[esoneson]

Paul,

There may be another variable that you will want to incorporate into this algorithm. You will probably want to be able to limit the rate of change of speed (or pwmDuty or Current). I.e. limit accelleration. Or have an acceleration curve (when speed is very slow keep acceleration low, when higher allow higher rates of acceleration to keep from jerking the car right from the git-go. Also if in reverse, then acceleration should also be tamed.

For the future: selectable acceleration curves from granny to grandprix

EDIT: Also, for deceleration you might want to be more aggressive about the adjustment. If you see the cop in your rear view mirror and take your foot off the accelerator, you want instant response, no?

Eric