Abstract: Described herein is a system comprising a controller and a tool for tightening a fastener. The controller may comprise a memory and processor. The processor may be configured to transmit a first command comprising a torque value to the tool; receive a rotational angle of the fastener after the fastener is tightened to the torque value; determine an additional rotation based, at least in part, on the rotational angle; and transmit a second command to the tool comprising the additional rotation. The tool may comprise a rotary encoder, a controller interface, and a tool head. The rotary encoder may be configured to determine the rotational angle of the fastener. The controller interface may be configured to receive the first command and the second command from the controller. The tool head may be configured to tighten the fastener based, at least in part, upon the first command and the second command.