diff --git a/components/base/sensorcontrolled/sensorcontrolled_test.go b/components/base/sensorcontrolled/sensorcontrolled_test.go
index d79e3d28c32..e7f7ec49cb7 100644
--- a/components/base/sensorcontrolled/sensorcontrolled_test.go
+++ b/components/base/sensorcontrolled/sensorcontrolled_test.go
@@ -345,6 +345,7 @@ func TestReconfig(t *testing.T) {
 	cfg = sBaseTestConfig([]string{"setvel2"}, 100, wrongTypeLinVel, wrongTypeAngVel)
 	err = b.Reconfigure(ctx, deps, cfg)
 	test.That(t, err.Error(), test.ShouldContainSubstring, "type must be 'linear_velocity' or 'angular_velocity'")
+	test.That(t, b.Close(ctx), test.ShouldBeNil)
 }
 
 func TestSensorBaseWithVelocitiesSensor(t *testing.T) {
@@ -358,7 +359,6 @@ func TestSensorBaseWithVelocitiesSensor(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 	sb, ok := b.(*sensorBase)
 	test.That(t, ok, test.ShouldBeTrue)
-	test.That(t, err, test.ShouldBeNil)
 	test.That(t, sb.velocities.Name().ShortName(), test.ShouldResemble, "setvel1")
 
 	test.That(t, sb.SetVelocity(ctx, r3.Vector{X: 0, Y: 100, Z: 0}, r3.Vector{X: 0, Y: 100, Z: 0}, nil), test.ShouldBeNil)
@@ -366,7 +366,6 @@ func TestSensorBaseWithVelocitiesSensor(t *testing.T) {
 	loopFreq, err := sb.loop.Frequency(ctx)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, loopFreq, test.ShouldEqual, 100)
-	test.That(t, sb.Stop(ctx, nil), test.ShouldBeNil)
 	test.That(t, sb.Close(ctx), test.ShouldBeNil)
 }
 
@@ -430,6 +429,7 @@ func TestSensorBaseSpin(t *testing.T) {
 		err := sbNoOri.Spin(ctx, 10, 10, nil)
 		test.That(t, err, test.ShouldBeNil)
 	})
+	test.That(t, b.Close(ctx), test.ShouldBeNil)
 }
 
 func TestSensorBaseMoveStraight(t *testing.T) {
@@ -519,6 +519,7 @@ func TestSensorBaseMoveStraight(t *testing.T) {
 		}
 		orientationValue = defaultOrientationValue
 	})
+	test.That(t, b.Close(ctx), test.ShouldBeNil)
 }
 
 func TestSensorBaseDoCommand(t *testing.T) {
@@ -548,4 +549,5 @@ func TestSensorBaseDoCommand(t *testing.T) {
 	resp, err = b.DoCommand(ctx, req)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, resp, test.ShouldResemble, emptyMap)
+	test.That(t, b.Close(ctx), test.ShouldBeNil)
 }
diff --git a/control/constant.go b/control/constant.go
index dbfa98b8aa6..fd0c7944a4a 100644
--- a/control/constant.go
+++ b/control/constant.go
@@ -27,6 +27,8 @@ func newConstant(config BlockConfig, logger logging.Logger) (Block, error) {
 }
 
 func (b *constant) Next(ctx context.Context, x []*Signal, dt time.Duration) ([]*Signal, bool) {
+	b.mu.Lock()
+	defer b.mu.Unlock()
 	return b.y, true
 }
 
diff --git a/control/derivative.go b/control/derivative.go
index 43cab2d4008..3343e0c7317 100644
--- a/control/derivative.go
+++ b/control/derivative.go
@@ -87,6 +87,8 @@ func derive(x []float64, dt time.Duration, stencil *derivativeStencil) (float64,
 }
 
 func (d *derivative) Next(ctx context.Context, x []*Signal, dt time.Duration) ([]*Signal, bool) {
+	d.mu.Lock()
+	defer d.mu.Unlock()
 	if d.stencil.Type == "backward" {
 		for idx, s := range x {
 			d.px[idx] = append(d.px[idx][1:], s.GetSignalValueAt(0))
diff --git a/control/encoder_speed.go b/control/encoder_speed.go
index a20cbb20b92..23dce82ee4e 100644
--- a/control/encoder_speed.go
+++ b/control/encoder_speed.go
@@ -28,6 +28,8 @@ func newEncoderSpeed(config BlockConfig, logger logging.Logger) (Block, error) {
 }
 
 func (b *encoderToRPM) Next(ctx context.Context, x []*Signal, dt time.Duration) ([]*Signal, bool) {
+	b.mu.Lock()
+	defer b.mu.Unlock()
 	currEncCount := int(x[0].GetSignalValueAt(0))
 	b.y[0].SetSignalValueAt(0, (float64(currEncCount-b.prevEncCount)/float64(b.ticksPerRevolution))*60.0/(dt.Seconds()))
 	b.prevEncCount = currEncCount
diff --git a/control/endpoint.go b/control/endpoint.go
index 37d47291e7a..85d0e086ce0 100644
--- a/control/endpoint.go
+++ b/control/endpoint.go
@@ -27,6 +27,8 @@ func newEndpoint(config BlockConfig, logger logging.Logger, ctr Controllable) (B
 }
 
 func (e *endpoint) Next(ctx context.Context, x []*Signal, dt time.Duration) ([]*Signal, bool) {
+	e.mu.Lock()
+	defer e.mu.Unlock()
 	e.logger.CDebugf(ctx, "z length %v", len(x))
 	e.logger.CDebugf(ctx, "controllable is %v", e.ctr)
 	switch len(x) {
diff --git a/control/filters.go b/control/filters.go
index 1ba2b55358d..528cc943537 100644
--- a/control/filters.go
+++ b/control/filters.go
@@ -136,6 +136,8 @@ func (f *filterStruct) initFilter() error {
 }
 
 func (f *filterStruct) Next(ctx context.Context, x []*Signal, dt time.Duration) ([]*Signal, bool) {
+	f.mu.Lock()
+	defer f.mu.Unlock()
 	if len(x) == 1 {
 		xFlt, ok := f.filter.Next(x[0].GetSignalValueAt(0))
 		f.y[0].SetSignalValueAt(0, xFlt)
diff --git a/control/gain.go b/control/gain.go
index cd94e8af0af..2fb13f20e39 100644
--- a/control/gain.go
+++ b/control/gain.go
@@ -27,6 +27,8 @@ func newGain(config BlockConfig, logger logging.Logger) (Block, error) {
 }
 
 func (b *gain) Next(ctx context.Context, x []*Signal, dt time.Duration) ([]*Signal, bool) {
+	b.mu.Lock()
+	defer b.mu.Unlock()
 	if len(x) != 1 {
 		return b.y, false
 	}
diff --git a/control/sum.go b/control/sum.go
index 729e4176677..3ee6afe0052 100644
--- a/control/sum.go
+++ b/control/sum.go
@@ -34,6 +34,8 @@ func newSum(config BlockConfig, logger logging.Logger) (Block, error) {
 }
 
 func (b *sum) Next(ctx context.Context, x []*Signal, dt time.Duration) ([]*Signal, bool) {
+	b.mu.Lock()
+	defer b.mu.Unlock()
 	// sum blocks only support signals with the same number of inputs
 	if len(x)%2 != 0 {
 		return b.y, false