Hi Henrik,

It has been quite some time since I last posted on this subject. A lot of water has flowed under the bridge since then but I am pleased to advise that I have my 1500W H-Bridge power board up and running via PIC18F2431 in PCPWM mode.
I have forward, reverse and emergency stop functions operating on a test motor (24V 200W scooter motor) and nice clean rotary encoder signals from a home made encoder wheel and IR photo-interrupter - 60 steps per revolution.
My next stage of the project is to try and implement your incPID routine.
My question is this: Should I take the approach you outlined above (ie use DT-Ints to set up a timer interrupt at around 100Hz and then feed the pulses to another timer/counter) or would there be a better way of doing it on the 18F2431 using some of the available Motion Feedback modules?

Your advice and direction would be greatly appreciated.

Cheers
Barry
VK2XBP