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Originally Posted by Matt H.
To respond to the original question; the type of motor is not incredibly important as long as it runs on a PWM signal. What you need to do is set your PWMs as shown in the first response and assuming you are using the FRC robot controller and default MP labs code it will convert that data into a usable signal for any standard PWM motor.
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Matt something you may want to try sometime to understand better the premise on which PWM motor control works is examining the output of a Victor or other H-Bridge Drive's output.
If you have access to an oscilloscope, hook the probe end to M+ and the alligator clip to M-, and set your oscilloscope to trigger on a rising edge. Then use a joystick to vary the 'power level' (duty cycle percentage) to the motor. As the speed of the motor changes, watch what the ratio of up and down time on the pulse train does.
If you have any questions i'll be happy to answer them.
-Q