Motors are getting a large overhaul. There now is mapping for power levels, and encoders.  What this means is that the power input can be configured to be any range as well as the power output (similar to Servos).  

A generalized encoder has been added to the Motor service, which is capable of mapping. Currently, I am experimenting with an analog absolute position encoder (pot), but other encoders should be simple to support too - including timer encoders .. e.g. move motor for this long in this direction...