diff --git a/tools/odrive/utils.py b/tools/odrive/utils.py
index 79c69b01..2acb9430 100755
--- a/tools/odrive/utils.py
+++ b/tools/odrive/utils.py
@@ -72,21 +72,21 @@ def start_liveplotter(get_var_callback):
     threading.Thread(target=plot_data).start()
     #plot_data()
 
-def print_drv_regs(device):
+def print_drv_regs(name, motor):
     """
-    Dumps the current gate driver regisers for Motor 0
+    Dumps the current gate driver regisers for the specified motor
     """
-    fault = device.motor0.gate_driver.drv_fault
-    status_reg_1 = device.motor0.gate_driver.status_reg_1
-    status_reg_2 = device.motor0.gate_driver.status_reg_2
-    ctrl_reg_1 = device.motor0.gate_driver.ctrl_reg_1
-    ctrl_reg_2 = device.motor0.gate_driver.ctrl_reg_2
-
+    fault = motor.gate_driver.drv_fault
+    status_reg_1 = motor.gate_driver.status_reg_1
+    status_reg_2 = motor.gate_driver.status_reg_2
+    ctrl_reg_1 = motor.gate_driver.ctrl_reg_1
+    ctrl_reg_2 = motor.gate_driver.ctrl_reg_2
+    print(name + ": " + str(fault))
     print("DRV Fault Code: " + str(fault))
     print("Status Reg 1: " + str(status_reg_1) + " (" + format(status_reg_1, '#010b') + ")")
     print("Status Reg 2: " + str(status_reg_2) + " (" + format(status_reg_2, '#010b') + ")")
-    print("Control Reg 1: " + str(ctrl_reg_1) + " (" + format(ctrl_reg_1, '#010b') + ")")
-    print("Control Reg 2: " + str(ctrl_reg_2) + " (" + format(ctrl_reg_2, '#010b') + ")")
+    print("Control Reg 1: " + str(ctrl_reg_1) + " (" + format(ctrl_reg_1, '#013b') + ")")
+    print("Control Reg 2: " + str(ctrl_reg_2) + " (" + format(ctrl_reg_2, '#09b') + ")")
 
 def rate_test(device):
     """
diff --git a/tools/odrvtool b/tools/odrvtool
index 3e8211d7..0bcc39b7 100755
--- a/tools/odrvtool
+++ b/tools/odrvtool
@@ -111,7 +111,8 @@ try:
         from odrive.utils import print_drv_regs
         print("Waiting for ODrive...")
         my_odrive = odrive.discovery.find_any(path=args.path, serial_number=args.serial_number)
-        print_drv_regs(my_odrive)
+        print_drv_regs("Motor 0", my_odrive.axis0.motor)
+        print_drv_regs("Motor 1", my_odrive.axis1.motor)
 
     elif args.command == 'rate-test':
         from odrive.utils import rate_test