diff --git a/src/main/java/frc/robot/constant/swerve/SwerveConstants.java b/src/main/java/frc/robot/constant/swerve/SwerveConstants.java
index a4f1cef..10a41e2 100644
--- a/src/main/java/frc/robot/constant/swerve/SwerveConstants.java
+++ b/src/main/java/frc/robot/constant/swerve/SwerveConstants.java
@@ -28,6 +28,10 @@ public final class SwerveConstants {
 
   public static final double kShootingSpeedMultiplier = 1.0;
 
+  /** Raises TalonFX status frame rates and costs CAN bandwidth; keep off at competition. */
+  public static final boolean kLogMotorTelemetry = false;
+  public static final double kMotorTelemetryHz = 50.0;
+
   //////////////////////////////////////
 
   public Translation2d rearLeftTranslation;
diff --git a/src/main/java/frc/robot/hardware/WheelMoverTalonFX.java b/src/main/java/frc/robot/hardware/WheelMoverTalonFX.java
index d43f8af..e6a53aa 100644
--- a/src/main/java/frc/robot/hardware/WheelMoverTalonFX.java
+++ b/src/main/java/frc/robot/hardware/WheelMoverTalonFX.java
@@ -2,6 +2,7 @@
 
 import org.littletonrobotics.junction.Logger;
 
+import com.ctre.phoenix6.BaseStatusSignal;
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
 import com.ctre.phoenix6.configs.ClosedLoopGeneralConfigs;
 import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
@@ -38,6 +39,15 @@ public class WheelMoverTalonFX extends WheelMoverBase {
 
   private CANcoder turnCANcoder;
 
+  private BaseStatusSignal driveVoltsSignal;
+  private BaseStatusSignal driveStatorSignal;
+  private BaseStatusSignal driveSupplySignal;
+  private BaseStatusSignal driveVelocitySignal;
+  private BaseStatusSignal turnVoltsSignal;
+  private BaseStatusSignal turnStatorSignal;
+  private BaseStatusSignal turnSupplySignal;
+  private BaseStatusSignal turnVelocitySignal;
+
   public WheelMoverTalonFX(
       int driveMotorChannel,
       InvertedValue driveMotorReversed,
@@ -123,6 +133,24 @@ public WheelMoverTalonFX(
 
     m_turnMotor.setPosition(
         turnCANcoder.getAbsolutePosition().getValueAsDouble());
+
+    if (SwerveConstants.kLogMotorTelemetry) {
+      driveVoltsSignal = m_driveMotor.getMotorVoltage(false);
+      driveStatorSignal = m_driveMotor.getStatorCurrent(false);
+      driveSupplySignal = m_driveMotor.getSupplyCurrent(false);
+      driveVelocitySignal = m_driveMotor.getVelocity(false);
+      turnVoltsSignal = m_turnMotor.getMotorVoltage(false);
+      turnStatorSignal = m_turnMotor.getStatorCurrent(false);
+      turnSupplySignal = m_turnMotor.getSupplyCurrent(false);
+      turnVelocitySignal = m_turnMotor.getVelocity(false);
+
+      // Velocity is deliberately absent: it shares a frame with position, which odometry
+      // reads, and pinning it here would cap that frame at kMotorTelemetryHz.
+      BaseStatusSignal.setUpdateFrequencyForAll(
+          SwerveConstants.kMotorTelemetryHz,
+          driveVoltsSignal, driveStatorSignal, driveSupplySignal,
+          turnVoltsSignal, turnStatorSignal, turnSupplySignal);
+    }
   }
 
   @Override
@@ -238,6 +266,27 @@ private void logEverything(LinearVelocity requestedMps, Angle requestedAngle) {
 
     Logger.recordOutput(base + "rawCurrentAngle", rawAngle);
 
+    if (SwerveConstants.kLogMotorTelemetry) {
+      BaseStatusSignal.refreshAll(
+          driveVoltsSignal, driveStatorSignal, driveSupplySignal, driveVelocitySignal,
+          turnVoltsSignal, turnStatorSignal, turnSupplySignal, turnVelocitySignal);
+
+      Logger.recordOutput(base + "driveAppliedVolts", driveVoltsSignal.getValueAsDouble());
+      Logger.recordOutput(base + "driveStatorAmps", driveStatorSignal.getValueAsDouble());
+      Logger.recordOutput(base + "driveSupplyAmps", driveSupplySignal.getValueAsDouble());
+      Logger.recordOutput(base + "driveVelocityRps", driveVelocitySignal.getValueAsDouble());
+      Logger.recordOutput(base + "driveVoltsFrameTimestamp", driveVoltsSignal.getTimestamp().getTime());
+      Logger.recordOutput(base + "driveAmpsFrameTimestamp", driveStatorSignal.getTimestamp().getTime());
+      Logger.recordOutput(base + "driveVelocityFrameTimestamp", driveVelocitySignal.getTimestamp().getTime());
+
+      Logger.recordOutput(base + "turnAppliedVolts", turnVoltsSignal.getValueAsDouble());
+      Logger.recordOutput(base + "turnStatorAmps", turnStatorSignal.getValueAsDouble());
+      Logger.recordOutput(base + "turnSupplyAmps", turnSupplySignal.getValueAsDouble());
+      Logger.recordOutput(base + "turnVelocityRps", turnVelocitySignal.getValueAsDouble());
+      Logger.recordOutput(base + "turnVoltsFrameTimestamp", turnVoltsSignal.getTimestamp().getTime());
+      Logger.recordOutput(base + "turnAmpsFrameTimestamp", turnStatorSignal.getTimestamp().getTime());
+      Logger.recordOutput(base + "turnVelocityFrameTimestamp", turnVelocitySignal.getTimestamp().getTime());
+    }
   }
 
   // ***********************************************************************************************