diff --git a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
index 2751dc559b..f2947d28b0 100644
--- a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
+++ b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
@@ -8,6 +8,7 @@ package edu.wpi.first.wpilibj;
 
 import static org.junit.Assert.*;
 
+import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.Collection;
 import java.util.logging.Logger;
@@ -17,7 +18,10 @@ import org.junit.AfterClass;
 import org.junit.Before;
 import org.junit.BeforeClass;
 import org.junit.Ignore;
+import org.junit.Rule;
 import org.junit.Test;
+import org.junit.rules.TestWatcher;
+import org.junit.runner.Description;
 import org.junit.runner.RunWith;
 import org.junit.runners.Parameterized;
 import org.junit.runners.Parameterized.Parameters;
@@ -41,21 +45,43 @@ public class PIDTest extends AbstractComsSetup {
 	private PIDController controller = null;
 	private static MotorEncoderFixture me = null;
 	
-	public PIDTest(MotorEncoderFixture mef){
+	private final Double p;
+	private final Double i;
+	private final Double d;
+	
+	@Rule
+	public TestWatcher testWatcher = new TestWatcher() {
+		protected void failed(Throwable e, Description description) {
+			System.out.println();
+			logger.severe("" + description.getDisplayName() + " failed " + e.getMessage());
+			super.failed(e, description);
+			}
+		};
+
+	
+	public PIDTest(Double p, Double i, Double d, MotorEncoderFixture mef){
 		logger.fine("Constructor with: " + mef.getType());
 		if(PIDTest.me != null && !PIDTest.me.equals(mef)) PIDTest.me.teardown();
 		PIDTest.me = mef;
+		this.p = p;
+		this.i = i;
+		this.d = d;
 	}
 	
 	@Parameters
-	public static Collection<MotorEncoderFixture[]> generateData(){
+	public static Collection<Object[]> generateData(){
 		//logger.fine("Loading the MotorList");
-		return Arrays.asList(new MotorEncoderFixture[][]{
-				 {TestBench.getInstance().getTalonPair()},
-				 {TestBench.getInstance().getVictorPair()},
-				 {TestBench.getInstance().getJaguarPair()}
-			//	 TestBench.getInstance().getCanJaguarPair()
-		});
+		Collection<Object[]> data = new ArrayList<Object[]>();
+		double kp = 0.0035;
+		double ki = 0.001;
+		double kd = 0.0;
+		for(int i = 0; i < 10; i++){
+			data.addAll(Arrays.asList(new Object[][]{
+				 {kp, ki, kd, TestBench.getInstance().getTalonPair()},
+				 {kp, ki, kd, TestBench.getInstance().getVictorPair()},
+				 {kp, ki, kd, TestBench.getInstance().getJaguarPair()}}));
+		}
+		return data;
 	}
 
 	/**
@@ -81,7 +107,7 @@ public class PIDTest extends AbstractComsSetup {
 	public void setUp() throws Exception {
 		logger.fine("Setup: " + me.getType());
 		me.setup();
-		controller = new PIDController(0.003, .001, 0, me.getEncoder(), me.getMotor());
+		controller = new PIDController(p, i, d, me.getEncoder(), me.getMotor());
 		controller.setAbsoluteTolerance(15);
 		controller.setOutputRange(-0.2, 0.2);
 	}
@@ -116,14 +142,17 @@ public class PIDTest extends AbstractComsSetup {
 	@Test (timeout = 6000)
 	public void testRotateToTarget() {
 		double setpoint = 2500.0;
-		System.out.println("Entering testRotateToTarget");
-		assertEquals("PID did not start at 0", 0, controller.get(), 0);
+		assertEquals(pidData() + "did not start at 0", 0, controller.get(), 0);
 		controller.setSetpoint(setpoint);
-		assertEquals("PID did not have an error of " + setpoint, setpoint, controller.getError(), 0);
+		assertEquals(pidData() +"did not have an error of " + setpoint, setpoint, controller.getError(), 0);
 		controller.enable();
 		Timer.delay(5);
 		controller.disable();
-		assertTrue("PID Controller Error: " + controller.getError(), controller.onTarget());
+		assertTrue(pidData() + "Controller Error: " + controller.getError(), controller.onTarget());
+	}
+	
+	private String pidData(){
+		return me.getType() + " PID {P:" +controller.getP() + " I:" + controller.getI() + " D:" + controller.getD() +"} ";
 	}
 	
 }