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HC11F1 is a nice controller but you need to build a fairly complex board to hold it. An E9 would make more sense because you could run it single chip mode.
We are using a PIC16F877A. This is a flash part with 8K of program memory on chip. 38 I/O pins and a very easy assembly language (35 instructions). Also the HC11F1 is a PLCC which is hard to build on protoboard. PIC comes in DIP. Programing tools are a free download. For $100 from digikey the 16F877 has an in-circuit debugger.
Our system is running the PID control loop for the GYRO and sending GYRO controlled steer commands to the control system. The PIC communicates with the control system with a TI DAC and some digital I/O pins.
Our system also monitors motor current and provides a circuit breaker overload timer. This will allow short periods of burst power that are computer controlled so the driver doesn't have to guess.
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