How did scalerobotics know about darreltaylor?
Darrel is one of the moderators of this forum and one of the largest contributors.
Hands down he is the one with all of the "interesting" stuff.

Hang around and you will meet him.

Ken,
You are doing fine for starting work on a new system. We talk about "basics". Just work on things one piece at a time, not the whole project. When all of the pieces work then put it all together.

I get a laugh from the "Object Oriented" folks from other languages. And I even hear about "extreme programming".

Us working with MCUs have been doing the above sort of thing for.... ever.
Write your code in pieces, make sure each piece works, then combine the pieces.

So in your case, reading the PWM is one part, get that working.
Move on to running a motor with PWM, a separate little project and code.
Work on the sensors, another separate project.
And so on...

Pretty soon you will have the whole thing finished and understand it all.

Architecture... Princeton or Harvard?