diff --git a/Firmware/MotorControl/low_level.c b/Firmware/MotorControl/low_level.c
index c49b95ea..40ac40ad 100644
--- a/Firmware/MotorControl/low_level.c
+++ b/Firmware/MotorControl/low_level.c
@@ -71,7 +71,7 @@ Motor_t motors[] = {
         .vel_limit = 20000.0f,           // [counts/s]
         .current_setpoint = 0.0f,        // [A]
         .calibration_current = 10.0f,    // [A]
-        .resistance_calib_max_voltage = 1.0f, // [V]
+        .resistance_calib_max_voltage = 1.0f, // [V] - You may need to increase this if this voltage isn't sufficient to drive calibration_current through the motor.
         .phase_inductance = 0.0f,        // to be set by measure_phase_inductance
         .phase_resistance = 0.0f,        // to be set by measure_phase_resistance
         .motor_thread = 0,
@@ -129,6 +129,7 @@ Motor_t motors[] = {
             .encoder_offset = 0,
             .encoder_state = 0,
             .motor_dir = 1,   // 1 or -1
+            .encoder_calib_range = 0.02,
             .phase = 0.0f,    // [rad]
             .pll_pos = 0.0f,  // [rad]
             .pll_vel = 0.0f,  // [rad/s]
@@ -176,7 +177,7 @@ Motor_t motors[] = {
         .vel_limit = 20000.0f,                    // [counts/s]
         .current_setpoint = 0.0f,                 // [A]
         .calibration_current = 10.0f,             // [A]
-        .resistance_calib_max_voltage = 1.0f, // [V]
+        .resistance_calib_max_voltage = 1.0f, // [V] - You may need to increase this if this voltage isn't sufficient to drive calibration_current through the motor.
         .phase_inductance = 0.0f,                 // to be set by measure_phase_inductance
         .phase_resistance = 0.0f,                 // to be set by measure_phase_resistance
         .motor_thread = 0,
@@ -231,6 +232,7 @@ Motor_t motors[] = {
             .encoder_offset = 0,
             .encoder_state = 0,
             .motor_dir = 1,   // 1 or -1
+            .encoder_calib_range = 0.02,
             .phase = 0.0f,    // [rad]
             .pll_pos = 0.0f,  // [rad]
             .pll_vel = 0.0f,  // [rad/s]
@@ -760,14 +762,11 @@ bool measure_phase_inductance(Motor_t* motor, float voltage_low, float voltage_h
 // TODO: add check_timing
 bool calib_enc_offset(Motor_t* motor, float voltage_magnitude) {
     static const float start_lock_duration = 1.0f;
-    static const int num_steps = 1024;
+    static const int num_steps = 1024*2;
     static const float dt_step = 1.0f / 500.0f;
-    static const float scan_range = 4.0f * M_PI;
+    static const float scan_range = 16.0f * M_PI;
     const float step_size = scan_range / (float)num_steps;  // TODO handle const expressions better (maybe switch to C++ ?)
 
-    int32_t init_enc_val = (int16_t)motor->encoder.encoder_timer->Instance->CNT;
-    int32_t encvaluesum = 0;
-
     // go to motor zero phase for start_lock_duration to get ready to scan
     for (int i = 0; i < start_lock_duration * current_meas_hz; ++i) {
         if (osSignalWait(M_SIGNAL_PH_CURRENT_MEAS, PH_CURRENT_MEAS_TIMEOUT).status != osEventSignal) {
@@ -776,6 +775,10 @@ bool calib_enc_offset(Motor_t* motor, float voltage_magnitude) {
         }
         queue_voltage_timings(motor, voltage_magnitude, 0.0f);
     }
+
+    int32_t init_enc_val = (int16_t)motor->encoder.encoder_timer->Instance->CNT;
+    int32_t encvaluesum = 0;
+
     // scan forwards
     for (float ph = -scan_range / 2.0f; ph < scan_range / 2.0f; ph += step_size) {
         for (int i = 0; i < dt_step * (float)current_meas_hz; ++i) {
@@ -789,6 +792,14 @@ bool calib_enc_offset(Motor_t* motor, float voltage_magnitude) {
         }
         encvaluesum += (int16_t)motor->encoder.encoder_timer->Instance->CNT;
     }
+
+    float expected_encoder_delta = scan_range / elec_rad_per_enc;
+    float actual_encoder_delta_abs = fabsf((int16_t)motor->encoder.encoder_timer->Instance->CNT-init_enc_val);
+    if(fabsf(actual_encoder_delta_abs - expected_encoder_delta)/expected_encoder_delta > motor->encoder.encoder_calib_range)
+    {
+        motor->error = ERROR_ENCODER_CPR_OUT_OF_RANGE;
+        return false;
+    }
     // check direction
     if ((int16_t)motor->encoder.encoder_timer->Instance->CNT > init_enc_val + 8) {
         // motor same dir as encoder
diff --git a/Firmware/MotorControl/low_level.h b/Firmware/MotorControl/low_level.h
index 9045b1d9..deb89f3c 100644
--- a/Firmware/MotorControl/low_level.h
+++ b/Firmware/MotorControl/low_level.h
@@ -50,6 +50,7 @@ typedef enum {
     ERROR_SPIN_UP_TIMEOUT,
     ERROR_DRV_FAULT,
     ERROR_NOT_IMPLEMENTED_MOTOR_TYPE,
+    ERROR_ENCODER_CPR_OUT_OF_RANGE
 } Error_t;
 
 // Note: these should be sorted from lowest level of control to
@@ -119,6 +120,7 @@ typedef struct {
     int32_t encoder_offset;
     int32_t encoder_state;
     int32_t motor_dir;  // 1/-1 for fwd/rev alignment to encoder.
+    float encoder_calib_range;
     float phase;
     float pll_pos;
     float pll_vel;
diff --git a/Firmware/protocol.md b/Firmware/protocol.md
index ce22164e..1a3bae4f 100644
--- a/Firmware/protocol.md
+++ b/Firmware/protocol.md
@@ -26,8 +26,8 @@ by default while UART runs the stream based variant.
 
 ## Packet format ##
 We will call the ODrive "server" and the PC "client". A request is a message
-from the PC to the ODrive and a response is a message from the PC to the
-ODrive.
+from the PC to the ODrive and a response is a message from the ODrive to the
+PC.
 
 Each request-response transaction corresponds to a single endpoint operation.