This is a quick application to run motors off of a Modern Robotics Core Motor Controller, written in C#. It doesn't currently support encoders. The library used is here: https://modernroboticsinc.com/download/core-control-modules-library/
To edit the source code, make sure to download the library linked above and add it as a reference to the project.
To use this program, head over to the releases tab and download the latest release, which should be a zip file. Then extract it, run it, and you should be good to go.