SBC servo control under Linux

Here is a small update on a project I’m working on for a client.

I’ve subsequently dropped the split quadrature encoder set up and added another shaft encoder on the actual lead-screw. So now I can actually use a stepper or a servo and I close the control loop using my own shaft encoder. I’ve still got to put up with the non-realtime kernel but it’s a lot better and good enough for what I need.