diff --git a/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/AnnotationProcessor.java b/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/AnnotationProcessor.java
index cd7ba625fd2..8a7ec2bdcf5 100644
--- a/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/AnnotationProcessor.java
+++ b/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/AnnotationProcessor.java
@@ -355,13 +355,15 @@ private void processEpilogue(RoundEnvironment roundEnv) {
     for (TypeElement clazz : classes) {
       try {
         warnOfNonLoggableElements(clazz);
-        m_loggerGenerator.writeLoggerFile(clazz);
-
+        boolean isMainRobotClass = false;
         if (processingEnv.getTypeUtils().isAssignable(clazz.getSuperclass(), robotBaseClass)) {
           mainRobotClasses.add(clazz);
+          isMainRobotClass = true;
+        }
+        boolean canBeLogged = m_loggerGenerator.writeLoggerFile(clazz, isMainRobotClass);
+        if (canBeLogged) {
+          loggerClassNames.add(StringUtils.loggerClassName(clazz));
         }
-
-        loggerClassNames.add(StringUtils.loggerClassName(clazz));
       } catch (IOException e) {
         processingEnv
             .getMessager()
diff --git a/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/LoggableHandler.java b/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/LoggableHandler.java
index a39bee7e8b0..4087ce00181 100644
--- a/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/LoggableHandler.java
+++ b/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/LoggableHandler.java
@@ -56,7 +56,7 @@ public String logInvocation(Element element) {
     var loggableSubtypes =
         m_loggedTypes.stream()
             .filter(
-                l -> m_processingEnv.getTypeUtils().isAssignable(l.asType(), declaredType.asType()))
+                l -> l.getAnnotation(Logged.class) != null && m_processingEnv.getTypeUtils().isAssignable(l.asType(), declaredType.asType()))
             .sorted(inheritanceComparatorFor(declaredType))
             .toList();
 
diff --git a/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/LoggerGenerator.java b/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/LoggerGenerator.java
index 2e7d4536a80..b86be2f0ed4 100644
--- a/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/LoggerGenerator.java
+++ b/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/LoggerGenerator.java
@@ -79,7 +79,7 @@ private static boolean isBuiltInJavaMethod(ExecutableElement e) {
    * @param clazz the data type that the logger should support.
    * @throws IOException if the file could not be written
    */
-  public void writeLoggerFile(TypeElement clazz) throws IOException {
+  public boolean writeLoggerFile(TypeElement clazz, boolean isMainRobotClass) throws IOException {
     var config = clazz.getAnnotation(Logged.class);
     if (config == null) { config = kDefaultConfig; }
     boolean requireExplicitOptIn = config.strategy() == Logged.Strategy.OPT_IN;
@@ -118,6 +118,12 @@ public void writeLoggerFile(TypeElement clazz) throws IOException {
             .filter(this::isLoggable)
             .filter(e -> !isSimpleGetterMethodForLoggedField(e, fieldsToLog))
             .toList();
+    
+    // Nothing to log; continue
+    // Robot classes must have a generated logger
+    if (fieldsToLog.isEmpty() && methodsToLog.isEmpty() && !isMainRobotClass) {
+      return false;
+    }
 
     // Validate no name collisions
     Map<String, List<Element>> usedNames =
@@ -160,6 +166,7 @@ public void writeLoggerFile(TypeElement clazz) throws IOException {
         });
 
     writeLoggerFile(clazz.getQualifiedName().toString(), config, fieldsToLog, methodsToLog);
+    return true;
   }
 
   private void writeLoggerFile(
diff --git a/epilogue-processor/src/test/java/edu/wpi/first/epilogue/processor/AnnotationProcessorTest.java b/epilogue-processor/src/test/java/edu/wpi/first/epilogue/processor/AnnotationProcessorTest.java
index 4eabc899d08..8f906305b1d 100644
--- a/epilogue-processor/src/test/java/edu/wpi/first/epilogue/processor/AnnotationProcessorTest.java
+++ b/epilogue-processor/src/test/java/edu/wpi/first/epilogue/processor/AnnotationProcessorTest.java
@@ -67,7 +67,8 @@ void basicOptInLogging() {
 
       class Example {
         @Logged double x;
-        @Logged double y;
+        @Logged public double y;
+        public double z;
       }
     """;
     
diff --git a/epilogue-processor/src/test/java/edu/wpi/first/epilogue/processor/EpilogueGeneratorTest.java b/epilogue-processor/src/test/java/edu/wpi/first/epilogue/processor/EpilogueGeneratorTest.java
index c30da2deefb..4442e9d8387 100644
--- a/epilogue-processor/src/test/java/edu/wpi/first/epilogue/processor/EpilogueGeneratorTest.java
+++ b/epilogue-processor/src/test/java/edu/wpi/first/epilogue/processor/EpilogueGeneratorTest.java
@@ -38,8 +38,6 @@ class Example {
         public final class Epilogue {
           private static final EpilogueConfiguration config = new EpilogueConfiguration();
 
-          public static final ExampleLogger exampleLogger = new ExampleLogger();
-
           public static void configure(java.util.function.Consumer<EpilogueConfiguration> configurator) {
             configurator.accept(config);
           }
@@ -73,6 +71,7 @@ class Example extends edu.wpi.first.wpilibj.RobotBase {
             public void startCompetition() {}
             @Override
             public void endCompetition() {}
+            private double x = 0.0;
           }
           """;
 
@@ -116,8 +115,7 @@ void timedRobot() {
           package edu.wpi.first.epilogue;
 
           @Logged
-          class Example extends edu.wpi.first.wpilibj.TimedRobot {
-          }
+          class Example extends edu.wpi.first.wpilibj.TimedRobot { }
           """;
 
     String expected =
@@ -192,10 +190,14 @@ void multipleRobots() {
           package edu.wpi.first.epilogue;
 
           @Logged
-          class AlphaBot extends edu.wpi.first.wpilibj.TimedRobot { }
+          class AlphaBot extends edu.wpi.first.wpilibj.TimedRobot {
+            double x = 0.0;
+          }
 
           @Logged
-          class BetaBot extends edu.wpi.first.wpilibj.TimedRobot { }
+          class BetaBot extends edu.wpi.first.wpilibj.TimedRobot {
+            double x = 0.0;
+          }
           """;
 
     String expected =