Here is a video showing control of a Bachmann 10 Wheeler from slow speeds to full throttle using my own radio control system.
Cap’n, she kenna take no more! She’ll come apart at the seams! 
That engine is a bit of a wild ride at full throttle. That’s why the engineer is holding on so tight in the cab.
You sample the back EMF between pulses?
Yes, however I need to do a few tricks at high PWM rates so yes and no.