[Phalanx]

Something else you can consider in your mechanical design to go along with your brown out recovery software.

Typically we have a "RESET" button on our custom driver or arm operator station. It's function is to basically ignore just about everything except for it's "HOME" indicator and reset the manipulator to it's "HOME" position.

What we usually do is have a mechanical "HOME" for our manipulator that is a physical stop. Typically that "HOME" is monitored by a limit switch. So when the limit switch is engaged we know our manipulator is "HOME". When it's "HOME" we reset our encoder counts to zero, turn off it's motor, etc....

This does two things. It allows us to reset/recover our position, and a helps alleviate position drift.