Hello, I am relatively new to PICs and need some directions.
Trying to do DC motor control with PIC16F84
I have 2 DC motors with tacho (0 - 50 Hz) ( driving 1 wheel each of a robotic ap
plication
(lawnmower!)) that I want to control. The main focus is  position but a big spee
d error can cause
big position errors in the end!
The load can differ a lot between motors so some speed control is needed.

if possible some ramp-up and ramp-down and synchronization between motors is a w
ish.

Its OK to split functions up on different PICs
We want to give "commands" on serial to the motorcontrol (i.e., go 5000 tacho pu
lses fwd)

we use L6203 fullbridge drivers and PWM , so far.

We want Preferable to use the PIC Basic Pro compiler.

PLS. help with hints and URL to projects like this.

( We been checking out the motormind B from Parallax and we don't think that is
enough, maybe with a
PIC "front end" handling sync and ramp-up/down)


Thanks in advance
Anders