diff --git a/compLib/Encoder.py b/compLib/Encoder.py
index eddc77f..3ede960 100644
--- a/compLib/Encoder.py
+++ b/compLib/Encoder.py
@@ -44,7 +44,11 @@ class Encoder(object):
         if port <= 0 or port > MOTOR_COUNT:
             raise IndexError("Invalid encoder port specified!")
 
-        return Encoder.read_raw(port) - encoder_start_values[port]
+        diff = Encoder.read_raw(port) - encoder_start_values[port]
+        if diff > 2 ** 31:
+            diff -= 2 ** 32
+
+        return diff
 
     @staticmethod
     def clear(port: int):
@@ -57,7 +61,12 @@ class Encoder(object):
             raise IndexError("Invalid encoder port specified!")
 
         encoder_start_values[port] = Encoder.read_raw(port)
-        
 
-for i in range(1, MOTOR_COUNT + 1):
-    encoder_start_values[i] = Encoder.read_raw(i)
\ No newline at end of file
+    @staticmethod
+    def clear_all():
+        """Reset all encoder positions to 0
+        """
+
+        for i in range(1, MOTOR_COUNT + 1):
+            encoder_start_values[i] = Encoder.read_raw(i)
+        
\ No newline at end of file
diff --git a/compLib/Reset.py b/compLib/Reset.py
index 9c7fd7d..4767c1b 100644
--- a/compLib/Reset.py
+++ b/compLib/Reset.py
@@ -1,6 +1,7 @@
 import RPi.GPIO as GPIO
 import time
 
+GPIO.setwarnings(False)
 RESET_PIN = 23
 
 
@@ -13,4 +14,4 @@ class Reset:
         GPIO.output(RESET_PIN, GPIO.LOW)
         time.sleep(0.1)
         GPIO.output(RESET_PIN, GPIO.HIGH)
-        time.sleep(0.5)
+        time.sleep(1.5)
diff --git a/compLib/Spi.py b/compLib/Spi.py
index f824a94..a141bfa 100644
--- a/compLib/Spi.py
+++ b/compLib/Spi.py
@@ -174,13 +174,14 @@ class Spi(object):
             print("Unable to read Version! Make sure the mainboard is connected!")
             sys.exit()
 
+    @staticmethod
+    def start_health_check_loop():
+        health_check_thread = Thread(target=Spi.health_check_loop)
+        health_check_thread.setDaemon(True)
+        health_check_thread.start()
+
     @staticmethod
     def health_check_loop():
         while True:
             Spi.health_check()
             time.sleep(0.5)
-
-
-health_check_thread = Thread(target=Spi.health_check_loop)
-health_check_thread.setDaemon(True)
-health_check_thread.start()
\ No newline at end of file
diff --git a/compLib/__init__.py b/compLib/__init__.py
index d516a38..e67ec4b 100644
--- a/compLib/__init__.py
+++ b/compLib/__init__.py
@@ -3,6 +3,7 @@ __version__ = "0.1.5-1"
 import compLib.LogstashLogging
 import compLib.Spi
 import compLib.Reset
+import compLib.Encoder
 import logging
 import apt
 
@@ -18,4 +19,6 @@ except Exception as e:
     print(f"\033[91merror during checking apt package version -> {str(e)}\033[0m\n")
 
 compLib.Reset.Reset.reset_bot()
-compLib.Spi.Spi.health_check()
\ No newline at end of file
+compLib.Spi.Spi.health_check()
+compLib.Spi.Spi.start_health_check_loop()
+compLib.Encoder.Encoder.clear_all()
\ No newline at end of file