diff --git a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java
index 73f8aff528..964ae82919 100644
--- a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java
+++ b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java
@@ -6,14 +6,17 @@
 /*----------------------------------------------------------------------------*/
 package edu.wpi.first.wpilibj.test;
 
+import java.util.logging.Level;
 import java.util.logging.Logger;
 
 import org.junit.BeforeClass;
 import org.junit.Rule;
 import org.junit.rules.TestWatcher;
 import org.junit.runner.Description;
+import org.junit.runners.model.MultipleFailureException;
 
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
@@ -24,6 +27,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
  * from this class, to ensure that all of the hardware will be able to run.
  * 
  * @author Fredric Silberberg
+ * @author Jonathan Leitschuh
  */
 public abstract class AbstractComsSetup {
 	/** Stores whether network coms have been initialized */
@@ -43,7 +47,7 @@ public abstract class AbstractComsSetup {
 			FRCNetworkCommunicationsLibrary
 					.FRCNetworkCommunicationObserveUserProgramStarting();
 			LiveWindow.setEnabled(false);
-			System.out.println("Started coms");
+			TestBench.out().println("Started coms");
 
 			// Wait until the robot is enabled before starting the tests
 			int i = 0;
@@ -54,13 +58,13 @@ public abstract class AbstractComsSetup {
 					e.printStackTrace();
 				}
 				//Prints the message on one line overwriting itself each time
-				System.out.print("\rWaiting for enable: " + i++);
+				TestBench.out().print("\rWaiting for enable: " + i++);
 			}
-			System.out.println();
+			TestBench.out().println();
 			
 			// Ready to go!
 			initialized = true;
-			System.out.println("Running!");
+			TestBench.out().println("Running!");
 		}
 	}
 	
@@ -69,21 +73,125 @@ public abstract class AbstractComsSetup {
 	
 	/** This causes a stack trace to be printed as the test is running as well as at the end */
 	@Rule
-	public TestWatcher testWatcher = new TestWatcher() {
-		@Override
-		protected void failed(Throwable e, Description description) {
-			System.out.println();
-			getClassLogger().severe("" + description.getDisplayName() + " failed " + e.getMessage());
-			e.printStackTrace();
+	public final TestWatcher getTestWatcher(){
+		return getOverridenTestWatcher();
+	}
+	
+	/**
+	 * Given as a way to provide a custom test watcher for a test or set of tests
+	 * @return the test watcher to use
+	 */
+	protected TestWatcher getOverridenTestWatcher(){
+		return new DefaultTestWatcher();
+	}
+	
+	protected class DefaultTestWatcher extends TestWatcher {
+		/**
+		 * Allows a failure to supply a custom status message to be displayed along with the stack trace.
+		 */
+		protected void failed(Throwable e, Description description, String status){
+			TestBench.out().println();
+			//Instance of is the best way I know to retrieve this data.
+			if(e instanceof MultipleFailureException){
+				/* MultipleFailureExceptions hold multiple exceptions in one exception. In order to properly display these stack traces
+				 * we have to cast the throwable and work with the list of thrown exceptions stored within it.
+				 */
+				int i = 1; //Running exception count
+				int failureCount = ((MultipleFailureException)e).getFailures().size();
+				for(Throwable singleThrown : ((MultipleFailureException)e).getFailures()){
+					getClassLogger().logp(Level.SEVERE, description.getClassName(), description.getMethodName(), (i++) + "/" + failureCount
+							+ " "+ description.getDisplayName() + " failed " + singleThrown.getMessage() + "\n" + status, singleThrown);
+				}
+				
+			} else {
+				getClassLogger().logp(Level.SEVERE, description.getClassName(), description.getMethodName(), description.getDisplayName() + " failed " + e.getMessage() + "\n" + status, e);
+			}
 			super.failed(e, description);
 		}
 		
+		/* (non-Javadoc)
+		 * @see org.junit.rules.TestWatcher#failed(java.lang.Throwable, org.junit.runner.Description)
+		 */		
 		@Override
-	    protected void starting( Description description ) {
-			System.out.println();
-	        getClassLogger().info( description.getDisplayName());
+		protected void failed(Throwable e, Description description) {
+			failed(e, description, "");
+		}
+
+		
+		/* (non-Javadoc)
+		 * @see org.junit.rules.TestWatcher#starting(org.junit.runner.Description)
+		 */
+		@Override
+	    protected void starting(Description description ) {
+			TestBench.out().println();
+			// Wait until the robot is enabled before starting the next tests
+			int i = 0;
+			while (!DriverStation.getInstance().isEnabled()) {
+				try {
+					Thread.sleep(100);
+				} catch (InterruptedException e) {
+					e.printStackTrace();
+				}
+				//Prints the message on one line overwriting itself each time
+				TestBench.out().print("\rWaiting for enable: " + i++);
+			}
+			getClassLogger().logp(Level.INFO, description.getClassName(), description.getMethodName(), description.getDisplayName());
 	        super.starting(description);
 	    }
+
+		@Override
+		protected void succeeded(Description description) {
+			simpleLog(Level.INFO, "TEST PASSED!");
+			super.succeeded(description);
+		}
+
 	};
+	
+	/**
+	 * Logs a simple message without the logger formatting associated with it.
+	 * @param level The level to log the message at
+	 * @param message The message to log
+	 */
+	protected void simpleLog(Level level, String message){
+		if(getClassLogger().isLoggable(level)){
+			TestBench.out().println(message);
+		}
+	}
+	
+	/**
+	 * Provided as a replacement to lambda functions to allow for repeatable checks to see if a correct state is reached
+	 * @author Jonathan Leitschuh
+	 *
+	 */
+	public abstract class BooleanCheck{
+		public BooleanCheck(){}
+		/**
+		 * Runs the enclosed code and evaluates it to determine what state it should return.
+		 * @return true if the code provided within the method returns true
+		 */
+		abstract public boolean getAsBoolean();
+	};
+	
+	/**
+	 * Delays until either the correct state is reached or we reach the timeout.
+	 * @param level The level to log the message at.
+	 * @param timeout How long the delay should run before it should timeout and allow the test to continue
+	 * @param message The message to accompany the delay. The message will display 'message' took 'timeout' seconds if it passed.
+	 * @param correctState A method to determine if the test has reached a state where it is valid to continue
+	 * @return a double representing how long the delay took to run in seconds.
+	 */
+	public double delayTillInCorrectStateWithMessage(Level level, double timeout, String message, BooleanCheck correctState){
+		int i = 0;
+		//As long as we are not in the correct state and the timeout has not been reached then continue to run this loop
+		for(i = 0; i < (timeout * 100) && !correctState.getAsBoolean(); i++){
+			Timer.delay(.01);
+		}
+		if(correctState.getAsBoolean()){
+			simpleLog(level, message + " took " + (i * .01) + " seconds");
+		} else {
+			simpleLog(level, message + " timed out after " + (i * .01) + " seconds");
+		}
+		return i*.01;
+	}
 
 }