diff --git a/lib/pbio/include/pbio/control.h b/lib/pbio/include/pbio/control.h
index ad2e4405a..37de9549e 100644
--- a/lib/pbio/include/pbio/control.h
+++ b/lib/pbio/include/pbio/control.h
@@ -13,6 +13,7 @@
 #include <pbio/port.h>
 #include <pbio/trajectory.h>
 #include <pbio/integrator.h>
+#include <pbio/logger.h>
 
 #include <pbio/iodev.h>
 
@@ -73,6 +74,7 @@ typedef struct _pbio_control_t {
     pbio_rate_integrator_t rate_integrator;
     pbio_count_integrator_t count_integrator;
     pbio_control_on_target_t on_target_func;
+    pbio_log_t log;
     bool stalled;
     bool on_target;
 } pbio_control_t;
diff --git a/lib/pbio/include/pbio/drivebase.h b/lib/pbio/include/pbio/drivebase.h
index 118f654ff..14ef80de2 100644
--- a/lib/pbio/include/pbio/drivebase.h
+++ b/lib/pbio/include/pbio/drivebase.h
@@ -13,7 +13,6 @@ typedef struct _pbio_drivebase_t {
     pbio_servo_t *right;
     int32_t sum_offset;
     int32_t dif_offset;
-    pbio_log_t log;
     pbio_control_t control_heading;
     pbio_control_t control_distance;
 } pbio_drivebase_t;
diff --git a/lib/pbio/include/pbio/logger.h b/lib/pbio/include/pbio/logger.h
index 2ad94af4a..6647cc6a0 100644
--- a/lib/pbio/include/pbio/logger.h
+++ b/lib/pbio/include/pbio/logger.h
@@ -13,7 +13,7 @@
 #define NUM_DEFAULT_LOG_VALUES (1)
 
 // Maximum number of values to be logged per sample
-#define MAX_LOG_VALUES (20)
+#define MAX_LOG_VALUES (NUM_DEFAULT_LOG_VALUES + 7)
 
 typedef struct _pbio_log_t {
     bool active;
diff --git a/lib/pbio/include/pbio/servo.h b/lib/pbio/include/pbio/servo.h
index ca4da03e2..2754e8a18 100644
--- a/lib/pbio/include/pbio/servo.h
+++ b/lib/pbio/include/pbio/servo.h
@@ -31,7 +31,6 @@ typedef struct _pbio_servo_t {
     pbio_tacho_t *tacho;
     pbio_control_t control;
     pbio_port_t port;
-    pbio_log_t log;
 } pbio_servo_t;
 
 pbio_error_t pbio_servo_setup(pbio_servo_t *srv, pbio_direction_t direction, fix16_t gear_ratio);
diff --git a/lib/pbio/src/control.c b/lib/pbio/src/control.c
index 80c360091..5b3f4570b 100644
--- a/lib/pbio/src/control.c
+++ b/lib/pbio/src/control.c
@@ -106,6 +106,18 @@ void control_update(pbio_control_t *ctl, int32_t time_now, int32_t count_now, in
         *actuation_type = PBIO_ACTUATION_DUTY;
         *control = duty;
     }
+
+    // Log control data
+    int32_t log_data[] = {
+        (time_ref - ctl->trajectory.t0) / 1000,
+        count_now,
+        rate_now,
+        PBIO_ACTUATION_DUTY,
+        *control,
+        count_ref,
+        rate_ref,
+    };
+    pbio_logger_update(&ctl->log, log_data);
 }
 
 
diff --git a/lib/pbio/src/drivebase.c b/lib/pbio/src/drivebase.c
index 3a2a2df79..54a89123d 100644
--- a/lib/pbio/src/drivebase.c
+++ b/lib/pbio/src/drivebase.c
@@ -8,8 +8,6 @@
 #include <pbio/math.h>
 #include <pbio/servo.h>
 
-#define DRIVEBASE_LOG_NUM_VALUES (15 + NUM_DEFAULT_LOG_VALUES)
-
 #if PBDRV_CONFIG_NUM_MOTOR_CONTROLLER != 0
 
 static pbio_error_t drivebase_adopt_settings(pbio_control_settings_t *s_distance, pbio_control_settings_t *s_heading, pbio_control_settings_t *s_left, pbio_control_settings_t *s_right) {
@@ -142,44 +140,6 @@ static pbio_error_t pbio_drivebase_actuate(pbio_drivebase_t *db, pbio_actuation_
     return err;
 }
 
-// Log motor data for a motor that is being actively controlled
-static pbio_error_t drivebase_log_update(pbio_drivebase_t *db,
-    int32_t time_now,
-    int32_t sum,
-    int32_t sum_rate,
-    int32_t sum_control,
-    int32_t dif,
-    int32_t dif_rate,
-    int32_t dif_control) {
-
-    int32_t buf[DRIVEBASE_LOG_NUM_VALUES];
-    buf[0] = time_now;
-    buf[1] = sum;
-    buf[2] = sum_rate;
-    buf[3] = sum_control;
-    buf[4] = dif;
-    buf[5] = dif_rate;
-    buf[6] = dif_control;
-
-    int32_t sum_ref, sum_ref_ext, sum_rate_ref, sum_rate_err, sum_rate_err_integral, sum_acceleration_ref;
-    pbio_trajectory_get_reference(&db->control_distance.trajectory, time_now, &sum_ref, &sum_ref_ext, &sum_rate_ref, &sum_acceleration_ref);
-    pbio_rate_integrator_get_errors(&db->control_distance.rate_integrator, time_now, sum_rate_ref, sum, sum_ref, &sum_rate_err, &sum_rate_err_integral);
-    buf[7] = sum_ref;
-    buf[8] = sum_rate_err_integral;
-    buf[9] = sum_rate_ref;
-    buf[10] = sum_rate_err_integral;
-
-    int32_t dif_ref, dif_ref_ext, dif_rate_ref, dif_rate_err, dif_rate_err_integral, dif_acceleration_ref;
-    pbio_trajectory_get_reference(&db->control_heading.trajectory, time_now, &dif_ref, &dif_ref_ext, &dif_rate_ref, &dif_acceleration_ref);
-    pbio_rate_integrator_get_errors(&db->control_heading.rate_integrator, time_now, dif_rate_ref, dif, dif_ref, &dif_rate_err, &dif_rate_err_integral);
-    buf[11] = dif_ref;
-    buf[12] = dif_rate_err_integral;
-    buf[13] = dif_rate_ref;
-    buf[14] = dif_rate_err_integral;
-
-    return pbio_logger_update(&db->log, buf);
-}
-
 pbio_error_t pbio_drivebase_setup(pbio_drivebase_t *db, pbio_servo_t *left, pbio_servo_t *right, fix16_t wheel_diameter, fix16_t axle_track) {
     pbio_error_t err;
 
@@ -214,9 +174,6 @@ pbio_error_t pbio_drivebase_setup(pbio_drivebase_t *db, pbio_servo_t *left, pbio
     db->right = right;
     pbio_drivebase_claim_servos(db, false);
 
-    // Initialize log
-    db->log.num_values = DRIVEBASE_LOG_NUM_VALUES;
-
     // Adopt settings as the average or sum of both servos, except scaling
     err = drivebase_adopt_settings(&db->control_distance.settings, &db->control_heading.settings, &db->left->control.settings, &db->right->control.settings);
     if (err != PBIO_SUCCESS) {
@@ -310,6 +267,12 @@ pbio_error_t pbio_drivebase_stop_force(pbio_drivebase_t *db) {
 }
 
 pbio_error_t pbio_drivebase_update(pbio_drivebase_t *db) {
+
+    // If passive, log and exit
+    if (db->control_heading.type == PBIO_CONTROL_NONE || db->control_distance.type == PBIO_CONTROL_NONE) {
+        return PBIO_SUCCESS;
+    }
+
     // Get the physical state
     int32_t time_now, sum, sum_rate, dif, dif_rate;
     pbio_error_t err = drivebase_get_state(db, &time_now, &sum, &sum_rate, &dif, &dif_rate);
@@ -317,11 +280,6 @@ pbio_error_t pbio_drivebase_update(pbio_drivebase_t *db) {
         return err;
     }
 
-    // If passive, log and exit
-    if (db->control_heading.type == PBIO_CONTROL_NONE || db->control_distance.type == PBIO_CONTROL_NONE) {
-        return drivebase_log_update(db, time_now, sum, sum_rate, 0, dif, dif_rate, 0);
-    }
-
     // Get control signals
     int32_t sum_control, dif_control;
     pbio_actuation_t sum_actuation, dif_actuation;
@@ -334,11 +292,7 @@ pbio_error_t pbio_drivebase_update(pbio_drivebase_t *db) {
     }
 
     // Actuate
-    err = pbio_drivebase_actuate(db, sum_actuation, sum_control, dif_control);
-    if (err != PBIO_SUCCESS) {
-        return err;
-    }
-    return drivebase_log_update(db, time_now, sum, sum_rate, sum_control, dif, dif_rate, dif_control);
+    return pbio_drivebase_actuate(db, sum_actuation, sum_control, dif_control);
 }
 
 pbio_error_t pbio_drivebase_straight(pbio_drivebase_t *db, int32_t distance, int32_t drive_speed, int32_t drive_acceleration) {
diff --git a/lib/pbio/src/servo.c b/lib/pbio/src/servo.c
index a8f7504e4..654955107 100644
--- a/lib/pbio/src/servo.c
+++ b/lib/pbio/src/servo.c
@@ -11,12 +11,9 @@
 #include <pbdrv/motor.h>
 #include <pbio/math.h>
 #include <pbio/servo.h>
-#include <pbio/logger.h>
 
 #if PBDRV_CONFIG_NUM_MOTOR_CONTROLLER != 0
 
-#define SERVO_LOG_NUM_VALUES (9 + NUM_DEFAULT_LOG_VALUES)
-
 // TODO: Move to config and enable only known motors for platform
 static pbio_control_settings_t settings_servo_ev3_medium = {
     .max_rate = 2000,
@@ -184,9 +181,6 @@ pbio_error_t pbio_servo_setup(pbio_servo_t *srv, pbio_direction_t direction, fix
     // For a servo, counts per output unit is counts per degree at the gear train output
     srv->control.settings.counts_per_unit = fix16_mul(F16C(PBDRV_CONFIG_COUNTER_COUNTS_PER_DEGREE, 0), gear_ratio);
 
-    // Configure the logs for a servo
-    srv->log.num_values = SERVO_LOG_NUM_VALUES;
-
     return PBIO_SUCCESS;
 }
 
@@ -270,48 +264,6 @@ static pbio_error_t pbio_servo_actuate(pbio_servo_t *srv, pbio_actuation_t actua
     return PBIO_SUCCESS;
 }
 
-// Log motor data for a motor that is being actively controlled
-static pbio_error_t pbio_servo_log_update(pbio_servo_t *srv, int32_t time_now, int32_t count_now, int32_t rate_now, pbio_actuation_t actuation, int32_t control) {
-
-    int32_t buf[SERVO_LOG_NUM_VALUES];
-    memset(buf, 0, sizeof(buf));
-
-    // Log the physical state of the motor
-    buf[1] = count_now;
-    buf[2] = rate_now;
-
-    // Log the applied control signal
-    buf[3] = actuation;
-    buf[4] = control;
-
-    // If control is active, log additional data about the maneuver
-    if (srv->control.type != PBIO_CONTROL_NONE) {
-
-        // Get the time of reference evaluation
-        int32_t time_ref = pbio_control_get_ref_time(&srv->control, time_now);
-
-        // Log the time since start of control trajectory
-        buf[0] = (time_ref - srv->control.trajectory.t0) / 1000;
-
-        // Log reference signals. These values are only meaningful for time based commands
-        int32_t count_ref, count_ref_ext, rate_ref, err, err_integral, acceleration_ref;
-        pbio_trajectory_get_reference(&srv->control.trajectory, time_ref, &count_ref, &count_ref_ext, &rate_ref, &acceleration_ref);
-
-        if (srv->control.type == PBIO_CONTROL_ANGLE) {
-            pbio_count_integrator_get_errors(&srv->control.count_integrator, count_now, count_ref, &err, &err_integral);
-        } else {
-            pbio_rate_integrator_get_errors(&srv->control.rate_integrator, rate_now, rate_ref, count_now, count_ref, &err, &err_integral);
-        }
-
-        buf[5] = count_ref;
-        buf[6] = rate_ref;
-        buf[7] = err; // count err for angle control, rate err for timed control
-        buf[8] = err_integral;
-    }
-
-    return pbio_logger_update(&srv->log, buf);
-}
-
 pbio_error_t pbio_servo_control_update(pbio_servo_t *srv) {
 
     // Read the physical state
@@ -335,20 +287,15 @@ pbio_error_t pbio_servo_control_update(pbio_servo_t *srv) {
         if (err != PBIO_SUCCESS) {
             return err;
         }
-        return pbio_servo_log_update(srv, time_now, count_now, rate_now, state, control);
+        // Log control data
+        int32_t log_data[] = {time_now, count_now, rate_now, state, control};
+        return pbio_logger_update(&srv->control.log, log_data);
     }
-
     // Calculate control signal
     control_update(&srv->control, time_now, count_now, rate_now, &actuation, &control);
 
     // Apply the control type and signal
-    err = pbio_servo_actuate(srv, actuation, control);
-    if (err != PBIO_SUCCESS) {
-        return err;
-    }
-
-    // Log data if logger enabled
-    return pbio_servo_log_update(srv, time_now, count_now, rate_now, actuation, control);
+    return pbio_servo_actuate(srv, actuation, control);
 }
 
 /* pbio user functions */
diff --git a/lib/pbio/test/src/servo.c b/lib/pbio/test/src/servo.c
index 1ecc8cd41..2c52b006d 100644
--- a/lib/pbio/test/src/servo.c
+++ b/lib/pbio/test/src/servo.c
@@ -89,12 +89,12 @@ static PT_THREAD(test_servo_run_func(struct pt *pt, const char *name, pbio_error
     tt_uint_op(pbio_motorpoll_set_servo_status(servo, PBIO_ERROR_AGAIN), ==, PBIO_SUCCESS);
 
     // only logging one row since we read it after every iteration
-    log_buf = malloc(sizeof(*log_buf) * pbio_logger_cols(&servo->log));
+    log_buf = malloc(sizeof(*log_buf) * pbio_logger_cols(&servo->control.log));
     if (log_buf == NULL) {
         tt_abort_perror("failed to allocate log_buf");
     }
 
-    pbio_logger_start(&servo->log, log_buf, 1, 1);
+    pbio_logger_start(&servo->control.log, log_buf, 1, 1);
 
     tt_uint_op(func(servo), ==, PBIO_SUCCESS);
 
@@ -253,17 +253,17 @@ static PT_THREAD(test_servo_run_func(struct pt *pt, const char *name, pbio_error
             }
 
             // write current state to log file
-            if (pbio_logger_rows(&servo->log)) {
+            if (pbio_logger_rows(&servo->control.log)) {
                 fprintf(log_file, "%d,", clock_to_msec(clock_time()));
                 fprintf(log_file, "%d,", test_motor_driver.output);
                 fprintf(log_file, "%d,", test_motor_driver.duty_cycle);
 
-                for (int i = 0; i < pbio_logger_cols(&servo->log); i++) {
+                for (int i = 0; i < pbio_logger_cols(&servo->control.log); i++) {
                     fprintf(log_file, "%d,", log_buf[i]);
                 }
 
                 fprintf(log_file, "\n");
-                servo->log.sampled = 0;
+                servo->control.log.sampled = 0;
             }
 
             clock_tick(1);
diff --git a/pybricks/common.h b/pybricks/common.h
index 3665620a0..36a4f1abc 100644
--- a/pybricks/common.h
+++ b/pybricks/common.h
@@ -54,7 +54,6 @@ mp_obj_t logger_obj_make_new(pbio_log_t *log);
 typedef struct _common_Motor_obj_t {
     mp_obj_base_t base;
     pbio_servo_t *srv;
-    mp_obj_t logger;
     mp_obj_t control;
 } common_Motor_obj_t;
 
diff --git a/pybricks/common/pb_type_control.c b/pybricks/common/pb_type_control.c
index 168f4bf1a..a7b0581e5 100644
--- a/pybricks/common/pb_type_control.c
+++ b/pybricks/common/pb_type_control.c
@@ -20,6 +20,7 @@ typedef struct _common_Control_obj_t {
     mp_obj_base_t base;
     pbio_control_t *control;
     mp_obj_t scale;
+    mp_obj_t logger;
 } common_Control_obj_t;
 
 // pybricks._common.Control.__init__/__new__
@@ -30,6 +31,10 @@ mp_obj_t common_Control_obj_make_new(pbio_control_t *control) {
 
     self->control = control;
 
+    // Create an instance of the Logger class
+    self->logger = logger_obj_make_new(&self->control->log);
+    self->control->log.num_values = MAX_LOG_VALUES;
+
     #if MICROPY_PY_BUILTINS_FLOAT
     self->scale = mp_obj_new_float(fix16_to_float(control->settings.counts_per_unit));
     #else
@@ -246,6 +251,7 @@ STATIC const mp_rom_map_elem_t common_Control_locals_dict_table[] = {
     { MP_ROM_QSTR(MP_QSTR_done), MP_ROM_PTR(&common_Control_done_obj) },
     { MP_ROM_QSTR(MP_QSTR_stalled), MP_ROM_PTR(&common_Control_stalled_obj) },
     { MP_ROM_QSTR(MP_QSTR_scale), MP_ROM_ATTRIBUTE_OFFSET(common_Control_obj_t, scale) },
+    { MP_ROM_QSTR(MP_QSTR_log), MP_ROM_ATTRIBUTE_OFFSET(common_Control_obj_t, logger) },
 };
 STATIC MP_DEFINE_CONST_DICT(common_Control_locals_dict, common_Control_locals_dict_table);
 
diff --git a/pybricks/common/pb_type_motor.c b/pybricks/common/pb_type_motor.c
index bab5253ac..f17ef1684 100644
--- a/pybricks/common/pb_type_motor.c
+++ b/pybricks/common/pb_type_motor.c
@@ -92,9 +92,6 @@ STATIC mp_obj_t common_Motor_make_new(const mp_obj_type_t *type, size_t n_args,
     self->base.type = (mp_obj_type_t *)type;
     self->srv = srv;
 
-    // Create an instance of the Logger class
-    self->logger = logger_obj_make_new(&self->srv->log);
-
     // Create an instance of the Control class
     self->control = common_Control_obj_make_new(&self->srv->control);
 
@@ -336,7 +333,6 @@ STATIC const mp_rom_map_elem_t common_Motor_locals_dict_table[] = {
     { MP_ROM_QSTR(MP_QSTR_run_angle), MP_ROM_PTR(&common_Motor_run_angle_obj) },
     { MP_ROM_QSTR(MP_QSTR_run_target), MP_ROM_PTR(&common_Motor_run_target_obj) },
     { MP_ROM_QSTR(MP_QSTR_track_target), MP_ROM_PTR(&common_Motor_track_target_obj) },
-    { MP_ROM_QSTR(MP_QSTR_log), MP_ROM_ATTRIBUTE_OFFSET(common_Motor_obj_t, logger) },
     { MP_ROM_QSTR(MP_QSTR_control), MP_ROM_ATTRIBUTE_OFFSET(common_Motor_obj_t, control) },
 };
 MP_DEFINE_CONST_DICT(common_Motor_locals_dict, common_Motor_locals_dict_table);
diff --git a/pybricks/robotics/pb_type_drivebase.c b/pybricks/robotics/pb_type_drivebase.c
index 9de35a0f3..c3bdc9a42 100644
--- a/pybricks/robotics/pb_type_drivebase.c
+++ b/pybricks/robotics/pb_type_drivebase.c
@@ -26,7 +26,6 @@ typedef struct _robotics_DriveBase_obj_t {
     pbio_drivebase_t *db;
     mp_obj_t left;
     mp_obj_t right;
-    mp_obj_t logger;
     mp_obj_t heading_control;
     mp_obj_t distance_control;
     int32_t straight_speed;
@@ -64,9 +63,6 @@ STATIC mp_obj_t robotics_DriveBase_make_new(const mp_obj_type_t *type, size_t n_
     pb_assert(pbio_drivebase_setup(self->db, srv_left, srv_right, pb_obj_get_fix16(wheel_diameter_in), pb_obj_get_fix16(axle_track_in)));
     pb_assert(pbio_motorpoll_set_drivebase_status(self->db, PBIO_ERROR_AGAIN));
 
-    // Create an instance of the Logger class
-    self->logger = logger_obj_make_new(&self->db->log);
-
     // Create instances of the Control class
     self->heading_control = common_Control_obj_make_new(&self->db->control_heading);
     self->distance_control = common_Control_obj_make_new(&self->db->control_distance);
@@ -254,7 +250,6 @@ STATIC const mp_rom_map_elem_t robotics_DriveBase_locals_dict_table[] = {
     { MP_ROM_QSTR(MP_QSTR_settings),         MP_ROM_PTR(&robotics_DriveBase_settings_obj) },
     { MP_ROM_QSTR(MP_QSTR_left),             MP_ROM_ATTRIBUTE_OFFSET(robotics_DriveBase_obj_t, left)            },
     { MP_ROM_QSTR(MP_QSTR_right),            MP_ROM_ATTRIBUTE_OFFSET(robotics_DriveBase_obj_t, right)           },
-    { MP_ROM_QSTR(MP_QSTR_log),              MP_ROM_ATTRIBUTE_OFFSET(robotics_DriveBase_obj_t, logger)          },
     { MP_ROM_QSTR(MP_QSTR_heading_control),  MP_ROM_ATTRIBUTE_OFFSET(robotics_DriveBase_obj_t, heading_control) },
     { MP_ROM_QSTR(MP_QSTR_distance_control), MP_ROM_ATTRIBUTE_OFFSET(robotics_DriveBase_obj_t, distance_control)},
 };