it's DC brushed with tach feedback to drive and encoder on the spindle itself. also plan to shift to low gear when in C mode. i have to measure lash in low gear, this plan might not be feasible, if that's the case, I have another servo i can connect directly to the spindle to resolve that lash issue. I'm more concerned with finding analog out configurations i can draw from to get my c acis configured, then I'll modify my spindle hal component to handle mode switching etc
