diff --git a/src/main/java/frc/team5115/Constants.java b/src/main/java/frc/team5115/Constants.java
index 845153d..5153b50 100644
--- a/src/main/java/frc/team5115/Constants.java
+++ b/src/main/java/frc/team5115/Constants.java
@@ -13,6 +13,8 @@
 
 package frc.team5115;
 
+import edu.wpi.first.wpilibj.RobotBase;
+
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
  * constants. This class should not be used for any other purpose. All constants should be declared
@@ -22,7 +24,9 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
-  public static final Mode currentMode = Mode.REAL;
+  private static final boolean isReplay = false;
+  public static final Mode currentMode =
+      RobotBase.isReal() ? Mode.REAL : (isReplay ? Mode.REPLAY : Mode.SIM);
 
   public static enum Mode {
     /** Running on a real robot. */
diff --git a/src/main/java/frc/team5115/Robot.java b/src/main/java/frc/team5115/Robot.java
index d33fa0f..ccbb456 100644
--- a/src/main/java/frc/team5115/Robot.java
+++ b/src/main/java/frc/team5115/Robot.java
@@ -93,9 +93,7 @@ public void robotInit() {
 
   /** This function is called periodically during all modes. */
   @Override
-  public void robotPeriodic() {
-
-  }
+  public void robotPeriodic() {}
 
   /** This function is called once when autonomous is enabled. */
   @Override
diff --git a/src/main/java/frc/team5115/RobotContainer.java b/src/main/java/frc/team5115/RobotContainer.java
new file mode 100644
index 0000000..4bd74d6
--- /dev/null
+++ b/src/main/java/frc/team5115/RobotContainer.java
@@ -0,0 +1,26 @@
+package frc.team5115;
+
+import frc.team5115.subsystems.sensor.Sensor;
+import frc.team5115.subsystems.sensor.SensorIO;
+import frc.team5115.subsystems.sensor.SensorIOPololu;
+
+public class RobotContainer {
+  private final Sensor sensor;
+
+  public RobotContainer() {
+    switch (Constants.currentMode) {
+      case REAL:
+        sensor = new Sensor(new SensorIOPololu());
+        break;
+
+      case SIM:
+        sensor = new Sensor(new SensorIO() {});
+        break;
+
+      default:
+        sensor = new Sensor(new SensorIO() {});
+        break;
+    }
+    sensor.setDefaultCommand(sensor.printState());
+  }
+}
diff --git a/src/main/java/frc/team5115/subsystems/sensor/Sensor.java b/src/main/java/frc/team5115/subsystems/sensor/Sensor.java
index 9b0556f..2d4f053 100644
--- a/src/main/java/frc/team5115/subsystems/sensor/Sensor.java
+++ b/src/main/java/frc/team5115/subsystems/sensor/Sensor.java
@@ -1,13 +1,25 @@
 package frc.team5115.subsystems.sensor;
 
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import org.littletonrobotics.junction.Logger;
 
 public class Sensor extends SubsystemBase {
-    private final SensorIO io;
+  private final SensorIO io;
+  private final SensorIOInputsAutoLogged inputs = new SensorIOInputsAutoLogged();
 
-    public Sensor (SensorIO io) {
-        this.io = io;
-    }
+  public Sensor(SensorIO io) {
+    this.io = io;
+  }
 
-    
+  @Override
+  public void periodic() {
+    io.updateInputs(inputs);
+    Logger.processInputs(getName(), inputs);
+  }
+
+  public Command printState() {
+    return Commands.print("Something Detected?" + inputs.somethingDetected);
+  }
 }
diff --git a/src/main/java/frc/team5115/subsystems/sensor/SensorIO.java b/src/main/java/frc/team5115/subsystems/sensor/SensorIO.java
index b3c35d8..2592794 100644
--- a/src/main/java/frc/team5115/subsystems/sensor/SensorIO.java
+++ b/src/main/java/frc/team5115/subsystems/sensor/SensorIO.java
@@ -3,10 +3,10 @@
 import org.littletonrobotics.junction.AutoLog;
 
 public interface SensorIO {
-    @AutoLog
-    public static class SensorIOInputs {
-        public boolean somethingDetected = false; 
-    }
+  @AutoLog
+  public static class SensorIOInputs {
+    public boolean somethingDetected = false;
+  }
 
-    public default void updateInputs(SensorIOInputs inputs) {}
+  public default void updateInputs(SensorIOInputs inputs) {}
 }
diff --git a/src/main/java/frc/team5115/subsystems/sensor/SensorIOPololu.java b/src/main/java/frc/team5115/subsystems/sensor/SensorIOPololu.java
index babc056..fb1a211 100644
--- a/src/main/java/frc/team5115/subsystems/sensor/SensorIOPololu.java
+++ b/src/main/java/frc/team5115/subsystems/sensor/SensorIOPololu.java
@@ -3,15 +3,14 @@
 import edu.wpi.first.wpilibj.DigitalInput;
 
 public class SensorIOPololu implements SensorIO {
-    private final DigitalInput sensor;
+  private final DigitalInput sensor;
 
-    public SensorIOPololu() {
-        sensor = new DigitalInput(0);
+  public SensorIOPololu() {
+    sensor = new DigitalInput(0);
+  }
 
-    }
-
-    @Override
-    public void updateInputs(SensorIOInputs inputs) {
-        inputs.somethingDetected =  sensor.get();
-    }
+  @Override
+  public void updateInputs(SensorIOInputs inputs) {
+    inputs.somethingDetected = sensor.get();
+  }
 }