DC Motor Control (H-Bridge) using PID and a Potentiometer, and a Tachometer.

[DimitriPetrenko23]

I have a project that requires Implementing a PID into controlling an DC motor (H-bridge), but im currently stuck on the code and other implementing stuff that i need help of. The desired Speed can be adjusted using the potentiometer, and the tachometer data sheet reads each volt equals 1000rpm. So im stuck here on whether to count the Tachometer as a timer or as ADC ? and im trying to figure out a good code, which i have written some of it that helps me achieve this, and exactly where to put the code of the PID ? If any of you can help i would be so pleased. 

[DimitriPetrenko23]

I dont have the data sheet but its a DC motor that looks exactly like the picture, and the tachometer is shown also, i need the code that runs this program or a little help in running it.

[DimitriPetrenko23]

A potentiometer is counted as ADC, The tachometer im stuck on it as i said, but still i will take what you say. but here i still cant find a good C code that may run this program, so im just curious on how to find or write a good C program that should be enough to run this project.