I know it's a low-tech solution, but I solved the problem using an encoder with an active mechanical stop, mechanically it won't be able to move from where you set it and the rotation speed is actually what you set and there can't be any reading deviations; I understand that it's not an elegant solution for computer scientists, but just a low-cost and highly efficient solution for good old-fashioned engineers.
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73 de IW4AJR Loris?
Loris Bollina