When it is trying to calibrate initially, it will move erratically for a second then error out.

I'm getting 3 different errors randomly/separately:

ERROR: MISSING CAL SWITCH, X1
ERROR: INVALID MESSAGE, RUN TASK
ERROR: MOTION ERROR2, X1

It started this last week and would work again after the first error, I thought was a loose wire, but no such luck. Now it wont work all.

Encoder?