diff --git a/src/main/java/frc/spectrumLib/mechanism/Mechanism.java b/src/main/java/frc/spectrumLib/mechanism/Mechanism.java
index fc3f38e8..886a8c71 100644
--- a/src/main/java/frc/spectrumLib/mechanism/Mechanism.java
+++ b/src/main/java/frc/spectrumLib/mechanism/Mechanism.java
@@ -34,6 +34,8 @@
 import frc.spectrumLib.util.CanDeviceId;
 import frc.spectrumLib.util.Conversions;
 import java.util.function.DoubleSupplier;
+import java.util.function.Supplier;
+
 import lombok.*;
 
 /**
@@ -48,6 +50,9 @@ public abstract class Mechanism implements NTSendable, SpectrumSubsystem {
     public Config config;
 
     Alert currentAlert = new Alert("", AlertType.kWarning);
+    Alert disconnectedAlert =
+            new Alert(getName() + " motor " + config.getId() + " disconnected", AlertType.kWarning);
+    Alert unlicensedAlert = new Alert(getName() + " motor " + config.getId() + " unlicensed", AlertType.kWarning);
     private double target = 0;
 
     private final CachedDouble cachedRotations;
@@ -468,15 +473,35 @@ protected void tareMotor() {
         }
     }
 
+    protected void checkMotorOK(Supplier<StatusCode> motorRequest) {
+        if (motorRequest.get().isOK()) {
+            disconnectedAlert.set(false);
+            unlicensedAlert.set(false);
+            return;
+        }
+
+        if (motorRequest.get().isOK()) {
+            return;
+        }
+
+        disconnectedAlert.set(true);
+
+        if (motorRequest.get().value == StatusCode.UnlicensedDevice.value) {
+                unlicensedAlert.set(true);
+        }
+    }
+
     /**
      * Sets the mechanism position of the motor
      *
      * @param rotations rotations
      */
     protected void setMotorPosition(DoubleSupplier rotations) {
-        if (isAttached()) {
-            motor.setPosition(rotations.getAsDouble());
+        if (!isAttached()) {
+            disconnectedAlert.set(false);
+            return;
         }
+        checkMotorOK(() -> motor.setPosition(rotations.getAsDouble()));
     }
 
     /**
@@ -487,8 +512,10 @@ protected void setMotorPosition(DoubleSupplier rotations) {
     protected void setMMVelocityFOC(DoubleSupplier velocityRPS) {
         if (isAttached()) {
             target = velocityRPS.getAsDouble();
-            MotionMagicVelocityTorqueCurrentFOC mm = config.mmVelocityFOC.withVelocity(target);
-            motor.setControl(mm);
+            MotionMagicVelocityTorqueCurrentFOC mm =
+                    config.mmVelocityFOC.withVelocity(target);
+
+            checkMotorOK(() -> motor.setControl(mm));
         }
     }
 
@@ -501,7 +528,7 @@ protected void setVelocityTorqueCurrentFOC(DoubleSupplier velocityRPS) {
         if (isAttached()) {
             target = velocityRPS.getAsDouble();
             VelocityTorqueCurrentFOC output = config.velocityTorqueCurrentFOC.withVelocity(target);
-            motor.setControl(output);
+            checkMotorOK(() -> motor.setControl(output));
         }
     }
 
@@ -514,7 +541,7 @@ protected void setVelocityTCFOCrpm(DoubleSupplier velocityRPS) {
         if (isAttached()) {
             target = Conversions.RPMtoRPS(velocityRPS.getAsDouble());
             VelocityTorqueCurrentFOC output = config.velocityTorqueCurrentFOC.withVelocity(target);
-            motor.setControl(output);
+            checkMotorOK(() -> motor.setControl(output));
         }
     }
 
@@ -527,7 +554,7 @@ protected void setVelocity(DoubleSupplier velocityRPS) {
         if (isAttached()) {
             target = velocityRPS.getAsDouble();
             VelocityVoltage output = config.velocityControl.withVelocity(target);
-            motor.setControl(output);
+            checkMotorOK(() -> motor.setControl(output));
         }
     }
 
@@ -540,7 +567,7 @@ protected void setMMPositionFoc(DoubleSupplier rotations) {
         if (isAttached()) {
             target = rotations.getAsDouble();
             MotionMagicTorqueCurrentFOC mm = config.mmPositionFOC.withPosition(target);
-            motor.setControl(mm);
+            checkMotorOK(() -> motor.setControl(mm));
         }
     }
 
@@ -566,7 +593,7 @@ protected void setDynMMPositionFoc(
                             .withVelocity(velocity.getAsDouble())
                             .withAcceleration(acceleration.getAsDouble())
                             .withJerk(jerk.getAsDouble());
-            motor.setControl(mm);
+            checkMotorOK(() -> motor.setControl(mm));
         }
     }
 
@@ -590,7 +617,7 @@ public void setMMPosition(DoubleSupplier rotations, int slot) {
             target = rotations.getAsDouble();
             MotionMagicVoltage mm =
                     config.mmPositionVoltageSlot.withSlot(slot).withPosition(target);
-            motor.setControl(mm);
+            checkMotorOK(() -> motor.setControl(mm));
         }
     }
 
@@ -604,21 +631,21 @@ public void setPercentOutput(DoubleSupplier percent) {
             VoltageOut output =
                     config.voltageControl.withOutput(
                             config.voltageCompSaturation * percent.getAsDouble());
-            motor.setControl(output);
+            checkMotorOK(() -> motor.setControl(output));
         }
     }
 
     public void setVoltageOutput(DoubleSupplier voltage) {
         if (isAttached()) {
             VoltageOut output = config.voltageControl.withOutput(voltage.getAsDouble());
-            motor.setControl(output);
+            checkMotorOK(() -> motor.setControl(output));
         }
     }
 
     public void setTorqueCurrentFoc(DoubleSupplier current) {
         if (isAttached()) {
             TorqueCurrentFOC output = config.torqueCurrentFOC.withOutput(current.getAsDouble());
-            motor.setControl(output);
+            checkMotorOK(() -> motor.setControl(output));
         }
     }