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My team used linear actuators to make an arm move up and down, pivoting on an axis. The linear actuator's had potentiometers but they quickly broke, so we added in physical limit switches to stop the arm from going too high (jamming the actuators) or too low (destroying bearings, sometimes jamming, messing up lead screw). We also added in a string potentiometer which actually worked very well for arm position. It isn't always good though because the housing is fragile and the string can sometimes get in the way. AndyMark sells the string potentiometer and I would highly recommend it.