Modular motor for a window shade system

A modular system for controlling a window shade, the system comprising:

• a drive module comprising a modular motor, a shaft and a drive wheel that is configured to drive a shade tube;
• a modular control module releasably connected to the drive module, wherein the modular control module comprises electronics that are compatible with the modular motor of the drive module;
• and a joint that releasably connects the modular control module and the drive module,
• wherein the joint is configured to fully separate the modular control module from the drive module, wherein the joint further comprises a joint adapter positioned over an encoder collar and the encoder collar is positioned over a floating gear, wherein internal teeth of the encoder collar interface with external teeth of the floating gear, wherein the encoder collar has more teeth than the floating gear such that the floating gear rotates more times for each rotation of the encoder collar, and wherein the floating gear rotates a spindle that in turn rotates a magnetic wheel that is sensed by a Hall effect sensor.