This is one of the first test of the smart motor driver for robotics. You can see here the motor running in a closed loop control algorithm and the rpm being plotted on the computer in real time.
The idea is to run the motor as close as possible to the desired RPM no matter what. In robotics this is pretty useful because it allows the robot to move precisely and consistent even in a ramp. Making the navigation easier and frustration free.
And now this is how it started, with a simple schematic of the future PCB and what I learned after experimenting a little bit:
And also paper models playing while designing in Eagle...