Slightly overhaul status system

src/main/java/frc4388/robot/Robot.java

@@ -7,10 +7,6 @@
 
 package frc4388.robot;
 
-import java.util.ArrayList;
-import java.util.Base64;
-import java.util.List;
-
 // Advantagekit
 import org.littletonrobotics.junction.LogFileUtil;
 import org.littletonrobotics.junction.LoggedRobot;
@@ -19,23 +15,16 @@ import org.littletonrobotics.junction.networktables.NT4Publisher;
 import org.littletonrobotics.junction.wpilog.WPILOGReader;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 
-import com.ctre.phoenix6.CANBus;
-import com.ctre.phoenix6.CANBus.CANBusStatus;
-
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc4388.robot.constants.BuildConstants;
-import frc4388.robot.constants.Constants;
 import frc4388.robot.constants.Constants.SimConstants;
 import frc4388.utility.DeferredBlock;
 import frc4388.utility.DeferredBlockMulti;
 import frc4388.utility.Trim;
 import frc4388.utility.compute.RobotTime;
-import frc4388.utility.status.CanDevice;
+import frc4388.utility.status.FaultReporter;
-import frc4388.utility.status.Status;
+
-import frc4388.utility.status.Subsystem;
-import frc4388.utility.status.Status.Report;
-import frc4388.utility.status.Status.ReportLevel;
 //import frc4388.robot.subsystems.LED;
 /**
  * The VM is configured to automatically run this class, and to call the
@@ -63,23 +52,7 @@ public class Robot extends LoggedRobot {
 
 
     // Create a shuffleboard update thread, that will periodically update the values on shuffleboard
-    new Thread() {
+    FaultReporter.startThread();
-      public void run() {
-        try{
-        while(!this.isInterrupted() && this.isAlive()){
-          Thread.sleep(500);
-          for(int i=0;i<Subsystem.subsystems.size(); i++){
-            Subsystem.subsystems.get(i).queryStatus();
-          }
-
-          // System.out.println("Updated statuses!");
-          
-        }
-        }catch(Exception e){
-            e.printStackTrace();
-        }
-      }
-    }.start();
   }
 
   /**
@@ -189,71 +162,7 @@ public class Robot extends LoggedRobot {
 
   @Override
   public void testInit() {
-
+    FaultReporter.printReport();
-    List<String> errors = new ArrayList<>();
-
-    // Subsystems header
-    System.out.println(new String(Base64.getDecoder().decode("IOKWl+KWhOKWhOKWluKWl+KWliDilpfilpbilpfiloTiloTilpYgIOKWl+KWhOKWhOKWluKWl+KWliAg4paX4paW4paX4paE4paE4paW4paX4paE4paE4paE4paW4paX4paE4paE4paE4paW4paX4paWICDilpfilpYg4paX4paE4paE4paWCuKWkOKWjCAgIOKWkOKWjCDilpDilozilpDilowg4paQ4paM4paQ4paMICAgIOKWneKWmuKWnuKWmOKWkOKWjCAgICAg4paIICDilpDilowgICDilpDilpvilprilp7ilpzilozilpDilowgICAKIOKWneKWgOKWmuKWluKWkOKWjCDilpDilozilpDilpviloDilprilpYg4pad4paA4paa4paWICDilpDilowgIOKWneKWgOKWmuKWliAg4paIICDilpDilpviloDiloDilpjilpDilowgIOKWkOKWjCDilp3iloDilprilpYK4paX4paE4paE4pae4paY4pad4paa4paE4pae4paY4paQ4paZ4paE4pae4paY4paX4paE4paE4pae4paYICDilpDilowg4paX4paE4paE4pae4paYICDiloggIOKWkOKWmeKWhOKWhOKWluKWkOKWjCAg4paQ4paM4paX4paE4paE4pae4paY")));
-
-    for(int i=0;i< Subsystem.subsystems.size();i++){
-
-      Subsystem subsystem = Subsystem.subsystems.get(i);
-      System.out.println("** Subsystem diagnostic report for " + subsystem.getName() + ":");
-      Status status = subsystem.diagnosticStatus();
-
-      for(int a=0;a<status.reports.size();a++){
-        Report r = status.reports.get(a);
-        if(r.reportLevel == ReportLevel.ERROR)
-          errors.add(subsystem.getName() + " - " + r.toString());
-        subsystem.Log(r.toString());
-      }
-    }
-
-    
-    // CAN header
-    System.out.println(new String(Base64.getDecoder().decode("IOKWl+KWhOKWhOKWliDilpfiloTilpYg4paX4paWICDilpfilpYK4paQ4paMICAg4paQ4paMIOKWkOKWjOKWkOKWm+KWmuKWluKWkOKWjArilpDilowgICDilpDilpviloDilpzilozilpDilowg4pad4pac4paMCuKWneKWmuKWhOKWhOKWluKWkOKWjCDilpDilozilpDilowgIOKWkOKWjCh0KQ==")));
-    
-    CANBus canBus = new CANBus(Constants.CANBUS_NAME);
-    
-    CANBusStatus canInfo = canBus.getStatus();
-    
-    System.out.println("CANInfo BusOffCount     - " + canInfo.BusOffCount);
-    System.out.println("CANInfo BusUtilization  - " + canInfo.BusUtilization);
-    System.out.println("CANInfo RX Errors count - " + canInfo.REC);
-    System.out.println("CANInfo TX Errors count - " + canInfo.TEC);
-    System.out.println("CANInfo Transmit buffer full count - " + canInfo.TxFullCount);
-    // Broken turniary operator
-    ReportLevel canReportLevel = canInfo.Status.isOK() ? (canInfo.Status.isWarning() ? ReportLevel.WARNING : ReportLevel.ERROR) : ReportLevel.INFO;
-    String canStatus = "CAN " + canReportLevel.name() + " - " + canInfo.Status.getName() + " (" + canInfo.Status.getDescription() + ")";
-    if(canReportLevel == ReportLevel.ERROR) {
-      errors.add(canStatus);
-    }
-    System.out.println(canStatus);
-
-    for(int i=0;i<CanDevice.devices.size();i++){
-
-      CanDevice device = CanDevice.devices.get(i);
-      System.out.println("** CAN diagnostic report for " + device.name + ":");
-      Status status = device.diagnosticStatus();
-
-      for(int a=0;a<status.reports.size();a++){
-        Report r = status.reports.get(a);
-        if(r.reportLevel == ReportLevel.ERROR)
-          errors.add(device.getName() + " - " + r.toString());
-        device.Log(r.toString());
-      }
-    }
-
-    // System.out.println("Found CAN devices: " + new DeviceFinder().Find());
-    
-    if(errors.size() > 0) {
-      // Errors header
-      System.out.println(new String(Base64.getDecoder().decode("4paX4paE4paE4paE4paW4paX4paE4paE4paWIOKWl+KWhOKWhOKWliAg4paX4paE4paWIOKWl+KWhOKWhOKWliAg4paX4paE4paE4paWCuKWkOKWjCAgIOKWkOKWjCDilpDilozilpDilowg4paQ4paM4paQ4paMIOKWkOKWjOKWkOKWjCDilpDilozilpDilowgICAK4paQ4pab4paA4paA4paY4paQ4pab4paA4paa4paW4paQ4pab4paA4paa4paW4paQ4paMIOKWkOKWjOKWkOKWm+KWgOKWmuKWliDilp3iloDilprilpYK4paQ4paZ4paE4paE4paW4paQ4paMIOKWkOKWjOKWkOKWjCDilpDilozilp3ilpriloTilp7ilpjilpDilowg4paQ4paM4paX4paE4paE4pae4paY")));
-      for(int i=0;i<errors.size(); i++){
-        System.out.println(errors.get(i));
-      }
-    }
-
   }
 
 

src/main/java/frc4388/robot/RobotMap.java

@@ -22,6 +22,10 @@ import frc4388.robot.constants.Constants.LiDARConstants;
 import frc4388.robot.constants.Constants.VisionConstants;
 import frc4388.robot.constants.DriveConstants;
 import frc4388.robot.subsystems.Lidar;
+import frc4388.utility.status.FaultCANCoder;
+import frc4388.utility.status.FaultPhotonCamera;
+import frc4388.utility.status.FaultPidgeon2;
+import frc4388.utility.status.FaultTalonFX;
 
 /**
  * Defines and holds all I/O objects on the Roborio. This is useful for unit
@@ -38,10 +42,6 @@ public class RobotMap {
     public final Lidar reverseLidar = new Lidar(LiDARConstants.REVERSE_LIDAR_DIO_CHANNEL, "Reverse");
 
 
-    public RobotMap() {
-        configureDriveMotorControllers();
-    }
-
     /* LED Subsystem */
     // public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
     
@@ -66,6 +66,31 @@ public class RobotMap {
     }
 
 
+    public RobotMap() {
+        configureDriveMotorControllers();
+
+        FaultPhotonCamera.addDevice(leftCamera, "Left Camera");
+        FaultPhotonCamera.addDevice(rightCamera, "Right Camera");
+
+        FaultPidgeon2.addDevice(swerveDrivetrain.getPigeon2(), "Gyro");
+
+        FaultTalonFX.addDevice(elevator, "Elevator");
+        FaultTalonFX.addDevice(endeffector, "Endeffector");
+        
+        FaultTalonFX.addDevice(swerveDrivetrain.getModule(0).getDriveMotor(), "Module 0 Drive");
+        FaultTalonFX.addDevice(swerveDrivetrain.getModule(0).getSteerMotor(), "Module 0 Steer");
+        FaultCANCoder.addDevice(swerveDrivetrain.getModule(0).getEncoder(), "Module 0 CANCoder");
+        FaultTalonFX.addDevice(swerveDrivetrain.getModule(1).getDriveMotor(), "Module 1 Drive");
+        FaultTalonFX.addDevice(swerveDrivetrain.getModule(1).getSteerMotor(), "Module 1 Steer");
+        FaultCANCoder.addDevice(swerveDrivetrain.getModule(1).getEncoder(), "Module 1 CANCoder");
+        FaultTalonFX.addDevice(swerveDrivetrain.getModule(2).getDriveMotor(), "Module 2 Drive");
+        FaultTalonFX.addDevice(swerveDrivetrain.getModule(2).getSteerMotor(), "Module 2 Steer");
+        FaultCANCoder.addDevice(swerveDrivetrain.getModule(2).getEncoder(), "Module 2 CANCoder");
+        FaultTalonFX.addDevice(swerveDrivetrain.getModule(3).getDriveMotor(), "Module 3 Drive");
+        FaultTalonFX.addDevice(swerveDrivetrain.getModule(3).getSteerMotor(), "Module 3 Steer");
+        FaultCANCoder.addDevice(swerveDrivetrain.getModule(3).getEncoder(), "Module 3 CANCoder");
+    }
+
     public class RobotMapSim {
         public PhotonCameraSim leftCamera;
         public PhotonCameraSim rightCamera;

src/main/java/frc4388/robot/constants/BuildConstants.java

@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2025RidgeScape";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 164;
+  public static final int GIT_REVISION = 165;
-  public static final String GIT_SHA = "06d525ade1118ae193383bc86066ea5563d86a1f";
+  public static final String GIT_SHA = "bf4da44338d8e91c50e34c3ac68dc12f9d335b08";
-  public static final String GIT_DATE = "2025-04-22 18:21:00 EDT";
+  public static final String GIT_DATE = "2025-07-11 14:07:53 MDT";
   public static final String GIT_BRANCH = "advantagekit";
-  public static final String BUILD_DATE = "2025-07-11 15:07:31 EDT";
+  public static final String BUILD_DATE = "2025-07-11 17:46:28 MDT";
-  public static final long BUILD_UNIX_TIME = 1752260851324L;
+  public static final long BUILD_UNIX_TIME = 1752277588371L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

src/main/java/frc4388/robot/constants/DriveConstants.java

@@ -243,5 +243,4 @@ public final class DriveConstants {
     // misc
     public static final int TIMEOUT_MS = 30;
     public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
-    
 }

src/main/java/frc4388/robot/subsystems/DiffDrive.java

@@ -12,16 +12,18 @@ import com.ctre.phoenix6.hardware.TalonFX;
 
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.constants.DriveConstants;
 import frc4388.utility.RobotGyro;
 import frc4388.utility.compute.RobotTime;
 import frc4388.utility.status.Status;
-import frc4388.utility.status.Subsystem;
+import frc4388.utility.status.FaultReporter;
+import frc4388.utility.status.Queryable;
 
 /**
  * Add your docs here.
  */
-public class DiffDrive extends Subsystem {
+public class DiffDrive extends SubsystemBase implements Queryable {
   // Put methods for controlling this subsystem
   // here. Call these from Commands.
 
@@ -40,7 +42,7 @@ public class DiffDrive extends Subsystem {
   public DiffDrive(TalonFX leftFrontMotor, TalonFX rightFrontMotor, TalonFX leftBackMotor,
       TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
     
-        super();
+    FaultReporter.register(this);
 
     m_leftFrontMotor = leftFrontMotor;
     m_rightFrontMotor = rightFrontMotor;
@@ -90,7 +92,7 @@ public class DiffDrive extends Subsystem {
 
 
   @Override
-  public String getSubsystemName() {
+  public String getName() {
       return "Diff Drive";
   }
 
@@ -101,7 +103,7 @@ public class DiffDrive extends Subsystem {
 
   @Override
   public Status diagnosticStatus() {
-      Log("Diagnostic info for this has not been inplemented!"); //TODO
+      // Log("Diagnostic info for this has not been inplemented!"); //TODO
       return new Status();
   }
 }

src/main/java/frc4388/robot/subsystems/Elevator.java

@@ -10,14 +10,16 @@ import com.ctre.phoenix6.signals.NeutralModeValue;
 
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.constants.Constants.AutoConstants;
 import frc4388.robot.constants.Constants.ElevatorConstants;
 import frc4388.robot.constants.Constants.LEDConstants;
 import frc4388.utility.status.Status;
-import frc4388.utility.status.Subsystem;
+import frc4388.utility.status.FaultReporter;
+import frc4388.utility.status.Queryable;
 import frc4388.utility.status.Status.ReportLevel;
 
-public class Elevator extends Subsystem {
+public class Elevator extends SubsystemBase implements Queryable {
   /** Creates a new Elevator. */
   private TalonFX elevatorMotor;
   private TalonFX endeffectorMotor;
@@ -77,6 +79,8 @@ public class Elevator extends Subsystem {
     elevatorMotor.getConfigurator().apply(ElevatorConstants.ELEVATOR_PID);
     endeffectorMotor.getConfigurator().apply(ElevatorConstants.ENDEFFECTOR_PID);
     currentState = CoordinationState.Ready;
+
+    FaultReporter.register(this);
   }
 
   //PID methods
@@ -370,7 +374,7 @@ public class Elevator extends Subsystem {
   }
 
   @Override
-  public String getSubsystemName() {
+  public String getName() {
     return "Elevator";
   }
 
@@ -382,8 +386,6 @@ public class Elevator extends Subsystem {
     Status status = new Status();
 
     status.addReport(ReportLevel.INFO, "Elevator Mode: " + currentState.name());
-    status.diagnoseHardwareCTRE("Elevator Motor", elevatorMotor);
-    status.diagnoseHardwareCTRE("Endeffector Motor", endeffectorMotor);
 
     return status;
   }

src/main/java/frc4388/robot/subsystems/LED.java

@@ -10,9 +10,11 @@ package frc4388.robot.subsystems;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.constants.Constants.LEDConstants;
 import frc4388.utility.status.Status;
-import frc4388.utility.status.Subsystem;
+import frc4388.utility.status.FaultReporter;
+import frc4388.utility.status.Queryable;
 import frc4388.utility.status.Status.ReportLevel;
 import frc4388.utility.structs.LEDPatterns;
 
@@ -20,7 +22,10 @@ import frc4388.utility.structs.LEDPatterns;
  * Allows for the control of a 5v LED Strip using a Rev Robotics Blinkin LED
  * Driver
  */
-public class LED extends Subsystem {
+public class LED extends SubsystemBase implements Queryable {
+  public LED() {
+    FaultReporter.register(this);
+  }
 
   private static Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
   private LEDPatterns mode = LEDConstants.DEFAULT_PATTERN;
@@ -44,7 +49,7 @@ public class LED extends Subsystem {
   }
 
   @Override
-  public String getSubsystemName() {
+  public String getName() {
     return "LEDs";
   }
 
@@ -57,9 +62,7 @@ public class LED extends Subsystem {
   public Status diagnosticStatus() {
     Status status = new Status();
 
-    if(LEDController.isAlive())
+    if(!LEDController.isAlive())
-      status.addReport(ReportLevel.INFO, "LED is CONNECTED");
-    else
       status.addReport(ReportLevel.ERROR, "LED is DISCONNECTED");
     
     status.addReport(ReportLevel.INFO, "LED Mode: " + mode.name());

src/main/java/frc4388/robot/subsystems/Lidar.java

@@ -6,19 +6,23 @@ import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.constants.Constants.LiDARConstants;
 import frc4388.utility.status.Status;
-import frc4388.utility.status.Subsystem;
+import frc4388.utility.status.FaultReporter;
+import frc4388.utility.status.Queryable;
 import frc4388.utility.status.Status.ReportLevel;
 
 // https://girlsofsteeldocs.readthedocs.io/en/latest/technical-resources/sensors/LIDAR-Lite-Distance-Sensor.html#minimal-roborio-interface
-public class Lidar extends Subsystem {
+public class Lidar extends SubsystemBase implements Queryable {
 
     private Counter LidarPWM;
     private String name = "Lidar";
 
     private double distance = -1;
     public Lidar(int port, String name) {
+        FaultReporter.register(this);
+
         this.name = name;
         LidarPWM = new Counter(port);
         LidarPWM.setMaxPeriod(1.00); //set the max period that can be measured
@@ -27,7 +31,7 @@ public class Lidar extends Subsystem {
 
         
     subsystemLayout = Shuffleboard.getTab("Subsystems")
-    .getLayout(getSubsystemName(), BuiltInLayouts.kList)
+    .getLayout(getName(), BuiltInLayouts.kList)
     .withSize(2, 2);
 
     sbDistance = subsystemLayout
@@ -63,7 +67,7 @@ public class Lidar extends Subsystem {
     GenericEntry sbWithinDistance;
 
     @Override
-    public String getSubsystemName() {
+    public String getName() {
         return "Lidar " + name;
     }
 
@@ -77,11 +81,8 @@ public class Lidar extends Subsystem {
     public Status diagnosticStatus() {
         Status s = new Status();
 
-        if(distance == -1){
+        if(distance == -1)
             s.addReport(ReportLevel.ERROR, "LiDAR DISCONNECTED");
-        }else{
-            s.addReport(ReportLevel.INFO, "LiDAR Connected");
-        }
         
         s.addReport(ReportLevel.INFO, "LiDAR Distance: " + distance);
 

src/main/java/frc4388/robot/subsystems/SwerveDrive.java

@@ -25,11 +25,12 @@ import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.constants.DriveConstants;
 import frc4388.utility.compute.TimesNegativeOne;
 import frc4388.utility.status.Status;
-import frc4388.utility.status.Subsystem;
+import frc4388.utility.status.FaultReporter;
-import frc4388.utility.status.Status.ReportLevel;
+import frc4388.utility.status.Queryable;
 
 import com.pathplanner.lib.controllers.PPHolonomicDriveController;
 import com.pathplanner.lib.util.PathPlannerLogging;
@@ -37,7 +38,7 @@ import com.pathplanner.lib.config.PIDConstants;
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.config.RobotConfig;
 
-public class SwerveDrive extends Subsystem {
+public class SwerveDrive extends SubsystemBase implements Queryable {
     private SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain;
 
     private Vision vision;
@@ -65,7 +66,7 @@ public class SwerveDrive extends Subsystem {
     public SwerveDrive(SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain, Vision vision) {
         // public SwerveDrive(SwerveDrivetrain<TalonFX, TalonFX, CANcoder>
         // swerveDriveTrain) {
-        super();
+        FaultReporter.register(this);
 
         this.swerveDriveTrain = swerveDriveTrain;
         this.vision = vision;
@@ -448,12 +449,12 @@ public class SwerveDrive extends Subsystem {
 
 
     @Override
-    public String getSubsystemName() {
+    public String getName() {
         return "Swerve Drive Controller";
     }
 
     ShuffleboardLayout subsystemLayout = Shuffleboard.getTab("Subsystems")
-            .getLayout(getSubsystemName(), BuiltInLayouts.kList)
+            .getLayout(getName(), BuiltInLayouts.kList)
             .withSize(2, 2);
 
     GenericEntry sbGyro = subsystemLayout
@@ -478,8 +479,8 @@ public class SwerveDrive extends Subsystem {
     public Status diagnosticStatus() {
         Status status = new Status();
 
-        status.addReport(ReportLevel.INFO,
+        // status.addReport(ReportLevel.INFO,
-                "Don't know how to diganose new CTRE swerve systems. please check under the CAN(t) section for more detailed information about the swerves there.");
+        //         "Don't know how to diganose new CTRE swerve systems. please check under the CAN(t) section for more detailed information about the swerves there.");
 
         return status;
     }

src/main/java/frc4388/robot/subsystems/Vision.java

@@ -27,13 +27,14 @@ import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.constants.Constants.FieldConstants;
 import frc4388.robot.constants.Constants.VisionConstants;
 import frc4388.utility.status.Status;
-import frc4388.utility.status.Subsystem;
+import frc4388.utility.status.FaultReporter;
-import frc4388.utility.status.Status.ReportLevel;
+import frc4388.utility.status.Queryable;
 
-public class Vision extends Subsystem {
+public class Vision extends SubsystemBase implements Queryable {
 
     // private PhotonCamera leftCamera;
     // private PhotonCamera rightCamera;
@@ -59,7 +60,7 @@ public class Vision extends Subsystem {
     private Field2d field = new Field2d();
     
     ShuffleboardLayout subsystemLayout = Shuffleboard.getTab("Subsystems")
-    .getLayout(getSubsystemName(), BuiltInLayouts.kList)
+    .getLayout(getName(), BuiltInLayouts.kList)
     .withSize(2, 2);
 
     GenericEntry sbTagDetected = subsystemLayout
@@ -72,17 +73,8 @@ public class Vision extends Subsystem {
     .withWidget(BuiltInWidgets.kBooleanBox)
     .getEntry();
     
-    GenericEntry sbLeftCamConnected = subsystemLayout
-    .add("Left Camera Connnected", false)
-    .withWidget(BuiltInWidgets.kBooleanBox)
-    .getEntry();
-
-    GenericEntry sbRightCamConnected = subsystemLayout
-    .add("Right Camera Connnected", false)
-    .withWidget(BuiltInWidgets.kBooleanBox)
-    .getEntry();
-    
     public Vision(PhotonCamera leftCamera, PhotonCamera rightCamera){
+        FaultReporter.register(this);
         SmartDashboard.putData(field);
 
         this.cameras = new PhotonCamera[]{leftCamera, rightCamera};
@@ -307,7 +299,7 @@ public class Vision extends Subsystem {
 
 
     @Override
-    public String getSubsystemName() {
+    public String getName() {
         return "Vision";
     }
 
@@ -321,27 +313,12 @@ public class Vision extends Subsystem {
     public void queryStatus() {
         sbTagDetected.setBoolean(isTagDetected);
         sbTagProcessed.setBoolean(isTagProcessed);
-        sbLeftCamConnected.setBoolean(cameras[0].isConnected());
-        sbRightCamConnected.setBoolean(cameras[1].isConnected());
         // field.setRobotPose(getPose2d());
     }
 
     @Override
     public Status diagnosticStatus() {
-        Status status = new Status();
+        return new Status();
-
-        if(cameras[0].isConnected())
-            status.addReport(ReportLevel.INFO, "Left Camera Connected");
-        else
-            status.addReport(ReportLevel.ERROR, "Left Camera DISCONNECTED");
-
-        if(cameras[1].isConnected())
-            status.addReport(ReportLevel.INFO, "Right Camera Connected");
-        else
-            status.addReport(ReportLevel.ERROR, "Right Camera DISCONNECTED");
-
-
-        return status;
     }
     
 }

src/main/java/frc4388/utility/status/FaultCANCoder.java

@@ -0,0 +1,82 @@
+package frc4388.utility.status;
+
+import com.ctre.phoenix6.controls.EmptyControl;
+import com.ctre.phoenix6.hardware.CANcoder;
+
+import frc4388.utility.status.Status.ReportLevel;
+
+public class FaultCANCoder implements Queryable {
+    private String name;
+    private CANcoder cancoder;
+
+    public static void addDevice(CANcoder cancoder, String name) {
+        FaultCANCoder p = new FaultCANCoder();
+
+        p.name = name;
+        p.cancoder = cancoder;
+
+        FaultReporter.register(p);
+    }
+
+    @Override
+    public String getName() {
+        return name;
+    }
+
+    @Override
+    public void queryStatus() {
+        // TODO Auto-generated method stub
+        // throw new UnsupportedOperationException("Unimplemented method 'queryStatus'");
+    }
+
+    @Override
+    public Status diagnosticStatus() {
+        Status s = new Status();
+
+        boolean debounceBad = !QueryUtils.isDebounceOk(cancoder.getSupplyVoltage());
+        boolean emptyControlBad = cancoder.setControl(new EmptyControl()).value != 0;
+
+        if(debounceBad || emptyControlBad) {
+            s.addReport(ReportLevel.ERROR, "device is unreachable - Failed" + 
+            (debounceBad ? " Failed debounce test" : "") + 
+            (emptyControlBad ? " Failed empty control test" : "")
+            );
+        }
+
+        // faults
+        if (cancoder.getFault_Hardware().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Hardware fault detected");
+        }
+        if (cancoder.getFault_BootDuringEnable().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Device booted while enabled");
+        }
+        if (cancoder.getFault_BadMagnet().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Bad magnet");
+        }
+        if (cancoder.getFault_Undervoltage().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Device supply voltage near brownout");
+        }
+        if (cancoder.getFault_UnlicensedFeatureInUse().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Unlicensed feature in use");
+        }
+    
+        // sticky faults
+        if (cancoder.getStickyFault_Hardware().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Hardware fault detected");
+        }
+        if (cancoder.getStickyFault_BootDuringEnable().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Device booted while enabled");
+        }
+        if (cancoder.getStickyFault_BadMagnet().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Bad magnet");
+        }
+        if (cancoder.getStickyFault_Undervoltage().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Device supply voltage near brownout");
+        }
+        if (cancoder.getStickyFault_UnlicensedFeatureInUse().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Unlicensed feature in use");
+        }
+
+        return s;
+    }
+}

src/main/java/frc4388/utility/status/FaultPhotonCamera.java

@@ -0,0 +1,38 @@
+package frc4388.utility.status;
+
+import org.photonvision.PhotonCamera;
+
+import frc4388.utility.status.Status.ReportLevel;
+
+public class FaultPhotonCamera implements Queryable {
+    private String name;
+    private PhotonCamera cam;
+
+    public static void addDevice(PhotonCamera cam, String name) {
+        FaultPhotonCamera p = new FaultPhotonCamera();
+
+        p.name = name;
+        p.cam = cam;
+
+        FaultReporter.register(p);
+    }
+
+    @Override
+    public String getName() {
+        return name;
+    }
+
+    @Override
+    public void queryStatus() {}
+
+    @Override
+    public Status diagnosticStatus() {
+        Status s = new Status();
+
+        if(!cam.isConnected())
+            s.addReport(ReportLevel.ERROR, "Not Connected!");
+
+        return s;
+    }
+}
+

src/main/java/frc4388/utility/status/FaultPidgeon2.java

@@ -0,0 +1,174 @@
+package frc4388.utility.status;
+
+import com.ctre.phoenix6.controls.EmptyControl;
+import com.ctre.phoenix6.hardware.Pigeon2;
+
+import frc4388.utility.status.Status.ReportLevel;
+
+public class FaultPidgeon2 implements Queryable {
+    private String name;
+    private Pigeon2 pigeon2;
+
+    public static void addDevice(Pigeon2 pigeon2, String name) {
+        FaultPidgeon2 p = new FaultPidgeon2();
+
+        p.name = name;
+        p.pigeon2 = pigeon2;
+
+        FaultReporter.register(p);
+    }
+
+    @Override
+    public String getName() {
+        return name;
+    }
+
+    @Override
+    public void queryStatus() {
+        // TODO Auto-generated method stub
+        // throw new UnsupportedOperationException("Unimplemented method 'queryStatus'");
+    }
+
+    @Override
+    public Status diagnosticStatus() {
+        Status s = new Status();
+
+
+
+        boolean debounceBad = !QueryUtils.isDebounceOk(pigeon2.getSupplyVoltage());
+        boolean emptyControlBad = pigeon2.setControl(new EmptyControl()).value != 0;
+
+        if(debounceBad || emptyControlBad) {
+            s.addReport(ReportLevel.ERROR, "device is unreachable - Failed" + 
+            (debounceBad ? " Failed debounce test" : "") + 
+            (emptyControlBad ? " Failed empty control test" : "")
+            );
+        }
+
+
+        s.addReport(ReportLevel.INFO, "Voltage: " + pigeon2.getSupplyVoltage());
+
+        s.addReport(ReportLevel.INFO, "Pitch: " + pigeon2.getPitch());
+        s.addReport(ReportLevel.INFO, "Yaw: " + pigeon2.getYaw());
+        s.addReport(ReportLevel.INFO, "Roll: " + pigeon2.getRoll());
+
+        s.addReport(ReportLevel.INFO, "Acceleration X: " + pigeon2.getAccelerationX());
+        s.addReport(ReportLevel.INFO, "Acceleration Y: " + pigeon2.getAccelerationY());
+        s.addReport(ReportLevel.INFO, "Acceleration Z: " + pigeon2.getAccelerationZ());
+
+        s.addReport(ReportLevel.INFO, "Magnomiter X: " + pigeon2.getMagneticFieldX());
+        s.addReport(ReportLevel.INFO, "Magnomiter Y: " + pigeon2.getMagneticFieldY());
+        s.addReport(ReportLevel.INFO, "Magnomiter Z: " + pigeon2.getMagneticFieldZ());
+
+
+        // faults
+        if (pigeon2.getFault_BootDuringEnable().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Device booted while enabled");
+        }
+        if (pigeon2.getFault_BootIntoMotion().getValue() == Boolean.TRUE) {
+        s.addReport(ReportLevel.ERROR, "Device booted while in motion");
+        }
+        if (pigeon2.getFault_BootupAccelerometer().getValue() == Boolean.TRUE) {
+        s.addReport(ReportLevel.ERROR, "Accelerometer fault detected");
+        }
+        if (pigeon2.getFault_BootupGyroscope().getValue() == Boolean.TRUE) {
+        s.addReport(ReportLevel.ERROR, "Gyro fault detected");
+        }
+        if (pigeon2.getFault_BootupMagnetometer().getValue() == Boolean.TRUE) {
+        s.addReport(ReportLevel.ERROR, "Magnetometer fault detected");
+        }
+        if (pigeon2.getFault_DataAcquiredLate().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, 
+                "Motion stack data acquisition slower than expected");
+        }
+        if (pigeon2.getFault_Hardware().getValue() == Boolean.TRUE) {
+        s.addReport(ReportLevel.ERROR, "Hardware fault detected");
+        }
+        if (pigeon2.getFault_LoopTimeSlow().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, 
+                "Motion stack loop time was slower than expected");
+        }
+        if (pigeon2.getFault_SaturatedAccelerometer().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, "Accelerometer values are saturated");
+        }
+        if (pigeon2.getFault_SaturatedGyroscope().getValue() == Boolean.TRUE) {
+        s.addReport(ReportLevel.ERROR, "Gyro values are saturated");
+        }
+        if (pigeon2.getFault_SaturatedMagnetometer().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, "Magnetometer values are saturated");
+        }
+        if (pigeon2.getFault_Undervoltage().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, "Device supply voltage near brownout");
+        }
+        if (pigeon2.getFault_UnlicensedFeatureInUse().getValue() == Boolean.TRUE) {
+        s.addReport(ReportLevel.ERROR, "Unlicensed feature in use");
+        }
+
+        // sticky faults
+        if (pigeon2.getStickyFault_BootDuringEnable().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, "[STICKY] Device booted while enabled");
+        }
+        if (pigeon2.getStickyFault_BootIntoMotion().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, "[STICKY] Device booted while in motion");
+        }
+        if (pigeon2.getStickyFault_BootupAccelerometer().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, "[STICKY] Accelerometer fault detected");
+        }
+        if (pigeon2.getStickyFault_BootupGyroscope().getValue() == Boolean.TRUE) {
+        s.addReport(ReportLevel.ERROR, "[STICKY] Gyro fault detected");
+        }
+        if (pigeon2.getStickyFault_BootupMagnetometer().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, "[STICKY] Magnetometer fault detected");
+        }
+        if (pigeon2.getStickyFault_DataAcquiredLate().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, 
+                String.format(
+                    "[STICKY] Motion stack data acquisition slower than expected"));
+        }
+        if (pigeon2.getStickyFault_Hardware().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, "[STICKY] Hardware fault detected");
+        }
+        if (pigeon2.getStickyFault_LoopTimeSlow().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, 
+                String.format(
+                    "[STICKY] Motion stack loop time was slower than expected"));
+        }
+        if (pigeon2.getStickyFault_SaturatedAccelerometer().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, 
+                "[STICKY] Accelerometer values are saturated");
+        }
+        if (pigeon2.getStickyFault_SaturatedGyroscope().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, "[STICKY] Gyro values are saturated");
+        }
+        if (pigeon2.getStickyFault_SaturatedMagnetometer().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, 
+                "[STICKY] Magnetometer values are saturated");
+        }
+        if (pigeon2.getStickyFault_Undervoltage().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, 
+                "[STICKY] Device supply voltage near brownout");
+        }
+        if (pigeon2.getStickyFault_UnlicensedFeatureInUse().getValue() == Boolean.TRUE) {
+        s.addReport(
+            ReportLevel.ERROR, "[STICKY] Unlicensed feature in use");
+        }
+      
+        return s;
+    }
+}

src/main/java/frc4388/utility/status/FaultReporter.java

@@ -0,0 +1,129 @@
+package frc4388.utility.status;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import com.ctre.phoenix6.CANBus;
+import com.ctre.phoenix6.CANBus.CANBusStatus;
+
+import frc4388.robot.constants.Constants;
+import frc4388.utility.status.Status.Report;
+import frc4388.utility.status.Status.ReportLevel;
+
+public class FaultReporter {
+
+    private static final String REPORTS_HEADER = 
+    "▄▖        ▗   \n" + //
+    "▙▘█▌▛▌▛▌▛▘▜▘▛▘\n" + //
+    "▌▌▙▖▙▌▙▌▌ ▐▖▄▌\n" + //
+    "    ▌           ";
+
+    private static final String CAN_HEADER = 
+    "▄▖▄▖▖ ▖   \n" + //
+    "▌ ▌▌▛▖▌   \n" + //
+    "▙▖▛▌▌▝▌(t)\n" + //
+    "            ";
+
+    private static final String ERROR_HEADER = 
+    "▄▖▄▖▄▖▄▖▄▖▄▖\n" + //
+    "▙▖▙▘▙▘▌▌▙▘▚ \n" + //
+    "▙▖▌▌▌▌▙▌▌▌▄▌\n" + //
+    "              ";
+
+    private static List<Queryable> queryables = new ArrayList<>();
+
+    public static void startThread() {
+        new Thread() {
+            public void run() {
+              try{
+              while(!this.isInterrupted() && this.isAlive()){
+                Thread.sleep(500);
+                for(int i=0;i<queryables.size(); i++){
+                  queryables.get(i).queryStatus();
+                }
+      
+                // System.out.println("Updated statuses!");
+                
+              }
+              }catch(Exception e){
+                  e.printStackTrace();
+              }
+            }
+        }.start();
+    }
+
+    public static void register(Queryable q) {
+        queryables.add(q);
+    }
+
+    private static void Log(Queryable q, String s){
+        System.out.println(q.getName() + " - " + s);
+    }
+
+    public static void printReport() {
+
+        List<String> errors = new ArrayList<>();
+
+        // Subsystems header
+        System.out.println(REPORTS_HEADER);
+
+        for(int i=0;i< queryables.size();i++){
+
+            Queryable q = queryables.get(i);
+            System.out.println("** Subsystem diagnostic report for " + q.getName() + ":");
+            Status status = q.diagnosticStatus();
+
+            for(int a=0;a<status.reports.size();a++){
+                Report r = status.reports.get(a);
+                if(r.reportLevel == ReportLevel.ERROR)
+                errors.add(q.getName() + " - " + r.toString());
+                Log(q, r.toString());
+            }
+        }
+
+        
+        // CAN header
+        System.out.println(CAN_HEADER);
+
+        CANBus canBus = new CANBus(Constants.CANBUS_NAME);
+        
+        CANBusStatus canInfo = canBus.getStatus();
+        
+        System.out.println("CANInfo BusOffCount     - " + canInfo.BusOffCount);
+        System.out.println("CANInfo BusUtilization  - " + canInfo.BusUtilization);
+        System.out.println("CANInfo RX Errors count - " + canInfo.REC);
+        System.out.println("CANInfo TX Errors count - " + canInfo.TEC);
+        System.out.println("CANInfo Transmit buffer full count - " + canInfo.TxFullCount);
+        // Broken turniary operator
+        ReportLevel canReportLevel = canInfo.Status.isOK() ? (canInfo.Status.isWarning() ? ReportLevel.WARNING : ReportLevel.ERROR) : ReportLevel.INFO;
+        String canStatus = "CAN " + canReportLevel.name() + " - " + canInfo.Status.getName() + " (" + canInfo.Status.getDescription() + ")";
+        if(canReportLevel == ReportLevel.ERROR) {
+            errors.add(canStatus);
+        }
+        System.out.println(canStatus);
+
+        // for(int i=0;i<CanDevice.devices.size();i++){
+
+        //     CanDevice device = CanDevice.devices.get(i);
+        //     System.out.println("** CAN diagnostic report for " + device.name + ":");
+        //     Status status = device.diagnosticStatus();
+
+        //     for(int a=0;a<status.reports.size();a++){
+        //         Report r = status.reports.get(a);
+        //         if(r.reportLevel == ReportLevel.ERROR)
+        //         errors.add(device.getName() + " - " + r.toString());
+        //         device.Log(r.toString());
+        //     }
+        // }
+
+            // System.out.println("Found CAN devices: " + new DeviceFinder().Find());
+            
+        if(errors.size() > 0) {
+            // Errors header
+            System.out.println(ERROR_HEADER);
+            for(int i=0;i<errors.size(); i++){
+                System.out.println(errors.get(i));
+            }
+        }
+    }
+}

src/main/java/frc4388/utility/status/FaultTalonFX.java

@@ -0,0 +1,160 @@
+package frc4388.utility.status;
+
+import com.ctre.phoenix6.controls.EmptyControl;
+import com.ctre.phoenix6.hardware.TalonFX;
+
+import frc4388.utility.status.Status.ReportLevel;
+
+public class FaultTalonFX implements Queryable {
+    private String name;
+    private TalonFX motor;
+
+    public static void addDevice(TalonFX motor, String name) {
+        FaultTalonFX p = new FaultTalonFX();
+
+        p.name = name;
+        p.motor = motor;
+
+        FaultReporter.register(p);
+    }
+
+    @Override
+    public String getName() {
+        return name;
+    }
+
+    @Override
+    public void queryStatus() {
+        // TODO Auto-generated method stub
+        // throw new UnsupportedOperationException("Unimplemented method 'queryStatus'");
+    }
+
+    @Override
+    public Status diagnosticStatus() {
+        Status s = new Status();
+
+
+        boolean debounceBad = !QueryUtils.isDebounceOk(motor.getSupplyVoltage());
+        boolean emptyControlBad = motor.setControl(new EmptyControl()).value != 0;
+
+        if(debounceBad || emptyControlBad) {
+            s.addReport(ReportLevel.ERROR, "device is unreachable - Failed" + 
+            (debounceBad ? " Failed debounce test" : "") + 
+            (emptyControlBad ? " Failed empty control test" : "")
+            );
+        }
+
+
+        s.addReport(ReportLevel.INFO, "Voltage: " + motor.getSupplyVoltage());
+        s.addReport(ReportLevel.INFO, "Current: " + motor.getSupplyCurrent());
+        s.addReport(ReportLevel.INFO, "Device temp: " + motor.getDeviceTemp());
+        s.addReport(ReportLevel.INFO, "Processor temp: " + motor.getProcessorTemp());
+        s.addReport(ReportLevel.INFO, "Position: " + motor.getPosition());
+        s.addReport(ReportLevel.INFO, "Velocity: " + motor.getVelocity());
+        s.addReport(ReportLevel.INFO, "Acceleration: " + motor.getAcceleration());
+
+        // faults<
+        if (motor.getFault_BootDuringEnable().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Device booted while enabled");
+        }
+        if (motor.getFault_BridgeBrownout().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Bridge was disabled most likely due to supply voltage dropping too low");
+        }
+        if (motor.getFault_DeviceTemp().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Device temperature exceeded limit");
+        }
+        if (motor.getFault_FusedSensorOutOfSync().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Remote sensor is out of sync");
+        }
+        if (motor.getFault_Hardware().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Hardware failure detected");
+        }
+        if (motor.getFault_MissingDifferentialFX().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "The remote Talon used for differential control is not present");
+        }
+        if (motor.getFault_MissingHardLimitRemote().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR,"The remote limit switch device is not present");
+        }
+        if (motor.getFault_MissingSoftLimitRemote().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "The remote soft limit device is not present");
+        }
+        if (motor.getFault_OverSupplyV().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Supply voltage exceeded limit");
+        }
+        if (motor.getFault_ProcTemp().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Processor temperature exceeded limit");
+        }
+        if (motor.getFault_RemoteSensorDataInvalid().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "The remote sensor's data is no longer trusted");
+        }
+        if (motor.getFault_RemoteSensorPosOverflow().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "remote sensor position has overflowed");
+        }
+        if (motor.getFault_RemoteSensorReset().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "The remote sensor has reset");
+        }
+        if (motor.getFault_Undervoltage().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, " Device supply voltage near brownout");
+        }
+        if (motor.getFault_UnlicensedFeatureInUse().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Unlicensed feature in use");
+        }
+        if (motor.getFault_UnstableSupplyV().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "Supply voltage is unstable");
+        }
+  
+
+        // sticky faults
+        if (motor.getStickyFault_BootDuringEnable().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Device booted while enabled");
+        }
+        if (motor.getStickyFault_BridgeBrownout().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Bridge was disabled most likely due to supply voltage dropping too low");
+        }
+        if (motor.getStickyFault_DeviceTemp().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Device temperature exceeded limit");
+        }
+        if (motor.getStickyFault_FusedSensorOutOfSync().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Remote sensor is out of sync");
+        }
+        if (motor.getStickyFault_Hardware().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Hardware failure detected");
+        }
+        if (motor.getStickyFault_MissingDifferentialFX().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] The remote Talon used for differential control is not present");
+        }
+        if (motor.getStickyFault_MissingHardLimitRemote().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] The remote limit switch device is not present");
+        }
+        if (motor.getStickyFault_MissingSoftLimitRemote().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] The remote soft limit device is not present");
+        }
+        if (motor.getStickyFault_OverSupplyV().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Supply voltage exceeded limit");
+        }
+        if (motor.getStickyFault_ProcTemp().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Processor temperature exceeded limit");
+        }
+        if (motor.getStickyFault_RemoteSensorDataInvalid().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] The remote sensor's data is no longer trusted");
+        }
+        if (motor.getStickyFault_RemoteSensorPosOverflow().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] The remote sensor position has overflowed");
+        }
+        if (motor.getStickyFault_RemoteSensorReset().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] The remote sensor has reset");
+        }
+        if (motor.getStickyFault_Undervoltage().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Device supply voltage near brownout");
+        }
+        if (motor.getStickyFault_UnlicensedFeatureInUse().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Unlicensed feature in use");
+        }
+        if (motor.getStickyFault_UnstableSupplyV().getValue() == Boolean.TRUE) {
+            s.addReport(ReportLevel.ERROR, "[STICKY] Supply voltage is unstable");
+        }
+
+
+        return s;
+    }
+}

src/main/java/frc4388/utility/status/QueryUtils.java

@@ -0,0 +1,13 @@
+package frc4388.utility.status;
+
+import com.ctre.phoenix6.StatusSignal;
+
+import edu.wpi.first.math.filter.Debouncer;
+
+public class QueryUtils {
+    public static boolean isDebounceOk(@SuppressWarnings("rawtypes") StatusSignal status) {
+        Debouncer connectedDebounce = new Debouncer(0.5);
+        status.refresh();
+        return connectedDebounce.calculate(status.getStatus().isOK());
+    };
+}

src/main/java/frc4388/utility/status/Queryable.java

@@ -0,0 +1,10 @@
+package frc4388.utility.status;
+
+public interface Queryable {
+    // Get name of subsystem, for use in log.
+    String getName();
+    // Get what the subystem is currently doing, such as "Shooter spun up". This should post to SmartDashboard
+    void queryStatus();
+    // Proactivly search for any errors in each subsystem
+    Status diagnosticStatus(); 
+}

src/main/java/frc4388/utility/status/Status.java

@@ -44,6 +44,10 @@ public class Status {
     }
 
     public void diagnoseHardwareCTRE(String deviceName, TalonFX motor) {
+        addReport(ReportLevel.ERROR, deviceName + " Motor (TalonFX) Alive?: " + (motor.isAlive() ? "Alive." : "Dead!"));
+
+
+
         if (motor.isAlive()) addReport(ReportLevel.INFO, deviceName + " Motor (TalonFX) Alive?: Alive.");
         else addReport(ReportLevel.ERROR, deviceName + " Motor (TalonFX) Alive?: Dead!");
     }

src/main/java/frc4388/utility/status/Subsystem.java

@@ -1,25 +0,0 @@
-package frc4388.utility.status;
-
-import java.util.ArrayList;
-import java.util.List;
-
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public abstract class Subsystem extends SubsystemBase {
-    public static List<Subsystem> subsystems = new ArrayList<>();
-
-    public Subsystem(){
-        subsystems.add(this);
-    }
-
-    public void Log(String str) {
-        System.out.println(getSubsystemName() + " - " + str);
-    }
-
-    // Get name of subsystem, for use in log.
-    public abstract String getSubsystemName();
-    // Get what the subystem is currently doing, such as "Shooter spun up". This should post to SmartDashboard
-    public abstract void queryStatus();
-    // Proactivly search for any errors in each subsystem
-    public abstract Status diagnosticStatus(); 
-}