diff --git a/PathWeaver/Paths/Unnamed.path b/PathWeaver/Paths/Unnamed.path
new file mode 100644
index 0000000..1d2458c
--- /dev/null
+++ b/PathWeaver/Paths/Unnamed.path
@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
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diff --git a/PathWeaver/output/Unnamed.wpilib.json b/PathWeaver/output/Unnamed.wpilib.json
new file mode 100644
index 0000000..7325468
--- /dev/null
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+    },
+    {
+        "acceleration": -0.04962371988201259,
+        "curvature": -0.20477300427880388,
+        "pose": {
+            "rotation": {
+                "radians": -1.360815646191625
+            },
+            "translation": {
+                "x": 1.9627808685600756,
+                "y": 5.127429137742517
+            }
+        },
+        "time": 4.854626232897319,
+        "velocity": 0.9071228630424081
+    },
+    {
+        "acceleration": -0.04932988359178645,
+        "curvature": -0.21620993224149593,
+        "pose": {
+            "rotation": {
+                "radians": -1.3787796057624737
+            },
+            "translation": {
+                "x": 1.9798282554997126,
+                "y": 5.043795772454512
+            }
+        },
+        "time": 4.948961761017647,
+        "velocity": 0.9024415832200432
+    },
+    {
+        "acceleration": -0.04658689436992434,
+        "curvature": -0.2274502682640764,
+        "pose": {
+            "rotation": {
+                "radians": -1.397214983126331
+            },
+            "translation": {
+                "x": 1.9949408037185667,
+                "y": 4.96208127708435
+            }
+        },
+        "time": 5.041278464104945,
+        "velocity": 0.8978876110031693
+    },
+    {
+        "acceleration": -0.04049126034403752,
+        "curvature": -0.23793078023655534,
+        "pose": {
+            "rotation": {
+                "radians": -1.4160344989260125
+            },
+            "translation": {
+                "x": 2.0081607173027463,
+                "y": 4.8823160256978095
+            }
+        },
+        "time": 5.131538202019646,
+        "velocity": 0.89368269012708
+    },
+    {
+        "acceleration": -0.029950358776442698,
+        "curvature": -0.24690681624676655,
+        "pose": {
+            "rotation": {
+                "radians": -1.435109368208452
+            },
+            "translation": {
+                "x": 2.0195454678475855,
+                "y": 4.804505743610857
+            }
+        },
+        "time": 5.219708351206326,
+        "velocity": 0.8901125696617895
+    },
+    {
+        "acceleration": -0.01368148711368845,
+        "curvature": -0.25343140151995497,
+        "pose": {
+            "rotation": {
+                "radians": -1.4542613582856863
+            },
+            "translation": {
+                "x": 2.0291684842547397,
+                "y": 4.728630127795411
+            }
+        },
+        "time": 5.305758470029964,
+        "velocity": 0.887535337730266
+    },
+    {
+        "acceleration": 0.009773316155429099,
+        "curvature": -0.2563495540021729,
+        "pose": {
+            "rotation": {
+                "radians": -1.4732550817164385
+            },
+            "translation": {
+                "x": 2.0371198425292976,
+                "y": 4.654641467285154
+            }
+        },
+        "time": 5.389656922047198,
+        "velocity": 0.8863874821401339
+    },
+    {
+        "acceleration": 0.04200804146330431,
+        "curvature": -0.25431853374604046,
+        "pose": {
+            "rotation": {
+                "radians": -1.4917914648303507
+            },
+            "translation": {
+                "x": 2.0435069555768735,
+                "y": 4.582463263581316
+            }
+        },
+        "time": 5.471367943487159,
+        "velocity": 0.8871860697860496
+    },
+    {
+        "acceleration": -0.9878242860338343,
+        "curvature": -0.24586633239208006,
+        "pose": {
+            "rotation": {
+                "radians": -1.509503673581512
+            },
+            "translation": {
+                "x": 2.048455263000726,
+                "y": 4.511988851058478
+            }
+        },
+        "time": 5.550849837941167,
+        "velocity": 0.8905249485038556
+    },
+    {
+        "acceleration": -1.0,
+        "curvature": -0.22950006831279324,
+        "pose": {
+            "rotation": {
+                "radians": -1.5259570881232554
+            },
+            "translation": {
+                "x": 2.0521089208988466,
+                "y": 4.443080017370354
+            }
+        },
+        "time": 5.6319900871990605,
+        "velocity": 0.8103726397120693
+    },
+    {
+        "acceleration": -0.9999999999999996,
+        "curvature": -0.20387160749102093,
+        "pose": {
+            "rotation": {
+                "radians": -1.5406551094397534
+            },
+            "translation": {
+                "x": 2.054631491661072,
+                "y": 4.375565623855588
+            }
+        },
+        "time": 5.720157209702984,
+        "velocity": 0.7222055172081453
+    },
+    {
+        "acceleration": -1.0000000000000004,
+        "curvature": -0.16799846857052722,
+        "pose": {
+            "rotation": {
+                "radians": -1.5530525488704952
+            },
+            "translation": {
+                "x": 2.0562066337661813,
+                "y": 4.309240225943546
+            }
+        },
+        "time": 5.818750178164357,
+        "velocity": 0.6236125487467731
+    },
+    {
+        "acceleration": -1.0,
+        "curvature": -0.12152358859742607,
+        "pose": {
+            "rotation": {
+                "radians": -1.5625779837923761
+            },
+            "translation": {
+                "x": 2.0570387915790076,
+                "y": 4.243862693560116
+            }
+        },
+        "time": 5.934300767601808,
+        "velocity": 0.5080619593093217
+    },
+    {
+        "acceleration": -1.0,
+        "curvature": -0.06497908072006661,
+        "pose": {
+            "rotation": {
+                "radians": -1.5686656690122298
+            },
+            "translation": {
+                "x": 2.057353885147535,
+                "y": 4.1791548315335
+            }
+        },
+        "time": 6.083601391046174,
+        "velocity": 0.35876133586495645
+    },
+    {
+        "acceleration": -1.0,
+        "curvature": -2.717474527174877e-30,
+        "pose": {
+            "rotation": {
+                "radians": -1.5707963267948961
+            },
+            "translation": {
+                "x": 2.0574,
+                "y": 4.114799999999994
+            }
+        },
+        "time": 6.4423627269111305,
+        "velocity": 0.0
+    }
+]
\ No newline at end of file
diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json
new file mode 100644
index 0000000..c5b70d2
--- /dev/null
+++ b/PathWeaver/pathweaver.json
@@ -0,0 +1,9 @@
+{
+  "lengthUnit": "Meter",
+  "exportUnit": "Same as Project",
+  "maxVelocity": 1.0,
+  "maxAcceleration": 1.0,
+  "trackWidth": 1.0,
+  "gameName": "Rapid React",
+  "outputDir": ""
+}
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index 521b2c2..2580247 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -4,11 +4,14 @@
 
 package frc4388.robot;
 
+import java.io.IOException;
+
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import frc4388.utility.RobotLogger;
 import frc4388.utility.RobotTime;
 
 /**
@@ -64,6 +67,7 @@ public class Robot extends TimedRobot {
   @Override
   public void disabledInit() {
     m_robotTime.endMatchTime();
+    RobotLogger.getInstance().setEnabled(false);
   }
 
   @Override
@@ -96,6 +100,7 @@ public class Robot extends TimedRobot {
       m_autonomousCommand.schedule();
     }
     m_robotTime.startMatchTime();
+    RobotLogger.getInstance().setEnabled(false);
   }
 
   /**
@@ -115,6 +120,7 @@ public class Robot extends TimedRobot {
       m_autonomousCommand.cancel();
     }
     m_robotTime.startMatchTime();
+    RobotLogger.getInstance().setEnabled(true);
   }
 
   /**
@@ -126,6 +132,16 @@ public class Robot extends TimedRobot {
     // m_robotContainer.getOperatorController().updateInput();
   }
 
+  @Override
+  public void testInit() {
+    RobotLogger.getInstance().setEnabled(false);
+    try {
+      RobotLogger.getInstance().exportPath();
+    } catch (IOException e) {
+      e.printStackTrace();
+    }
+  }
+
   /**
    * This function is called periodically during test mode.
    */
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index fafc14c..cd79844 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -21,6 +21,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.RobotMap;
 import frc4388.robot.Constants.SwerveDriveConstants;
 import frc4388.utility.Gains;
+import frc4388.utility.RobotLogger;
 
 public class SwerveDrive extends SubsystemBase {
   // private WPI_TalonFX m_leftFrontSteerMotor;
@@ -142,6 +143,7 @@ public class SwerveDrive extends SubsystemBase {
     updateOdometry();
     // m_gyro.setFusedHeadingToCompass();
     // m_gyro.setYawToCompass();
+    RobotLogger.getInstance().put("poseMeters", m_poseEstimator.getEstimatedPosition());
     super.periodic();
   }
 
diff --git a/src/main/java/frc4388/utility/RobotLogger.java b/src/main/java/frc4388/utility/RobotLogger.java
new file mode 100644
index 0000000..fed25f0
--- /dev/null
+++ b/src/main/java/frc4388/utility/RobotLogger.java
@@ -0,0 +1,67 @@
+package frc4388.utility;
+
+import java.io.IOException;
+import java.nio.file.Path;
+import java.util.HashMap;
+import java.util.Hashtable;
+import java.util.List;
+import java.util.Map;
+import java.util.Objects;
+import java.util.Map.Entry;
+import java.util.stream.Collectors;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.math.trajectory.TrajectoryUtil;
+import edu.wpi.first.wpilibj.Filesystem;
+
+public final class RobotLogger {
+  private static final int SAMPLE_BASE = 15_000; // ms of sampling
+  private static final int SAMPLE_RATE = 20; // ms between samples
+
+  private static RobotLogger instance = null;
+
+  public static RobotLogger getInstance() {
+    return Objects.requireNonNullElseGet(instance, () -> instance = new RobotLogger());
+  }
+
+  private static long getTime() {
+    return RobotTime.getInstance().m_robotTime;
+  }
+
+  private RobotLogger() {
+    data = new HashMap<>();
+  }
+
+  private final Map<String, Map<Long, Object>> data;
+  private boolean enabled = false;
+
+  public void setEnabled(boolean value) {
+    enabled = value;
+  }
+
+  public void put(String key, Object value) {
+    if (enabled)
+      data.compute(key, (k, v) -> {
+        v = v == null ? new Hashtable<>(SAMPLE_BASE / SAMPLE_RATE, 1) : v;
+        v.put(getTime(), value);
+        return v;
+      });
+  }
+
+  public void exportPath() throws IOException {
+    List<Trajectory.State> states = data.get("poseMeters").entrySet().stream().map(entry -> {
+      double timeSeconds = entry.getKey();
+      double velocityMetersPerSecond = 0;
+      double accelerationMetersPerSecondSq = 0;
+      Pose2d poseMeters = (Pose2d) entry.getValue();
+      double curvatureRadPerMeter = 0;
+      return new Trajectory.State(timeSeconds, velocityMetersPerSecond, accelerationMetersPerSecondSq, poseMeters, curvatureRadPerMeter);
+    }).collect(Collectors.toUnmodifiableList());
+    String pathPath = "paths/" + System.nanoTime() + ".wpilib.json";
+    Path outputPath = Filesystem.getDeployDirectory().toPath().resolve(pathPath);
+    outputPath.toFile().createNewFile();
+    TrajectoryUtil.toPathweaverJson(new Trajectory(states), outputPath);
+  }
+}