Urgent help

Iam a mechanical engineer...........And doin a project on fabrication of a rover with differential drive & encoder feedback..............with speed control of the rover.........

We have 2 360 PPR incremental optical encoders..............2 DC 12V motors...............1 12Vbattery(7Ah).............

Now we need speed control of the DC motor by PWM or by voltage variation...............And also we need angle & angular velocity feedback from the optical encoders............

Can someone please help us in this concern?
Thanks a lot in advance
Midhun

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