Ok, I don't know what I'm doing, so go slow. I don't have the servos yet or the pokeys so I'm not sure how any of it works yet.
I've attached a manual for the servos I'm thinking of using, do you think these will work?
Also you mention after it backs off and how many pulses. I was of the understanding that it did't just back off, but rather it backs off to a specific point on the encoder so it's super accurate every time.