This week, I printed out the rotation joint I had created. I assembled the parts together by running a metal shaft through the rotation joint and secured it with a set screw. Then, I attached the motor to the motor chamber using screws. Once the rotation joint was assembled, I needed to add sensory to the motor rotation. This sensory will allow the rotation joint to send information of its current rotation position. This is similar to how you can tell when your arm is rotated in either direction. I decided to add a hall effect sensor in the motor chamber. A hall effect sensor is a sensor that detects magnetic feedback and records their amplitude. I then placed magnets on either side of the gear chamber with opposing polarity. Therefore, the hall effect sensor will record how close it is to either magnet and thereby determine its rotational position. I drafted a new design in SolidWorks with holes for the sensor and the magnets in the rotation joint. Next week, I'll print out these new parts and assemble them with the hall effect sensory. If this works correctly, the rotation joint will be able to tell its rotary position, and I'll be able to write code and tell the rotation joint how far to rotate.