diff --git a/bd_tools/src/bd_tools/bin/control_motor.py b/bd_tools/src/bd_tools/bin/control_motor.py
index 674d46a..b937c0f 100755
--- a/bd_tools/src/bd_tools/bin/control_motor.py
+++ b/bd_tools/src/bd_tools/bin/control_motor.py
@@ -53,15 +53,18 @@ def make_type(x, to_type):
 
     boards.initMotor(client, board_ids)
 
-    def callback() -> bool:
+    def callback() -> int:
         boards.clearWDGRST(client)
 
         try:
             boards.driveMotor(client, board_ids, actuations, mode)
-        except (comms.ProtocolError, comms.MalformedPacketError):
-            return False
+        except (comms.ProtocolError, comms.MalformedPacketError) as e:
+            if "id: " in str(e):
+                return int(str(e).split("id: ")[1][0])
+            else:
+                return -1
 
-        return True
+        return 0
 
     loop = utils.DebugLoop(callback, args.num_iters, iters_per_print=1000)
 
diff --git a/bd_tools/src/bd_tools/bin/read_sensor.py b/bd_tools/src/bd_tools/bin/read_sensor.py
index 230a437..fe70ae8 100755
--- a/bd_tools/src/bd_tools/bin/read_sensor.py
+++ b/bd_tools/src/bd_tools/bin/read_sensor.py
@@ -81,7 +81,7 @@ def action(args):
 
     num_boards = len(board_ids)
 
-    def callback() -> bool:
+    def callback() -> int:
         boards.clearWDGRST(client)
 
         try:
@@ -98,8 +98,12 @@ def callback() -> bool:
                 print("Board:", bid, message.format(args.sensor, val))
 
         except (comms.MalformedPacketError, comms.ProtocolError) as e:
-            print(e)
-            return False
+            if "id: " in str(e):
+                return int(str(e).split("id: ")[1][0])
+            else:
+                return -1
+
+        return 0
 
     loop = utils.DebugLoop(
         callback=callback, num_iters=args.num_iters, iters_per_print=1000
diff --git a/bd_tools/src/bd_tools/utils.py b/bd_tools/src/bd_tools/utils.py
index 7dd460a..58be449 100644
--- a/bd_tools/src/bd_tools/utils.py
+++ b/bd_tools/src/bd_tools/utils.py
@@ -1,5 +1,6 @@
 """Defines a set of convenient utilities to use in scripts."""
 import time
+from collections import Counter
 from typing import Callable
 
 
@@ -17,8 +18,8 @@ def __init__(
 
         Arguments:
             callback: called for each iteration of the loop. This callable
-                takes no arguments and should return True if successful else,
-                False.
+                takes no arguments and should return 0 if successful and an
+                error code otherwise (this will be used to report statistics).
             num_iters: number of iterations to run before exiting.
             iters_per_print: number of iterations between prints.
         """
@@ -26,32 +27,54 @@ def __init__(
         self._num_iters = num_iters
         self._iters_per_print = iters_per_print
 
-        self._errors = 0
+        self._errors = {}
+        self._cummulative_errors = Counter({})
         self._iters = 0
         self._iter_start_time = None
 
     def _loop_func(self):
-        self._errors += 0 if self._callback() else 1
+        err = self._callback()
+        assert type(err) is int
+
+        if err != 0:
+            if err not in self._errors:
+                self._errors[err] = 1
+            else:
+                self._errors[err] += 1
         self._iters += 1
 
         if self._iters % self._iters_per_print == 0:
             self._print_func()
             self._iter_start_time = time.time()
 
+    def _print_error_codes(self, errors):
+        total_errors = sum(errors.values())
+        for error_code, count in sorted(errors.items()):
+            code_errors = count / total_errors * 100
+            print(
+                f"Error code: {error_code} was {round(code_errors, 2)}% of "
+                f"errors."
+            )
+
     def _print_func(self):
         now = time.time()
         diff = now - self._iter_start_time
 
         freq = self._iters_per_print / diff
-        error_rate = self._errors / self._iters_per_print * 100
+        total_errors = sum(self._errors.values())
+        error_rate = total_errors / self._iters_per_print * 100
         print(
             f"Loop frequency is {round(freq, 2)}hz at "
+            f"({total_errors}/{self._iters_per_print})"
             f"{round(error_rate, 2)}% error rate."
         )
 
+        self._print_error_codes(self._errors)
+
         # Reset statistics variables.
         self._start_time = now
-        self._errors = 0
+        self._cummulative_errors += Counter(self._errors)
+        self._errors = {}
 
     def loop(self):
         """Loops the callback. Can be escaped with ctrl^c."""
@@ -67,4 +90,6 @@ def loop(self):
                 f"Interrupted. Loop exiting. Completed {self._iters} "
                 f"iterations."
             )
+            print(f"Cummultive errors:")
+            self._print_error_codes(self._cummulative_errors)
             pass