A surgical system includes: an adapter assembly an end effector configured to couple to a distal portion of the adapter assembly and a surgical device configured to couple to a proximal portion of the adapter assembly. The surgical device includes: a power source a motor coupled to the power source, the motor configured to actuate at least one of the adapter assembly or the end effector and a controller operatively coupled to the motor and configured to calibrate the motor while at least one of the adapter assembly or the end effector is actuated by the motor.
