it was possible to squeeze a DRV8837 DC motor driver and a pair of hall effect sensors on the first PCB layer, with the magnetic encoder nestled tightly behind it. Pin headers at the edge of the ...

That is, you have to pry the servo’s DC motor apart, take its base with brushes out, then insert the encoder disks. Then, you snip and file away at the base’s plastic parts to free up as much ...