[Joe Johnson]

Originally Posted by KenWittlief

presently you need to create a closed loop feedback control system to have your commands correspond to 'speed' instead of torque.

Im not sure closing the bridge would really map directly to speed- it sounds too easy to be true :^)

an out-of-the-box motor 'speed' controller from Victor would be super. I think it would have to measure the back emf and close the loop on itself.

I do not mean to imply that driving via an H-bridge that switches between Vbatt and Dynamic Brake takes the place of a feedback loop.

What I AM saying is that whether you are driving a robot via open loop or closed loop the job is considerably easier in the case where you have the H-bridge configured in this way.

I do not have time right now to explain, but essentially this drive circuit effectively adds a term to the dynamic equations that helps to stabilize velocity of the motor.

Joe J.