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Thanks, it works, but I can't remove the emergency stop.

You can get Mesa from Germany or Portugal, so no customs nor VAT as they are in Europe and the VAT is already included:
www.welectron.com
www.eusurplus.com
And yes, i also think Remora can do 1 encoder from what i read about it, so you might ask in their topic if anyone can help add more.
Might also want to check the hal2udp project on github, it has no encoders but should be fairly easy to add them as it uses ESP32.

Those are NOT my files.

The function of an optocoupler is to completely isolate one side of a circuit from another. Hence the large no copper regions under the device.
No amount of filtering, hoping nor thinking will provide this if the same supply is used or if 2 different supplied are used and their grounds connected.
Pickup a book, read & learn.
Eventually your mis advice will end with someone with less knowledge and experience than yourself having a bad time.
Those unseen electrons moving around can bite.

Unable to recompile udp.comp file

Do both degrees, my son just completed a double degree is physics & mechtronics, lot of software modules in both.
To get his work hours up he's working for a small local company that produces robotic arms and manipulators for ROVs.
And whilst studying he still had time to see a host a Metal gigs.