diff --git a/y2020/control_loops/superstructure/BUILD b/y2020/control_loops/superstructure/BUILD
index 87ee689..631a21d 100644
--- a/y2020/control_loops/superstructure/BUILD
+++ b/y2020/control_loops/superstructure/BUILD
@@ -94,6 +94,7 @@
         ":superstructure_status_fbs",
         "//aos:math",
         "//aos/controls:control_loop_test",
+        "//aos/events/logging:logger",
         "//aos/testing:googletest",
         "//aos/time",
         "//frc971/control_loops:capped_test_plant",
diff --git a/y2020/control_loops/superstructure/shooter_plot.pb b/y2020/control_loops/superstructure/shooter_plot.pb
new file mode 100644
index 0000000..01a1e20
--- /dev/null
+++ b/y2020/control_loops/superstructure/shooter_plot.pb
@@ -0,0 +1,44 @@
+channel {
+  name: "/superstructure"
+  type: "y2020.control_loops.superstructure.Status"
+  alias: "Status"
+}
+channel {
+  name: "/superstructure"
+  type: "y2020.control_loops.superstructure.Output"
+  alias: "Output"
+}
+channel {
+  name: "/superstructure"
+  type: "y2020.control_loops.superstructure.Position"
+  alias: "Position"
+}
+channel {
+  name: "/superstructure"
+  type: "y2020.control_loops.superstructure.Goal"
+  alias: "Goal"
+}
+
+figure {
+  axes {
+    line {
+      y_signal {
+        channel: "Status"
+        field: "hood.position"
+      }
+    }
+    line {
+      y_signal {
+        channel: "Goal"
+        field: "hood.unsafe_goal"
+      }
+    }
+    line {
+      y_signal {
+        channel: "Position"
+        field: "hood.encoder"
+      }
+    }
+    ylabel: "hood position"
+  }
+}
diff --git a/y2020/control_loops/superstructure/superstructure_lib_test.cc b/y2020/control_loops/superstructure/superstructure_lib_test.cc
index 458a771..37ee0bb 100644
--- a/y2020/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2020/control_loops/superstructure/superstructure_lib_test.cc
@@ -4,6 +4,7 @@
 #include <memory>
 
 #include "aos/controls/control_loop_test.h"
+#include "aos/events/logging/logger.h"
 #include "frc971/control_loops/capped_test_plant.h"
 #include "frc971/control_loops/position_sensor_sim.h"
 #include "frc971/control_loops/team_number_test_environment.h"
@@ -13,6 +14,9 @@
 #include "y2020/control_loops/superstructure/intake/intake_plant.h"
 #include "y2020/control_loops/superstructure/superstructure.h"
 
+DEFINE_string(output_file, "",
+              "If set, logs all channels to the provided logfile.");
+
 namespace y2020 {
 namespace control_loops {
 namespace superstructure {
@@ -315,6 +319,15 @@
         superstructure_plant_event_loop_(MakeEventLoop("plant")),
         superstructure_plant_(superstructure_plant_event_loop_.get(), dt()) {
     set_team_id(::frc971::control_loops::testing::kTeamNumber);
+
+    if (!FLAGS_output_file.empty()) {
+      unlink(FLAGS_output_file.c_str());
+      log_buffer_writer_ = std::make_unique<aos::logger::DetachedBufferWriter>(
+          FLAGS_output_file);
+      logger_event_loop_ = MakeEventLoop("logger");
+      logger_ = std::make_unique<aos::logger::Logger>(log_buffer_writer_.get(),
+                                                      logger_event_loop_.get());
+    }
   }
 
   void VerifyNearGoal() {
@@ -372,6 +385,10 @@
 
   ::std::unique_ptr<::aos::EventLoop> superstructure_plant_event_loop_;
   SuperstructureSimulation superstructure_plant_;
+
+  std::unique_ptr<aos::EventLoop> logger_event_loop_;
+  std::unique_ptr<aos::logger::DetachedBufferWriter> log_buffer_writer_;
+  std::unique_ptr<aos::logger::Logger> logger_;
 };
 
 // Tests that the superstructure does nothing when the goal is to remain still.