diff --git a/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/EpilogueGenerator.java b/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/EpilogueGenerator.java
index 741c2d58b4..866bfdf676 100644
--- a/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/EpilogueGenerator.java
+++ b/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/EpilogueGenerator.java
@@ -140,6 +140,25 @@ public class EpilogueGenerator {
           for (TypeElement mainRobotClass : mainRobotClasses) {
             String robotClassName = mainRobotClass.getQualifiedName().toString();
 
+            out.println();
+            out.print(
+                """
+                  /**
+                   * Updates Epilogue. This must be called periodically in order for Epilogue to record
+                   * new values. Alternatively, {@code bind()} can be used to update at an offset from
+                   * the main robot loop.
+                   */
+                """);
+            out.println("  public static void update(" + robotClassName + " robot) {");
+            out.println("    long start = System.nanoTime();");
+            out.println(
+                "    "
+                    + StringUtils.loggerFieldName(mainRobotClass)
+                    + ".tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);");
+            out.println(
+                "    config.dataLogger.log(\"Epilogue/Stats/Last Run\", (System.nanoTime() - start) / 1e6);");
+            out.println("  }");
+
             out.println();
             out.print(
                 """
@@ -161,13 +180,7 @@ public class EpilogueGenerator {
             out.println("    }");
             out.println();
             out.println("    robot.addPeriodic(() -> {");
-            out.println("      long start = System.nanoTime();");
-            out.println(
-                "      "
-                    + StringUtils.loggerFieldName(mainRobotClass)
-                    + ".tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);");
-            out.println(
-                "      config.dataLogger.log(\"Epilogue/Stats/Last Run\", (System.nanoTime() - start) / 1e6);");
+            out.println("      update(robot);");
             out.println(
                 "    }, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));");
             out.println("  }");
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 1c8c6ef131..a51345f49e 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
@@ -147,6 +147,17 @@ class EpilogueGeneratorTest {
             return importance.compareTo(config.minimumImportance) >= 0;
           }
 
+          /**
+           * Updates Epilogue. This must be called periodically in order for Epilogue to record
+           * new values. Alternatively, {@code bind()} can be used to update at an offset from
+           * the main robot loop.
+           */
+          public static void update(edu.wpi.first.epilogue.Example robot) {
+            long start = System.nanoTime();
+            exampleLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
+            config.dataLogger.log(\"Epilogue/Stats/Last Run\", (System.nanoTime() - start) / 1e6);
+          }
+
           /**
            * Binds Epilogue updates to a timed robot's update period. Log calls will be made at the
            * same update rate as the robot's loop function, but will be offset by a full phase
@@ -164,9 +175,7 @@ class EpilogueGeneratorTest {
             }
 
             robot.addPeriodic(() -> {
-              long start = System.nanoTime();
-              exampleLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
-              config.dataLogger.log(\"Epilogue/Stats/Last Run\", (System.nanoTime() - start) / 1e6);
+              update(robot);
             }, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));
           }
         }
@@ -218,6 +227,17 @@ class EpilogueGeneratorTest {
             return importance.compareTo(config.minimumImportance) >= 0;
           }
 
+          /**
+           * Updates Epilogue. This must be called periodically in order for Epilogue to record
+           * new values. Alternatively, {@code bind()} can be used to update at an offset from
+           * the main robot loop.
+           */
+          public static void update(edu.wpi.first.epilogue.AlphaBot robot) {
+            long start = System.nanoTime();
+            alphaBotLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
+            config.dataLogger.log(\"Epilogue/Stats/Last Run\", (System.nanoTime() - start) / 1e6);
+          }
+
           /**
            * Binds Epilogue updates to a timed robot's update period. Log calls will be made at the
            * same update rate as the robot's loop function, but will be offset by a full phase
@@ -235,12 +255,21 @@ class EpilogueGeneratorTest {
             }
 
             robot.addPeriodic(() -> {
-              long start = System.nanoTime();
-              alphaBotLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
-              config.dataLogger.log(\"Epilogue/Stats/Last Run\", (System.nanoTime() - start) / 1e6);
+              update(robot);
             }, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));
           }
 
+          /**
+           * Updates Epilogue. This must be called periodically in order for Epilogue to record
+           * new values. Alternatively, {@code bind()} can be used to update at an offset from
+           * the main robot loop.
+           */
+          public static void update(edu.wpi.first.epilogue.BetaBot robot) {
+            long start = System.nanoTime();
+            betaBotLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
+            config.dataLogger.log(\"Epilogue/Stats/Last Run\", (System.nanoTime() - start) / 1e6);
+          }
+
           /**
            * Binds Epilogue updates to a timed robot's update period. Log calls will be made at the
            * same update rate as the robot's loop function, but will be offset by a full phase
@@ -258,9 +287,7 @@ class EpilogueGeneratorTest {
             }
 
             robot.addPeriodic(() -> {
-              long start = System.nanoTime();
-              betaBotLogger.tryUpdate(config.dataLogger.getSubLogger(config.root), robot, config.errorHandler);
-              config.dataLogger.log("Epilogue/Stats/Last Run", (System.nanoTime() - start) / 1e6);
+              update(robot);
             }, config.loggingPeriod.in(Seconds), config.loggingPeriodOffset.in(Seconds));
           }
         }