A method of sensing rotation using a rotational sensor having a plurality of first sensors to measure the absolute rotation of an object, characterized in that: there is at least one second sensor to measure the relative rotation of said object, the method comprising or including the steps of a. Receiving a signal indicative of a sensor absolute angle from the first sensors, b. Receiving a signal indicative of a sensor relative angle from the second sensors, c. Calculating a current absolute angle if not known, by setting the current absolute angle and a current derived angle to the sensor absolute angle, d. Calculating the current absolute angle, if not equal to the sensor absolute angle by setting the current absolute angle to be equal to the sensor absolute angle, and calculating a current offset error equal to the current absolute angle minus the current derived angle, e. If this error is zero then stepping to step i, f. If this error is not zero then calculating an angle adjustment equal to the minimum of a percentage of the sensor relative angle or the current offset error, g. Comparing the sign of the sensor relative angle and the current offset error, and i. If the sign is the same then calculating a new sensor relative angle equal to the sensor relative angle plus the angle adjustment, or ii. If the sign is not the same then calculating a new sensor relative angle equal to the sensor relative angle minus the angle adjustment, h. Calculating a new current offset error equal to the old current offset error minus the angle adjustment, i. Calculating a new current derived angle equal to the old current derived angle plus the sensor relative angle, wherein the new current derived angle is then used as a signal, readout, display or similar of the actual rotational angle of said object. there is at least one second sensor to measure the relative rotation of said object, the method comprising or including the steps of a. Receiving a signal indicative of a sensor absolute angle from the first sensors, b. Receiving a signal indicative of a sensor relative angle from the second sensors, c. Calculating a current absolute angle if not known, by setting the current absolute angle and a current derived angle to the sensor absolute angle, d. Calculating the current absolute angle, if not equal to the sensor absolute angle by setting the current absolute angle to be equal to the sensor absolute angle, and calculating a current offset error equal to the current absolute angle minus the current derived angle, e. If this error is zero then stepping to step i, f. If this error is not zero then calculating an angle adjustment equal to the minimum of a percentage of the sensor relative angle or the current offset error, g. Comparing the sign of the sensor relative angle and the current offset error, and i. If the sign is the same then calculating a new sensor relative angle equal to the sensor relative angle plus the angle adjustment, or ii. If the sign is not the same then calculating a new sensor relative angle equal to the sensor relative angle minus the angle adjustment, h. Calculating a new current offset error equal to the old current offset error minus the angle adjustment, i. Calculating a new current derived angle equal to the old current derived angle plus the sensor relative angle, a. Receiving a signal indicative of a sensor absolute angle from the first sensors, b. Receiving a signal indicative of a sensor relative angle from the second sensors, c. Calculating a current absolute angle if not known, by setting the current absolute angle and a current derived angle to the sensor absolute angle, d. Calculating the current absolute angle, if not equal to the sensor absolute angle by setting the current absolute angle to be equal to the sensor absolute angle, and calculating a current offset error equal to the current absolute angle minus the current derived angle, e. If this error is zero then stepping to step i, f. If this error is not zero then calculating an angle adjustment equal to the minimum of a percentage of the sensor relative angle or the current offset error, g. Comparing the sign of the sensor relative angle and the current offset error, and i. If the sign is the same then calculating a new sensor relative angle equal to the sensor relative angle plus the angle adjustment, or ii. If the sign is not the same then calculating a new sensor relative angle equal to the sensor relative angle minus the angle adjustment, i. If the sign is the same then calculating a new sensor relative angle equal to the sensor relative angle plus the angle adjustment, or ii. If the sign is not the same then calculating a new sensor relative angle equal to the sensor relative angle minus the angle adjustment, h. Calculating a new current offset error equal to the old current offset error minus the angle adjustment, i. Calculating a new current derived angle equal to the old current derived angle plus the sensor relative angle, wherein the new current derived angle is then used as a signal, readout, display or similar of the actual rotational angle of said object.