How would I wire in a shaft encoder? I am controlling two motors in parallel from an Electronic Speed Controller that operates at 2khz. The output from the motor to the wheels is almost 1:1, and I need better slow speed control. Now the motor lurches because the load changes, and sometimes I have to apply more power to start off then immediately lower power for smooth control. I have read about Back EMF, or just EMF and its use to ensure that the motor spins at the same rate regardless of the load, but I would like to try using a shaft encoder for now if it can be used to automatically regulate the motors rpm's.
Sorry if this is confusing, I am not good at communications.