In my view, here's what an encoder implementation should do:
 * maintain counts internally as a 64-bit value
 * calculate position and velocity based on the 64-bit counts
 * truncate the 64-bit value to 32 bits for the s32 counts output
   in the normal way

Of our encoder implementations, it looks like only software and pluto 
do this!  The rest maintain counts in a 32-bit type as far as I can tell.

Jeff

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