Remember both systems still do not account for careless mistakes such as running motors against each other or threaded while loops that update. Motorsafety/watchdog should be a backup to common sense and not the primary failsafe to errors.
Last year we lost three FP motors to our autonomous due to some very stupid* mistakes.
*A mistake becomes stupid when repeated after one has already learned from it. I forgot to document, double check and test before running in the field. The heat of competition can cause heat stress
