paulcox82, comwarrior beat me to the final suggestion.. Why not use the internal A/D and just read the pot position directly. This way you can eliminate all of the comparators and hystorisis involved with them. That way you can place different limits on the position of the actuator and possibly in the future make the output PWM controlled with a PID closed loop. The bang,bang approch must account time wise for the braking and acceleration of the motor and also different loads on the actuator. This can be solved with the use of a PID control loop and PWM control of the actuator.. There are quite a few examples here on the forum. Type in the keywords Motor PWM and PID....

Dave Purola,
N8NTA