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Hi,

This isn't exactly relevant to your meat of your question, but it is relevant to the title of your question... so I hope it might be useful to others who search for you question.

I've recently put together a ROS wrapper for using the Sensoray 626. You can find it here: http://www.ros.org/wiki/sensoray626.

This is a low level analog and digital I/O board, that includes motor encoder capabilities so you could use it to write your own motor controller.

--Will