How do you avoid encoder roll overs? can you correct them in software?
Assuming your output has continuous rotation and you always want to take the shortest route like a swerve steering motor/encoder.
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This is a completely mechanical solution, but in '22 3357 used an ultraplanetary with a custom hex-to-pinion piece driving into a REV thrubore for a >360-degree turret. IIRC it worked great
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