I have finished coding the encoder, it works extremely well. I have also made it so no calibration is ever required. Once assembled, the joint will always know its exact position.

This Joint is extremely accurate because it has encoders on both the input motor and the output shaft. This means that it will not drift at any point. I can run the motor 360 degrees (120 input rotations) and after doing this the motor reads the same position to the last decimal point.

with the amount of accuracy this joint already has, there is a good chance i will be upgrading the output encoder to one of a higher accuracy as the encoder currently does not have enough values per revolution that I would like.