What is the ideal heart rate to be in while working out aerobically?

I searched the data base & came up with no results. I understand that the exercise heart rate depends on a few factors such as your age & weight. So does anyone know a chart or equation anywhere that would explain this? My gym just got some new treadmills that measure your heart rate and so it got me wondering. I was up to 180-190s while walking very brisk and I was scared I was going to have a heart attack or something if this was too high. Well, if not a heart attack, I figured I wouldn't be burning as many calories for my hard work if I was out of that ideal exercise heart rate. ---One more thing. Is there some kind of equation to figure out how many calories one burns on different exercises, taking factors such as one's weight into consideration? I understand, for example, when you have 2 people, one weighing 150lbs. & one weighing 300lbs. and both are walking the same speed, distance, time, etc., the 300lb. person will burn alot more than the 150lb. person. Is there an equation to figure this out?

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