Working quite well. VERY sensitive to any motion, with good range. 

I added quadrature decoding to the existing slots. Keep in mind, just because we read them analog, doesn't mean we can't read them digital as well. Works amazingly well. e.g. I haven't been able to get it to error by moving the joint at human speeds, which should be fine for a robot. https://github.com/JamesNewton/HybridDiskEncoder/commit/ff9be278474bbda9fe5d8952b3499ce4081b4d2c