We're more or less satisfied with the oscilloscope readings taken off the A Axis Optical Tachometer. We blew an IR LED, but replaced it from an old remote we had lying around. All the motors have the same manufacturer, and the main 3 axis motors have Optical Encoders rather than the Optical Tachometer we tested with on the A Axis motor (end effector motor). So, we have a good starting point for the pinout and wire colors of the encoders, and know how to power up the IR LEDs with the proper resistor.

We'll be using a Teensy 3.0 for all servo control, including reading Optical Encoders and messaging our Motor Controller board. Since we're using interrrupts to read the encoder data, we need the external motor controller. We can't Bit Bang the PWM channels to control the motors, since that method affects Arduino interrupt pin timings.

Here is the proposed motor controller board