Great feedback...thank you all.
I'll head down the TimerTask route. I might swap out the Jags for Victors, since the stated response time is quicker. As long as the response time is at a consistent rate, then we'll be able to consistently target a point to initiate a stop.
We will definitely have a physical stop, so the arm will not travel beyond design limits. Ideally, it will stop electronically, before it slams into the hard stop
.