diff --git a/core/src/register_data.rs b/core/src/register_data.rs
index ac7b421..28ac522 100644
--- a/core/src/register_data.rs
+++ b/core/src/register_data.rs
@@ -95,27 +95,36 @@ impl<const SIZE: usize, RB: funty::Integral> RegisterData<RB> for ArrayRegisterD
     }
 }
 
-impl<const SIZE: usize, RB> FromIterator<u8> for ArrayRegisterData<SIZE, RB>
+impl<const SIZE: usize, RB> ArrayRegisterData<SIZE, RB>
 where
     RB: funty::Integral,
     RB::Bytes: for<'a> TryFrom<&'a [u8]>,
 {
-    fn from_iter<T: IntoIterator<Item = u8>>(iter: T) -> Self {
-        // Get the iterator. We assume that it is in the same format as the bytes function outputs
+    /// Try to build a [ArrayRegisterData] from an [IntoIterator<Item = u8>]
+    pub fn try_from_iter<I: IntoIterator<Item = u8>>(
+        iter: I,
+    ) -> Result<Self, RegisterDataFromIterError> {
+        use RegisterDataFromIterError::*;
+        // Get the iterator.
         let mut iter = iter.into_iter();
 
-        assert_eq!(
-            iter.next().unwrap(),
-            REGISTER_DATA_IDENTIFIER,
-            "The given iterator is not for register data"
-        );
+        match iter.next() {
+            Some(REGISTER_DATA_IDENTIFIER) => {}
+            Some(id) => return Err(InvalidIdentifier(id)),
+            None => return Err(NotEnoughItems),
+        }
 
         // First the starting number is encoded
-        let starting_register_number =
-            u16::from_le_bytes([iter.next().unwrap(), iter.next().unwrap()]);
+        let starting_register_number = u16::from_le_bytes([
+            iter.next().ok_or(NotEnoughItems)?,
+            iter.next().ok_or(NotEnoughItems)?,
+        ]);
 
         // Second is how many registers there are
-        let register_count = u16::from_le_bytes([iter.next().unwrap(), iter.next().unwrap()]);
+        let register_count = u16::from_le_bytes([
+            iter.next().ok_or(NotEnoughItems)?,
+            iter.next().ok_or(NotEnoughItems)?,
+        ]);
 
         // Create the buffer we're storing the registers in
         let mut registers = ArrayVec::new();
@@ -123,28 +132,48 @@ where
         // We process everything byte-by-byte generically so every register has an unknown length
         // So we need to store the bytes temporarily until we have enough to fully read the bytes as a register
         let register_size = core::mem::size_of::<RB>();
+
+        // Check that all register bytes will fit in `registers`
+        let num_register_bytes = register_count as usize * register_size;
+        if num_register_bytes > SIZE {
+            return Err(LengthTooBig(register_count, register_size));
+        }
+
         let mut register_bytes_buffer = ArrayVec::<u8, 16>::new();
 
-        for byte in (0..register_count as usize * register_size).map(|_| iter.next().unwrap()) {
-            register_bytes_buffer.push(byte);
+        for byte in (0..num_register_bytes).map(|_| iter.next().ok_or(NotEnoughItems)) {
+            let byte = byte?;
+            register_bytes_buffer.try_push(byte).map_err(|_| Corrupt)?;
 
             if register_bytes_buffer.len() == register_size {
                 registers.push(RB::from_le_bytes(
                     register_bytes_buffer
                         .as_slice()
                         .try_into()
-                        .unwrap_or_else(|_| panic!()),
+                        .map_err(|_| Corrupt)?,
                 ));
                 register_bytes_buffer = ArrayVec::new();
             }
         }
 
-        assert!(register_bytes_buffer.is_empty());
+        if !register_bytes_buffer.is_empty() {
+            return Err(Corrupt);
+        }
 
-        Self {
+        Ok(Self {
             starting_register_number,
             registers,
-        }
+        })
+    }
+}
+
+impl<const SIZE: usize, RB> FromIterator<u8> for ArrayRegisterData<SIZE, RB>
+where
+    RB: funty::Integral,
+    RB::Bytes: for<'a> TryFrom<&'a [u8]>,
+{
+    fn from_iter<T: IntoIterator<Item = u8>>(iter: T) -> Self {
+        Self::try_from_iter(iter).unwrap()
     }
 }
 
@@ -223,50 +252,76 @@ impl<RB: funty::Integral> RegisterData<RB> for VecRegisterData<RB> {
 }
 
 #[cfg(feature = "std")]
-impl<RB> FromIterator<u8> for VecRegisterData<RB>
+impl<RB> VecRegisterData<RB>
 where
     RB: funty::Integral,
     RB::Bytes: for<'a> TryFrom<&'a [u8]>,
 {
-    fn from_iter<T: IntoIterator<Item = u8>>(iter: T) -> Self {
+    /// Try to build a [VecRegisterData] from an [IntoIterator<Item = u8>]
+    pub fn try_from_iter<I: IntoIterator<Item = u8>>(
+        iter: I,
+    ) -> Result<Self, RegisterDataFromIterError> {
+        use RegisterDataFromIterError::*;
+
         let mut iter = iter.into_iter();
 
-        assert_eq!(
-            iter.next().unwrap(),
-            REGISTER_DATA_IDENTIFIER,
-            "The given iterator is not for register data"
-        );
+        match iter.next() {
+            Some(REGISTER_DATA_IDENTIFIER) => {}
+            Some(id) => return Err(InvalidIdentifier(id)),
+            None => return Err(NotEnoughItems),
+        }
 
-        let starting_register_number =
-            u16::from_le_bytes([iter.next().unwrap(), iter.next().unwrap()]);
+        let starting_register_number = u16::from_le_bytes([
+            iter.next().ok_or(NotEnoughItems)?,
+            iter.next().ok_or(NotEnoughItems)?,
+        ]);
 
-        let register_count = u16::from_le_bytes([iter.next().unwrap(), iter.next().unwrap()]);
+        let register_count = u16::from_le_bytes([
+            iter.next().ok_or(NotEnoughItems)?,
+            iter.next().ok_or(NotEnoughItems)?,
+        ]);
 
         let mut registers = Vec::new();
         let register_size = core::mem::size_of::<RB>();
 
         let mut register_bytes_buffer = ArrayVec::<u8, 16>::new();
 
-        for byte in (0..register_count as usize * register_size).map(|_| iter.next().unwrap()) {
-            register_bytes_buffer.push(byte);
+        for byte in
+            (0..register_count as usize * register_size).map(|_| iter.next().ok_or(NotEnoughItems))
+        {
+            let byte = byte?;
+            register_bytes_buffer.try_push(byte).map_err(|_| Corrupt)?;
 
             if register_bytes_buffer.len() == register_size {
                 registers.push(RB::from_le_bytes(
                     register_bytes_buffer
                         .as_slice()
                         .try_into()
-                        .unwrap_or_else(|_| panic!()),
+                        .map_err(|_| Corrupt)?,
                 ));
                 register_bytes_buffer.clear();
             }
         }
 
-        assert!(register_bytes_buffer.is_empty());
+        if !register_bytes_buffer.is_empty() {
+            return Err(Corrupt);
+        }
 
-        Self {
+        Ok(Self {
             starting_register_number,
             registers,
-        }
+        })
+    }
+}
+
+#[cfg(feature = "std")]
+impl<RB> FromIterator<u8> for VecRegisterData<RB>
+where
+    RB: funty::Integral,
+    RB::Bytes: for<'a> TryFrom<&'a [u8]>,
+{
+    fn from_iter<T: IntoIterator<Item = u8>>(iter: T) -> Self {
+        Self::try_from_iter(iter).unwrap()
     }
 }
 
@@ -324,6 +379,35 @@ impl<'a, RB: funty::Integral> Iterator for RegisterDataBytesIterator<'a, RB> {
 
 impl<'a, RB: funty::Integral> ExactSizeIterator for RegisterDataBytesIterator<'a, RB> {}
 
+#[derive(Debug)]
+/// Specifies what went wrong building a [RegisterData] from an iterator
+pub enum RegisterDataFromIterError {
+    /// The given iterator is not for a register set.
+    /// First item from iterator yielded invalid identifier. Expected [REGISTER_DATA_IDENTIFIER]
+    InvalidIdentifier(u8),
+    /// Iterator specified length too big for declared register set
+    LengthTooBig(u16, usize),
+    /// Iterator did not yield enough items to build register set
+    NotEnoughItems,
+    /// Iterator data is corrupt in some other way
+    Corrupt,
+}
+
+impl core::fmt::Display for RegisterDataFromIterError {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        use RegisterDataFromIterError::*;
+        match self {
+            InvalidIdentifier(id) => write!(f, "Iterator is not for a register set. Started with {id}, expected {REGISTER_DATA_IDENTIFIER}"),
+            LengthTooBig(count, size) => write!(f, "Iterator specified length too big for register set: {len}", len = *count as usize * size),
+            NotEnoughItems => write!(f, "Iterator did not yield enough items to build register set"),
+            Corrupt => write!(f, "Iterator data is corrupt")
+        }
+    }
+}
+
+#[cfg(feature = "std")]
+impl std::error::Error for RegisterDataFromIterError {}
+
 #[cfg(test)]
 mod tests {
     use super::*;