diff --git a/src/main/java/frc/lib/FaultLogger.java b/src/main/java/frc/lib/FaultLogger.java
index 418ba9e..507029a 100644
--- a/src/main/java/frc/lib/FaultLogger.java
+++ b/src/main/java/frc/lib/FaultLogger.java
@@ -19,7 +19,6 @@
 import java.util.Set;
 import java.util.function.BooleanSupplier;
 import java.util.function.Supplier;
-
 import org.photonvision.PhotonCamera;
 
 // (from team 1155 but slightly modified)
@@ -242,10 +241,13 @@ public static void register(Pigeon2 pigeon) {
 
   /**
    * Registers a new PhotonCamera (more detailed logs on the web ui).
-   * 
+   *
    * @param photonCamera The PhotonCamera.
    */
   public static void register(PhotonCamera photonCamera) {
-    register(() -> !photonCamera.isConnected(), photonCamera.getName() + ": Disconnected.", FaultType.ERROR);
+    register(
+        () -> !photonCamera.isConnected(),
+        photonCamera.getName() + ": Disconnected.",
+        FaultType.ERROR);
   }
 }
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 41938b6..09df4ca 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -45,16 +45,20 @@ public class Robot extends TimedRobot {
 
   private Command _autonomousCommand = Autos.none();
 
+  private boolean _fileOnlySet = false;
+
   /**
    * This function is run when the robot is first started up and should be used for any
    * initialization code.
    */
   public Robot() {
     // set up loggers
-    DogLog.setOptions(new DogLogOptions().withNtPublish(true));
+    DogLog.setOptions(new DogLogOptions().withCaptureDs(true));
     Epilogue.bind(this);
     SignalLogger.start();
 
+    setFileOnly(false); // file-only once connected to fms
+
     DriverStation.silenceJoystickConnectionWarning(isSimulation());
 
     FaultLogger.setup();
@@ -72,6 +76,16 @@ public Robot() {
     addPeriodic(FaultLogger::update, 1);
   }
 
+  // set logging to be file only or not
+  private void setFileOnly(boolean fileOnly) {
+    DogLog.setOptions(DogLog.getOptions().withNtPublish(!fileOnly));
+
+    Epilogue.configure(
+        config -> {
+          // TODO
+        });
+  }
+
   private void configureBindings() {
     _swerve.setDefaultCommand(
         _swerve.drive(
@@ -103,6 +117,12 @@ public void robotPeriodic() {
     // and running subsystem periodic() methods.  This must be called from the robot's periodic
     // block in order for anything in the Command-based framework to work.
     CommandScheduler.getInstance().run();
+
+    if (DriverStation.isFMSAttached() && !_fileOnlySet) {
+      setFileOnly(true);
+
+      _fileOnlySet = true;
+    }
   }
 
   /** This autonomous runs the autonomous command. */
diff --git a/src/main/java/frc/robot/utils/VisionPoseEstimator.java b/src/main/java/frc/robot/utils/VisionPoseEstimator.java
index f4698e7..6ff0035 100644
--- a/src/main/java/frc/robot/utils/VisionPoseEstimator.java
+++ b/src/main/java/frc/robot/utils/VisionPoseEstimator.java
@@ -12,9 +12,9 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import frc.lib.FaultLogger;
 import frc.robot.Constants.FieldConstants;
 import frc.robot.Constants.VisionConstants;
-import frc.lib.FaultLogger;
 import frc.robot.Robot;
 import java.util.ArrayList;
 import java.util.Comparator;