diff --git a/drivers/src/input/rotary_encoder.zig b/drivers/src/input/rotary_encoder.zig
index 291e00843..249df2f79 100644
--- a/drivers/src/input/rotary_encoder.zig
+++ b/drivers/src/input/rotary_encoder.zig
@@ -45,6 +45,13 @@ pub fn RotaryEncoder(comptime options: Options) type {
             defer enc.last_a = a;
             defer enc.last_b = b;
 
+            // Detect invalid transitions: both bits changed simultaneously
+            const a_changed = a.value() ^ enc.last_a.value();
+            const b_changed = b.value() ^ enc.last_b.value();
+            if (a_changed != 0 and b_changed != 0) {
+                return .@"error";
+            }
+
             const enable = a.value() ^ b.value() ^ enc.last_a.value() ^ enc.last_b.value();
             const direction = a.value() ^ enc.last_b.value();
 
@@ -136,4 +143,12 @@ test RotaryEncoder {
         try std.testing.expectEqual(.decrement, try encoder.poll());
         try std.testing.expectEqual(.idle, try encoder.poll());
     }
+
+    // Test invalid state: both A and B change simultaneously
+    // Current state is (high, high) from the previous test loop
+    // Force both bits to change at once
+    a.state = .low;
+    b.state = .low;
+    try std.testing.expectEqual(.@"error", try encoder.poll());
+    try std.testing.expectEqual(.idle, try encoder.poll());
 }
diff --git a/drivers/src/root.zig b/drivers/src/root.zig
index c01086a08..75a375724 100644
--- a/drivers/src/root.zig
+++ b/drivers/src/root.zig
@@ -233,6 +233,7 @@ test {
     _ = sensor.TLV493D;
     _ = sensor.TMP117;
     _ = sensor.AHT30;
+    _ = sensor.AS5600;
 
     _ = @import("stepper/common.zig");
     _ = stepper.A4988;
diff --git a/drivers/src/sensor/AS5600.zig b/drivers/src/sensor/AS5600.zig
index 01ea984d0..524db7487 100644
--- a/drivers/src/sensor/AS5600.zig
+++ b/drivers/src/sensor/AS5600.zig
@@ -108,7 +108,7 @@ pub const AS5600 = struct {
     }
 
     pub fn read_zero_position(self: *const Self) !u16 {
-        const zpos = self.read2_raw(register.ZPOS);
+        const zpos = try self.read2_raw(register.ZPOS);
         return zpos & 0xFFF;
     }
 
@@ -120,7 +120,7 @@ pub const AS5600 = struct {
     }
 
     pub fn read_max_position(self: *const Self) !u16 {
-        const mpos = self.read2_raw(register.MPOS);
+        const mpos = try self.read2_raw(register.MPOS);
         return mpos & 0xFFF;
     }
 
@@ -132,7 +132,7 @@ pub const AS5600 = struct {
     }
 
     pub fn read_max_angle(self: *const Self) !u16 {
-        const mang = self.read2_raw(register.MANG);
+        const mang = try self.read2_raw(register.MANG);
         return mang & 0xFFF;
     }
 
@@ -144,7 +144,7 @@ pub const AS5600 = struct {
     }
 
     pub fn read_configuration(self: *const Self) !u16 {
-        const configuration = self.read2_raw(register.CONF);
+        const configuration = try self.read2_raw(register.CONF);
         return @bitCast(configuration);
     }
 
diff --git a/drivers/src/sensor/MPU_6050.zig b/drivers/src/sensor/MPU_6050.zig
index 802587bb9..9aa5bd2c8 100644
--- a/drivers/src/sensor/MPU_6050.zig
+++ b/drivers/src/sensor/MPU_6050.zig
@@ -83,8 +83,15 @@ pub const MPU_6050 = struct {
 
         self.accel_range = .@"2G";
         self.gyro_range = .@"250d";
-
-        while ((try self.read_reg(.pwr_mgmt_1, regs.PWR_MGMT_1)).DEVICE_RESET) {}
+        // wait for device to wake up
+        var timeout: usize = 1000;
+        while ((try self.read_reg(.pwr_mgmt_1, regs.PWR_MGMT_1)).DEVICE_RESET) {
+            timeout -= 1;
+            if (timeout == 0) {
+                return Error.Timeout;
+            }
+            self.clock.sleep_ms(1);
+        }
 
         try self.modify_reg(.user_ctrl, regs.USER_CTRL, .{
             .SIG_COND_RESET = true,