PID control loops - closed loop feedback

[KenWittlief]

if you are matching rotational speed then the amount of time the loop takes doenst matter

its when you are integrating it to get angles that the loop time alters the output - and even that averages out if the loop is not the same every time

I wouldnt worry about the loop speed - PID loops always have some trial and error testing to get the constants right

sounds like fun.