Writing custom Jaguar motor controller firmware

[slijin]

I suggest you study the RDK's specs on the limit switch GPIOs to verify that they can actually handle the frequency resolution that effective encoder input demands.

Also, on top of Steven's question, is there a reason you can't handle encoder processing through another interface? I can't see it would simplify your wiring either, or even why the Jaguar would need to juggle input from two encoders.