There have been a few reports of jumps in encoder position during power up.

The Closed Loop controller already read the encoders on power up to eliminate any encoder counts that may randomly get reported by the 5387 board during a power cycle. The Open Loop did not.

The Open Loop controllers now read the encoders during power up, attempting to eliminate this issue. In addition, both Open and Closed Loop controllers have a 50msec delay added to them to give the 5387 board more time to initialize, just in case, before doing the read.