Thats some high end stuff, awesome work! Did you use shielded wiring for the encoder?
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Yes, I used a shielded cable for the encoders. These cables are very close to the motor cables, and are critical for the operation of the motors, so the shielding is important. I used this which is quite typical:
https://www.distrelec.ch/fr/cable-multiconducteur-blindage-cuivre-cy-pvcx-14mm-gris-ceam-li-ycy-10x0-14/p/15577853?track=true&no-cache=true
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Not joking around for sure 
I came to learn that using shielded wiring is quite important too, use it for my CNC mill now.
Now this, is DIY balls deep. Well done! Thank you for documenting and sharing your build!
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This is hands down build of the year for me, you did everything yourself. Holy shit. The effort this must have cost.
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Holy shit, this thing is insane. dude this board in incredible!
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noice
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Daaammmmnnnn. Shame on me for missing this. What a fucking ripper build. Kudos for pushing the boundaries 
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Jesus Christ, im waiting so hard for a second build from your hands, dooooooooooooood! Keep this work up!
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This Build is hand down the most impressive thing ive ever seen
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