diff --git a/libraries/controllers/src/controllers/impl/endpoints/JSEndpoint.cpp b/libraries/controllers/src/controllers/impl/endpoints/JSEndpoint.cpp
index 7f0e80cbae..2f20cd82c6 100644
--- a/libraries/controllers/src/controllers/impl/endpoints/JSEndpoint.cpp
+++ b/libraries/controllers/src/controllers/impl/endpoints/JSEndpoint.cpp
@@ -6,10 +6,43 @@
 //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
 //
 
-// NOTE: we don't need to include this header unless/until we add additional symbols.
-//       By removing this header we prevent these warnings on windows:
-//
-//           warning LNK4221: This object file does not define any previously undefined public symbols, 
-//           so it will not be used by any link operation that consumes this library
-//
-//#include "JSEndpoint.h"
\ No newline at end of file
+#include "JSEndpoint.h"
+#include "../../Logging.h"
+
+using namespace controller;
+
+QString formatException(const QJSValue& exception) {
+    QString note { "UncaughtException" };
+    QString result;
+
+    const auto message = exception.toString();
+    const auto fileName = exception.property("fileName").toString();
+    const auto lineNumber = exception.property("lineNumber").toString();
+    const auto stacktrace = exception.property("stack").toString();
+
+    const QString SCRIPT_EXCEPTION_FORMAT = "[%0] %1 in %2:%3";
+    const QString SCRIPT_BACKTRACE_SEP = "\n    ";
+
+    result = QString(SCRIPT_EXCEPTION_FORMAT).arg(note, message, fileName, lineNumber);
+    if (!stacktrace.isEmpty()) {
+        result += QString("\n[Backtrace]%1%2").arg(SCRIPT_BACKTRACE_SEP).arg(stacktrace);
+    }
+    return result;
+}
+
+float JSEndpoint::peek() const {
+    QJSValue result = _callable.call();
+    if (result.isError()) {
+        qCDebug(controllers).noquote() << formatException(result);
+        return 0.0f;
+    } else {
+        return (float)result.toNumber();
+    }
+}
+
+void JSEndpoint::apply(float newValue, const Pointer& source) {
+    QJSValue result = _callable.call(QJSValueList({ QJSValue(newValue) }));
+    if (result.isError()) {
+        qCDebug(controllers).noquote() << formatException(result);
+    }
+}
diff --git a/libraries/controllers/src/controllers/impl/endpoints/JSEndpoint.h b/libraries/controllers/src/controllers/impl/endpoints/JSEndpoint.h
index 24d5ec93e9..4d179da8e6 100644
--- a/libraries/controllers/src/controllers/impl/endpoints/JSEndpoint.h
+++ b/libraries/controllers/src/controllers/impl/endpoints/JSEndpoint.h
@@ -24,16 +24,11 @@ public:
         : Endpoint(Input::INVALID_INPUT), _callable(callable) {
     }
 
-    virtual float peek() const override {
-        return (float)const_cast<JSEndpoint*>(this)->_callable.call().toNumber();
-    }
-
-    virtual void apply(float newValue, const Pointer& source) override {
-        _callable.call(QJSValueList({ QJSValue(newValue) }));
-    }
+    virtual float peek() const override;
+    virtual void apply(float newValue, const Pointer& source) override;
 
 private:
-    QJSValue _callable;
+    mutable QJSValue _callable;
 };
 
 }
diff --git a/libraries/controllers/src/controllers/impl/endpoints/ScriptEndpoint.cpp b/libraries/controllers/src/controllers/impl/endpoints/ScriptEndpoint.cpp
index 3e7fde347e..e2c48d776f 100644
--- a/libraries/controllers/src/controllers/impl/endpoints/ScriptEndpoint.cpp
+++ b/libraries/controllers/src/controllers/impl/endpoints/ScriptEndpoint.cpp
@@ -7,6 +7,7 @@
 //
 
 #include "ScriptEndpoint.h"
+#include "../../Logging.h"
 
 #include <QtCore/QThread>
 
@@ -14,6 +15,25 @@
 
 using namespace controller;
 
+QString formatException(const QScriptValue& exception) {
+    QString note { "UncaughtException" };
+    QString result;
+
+    const auto message = exception.toString();
+    const auto fileName = exception.property("fileName").toString();
+    const auto lineNumber = exception.property("lineNumber").toString();
+    const auto stacktrace = exception.property("stack").toString();
+
+    const QString SCRIPT_EXCEPTION_FORMAT = "[%0] %1 in %2:%3";
+    const QString SCRIPT_BACKTRACE_SEP = "\n    ";
+
+    result = QString(SCRIPT_EXCEPTION_FORMAT).arg(note, message, fileName, lineNumber);
+    if (!stacktrace.isEmpty()) {
+        result += QString("\n[Backtrace]%1%2").arg(SCRIPT_BACKTRACE_SEP).arg(stacktrace);
+    }
+    return result;
+}
+
 float ScriptEndpoint::peek() const {
     const_cast<ScriptEndpoint*>(this)->updateValue();
     return _lastValueRead;
@@ -26,10 +46,11 @@ void ScriptEndpoint::updateValue() {
     }
 
     QScriptValue result = _callable.call();
-
-    // If the callable ever returns a non-number, we assume it's a pose
-    // and start reporting ourselves as a pose.
-    if (result.isNumber()) {
+    if (result.isError()) {
+        // print JavaScript exception
+        qCDebug(controllers).noquote() << formatException(result);
+        _lastValueRead = 0.0f;
+    } else if (result.isNumber()) {
         _lastValueRead = (float)_callable.call().toNumber();
     } else {
         Pose::fromScriptValue(result, _lastPoseRead);
@@ -52,8 +73,12 @@ void ScriptEndpoint::internalApply(float value, int sourceID) {
             Q_ARG(int, sourceID));
         return;
     }
-    _callable.call(QScriptValue(),
+    QScriptValue result = _callable.call(QScriptValue(),
         QScriptValueList({ QScriptValue(value), QScriptValue(sourceID) }));
+    if (result.isError()) {
+        // print JavaScript exception
+        qCDebug(controllers).noquote() << formatException(result);
+    }
 }
 
 Pose ScriptEndpoint::peekPose() const {
@@ -67,6 +92,10 @@ void ScriptEndpoint::updatePose() {
         return;
     }
     QScriptValue result = _callable.call();
+    if (result.isError()) {
+        // print JavaScript exception
+        qCDebug(controllers).noquote() << formatException(result);
+    }
     Pose::fromScriptValue(result, _lastPoseRead);
 }
 
@@ -85,6 +114,10 @@ void ScriptEndpoint::internalApply(const Pose& newPose, int sourceID) {
             Q_ARG(int, sourceID));
         return;
     }
-    _callable.call(QScriptValue(),
+    QScriptValue result = _callable.call(QScriptValue(),
         QScriptValueList({ Pose::toScriptValue(_callable.engine(), newPose), QScriptValue(sourceID) }));
+    if (result.isError()) {
+        // print JavaScript exception
+        qCDebug(controllers).noquote() << formatException(result);
+    }
 }