[ImMoMo]

Lovely design, I'm a fan of the clamp on gearboxes.

We too are using them this year, and I was wondering what kind of encoder you are using for this set up?

We ordered the CIMCoder, it seems like a good option, however, I'm worried about clearances with with pinon and driven gear.

Also, have you considered adding a pulley/sprocket reduction... although you would probably have to move a few things around.