A reflection-based optical encoding apparatus for the detection of position and/or motion of a mechanical device is described. In various embodiments, such a reflection-based optical encoding apparatus can include an encoder housing having one or more portions, a light-emitting source embedded within the encoder housing, and a light-detecting sensor embedded within the encoder housing, wherein the encoder housing includes one or more optical elements configured to enable light generated by the light-emitting source to reflect on a moveable object placed in close proximity of the encoder housing and subsequently be received by the light-detecting sensor to enable the reflection-based optical encoding apparatus to sense at least one of position and motion of the moveable object, and wherein the reflection-based optical encoding apparatus includes no codescale within the light path of the light-emitting source and the light-detecting sensor.