[EricH]

Yes and no.

Servos do come in continuous-rotation variants--that is, they just keep going to get to where you want them. The problem is, FRC rules limit the max power of a servo to far lower than you'd need for most applications. If you need a CIM or Mini-CIM, sorry, not going to work. (Actually, there ARE larger servos--but cost becomes an issue, as does size, and definitely FRC legality.)

You could try a stepper motor, but you'd have no way of knowing whether or not you actually made it to the point you want to get to.

Your best bet, given the power and continuous rotation, is a quadrature encoder, with a PID loop to slow the motor down as it gets close to a set stop point. If continuous rotation wasn't a concern, I'd suggest a potentiometer instead.