We mounted a rack-and-pinion on a turntable in order to create our "rotating forklift". However, as the turntable spins, the rack also slides. Usually we don't want that.

In order to spin the table without sliding the rack, we need to operate both motors simultaneously but at different speeds. We accomplish this in a single thread by accepting there will be some error while the table is actually in motion. Then we correct the error at the end of the spin with one final, small, precision movement of the rack. The rack lags behind slightly during the spin but then precisely catches up after the spin is complete.

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