Motor Encoder - Program an action for every loop

does this look right to you

there's a line whenever (! (cnt % 68))
1st column is the absolute count
2nd column is a running count is the cnt that's reset each complete rotation
3rd is the adjust offset reduced by 1.0 when >= 1.0
4th column indicates when the extra adjustment is made

       68     68    0.000      barrel
      136    136    0.000      barrel
      204    204    0.000      barrel
      272    272    0.000      barrel
      340    340    0.000      barrel
      408    408    0.000      barrel
      476     68    0.168      barrel
      544    136    0.168      barrel
      612    204    0.168      barrel
      680    272    0.168      barrel
      748    340    0.168      barrel
      816    408    0.168      barrel
      884     68    0.336      barrel
      952    136    0.336      barrel
     1020    204    0.336      barrel
     1088    272    0.336      barrel
     1156    340    0.336      barrel
     1224    408    0.336      barrel
     1292     68    0.504      barrel
     1360    136    0.504      barrel
     1428    204    0.504      barrel
     1496    272    0.504      barrel
     1564    340    0.504      barrel
     1632    408    0.504      barrel
     1700     68    0.672      barrel
     1768    136    0.672      barrel
     1836    204    0.672      barrel
     1904    272    0.672      barrel
     1972    340    0.672      barrel
     2040    408    0.672      barrel
     2108     68    0.840      barrel
     2176    136    0.840      barrel
     2244    204    0.840      barrel
     2312    272    0.840      barrel
     2380    340    0.840      barrel
     2448    408    0.840      barrel
     2449      0    0.008   *  barrel
     2517     68    0.008      barrel
     2585    136    0.008      barrel
     2653    204    0.008      barrel
     2721    272    0.008      barrel
     2789    340    0.008      barrel
     2857    408    0.008      barrel
     2925     68    0.176      barrel
     2993    136    0.176      barrel
     3061    204    0.176      barrel
     3129    272    0.176      barrel
     3197    340    0.176      barrel
     3265    408    0.176      barrel
     3333     68    0.344      barrel
     3401    136    0.344      barrel
     3469    204    0.344      barrel
     3537    272    0.344      barrel
     3605    340    0.344      barrel
     3673    408    0.344      barrel
     3741     68    0.512      barrel
     3809    136    0.512      barrel
     3877    204    0.512      barrel
     3945    272    0.512      barrel
     4013    340    0.512      barrel
     4081    408    0.512      barrel
     4149     68    0.680      barrel
     4217    136    0.680      barrel
     4285    204    0.680      barrel
     4353    272    0.680      barrel
     4421    340    0.680      barrel
     4489    408    0.680      barrel
     4557     68    0.848      barrel
     4625    136    0.848      barrel
     4693    204    0.848      barrel
     4761    272    0.848      barrel
     4829    340    0.848      barrel
     4897    408    0.848      barrel
     4898      0    0.016   *  barrel
     4966     68    0.016      barrel