diff --git a/src/main/java/org/sciborgs1155/robot/Robot.java b/src/main/java/org/sciborgs1155/robot/Robot.java
index c99532d..aa9dbbb 100644
--- a/src/main/java/org/sciborgs1155/robot/Robot.java
+++ b/src/main/java/org/sciborgs1155/robot/Robot.java
@@ -3,6 +3,7 @@
 import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import io.github.oblarg.oblog.Loggable;
 import io.github.oblarg.oblog.Logger;
@@ -11,6 +12,7 @@
 import org.sciborgs1155.lib.DeferredCommand;
 import org.sciborgs1155.robot.Ports.OI;
 import org.sciborgs1155.robot.commands.Autos;
+import org.sciborgs1155.robot.exampleMechanism.Subsystem;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -25,6 +27,7 @@ public class Robot extends CommandRobot implements Loggable {
   private final CommandXboxController driver = new CommandXboxController(OI.DRIVER);
 
   // SUBSYSTEMS
+  @Log Subsystem mech = Subsystem.create();
 
   // COMMANDS
   @Log Autos autos = new Autos();
@@ -60,7 +63,10 @@ private void configureGameBehavior() {
   private void configureSubsystemDefaults() {}
 
   /** Configures trigger -> command bindings */
-  private void configureBindings() {}
+  private void configureBindings() {
+    // failing behavior
+    mech.onFailing(Commands.runOnce(() -> {}));
+  }
 
   /** The commamnd to be ran in autonomous */
   public Command getAutonomousCommand() {
diff --git a/src/main/java/org/sciborgs1155/robot/exampleMechanism/Subsystem.java b/src/main/java/org/sciborgs1155/robot/exampleMechanism/Subsystem.java
index 5b30aeb..3a4d7d1 100644
--- a/src/main/java/org/sciborgs1155/robot/exampleMechanism/Subsystem.java
+++ b/src/main/java/org/sciborgs1155/robot/exampleMechanism/Subsystem.java
@@ -6,30 +6,29 @@
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import io.github.oblarg.oblog.Loggable;
+import io.github.oblarg.oblog.annotations.Log;
 import java.util.List;
 import org.sciborgs1155.lib.failure.Fallible;
 import org.sciborgs1155.lib.failure.HardwareFault;
 import org.sciborgs1155.robot.Robot;
-import org.sciborgs1155.robot.exampleMechanism.exampleSubmechanism.EmptySubmech;
-import org.sciborgs1155.robot.exampleMechanism.exampleSubmechanism.RealSubmech;
-import org.sciborgs1155.robot.exampleMechanism.exampleSubmechanism.SimSubmech;
-import org.sciborgs1155.robot.exampleMechanism.exampleSubmechanism.SubmechIO;
+import org.sciborgs1155.robot.exampleMechanism.exampleSubmechanism.*;
 
-public class Subsystem extends SubsystemBase implements Fallible, AutoCloseable {
+public class Subsystem extends SubsystemBase implements Loggable, Fallible, AutoCloseable {
 
-  public static Subsystem createEmpty() {
-    return new Subsystem(new EmptySubmech());
+  public static Subsystem createNone() {
+    return new Subsystem(new NoSubmech());
   }
 
   public static Subsystem create() {
     return new Subsystem(Robot.isReal() ? new RealSubmech() : new SimSubmech());
   }
 
-  private final SubmechIO mech;
+  @Log private final SubmechIO submech;
 
   /** Creates a new ExampleSubsystem. */
-  public Subsystem(SubmechIO mech) {
-    this.mech = mech;
+  public Subsystem(SubmechIO submech) {
+    this.submech = submech;
   }
 
   /**
@@ -53,7 +52,7 @@ public CommandBase exampleMethodCommand() {
    */
   public boolean exampleCondition() {
     // Query some boolean state, such as a digital sensor.
-    return false;
+    return submech.condition();
   }
 
   @Override
@@ -69,12 +68,12 @@ public void simulationPeriodic() {
   @Override
   public List<HardwareFault> getFaults() {
     // TODO Auto-generated method stub
-    return mech.getFaults();
+    return submech.getFaults();
   }
 
   @Override
   public void close() throws Exception {
-    mech.close();
+    submech.close();
     // close all hardware that is AutoClosable. Used for unit tests
   }
 }
diff --git a/src/main/java/org/sciborgs1155/robot/exampleMechanism/exampleSubmechanism/EmptySubmech.java b/src/main/java/org/sciborgs1155/robot/exampleMechanism/exampleSubmechanism/NoSubmech.java
similarity index 72%
rename from src/main/java/org/sciborgs1155/robot/exampleMechanism/exampleSubmechanism/EmptySubmech.java
rename to src/main/java/org/sciborgs1155/robot/exampleMechanism/exampleSubmechanism/NoSubmech.java
index d0d8e92..a132440 100644
--- a/src/main/java/org/sciborgs1155/robot/exampleMechanism/exampleSubmechanism/EmptySubmech.java
+++ b/src/main/java/org/sciborgs1155/robot/exampleMechanism/exampleSubmechanism/NoSubmech.java
@@ -3,9 +3,14 @@
 import java.util.List;
 import org.sciborgs1155.lib.failure.HardwareFault;
 
-public class EmptySubmech implements SubmechIO {
+public class NoSubmech implements SubmechIO {
 
-  public EmptySubmech() {}
+  public NoSubmech() {}
+
+  @Override
+  public boolean condition() {
+    return false;
+  }
 
   @Override
   public List<HardwareFault> getFaults() {
diff --git a/src/main/java/org/sciborgs1155/robot/exampleMechanism/exampleSubmechanism/RealSubmech.java b/src/main/java/org/sciborgs1155/robot/exampleMechanism/exampleSubmechanism/RealSubmech.java
index bf4d653..8fa2db6 100644
--- a/src/main/java/org/sciborgs1155/robot/exampleMechanism/exampleSubmechanism/RealSubmech.java
+++ b/src/main/java/org/sciborgs1155/robot/exampleMechanism/exampleSubmechanism/RealSubmech.java
@@ -8,6 +8,12 @@ public class RealSubmech implements SubmechIO {
 
   public RealSubmech() {}
 
+  @Override
+  public boolean condition() {
+    // TODO Auto-generated method stub
+    return true;
+  }
+
   @Override
   public void close() throws Exception {
     // TODO Auto-generated method stub
diff --git a/src/main/java/org/sciborgs1155/robot/exampleMechanism/exampleSubmechanism/SimSubmech.java b/src/main/java/org/sciborgs1155/robot/exampleMechanism/exampleSubmechanism/SimSubmech.java
index 6dee117..63a6988 100644
--- a/src/main/java/org/sciborgs1155/robot/exampleMechanism/exampleSubmechanism/SimSubmech.java
+++ b/src/main/java/org/sciborgs1155/robot/exampleMechanism/exampleSubmechanism/SimSubmech.java
@@ -7,6 +7,11 @@ public class SimSubmech implements SubmechIO {
 
   public SimSubmech() {}
 
+  @Override
+  public boolean condition() {
+    return true;
+  }
+
   @Override
   public void close() throws Exception {
     // TODO Auto-generated method stub
diff --git a/src/main/java/org/sciborgs1155/robot/exampleMechanism/exampleSubmechanism/SubmechIO.java b/src/main/java/org/sciborgs1155/robot/exampleMechanism/exampleSubmechanism/SubmechIO.java
index 03c19e2..7982aeb 100644
--- a/src/main/java/org/sciborgs1155/robot/exampleMechanism/exampleSubmechanism/SubmechIO.java
+++ b/src/main/java/org/sciborgs1155/robot/exampleMechanism/exampleSubmechanism/SubmechIO.java
@@ -6,9 +6,10 @@
 
 public interface SubmechIO extends Fallible, Sendable, AutoCloseable {
 
+  public boolean condition();
+
   @Override
   default void initSendable(SendableBuilder builder) {
-    // TODO Auto-generated method stub
-
+    builder.addBooleanProperty("condition", this::condition, null);
   }
 }
diff --git a/src/test/java/org/sciborgs1155/robot/subsystems/ExampleSubsystemTest.java b/src/test/java/org/sciborgs1155/robot/exampleMechanism/SubsystemTest.java
similarity index 70%
rename from src/test/java/org/sciborgs1155/robot/subsystems/ExampleSubsystemTest.java
rename to src/test/java/org/sciborgs1155/robot/exampleMechanism/SubsystemTest.java
index 5c50d08..963d453 100644
--- a/src/test/java/org/sciborgs1155/robot/subsystems/ExampleSubsystemTest.java
+++ b/src/test/java/org/sciborgs1155/robot/exampleMechanism/SubsystemTest.java
@@ -1,11 +1,10 @@
-package org.sciborgs1155.robot.subsystems;
+package org.sciborgs1155.robot.exampleMechanism;
 
 import org.junit.jupiter.api.*;
-import org.sciborgs1155.robot.exampleMechanism.Subsystem;
 import org.sciborgs1155.robot.testingUtil.BasicPackage;
 
 // TODO: add comments
-public class ExampleSubsystemTest {
+public class SubsystemTest {
 
   Subsystem exampleSubsystem;
 
@@ -16,7 +15,9 @@ void setup() {
   }
 
   @Test
-  void test() {}
+  void conditionTest() {
+    assert exampleSubsystem.exampleCondition();
+  }
 
   @AfterEach
   void reset() throws Exception {