Hi Henrik
Thanks for the feedback. I started this project a number of months ago and just getting back into it. The reason I picked 55 pulses per inch was that the maximum number that the hypotenuse calculation on X and Y was about 127 before it would go into overflow. I am using a 16F88 and I purchased an 18F2550 to give me a larger number to work with. I only have the student version of PBP so that’s why the choices. I haven’t tried the 18F2550 yet as I’m a beginner it looks very complicated.

I don’t know why there is not a smooth rise or fall on the output of the PWM but maybe using the PULSIN is not the way to go.
Using the ADC convertors may be faster responding.

I have lots of options to try. The encoders can put out a maximum of 2048 pulses per revolution or about 1500 pulses per inch. I can also feed them into a DAC chip to give me a voltage out.
You can buy these speed controllers commercially so it can be done but they are a bit too much money for me. May someone out there has one that they can reverse enginner for me?
Thank Jan