Controller selection help (2x20A dc motors)

I am looking for a motor controller that can accept PWM signal and can control 2 DC motors at up to 20A each. I will also need to be able to program the end stop for each motor, and for both directions, i.e....3 revs to the left, 3 revs to the right direction. Could you please suggest a solution?

You may want to look at our AX1500.
The AX1500 accepts PWM signals example from a radio receiver; see the user manual for details of the PWM protocol (1-2 millisec / 50 Herz).
As far as programming the motor, our controllers can be programmed from a custom software program resident on a PC connected via RS232 port. See the manual for details. Source code is available for download at www.roboteq.com