Hi Bob, So with my efforts, Arduino PWM at 12000 Hz, I get good slow-speed control but worry about potential over-heating. I give my stuff frequent breaks, however. With a smoothing cap on the output, the MOSFET seems to heat up more and the slow-speed advantage is gone. Here's my video with the cap on the output:
I may have time to shoot something with straight PWM. The motors sound ever so slightly different on the straight PWM, hence my concern.
Take care, Joe.