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Hi, I want to ask the users of EV3 system: How much can you rely on position determination made by EV3 unit that computes it from the quadrature encoder inside the EV3 servomotors? Particularly in a situation where the position of a driven mechanical system (e.g. a robot arm) changes quickly and in both directions? Is it precise and robust enough so that limit switches may be omitted? I saw some robots with EV3 and many were without these switches. I ask because I am experimenting with EV3 motors combined with Arduino and even though my control programs (inspired by this project) seem to be fast and accurate enough, there are always small deviations of the position after several movement repetitions. After tens and hundreds of repetitions the deviations becomes critical.