Rough, but with PWM, a combination of the two. ie. Set a high duty cycle for the motor for a certain amount of time after a certain number of hits. For example, for every two hits, make the duty cycle of the motor 80% for a 20 ms period. Then return the duty cycle to 0.
| Positives | Negatives |
| capable of doing a rough movement with a lot less jolting | Harder to implement because of the dual means of controlling the motors.(complicated software) |
| You get a much larger range of speeds because of the rough pulsing | movement is not entirely smooth. |
Method was chosen