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Re: Speed Controller
What you're thinking of is called PID - proportion, integral, derivative. It's not too hard to use - you (essentially) give it an encoder (where you are) and the desired position (where you want to be) and that calculates an error. The PID controller's purpose is to try to get that error to zero as fast as possible. You also have to put in some tuning parameters, which is just trial and error. Look it up on wikipedia, it's good information.
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