Taycat,
Print yourself out a good chart with 'surface feet per minute' (SFM) or a chart like above for different material and put it next to your machine. I prefer a chart with SFM. Then you can just use the formula to figure what RPM you should use. If you use the chart above, take out the step of multiplying by 3.42.
SFM*3.42/Dia of work piece or for milling SFM*3.42/dia of tool.
But remember this is just a guide line, like mentioned above the RPM could vary because of setup, safety, machine rigidity, ect. So if you had HSS tooling cutting .75" dia mild steel barstock. I would start with 60SFM, so 60*3.42/.75 = 273.6 RPM. I would go to the closest speed your machine has without going over and then adjust from there.
Bryan