• Mounted the encoder 
• Added more threaded inserts

I have mounted the encoder and confirmed that it works. Now i need to write some calibration code for the encoder to account for error (offset of encoder internally) to give a more accurate and clean reading. This calibration sequence should only need to be done after the joint is reassembled as the calibration values can be saved and reused on startup. Its important that these values can be saved because gathering these values for the calibrations would required the output to do at least one full rotation, which would suck if it needed to be done each startup. Once the encoders are calibrated, no homing sequence will need to be completed, the joint should always know its position even after reboot.

Side note, I believe there is a way to daisy chain these encoders. That would make life a lot easier because the motor drivers I plan to use are also able to be daisy chained. The less wires to get in the way, the better. My joint designs currently do not have a way to wire from itself to the next joint. I will be working on that soon.

Ideally all of the coding of the encoders will be done tomorrow and I will move onto the next thing.