I have read the information in this link, and it seems to me that the CAPS and QEP lines can serve me.
The maximum speed of the motors will be 5000 RPM . I am using the CNY70 to measure the revolutions.
The other question I have is if I will be able to read the pulses from all the sensors simultaneously and also execute other functions, for example: mathematical operations, read digital or analog inputs, write on the PWM outputs, etc?
I have no experience programming the BBB, and it would be ideal, if there were already sripts or libraries with routines that read the pins of the CAPS and/or QEP lines that I could use as a base to develop my application?