diff --git a/Cargo.lock b/Cargo.lock
index bebc94c..bef1804 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -17,6 +17,15 @@ version = "2.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "512761e0bb2578dd7380c6baaa0f4ce03e84f95e960231d1dec8bf4d7d6e2627"
 
+[[package]]
+name = "aho-corasick"
+version = "1.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8e60d3430d3a69478ad0993f19238d2df97c507009a52b3c10addcd7f6bcb916"
+dependencies = [
+ "memchr",
+]
+
 [[package]]
 name = "anstream"
 version = "0.6.18"
@@ -203,6 +212,29 @@ dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "env_filter"
+version = "0.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4f2c92ceda6ceec50f43169f9ee8424fe2db276791afde7b2cd8bc084cb376ab"
+dependencies = [
+ "log",
+ "regex",
+]
+
+[[package]]
+name = "env_logger"
+version = "0.11.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e13fa619b91fb2381732789fc5de83b45675e882f66623b7d8cb4f643017018d"
+dependencies = [
+ "anstream",
+ "anstyle",
+ "env_filter",
+ "humantime",
+ "log",
+]
+
 [[package]]
 name = "flume"
 version = "0.11.1"
@@ -274,6 +306,12 @@ version = "0.3.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d231dfb89cfffdbc30e7fc41579ed6066ad03abda9e567ccafae602b97ec5024"
 
+[[package]]
+name = "humantime"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9a3a5bfb195931eeb336b2a7b4d761daec841b97f947d34394601737a7bba5e4"
+
 [[package]]
 name = "is_terminal_polyfill"
 version = "1.70.1"
@@ -366,7 +404,9 @@ version = "0.1.0"
 dependencies = [
  "clap",
  "csv",
+ "env_logger",
  "jiff",
+ "log",
  "pid",
  "rand",
  "rumqttc",
@@ -475,6 +515,35 @@ dependencies = [
  "getrandom",
 ]
 
+[[package]]
+name = "regex"
+version = "1.11.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b544ef1b4eac5dc2db33ea63606ae9ffcfac26c1416a2806ae0bf5f56b201191"
+dependencies = [
+ "aho-corasick",
+ "memchr",
+ "regex-automata",
+ "regex-syntax",
+]
+
+[[package]]
+name = "regex-automata"
+version = "0.4.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "809e8dc61f6de73b46c85f4c96486310fe304c434cfa43669d7b40f711150908"
+dependencies = [
+ "aho-corasick",
+ "memchr",
+ "regex-syntax",
+]
+
+[[package]]
+name = "regex-syntax"
+version = "0.8.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2b15c43186be67a4fd63bee50d0303afffcef381492ebe2c5d87f324e1b8815c"
+
 [[package]]
 name = "ring"
 version = "0.17.8"
diff --git a/Cargo.toml b/Cargo.toml
index 2c44bfa..9b6b3d7 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -10,7 +10,9 @@ codegen-units = 1
 [dependencies]
 clap = { version = "4.5.20", features = ["derive"] }
 csv = "1.3.1"
+env_logger = "0.11.5"
 jiff = "0.1.14"
+log = "0.4.22"
 pid = "4.0.0"
 rand = "0.8.5"
 rumqttc = "0.24.0"
diff --git a/src/commands/run.rs b/src/commands/run.rs
index 492c46b..d8ef83d 100644
--- a/src/commands/run.rs
+++ b/src/commands/run.rs
@@ -1,4 +1,7 @@
 use clap::Parser;
+use log::debug;
+use log::error;
+use log::info;
 use pid::Pid;
 use rumqttc::{AsyncClient, MqttOptions, QoS};
 use std::time::Duration;
@@ -29,7 +32,8 @@ impl RunArgs {
 
         let (client, mut eventloop) = AsyncClient::new(mqttoptions, 10);
         if let Err(e) = client.subscribe(self.input_topic, QoS::AtMostOnce).await {
-            panic!("Failed to subscribe to MQTT topic: {}", e);
+            error!("Failed to subscribe to MQTT topic: {}", e);
+            return Err(Box::new(e));
         }
 
         let (tx, mut rx) = watch::channel(0);
@@ -53,6 +57,7 @@ impl RunArgs {
                         .round() as u8;
 
                     if last_output_value != output {
+                        debug!("Emitting new output value: {}", output);
                         last_output_value = output;
                         if let Err(e) = client
                             .publish(
@@ -63,28 +68,31 @@ impl RunArgs {
                             )
                             .await
                         {
-                            eprintln!("Failed to publish to MQTT topic: {}", e);
+                            error!("Failed to publish to MQTT topic: {}", e);
                         }
                     }
                 }
             });
         }
 
+        info!("Topic subscribed; waiting for events.");
+
         loop {
             let notification = eventloop.poll().await;
             match notification {
                 Ok(rumqttc::Event::Incoming(rumqttc::Packet::Publish(publish))) => {
                     if let Ok(payload) = std::str::from_utf8(&publish.payload) {
                         if let Ok(value) = payload.parse::<u16>() {
+                            debug!("Received new input value: {}", value);
                             if let Err(e) = tx.send(value) {
-                                eprintln!("Failed to send via channel: {}", e);
+                                error!("Failed to send via channel: {}", e);
                             }
                         }
                     }
                 }
                 Ok(_) => {}
                 Err(e) => {
-                    eprintln!("MQTT error: {:?}", e);
+                    error!("MQTT error: {:?}", e);
                 }
             }
         }
diff --git a/src/main.rs b/src/main.rs
index b3bf454..de354d7 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -32,6 +32,8 @@ enum Commands {
 
 #[tokio::main(flavor = "multi_thread", worker_threads = 2)]
 async fn main() {
+    env_logger::init();
+
     let args = Args::parse();
     let mut pid = Pid::<f64>::new(args.setpoint, 100.0);
     pid.p(args.kp, 100.0);