diff --git a/toid_control/src/toid_control.cpp b/toid_control/src/toid_control.cpp
index af6f261..5534873 100644
--- a/toid_control/src/toid_control.cpp
+++ b/toid_control/src/toid_control.cpp
@@ -82,6 +82,15 @@ hardware_interface::return_type toid::StepperInterface::write(const rclcpp::Time
         boost::system::error_code ec;
         ec = serial_port_.close(ec);
         ec = serial_port_.open(serial_port_name_, ec);
+        if(!ec.failed()) {
+            try {
+                for(int i = 0; i < 64; i++) {
+                    asio::write(serial_port_, asio::buffer("\x00"));
+                }
+            } catch(const std::runtime_error& err) {
+                
+            }
+        }
     }
     return hardware_interface::return_type::OK;
 }
diff --git a/toid_odometry/src/odometry.cpp b/toid_odometry/src/odometry.cpp
index 95b5a50..891109e 100644
--- a/toid_odometry/src/odometry.cpp
+++ b/toid_odometry/src/odometry.cpp
@@ -139,6 +139,23 @@ private:
         tf_static_broadcaster_->sendTransform(t);
     }
 
+    void serial_ec_recovery(boost::system::error_code ec) {
+        if(ec.failed()) {
+            boost::system::error_code ec;
+            ec = this->serial_.close(ec);
+            ec = this->serial_.open(serial_port_path_, ec);
+            if(!ec.failed()) {
+                try {
+                    for(int i = 0; i < 64; i++) {
+                        asio::write(this->serial_, asio::buffer("\x00"));
+                    }
+                } catch(const std::runtime_error& err) {
+                    
+                }
+            }
+        }
+    }
+
     void set_width(const std::shared_ptr<SendDoubleSrv::Request> req) {
         boost::system::error_code ec;
         const std::array<uint8_t, 2> cmd{TMSG_SET_WIDTH, TMSG_DELIM};
@@ -146,6 +163,7 @@ private:
         msg.crc = crcFooter(msg);
         asio::write(this->serial_, asio::buffer(cmd), ec);
         asio::write(this->serial_, asio::buffer(&msg, sizeof(msg)), ec);
+        serial_ec_recovery(ec);
     }
 
     void set_ratio(const std::shared_ptr<SendDoubleSrv::Request> req) {
@@ -155,6 +173,7 @@ private:
         msg.crc = crcFooter(msg);
         asio::write(this->serial_, asio::buffer(cmd), ec);
         asio::write(this->serial_, asio::buffer(&msg, sizeof(msg)), ec);
+        serial_ec_recovery(ec);
     }
 
     void end_calib(const std::shared_ptr<ZeroSrv::Request>) {
@@ -166,12 +185,15 @@ private:
         if(!ec.failed()) {
             RCLCPP_INFO(this->get_logger(), "Calculated ratio: %lf, %lf", resp.left_gain, resp.right_gain);
         }
+        serial_ec_recovery(ec);
+
     }
 
     void zero(const std::shared_ptr<ZeroSrv::Request>) {
         boost::system::error_code ec;
         const std::array<uint8_t, 2> cmd{TMSG_ZERO, TMSG_DELIM};
         asio::write(this->serial_, asio::buffer(cmd), ec);
+        serial_ec_recovery(ec);
     }
 
     void publish_robot_state() {
@@ -245,6 +267,17 @@ private:
                     ec.what().c_str()
                 );
             }
+
+            if(!ec.failed()) {
+                try {
+                    for(int i = 0; i < 64; i++) {
+                        asio::write(serial_, asio::buffer("\x00"));
+                    }
+                } catch(const std::runtime_error& err) {
+                    
+                }
+            }
+
             return false;
         }
         return state.crc == crcFooter(state);