Spin the motor and stop at a set tachometer index

Hi everyone

At the University of Copenhagen we're using the VESC motor controller as the primary work horse in an ice core drill used in Greenland and Antarctica. One special need we have is to move the motor to a set tachometer index. I've implemented that somewhat naively here (spin the motor at low speed until we're within a set threshold on the tacho), but I'm looking for suggestions as to how you would implement easing/PID control so that we get a more exact result.

Thanks!