done! i finished the BOM, then did wiring. decided on a teensy 4.1 for its very fast loop speeds and because its a cool mcu. found a motor driver and made a wiring diagram in kicad with custom symbols. i will run the encoders through i2c because the spi ones are rather massive. then figured out blender and rendered my assembly, fixing up a few things. vibecoded the minimal firmware, hopefully it works a little.