diff --git a/curacao/desk/desk_mqtt.py b/curacao/desk/desk_mqtt.py
index 83c65ad..7d836f4 100755
--- a/curacao/desk/desk_mqtt.py
+++ b/curacao/desk/desk_mqtt.py
@@ -1,3 +1,4 @@
+import logging
 import struct
 import time
 import typing
@@ -79,6 +80,7 @@ class Desk:
         raw = self._dev.ctrl_transfer(
             0xA1, 0x01, 0x300 + typ, 0, self.BUF_LEN
         ).tobytes()
+        self.log.debug(f"Received {raw.hex()}")
         assert raw[0] == typ
         size = raw[1]
         end = 2 + size
@@ -94,6 +96,7 @@ class Desk:
         buf = bytes([typ]) + buf
         # The official apps pad, not that it doesn't seem to work without
         buf = buf + b"\x00" * (self.BUF_LEN - len(buf))
+        self.log.debug(f"Sending {buf.hex()}")
         # Magic numbers: set class interface, HID set report
         self._dev.ctrl_transfer(0x21, 0x09, 0x300 + typ, 0, buf)
         # Non-implemented types:
@@ -116,6 +119,7 @@ class Desk:
         time.sleep(0.5)
 
     def __init__(self) -> None:
+        self.log = logging.getLogger("Desk")
         self._dev = usb.core.find(idVendor=Desk.VEND, idProduct=Desk.PROD)
         if not self._dev:
             raise ValueError(
@@ -127,6 +131,7 @@ class Desk:
 
         self._initialize()
         self._reset_estimations()
+        self.last_destination = None
 
         self.fetch_callback: typing.Callable[["Desk"], None] | None = None
 
@@ -140,6 +145,10 @@ class Desk:
         delta_s = now - self.last_est
 
         if delta_s > self.MAX_EST_INTERVAL:
+            self.log.warning(
+                "Too long without getting a report, "
+                "assuming the desk might be anywhere now."
+            )
             self._reset_estimations()
         else:
             delta_u = delta_s * self.SPEED
@@ -170,6 +179,8 @@ class Desk:
             self.est_value_top = min(self.VALUE_TOP, self.est_value_top)
 
             if self.est_value_top == self.est_value_bot:
+                if self.est_value is None:
+                    self.log.info("Height estimation converged")
                 self.est_value = int(self.est_value_top)
 
         self.last_est = now
@@ -180,8 +191,7 @@ class Desk:
                 raw = self._get_report()
                 break
             except usb.USBError as e:
-                print(e)
-                pass
+                self.log.error(e)
         else:
             raw = self._get_report()
 
@@ -195,6 +205,10 @@ class Desk:
         # From observation. Reliable
         self.destination = (struct.unpack("<H", raw[18:20])[0],)[0]
 
+        if self.destination != self.last_destination:
+            self.log.info(f"Destination changed to {self.destination:04x}")
+            self.last_destination = self.destination
+
         self._update_estimations()
         if self.fetch_callback is not None:
             self.fetch_callback(self)
@@ -208,6 +222,7 @@ class Desk:
         position = max(self.VALUE_BOT, position)
         position = min(self.VALUE_TOP, position)
 
+        self.log.info(f"Start moving to {position:04x}")
         self.fetch()
         while self.est_value != position:
             self._move(position)
@@ -229,6 +244,7 @@ class Desk:
         return self._move_to(self._cmToUnit(position))
 
     def stop(self) -> None:
+        self.log.info("Stop moving")
         self._move(self.VALUE_STOP)
         time.sleep(0.5)
 
@@ -246,13 +262,16 @@ class Desk:
 
 
 if __name__ == "__main__":
+    logging.basicConfig(level=logging.INFO)
+    log = logging.getLogger(__name__)
+
     desk = Desk()
-    target_height: float | None = None
+    serial = "000C-34E7"
 
     # Configure the required parameters for the MQTT broker
     mqtt_settings = ha_mqtt_discoverable.Settings.MQTT(host="192.168.7.53")
-
-    serial = "000C-34E7"
+    ndigits = 1
+    target_height: float | None = None
 
     device_info = ha_mqtt_discoverable.DeviceInfo(
         name="Desk",
@@ -265,8 +284,6 @@ if __name__ == "__main__":
         serial_number=serial,
     )
 
-    ndigits = 1
-
     common_opts = {
         "device": device_info,
         "icon": "mdi:desk",
@@ -295,9 +312,8 @@ if __name__ == "__main__":
         message: paho.mqtt.client.MQTTMessage,
     ) -> None:
         global target_height
-        number = float(message.payload.decode())
-        print(f"HA wants to move to: {number}")
-        target_height = number
+        target_height = float(message.payload.decode())
+        log.info(f"Requested height to {target_height:.1f}")
 
     height = ha_mqtt_discoverable.sensors.Number(
         height_settings, height_callback
@@ -326,6 +342,7 @@ if __name__ == "__main__":
     height_min = ha_mqtt_discoverable.sensors.Sensor(height_min_settings)
 
     def fetch_callback(desk: Desk) -> None:
+        log.debug("Received state, sending")
         hcur = desk.get_height()
         hmin, hmax = desk.get_height_bounds()
 
@@ -345,11 +362,10 @@ if __name__ == "__main__":
     # Need to be rective to catch
     while True:
         if target_height:
-            print("Start moving")
             temp_target_height = target_height
+            # Allows queuing of other instructions while moving
             target_height = None
             desk.move_to(temp_target_height)
-            print("End moving")
         else:
             time.sleep(interval)
             desk.fetch()