How do you all get your potentiometers connected to the shaft it's supposed to be measuring? We have a wrist that will only move about 2π/3 radians, with a 1/2 inch shaft sticking out of the end. Are there special potentiometers with a hole in the middle, like an encoder? I saw one thread where people were connecting the end of the potentiometer to some surgical tubing and the other end of the tubing to the shaft, and that looked cool, but inaccurate. Are there any other ways to do it?
A picture of our wrist is here:
http://team3238.com/albums/wk4-2011/1/10/ Where the part that says "look out" (not sure why) is the part that rotates with the claw itself.
Thanks for the help!
In FIRST, you can either have comfortable safety margins or you can have a competitive robot, you can't have both. - Joe Johnson [more] 
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