diff --git a/Desktop_Interface/bin/firmware/labrafirm_0005_02.hex b/Desktop_Interface/bin/firmware/labrafirm_0005_02.hex
new file mode 100755
index 00000000..ef46552f
--- /dev/null
+++ b/Desktop_Interface/bin/firmware/labrafirm_0005_02.hex
@@ -0,0 +1,706 @@
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+:1027C00000DCFC011182CF9108950F93CF93C82FA5
+:1027D000F8DBFC0181818460818301E006938C2F0A
+:1027E000BBDF81E0CF910F9108951F920F920FB63A
+:1027F0000F9211240F932F933F934F935F936F93F7
+:102800007F938F939F93AF93BF93EF93FF938091A9
+:10281000CB0487FF08C080E88093CA040E94970B0E
+:102820000E9411047EC08091CB0482FF18C084E016
+:102830008093CA048091602186FF73C08091CC048C
+:1028400081FD6FC0A8DD81116CC080914D21813068
+:1028500011F403DC66C0843009F063C021C08091AC
+:10286000CB0481FF26C082E08093CA048091582166
+:1028700086FF57C08091CC0481FD53C08CDD81114F
+:1028800050C080914D21823041F484E080934D21ED
+:10289000E8E5F1E202E0069344C0833009F041C06C
+:1028A000E1E6F1E204E00593E9E5F1E204E00593F5
+:1028B00038C08091CB0484FF1DC080E18093CA049E
+:1028C0000E947A0B1092C3041092592196E09093C3
+:1028D000582183E4809359211092612190936021C3
+:1028E0008093612189E091E280935C2190935D2146
+:1028F0007FDB17C08091CB0486FF08C080E4809303
+:10290000CA0480E04BDB0E940F040BC08091CB0413
+:1029100085FF07C080E28093CA0481E03FDB0E940C
+:102920001004FF91EF91BF91AF919F918F917F9193
+:102930006F915F914F913F912F910F910F900FBE2B
+:102940000F901F9018951F920F920FB60F9211249F
+:102950000F931F932F933F934F935F936F937F93A7
+:102960008F939F93AF93BF93CF93DF93EF93FF9397
+:102970008091CC0481FF1AC082E08093CC048091C6
+:10298000C5048195880FE8E5F1E2E81BF109208193
+:1029900031812855314283E0369527958A95E1F7B4
+:1029A000822F869520FD06C0C0E005C0F4DC882398
+:1029B00019F386C0C0E8C80F8C2F03DBFC0120810F
+:1029C00025FF7EC000E20693C11174C080914D21A5
+:1029D000843019F450DB0CDB73C000915A21109144
+:1029E0005B218091B4239091B523C0914921D0916E
+:1029F0004A2198012C0F3D1F8217930718F48C0170
+:102A00000C1B1D0B8091B2239091B323A80169E0A8
+:102A100071E28C0F9D1F96D0C00FD11FC09349212A
+:102A2000D0934A210034110569F480914B21909193
+:102A30004C218C0F9D1F2091B0233091B123821720
+:102A4000930788F0C093B423D093B523E091B823C3
+:102A5000F091B923309729F00995811102C0EFDA7E
+:102A60002FC0FBDA2DC08091B4239091B523C817F5
+:102A7000D907D9F4E091B823F091B923309779F3CD
+:102A80000995882361F320914B2130914C2180914D
+:102A9000492190914A21820F931F80934B2190935B
+:102AA0004C211092492110924A21E8E5F1E202E01E
+:102AB000069306C0C03811F400DC02C08C2FFDDA8A
+:102AC000FF91EF91DF91CF91BF91AF919F918F9146
+:102AD0007F916F915F914F913F912F911F910F9136
+:102AE0000F900FBE0F901F901895AA1BBB1B51E1B2
+:102AF00007C0AA1FBB1FA617B70710F0A61BB70B6E
+:102B0000881F991F5A95A9F780959095BC01CD0112
+:102B1000089597FB072E16F4009406D077FD08D091
+:102B2000E4DF07FC05D03EF4909581959F4F089512
+:102B3000709561957F4F0895EE0FFF1F0590F491FA
+:102B4000E02D0994FB01DC0102C001900D9241507F
+:102B50005040D8F70895FB01DC0101900D92002050
+:082B6000E1F70895F894FFCF9E
+:102B680040000CE02E0AFFFFFFFF55800080008325
+:102B78000A7D0A8D0A7A0A000044201F20000028D6
+:102B88002023200F20000000090219000101008005
+:102B9800FA0904000001FFFFFF0007058101FF0398
+:102BA800010000001201000200000040EB0394BA8B
+:102BB8000002010200010000000300000000000004
+:102BC800000000000000000000004C6162726164B7
+:102BD8006F72004573706F54656B0000040309043D
+:102BE8006465627567313233000205001000200009
+:0A2BF8004000800000010002FF030E
+:00000001FF
diff --git a/Desktop_Interface/genericusbdriver.cpp b/Desktop_Interface/genericusbdriver.cpp
index 1e1ecf27..31624f4a 100644
--- a/Desktop_Interface/genericusbdriver.cpp
+++ b/Desktop_Interface/genericusbdriver.cpp
@@ -340,6 +340,11 @@ void genericUsbDriver::avrDebug(void){
 */
 }
 
+void genericUsbDriver::kickstartIso(void){
+    qDebug() << "Attempting to kickstart iso...";
+    usbSendControl(0x40, 0xaa, 0, 0, 0, NULL);
+}
+
 void genericUsbDriver::requestFirmwareVersion(void){
     usbSendControl(0xc0, 0xa8, 0, 0, 2, NULL);
     firmver = *((unsigned short *) inBuffer);
diff --git a/Desktop_Interface/genericusbdriver.h b/Desktop_Interface/genericusbdriver.h
index da59a629..bcf3ee17 100644
--- a/Desktop_Interface/genericusbdriver.h
+++ b/Desktop_Interface/genericusbdriver.h
@@ -15,7 +15,7 @@
 //#include "buffercontrol.h"
 #include "unified_debug_structure.h"
 
-#define EXPECTED_FIRMWARE_VERSION 0x0004
+#define EXPECTED_FIRMWARE_VERSION 0x0005
 
 #ifdef WINDOWS_64_BIT
     #define DEFINED_EXPECTED_VARIANT 1
@@ -123,6 +123,7 @@ public slots:
     virtual void shutdownProcedure() = 0;
     void checkConnection();
     void bootloaderJump();
+    void kickstartIso();
 };
 
 
diff --git a/Desktop_Interface/mainwindow.cpp b/Desktop_Interface/mainwindow.cpp
index 04e5eb2a..cdd83326 100644
--- a/Desktop_Interface/mainwindow.cpp
+++ b/Desktop_Interface/mainwindow.cpp
@@ -46,6 +46,7 @@ MainWindow::MainWindow(QWidget *parent) :
     ui->debugButton1->setVisible(0);
     ui->debugButton2->setVisible(0);
     ui->debugButton3->setVisible(0);
+    ui->kickstartIsoButton->setVisible(0);
     ui->debugConsole->setVisible(0);
 #ifndef PLATFORM_ANDROID
     ui->console1->setVisible(0);
@@ -1005,6 +1006,7 @@ void MainWindow::enableLabradorDebugging(){
     ui->debugButton1->setVisible(1);
     ui->debugButton2->setVisible(1);
     ui->debugButton3->setVisible(1);
+    ui->kickstartIsoButton->setVisible(1);
     ui->debugConsole->setVisible(1);
 
     new Q_DebugStream(std::cout, ui->debugConsole); //Redirect Console output to QTextEdit
@@ -2074,3 +2076,8 @@ void MainWindow::on_actionQuit_triggered()
 {
     QApplication::quit();
 }
+
+void MainWindow::on_kickstartIsoButton_clicked()
+{
+    ui->controller_iso->driver->kickstartIso();
+}
diff --git a/Desktop_Interface/mainwindow.h b/Desktop_Interface/mainwindow.h
index e799b400..029907cf 100644
--- a/Desktop_Interface/mainwindow.h
+++ b/Desktop_Interface/mainwindow.h
@@ -182,6 +182,8 @@ private slots:
 
     void on_actionQuit_triggered();
 
+    void on_kickstartIsoButton_clicked();
+
 private:
     //Generic Vars
     Ui::MainWindow *ui;
diff --git a/Desktop_Interface/ui_files_desktop/mainwindow.ui b/Desktop_Interface/ui_files_desktop/mainwindow.ui
index a9904d17..8713c637 100644
--- a/Desktop_Interface/ui_files_desktop/mainwindow.ui
+++ b/Desktop_Interface/ui_files_desktop/mainwindow.ui
@@ -1293,6 +1293,13 @@
           </property>
          </widget>
         </item>
+        <item>
+         <widget class="QPushButton" name="kickstartIsoButton">
+          <property name="text">
+           <string>kickstartIso()</string>
+          </property>
+         </widget>
+        </item>
         <item>
          <widget class="QPushButton" name="debugButton3">
           <property name="text">
diff --git a/Matlab_Octave_API/___librador/demo/librademo/mainwindow.cpp b/Matlab_Octave_API/___librador/demo/librademo/mainwindow.cpp
index 11829b26..15d3a862 100644
--- a/Matlab_Octave_API/___librador/demo/librademo/mainwindow.cpp
+++ b/Matlab_Octave_API/___librador/demo/librademo/mainwindow.cpp
@@ -92,3 +92,8 @@ void MainWindow::on_pushButton_5_clicked()
     ui->widget->replot();
 }
 
+
+void MainWindow::on_pushButton_6_clicked()
+{
+    qDebug() << librador_reset_usb();
+}
diff --git a/Matlab_Octave_API/___librador/demo/librademo/mainwindow.h b/Matlab_Octave_API/___librador/demo/librademo/mainwindow.h
index 892aa4a7..34374d84 100644
--- a/Matlab_Octave_API/___librador/demo/librademo/mainwindow.h
+++ b/Matlab_Octave_API/___librador/demo/librademo/mainwindow.h
@@ -27,6 +27,8 @@ private slots:
 
     void on_pushButton_5_clicked();
 
+    void on_pushButton_6_clicked();
+
 private:
     Ui::MainWindow *ui;
 };
diff --git a/Matlab_Octave_API/___librador/demo/librademo/mainwindow.ui b/Matlab_Octave_API/___librador/demo/librademo/mainwindow.ui
index 857a6123..93a61b98 100644
--- a/Matlab_Octave_API/___librador/demo/librademo/mainwindow.ui
+++ b/Matlab_Octave_API/___librador/demo/librademo/mainwindow.ui
@@ -38,6 +38,13 @@
         </property>
        </widget>
       </item>
+      <item>
+       <widget class="QPushButton" name="pushButton_6">
+        <property name="text">
+         <string>Reset USB</string>
+        </property>
+       </widget>
+      </item>
       <item>
        <widget class="QPushButton" name="pushButton_4">
         <property name="text">
diff --git a/Matlab_Octave_API/___librador/demo/librademo/moc_mainwindow.cpp b/Matlab_Octave_API/___librador/demo/librademo/moc_mainwindow.cpp
index 53839d1f..94343b80 100644
--- a/Matlab_Octave_API/___librador/demo/librademo/moc_mainwindow.cpp
+++ b/Matlab_Octave_API/___librador/demo/librademo/moc_mainwindow.cpp
@@ -21,8 +21,8 @@ QT_BEGIN_MOC_NAMESPACE
 QT_WARNING_PUSH
 QT_WARNING_DISABLE_DEPRECATED
 struct qt_meta_stringdata_MainWindow_t {
-    QByteArrayData data[7];
-    char stringdata0[130];
+    QByteArrayData data[8];
+    char stringdata0[154];
 };
 #define QT_MOC_LITERAL(idx, ofs, len) \
     Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
@@ -37,12 +37,14 @@ QT_MOC_LITERAL(2, 33, 0), // ""
 QT_MOC_LITERAL(3, 34, 23), // "on_pushButton_2_clicked"
 QT_MOC_LITERAL(4, 58, 23), // "on_pushButton_3_clicked"
 QT_MOC_LITERAL(5, 82, 23), // "on_pushButton_4_clicked"
-QT_MOC_LITERAL(6, 106, 23) // "on_pushButton_5_clicked"
+QT_MOC_LITERAL(6, 106, 23), // "on_pushButton_5_clicked"
+QT_MOC_LITERAL(7, 130, 23) // "on_pushButton_6_clicked"
 
     },
     "MainWindow\0on_pushButton_clicked\0\0"
     "on_pushButton_2_clicked\0on_pushButton_3_clicked\0"
-    "on_pushButton_4_clicked\0on_pushButton_5_clicked"
+    "on_pushButton_4_clicked\0on_pushButton_5_clicked\0"
+    "on_pushButton_6_clicked"
 };
 #undef QT_MOC_LITERAL
 
@@ -52,7 +54,7 @@ static const uint qt_meta_data_MainWindow[] = {
        7,       // revision
        0,       // classname
        0,    0, // classinfo
-       5,   14, // methods
+       6,   14, // methods
        0,    0, // properties
        0,    0, // enums/sets
        0,    0, // constructors
@@ -60,17 +62,19 @@ static const uint qt_meta_data_MainWindow[] = {
        0,       // signalCount
 
  // slots: name, argc, parameters, tag, flags
-       1,    0,   39,    2, 0x08 /* Private */,
-       3,    0,   40,    2, 0x08 /* Private */,
-       4,    0,   41,    2, 0x08 /* Private */,
-       5,    0,   42,    2, 0x08 /* Private */,
-       6,    0,   43,    2, 0x08 /* Private */,
+       1,    0,   44,    2, 0x08 /* Private */,
+       3,    0,   45,    2, 0x08 /* Private */,
+       4,    0,   46,    2, 0x08 /* Private */,
+       5,    0,   47,    2, 0x08 /* Private */,
+       6,    0,   48,    2, 0x08 /* Private */,
+       7,    0,   49,    2, 0x08 /* Private */,
 
  // slots: parameters
     QMetaType::Void,
     QMetaType::Void,
     QMetaType::Void,
     QMetaType::Void,
+    QMetaType::Void,
     QMetaType::Void,
 
        0        // eod
@@ -87,6 +91,7 @@ void MainWindow::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id,
         case 2: _t->on_pushButton_3_clicked(); break;
         case 3: _t->on_pushButton_4_clicked(); break;
         case 4: _t->on_pushButton_5_clicked(); break;
+        case 5: _t->on_pushButton_6_clicked(); break;
         default: ;
         }
     }
@@ -118,13 +123,13 @@ int MainWindow::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
     if (_id < 0)
         return _id;
     if (_c == QMetaObject::InvokeMetaMethod) {
-        if (_id < 5)
+        if (_id < 6)
             qt_static_metacall(this, _c, _id, _a);
-        _id -= 5;
+        _id -= 6;
     } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
-        if (_id < 5)
+        if (_id < 6)
             *reinterpret_cast<int*>(_a[0]) = -1;
-        _id -= 5;
+        _id -= 6;
     }
     return _id;
 }
diff --git a/Matlab_Octave_API/___librador/demo/librademo/ui_mainwindow.h b/Matlab_Octave_API/___librador/demo/librademo/ui_mainwindow.h
index 5c8375a5..c9f4fc7d 100644
--- a/Matlab_Octave_API/___librador/demo/librademo/ui_mainwindow.h
+++ b/Matlab_Octave_API/___librador/demo/librademo/ui_mainwindow.h
@@ -35,6 +35,7 @@ public:
     QPushButton *pushButton;
     QPushButton *pushButton_2;
     QPushButton *pushButton_3;
+    QPushButton *pushButton_6;
     QPushButton *pushButton_4;
     QPushButton *pushButton_5;
     QCustomPlot *widget;
@@ -71,6 +72,11 @@ public:
 
         verticalLayout->addWidget(pushButton_3);
 
+        pushButton_6 = new QPushButton(centralWidget);
+        pushButton_6->setObjectName(QStringLiteral("pushButton_6"));
+
+        verticalLayout->addWidget(pushButton_6);
+
         pushButton_4 = new QPushButton(centralWidget);
         pushButton_4->setObjectName(QStringLiteral("pushButton_4"));
 
@@ -112,6 +118,7 @@ public:
         pushButton->setText(QApplication::translate("MainWindow", "Open API", nullptr));
         pushButton_2->setText(QApplication::translate("MainWindow", "Close API", nullptr));
         pushButton_3->setText(QApplication::translate("MainWindow", "Setup USB", nullptr));
+        pushButton_6->setText(QApplication::translate("MainWindow", "Reset USB", nullptr));
         pushButton_4->setText(QApplication::translate("MainWindow", "avrDebug()", nullptr));
         pushButton_5->setText(QApplication::translate("MainWindow", "Get Scope Data", nullptr));
     } // retranslateUi
diff --git a/Matlab_Octave_API/___librador/librador/librador.cpp b/Matlab_Octave_API/___librador/librador/librador.cpp
index f9d8b32e..948422f5 100644
--- a/Matlab_Octave_API/___librador/librador/librador.cpp
+++ b/Matlab_Octave_API/___librador/librador/librador.cpp
@@ -63,3 +63,11 @@ int librador_avr_debug(){
 std::vector<double> * librador_get_iso_data(int numToGet, int interval_samples, int delay_sample, int filter_mode){
     return internal_librador_object->usb_driver->getMany_double(numToGet, interval_samples, delay_sample, filter_mode);
 }
+
+int librador_reset_usb(){
+    printf("\n\n\nlibrador_reset_usb() received\n");
+    delete internal_librador_object->usb_driver;
+    internal_librador_object->usb_driver = new usbCallHandler(LABRADOR_VID, LABRADOR_PID);
+
+    return 0;
+}
diff --git a/Matlab_Octave_API/___librador/librador/librador.h b/Matlab_Octave_API/___librador/librador/librador.h
index a5da418d..6e9c5ff6 100644
--- a/Matlab_Octave_API/___librador/librador/librador.h
+++ b/Matlab_Octave_API/___librador/librador/librador.h
@@ -6,6 +6,7 @@
 int LIBRADORSHARED_EXPORT librador_init();
 int LIBRADORSHARED_EXPORT librador_exit();
 int LIBRADORSHARED_EXPORT librador_setup_usb();
+int LIBRADORSHARED_EXPORT librador_reset_usb();
 int LIBRADORSHARED_EXPORT librador_avr_debug();
 std::vector<double> * LIBRADORSHARED_EXPORT librador_get_iso_data(int numToGet, int interval_samples, int delay_sample, int filter_mode);
 
diff --git a/Matlab_Octave_API/___librador/librador/usbcallhandler.cpp b/Matlab_Octave_API/___librador/librador/usbcallhandler.cpp
index ec9606db..9d3388c8 100644
--- a/Matlab_Octave_API/___librador/librador/usbcallhandler.cpp
+++ b/Matlab_Octave_API/___librador/librador/usbcallhandler.cpp
@@ -2,6 +2,44 @@
 #include <stdio.h>
 
 #include "o1buffer.h"
+#include <mutex>
+#include <chrono>
+#include <thread>
+
+std::mutex usb_shutdown_mutex;
+bool usb_shutdown_requested = false;
+int usb_shutdown_remaining_transfers = NUM_FUTURE_CTX;
+bool thread_active = true;
+
+int begin_usb_thread_shutdown(){
+    usb_shutdown_mutex.lock();
+    usb_shutdown_requested = true;
+    usb_shutdown_mutex.unlock();
+    return 0;
+}
+
+bool usb_iso_needs_rearming(){
+    bool tempReturn;
+    usb_shutdown_mutex.lock();
+    tempReturn = !usb_shutdown_requested;
+    usb_shutdown_mutex.unlock();
+    return tempReturn;
+}
+
+int decrement_remaining_transfers(){
+    usb_shutdown_mutex.lock();
+    usb_shutdown_remaining_transfers--;
+    usb_shutdown_mutex.unlock();
+    return 0;
+}
+
+bool safe_to_exit_thread(){
+    bool tempReturn;
+    usb_shutdown_mutex.lock();
+    tempReturn = (usb_shutdown_remaining_transfers == 0);
+    usb_shutdown_mutex.unlock();
+    return tempReturn;
+}
 
 //shared vars
 o1buffer *internal_o1_buffer;
@@ -9,25 +47,29 @@ o1buffer *internal_o1_buffer;
 static void LIBUSB_CALL isoCallback(struct libusb_transfer * transfer){
 
     //Thread mutex??
-
-    if(transfer->status!=LIBUSB_TRANSFER_CANCELLED){
-        printf("Copy the data...\n");
-        //TODO: a switch statement here to handle all the modes.
-        for(int i=0;i<transfer->num_iso_packets;i++){
-            unsigned char *packetPointer = libusb_get_iso_packet_buffer_simple(transfer, i);
+    printf("Copy the data...\n");
+    for(int i=0;i<transfer->num_iso_packets;i++){
+        unsigned char *packetPointer = libusb_get_iso_packet_buffer_simple(transfer, i);
+        if(transfer->actual_length){
             printf("Expected length is %d\n", transfer->length);
             printf("Actual length is %d\n", transfer->actual_length);
-            for(int k=0; k<transfer->actual_length; k++){
-                printf("%d ", packetPointer[k]);
-            }
             printf("\n");
-            internal_o1_buffer->addVector(packetPointer, 375);
         }
-        printf("Re-arm the endpoint...\n");
-        int error = 0;//libusb_submit_transfer(transfer);
+        //TODO: a switch statement here to handle all the modes.
+        internal_o1_buffer->addVector(packetPointer, 375);
+    }
+    printf("Re-arm the endpoint...\n");
+    if(usb_iso_needs_rearming()){
+        int error = libusb_submit_transfer(transfer);
         if(error){
             printf("Error re-arming the endpoint!\n");
+            begin_usb_thread_shutdown();
+            decrement_remaining_transfers();
+            printf("Transfer not being rearmed!  %d armed transfers remaining\n", usb_shutdown_remaining_transfers);
         }
+    } else {
+        decrement_remaining_transfers();
+        printf("Transfer not being rearmed!  %d armed transfers remaining\n", usb_shutdown_remaining_transfers);
     }
     return;
 }
@@ -37,7 +79,7 @@ void usb_polling_function(libusb_context *ctx){
     struct timeval tv;
     tv.tv_sec = 1;
     tv.tv_usec = 0;//ISO_PACKETS_PER_CTX*4000;
-    while(1){
+    while(!safe_to_exit_thread()){
         printf("usb_polling_function begin loop\n");
         if(libusb_event_handling_ok(ctx)){
             libusb_handle_events_timeout(ctx, &tv);
@@ -56,10 +98,42 @@ usbCallHandler::usbCallHandler(unsigned short VID_in, unsigned short PID_in)
     }
 
     internal_o1_buffer = new o1buffer();
+
+    //In case it was deleted before; reset the shared variables.
+    usb_shutdown_requested = false;
+    usb_shutdown_remaining_transfers = NUM_FUTURE_CTX;
+    thread_active = true;
 }
 
 usbCallHandler::~usbCallHandler(){
     //Kill off usb_polling_thread.  Maybe join then get it to detect its own timeout condition.
+    printf("Calling destructor for librador USB call handler\n");
+    begin_usb_thread_shutdown();
+
+    printf("Shutting down USB polling thread...\n");
+    usb_polling_thread->join();
+    printf("USB polling thread stopped.\n");
+    delete usb_polling_thread;
+
+    for (int i=0; i<NUM_FUTURE_CTX; i++){
+        for (int k=0; k<NUM_ISO_ENDPOINTS; k++){
+            libusb_free_transfer(isoCtx[k][i]);
+        }
+    }
+    printf("Transfers freed.\n");
+
+    if(handle != NULL){
+    libusb_release_interface(handle, 0);
+        printf("Interface released\n");
+        libusb_close(handle);
+        printf("Device Closed\n");
+    }
+    if(ctx != NULL){
+        libusb_exit(ctx);
+        printf("Libusb exited\n");
+    }
+
+    printf("librador USB call handler deleted\n");
 }
 
 
diff --git a/Matlab_Octave_API/___librador/librador/usbcallhandler.h b/Matlab_Octave_API/___librador/librador/usbcallhandler.h
index 3d33ad59..579fe3e8 100644
--- a/Matlab_Octave_API/___librador/librador/usbcallhandler.h
+++ b/Matlab_Octave_API/___librador/librador/usbcallhandler.h
@@ -6,9 +6,9 @@
 #include <vector>
 
 #define NUM_ISO_ENDPOINTS (1)
-#define NUM_FUTURE_CTX (2)
+#define NUM_FUTURE_CTX (4)
 #define ISO_PACKET_SIZE (750)
-#define ISO_PACKETS_PER_CTX (125)
+#define ISO_PACKETS_PER_CTX (33)
 
 //EVERYTHING MUST BE SENT ONE BYTE AT A TIME, HIGH AND LOW BYTES SEPARATE, IN ORDER TO AVOID ISSUES WITH ENDIANNESS.
 typedef struct uds{