Randy,

yes, you can collect some step pulses and calculating
the frequency and drive the motor after this.
But then your software was more complicated and you
waste time.

Why you not want to move at full speed !
I see no advantage to reach the desired position
later than possible.

As described earlier the speed was really nonlinear:
1. only above a voltage (e.g. 3V on a 12V motor)
any movement starts, and stops below another (e.g. at 2V).

2. in a mid range (4 ... 8V) and only with a constant
and small load, it looks nearly linear

3. On the maximum voltage (... 12V) the motor
efficiency drops (motor is heating) and speed increasing
is nonlinear again.


Only 1 point can I see to reduce the voltage:
Since a DC motor stops not immediately (in oppositon
to stepper motors), if the voltage was removed,
you can decrease the voltage depending from the
distance to the desired position.

But better (and easier), you apply the full voltage with
reverse polarity for a short time to stop the motor fast.

Please can you give me the URL of "J.R. Kerr PIC",
to see, if he use analog control and if yes, why.


Peter