diff --git a/src/RobotNode/.run/Dixon-Attach.run.xml b/src/RobotNode/.run/Dixon-Attach.run.xml
index af036a6..e10562a 100644
--- a/src/RobotNode/.run/Dixon-Attach.run.xml
+++ b/src/RobotNode/.run/Dixon-Attach.run.xml
@@ -1,7 +1,7 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Dixon-Attach" type="CLion_Remote" version="1" remoteCommand="tcp:Dixon1:9090" symbolFile="$PROJECT_DIR$/cmake-build-pi/dixon" sysroot="">
+  <configuration default="false" name="Dixon-Attach" type="CLion_Remote" version="1" remoteCommand="tcp:Dixon1:9090" symbolFile="$PROJECT_DIR$/cmake-build-pi5-debug/dixon" sysroot="">
     <debugger kind="GDB" isBundled="true" />
-    <pathMapping remote=":/mnt/C/source/Dixon/src/Robotnode" local="$PROJECT_DIR$" />
+    <pathMapping remote=":$USER_HOME$/dixon" local="$PROJECT_DIR$" />
     <method v="2" />
   </configuration>
 </component>
\ No newline at end of file
diff --git a/src/RobotNode/CMakeLists.txt b/src/RobotNode/CMakeLists.txt
index 2362a0c..ef4d75a 100644
--- a/src/RobotNode/CMakeLists.txt
+++ b/src/RobotNode/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10)
 
-# 1. Define the Version Bumper Target
+# Define the Version Bumper Target
 # This target is like a "recipe" that isn't cooked until we ask for it.
 add_custom_target(BumpVersion
         COMMAND python3 ${CMAKE_CURRENT_SOURCE_DIR}/bump_version.py
@@ -8,7 +8,7 @@ add_custom_target(BumpVersion
         COMMENT "Bumping version in version.txt..."
 )
 
-# 2. Read the version for the Project metadata
+# Read the version for the Project metadata
 # This still happens during "Reload" so CMake knows the project version.
 file(READ "${CMAKE_CURRENT_SOURCE_DIR}/version.txt" RAW_VERSION)
 string(STRIP "${RAW_VERSION}" DIXON_VERSION_FROM_FILE)
@@ -29,9 +29,10 @@ add_executable(dixon
         DixonBrain.cpp
         DixonBrain.h
         CardioCenter/Heart.cpp
-        CardioCenter/Heart.h)
+        CardioCenter/Heart.h
+        Logging/DixonLogger.h)
 
-# 3. Create the Dependency
+# Create the Dependency
 # This tells CMake: "Before you build Dixon, you MUST run BumpVersion."
 add_dependencies(dixon BumpVersion)
 
@@ -41,15 +42,9 @@ configure_file(Version.h.in "${CMAKE_CURRENT_BINARY_DIR}/Version.h")
 # Consolidated Include Paths
 target_include_directories(dixon PRIVATE
         "${CMAKE_CURRENT_BINARY_DIR}"                           # For generated Version.h
-#        "${CMAKE_CURRENT_SOURCE_DIR}/extern/libgpiod/include"  # For libgpiod headers
 )
 
-# Link the gpiod libraries
-#target_link_libraries(dixon PRIVATE
-#        "${CMAKE_CURRENT_SOURCE_DIR}/extern/libgpiod/aarch64/libgpiodcxx.so.2"
-#        "${CMAKE_CURRENT_SOURCE_DIR}/extern/libgpiod/aarch64/libgpiod.so.3")
-
-# Link the gpiod libraries
+# Link the gpiod & spdlog libraries
 target_link_libraries(dixon PRIVATE
         gpiodcxx
         gpiod)
diff --git a/src/RobotNode/CardioCenter/Heart.cpp b/src/RobotNode/CardioCenter/Heart.cpp
index 7881654..6453e15 100644
--- a/src/RobotNode/CardioCenter/Heart.cpp
+++ b/src/RobotNode/CardioCenter/Heart.cpp
@@ -32,6 +32,7 @@ namespace cardio
 
     void Heart::stop()
     {
+        std::cout << "Heart::stop() called.\n";
         isOn_ = false;
         request_.set_value(DEFAULT_HEART_PIN, gpiod::line::value::INACTIVE);
     }
diff --git a/src/RobotNode/DixonBrain.cpp b/src/RobotNode/DixonBrain.cpp
index e05226f..0f0d6cf 100644
--- a/src/RobotNode/DixonBrain.cpp
+++ b/src/RobotNode/DixonBrain.cpp
@@ -2,18 +2,20 @@
 #include <iostream>
 #include <chrono>
 #include <thread>
+#include "Logging/DixonLogger.h"
 
 DixonBrain::DixonBrain()
     : heart_(),
-      state_(DixonNodeState::instance())
+      state_(DixonNodeState::instance()),
+      logger_("DixonBrain")
 {
-    std::cout << "DixonBrain initialised\n";
+    logger_.info("DixonBrain created.");
 }
 
 DixonBrain::~DixonBrain()
 {
     stop();
-    std::cout << "DixonBrain destroyed\n";
+    logger_.info("DixonBrain destroyed.");
 }
 
 void DixonBrain::start()
@@ -25,7 +27,7 @@ void DixonBrain::start()
 
     loopThread_ = std::thread(&DixonBrain::runLoop, this);
 
-    std::cout << "DixonBrain started\n";
+    logger_.info("DixonBrain started.");
 }
 
 void DixonBrain::stop()
@@ -35,7 +37,6 @@ void DixonBrain::stop()
 
     state_.setNodeStatus(NodeStatus::Stopping);
 
-
     if (loopThread_.joinable())
         loopThread_.join();
 
@@ -43,7 +44,7 @@ void DixonBrain::stop()
 
     state_.setNodeStatus(NodeStatus::Stopped);
 
-    std::cout << "DixonBrain stopped\n";
+    logger_.info("DixonBrain stopped.");
 }
 
 void DixonBrain::runLoop()
diff --git a/src/RobotNode/DixonBrain.h b/src/RobotNode/DixonBrain.h
index 4f20b7a..8fbd01c 100644
--- a/src/RobotNode/DixonBrain.h
+++ b/src/RobotNode/DixonBrain.h
@@ -1,7 +1,8 @@
 #pragma once
+#include <thread>
 #include "DixonNodeState.h"
 #include "CardioCenter/Heart.h"
-#include <thread>
+#include "Logging/DixonLogger.h"
 
 class DixonBrain
 {
@@ -15,7 +16,9 @@ public:
 private:
     void runLoop();
 
+
     cardio::Heart heart_;
     DixonNodeState& state_;
     std::thread loopThread_;
+    Dixon::DixonLogger logger_;
 };
\ No newline at end of file
diff --git a/src/RobotNode/DixonNodeState.cpp b/src/RobotNode/DixonNodeState.cpp
index 4741a7b..e3d9778 100644
--- a/src/RobotNode/DixonNodeState.cpp
+++ b/src/RobotNode/DixonNodeState.cpp
@@ -1,12 +1,15 @@
 #include "DixonNodeState.h"
 
+#include <iostream>
+#include <ostream>
+
 DixonNodeState& DixonNodeState::instance()
 {
     static DixonNodeState instance;
     return instance;
 }
 
-void DixonNodeState::setConnected(bool value)
+void DixonNodeState::setConnected(const bool value)
 {
     connected_ = value;
 }
@@ -18,10 +21,14 @@ bool DixonNodeState::isConnected() const
 
 void DixonNodeState::setNodeStatus(NodeStatus value)
 {
-    node_status_ = value;
+    NodeStatus oldStatus = node_status_.exchange(value);
+
+    logger_.info("Node status changed: {} -> {}",
+                 static_cast<int>(oldStatus),
+                 static_cast<int>(value));
 }
 
 NodeStatus DixonNodeState::getNodeStatus() const
 {
-    return node_status_;
+    return node_status_.load();
 }
diff --git a/src/RobotNode/DixonNodeState.h b/src/RobotNode/DixonNodeState.h
index a686810..c9235c3 100644
--- a/src/RobotNode/DixonNodeState.h
+++ b/src/RobotNode/DixonNodeState.h
@@ -1,10 +1,12 @@
 #pragma once
 #include<atomic>
+#include "Logging/DixonLogger.h"
 
 
 enum class NodeStatus : int {
     Starting,
     Running,
+    StopPending,
     Stopping,
     Stopped
 };
@@ -26,9 +28,11 @@ public:
     DixonNodeState& operator=(DixonNodeState&&) = delete;
 
 private:
-    DixonNodeState() = default;
+    DixonNodeState() : logger_("DixonNodeState"){}
     ~DixonNodeState() = default;
 
+    Dixon::DixonLogger logger_;
+
     std::atomic<bool> connected_ = false;
     std::atomic<NodeStatus> node_status_ = NodeStatus::Stopped;
 };
\ No newline at end of file
diff --git a/src/RobotNode/Logging/DixonLogger.h b/src/RobotNode/Logging/DixonLogger.h
new file mode 100644
index 0000000..15d6f39
--- /dev/null
+++ b/src/RobotNode/Logging/DixonLogger.h
@@ -0,0 +1,59 @@
+#pragma once
+#include <iostream>
+#include <format>
+#include <mutex>
+#include <chrono>
+#include <string_view>
+
+namespace Dixon {
+    class DixonLogger {
+    private:
+        std::string_view m_name;
+
+        // Internal helper to keep the code DRY (Don't Repeat Yourself)
+        template<typename... Args>
+        void log_output(std::string_view level, std::string_view color, std::string_view fmt, Args&&... args) const {
+            try {
+                auto now = std::chrono::system_clock::now();
+                std::string message = std::vformat(fmt, std::make_format_args(args...));
+
+                static std::mutex logMutex;
+                std::lock_guard<std::mutex> lock(logMutex);
+
+                // \033[0m resets the color back to normal at the end
+                std::clog << std::format("[{:%T}] [{}] [{}{}{}] {}\n",
+                                         now, m_name, color, level, "\033[0m", message);
+            } catch (const std::exception& e) {
+                std::cerr << "Log Error: " << e.what() << std::endl;
+            }
+        }
+
+    public:
+        explicit DixonLogger(std::string_view name) : m_name(name) {}
+
+        template<typename... Args>
+        void debug(std::string_view fmt, Args&&... args) const {
+            log_output("DEBUG", "\033[36m", fmt, std::forward<Args>(args)...); // Cyan
+        }
+
+        template<typename... Args>
+        void info(std::string_view fmt, Args&&... args) const {
+            log_output("INFO", "\033[32m", fmt, std::forward<Args>(args)...);  // Green
+        }
+
+        template<typename... Args>
+        void warn(std::string_view fmt, Args&&... args) const {
+            log_output("WARN", "\033[33m", fmt, std::forward<Args>(args)...);  // Yellow
+        }
+
+        template<typename... Args>
+        void error(std::string_view fmt, Args&&... args) const {
+            log_output("ERROR", "\033[31m", fmt, std::forward<Args>(args)...); // Red
+        }
+
+        template<typename... Args>
+        void critical(std::string_view fmt, Args&&... args) const {
+            log_output("CRITICAL", "\033[1;31;47m", fmt, std::forward<Args>(args)...); // Bold Red on White
+        }
+    };
+}
\ No newline at end of file
diff --git a/src/RobotNode/main.cpp b/src/RobotNode/main.cpp
index 68c1e69..d3a40c0 100644
--- a/src/RobotNode/main.cpp
+++ b/src/RobotNode/main.cpp
@@ -2,26 +2,43 @@
 #include <iostream>
 #include "DixonBrain.h"
 #include "Version.h" // The generated header
+#include "Logging/DixonLogger.h"
 
 
-
-void signal_handler(int signal) {
-    if (signal == SIGINT || signal == SIGTERM) {
-        std::cout << "\nShutdown signal received (" << signal << ")." << std::endl;
-
-        // Use your atomic flag to tell the brain to stop looping
-        DixonNodeState::instance().setNodeStatus(NodeStatus::Stopping);
+void signal_thread_func(sigset_t set) {
+    int sig;
+    // Loop so we can catch multiple signals if the shutdown takes a moment
+    while (DixonNodeState::instance().getNodeStatus() != NodeStatus::Stopping) {
+        if (sigwait(&set, &sig) == 0) {
+            std::cout << "\nShutdown signal received (" << sig << ")." << std::endl;
+            DixonNodeState::instance().setNodeStatus(NodeStatus::Stopping);
+            // After setting 'Stopping', the loop will exit on next check
+        }
     }
 }
 
+sigset_t prepare_signal_set()
+{
+    sigset_t set;
+    sigemptyset(&set);
+    sigaddset(&set, SIGINT);
+    sigaddset(&set, SIGTERM);
+    return set;
+}
+
 
 int main()
 {
-    // The "Splash Screen"
-    std::cout << "Starting Dixon v" << DIXON_VERSION << "...\n";
+    Dixon::DixonLogger logger("main");
 
-    std::signal(SIGINT, signal_handler);
-    std::signal(SIGTERM, signal_handler);
+    // The "Splash Screen"
+    logger.info("Dixon core is starting. Version: {}", "1.x.x");
+
+    const sigset_t set = prepare_signal_set();
+    pthread_sigmask(SIG_BLOCK, &set, nullptr);
+
+    std::thread sig_thread(signal_thread_func, set);
+    sig_thread.detach(); // Let it run independently
 
     // Create the brain controller
     DixonBrain brain;
@@ -29,23 +46,32 @@ int main()
     // Start the brain's control loop
     brain.start();
 
-   std::cout << "Dixon is alive...\n";
+    logger.info("Dixon core is alive.");
+    const DixonNodeState& state = DixonNodeState::instance();
 
     auto count = 1;
-    while (DixonNodeState::instance().getNodeStatus() == NodeStatus::Running)
+    while (state.getNodeStatus() != NodeStatus::Stopped)
     {
 
+        if (state.getNodeStatus() == NodeStatus::StopPending)
+        {
+            logger.info("calling 'stop' on Dixon Brain.");
+            brain.stop();
+        }
+
         count++;
-        if (count>10)
+        if (count>100)
         {
             count = 0;
-            std::cout << "Dixon state is " << static_cast<int>( DixonNodeState::instance().getNodeStatus()) << "\n";
+            auto const currentState = static_cast<int>(DixonNodeState::instance().getNodeStatus());
+            logger.info("Dixon is alive, state is {}.", currentState);
+            //log->log(spdlog::level::info, "Dixon state is {}",
+            //static_cast<int>(D);
         }
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
 
     }
-    // Stop the brain cleanly
-    brain.stop();
-    std::cout << "Dixon has left the building...\n";
+
+    logger.info("Dixon has left the building.");
     return 0;
 }
\ No newline at end of file
diff --git a/src/RobotNode/version.txt b/src/RobotNode/version.txt
index c1cf2f9..de0434d 100644
--- a/src/RobotNode/version.txt
+++ b/src/RobotNode/version.txt
@@ -1 +1 @@
-1.0.33
\ No newline at end of file
+1.0.47
\ No newline at end of file
diff --git a/utils/deploy_dixon b/utils/deploy_dixon
index 0388985..86141f9 100755
--- a/utils/deploy_dixon
+++ b/utils/deploy_dixon
@@ -2,7 +2,7 @@
 
 # Configuration
 LOCAL_BIN="$HOME/dev/Dixon/src/RobotNode/cmake-build-pi5-debug/dixon"
-REMOTE_TARGET="russellg59@192.168.1.224"
+REMOTE_TARGET="russellg59@dixon1"
 REMOTE_DIR="/home/russellg59/dixon"
 REMOTE_EXE="$REMOTE_DIR/dixon"