Using robot control library with beaglebone black with motor cape?

Hi all,

I am trying to run 4 DC motors with encoders at around 36V, and I am using the Beaglebone black with the motor cape. It doesn’t seem like the motor cape has encoder functionality set up, so I wanted to be able to use the robot control library to control the motors and read the encoders.

My question is what would it take to use the robot control library with the motor cape? I know that there is at least one pin conflict, one of the encoder 4 pins is used by the M2HIGH pin for the motor cape, and I am sure there are other conflicts that I have not caught. I need to be able to drive the motors at a higher voltage, so I can’t just use the robotics cape.