diff --git a/Doxyfile b/Doxyfile
index d21d7606f..94c359474 100644
--- a/Doxyfile
+++ b/Doxyfile
@@ -524,7 +524,7 @@ EXTRACT_ALL            = YES
 # be included in the documentation.
 # The default value is: NO.
 
-EXTRACT_PRIVATE        = NO
+EXTRACT_PRIVATE        = YES
 
 # If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual
 # methods of a class will be included in the documentation.
diff --git a/platformio.ini b/platformio.ini
index c2c9edab3..a401d9517 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -11,9 +11,8 @@ lib_ignore =
 test_ignore=
   test_interfaces*
 lib_deps=
-    git+ssh://git@github.com/hytech-racing/CASE_lib.git#v45
-    
-    https://github.com/hytech-racing/shared_firmware_systems.git
+    git+ssh://git@github.com/hytech-racing/CASE_lib.git#v45    
+    https://github.com/hytech-racing/shared_firmware_systems.git#af96a63
     
 [env:teensy41]
 ; Testing variables
@@ -52,9 +51,9 @@ lib_deps =
     https://github.com/vjmuzik/NativeEthernet.git
     https://github.com/hytech-racing/HT_params/releases/download/2024-05-07T06_59_33/ht_eth_pb_lib.tar.gz
     https://github.com/hytech-racing/shared_firmware_interfaces.git
-    https://github.com/hytech-racing/shared_firmware_systems.git
-    https://github.com/RCMast3r/spi_libs
-    https://github.com/tonton81/FlexCAN_T4
+    https://github.com/hytech-racing/shared_firmware_systems.git#af96a63
+    https://github.com/RCMast3r/spi_libs#2214fee
+    https://github.com/tonton81/FlexCAN_T4#b928bcb
     https://github.com/RCMast3r/hytech_can#testing_new_inv_ids
     https://github.com/hytech-racing/HT_CAN/releases/download/97/can_lib.tar.gz
     git+ssh://git@github.com/hytech-racing/CASE_lib.git#v49
@@ -84,8 +83,8 @@ board = teensy41
 framework = arduino
 upload_protocol = teensy-cli
 lib_deps = 
-    https://github.com/tonton81/FlexCAN_T4
-    https://github.com/RCMast3r/hytech_can
+    https://github.com/tonton81/FlexCAN_T4#b928bcb
+    https://github.com/RCMast3r/hytech_can#4ffbba4
     https://github.com/hytech-racing/HT_CAN/releases/latest/download/can_lib.tar.gz
 
 
diff --git a/src/main.cpp b/src/main.cpp
index e50e4d274..7d5e63a53 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -370,6 +370,17 @@ void loop()
     {
         Serial.print("Steering system reported angle (deg): ");
         Serial.println(steering_system.getSteeringSystemData().angle);
+        Serial.print("Steering system status: ");
+        Serial.println(static_cast<uint8_t>(steering_system.getSteeringSystemData().status))
+        Serial.print("Primary sensor angle: ");
+        Serial.println(steering1.convert().angle);
+        Serial.print("Secondary sensor angle: ");
+        Serial.print(a1.get().conversions[MCU15_STEERING_CHANNEL].conversion);
+        Serial.print("  raw: ");
+        Serial.println(a1.get().conversions[MCU15_STEERING_CHANNEL].raw);
+        Serial.print("Sensor divergence: ");
+        Serial.println(steering1.convert().angle - a1.get().conversions[MCU15_STEERING_CHANNEL].conversion);
+        Serial.println();
 
         Serial.println();
     }