Since I’m trying to do a quadrilateral setup, I’m using the bottom motors to keep the sled vertical and I think the only way to do that is through setting position. I’ve been thinking about it further today and wonder if because I’m using 1/32 inch thick webbing, the resolution of the motor encoder will be good enough. The webbing using a 40 mm inner spool diameter maxes at around 70mm with ~3m wrapped around the spool (if I recall my calcs correctly from earlier today). That leads to a resolution of 0.03 mm/pulse. Since all that this motor is doing is adjusting the angle of the sled, I wonder if that is good enough. If so, I’m thinking of maybe generating a calibration curve for the motor that equates encoder steps to length. The teensy has plenty of ram/storage to hold a large array.