Torque stick for a rotary impact tool

A method of controlling a rotary impact tool, the method comprising:

• activating a motor to provide torque to a drive assembly, causing the drive assembly to rotate;
• in response to a reaction torque on the drive assembly exceeding a threshold value, providing rotational impacts to a torque stick coupled to an anvil of the drive assembly;
• sensing a position of the anvil with a position sensor, the position sensor transmitting a first signal indicative of the anvil rotating in a first direction and a second signal indicative of the anvil rotating in a second direction opposite the first direction, the second direction is a rebound angle of the anvil;
• calculating a difference between the first signal and the second signal to obtain a drive angle of the anvil caused by the rotational impacts;
• calculating torque delivered from the anvil to a workpiece via the torque stick by multiplying a torsional stiffness value of the torque stick and the drive angle;
• and
• controlling the motor based on the drive angle of the anvil.