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