diff --git a/src/main/java/frc/robot/commands/MoveToGamepiece.java b/src/main/java/frc/robot/commands/MoveToGamepiece.java
index 7fcdf984..22590290 100644
--- a/src/main/java/frc/robot/commands/MoveToGamepiece.java
+++ b/src/main/java/frc/robot/commands/MoveToGamepiece.java
@@ -7,6 +7,7 @@
 import frc.robot.constants.Constants;
 import frc.robot.subsystems.SwerveDrivetrain;
 import frc.robot.subsystems.Vision;
+import frc.robot.utils.logging.Logger;
 
 public class MoveToGamepiece extends Command {
     private final SwerveDrivetrain drivetrain;
@@ -45,10 +46,20 @@ public void execute() {
         }
         yChange = gamePieceY - Constants.LIMELIGHT_MOVE_TO_PIECE_DESIRED_Y;
         double xChange = gamePieceX - Constants.LIMELIGHT_MOVE_TO_PIECE_DESIRED_X;
+        Logger.logDouble("/Vision/YError", yChange, Constants.ENABLE_LOGGING);
+        Logger.logDouble("/Vision/XError", xChange, Constants.ENABLE_LOGGING);
         if (pieceNotSeenCounter < Constants.LIMELIGHT_PIECE_NOT_SEEN_COUNT && yChange > Constants.MOVE_TO_GAMEPIECE_THRESHOLD){
-            ChassisSpeeds driveStates = new ChassisSpeeds(movingPIDController.calculate(yChange), 0, turningPIDController.calculate(xChange));
+            double forwardSpeed = movingPIDController.calculate(yChange);
+            double turningSpeed = movingPIDController.calculate(xChange);
+            Logger.logDouble("/Vision/" + getName() + "/ForwardSpeed", forwardSpeed, Constants.ENABLE_LOGGING);
+            Logger.logDouble("/Vision/" + getName() + "/TurningSpeed", turningSpeed, Constants.ENABLE_LOGGING);
+            ChassisSpeeds driveStates = new ChassisSpeeds(forwardSpeed, 0, turningSpeed);
             drivetrain.drive(driveStates);
         }
+        else {
+            Logger.logDouble("/Vision/" + getName() + "/ForwardSpeed", 0.0, Constants.ENABLE_LOGGING);
+            Logger.logDouble("/Vision/" + getName() + "/TurningSpeed", 0.0, Constants.ENABLE_LOGGING);
+        }
     }
 
     @Override
@@ -58,6 +69,8 @@ public boolean isFinished() {
 
     @Override
     public void end(boolean interrupted) {
+        Logger.logDouble("/MoveToGamePiece/ForwardSpeed", 0, Constants.ENABLE_LOGGING);
+        Logger.logDouble("/Vision/turningSpeed", 0, Constants.ENABLE_LOGGING);
         drivetrain.drive(new ChassisSpeeds(0, 0, 0));
     }
 }