New project, litehm2: a hostmot2 port to linsn rv901t

Hello, sir
The PWM circuit board of hm2_lite has only two pins: pwm.x.out and pwm.x.dir.
Can it be used to control the forward and reverse rotation of the servo motor and run in speed mode by analog voltage? With an encoder, can the xyz axis be controlled by pid?

There are at least three ways to generate a bipolar analog voltage from PWM


1. Using PWM/DIR (typically using an op-amp circuit that
is changed from inverting to non-inverting by a analog switch)
(this has the disadvantage of a glitch when direction changes)

2. Using the PWM generators UP/DOWN mode and summing
a positive and negative filtered voltage.
(this has the disadvantage that the filter time constant
varies with the input)

3. Using the PWM generators offset mode (so 0 = 50%) and an op-amp
filter that has a DC offset of - full scale
(This has the disadvantage that you lose 1 bit of resolution, which may not matter
if you use dithering)

Thank you for your answer. Wish you good luck