Question about encoders to control motor

[Chris Hibner]

Originally Posted by gluxon

Either way, that code is stopping and starting the motor at what I would guess to be a very high rate. I'd imagine some mechanical stress depending on the motor used, no?

You are already bang-bang controlling the motor anyway. That's how pulse width modulation works.

If your bang-bang controller is running fast enough and your sensor input is sufficiently noisy (enough to cause many on-off transitions), then the bang-bang control method is no different on the motor than running it by PWM.