The motor controller can handle a 10A draw and has the ability to operate over serial TTL and give me encoder feedback (which is what I want).
The motor controller is designed to drive two motors (not four). I know that I can link two motor controllers together (one for left wheels and one for right) — but is that necessary? I mean the motors are rated at 2300mA max and the motor controller is 10A. Would it be a bad idea to simply connect two motors to channel A and the other two to channel B?