Hi,


I think you should consider using PIC2331/2431/4331 or 4431.
Those PICS have a built-in motion feedback module. I think the "velocity feedback module" will do exactly what you want. Look at the datasheet for more details.

BTW: Downside is that the ADC module is a bit of pain in the ... to use. Since it's not completely integrated with PBP.

J-P