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Fix #36.
Also includes a fix to #51, which would be an issue upon re-connection.
We've been testing this on a system that's running continuously.
Also see discussions in forked repo plusone-robotics#1, plusone-robotics#2
@stwirth I know it's been awhile since your original report #36 but if you could take a look that'll be great.
Of course anyone is welcomed for the review.
Credit goes to @shaun-edwards