[SJaladi]

Just a side note from drivetrain encoders; when using encoders for a mechanism like an elevator where there is a finite end to the travel (i.e. the top and the bottom) it is good practice to have a limit switch at either each end or at least one end of the travel. This encoder can serve two purposes, an electronic limit on the travel as well as a way of resetting the encoder count at a fixed point. For example on our elevator this year we have a limit switch at the bottom of the elevator that acts as an electronic limit if the operator is manually lowering the elevator, but it also serves as a zero point for if the operator wants to "recalibrate" the elevator encoder to zero.