moteus has always had a port intended for use as an extra absolute encoder, and now it finally works!  This is for the case where you have a gear reduction, and want to be able to monitor the output of the reducer in addition to the rotor position.  The moteus firmware doesn't use the value for much, but does allow you to initialize the number of full revolutions of the rotor from it.  It also reports the value over CAN so that your application can use it.

Currently, just the AS5048B is supported, although other I2C based encoders should be pretty easy to make work.