[sjspry]

I would mention the existence of continuous rotation Vex servos and those made by Parallax with a built in zero-point calibration pot.

They are both made that way.

As for the definition of COTS, as long as everyone can buy it with equal opportunity, how is it not COTS? I won't go on a rant about the rules right now, but... If teams can't lawyer the rules, why are inspectors doing it?