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The computational power of the teensy is what is impressive. I have not used the SPI bus on the teensy, but I expect that it would come down to how interrupts interact with each other. I do not know if the SPI system could put up with a delay of a microecond or two while the quadrature encoder...

I am also working on an optical encoder based repstrap. The Teensy3.1 has enough horse power to decode at least 4 channels of optical encoders with pulse frequencies of at least 20KHz without using hardware, which is plenty for my purposes (my motors can only move so fast). I do the encoder...