yeah, that was one thing i was worried about, when my speed goes below the clamp setting.. and it doesnt have to go to complete zero, I can handle that in other ways. my final output shaft is 173RPM, I might add more magnets to the main motor shaft, before the gear reduction just to be safe, i'll have to see what i can get away with. I'm not quite sure i know what your saying about sampling rate? I was going to use timer1 as a counter to get the tach of the motor, which people typically want as RPMs for a display and would count for a second, but are you saying i should count for less then a second? or as much as possible? and also, im sure the number i get for the speed isnt going to be 1:1 with my ADC (the speed setpoint), should i be adjusting something to scale those, or? I don't have everything on hand i need at the moment for a bench test and experiment, I'll have to order a few more things (fets, a rectifier and cap for the motor). i'd like to have a handle on code things before hand tho! thanks again.