diff --git a/src/org/usfirst/frc/team2059/robot/OI.java b/src/org/usfirst/frc/team2059/robot/OI.java
index eb6d946..5f05cb8 100644
--- a/src/org/usfirst/frc/team2059/robot/OI.java
+++ b/src/org/usfirst/frc/team2059/robot/OI.java
@@ -20,10 +20,8 @@ public class OI {
       joystickButtons[0][i] = new JoystickButton(joysticks[0], i + 1);
       joystickButtons[1][i] = new JoystickButton(joysticks[1], i + 1);
     }
-    // Start logging with button1, stop with button2
-    Command logEncoder = new LogEncoder();
-    joystickButtons[0][0].whenPressed(logEncoder);
-    joystickButtons[0][1].cancelWhenPressed(logEncoder);
+    // Print log when button 1 pressed
+    joystickButtons[0][0].whenPressed(new LogEncoder());
   }
 }
 // vim: sw=2:ts=2:sts=2
diff --git a/src/org/usfirst/frc/team2059/robot/commands/CommandBase.java b/src/org/usfirst/frc/team2059/robot/commands/CommandBase.java
index ba9889f..10b734e 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/CommandBase.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/CommandBase.java
@@ -2,8 +2,8 @@ package org.usfirst.frc.team2059.robot.commands;
 import org.usfirst.frc.team2059.robot.subsystems.Drivebase;
 import org.usfirst.frc.team2059.robot.subsystems.Encoderbase;
 import edu.wpi.first.wpilibj.command.Command;
-public abstract class  CommandBase extends Command{
-   protected static Encoderbase encoderbase = new Encoderbase();
-   protected static Drivebase drivebase = new Drivebase();
+public abstract class CommandBase extends Command {
+  protected static Encoderbase encoderbase = new Encoderbase();
+  protected static Drivebase drivebase = new Drivebase();
 }
 // vim: sw=2:ts=2:sts=2
diff --git a/src/org/usfirst/frc/team2059/robot/commands/LogEncoder.java b/src/org/usfirst/frc/team2059/robot/commands/LogEncoder.java
index 5ec7352..53188df 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/LogEncoder.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/LogEncoder.java
@@ -1,5 +1,6 @@
 package org.usfirst.frc.team2059.robot.commands;
 import org.usfirst.frc.team2059.robot.commands.CommandBase;
+import org.usfirst.frc.team2059.robot.structs.EncoderValues;
 public class LogEncoder  extends CommandBase {
   public LogEncoder() {
     requires(encoderbase);
@@ -7,9 +8,19 @@ public class LogEncoder  extends CommandBase {
   protected void initialize() {
   }
   protected boolean isFinished() {
-    return false;
+    //TODO: Not sure if isFinished() is checked before execute()
+    //assuming it is not,
+    return true;
   }
   protected void execute() {
+    EncoderValues values = encoderbase.getValues();
+    System.out.println("==== Encoder log ====");
+    System.out.println("Count     : " + values.getCount());
+    System.out.println("Distance  : " + values.getDistance());
+    System.out.println("Period    : " + values.getPeriod());
+    System.out.println("Rate      : " + values.getRate());
+    System.out.println("Direction : " + values.getDirection());
+    System.out.println("Stopped   : " + values.getStopped());
   }
   protected void end() {
   }