API Read Real-Time Data -- Urgent

Hi,

I'm trying to use the API (written for C++) to command my SDC 2160 controller to move to a specified encoder count. I'm wanting to be able to read the encoder counts from the controller in real-time as the motor is moving. I created two classes for communicating to the robot, one which sends comands and one which reads from the controller. When I execute these programs, as soon as I send a command from the motor, the read class will die/fail. Does the API allow for multiple connections from different class instances over the same USB port? More broadly, how am I able to read real-time data from the controller using the API so that I can report the real-time motor position? I've attached two source files and corresponding headerfile. I would greatly appreciate any help!

Did you ever find an answer to this? I'm stuck on ta similar thing. Trying to use the streaming api in the comms protocol, but curious how that interplays with sending commands (since the responses to the commands will be mixed into the streaming data being received). Also did you ever figure out how to synchronize the 2 motors? Trying to read revolutions (encoder) and simultaneously drive the 2 connected motors and struggling to do so with their API

Did you find the answer to these questions? I want to do the same but only monitor the motor amps. Can you send me your example of the classes within C#?