Gotcha. Probing with the oscilloscope, I can verify that loopFOC() is in fact correctly running the RS485 code and getting readings from the encoder once the code gets to the main loop. The issue seems to be in the initFOC() process–I don’t see anything on the scope while it’s initializing, and I think I should see two RS485 calls to get the shaft angle before and after movement, right? Why might initFOC() not be correctly querying the encoder position?