diff --git a/.gitignore b/.gitignore
index e4449ed..b82396b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -16,3 +16,4 @@ src/C++/Driver/Makefile
 src/C++/Driver/vgcore*
 src/C++/Driver/cmake_install.cmake
 src/C++/Driver/Makefile
+src/C++/Driver/log
diff --git a/src/C++/Driver/src/main.cpp b/src/C++/Driver/src/main.cpp
index 24f2ce4..d8fcacb 100644
--- a/src/C++/Driver/src/main.cpp
+++ b/src/C++/Driver/src/main.cpp
@@ -16,20 +16,21 @@ int main()
 	robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
 	// thread mv(movement);
 	// mv.join(); //only exit once thread one is done running
-
+	// checkCenterCliff();
 	logToFile();
-
+	//seperate thread so sleep doesnt block main thread
+	thread logger(logToFile);
 	return 0;
 }
 
 int checkCenterCliff()
 {
-	while(true){
-	std::cout << robot.parser.data.CliffCenter << endl;
+	while (true)
+	{
+		std::cout << robot.parser.data.CliffCenter << endl;
 	}
 }
 
-
 int movement()
 {
 	int text;
@@ -65,17 +66,67 @@ int movement()
 	}
 }
 
+void logToFile()
+{
+    while (true)
+    {
+        TKobukiData robotData = robot.parser.data;
+    	std::ofstream outputFile("log", std::ios_base::app); // Open file in append mode to not overwrite own content
+        if (outputFile.is_open())
+        { // check if the file was opened successfully
+            // Get current time
+            std::time_t now = std::time(nullptr);
+            outputFile << "Timestamp: " << std::ctime(&now);
+            // Write data to the file
+            outputFile << "analogInputCh0: " << robotData.analogInputCh0 << "\n";
+            outputFile << "analogInputCh1: " << robotData.analogInputCh1 << "\n";
+            outputFile << "analogInputCh2: " << robotData.analogInputCh2 << "\n";
+            outputFile << "analogInputCh3: " << robotData.analogInputCh3 << "\n";
+            outputFile << "digitalInput: " << robotData.digitalInput << "\n";
+            outputFile << "timestamp: " << robotData.timestamp << "\n";
+            outputFile << "BumperCenter: " << robotData.BumperCenter << "\n";
+            outputFile << "BumperLeft: " << robotData.BumperLeft << "\n";
+            outputFile << "BumperRight: " << robotData.BumperRight << "\n";
+            outputFile << "WheelDropLeft: " << robotData.WheelDropLeft << "\n";
+            outputFile << "WheelDropRight: " << robotData.WheelDropRight << "\n";
+            outputFile << "CliffCenter: " << robotData.CliffCenter << "\n";
+            outputFile << "CliffLeft: " << robotData.CliffLeft << "\n";
+            outputFile << "CliffRight: " << robotData.CliffRight << "\n";
+            outputFile << "EncoderLeft: " << robotData.EncoderLeft << "\n";
+            outputFile << "EncoderRight: " << robotData.EncoderRight << "\n";
+            outputFile << "PWMleft: " << robotData.PWMleft << "\n";
+            outputFile << "PWMright: " << robotData.PWMright << "\n";
+            outputFile << "ButtonPress: " << robotData.ButtonPress << "\n";
+            outputFile << "Charger: " << robotData.Charger << "\n";
+            outputFile << "Battery: " << robotData.Battery << "\n";
+            outputFile << "overCurrent: " << robotData.overCurrent << "\n";
+            outputFile << "IRSensorRight: " << robotData.IRSensorRight << "\n";
+            outputFile << "IRSensorCenter: " << robotData.IRSensorCenter << "\n";
+            outputFile << "IRSensorLeft: " << robotData.IRSensorLeft << "\n";
+            outputFile << "GyroAngle: " << robotData.GyroAngle << "\n";
+            outputFile << "GyroAngleRate: " << robotData.GyroAngleRate << "\n";
+            outputFile << "CliffSensorRight: " << robotData.CliffSensorRight << "\n";
+            outputFile << "CliffSensorCenter: " << robotData.CliffSensorCenter << "\n";
+            outputFile << "CliffSensorLeft: " << robotData.CliffSensorLeft << "\n";
+            outputFile << "wheelCurrentLeft: " << robotData.wheelCurrentLeft << "\n";
+            outputFile << "wheelCurrentRight: " << robotData.wheelCurrentRight << "\n";
+            outputFile << "frameId: " << robotData.frameId << "\n";
+            outputFile << "HardwareVersionPatch: " << robotData.extraInfo.HardwareVersionPatch << "\n";
+            outputFile << "HardwareVersionMinor: " << robotData.extraInfo.HardwareVersionMinor << "\n";
+            outputFile << "HardwareVersionMajor: " << robotData.extraInfo.HardwareVersionMajor << "\n";
+            outputFile << "FirmwareVersionPatch: " << robotData.extraInfo.FirmwareVersionPatch << "\n";
+            outputFile << "FirmwareVersionMinor: " << robotData.extraInfo.FirmwareVersionMinor << "\n";
+            outputFile << "FirmwareVersionMajor: " << robotData.extraInfo.FirmwareVersionMajor << "\n";
+            outputFile << "UDID0: " << robotData.extraInfo.UDID0 << "\n";
+            outputFile << "UDID1: " << robotData.extraInfo.UDID1 << "\n";
+            outputFile << "UDID2: " << robotData.extraInfo.UDID2 << "\n";
+			outputFile.close();
+        }
+        else
+        {
+            std::cerr << "Error opening file\n";
+        }
 
-void logToFile(){
-	std::ofstream outputFile("log");
-
-	if (outputFile.is_open()) { // check if the file was opened successfully
-    outputFile << robot.parser.data.analogInputCh0; // write data to the file
-    outputFile.close(); // close the file when done
-  }
-  else {
-    std::cerr << "Error opening file\n";
-  }
-
-}
-
+        std::this_thread::sleep_for(std::chrono::seconds(2)); // Sleep for 2 seconds
+    }
+}
\ No newline at end of file