Re: non-'FRC legal' control systems?
 

You need to learn a few things about the Arduino before you jump in. But don't sweat it, it's all easy stuff.
One thing that you will need to understand is that the predefined PWM outputs on the Arduino WILL NOT work for driving RC type speed controllers, ie. Victors or Jaguars. They are more fitted for adjusting the brightness of lamps and/or LEDs etc. You will need to generate your own "PWM" pulse train. The code I mentioned in my previous post is much more suited for the purpose of RC speed controllers.

Don't be afraid to learn the Arduino programing environment. It is easy and very user friendly. There are tons of pages and sites on the Internet dedicated to the Arduino. You can learn more in a few hours than you might have thought possible.