diff --git a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
index 3669bce78e..5a840bc680 100644
--- a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
+++ b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
@@ -232,3 +232,7 @@ void IterativeRobotBase::LoopFunc() {
 void IterativeRobotBase::PrintLoopOverrunMessage() {
   FRC_ReportError(err::Error, "Loop time of {:.6f}s overrun", m_period.value());
 }
+
+void IterativeRobotBase::PrintWatchdogEpochs() {
+  m_watchdog.PrintEpochs();
+}
diff --git a/wpilibc/src/main/native/include/frc/IterativeRobotBase.h b/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
index be7687d31d..8329c0b10e 100644
--- a/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
+++ b/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
@@ -230,6 +230,11 @@ class IterativeRobotBase : public RobotBase {
    */
   units::second_t GetPeriod() const;
 
+  /**
+   * Prints list of epochs added so far and their times.
+   */
+  void PrintWatchdogEpochs();
+
   /**
    * Constructor for IterativeRobotBase.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
index 12433930e5..ee4b34012a 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
@@ -408,6 +408,11 @@ public abstract class IterativeRobotBase extends RobotBase {
     }
   }
 
+  /** Prints list of epochs added so far and their times. */
+  public void printWatchdogEpochs() {
+    m_watchdog.printEpochs();
+  }
+
   private void printLoopOverrunMessage() {
     DriverStation.reportWarning("Loop time of " + m_period + "s overrun\n", false);
   }