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@@ -48,6 +48,8 @@ These are the Standard Operating Procedures for the Choate Robotics Programming
 
    Github Actions <git/github_actions>
 
+   Logging <logging/index>
+
    Documentation <code/documentation>
 
 
diff --git a/docs/logging/index.rst b/docs/logging/index.rst
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@@ -0,0 +1,118 @@
+Logging Procedures Thoughts
+===========================
+
+- We should setup logging to happen to the USB Stick automatically.
+- We should review the logs after every match.
+
+  - Were there any warnings?
+  - Are we reaching set points quickly?
+  - How is our odometry?
+
+    Comparing Odometry with Match Video in AdvantageScope
+    ----------------------------------------------------
+
+    **AdvantageScope** allows you to overlay your robot's **odometry data** with actual **match video**. This is a powerful way to verify how accurate your robot's pose estimation is compared to its real-world movement.
+
+Preparation for the creation of log files
+=========================================
+
+Some preparation has to be done to make sure that `.wpilog` file will be on the USB stick connected to the Roborio.
+
+- The USB stick must be a FAT32 filesystem.
+- There needs to be a directory in the home directory named `logs`.
+- The robot should be turned off before the USB stick is removed.
+
+The logger that is used needs some particular setup as well.
+
+- ``DriveStation.startDataLog`` needs to be called to record the joystick data.
+- If a ``deploy`` folder has been put in the robot code, and a ``deploy.json`` has been created, then the git branch name and commit id can be recorded in the log using the ``getDeployData`` method.
+
+Steps to Compare Odometry with Match Video in AdvantageScope
+============================================================
+
+1. Record Odometry Data During the Match
+----------------------------------------
+
+Ensure that your robot is logging its odometry data to a `.wpilog` file. This usually involves publishing the robot's pose to **NetworkTables**.
+
+.. code-block:: python
+
+    import wpilib
+
+    class MyRobot(wpilib.TimedRobot):
+        def robotInit(self):
+            self.field = wpilib.Field2d()
+            wpilib.SmartDashboard.putData("Field", self.field)
+
+        def robotPeriodic(self):
+            # Assuming you have an odometry object tracking robot pose
+            pose = self.odometry.getPose()
+            self.field.setRobotPose(pose)
+
+This will log odometry data that AdvantageScope can visualize.
+
+2. Record or Obtain the Match Video
+-----------------------------------
+
+You can use:
+
+- **Official FRC match footage** from sources like **The Blue Alliance**.
+- **Custom recordings** from team cameras.
+- **Field overlays** from field cameras.
+
+Ensure that the video includes:
+
+- **Clear views of the robot**.
+- **Match timer visible**, if possible (helps with synchronization).
+
+3. Load the `.wpilog` File into AdvantageScope
+----------------------------------------------
+
+1. **Open AdvantageScope**.
+2. Go to **File > Open Log File**.
+3. Select your **`.wpilog` file** containing odometry data.
+4. Add a **Field2d** visualization to see the robot's path.
+
+4. Load the Match Video into AdvantageScope
+-------------------------------------------
+
+AdvantageScope supports **synchronized video playback** alongside telemetry data.
+
+**Steps to Load Video:**
+
+1. Go to **Video** in the sidebar.
+2. Click **Add Video** and select your **match video file** (`.mp4`, `.mov`, etc.).
+3. The video will appear in a **side-by-side view** with your odometry data.
+
+5. Synchronize the Video with the Odometry Data
+-----------------------------------------------
+
+To compare accurately, you need to **synchronize the video timeline** with your robot's telemetry.
+
+**Synchronization Tips:**
+
+- **Match Timers**: Use the **match start buzzer** or **field timer** visible in the video to align timestamps.
+- **Distinct Events**: Look for **unique actions** (e.g., robot crossing a line, shooting a game piece) to sync the odometry with the video.
+
+**Adjusting Sync in AdvantageScope:**
+
+1. Use the **video timeline** to align the **start of autonomous** or **teleop** with your log data.
+2. Adjust the **video offset** under the video settings if needed.
+
+6. Analyze the Odometry vs. Video
+---------------------------------
+
+Now you can **compare your robot's estimated path (odometry)** with its **actual path in the video**.
+
+- Look for **drift** in odometry over time.
+- Verify if **swerve modules**, **gyro**, or **encoders** need recalibration.
+- Identify discrepancies in **pose estimation algorithms**.
+
+Why This is Useful
+==================
+
+1. Make sure that button presses and actions of the robot align.
+2. Check performance of the swerve modules.
+3. **Odometry Calibration**: Helps identify if the robot's sensors (gyros, encoders) are causing drift.
+4. **Autonomous Debugging**: Check if the robot follows expected paths during autonomous.
+5. **Sensor Fusion Tuning**: Compare pure odometry to odometry enhanced with **vision systems** (e.g., AprilTags).