1. ordering another, more powerful power supply (24v vs 12v) to drive the DC motors
2. going to breadboard the Teensy and the connections to the rotary encoder on the DC motor then flash the right firmware to it for control. The Teensy will then interface with the KFB2.0 as its main controller. 

The theory of using a 32 bit controller for rotary encoded DC motors was introduced by Benjamin McKittrick Weiss in his thesis: Closed-Loop Control of a 3D Printer Gantry for Washington University. the .pdf is here: https://digital.lib.washington.edu/researchworks/bitstream/handle/1773/26048/Weiss_washington_0250O_13644.pdf . I hope to combine his work with mine as well as the work of Michael Ball's work on RepScrap (which is basically what im doing) and using a more powerful Teensy than he had. So these, two solid leads have made things much easier than trying do from scratch. I do realize that i am standing on the shoulders of giants, and go out of my way to make sure that everyone knows that although I am working on an original idea for this plotter, the hard work has already been started by people much more smarter than I.