Equations for controlling 2 DC motors


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i need help on writing the equations for controlling two DC motors at the same time...as i need to drive them at the same speed so my project can go in a straight line.
Are they in a position servo loop? How accurately must they track each other? Do you want to use linear interpolation? Tom Thomas B. Bullock, President Bull's Eye Marketing Incorporated Industrial Controls Consulting Division 104 S. Main Street, Suite 320 Fond du Lac, WI 54935 PH: 920: 929-6544 FX: 920: 929-9344 E-mail: [email protected]