Change to DC Motor control


Dear Farmbot community

I just begun to work with your Arduino OS to configure it for my one Farmbot on the rooftop of our house.
Due to a design change to DC Motors with encoders, I would like to change the control function of the step motor control. Unfortunately I realized, that the methods in your code exceed my knowledge in programming.
Could you assist me how the control function of a step motor control can be changed to a PWM control signal?

Thank you very much for any support!