false)
     drivetrain.currentRequest =
       Request.DrivetrainRequest.OpenLoop(
         driver.rotationSpeedClampedSupplier(turn, slowMode),
diff --git a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TargetNoteCommand.kt b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TargetNoteCommand.kt
index 6a3a9673..7cf3e7c6 100644
--- a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TargetNoteCommand.kt
+++ b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TargetNoteCommand.kt
@@ -6,7 +6,7 @@ import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
 import com.team4099.robot2023.subsystems.feeder.Feeder
 import com.team4099.robot2023.subsystems.limelight.LimelightVision
 import com.team4099.robot2023.subsystems.superstructure.Request
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import com.team4099.robot2023.util.driver.DriverProfile
 import edu.wpi.first.wpilibj.DriverStation
 import edu.wpi.first.wpilibj.RobotBase
@@ -120,8 +120,8 @@ class TargetNoteCommand(
     Logger.recordOutput("ActiveCommands/TargetNoteCommand", true)
 
     val thetaFeedback = thetaPID.calculate(limelight.targetGamePieceTx ?: 0.0.degrees, 0.0.degrees)
-    DebugLogger.recordDebugOutput("NoteAlignment/error", thetaPID.error.inDegrees)
-    DebugLogger.recordDebugOutput("NoteAlignment/thetaFeedback", thetaFeedback.inDegreesPerSecond)
+    CustomLogger.recordDebugOutput("NoteAlignment/error", thetaPID.error.inDegrees)
+    CustomLogger.recordDebugOutput("NoteAlignment/thetaFeedback", thetaFeedback.inDegreesPerSecond)
 
     if (!feeder.hasNote && limelight.inputs.gamePieceTargets.size > 0) {
       val driveVector = driver.driveSpeedClampedSupplier(driveX, driveY, slowMode)
diff --git a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TeleopDriveCommand.kt b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TeleopDriveCommand.kt
index 0ce65a00..6e068e01 100644
--- a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TeleopDriveCommand.kt
+++ b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TeleopDriveCommand.kt
@@ -1,7 +1,7 @@
 package com.team4099.robot2023.commands.drivetrain
 
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import com.team4099.robot2023.util.driver.DriverProfile
 import edu.wpi.first.wpilibj.DriverStation
 import edu.wpi.first.wpilibj2.command.Command
@@ -28,7 +28,7 @@ class TeleopDriveCommand(
       val rotation = driver.rotationSpeedClampedSupplier(turn, slowMode)
 
       drivetrain.currentRequest = DrivetrainRequest.OpenLoop(rotation, speed)
-      DebugLogger.recordDebugOutput("ActiveCommands/TeleopDriveCommand", true)
+      CustomLogger.recordDebugOutput("ActiveCommands/TeleopDriveCommand", true)
     }
   }
   override fun isFinished(): Boolean {
@@ -36,6 +36,6 @@ class TeleopDriveCommand(
   }
 
   override fun end(interrupted: Boolean) {
-    DebugLogger.recordDebugOutput("ActiveCommands/TeleopDriveCommand", false)
+    CustomLogger.recordDebugOutput("ActiveCommands/TeleopDriveCommand", false)
   }
 }
diff --git a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TestDriveCommand.kt b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TestDriveCommand.kt
index 7ab857e6..111242dc 100644
--- a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TestDriveCommand.kt
+++ b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TestDriveCommand.kt
@@ -2,7 +2,7 @@ package com.team4099.robot2023.commands.drivetrain
 
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Request
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.math.kinematics.ChassisSpeeds
 import edu.wpi.first.wpilibj2.command.Command
 import org.team4099.lib.units.derived.inRotation2ds
@@ -16,7 +16,7 @@ class TestDriveCommand(val drivetrain: Drivetrain) : Command() {
           4.0, 0.0, 0.0, drivetrain.odomTRobot.rotation.inRotation2ds
         )
       )
-    DebugLogger.recordDebugOutput("ActiveCommands/TestDriveCommand", true)
+    CustomLogger.recordDebugOutput("ActiveCommands/TestDriveCommand", true)
   }
 
   override fun isFinished(): Boolean {
diff --git a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/ZeroSensorsCommand.kt b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/ZeroSensorsCommand.kt
index 4bdabc03..ff3178e1 100644
--- a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/ZeroSensorsCommand.kt
+++ b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/ZeroSensorsCommand.kt
@@ -1,7 +1,7 @@
 package com.team4099.robot2023.commands.drivetrain
 
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.wpilibj2.command.Command
 import com.team4099.robot2023.subsystems.superstructure.Request.DrivetrainRequest as DrivetrainRequest
 
@@ -20,6 +20,6 @@ class ZeroSensorsCommand(val drivetrain: Drivetrain) : Command() {
   }
 
   override fun execute() {
-    DebugLogger.recordDebugOutput("ActiveCommands/ZeroSensorsCommand", true)
+    CustomLogger.recordDebugOutput("ActiveCommands/ZeroSensorsCommand", true)
   }
 }
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/falconspin/MotorChecker.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/falconspin/MotorChecker.kt
index 2f88041b..a3e2cf97 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/falconspin/MotorChecker.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/falconspin/MotorChecker.kt
@@ -1,6 +1,6 @@
 package com.team4099.robot2023.subsystems.falconspin
 
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.wpilibj.DriverStation
 import org.littletonrobotics.junction.Logger
 import org.team4099.lib.units.base.inAmperes
@@ -27,7 +27,7 @@ object MotorChecker {
   }
 
   fun periodic() {
-    DebugLogger.recordDebugOutput(
+    CustomLogger.recordDebugOutput(
       "MotorChecker/subsystemNames", subsystemHardware.keys.toTypedArray()
     )
 
@@ -69,7 +69,7 @@ object MotorChecker {
           }
         }
       }
-      DebugLogger.recordDebugOutput(
+      CustomLogger.recordDebugOutput(
         "MotorChecker/$subsystemName/motorNames", motorNames.toTypedArray()
       )
 
@@ -89,57 +89,57 @@ object MotorChecker {
 
 // not clean but whatever
 fun logMotor(subsystemName: String, motor: Motor<MotorType>) {
-  DebugLogger.recordDebugOutput(
+  CustomLogger.recordDebugOutput(
     "MotorChecker/$subsystemName/${motor.name}/AppliedVoltageVolts", motor.appliedVoltage.inVolts
   )
-  DebugLogger.recordDebugOutput(
+  CustomLogger.recordDebugOutput(
     "MotorChecker/$subsystemName/${motor.name}/BusVoltageVolts", motor.busVoltage.inVolts
   )
-  DebugLogger.recordDebugOutput(
+  CustomLogger.recordDebugOutput(
     "MotorChecker/$subsystemName/${motor.name}/TemperatureCelsius", motor.temperature.inCelsius
   )
-  DebugLogger.recordDebugOutput(
+  CustomLogger.recordDebugOutput(
     "MotorChecker/$subsystemName/${motor.name}/StatorCurrentAmps", motor.statorCurrent.inAmperes
   )
-  DebugLogger.recordDebugOutput(
+  CustomLogger.recordDebugOutput(
     "MotorChecker/$subsystemName/${motor.name}/SupplyCurrentAmps", motor.supplyCurrent.inAmperes
   )
-  DebugLogger.recordDebugOutput(
+  CustomLogger.recordDebugOutput(
     "MotorChecker/$subsystemName/${motor.name}/CurrentLimitStage", motor.currentLimitStage.name
   )
-  DebugLogger.recordDebugOutput(
+  CustomLogger.recordDebugOutput(
     "MotorChecker/$subsystemName/${motor.name}/BaseCurrentLimitAmps",
     motor.baseCurrentLimit.inAmperes
   )
-  DebugLogger.recordDebugOutput(
+  CustomLogger.recordDebugOutput(
     "MotorChecker/$subsystemName/${motor.name}/FirstStageTemperatureLimitCelsius",
     motor.firstStageTemperatureLimit.inCelsius
   )
-  DebugLogger.recordDebugOutput(
+  CustomLogger.recordDebugOutput(
     "MotorChecker/$subsystemName/${motor.name}/FirstStageCurrentLimitAmps",
     motor.firstStageCurrentLimit.inAmperes
   )
-  DebugLogger.recordDebugOutput(
+  CustomLogger.recordDebugOutput(
     "MotorChecker/$subsystemName/${motor.name}/MotorShutDownThresholdCelsius",
     motor.motorShutDownThreshold.inCelsius
   )
-  DebugLogger.recordDebugOutput(
+  CustomLogger.recordDebugOutput(
     "MotorChecker/$subsystemName/${motor.name}/CurrentLimitInUseAmps",
     motor.currentLimitInUse.inAmperes
   )
-  DebugLogger.recordDebugOutput(
+  CustomLogger.recordDebugOutput(
     "MotorChecker/$subsystemName/${motor.name}/MotorID", motor.id.toLong()
   )
-  DebugLogger.recordDebugOutput(
+  CustomLogger.recordDebugOutput(
     "MotorChecker/$subsystemName/${motor.name}/Errors", motor.errors.toTypedArray()
   )
-  DebugLogger.recordDebugOutput(
+  CustomLogger.recordDebugOutput(
     "MotorChecker/$subsystemName/${motor.name}/Warnings", motor.warnings.toTypedArray()
   )
-  DebugLogger.recordDebugOutput(
+  CustomLogger.recordDebugOutput(
     "MotorChecker/$subsystemName/${motor.name}/Info", motor.info.toTypedArray()
   )
-  DebugLogger.recordDebugOutput(
+  CustomLogger.recordDebugOutput(
     "MotorChecker/$subsystemName/${motor.name}/StickyFaults", motor.stickyFaults.toTypedArray()
   )
 }
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/feeder/Feeder.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/feeder/Feeder.kt
index de7268fb..1712ac7a 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/feeder/Feeder.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/feeder/Feeder.kt
@@ -5,7 +5,7 @@ import com.team4099.lib.logging.LoggedTunableValue
 import com.team4099.robot2023.config.constants.Constants
 import com.team4099.robot2023.config.constants.FeederConstants
 import com.team4099.robot2023.subsystems.superstructure.Request
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.math.filter.Debouncer
 import edu.wpi.first.wpilibj2.command.Command
 import edu.wpi.first.wpilibj2.command.SubsystemBase
@@ -146,7 +146,7 @@ class Feeder(val io: FeederIO) : SubsystemBase() {
       Logger.recordOutput(
         "Feeder/isAtCommandedState", currentState.equivalentToRequest(currentRequest)
       )
-      DebugLogger.recordDebugOutput(
+      CustomLogger.recordDebugOutput(
         "Feeder/timeProfileGeneratedAt", timeProfileGeneratedAt.inSeconds
       )
       Logger.recordOutput("Feeder/feederVoltageTarget", feederTargetVoltage.inVolts)
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/flywheel/FlywheelIOTalon.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/flywheel/FlywheelIOTalon.kt
index 7c9101b9..a2b1030f 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/flywheel/FlywheelIOTalon.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/flywheel/FlywheelIOTalon.kt
@@ -19,7 +19,7 @@ import com.team4099.robot2023.config.constants.FlywheelConstants
 import com.team4099.robot2023.subsystems.falconspin.Falcon500
 import com.team4099.robot2023.subsystems.falconspin.MotorChecker
 import com.team4099.robot2023.subsystems.falconspin.MotorCollection
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import org.littletonrobotics.junction.Logger
 import org.team4099.lib.units.AngularVelocity
 import org.team4099.lib.units.Velocity
@@ -200,10 +200,10 @@ object FlywheelIOTalon : FlywheelIO {
   override fun setFlywheelVelocity(velocity: AngularVelocity, feedforward: ElectricalPotential) {
     val error = velocity - flywheelLeftSensor.velocity
 
-    DebugLogger.recordDebugOutput(
+    CustomLogger.recordDebugOutput(
       "Flywheel/premotionTargetedVelocity", velocity.inRotationsPerMinute
     )
-    DebugLogger.recordDebugOutput(
+    CustomLogger.recordDebugOutput(
       "Flywheel/motionTargetedVelocity", flywheelLeftSensor.velocityToRawUnits(velocity)
     )
     //    flywheelRightTalon.setControl(
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/intake/Intake.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/intake/Intake.kt
index 015ae4ef..04bbbd9e 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/intake/Intake.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/intake/Intake.kt
@@ -5,7 +5,7 @@ import com.team4099.lib.logging.LoggedTunableValue
 import com.team4099.robot2023.config.constants.Constants
 import com.team4099.robot2023.config.constants.IntakeConstants
 import com.team4099.robot2023.subsystems.superstructure.Request
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.wpilibj2.command.Command
 import edu.wpi.first.wpilibj2.command.SubsystemBase
 import org.littletonrobotics.junction.Logger
@@ -109,7 +109,7 @@ class Intake(val io: IntakeIO) : SubsystemBase() {
       Logger.recordOutput(
         "Intake/isAtCommandedState", currentState.equivalentToRequest(currentRequest)
       )
-      DebugLogger.recordDebugOutput(
+      CustomLogger.recordDebugOutput(
         "Intake/timeProfileGeneratedAt", timeProfileGeneratedAt.inSeconds
       )
       Logger.recordOutput("Intake/rollerVoltageTarget", rollerVoltageTarget.inVolts)
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/led/Leds.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/led/Leds.kt
index 9ea656ea..eaf5f4cb 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/led/Leds.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/led/Leds.kt
@@ -2,7 +2,7 @@ package com.team4099.robot2023.subsystems.led
 
 import com.team4099.robot2023.config.constants.Constants
 import com.team4099.robot2023.config.constants.LEDConstants
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import com.team4099.robot2023.util.FMSData
 import edu.wpi.first.wpilibj.DriverStation
 import edu.wpi.first.wpilibj.RobotController
@@ -71,6 +71,6 @@ class Leds(val io: LedIO) {
     }
 
     Logger.processInputs("LED", inputs)
-    DebugLogger.recordDebugOutput("LED/state", state.name)
+    CustomLogger.recordDebugOutput("LED/state", state.name)
   }
 }
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/wrist/Wrist.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/wrist/Wrist.kt
index 69d11d8a..c2f50ed1 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/wrist/Wrist.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/wrist/Wrist.kt
@@ -5,7 +5,7 @@ import com.team4099.lib.logging.LoggedTunableValue
 import com.team4099.robot2023.config.constants.Constants
 import com.team4099.robot2023.config.constants.WristConstants
 import com.team4099.robot2023.subsystems.superstructure.Request
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.wpilibj.RobotBase
 import edu.wpi.first.wpilibj2.command.Command
 import edu.wpi.first.wpilibj2.command.Commands
@@ -417,7 +417,7 @@ class Wrist(val io: WristIO) : SubsystemBase() {
       }
     }
 
-    DebugLogger.recordDebugOutput("Wrist/profileIsOutOfBounds", isOutOfBounds(setPoint.velocity))
+    CustomLogger.recordDebugOutput("Wrist/profileIsOutOfBounds", isOutOfBounds(setPoint.velocity))
     Logger.recordOutput("Wrist/armFeedForward", feedforward.inVolts)
     Logger.recordOutput("Wrist/armTargetPosition", setPoint.position.inDegrees)
     Logger.recordOutput("Wrist/armTargetVelocity", setPoint.velocity.inDegreesPerSecond)
diff --git a/src/main/kotlin/com/team4099/robot2023/util/DebugLogger.kt b/src/main/kotlin/com/team4099/robot2023/util/CustomLogger.kt
similarity index 61%
rename from src/main/kotlin/com/team4099/robot2023/util/DebugLogger.kt
rename to src/main/kotlin/com/team4099/robot2023/util/CustomLogger.kt
index 35e41368..e52956c4 100644
--- a/src/main/kotlin/com/team4099/robot2023/util/DebugLogger.kt
+++ b/src/main/kotlin/com/team4099/robot2023/util/CustomLogger.kt
@@ -7,9 +7,90 @@ import edu.wpi.first.util.struct.Struct
 import edu.wpi.first.util.struct.StructSerializable
 import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d
 import org.littletonrobotics.junction.Logger
+import org.littletonrobotics.junction.inputs.LoggableInputs
 
-class DebugLogger {
+class CustomLogger {
   companion object {
+    inline fun processInputs(key: String, inputs: LoggableInputs) {
+      Logger.processInputs(key, inputs)
+    }
+
+    inline fun <E : Enum<E>> recordOutput(key: String, value: E) {
+      Logger.recordOutput(key, value)
+    }
+
+    inline fun <T : WPISerializable> recordOutput(key: String, value: T) {
+      Logger.recordOutput(key, value)
+    }
+
+    inline fun <U : edu.wpi.first.units.Unit<U>> recordOutput(key: String, value: Measure<U>) {
+      Logger.recordOutput(key, value)
+    }
+
+    inline fun <T> recordOutput(key: String, value: Struct<T>) {
+      Logger.recordOutput(key, value)
+    }
+
+    inline fun <T : StructSerializable> recordOutput(key: String, vararg value: T) {
+      Logger.recordOutput(key, *value)
+    }
+
+    inline fun recordOutput(key: String, value: Mechanism2d) {
+      Logger.recordOutput(key, value)
+    }
+
+    inline fun recordOutput(key: String, value: Array<String>) {
+      Logger.recordOutput(key, value)
+    }
+
+    inline fun recordOutput(key: String, value: BooleanArray) {
+      Logger.recordOutput(key, value)
+    }
+
+    inline fun recordOutput(key: String, value: Boolean) {
+      Logger.recordOutput(key, value)
+    }
+
+    inline fun recordOutput(key: String, value: ByteArray) {
+      Logger.recordOutput(key, value)
+    }
+
+    inline fun recordOutput(key: String, value: DoubleArray) {
+      Logger.recordOutput(key, value)
+    }
+
+    inline fun recordOutput(key: String, value: Double) {
+      Logger.recordOutput(key, value)
+    }
+
+    inline fun recordOutput(key: String, value: Float) {
+      Logger.recordOutput(key, value)
+    }
+
+    inline fun recordOutput(key: String, value: FloatArray) {
+      Logger.recordOutput(key, value)
+    }
+
+    inline fun recordOutput(key: String, value: Int) {
+      Logger.recordOutput(key, value)
+    }
+
+    inline fun recordOutput(key: String, value: IntArray) {
+      Logger.recordOutput(key, value)
+    }
+
+    inline fun recordOutput(key: String, value: Long) {
+      Logger.recordOutput(key, value)
+    }
+
+    inline fun recordOutput(key: String, value: LongArray) {
+      Logger.recordOutput(key, value)
+    }
+
+    inline fun recordOutput(key: String, value: String) {
+      Logger.recordOutput(key, value)
+    }
+
     inline fun <E : Enum<E>> recordDebugOutput(key: String, value: E) {
       if (Constants.Tuning.DEBUGING_MODE) {
         Logger.recordOutput(key, value)
diff --git a/src/main/kotlin/com/team4099/robot2023/util/NoteSimulation.kt b/src/main/kotlin/com/team4099/robot2023/util/NoteSimulation.kt
index d1ce504c..37a2ec71 100644
--- a/src/main/kotlin/com/team4099/robot2023/util/NoteSimulation.kt
+++ b/src/main/kotlin/com/team4099/robot2023/util/NoteSimulation.kt
@@ -110,14 +110,14 @@ class NoteSimulation(
   var flywheelAngularVelocitySupplier: () -> AngularVelocity = { 0.0.rotations.perMinute }
 
   fun periodic() {
-    DebugLogger.recordDebugOutput("NoteData/$id/inclinationAngle", inclinationAngleTheta.inDegrees)
-    DebugLogger.recordDebugOutput("NoteData/$id/azimuthalAngle", azimuthalAnglePhi.inDegrees)
-    DebugLogger.recordDebugOutput(
+    CustomLogger.recordDebugOutput("NoteData/$id/inclinationAngle", inclinationAngleTheta.inDegrees)
+    CustomLogger.recordDebugOutput("NoteData/$id/azimuthalAngle", azimuthalAnglePhi.inDegrees)
+    CustomLogger.recordDebugOutput(
       "NoteData/$id/launchVelocityMetersPerSecond", launchVelocity.inMetersPerSecond
     )
-    DebugLogger.recordDebugOutput("NoteData/$id/startPose", launchStartPose.pose3d)
-    DebugLogger.recordDebugOutput("NoteData/$id/state", currentState.name)
-    DebugLogger.recordDebugOutput(
+    CustomLogger.recordDebugOutput("NoteData/$id/startPose", launchStartPose.pose3d)
+    CustomLogger.recordDebugOutput("NoteData/$id/state", currentState.name)
+    CustomLogger.recordDebugOutput(
       "NoteSimulation/IntakePose",
       poseSupplier().transformBy(IntakeConstants.INTAKE_TRANSFORM).pose2d
     )
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
index e63a4888..8f8e893e 100644
--- a/vendordeps/photonlib.json
+++ b/vendordeps/photonlib.json
@@ -1,7 +1,7 @@
 {
   "fileName": "photonlib.json",
   "name": "photonlib",
-  "version": "v2024.2.7",
+  "version": "v2024.3.1",
   "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
   "frcYear": "2024",
   "mavenUrls": [
@@ -14,7 +14,7 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photonlib-cpp",
-      "version": "v2024.2.7",
+      "version": "v2024.3.1",
       "libName": "photonlib",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -29,7 +29,7 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photontargeting-cpp",
-      "version": "v2024.2.7",
+      "version": "v2024.3.1",
       "libName": "photontargeting",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -46,12 +46,12 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photonlib-java",
-      "version": "v2024.2.7"
+      "version": "v2024.3.1"
     },
     {
       "groupId": "org.photonvision",
       "artifactId": "photontargeting-java",
-      "version": "v2024.2.7"
+      "version": "v2024.3.1"
     }
   ]
 }
\ No newline at end of file