[mikets]

Yes, I understand. The software recovery solution in our CANJag wrapper class is not the answer to every brownout scenarios but I believe it will handle majority of the cases. For special case like you pointed out, you may need to do extra steps to ensure it still works after the recovery. For example, if your scenario does not tolerate any inaccuracy of the encoder due to loss of count during brownout, your code may want to also add a recovery calibration (e.g. detecting brownout and then move the arm to resting position with a limit switch, reset the encoder at the resting position, try the operation again). Since this is very scenario specific, it cannot be fixed in the CANJag wrapper generically. So it is up to your code to anticipate and recover from brownouts.