My application is force feedback (haptics), which requires small latencies, ideally less than 1 ms between the reading of position encoder and the change in the output voltage (or current with a current driver). The set value is produced by a dsPIC microcontroller that can generate PWM signals as well as UART communication. In this context, is it better to use a driver (like the MC33926 or VNH5019 Motor Driver Carrier or 18v15) than a controller (like the 18v7)?