@smiller29  As DJ has mentioned you may want to get a sabertooth with a kangaroo on it. In the kangaroo it has a built in high speed counter which takes care of your encoder pulses automatically. After you tune it you just tell it to go somewhere and it does it. Dave Shulpius has some good videos on it and can lead you in the right direction. Heads up- get good limit switches and keep wires away from dc motors because they emit voltages which will give you false positives on the limit switches.