Various embodiments of the invention include a motor system for driving a swing and controlling the speed and/or amplitude of the swing. In one embodiment, the motor system includes a DC motor, a swing velocity sensor system, and a swing velocity control circuit. The DC motor drives the swing through at least one fill swing cycle, and then the motor is allowed to free-wheel for at least a half swing cycle. During the free-wheeling half cycle, the swing velocity sensor system measures the velocity of the swing and compares the measured velocity to a goal velocity. The control circuit increases or decreases the velocity depending on this comparison. In other embodiments, the system includes a swing amplitude sensor system that measures the amplitude of the swing and a swing amplitude control circuit that compares the measured amplitude to a goal amplitude.